+ python -m lidar_slam --no-model /working/cd0f6d16-5d9f-424f-8917-df007eb4756f Lidar SLAM 0.0.12 ===================================================== The recording path: /working/cd0f6d16-5d9f-424f-8917-df007eb4756f 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 0.025769231 Adjusted end_distance from 9.223372036854776e+18 to 449.975769231 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025769231 meters 0.788639212851726 Centerline is valid? [0, False] SLAMing on 0.055769231 meters 0.8682165551174627 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999916e-01 4.08138472e-04 4.33072844e-05 -2.27154301e-04] [-4.08167886e-04 9.99999685e-01 6.81355287e-04 -4.05824895e-03] [-4.30291834e-05 -6.81372906e-04 9.99999767e-01 9.59591335e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085769231 meters 0.8456902065611938 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 9.99999710e-01 7.61350884e-04 -6.22364598e-06 3.04447098e-06] [-7.61342213e-04 9.99998876e-01 1.29136877e-03 -7.88926787e-03] [ 7.20682374e-06 -1.29136365e-03 9.99999166e-01 4.92746645e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11576923100000001 meters 0.776988777077296 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999639e-01 8.44269237e-04 -9.27481461e-05 6.13337824e-04] [-8.44135312e-04 9.99998615e-01 1.43463030e-03 -8.73397265e-03] [ 9.39592319e-05 -1.43455149e-03 9.99998967e-01 -3.12916743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145769231 meters 0.8525236143493338 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999568e-01 9.16253939e-04 -1.55994019e-04 1.00438920e-03] [-9.16010797e-04 9.99998377e-01 1.55165804e-03 -9.49515548e-03] [ 1.57415478e-04 -1.55151448e-03 9.99998784e-01 -4.32317650e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17576923100000003 meters 0.8685817545439355 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99998605e-01 1.66075943e-03 -1.78403631e-04 1.09502434e-03] [-1.66039705e-03 9.99996596e-01 2.01253893e-03 -1.16658949e-02] [ 1.81745367e-04 -2.01223990e-03 9.99997959e-01 -1.50937994e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20576923100000002 meters 0.8695301308060887 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99998704e-01 1.58881540e-03 -2.59577661e-04 1.58220493e-03] [-1.58833021e-03 9.99997011e-01 1.85879641e-03 -1.08415342e-02] [ 2.62530170e-04 -1.85838171e-03 9.99998239e-01 -3.72307513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23576923100000002 meters 0.8268146887016675 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99998862e-01 1.47635918e-03 -3.10305272e-04 1.88381204e-03] [-1.47585478e-03 9.99997600e-01 1.61948662e-03 -9.44796499e-03] [ 3.12695471e-04 -1.61902681e-03 9.99998640e-01 -5.48440254e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265769231 meters 0.8684594007265466 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.99999664 0.00227566 -0.00123822 0.01094272] [-0.00227359 0.99999602 0.00166976 -0.00706848] [ 0.00124202 -0.00166694 0.99999784 -0.00789752] [ 0. 0. 0. 1. ]] SLAMing on 0.295769231 meters 0.9232445670174961 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.99999669 0.0021581 -0.0013974 0.01227674] [-0.00215608 0.99999663 0.00144549 -0.00569143] [ 0.00140052 -0.00144247 0.99999798 -0.00891375] [ 0. 0. 0. 1. ]] SLAMing on 0.32576923100000005 meters 0.8491534683230775 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 0.99999676 0.00202893 -0.00153997 0.01347788] [-0.00202719 0.99999731 0.00112776 -0.00379023] [ 0.00154225 -0.00112464 0.99999818 -0.01001917] [ 0. 0. 0. 1. ]] SLAMing on 0.355769231 meters 0.7734953859936449 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99997275e-01 1.79427605e-03 -1.49344313e-03 1.33883068e-02] [-1.79317426e-03 9.99998119e-01 7.38767612e-04 -1.48916313e-03] [ 1.49476588e-03 -7.36087596e-04 9.99998612e-01 -1.02291255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38576923100000005 meters 0.8614281744798179 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99997865e-01 1.48935016e-03 -1.43217109e-03 1.31061916e-02] [-1.48904870e-03 9.99998869e-01 2.11535824e-04 1.73604136e-03] [ 1.43248452e-03 -2.09402800e-04 9.99998952e-01 -1.02116600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.415769231 meters 0.8636439800642671 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998616e-01 9.59692080e-04 -1.35918464e-03 1.27010135e-02] [-9.60748800e-04 9.99999237e-01 -7.77026487e-04 7.99646583e-03] [ 1.35843790e-03 7.78331246e-04 9.99998774e-01 -1.00762203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44576923100000004 meters 0.82434366397077 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998805e-01 6.65217353e-04 -1.39530408e-03 1.31094199e-02] [-6.66989921e-04 9.99998971e-01 -1.27030071e-03 1.10016762e-02] [ 1.39445762e-03 1.27122985e-03 9.99998220e-01 -1.04745804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.475769231 meters 0.8390587209164253 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998859e-01 3.46181391e-04 -1.47072563e-03 1.38682375e-02] [-3.48853836e-04 9.99998288e-01 -1.81722510e-03 1.44054723e-02] [ 1.47009402e-03 1.81773609e-03 9.99997267e-01 -1.10806638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.505769231 meters 0.8537989457798284 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99998741e-01 -3.45072697e-04 -1.54880991e-03 1.50684827e-02] [ 3.40488497e-04 9.99995564e-01 -2.95910917e-03 2.18008210e-02] [ 1.54982415e-03 2.95857809e-03 9.99994422e-01 -1.22223258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.535769231 meters 0.8120172281265841 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99998495e-01 -6.27177415e-04 -1.61732347e-03 1.55134343e-02] [ 6.21636968e-04 9.99993945e-01 -3.42391923e-03 2.46666743e-02] [ 1.61946109e-03 3.42290869e-03 9.99992830e-01 -1.23951048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.565769231 meters 0.8051206347665897 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99998379e-01 -7.14438305e-04 -1.65274523e-03 1.57669919e-02] [ 7.08525355e-04 9.99993357e-01 -3.57547704e-03 2.56272317e-02] [ 1.65528871e-03 3.57430024e-03 9.99992242e-01 -1.24976843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.595769231 meters 0.8212843958358651 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.02 [[ 0.99999499 -0.00206323 -0.00240141 0.02181498] [ 0.0020526 0.99998813 -0.00442002 0.02660551] [ 0.0024105 0.00441507 0.99998735 -0.0164757 ] [ 0. 0. 0. 1. ]] SLAMing on 0.625769231 meters 0.8396731455798273 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.02 [[ 0.99999491 -0.0019763 -0.00250455 0.0226049 ] [ 0.00196564 0.99998902 -0.00425305 0.02561869] [ 0.00251293 0.00424811 0.99998782 -0.01686822] [ 0. 0. 0. 1. ]] SLAMing on 0.655769231 meters 0.8182490202243482 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.02 [[ 0.99999477 -0.00190802 -0.00261321 0.02330459] [ 0.00189721 0.99998966 -0.00413216 0.0249182 ] [ 0.00262107 0.00412718 0.99998805 -0.01709378] [ 0. 0. 0. 1. ]] SLAMing on 0.685769231 meters 0.8383177993227229 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99998998 -0.00274032 -0.00353952 0.03273739] [ 0.0027249 0.99998682 -0.00435228 0.02377309] [ 0.0035514 0.00434259 0.99998426 -0.02428463] [ 0. 0. 0. 1. ]] SLAMing on 0.715769231 meters 0.8391146089308072 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99999037 -0.00244583 -0.00364407 0.0335406 ] [ 0.00243179 0.99998963 -0.00385138 0.02073486] [ 0.00365345 0.00384248 0.99998594 -0.02468212] [ 0. 0. 0. 1. ]] SLAMing on 0.745769231 meters 0.8439103824828671 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.9999906 -0.0021335 -0.00377561 0.03437224] [ 0.00212097 0.99999224 -0.00331915 0.01749015] [ 0.00378266 0.00331111 0.99998736 -0.02494836] [ 0. 0. 0. 1. ]] SLAMing on 0.7757692310000001 meters 0.8441236873754352 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999094 -0.00170718 -0.00389959 0.0352417 ] [ 0.00169745 0.99999544 -0.00249852 0.01224739] [ 0.00390384 0.00249188 0.99998928 -0.02543112] [ 0. 0. 0. 1. ]] SLAMing on 0.805769231 meters 0.8262965103016907 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999104 -0.00151782 -0.00395294 0.03559716] [ 0.00150915 0.99999645 -0.00219515 0.01040654] [ 0.00395625 0.00218917 0.99998978 -0.02551619] [ 0. 0. 0. 1. ]] SLAMing on 0.835769231 meters 0.8262965103016907 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999104 -0.00151782 -0.00395294 0.03559716] [ 0.00150915 0.99999645 -0.00219515 0.01040654] [ 0.00395625 0.00218917 0.99998978 -0.02551619] [ 0. 0. 0. 1. ]] SLAMing on 0.865769231 meters 0.8317784200745084 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999125 -0.00138138 -0.00394916 0.03557822] [ 0.00137359 0.99999711 -0.00197321 0.00905926] [ 0.00395187 0.00196777 0.99999026 -0.02546624] [ 0. 0. 0. 1. ]] SLAMing on 0.895769231 meters 0.8437790885023563 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.999991 -0.00134187 -0.00402488 0.03623564] [ 0.00133419 0.99999728 -0.00191066 0.00869113] [ 0.00402743 0.00190527 0.99999007 -0.0257591 ] [ 0. 0. 0. 1. ]] SLAMing on 0.925769231 meters 0.7967081387168391 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999096 -0.00121853 -0.0040733 0.0367083 ] [ 0.00121156 0.9999978 -0.00171178 0.00746359] [ 0.00407538 0.00170683 0.99999024 -0.02598537] [ 0. 0. 0. 1. ]] SLAMing on 0.955769231 meters 0.9782895723915745 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99991057e-01 -9.61926965e-04 -4.11838514e-03 3.69865970e-02] [ 9.56565660e-04 9.99998693e-01 -1.30356978e-03 4.77774577e-03] [ 4.11963369e-03 1.29961861e-03 9.99990670e-01 -2.60328499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.985769231 meters 0.8913979971144125 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999084 -0.00106586 -0.00414442 0.03713872] [ 0.00105973 0.99999834 -0.00148047 0.00590424] [ 0.00414599 0.00147606 0.99999032 -0.0259085 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0157692310000002 meters 0.8292609332650566 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 0.99999066 -0.00112226 -0.00417306 0.03716873] [ 0.00111538 0.99999802 -0.00164912 0.00709272] [ 0.0041749 0.00164445 0.99998993 -0.02557377] [ 0. 0. 0. 1. ]] SLAMing on 1.045769231 meters 0.7922708661481057 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 9.99990694e-01 -9.98028031e-04 -4.19712095e-03 3.74656153e-02] [ 9.91981200e-04 9.99998468e-01 -1.44254436e-03 5.80646477e-03] [ 4.19855421e-03 1.43836747e-03 9.99990152e-01 -2.56455182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.075769231 meters 0.9117899925468246 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99990592e-01 -8.08556894e-04 -4.26163393e-03 3.79679836e-02] [ 8.03715366e-04 9.99999030e-01 -1.13766324e-03 3.92337301e-03] [ 4.26254966e-03 1.13422740e-03 9.99990272e-01 -2.57541867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.105769231 meters 0.9525826944342379 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99990251e-01 -6.14399019e-04 -4.37274447e-03 3.89987152e-02] [ 6.10806665e-04 9.99999475e-01 -8.22821136e-04 1.89065251e-03] [ 4.37324771e-03 8.20142213e-04 9.99990101e-01 -2.63757213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.135769231 meters 0.8944823811934925 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99990001e-01 -6.05050302e-04 -4.43086069e-03 3.93394075e-02] [ 6.01495118e-04 9.99999496e-01 -8.03657312e-04 1.77069318e-03] [ 4.43134471e-03 8.00984135e-04 9.99989861e-01 -2.63101025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.165769231 meters 0.9441930376986174 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99989721e-01 -6.35217514e-04 -4.48942653e-03 3.99154077e-02] [ 6.31376552e-04 9.99999434e-01 -8.56922927e-04 2.13827960e-03] [ 4.48996832e-03 8.54079600e-04 9.99989555e-01 -2.64995147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.195769231 meters 0.8597924037884961 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99988871e-01 -5.44885345e-04 -4.68627011e-03 4.16759677e-02] [ 5.41649407e-04 9.99999614e-01 -6.91756166e-04 1.05374732e-03] [ 4.68664523e-03 6.89210152e-04 9.99988780e-01 -2.75268624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2257692310000001 meters 1.060932885800368 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 9.99988248e-01 -3.85188516e-04 -4.83276459e-03 4.28274396e-02] [ 3.83160856e-04 9.99999838e-01 -4.20484058e-04 -6.11039540e-04] [ 4.83292577e-03 4.18627391e-04 9.99988234e-01 -2.80395814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2557692310000002 meters 0.47046650162189985 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 9.99987371e-01 -2.78363011e-04 -5.01800042e-03 4.40136626e-02] [ 2.77787592e-04 9.99999955e-01 -1.15367498e-04 -2.49134798e-03] [ 5.01803231e-03 1.13972103e-04 9.99987403e-01 -2.83831190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285769231 meters 0.46797074845192627 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 9.99986960e-01 -1.87599755e-04 -5.10335040e-03 4.45779590e-02] [ 1.87789977e-04 9.99999982e-01 3.67947481e-05 -3.39978180e-03] [ 5.10334341e-03 -3.77526264e-05 9.99986977e-01 -2.83946164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.315769231 meters 0.478020997913976 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.03 [[ 9.99986415e-01 -5.74302543e-05 -5.21224468e-03 4.54450330e-02] [ 5.88036216e-05 9.99999964e-01 2.63335781e-04 -4.81349393e-03] [ 5.21222937e-03 -2.63638702e-04 9.99986381e-01 -2.86240109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.345769231 meters 0.49402296017430447 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99981160e-01 -7.94774531e-04 -6.08664287e-03 5.51631980e-02] [ 7.96189918e-04 9.99999657e-01 2.30120281e-04 -7.80652541e-03] [ 6.08645789e-03 -2.34962069e-04 9.99981450e-01 -3.58508941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.375769231 meters 0.49885897648501437 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99980767e-01 -6.82852917e-04 -6.16443223e-03 5.61036186e-02] [ 6.85470978e-04 9.99999676e-01 4.22601536e-04 -9.02751535e-03] [ 6.16414166e-03 -4.26818947e-04 9.99980910e-01 -3.63892345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.405769231 meters 0.5019232939973655 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99980059e-01 -6.63287594e-04 -6.28025568e-03 5.71138854e-02] [ 6.66195556e-04 9.99999672e-01 4.60951728e-04 -9.24435676e-03] [ 6.27994788e-03 -4.65126414e-04 9.99980173e-01 -3.67347006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.435769231 meters 0.48048391843594696 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 9.99979436e-01 -4.00292387e-04 -6.40052354e-03 5.77955251e-02] [ 4.06793981e-04 9.99999403e-01 1.01452142e-03 -1.29079859e-02] [ 6.40011361e-03 -1.01710425e-03 9.99979002e-01 -3.67315751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4657692310000001 meters 0.4913545946612081 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 9.99974516e-01 -1.11783363e-03 -7.05114340e-03 6.66098233e-02] [ 1.12355782e-03 9.99999042e-01 8.07900615e-04 -1.50864912e-02] [ 7.05023355e-03 -8.15802394e-04 9.99974814e-01 -4.37781569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4957692310000001 meters 0.49823928859585015 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.05 [[ 0.99997179 -0.00100408 -0.0074444 0.06915424] [ 0.00101824 0.99999768 0.00189777 -0.02352437] [ 0.00744248 -0.0019053 0.99997049 -0.04503651] [ 0. 0. 0. 1. ]] SLAMing on 1.5257692310000002 meters 0.4744984222653015 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.05 [[ 9.99971116e-01 -6.35037617e-04 -7.57395131e-03 7.01496546e-02] [ 6.54746519e-04 9.99996406e-01 2.59999995e-03 -2.79509487e-02] [ 7.57227298e-03 -2.60488387e-03 9.99967937e-01 -4.54099831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.555769231 meters 0.4742308384925476 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.05 [[ 9.99970542e-01 -2.09078764e-04 -7.67283380e-03 7.08717350e-02] [ 2.35097670e-04 9.99994225e-01 3.39029738e-03 -3.28880760e-02] [ 7.67208065e-03 -3.39200137e-03 9.99964816e-01 -4.54922595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.585769231 meters 0.5151823707915542 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.05 [[ 9.99961766e-01 -4.16773348e-03 -7.68746022e-03 7.10782919e-02] [ 4.16595329e-03 9.99991292e-01 -2.47568522e-04 -3.74516765e-02] [ 7.68842508e-03 2.15533456e-04 9.99970420e-01 -4.54015557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.615769231 meters 0.7631630179527161 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.05 [[ 9.99962809e-01 -3.71045771e-03 -7.78544265e-03 7.16672841e-02] [ 3.71460775e-03 9.99992966e-01 5.18659161e-04 -4.23728613e-02] [ 7.78346343e-03 -5.47559737e-04 9.99969558e-01 -4.53319031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.645769231 meters 0.7435178844862491 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.05 [[ 0.99996399 -0.00298585 -0.00794372 0.0726143 ] [ 0.00299957 0.99999403 0.00171564 -0.05037224] [ 0.00793855 -0.00173941 0.99996698 -0.04548284] [ 0. 0. 0. 1. ]] SLAMing on 1.675769231 meters 0.6823845881373579 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.05 [[ 0.99996434 -0.00260764 -0.00803209 0.07333839] [ 0.00262647 0.99999382 0.00233491 -0.05437797] [ 0.00802595 -0.00235592 0.99996502 -0.0456308 ] [ 0. 0. 0. 1. ]] SLAMing on 1.705769231 meters SLAMing on 1.7357692310000001 meters 0.7962430746340419 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.05 [[ 0.99996468 -0.00229629 -0.00808433 0.07349045] [ 0.00231895 0.99999341 0.00279478 -0.05737049] [ 0.00807786 -0.00281343 0.99996342 -0.04526342] [ 0. 0. 0. 1. ]] SLAMing on 1.7657692310000002 meters 0.9546107945149495 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.05 [[ 9.99977282e-01 6.11113473e-03 -2.84420621e-03 9.91848854e-02] [-6.10963033e-03 9.99981192e-01 5.37324166e-04 -6.03999205e-02] [ 2.84743637e-03 -5.19934911e-04 9.99995811e-01 -5.45906610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7957692310000002 meters 0.8315638662330077 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.05 [[ 9.99976441e-01 6.18431953e-03 -2.97838794e-03 1.00134104e-01] [-6.18238404e-03 9.99980672e-01 6.58615532e-04 -6.12290077e-02] [ 2.98240346e-03 -6.40186477e-04 9.99995348e-01 -5.47376283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.825769231 meters 0.8520694559275812 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.05 [[ 9.99975927e-01 6.20608096e-03 -3.10308340e-03 1.01039074e-01] [-6.20398871e-03 9.99980522e-01 6.83419571e-04 -6.14585850e-02] [ 3.10726431e-03 -6.64151625e-04 9.99994952e-01 -5.49246877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.855769231 meters 0.9223515844294682 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.06, Z:-0.06 [[ 9.99971394e-01 6.63068666e-03 -3.63950067e-03 1.04569911e-01] [-6.62893620e-03 9.99977907e-01 4.92814709e-04 -5.90544648e-02] [ 3.64268796e-03 -4.68674594e-04 9.99993256e-01 -5.66686635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.885769231 meters 0.8591330619527353 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.06 [[ 9.99971758e-01 6.51590561e-03 -3.74511013e-03 1.05398266e-01] [-6.51486231e-03 9.99978736e-01 2.90710017e-04 -5.77796562e-02] [ 3.74692473e-03 -2.66302930e-04 9.99992945e-01 -5.68846438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.915769231 meters 0.47557123359300235 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.06 [[ 9.99970106e-01 6.76865570e-03 3.73798227e-03 6.41600474e-02] [-6.77136510e-03 9.99976820e-01 7.12648450e-04 -5.95158014e-02] [-3.73307195e-03 -7.37938389e-04 9.99992760e-01 -6.40001422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.945769231 meters 0.8613708806085228 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.06 [[ 9.99997173e-01 2.34690531e-03 -3.83184638e-04 9.15040944e-02] [-2.34599682e-03 9.99994477e-01 2.35438125e-03 -5.82780949e-02] [ 3.88708031e-04 -2.35347564e-03 9.99997155e-01 -6.49623963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9757692310000001 meters 0.8881765644683635 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.07 [[ 9.99997119e-01 2.34979164e-03 -4.90239625e-04 9.24909052e-02] [-2.34862716e-03 9.99994451e-01 2.36254017e-03 -5.83485041e-02] [ 4.95788382e-04 -2.36138197e-03 9.99997089e-01 -6.54333707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0057692310000004 meters 0.5130883830954748 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.07 [[ 0.99995212 0.00369143 -0.00906211 0.06552539] [-0.00365986 0.99998719 0.0034979 -0.06019605] [ 0.00907491 -0.00346456 0.99995282 -0.07177406] [ 0. 0. 0. 1. ]] SLAMing on 2.035769231 meters 0.5450585295284489 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.07 [[ 0.9999514 0.003653 -0.00915702 0.06644567] [-0.00362176 0.99998757 0.00342652 -0.05976333] [ 0.00916942 -0.00339319 0.9999522 -0.07226315] [ 0. 0. 0. 1. ]] SLAMing on 2.065769231 meters 0.5642248915757607 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.07 [[ 0.99995076 0.00358912 -0.00925167 0.06712227] [-0.0035589 0.99998829 0.00328081 -0.05869859] [ 0.00926334 -0.00324773 0.99995182 -0.0724514 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0957692310000002 meters 0.5802177741760454 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.07 [[ 0.99995002 0.00362535 -0.00931751 0.06768427] [-0.00359426 0.99998793 0.00335116 -0.05921119] [ 0.00932955 -0.00331751 0.99995098 -0.07262067] [ 0. 0. 0. 1. ]] SLAMing on 2.125769231 meters 0.5541102337389601 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.08 [[ 0.99999492 0.0024336 -0.00206093 0.02778751] [-0.00242502 0.99998842 0.00415749 -0.06358876] [ 0.00207102 -0.00415247 0.99998923 -0.08057836] [ 0. 0. 0. 1. ]] SLAMing on 2.1557692310000003 meters 0.5392032565782734 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.08 [[ 9.99995465e-01 -2.08645340e-03 -2.17179705e-03 2.87244978e-02] [ 2.08530708e-03 9.99997685e-01 -5.29948643e-04 -6.13107065e-02] [ 2.17289773e-03 5.25417376e-04 9.99997501e-01 -8.10659315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.185769231 meters 0.5598898874103913 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.09 [[ 9.99992104e-01 -2.68702565e-03 -2.92790838e-03 3.83543092e-02] [ 2.68543490e-03 9.99996245e-01 -5.47101820e-04 -6.38758976e-02] [ 2.92936747e-03 5.39234793e-04 9.99995564e-01 -8.85923166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2157692310000003 meters 0.5571940039381137 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.08 [[ 9.99988745e-01 -4.13053176e-03 -2.33430441e-03 3.28582878e-02] [ 4.12904978e-03 9.99991271e-01 -6.39334668e-04 -6.92037897e-02] [ 2.33692483e-03 6.29689013e-04 9.99997071e-01 -8.41135117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.245769231 meters 0.5573850295265328 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.08 [[ 9.99989617e-01 -3.84156927e-03 -2.45121955e-03 3.34231817e-02] [ 3.84161009e-03 9.99992621e-01 1.19454364e-05 -7.33203118e-02] [ 2.45115557e-03 -2.13619421e-05 9.99996996e-01 -8.39353352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.275769231 meters 0.5688868659644472 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.08 [[ 9.99986147e-01 -4.42843885e-03 -2.84528536e-03 3.56318500e-02] [ 4.43079956e-03 9.99989845e-01 8.23924586e-04 -8.09995238e-02] [ 2.84160776e-03 -8.36520061e-04 9.99995613e-01 -8.46829706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.305769231 meters 0.586111921364894 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.09 [[ 9.99981973e-01 -4.89930579e-03 -3.47139895e-03 4.44760545e-02] [ 4.90236047e-03 9.99987603e-01 8.71994298e-04 -8.37298105e-02] [ 3.46708375e-03 -8.88996627e-04 9.99993594e-01 -9.18103949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.335769231 meters 0.5488845127760933 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.10 [[ 9.99989521e-01 -4.57458764e-03 1.78946305e-04 2.54028567e-02] [ 4.57533605e-03 9.99979706e-01 -4.43316292e-03 -8.40380975e-02] [-1.58662781e-04 4.43393521e-03 9.99990157e-01 -9.58682564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3657692310000003 meters 0.5784664305419693 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.10 [[ 9.99990492e-01 -4.35982310e-03 8.52115603e-05 2.59846945e-02] [ 4.36013076e-03 9.99982395e-01 -4.02481109e-03 -8.66393480e-02] [-6.76625957e-05 4.02514436e-03 9.99991897e-01 -9.60037380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.395769231 meters 0.5714304046923973 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.10 [[ 9.99991994e-01 -4.00161322e-03 3.83596797e-06 2.62535196e-02] [ 4.00160366e-03 9.99986398e-01 -3.34538496e-03 -9.09976682e-02] [ 9.55102088e-06 3.34537352e-03 9.99994404e-01 -9.57279929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4257692310000003 meters 0.5819601398539039 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.10 [[ 9.99992505e-01 -3.87135908e-03 -5.59610059e-05 2.65836778e-02] [ 3.87116633e-03 9.99987671e-01 -3.10991083e-03 -9.24907778e-02] [ 6.79998975e-05 3.10967089e-03 9.99995163e-01 -9.57003013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.455769231 meters 0.5819777098352986 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.10 [[ 9.99993427e-01 -3.62232520e-03 -1.56709434e-04 2.69077047e-02] [ 3.62189763e-03 9.99989936e-01 -2.64769216e-03 -9.54075480e-02] [ 1.66298659e-04 2.64710717e-03 9.99996483e-01 -9.53472094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4857692310000004 meters 0.6031190069508511 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.10 [[ 9.99994088e-01 -3.43015292e-03 -2.40603855e-04 2.74093616e-02] [ 3.42959611e-03 9.99991525e-01 -2.27762985e-03 -9.77552923e-02] [ 2.48414434e-04 2.27679121e-03 9.99997377e-01 -9.54466151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.515769231 meters 0.5728723308386787 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.10 [[ 9.99994657e-01 -3.25404119e-03 -3.10654366e-04 2.77158754e-02] [ 3.25342973e-03 9.99992808e-01 -1.94889817e-03 -9.98088389e-02] [ 3.16993927e-04 1.94787706e-03 9.99998053e-01 -9.53878918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545769231 meters 0.5989348053749051 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.10 [[ 9.99995567e-01 -2.94109763e-03 -4.63821739e-04 2.84916304e-02] [ 2.94052472e-03 9.99994919e-01 -1.23108163e-03 -1.04408746e-01] [ 4.67440113e-04 1.22971229e-03 9.99999135e-01 -9.54905823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.575769231 meters 0.5868264704149676 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.10 [[ 9.99996228e-01 -2.69036448e-03 -5.52919312e-04 2.87784795e-02] [ 2.68994745e-03 9.99996098e-01 -7.53596760e-04 -1.07352762e-01] [ 5.54944605e-04 7.52106594e-04 9.99999563e-01 -9.52488908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.605769231 meters 0.6066223192529304 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.10 [[ 9.99997228e-01 -2.24453849e-03 -7.11978058e-04 2.94942116e-02] [ 2.24467432e-03 9.99997463e-01 1.90041549e-04 -1.13270975e-01] [ 7.11549696e-04 -1.91639181e-04 9.99999728e-01 -9.52062989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6357692310000003 meters 0.5938573348066695 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.10 [[ 9.99997594e-01 -2.04881620e-03 -7.83602594e-04 2.98026737e-02] [ 2.04926654e-03 9.99997735e-01 5.74331805e-04 -1.15619955e-01] [ 7.82424119e-04 -5.75936234e-04 9.99999528e-01 -9.51413082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.665769231 meters 0.6040457570611825 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.10 [[ 9.99998054e-01 -1.78154218e-03 -8.47902812e-04 3.00563537e-02] [ 1.78249410e-03 9.99997781e-01 1.12325419e-03 -1.19018262e-01] [ 8.45899805e-04 -1.12476338e-03 9.99999010e-01 -9.50482187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6957692310000003 meters 0.6246718303668141 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.09 [[ 9.99998300e-01 -1.59792073e-03 -9.20499565e-04 3.03737336e-02] [ 1.59928754e-03 9.99997617e-01 1.48603590e-03 -1.21270212e-01] [ 9.18122803e-04 -1.48750552e-03 9.99998472e-01 -9.49767827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725769231 meters 0.6140464381804854 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.09 [[ 0.99999848 -0.00141572 -0.00102081 0.03065702] [ 0.0014176 0.9999973 0.00184328 -0.12345773] [ 0.0010182 -0.00184473 0.99999778 -0.09466462] [ 0. 0. 0. 1. ]] SLAMing on 2.7557692310000004 meters 0.641853519909044 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.09 [[ 0.99999874 -0.00111502 -0.00112634 0.03132644] [ 0.00111781 0.9999963 0.00247841 -0.12740467] [ 0.00112357 -0.00247967 0.99999629 -0.09497222] [ 0. 0. 0. 1. ]] SLAMing on 2.785769231 meters 0.641853519909044 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.09 [[ 0.99999874 -0.00111502 -0.00112634 0.03132644] [ 0.00111781 0.9999963 0.00247841 -0.12740467] [ 0.00112357 -0.00247967 0.99999629 -0.09497222] [ 0. 0. 0. 1. ]] SLAMing on 2.815769231 meters 0.6649929244141388 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.09 [[ 9.99998849e-01 -9.57367688e-04 -1.17744726e-03 3.15089566e-02] [ 9.60651877e-04 9.99995641e-01 2.79184967e-03 -1.29312530e-01] [ 1.17476930e-03 -2.79297757e-03 9.99995410e-01 -9.48722473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8457692310000002 meters 0.6658224526453778 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.09 [[ 9.99999069e-01 -5.63168294e-04 -1.24273686e-03 3.15419490e-02] [ 5.67739421e-04 9.99993064e-01 3.68099186e-03 -1.34753370e-01] [ 1.24065522e-03 -3.68169398e-03 9.99992453e-01 -9.43443860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.875769231 meters 0.6606969438901095 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.09 [[ 9.99999086e-01 -3.27808575e-04 -1.31176868e-03 3.16977222e-02] [ 3.33279598e-04 9.99991239e-01 4.17267954e-03 -1.37671485e-01] [ 1.31038935e-03 -4.17311292e-03 9.99990434e-01 -9.40550679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9057692310000003 meters 0.6849176389888236 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.09 [[ 9.99999021e-01 -1.94647509e-04 -1.38553518e-03 3.20337582e-02] [ 2.00824034e-04 9.99990038e-01 4.45911974e-03 -1.39410540e-01] [ 1.38465342e-03 -4.45939362e-03 9.99989098e-01 -9.40088503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.935769231 meters 0.6993114331845702 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.09 [[ 9.99998905e-01 -1.07134711e-04 -1.47575842e-03 3.22067612e-02] [ 1.13970076e-04 9.99989264e-01 4.63245905e-03 -1.40431161e-01] [ 1.47524627e-03 -4.63262217e-03 9.99988181e-01 -9.36145331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9657692310000003 meters 1.0493660946189654 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.09 [[ 9.99998807e-01 -4.54404718e-05 -1.54376319e-03 3.21131337e-02] [ 5.27183300e-05 9.99988885e-01 4.71464823e-03 -1.40898640e-01] [ 1.54353179e-03 -4.71472399e-03 9.99987694e-01 -9.26245361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.995769231 meters 1.0618036504067105 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.09 [[ 9.99961700e-01 8.73882329e-03 -4.80404841e-04 5.06518702e-02] [-8.73750210e-03 9.99958218e-01 2.68672442e-03 -1.42393052e-01] [ 5.03863579e-04 -2.68242398e-03 9.99996275e-01 -8.92017728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0257692310000004 meters 1.0487139159226215 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.09 [[ 0.99996498 0.00742334 0.00386413 0.02354632] [-0.0074613 0.99992312 0.00990366 -0.14350449] [-0.00379032 -0.00993215 0.99994349 -0.08958433] [ 0. 0. 0. 1. ]] SLAMing on 3.055769231 meters 1.0867398768280772 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.09 [[ 0.99998692 0.00337804 0.00384048 0.02371557] [-0.00339745 0.99998144 0.00505764 -0.13944552] [-0.00382332 -0.00507062 0.99997984 -0.08980909] [ 0. 0. 0. 1. ]] SLAMing on 3.085769231 meters 1.088371457412914 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.14, Z:-0.09 [[ 9.99992972e-01 -7.61963507e-04 3.67079996e-03 2.44648042e-02] [ 7.61434784e-04 9.99999700e-01 1.45430284e-04 -1.35169933e-01] [-3.67090967e-03 -1.42634187e-04 9.99993252e-01 -9.00799494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1157692310000003 meters 1.0929612821918266 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.09 [[ 9.99993095e-01 -8.75050215e-04 3.61179777e-03 2.45215261e-02] [ 8.75531466e-04 9.99999608e-01 -1.31665214e-04 -1.33541452e-01] [-3.61168114e-03 1.34826548e-04 9.99993469e-01 -8.96587498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.145769231 meters 0.683597279385153 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.09 [[ 9.99993173e-01 -9.09826657e-04 3.58131725e-03 2.45799939e-02] [ 9.10590999e-04 9.99999563e-01 -2.11800146e-04 -1.33075882e-01] [-3.58112298e-03 2.15059816e-04 9.99993565e-01 -8.95290662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1757692310000003 meters 1.09774808317171 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.09 [[ 9.99993235e-01 -9.42236750e-04 3.55566028e-03 2.47103250e-02] [ 9.43238733e-04 9.99999516e-01 -2.80132893e-04 -1.32686934e-01] [-3.55539461e-03 2.83484834e-04 9.99993639e-01 -8.95832029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205769231 meters 1.1136346451942158 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.09 [[ 9.99993379e-01 -9.95512601e-04 3.50025655e-03 2.49729122e-02] [ 9.96921058e-04 9.99999423e-01 -4.00665107e-04 -1.32004414e-01] [-3.49985566e-03 4.04151934e-04 9.99993794e-01 -8.96495835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2357692310000004 meters 1.1163034056927252 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.09 [[ 9.99993381e-01 -1.10526073e-03 3.46640724e-03 2.51347829e-02] [ 1.10754517e-03 9.99999171e-01 -6.57170818e-04 -1.30554541e-01] [-3.46567803e-03 6.61005671e-04 9.99993776e-01 -8.97038085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265769231 meters 1.1018331189090331 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.09 [[ 9.99991865e-01 3.68045717e-05 4.03333996e-03 1.99767985e-02] [-3.70827512e-05 9.99999997e-01 6.88952503e-05 -1.29083443e-01] [-4.03333742e-03 -6.90442572e-05 9.99991864e-01 -8.53604723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2957692310000004 meters 1.1197736432764425 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.09 [[ 9.99992058e-01 2.13361560e-06 3.98549458e-03 2.00860165e-02] [-2.08877919e-06 1.00000000e+00 -1.12540620e-05 -1.28622845e-01] [-3.98549460e-03 1.12456478e-05 9.99992058e-01 -8.51934808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.325769231 meters 1.0875175983459977 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.08 [[ 9.99992177e-01 1.51622179e-05 3.95538740e-03 2.00840082e-02] [-1.52132011e-05 1.00000000e+00 1.28594750e-05 -1.28742857e-01] [-3.95538720e-03 -1.29195485e-05 9.99992177e-01 -8.49569786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.355769231 meters 1.1221295931401507 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.08 [[ 9.99992404e-01 4.85636947e-05 3.89748464e-03 2.02547732e-02] [-4.89320663e-05 9.99999994e-01 9.44199187e-05 -1.29190892e-01] [-3.89748004e-03 -9.46099134e-05 9.99992400e-01 -8.48425225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3857692310000003 meters 1.0826942279568132 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:-0.08 [[ 0.99998762 -0.00159785 0.00471272 0.01414203] [ 0.00160339 0.99999803 -0.00117165 -0.12984899] [-0.00471084 0.00117919 0.99998821 -0.08014346] [ 0. 0. 0. 1. ]] SLAMing on 3.415769231 meters 1.0790651845725023 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.13, Z:-0.08 [[ 0.99998795 -0.00152893 0.00466536 0.01425621] [ 0.00153362 0.99999832 -0.00100244 -0.13077117] [-0.00466382 0.00100958 0.99998861 -0.08000765] [ 0. 0. 0. 1. ]] SLAMing on 3.4457692310000003 meters 1.1267433634255486 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.08 [[ 0.99999746 -0.0010114 -0.00201352 0.06496013] [ 0.00100886 0.99999869 -0.00126204 -0.13104494] [ 0.00201479 0.00126001 0.99999718 -0.07871269] [ 0. 0. 0. 1. ]] SLAMing on 3.475769231 meters 1.119398732913354 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 0.99999731 -0.00105035 -0.0020666 0.06514502] [ 0.00104755 0.99999853 -0.00135487 -0.13052609] [ 0.00206802 0.0013527 0.99999695 -0.0787139 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5057692310000004 meters 1.134631443953785 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 0.99999723 -0.00104814 -0.00210854 0.06538431] [ 0.00104529 0.99999854 -0.00134915 -0.13056443] [ 0.00210995 0.00134694 0.99999687 -0.07888646] [ 0. 0. 0. 1. ]] SLAMing on 3.535769231 meters 1.0978287834054101 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 0.99999716 -0.00102933 -0.00214927 0.06555786] [ 0.00102653 0.99999862 -0.00130411 -0.13079252] [ 0.00215061 0.0013019 0.99999684 -0.07896443] [ 0. 0. 0. 1. ]] SLAMing on 3.5657692310000004 meters 1.1323888672717672 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 9.99995689e-01 6.05987018e-04 -2.87320775e-03 7.13725940e-02] [-6.04960839e-04 9.99999753e-01 3.58010076e-04 -1.31927056e-01] [ 2.87342399e-03 -3.56270354e-04 9.99995808e-01 -8.35338757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5957692310000002 meters 1.1283671628214582 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 9.99995655e-01 5.20852771e-04 -2.90147617e-03 7.15372686e-02] [-5.20427568e-04 9.99999854e-01 1.47300389e-04 -1.30810566e-01] [ 2.90155247e-03 -1.45789740e-04 9.99995780e-01 -8.36675115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625769231 meters 0.7926396446508197 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 9.99995684e-01 4.32845555e-04 -2.90598944e-03 7.14578311e-02] [-4.33084319e-04 9.99999903e-01 -8.15339479e-05 -1.29562216e-01] [ 2.90595386e-03 8.27921344e-05 9.99995774e-01 -8.34772721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6557692310000003 meters 0.801670079278041 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 9.99995471e-01 4.09498186e-04 -2.98162662e-03 7.15947438e-02] [-4.09907818e-04 9.99999907e-01 -1.36775787e-04 -1.29262104e-01] [ 2.98157033e-03 1.37997359e-04 9.99995546e-01 -8.31755355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685769231 meters 0.7927459102575151 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 0.99999563 0.00195406 -0.00221663 0.06579238] [-0.0019513 0.99999732 0.00124652 -0.12938962] [ 0.00221906 -0.00124219 0.99999677 -0.07836748] [ 0. 0. 0. 1. ]] SLAMing on 3.7157692310000003 meters 0.8014226727901332 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.13, Z:-0.08 [[ 9.99995821e-01 1.82925199e-03 -2.23852886e-03 6.59851626e-02] [-1.82716899e-03 9.99997896e-01 9.32214647e-04 -1.27782662e-01] [ 2.24022941e-03 -9.28120581e-04 9.99997060e-01 -7.86190610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745769231 meters 0.7884951951521904 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.07 [[ 0.9999925 0.00370777 -0.00112301 0.0595161 ] [-0.00370454 0.99998903 0.00286477 -0.12792491] [ 0.00113362 -0.00286059 0.99999527 -0.07423069] [ 0. 0. 0. 1. ]] SLAMing on 3.7757692310000004 meters 0.787655610744336 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.13, Z:-0.07 [[ 0.99999319 0.00351417 -0.00112614 0.05950115] [-0.00351155 0.99999114 0.00232026 -0.125207 ] [ 0.00113428 -0.00231629 0.99999667 -0.07428948] [ 0. 0. 0. 1. ]] SLAMing on 3.805769231 meters 0.7940845807711008 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:-0.07 [[ 0.99999333 0.00345348 -0.00118542 0.05963679] [-0.00345091 0.9999917 0.00216605 -0.12441251] [ 0.00119289 -0.00216195 0.99999695 -0.0741346 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8357692310000004 meters 0.8071830864018338 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:-0.07 [[ 0.99999362 0.003356 -0.00122187 0.05964971] [-0.00335364 0.99999253 0.00192043 -0.12315339] [ 0.00122831 -0.00191632 0.99999741 -0.07386564] [ 0. 0. 0. 1. ]] SLAMing on 3.8657692310000003 meters 0.8044544560226824 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.07 [[ 9.99999354e-01 1.13560019e-03 4.00761130e-05 5.28772760e-02] [-1.13558153e-03 9.99999248e-01 -4.62674125e-04 -1.21412248e-01] [-4.06014957e-05 4.62628316e-04 9.99999892e-01 -6.93963949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.895769231 meters 0.7907885425201712 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.12, Z:-0.06 [[ 0.99999855 -0.00113013 0.00127372 0.04607554] [ 0.00113363 0.99999556 -0.00275725 -0.12077589] [-0.0012706 0.00275869 0.99999539 -0.06484557] [ 0. 0. 0. 1. ]] SLAMing on 3.9257692310000003 meters 0.7615102842607344 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.12, Z:-0.07 [[ 0.99998259 -0.00375293 0.00455312 -0.00139295] [ 0.00377 0.99998588 -0.00374578 -0.12387924] [-0.004539 0.00376288 0.99998262 -0.06546392] [ 0. 0. 0. 1. ]] SLAMing on 3.955769231 meters 0.7835687444027675 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.06 [[ 0.99999536 -0.00251449 0.00171679 0.04537844] [ 0.00251897 0.99999341 -0.00261427 -0.12625876] [-0.00171021 0.00261858 0.99999511 -0.06442268] [ 0. 0. 0. 1. ]] SLAMing on 3.9857692310000004 meters 0.7843814506637106 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.13, Z:-0.06 [[ 0.99999596 -0.00229644 0.00167491 0.04535127] [ 0.00229981 0.99999533 -0.00201507 -0.12914049] [-0.00167028 0.00201891 0.99999657 -0.06405147] [ 0. 0. 0. 1. ]] SLAMing on 4.015769231 meters 0.7892910697764748 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.06 [[ 9.99996715e-01 -6.00987106e-04 2.49159875e-03 4.00754965e-02] [ 6.01099851e-04 9.99999818e-01 -4.45015116e-05 -1.31460575e-01] [-2.49157155e-03 4.59990651e-05 9.99996895e-01 -5.97814037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045769231 meters 0.7624412792960394 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.06 [[ 9.99999477e-01 9.93580989e-04 -2.43131072e-04 1.91616938e-02] [-9.95649487e-04 9.99961998e-01 -8.66090545e-03 -1.28608783e-01] [ 2.34516522e-04 8.66114299e-03 9.99962464e-01 -5.84385955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.075769231000001 meters 0.7373230311424297 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.13, Z:-0.06 [[ 9.99984519e-01 5.55435697e-03 -3.31615819e-04 1.94314723e-02] [-5.55552169e-03 9.99978011e-01 -3.62119817e-03 -1.31931920e-01] [ 3.11495100e-04 3.62298441e-03 9.99993388e-01 -5.84435022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105769231 meters 0.7410633671715192 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.05 [[ 9.99994335e-01 -2.93743167e-04 -3.35301421e-03 3.67188181e-02] [ 2.90825412e-04 9.99999579e-01 -8.70643060e-04 -1.30765000e-01] [ 3.35326855e-03 8.69662987e-04 9.99994000e-01 -5.08796149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.135769231 meters 0.7840469554199233 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.06 [[ 0.99998788 0.0019029 -0.00454063 0.0436335 ] [-0.00189698 0.99999735 0.00130722 -0.13060156] [ 0.00454311 -0.00129859 0.99998884 -0.05569988] [ 0. 0. 0. 1. ]] SLAMing on 4.1657692310000005 meters 0.7334935944259294 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.05 [[ 0.99998679 0.0038763 -0.00337518 0.0369824 ] [-0.00386614 0.99998799 0.00301183 -0.12840112] [ 0.00338682 -0.00299874 0.99998977 -0.05089532] [ 0. 0. 0. 1. ]] SLAMing on 4.195769231 meters 0.7019164776039766 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.13, Z:-0.05 [[ 9.99996497e-01 2.60495725e-03 -4.70058400e-04 -1.12273315e-02] [-2.60393935e-03 9.99994292e-01 2.15324276e-03 -1.27463958e-01] [ 4.75664822e-04 -2.15201121e-03 9.99997571e-01 -5.08444907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.225769231 meters 0.6826692191005849 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.05 [[ 9.99999688e-01 3.28651861e-04 7.18353249e-04 -1.78821967e-02] [-3.28360820e-04 9.99999864e-01 -4.05230601e-04 -1.24872064e-01] [-7.18486332e-04 4.04994595e-04 9.99999660e-01 -4.59863010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.255769231 meters 0.6976560245446501 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:-0.05 [[ 0.99998434 -0.00474339 0.00297085 0.00348712] [ 0.00473087 0.99997997 0.00420471 -0.12299542] [-0.00299073 -0.00419058 0.99998675 -0.0473262 ] [ 0. 0. 0. 1. ]] SLAMing on 4.285769231000001 meters 0.6592247328840629 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.05 [[ 9.99994905e-01 -3.19210994e-03 -1.33717800e-06 -1.71657431e-02] [ 3.19207056e-03 9.99984481e-01 -4.56601220e-03 -1.19499111e-01] [ 1.59123702e-05 4.56598467e-03 9.99989576e-01 -4.58517476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.315769231 meters 0.6806473388917798 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.12, Z:-0.05 [[ 0.99998405 -0.00515925 0.0022977 0.00661353] [ 0.00515204 0.99998182 0.00313435 -0.11816019] [-0.00231383 -0.00312246 0.99999245 -0.04957221] [ 0. 0. 0. 1. ]] SLAMing on 4.345769231 meters 0.6895259897827773 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.12, Z:-0.05 [[ 9.99990055e-01 -9.24118044e-04 4.36303401e-03 2.47967791e-02] [ 9.40193293e-04 9.99992773e-01 -3.68380757e-03 -1.15074820e-01] [-4.35959820e-03 3.68787303e-03 9.99983697e-01 -4.84853492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3757692310000005 meters 0.6696394052500935 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.11, Z:-0.04 [[ 0.99998474 0.00101498 0.00542977 0.0182606 ] [-0.00100588 0.99999809 -0.00167735 -0.1147347 ] [-0.00543146 0.00167187 0.99998385 -0.0434999 ] [ 0. 0. 0. 1. ]] SLAMing on 4.405769231000001 meters 0.652903433079499 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.04 [[ 9.99974370e-01 2.83927732e-03 6.57253692e-03 1.16485038e-02] [-2.83931960e-03 9.99995969e-01 -2.89893413e-06 -1.12544179e-01] [-6.57251866e-03 -1.57626731e-05 9.99978401e-01 -3.85749355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.435769231 meters 0.6258538231170935 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.03 [[ 9.99969624e-01 6.39705438e-04 7.76800402e-03 5.45656800e-03] [-6.19255343e-04 9.99996337e-01 -2.63472603e-03 -1.08204898e-01] [-7.76966101e-03 2.62983562e-03 9.99966358e-01 -3.42737201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465769231 meters 0.5917682303542058 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:-0.03 [[ 0.9999699 0.00126867 -0.00765375 0.0043108 ] [-0.00129335 0.99999398 -0.00322062 -0.10292591] [ 0.00764962 0.00323043 0.99996552 -0.02636176] [ 0. 0. 0. 1. ]] SLAMing on 4.495769231000001 meters 0.5890657314997878 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995561 0.00340527 -0.00878525 0.01107481] [-0.00341562 0.99999349 -0.00116336 -0.10223488] [ 0.00878123 0.00119331 0.99996073 -0.03126299] [ 0. 0. 0. 1. ]] SLAMing on 4.525769231 meters 0.5764610616802167 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995641 0.00319976 -0.00877105 0.01101015] [-0.0032147 0.99999341 -0.00168965 -0.09978457] [ 0.00876558 0.00171777 0.99996011 -0.0312166 ] [ 0. 0. 0. 1. ]] SLAMing on 4.555769231 meters 0.6136511152641949 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995666 0.00315527 -0.00875928 0.0109169 ] [-0.00317121 0.99999334 -0.00180647 -0.09924085] [ 0.00875352 0.00183417 0.99996001 -0.03107002] [ 0. 0. 0. 1. ]] SLAMing on 4.5857692310000004 meters 0.5858506282531922 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995664 0.0031001 -0.00878159 0.01100447] [-0.00311733 0.99999324 -0.00194951 -0.09858448] [ 0.00877549 0.0019768 0.99995954 -0.03113268] [ 0. 0. 0. 1. ]] SLAMing on 4.615769231000001 meters 0.43534392098044333 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995717 0.00291736 -0.00878366 0.01125367] [-0.00293865 0.99999277 -0.00241171 -0.09647232] [ 0.00877656 0.00243742 0.99995851 -0.03170588] [ 0. 0. 0. 1. ]] SLAMing on 4.645769231 meters 0.4332195180799988 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995712 0.00283834 -0.00881444 0.01139586] [-0.00286145 0.9999925 -0.00260963 -0.09555936] [ 0.00880697 0.00263474 0.99995775 -0.03183595] [ 0. 0. 0. 1. ]] SLAMing on 4.675769231 meters 0.4332195180799988 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99995712 0.00283834 -0.00881444 0.01139586] [-0.00286145 0.9999925 -0.00260963 -0.09555936] [ 0.00880697 0.00263474 0.99995775 -0.03183595] [ 0. 0. 0. 1. ]] SLAMing on 4.7057692310000006 meters 0.4643352530170514 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.99995709 0.00276573 -0.00884161 0.01145307] [-0.00279056 0.9999922 -0.00279655 -0.09469687] [ 0.0088338 0.0028211 0.999957 -0.03178677] [ 0. 0. 0. 1. ]] SLAMing on 4.735769231 meters 0.4505614992978593 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.99995747 0.0026933 -0.00882014 0.01148246] [-0.00271967 0.99999187 -0.00297867 -0.09385656] [ 0.00881205 0.00300253 0.99995667 -0.03200716] [ 0. 0. 0. 1. ]] SLAMing on 4.765769231 meters 0.4637768676744748 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.99995778 0.00257444 -0.00882083 0.01151157] [-0.00260339 0.99999126 -0.00327183 -0.09249818] [ 0.00881233 0.00329465 0.99995574 -0.03207732] [ 0. 0. 0. 1. ]] SLAMing on 4.795769231 meters 0.45648426261171265 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.99995821 0.00237817 -0.00882705 0.01144075] [-0.00241168 0.99998992 -0.00378772 -0.09012778] [ 0.00881795 0.00380885 0.99995387 -0.03184924] [ 0. 0. 0. 1. ]] SLAMing on 4.825769231000001 meters 0.4549516701690274 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.99995813 0.00235228 -0.00884349 0.011464 ] [-0.00238642 0.99998973 -0.0038519 -0.089831 ] [ 0.00883434 0.00387284 0.99995348 -0.03179044] [ 0. 0. 0. 1. ]] SLAMing on 4.855769231 meters 0.15334654255949598 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.9999583 0.00237 -0.00881969 0.01142141] [-0.00240366 0.99998986 -0.00380805 -0.09003216] [ 0.00881058 0.00382909 0.99995385 -0.03185101] [ 0. 0. 0. 1. ]] SLAMing on 4.885769231 meters 0.03839972055709653 Centerline is valid? [False, True] Translation: X:0.01, Y:-0.09, Z:-0.03 [[ 0.99995787 0.00242737 -0.00885297 0.01158951] [-0.00245986 0.99999027 -0.00366133 -0.09070862] [ 0.00884399 0.00368295 0.99995411 -0.03203191] [ 0. 0. 0. 1. ]] SLAMing on 4.9157692310000005 meters 0.034019790860754316 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.10, Z:-0.04 [[ 9.99953706e-01 1.93092738e-04 -9.62025621e-03 3.97734913e-02] [-1.93303967e-04 9.99999981e-01 -2.10268167e-05 -9.53394339e-02] [ 9.62025197e-03 2.28854770e-05 9.99953724e-01 -3.70451918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945769231000001 meters 0.03714796712978478 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.10, Z:-0.04 [[ 9.99940450e-01 -3.73661687e-03 -1.02534851e-02 6.84696580e-02] [ 3.73657922e-03 9.99993019e-01 -2.28286164e-05 -1.04828589e-01] [ 1.02534988e-02 -1.54857023e-05 9.99947431e-01 -3.60660465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.975769231 meters 0.03236650106384289 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.11, Z:-0.04 [[ 9.99941208e-01 -4.94396106e-03 -9.65080775e-03 9.64426272e-02] [ 4.94396482e-03 9.99987778e-01 -2.34680319e-05 -1.07188262e-01] [ 9.65080583e-03 -2.42466019e-05 9.99953430e-01 -3.54750949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005769231 meters 0.03295345544457867 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.11, Z:-0.03 [[ 9.99937209e-01 -5.71129514e-03 -9.64157339e-03 1.23938935e-01] [ 5.71132953e-03 9.99983690e-01 -2.39665184e-05 -1.08769133e-01] [ 9.64155302e-03 -3.11011893e-05 9.99953519e-01 -3.49051849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.035769231000001 meters 0.02755043741744186 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.11, Z:-0.03 [[ 9.99944406e-01 -7.29691850e-03 -7.61176238e-03 1.52924057e-01] [ 7.29697506e-03 9.99973377e-01 -2.03420496e-05 -1.10942662e-01] [ 7.61170816e-03 -3.52019215e-05 9.99971030e-01 -3.11807792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065769231 meters 0.02334752357880279 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.11, Z:-0.03 [[ 9.99939486e-01 -8.96478815e-03 -6.37627345e-03 1.80636288e-01] [ 8.96485374e-03 9.99959815e-01 -1.82948685e-05 -1.14431088e-01] [ 6.37618123e-03 -3.88685975e-05 9.99979671e-01 -3.06084597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.095769231 meters 0.023035944671405115 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.12, Z:-0.03 [[ 9.99912271e-01 -1.18993553e-02 -5.81852581e-03 2.08978791e-01] [ 1.18994578e-02 9.99929199e-01 -1.70018826e-05 -1.24015239e-01] [ 5.81831616e-03 -5.22369112e-05 9.99983072e-01 -3.07176060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1257692310000005 meters 0.023193845144833792 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.13, Z:-0.03 [[ 9.99893722e-01 -1.32831090e-02 -6.00870998e-03 2.38047794e-01] [ 1.32832367e-02 9.99911774e-01 -1.86569440e-05 -1.28130028e-01] [ 6.00842768e-03 -6.11601556e-05 9.99981947e-01 -3.17902637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.155769231000001 meters 0.022724770055352384 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.13, Z:-0.03 [[ 9.99882431e-01 -1.40765032e-02 -6.08074882e-03 2.65967752e-01] [ 1.40766479e-02 9.99900919e-01 -1.89989511e-05 -1.31642507e-01] [ 6.08041377e-03 -6.65998428e-05 9.99981512e-01 -3.32060369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185769231 meters 0.026705288946706703 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.14, Z:-0.03 [[ 9.99863502e-01 -1.47570425e-02 -7.43013501e-03 2.94165356e-01] [ 1.47572725e-02 9.99891105e-01 -2.38735721e-05 -1.37584831e-01] [ 7.42967821e-03 -8.57782134e-05 9.99972396e-01 -3.35802327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.215769231 meters 0.02278860525686237 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.14, Z:-0.03 [[ 9.99881450e-01 -1.41010236e-02 -6.18438751e-03 3.21788749e-01] [ 1.41011685e-02 9.99900573e-01 -2.01802068e-05 -1.39089207e-01] [ 6.18405717e-03 -6.70292756e-05 9.99980876e-01 -3.45244023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245769231000001 meters 0.020878074368226553 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.14, Z:-0.03 [[ 9.99913671e-01 -1.22971143e-02 -4.62935115e-03 3.50704692e-01] [ 1.22971716e-02 9.99924387e-01 -1.60848569e-05 -1.37594346e-01] [ 4.62919890e-03 -4.08444574e-05 9.99989284e-01 -2.92825611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.275769231 meters 0.018501244970694285 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.13, Z:-0.03 [[ 9.99943311e-01 -1.01553960e-02 -3.20044947e-03 3.79811975e-01] [ 1.01554105e-02 9.99948432e-01 -1.17264872e-05 -1.34408772e-01] [ 3.20040352e-03 -2.07760558e-05 9.99994878e-01 -2.76808666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305769231 meters 0.015112787494391286 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.13, Z:-0.02 [[ 9.99987389e-01 -4.99700735e-03 -5.02672746e-04 4.08915448e-01] [ 4.99700688e-03 9.99987515e-01 -2.20768156e-06 -1.25871748e-01] [ 5.02677502e-04 -3.04205450e-07 9.99999874e-01 -2.47086198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3357692310000004 meters 0.015262005819292825 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.12, Z:-0.03 [[ 9.99995593e-01 -2.88412625e-03 -7.03621829e-04 4.38342603e-01] [ 2.88412510e-03 9.99995841e-01 -2.64698761e-06 -1.21670702e-01] [ 7.03626537e-04 6.17642566e-07 9.99999752e-01 -2.57575215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365769231000001 meters 0.015140004445993355 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.12, Z:-0.03 [[ 9.99999119e-01 -9.56988848e-04 -9.19665829e-04 4.68035460e-01] [ 9.56986036e-04 9.99999542e-01 -3.49716710e-06 -1.17528752e-01] [ 9.19668754e-04 2.61705666e-06 9.99999577e-01 -2.73395997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.395769231 meters 0.017149222394724876 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.11, Z:-0.03 [[ 9.99990973e-01 2.85989688e-03 -3.14249810e-03 4.97486010e-01] [-2.85994822e-03 9.99995910e-01 -1.18440331e-05 -1.09178915e-01] [ 3.14245138e-03 2.08313080e-05 9.99995062e-01 -3.15430104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425769231 meters 0.01808550710345132 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.11, Z:-0.03 [[ 9.99982255e-01 4.47622971e-03 -3.93098278e-03 5.27027508e-01] [-4.47632295e-03 9.99989981e-01 -1.49211621e-05 -1.05229102e-01] [ 3.93087661e-03 3.25172458e-05 9.99992274e-01 -3.25281014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4557692310000006 meters 0.02062459396374577 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.09, Z:-0.03 [[ 9.99960227e-01 8.64132252e-03 -2.20735975e-03 5.55767040e-01] [-8.64136356e-03 9.99962663e-01 -9.05523246e-06 -9.44234204e-02] [ 2.20719909e-03 2.81294704e-05 9.99997564e-01 -2.82787908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485769231000001 meters 0.023470991997060126 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.09, Z:-0.03 [[ 9.99931710e-01 1.16682910e-02 -6.53161136e-04 5.85000285e-01] [-1.16682952e-02 9.99931923e-01 -2.60889479e-06 -8.59269588e-02] [ 6.53086229e-04 1.02299936e-05 9.99999787e-01 -2.64067016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.515769231 meters 0.02605672041373748 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.08, Z:-0.02 [[ 9.99894415e-01 1.45172954e-02 6.38589746e-04 6.15590010e-01] [-1.45173000e-02 9.99894618e-01 2.52662730e-06 -7.85308676e-02] [-6.38485771e-04 -1.17969594e-05 9.99999796e-01 -2.46520775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545769231 meters 0.031099519471843542 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.07, Z:-0.03 [[ 9.99821158e-01 1.89087914e-02 3.31061480e-04 6.45530100e-01] [-1.89087929e-02 9.99821213e-01 1.40997125e-06 -6.60416462e-02] [-3.30975629e-04 -7.66969204e-06 9.99999945e-01 -2.50375600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.575769231000001 meters 0.03228328789155761 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:-0.03 [[ 9.99799216e-01 2.00323427e-02 -4.82052204e-04 6.76407100e-01] [-2.00323460e-02 9.99799332e-01 -1.88072163e-06 -6.09498754e-02] [ 4.81917797e-04 1.15369805e-05 9.99999884e-01 -2.65324297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605769231 meters 0.03388875417995613 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.05, Z:-0.03 [[ 9.99778108e-01 2.09867372e-02 -1.81420003e-03 7.06100386e-01] [-2.09867846e-02 9.99779753e-01 -7.12251124e-06 -5.34496967e-02] [ 1.81365098e-03 4.51951561e-05 9.99998354e-01 -2.96324059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635769231 meters 0.03470407929463739 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.05, Z:-0.03 [[ 9.99769756e-01 2.13079879e-02 -2.53088776e-03 7.35604736e-01] [-2.13080813e-02 9.99772957e-01 -9.95468586e-06 -5.04696219e-02] [ 2.53010102e-03 6.38807558e-05 9.99996797e-01 -3.02926845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6657692310000005 meters 0.03511461776299542 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.05, Z:-0.03 [[ 9.99763582e-01 2.15855949e-02 -2.61568639e-03 7.64954705e-01] [-2.15856959e-02 9.99767002e-01 -1.03691601e-05 -4.80827104e-02] [ 2.61485312e-03 6.68281196e-05 9.99996579e-01 -3.08724699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.695769231000001 meters 0.035169543693233545 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:-0.03 [[ 9.99766983e-01 2.15005152e-02 -1.92566670e-03 7.94530066e-01] [-2.15005698e-02 9.99768836e-01 -7.68859030e-06 -4.48204225e-02] [ 1.92505625e-03 4.90897302e-05 9.99998146e-01 -2.99121318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725769231 meters 0.037769206182002545 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.04, Z:-0.03 [[ 9.99777405e-01 2.10904406e-02 -5.77658099e-04 8.24209023e-01] [-2.10904454e-02 9.99777572e-01 -2.32218876e-06 -3.51463736e-02] [ 5.77480636e-04 1.45047385e-05 9.99999833e-01 -2.70512390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.755769231 meters 0.033480073647468696 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.04, Z:-0.03 [[ 9.99807594e-01 1.96126654e-02 3.45053108e-04 8.55017341e-01] [-1.96126670e-02 9.99807653e-01 1.37299328e-06 -3.60408986e-02] [-3.44959811e-04 -8.14014082e-06 9.99999940e-01 -2.65648577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785769231000001 meters 0.032821476748294595 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.03, Z:-0.03 [[ 9.99821557e-01 1.88844487e-02 -4.81055255e-04 8.85191664e-01] [-1.88844518e-02 9.99821673e-01 -1.91415645e-06 -3.48598614e-02] [ 4.80933322e-04 1.09982796e-05 9.99999884e-01 -2.85186753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.815769231 meters 0.03177705932994933 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.03, Z:-0.03 [[ 9.99841118e-01 1.77727528e-02 -1.36666304e-03 9.14487570e-01] [-1.77727768e-02 9.99842052e-01 -5.38160943e-06 -3.45234526e-02] [ 1.36635153e-03 2.96701515e-05 9.99999066e-01 -3.08977228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845769231 meters 0.03043438578595597 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.03, Z:-0.03 [[ 9.99865318e-01 1.62259170e-02 -2.46298478e-03 9.44653649e-01] [-1.62259902e-02 9.99868350e-01 -9.76085401e-06 -3.47755137e-02] [ 2.46250215e-03 4.97239063e-05 9.99996967e-01 -3.38428411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8757692310000005 meters 0.026797527144493082 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.04, Z:-0.04 [[ 9.99912826e-01 1.28953399e-02 -2.83734125e-03 9.73921762e-01] [-1.28954239e-02 9.99916851e-01 -1.12984841e-05 -3.79224848e-02] [ 2.83695962e-03 4.78862172e-05 9.99995975e-01 -3.53632553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905769231000001 meters 0.023940366961031422 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.04, Z:-0.04 [[ 9.99943143e-01 1.00933407e-02 -3.44022531e-03 1.00304893e+00] [-1.00934477e-02 9.99949060e-01 -1.37310578e-05 -4.07412324e-02] [ 3.43991147e-03 4.84540113e-05 9.99994082e-01 -3.60449172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.935769231 meters 0.022982319512188085 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.04, Z:-0.04 [[ 9.99949307e-01 9.17660711e-03 -4.14395605e-03 1.03278417e+00] [-9.17675489e-03 9.99957893e-01 -1.66468744e-05 -4.11888417e-02] [ 4.14362880e-03 5.46740994e-05 9.99991414e-01 -3.69489598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965769231 meters 0.021384428265755602 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.04, Z:-0.04 [[ 9.99952015e-01 8.82188166e-03 -4.25935637e-03 1.06267793e+00] [-8.82203498e-03 9.99961085e-01 -1.72080732e-05 -4.26215636e-02] [ 4.25903881e-03 5.47834384e-05 9.99990929e-01 -3.64556655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.995769231000001 meters 0.023077781841096157 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.04, Z:-0.03 [[ 9.99952743e-01 9.30956159e-03 -2.80054843e-03 1.09097017e+00] [-9.30963047e-03 9.99956664e-01 -1.15615655e-05 -3.66529867e-02] [ 2.80031943e-03 3.76330901e-05 9.99996078e-01 -3.39188849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025769231000001 meters 0.020765041280485525 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.04, Z:-0.03 [[ 9.99949375e-01 9.92122162e-03 -1.67850280e-03 1.12042891e+00] [-9.92124726e-03 9.99950783e-01 -6.94892823e-06 -3.83761525e-02] [ 1.67835124e-03 2.36014177e-05 9.99998591e-01 -3.11276423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.055769231 meters 0.022478461424179284 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.03, Z:-0.03 [[ 9.99937215e-01 1.10564375e-02 -1.82227184e-03 1.15017473e+00] [-1.10564696e-02 9.99938875e-01 -7.53548303e-06 -3.19002724e-02] [ 1.82207714e-03 2.76829032e-05 9.99998340e-01 -3.26962320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0857692310000004 meters 0.0217437063763618 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.03, Z:-0.03 [[ 9.99931464e-01 1.14348817e-02 -2.51221850e-03 1.18016434e+00] [-1.14349440e-02 9.99934619e-01 -1.04668437e-05 -3.11422979e-02] [ 2.51193456e-03 3.91932044e-05 9.99996844e-01 -3.36735830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.115769231000001 meters 0.023677993158201436 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.03, Z:-0.04 [[ 9.99934042e-01 1.10620573e-02 -3.08912777e-03 1.20907086e+00] [-1.10621502e-02 9.99938812e-01 -1.29966016e-05 -2.63753103e-02] [ 3.08879498e-03 4.71681397e-05 9.99995229e-01 -3.54134271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145769231 meters 0.02002202455039878 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.03, Z:-0.03 [[ 9.99961492e-01 8.67485636e-03 -1.32713102e-03 1.23895718e+00] [-8.67487147e-03 9.99962373e-01 -5.63273116e-06 -2.93320984e-02] [ 1.32703222e-03 1.71452053e-05 9.99999119e-01 -3.13947560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.175769231 meters 0.01916003585936683 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.03, Z:-0.03 [[ 9.99970781e-01 7.58179610e-03 -9.76226795e-04 1.26888160e+00] [-7.58180380e-03 9.99971258e-01 -4.18004833e-06 -2.98203308e-02] [ 9.76167044e-04 1.15814862e-05 9.99999523e-01 -3.04038780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2057692310000006 meters 0.02058870729127347 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.02, Z:-0.03 [[ 9.99979733e-01 6.14532674e-03 -1.66387109e-03 1.29827827e+00] [-6.14534703e-03 9.99981117e-01 -7.08246869e-06 -2.41888761e-02] [ 1.66379615e-03 1.73073904e-05 9.99998616e-01 -3.26465788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.235769231000001 meters 0.017608543173260296 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.03, Z:-0.03 [[ 9.99983157e-01 5.66369818e-03 -1.26850503e-03 1.32823574e+00] [-5.66370966e-03 9.99983961e-01 -5.46313093e-06 -2.67732932e-02] [ 1.26845375e-03 1.26474831e-05 9.99999195e-01 -3.03031419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265769231 meters 0.01817077530178709 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.02, Z:-0.03 [[ 9.99981989e-01 5.98088036e-03 -5.01448646e-04 1.35774027e+00] [-5.98088220e-03 9.99982114e-01 -2.17098414e-06 -2.34706503e-02] [ 5.01426693e-04 5.17005032e-06 9.99999874e-01 -2.91068536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.295769231 meters 0.02092302148527273 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.02, Z:-0.03 [[ 9.99955034e-01 9.48181821e-03 -1.56920457e-04 1.38858462e+00] [-9.48181843e-03 9.99955047e-01 -6.71258200e-07 -1.50264491e-02] [ 1.56907038e-04 2.15911929e-06 9.99999988e-01 -2.87578888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325769231000001 meters 0.023055863159027776 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.01, Z:-0.03 [[ 9.99931675e-01 1.16197913e-02 -1.27495781e-03 1.41908106e+00] [-1.16198077e-02 9.99932488e-01 -5.45388347e-06 -9.45224091e-03] [ 1.27480836e-03 2.02682755e-05 9.99999187e-01 -3.08858325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.355769231 meters 0.026398684053417547 Centerline is valid? [True, True] Translation: X:1.45, Y:0.00, Z:-0.03 [[ 9.99879954e-01 1.51930875e-02 -3.04109353e-03 1.44827349e+00] [-1.51931979e-02 9.99884577e-01 -1.31929411e-05 2.08949515e-03] [ 3.04054208e-03 5.93952932e-05 9.99995376e-01 -3.47455333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385769231 meters 0.027502908036763064 Centerline is valid? [True, True] Translation: X:1.48, Y:0.01, Z:-0.03 [[ 9.99860608e-01 1.63886498e-02 -3.19000296e-03 1.47754888e+00] [-1.63887775e-02 9.99865695e-01 -1.38848959e-05 7.67181813e-03] [ 3.18934698e-03 6.61632092e-05 9.99994912e-01 -3.46545935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4157692310000005 meters 0.027741458757017046 Centerline is valid? [True, True] Translation: X:1.51, Y:0.01, Z:-0.03 [[ 9.99845057e-01 1.74176781e-02 -2.54678473e-03 1.50615042e+00] [-1.74177632e-02 9.99848299e-01 -1.12702114e-05 1.16466189e-02] [ 2.54620208e-03 5.56277586e-05 9.99996757e-01 -3.26764152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445769231000001 meters 0.031474601001250116 Centerline is valid? [True, True] Translation: X:1.54, Y:0.02, Z:-0.03 [[ 9.99837806e-01 1.80099987e-02 -2.92548030e-05 1.53519875e+00] [-1.80099987e-02 9.99837807e-01 -2.06479589e-07 2.36791571e-02] [ 2.92463394e-05 7.33325065e-07 1.00000000e+00 -2.87130694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475769231 meters 0.03554926705462127 Centerline is valid? [True, True] Translation: X:1.56, Y:0.04, Z:-0.03 [[ 9.99864122e-01 1.64687442e-02 -7.20200332e-04 1.56428386e+00] [-1.64687508e-02 9.99864381e-01 -3.21563699e-06 3.63245179e-02] [ 7.20049702e-04 1.50759999e-05 9.99999741e-01 -3.20391057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505769231 meters 0.025794110890551267 Centerline is valid? [True, True] Translation: X:1.59, Y:0.03, Z:-0.03 [[ 9.99898990e-01 1.40996236e-02 -1.79162801e-03 1.59397269e+00] [-1.40996607e-02 9.99900595e-01 -8.03222258e-06 2.52007336e-02] [ 1.79133666e-03 3.32927582e-05 9.99998395e-01 -3.41331456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.535769231000001 meters 0.022463107964471356 Centerline is valid? [True, True] Translation: X:1.62, Y:0.02, Z:-0.04 [[ 9.99941467e-01 1.04903358e-02 -2.64875157e-03 1.62328485e+00] [-1.04904041e-02 9.99944974e-01 -1.19129427e-05 2.13913035e-02] [ 2.64848085e-03 3.96987198e-05 9.99996492e-01 -3.66812468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565769231000001 meters 0.014944998009426606 Centerline is valid? [True, True] Translation: X:1.65, Y:0.01, Z:-0.03 [[ 9.99999106e-01 9.86820604e-04 -9.01876156e-04 1.65350146e+00] [-9.86824703e-04 9.99999513e-01 -4.09982350e-06 8.06482129e-03] [ 9.01871671e-04 4.98981351e-06 9.99999593e-01 -3.38007903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.595769231 meters 0.014944998009426606 Centerline is valid? [True, True] Translation: X:1.68, Y:0.01, Z:-0.03 [[ 9.99999106e-01 9.86820512e-04 -9.01876348e-04 1.68350168e+00] [-9.86824572e-04 9.99999513e-01 -4.05707207e-06 8.19975669e-03] [ 9.01871905e-04 4.94706218e-06 9.99999593e-01 -3.38652440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6257692310000005 meters 0.013762475598947043 Centerline is valid? [True, True] Translation: X:1.71, Y:0.00, Z:-0.03 [[ 9.99995282e-01 -3.06754034e-03 -1.64798019e-04 1.71281916e+00] [ 3.06754025e-03 9.99995295e-01 -7.69209610e-07 4.59846203e-03] [ 1.64799603e-04 2.63681424e-07 9.99999986e-01 -3.18420494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.655769231000001 meters 0.014543816492864447 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.00, Z:-0.03 [[ 9.99956260e-01 -9.23455549e-03 -1.48366213e-03 1.74331702e+00] [ 9.23455572e-03 9.99957361e-01 -6.69209898e-06 -3.02999608e-04] [ 1.48366067e-03 -7.00915435e-06 9.99998899e-01 -3.38704888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685769231 meters 0.016088074648976155 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.00, Z:-0.04 [[ 9.99924686e-01 -1.18510856e-02 -3.18983707e-03 1.77265289e+00] [ 1.18510998e-02 9.99929773e-01 -1.44513853e-05 -3.62569226e-03] [ 3.18978433e-03 -2.33527806e-05 9.99994912e-01 -3.75117810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.715769231 meters 0.01770644481630897 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.01, Z:-0.04 [[ 9.99889356e-01 -1.44064915e-02 -3.70532353e-03 1.80263961e+00] [ 1.44065278e-02 9.99896220e-01 -1.68959375e-05 -7.56310243e-03] [ 3.70518240e-03 -3.64867781e-05 9.99993135e-01 -3.88683346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745769231000001 meters 0.02241712280433553 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.02, Z:-0.04 [[ 9.99806827e-01 -1.94924355e-02 -2.52047647e-03 1.83079143e+00] [ 1.94924679e-02 9.99810004e-01 -1.16784832e-05 -1.91947776e-02] [ 2.52022523e-03 -3.74540795e-05 9.99996824e-01 -3.78514661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775769231000001 meters 0.023819060988491472 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.02, Z:-0.04 [[ 9.99753445e-01 -2.21435729e-02 -1.64656353e-03 1.85992774e+00] [ 2.21435902e-02 9.99754801e-01 -7.69612600e-06 -2.37980542e-02] [ 1.64633021e-03 -2.87665996e-05 9.99998644e-01 -3.52107279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805769231 meters 0.029071324997694607 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.04, Z:-0.04 [[ 9.99622253e-01 -2.74475312e-02 -1.40887135e-03 1.88970181e+00] [ 2.74475492e-02 9.99623245e-01 -6.56202605e-06 -3.90141954e-02] [ 1.40852066e-03 -3.21105183e-05 9.99999008e-01 -3.52063829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8357692310000004 meters 0.0338154307404058 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.05, Z:-0.04 [[ 9.99540119e-01 -3.02542622e-02 -2.05684579e-03 1.91866887e+00] [ 3.02543062e-02 9.99542234e-01 -9.68856341e-06 -5.02698643e-02] [ 2.05619735e-03 -5.25443345e-05 9.99997885e-01 -3.69193238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865769231000001 meters 0.034485137810835245 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.06, Z:-0.04 [[ 9.99460456e-01 -3.27616164e-02 -2.33945047e-03 1.94783025e+00] [ 3.27616801e-02 9.99463192e-01 -1.10902912e-05 -5.55729738e-02] [ 2.33855797e-03 -6.55600204e-05 9.99997263e-01 -3.71125309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.895769231 meters 0.03877980486347394 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.07, Z:-0.04 [[ 9.99409400e-01 -3.42768437e-02 -2.43916100e-03 1.97594514e+00] [ 3.42769167e-02 9.99412374e-01 -1.18871998e-05 -6.50372262e-02] [ 2.43813514e-03 -7.17267394e-05 9.99997025e-01 -3.74463290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925769231 meters 0.035670621121043446 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.07, Z:-0.04 [[ 9.99436132e-01 -3.33802118e-02 -3.63046279e-03 2.00491460e+00] [ 3.33803653e-02 9.99442720e-01 -1.83335615e-05 -6.77736292e-02] [ 3.62905158e-03 -1.02862950e-04 9.99993410e-01 -3.80900701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9557692310000006 meters 0.02903779888479634 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.07, Z:-0.04 [[ 9.99591120e-01 -2.82381552e-02 -4.49446185e-03 2.03502320e+00] [ 2.82383400e-02 9.99601218e-01 -2.23507553e-05 -6.68370930e-02] [ 4.49330069e-03 -1.04574525e-04 9.99989900e-01 -3.87064230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985769231000001 meters 0.028141252616415428 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.07, Z:-0.04 [[ 9.99668478e-01 -2.54335487e-02 -4.00868870e-03 2.06304802e+00] [ 2.54336719e-02 9.99676512e-01 -2.02722845e-05 -6.84806282e-02] [ 4.00790754e-03 -8.16901092e-05 9.99991965e-01 -3.84553053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.015769231 meters 0.025966002418186643 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.07, Z:-0.04 [[ 9.99726067e-01 -2.31795333e-02 -3.24052780e-03 2.09157990e+00] [ 2.31796015e-02 9.99731317e-01 -1.65277357e-05 -6.78147754e-02] [ 3.24004023e-03 -5.85909348e-05 9.99994749e-01 -3.76153074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045769231 meters 0.024397302213243235 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.07, Z:-0.04 [[ 9.99761781e-01 -2.15033307e-02 -3.74006647e-03 2.12098135e+00] [ 2.15034070e-02 9.99768775e-01 -1.98202109e-05 -7.21702909e-02] [ 3.73962788e-03 -6.06086822e-05 9.99993006e-01 -3.82078877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.075769231000001 meters 0.02422980707141033 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.08, Z:-0.04 [[ 9.99764659e-01 -2.12399150e-02 -4.41503564e-03 2.14930200e+00] [ 2.12400151e-02 9.99774405e-01 -2.42039348e-05 -7.57148179e-02] [ 4.41455372e-03 -6.95771853e-05 9.99990253e-01 -3.94015193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105769231000001 meters 0.02129726609696278 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.08, Z:-0.04 [[ 9.99750555e-01 -2.20330755e-02 -3.65670032e-03 2.17732753e+00] [ 2.20331464e-02 9.99757241e-01 -2.08936790e-05 -7.76411681e-02] [ 3.65627297e-03 -5.96801465e-05 9.99993314e-01 -3.70203217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.135769231 meters 0.02484851706691611 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.09, Z:-0.04 [[ 9.99753865e-01 -2.21015161e-02 -1.93197486e-03 2.20531451e+00] [ 2.21015359e-02 9.99755731e-01 -1.10644452e-05 -8.69188186e-02] [ 1.93174748e-03 -3.16378899e-05 9.99998134e-01 -3.58073873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1657692310000005 meters 0.02222397924089427 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.09, Z:-0.03 [[ 9.99750623e-01 -2.23308423e-02 -1.60292040e-04 2.23380172e+00] [ 2.23308424e-02 9.99750636e-01 -1.29379375e-06 -8.67383835e-02] [ 1.60280961e-04 -2.28598519e-06 9.99999987e-01 -3.18566477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.195769231000001 meters 0.021095298523722023 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.09, Z:-0.03 [[ 9.99802988e-01 -1.98483640e-02 1.63798891e-04 2.26284824e+00] [ 1.98483641e-02 9.99803002e-01 8.83480437e-07 -9.19537258e-02] [-1.63784158e-04 2.36783364e-06 9.99999987e-01 -3.06260606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225769231 meters 0.017554037793718953 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.09, Z:-0.03 [[ 9.99860818e-01 -1.66571716e-02 -9.39395944e-04 2.29259834e+00] [ 1.66571737e-02 9.99861260e-01 -5.58088657e-06 -8.65013009e-02] [ 9.39358573e-04 -1.00675716e-05 9.99999559e-01 -3.23399854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.255769231 meters 0.014107581811432438 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.08, Z:-0.04 [[ 9.99964807e-01 -7.34817070e-03 -4.04823864e-03 2.32013578e+00] [ 7.34813020e-03 9.99973002e-01 -2.48789764e-05 -7.53481400e-02] [ 4.04831216e-03 -4.86888377e-06 9.99991806e-01 -3.99724797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285769231000001 meters 0.014669841657970233 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.07, Z:-0.04 [[ 9.99987616e-01 -2.34173855e-03 -4.39141979e-03 2.34935436e+00] [ 2.34163960e-03 9.99997258e-01 -2.76736380e-05 -6.80929761e-02] [ 4.39147255e-03 1.73901728e-05 9.99990357e-01 -3.89808346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315769231000001 meters 0.018454259397955787 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.06, Z:-0.04 [[ 9.99990305e-01 2.63357589e-03 -3.52918849e-03 2.37700818e+00] [-2.63367095e-03 9.99996532e-01 -2.22874278e-05 -5.88762889e-02] [ 3.52911755e-03 3.15819329e-05 9.99993772e-01 -3.95070563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345769231 meters 0.023423548281848644 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.05, Z:-0.04 [[ 9.99932072e-01 1.14283974e-02 -2.28991950e-03 2.40734411e+00] [-1.14284603e-02 9.99934693e-01 -1.43794921e-05 -4.86993585e-02] [ 2.28960562e-03 4.05487694e-05 9.99997378e-01 -3.52719767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3757692310000005 meters 0.02583277606092434 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.04, Z:-0.04 [[ 9.99888866e-01 1.44761296e-02 -3.56329306e-03 2.43680644e+00] [-1.44763017e-02 9.99895213e-01 -2.25146503e-05 -4.32406670e-02] [ 3.56259374e-03 7.40954537e-05 9.99993651e-01 -3.72676818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405769231000001 meters 0.03138778716762935 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.03, Z:-0.04 [[ 9.99804666e-01 1.85232922e-02 -6.89333730e-03 2.46591995e+00] [-1.85240333e-02 9.99828414e-01 -4.36734330e-05 -3.25751597e-02] [ 6.89134552e-03 1.71357312e-04 9.99976240e-01 -4.32791456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.435769231 meters 0.030458367132899403 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.03, Z:-0.04 [[ 9.99790882e-01 1.91156529e-02 -7.26529836e-03 2.49463293e+00] [-1.91164947e-02 9.99817262e-01 -4.64336021e-05 -3.15573160e-02] [ 7.26308311e-03 1.85310930e-04 9.99973606e-01 -4.27979212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465769231 meters 0.03246085072998088 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.03, Z:-0.04 [[ 9.99787309e-01 1.96014203e-02 -6.41253663e-03 2.52282868e+00] [-1.96020888e-02 9.99807860e-01 -4.14080058e-05 -2.52332591e-02] [ 6.41049286e-03 1.67098311e-04 9.99979439e-01 -4.18943687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.495769231000001 meters 0.03122396955621306 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.02, Z:-0.04 [[ 9.99798065e-01 1.98374776e-02 -3.20978856e-03 2.55171498e+00] [-1.98376470e-02 9.99803214e-01 -2.09201962e-05 -1.86344316e-02] [ 3.20874192e-03 8.45906241e-05 9.99994848e-01 -3.65096929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525769231000001 meters 0.033089266269560436 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.01, Z:-0.03 [[ 9.99801802e-01 1.98350190e-02 -1.71118500e-03 2.57996017e+00] [-1.98350672e-02 9.99803266e-01 -1.11918146e-05 -1.27920033e-02] [ 1.71062636e-03 4.51310660e-05 9.99998536e-01 -3.45787000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.555769231 meters 0.029804247036576872 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.01, Z:-0.03 [[ 9.99837842e-01 1.79833146e-02 -9.43737315e-04 2.60939784e+00] [-1.79833285e-02 9.99838287e-01 -6.21721226e-06 -1.22489539e-02] [ 9.43472894e-04 2.31877422e-05 9.99999555e-01 -3.34153634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5857692310000004 meters 0.02826877999853914 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.01, Z:-0.04 [[ 9.99873077e-01 1.58300871e-02 -1.79928531e-03 2.63888818e+00] [-1.58301337e-02 9.99874696e-01 -1.16575676e-05 -1.11662133e-02] [ 1.79887532e-03 4.01390151e-05 9.99998381e-01 -3.51741649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.615769231000001 meters 0.025964339679107398 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.01, Z:-0.04 [[ 9.99904026e-01 1.34998175e-02 -3.11360046e-03 2.66898339e+00] [-1.34999460e-02 9.99908871e-01 -2.02655198e-05 -1.09235675e-02] [ 3.11304314e-03 6.22970130e-05 9.99995153e-01 -3.74376245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645769231000001 meters 0.026165534375898997 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.01, Z:-0.04 [[ 9.99955408e-01 8.38746912e-03 -4.33972642e-03 2.69798624e+00] [-8.38767135e-03 9.99964822e-01 -2.84003175e-05 -5.23280587e-03] [ 4.33933555e-03 6.47992500e-05 9.99990583e-01 -4.25054545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.675769231 meters 0.017042771619445316 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.02, Z:-0.03 [[ 9.99995529e-01 2.42307064e-03 -1.75234241e-03 2.72786531e+00] [-2.42309458e-03 9.99997064e-01 -1.15378379e-05 -1.60090041e-02] [ 1.75230931e-03 1.57838777e-05 9.99998465e-01 -3.48892494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7057692310000006 meters 0.014766029426252958 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.02, Z:-0.03 [[ 9.99999228e-01 -7.65054962e-04 -9.79239751e-04 2.75739248e+00] [ 7.65048970e-04 9.99999707e-01 -6.49375052e-06 -1.89911855e-02] [ 9.79244433e-04 5.74457915e-06 9.99999521e-01 -3.25354426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.735769231000001 meters 0.013446374371531747 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.02, Z:-0.03 [[ 9.99990750e-01 -4.23657357e-03 -7.42592416e-04 2.78753095e+00] [ 4.23657108e-03 9.99991026e-01 -4.91992958e-06 -2.17948311e-02] [ 7.42606595e-04 1.77383852e-06 9.99999724e-01 -3.23395440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765769231 meters 0.014447650019082764 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.03, Z:-0.04 [[ 9.99932219e-01 -1.15064164e-02 -1.77775537e-03 2.81676748e+00] [ 1.15064137e-02 9.99933799e-01 -1.17635521e-05 -3.02206720e-02] [ 1.77777303e-03 -8.69283391e-06 9.99998420e-01 -3.55240383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.795769231 meters 0.016358951182572284 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.03, Z:-0.04 [[ 9.99889494e-01 -1.46676711e-02 -2.42068517e-03 2.84610223e+00] [ 1.46676751e-02 9.99892424e-01 -1.60894396e-05 -3.48221633e-02] [ 2.42066076e-03 -1.94181621e-05 9.99997070e-01 -3.69183107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825769231000001 meters 0.018798918984862047 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.04, Z:-0.04 [[ 9.99838295e-01 -1.77549447e-02 -2.85410683e-03 2.87477119e+00] [ 1.77549625e-02 9.99842368e-01 -1.90845436e-05 -3.82415835e-02] [ 2.85399577e-03 -3.15931022e-05 9.99995927e-01 -3.64322565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855769231000001 meters 0.01853281392215752 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.04, Z:-0.04 [[ 9.99830226e-01 -1.82378738e-02 -2.62667824e-03 2.90368984e+00] [ 1.82378887e-02 9.99833676e-01 -1.82820757e-05 -3.65398681e-02] [ 2.62657478e-03 -2.96260935e-05 9.99996550e-01 -3.51799372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885769231 meters 0.01907002193802261 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.04, Z:-0.04 [[ 9.99831441e-01 -1.82241039e-02 -2.22963917e-03 2.93253528e+00] [ 1.82241149e-02 9.99833927e-01 -1.53716068e-05 -3.63762257e-02] [ 2.22954902e-03 -2.52641846e-05 9.99997514e-01 -3.51029203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9157692310000005 meters 0.01919246698321053 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.03, Z:-0.04 [[ 9.99831441e-01 -1.82160502e-02 -2.29438311e-03 2.96111879e+00] [ 1.82160617e-02 9.99834074e-01 -1.58916299e-05 -3.41502106e-02] [ 2.29429189e-03 -2.59056730e-05 9.99997368e-01 -3.57400044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945769231000001 meters 0.018171399986857267 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.03, Z:-0.04 [[ 9.99843042e-01 -1.74766875e-02 -2.90791660e-03 2.99061908e+00] [ 1.74767028e-02 9.99847271e-01 -2.01658710e-05 -3.11390835e-02] [ 2.90782491e-03 -3.06580884e-05 9.99995772e-01 -3.67464735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975769231000001 meters 0.017374008217927773 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.03, Z:-0.04 [[ 9.99870026e-01 -1.58493832e-02 -2.95424504e-03 3.01884479e+00] [ 1.58493915e-02 9.99874390e-01 -2.06138689e-05 -2.82537710e-02] [ 2.95420068e-03 -2.62117966e-05 9.99995636e-01 -3.82983747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005769231 meters 0.017972998501478554 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.03, Z:-0.04 [[ 9.99859711e-01 -1.65014013e-02 -2.87441774e-03 3.04793688e+00] [ 1.65014115e-02 9.99863842e-01 -2.01525320e-05 -2.86960030e-02] [ 2.87435891e-03 -2.72822452e-05 9.99995869e-01 -3.84649472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035769231 meters 0.019161831315818986 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.03, Z:-0.04 [[ 9.99833151e-01 -1.79717087e-02 -3.26916472e-03 3.07684618e+00] [ 1.79717274e-02 9.99838495e-01 -2.36802406e-05 -3.10068412e-02] [ 3.26906231e-03 -3.50762475e-05 9.99994656e-01 -3.93939065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065769231 meters 0.024031683155450515 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.04, Z:-0.04 [[ 9.99729506e-01 -2.28378870e-02 -4.39843282e-03 3.10626905e+00] [ 2.28379683e-02 9.99739179e-01 -3.17494637e-05 -4.10931491e-02] [ 4.39801070e-03 -6.87103934e-05 9.99990326e-01 -4.19945790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.095769231 meters 0.025419188616050848 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.04, Z:-0.04 [[ 9.99667405e-01 -2.53952985e-02 -4.48973454e-03 3.13542024e+00] [ 2.53954047e-02 9.99677484e-01 -3.33568501e-05 -4.39451998e-02] [ 4.48913363e-03 -8.06728698e-05 9.99989921e-01 -4.15082751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125769231000001 meters 0.02556743513610501 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.05, Z:-0.04 [[ 9.99611935e-01 -2.77404617e-02 -2.53895779e-03 3.16370268e+00] [ 2.77405030e-02 9.99615158e-01 -1.89494948e-05 -4.55987671e-02] [ 2.53850636e-03 -5.14898250e-05 9.99996777e-01 -3.69240211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155769231 meters 0.0279740634039648 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.05, Z:-0.04 [[ 9.99609560e-01 -2.79111126e-02 -1.30295867e-03 3.19151783e+00] [ 2.79111235e-02 9.99610409e-01 -9.86407130e-06 -5.02909954e-02] [ 1.30272637e-03 -2.65068204e-05 9.99999151e-01 -3.51254363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185769231 meters 0.02632271488937506 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.05, Z:-0.03 [[ 9.99602679e-01 -2.81752184e-02 -8.00385799e-04 3.22001367e+00] [ 2.81752222e-02 9.99603000e-01 -6.46331859e-06 -4.86543731e-02] [ 8.00250151e-04 -1.60902972e-05 9.99999680e-01 -3.35052889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215769231000001 meters 0.02603441559761988 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.05, Z:-0.03 [[ 9.99604538e-01 -2.81043150e-02 -9.56905468e-04 3.24909763e+00] [ 2.81043203e-02 9.99604996e-01 -7.81661423e-06 -4.80238484e-02] [ 9.56747167e-04 -1.90796548e-05 9.99999542e-01 -3.33466453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245769231 meters 0.028146847625711385 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:-0.03 [[ 9.99607686e-01 -2.79944181e-02 -8.86465338e-04 3.27789975e+00] [ 2.79944228e-02 9.99608079e-01 -7.02062572e-06 -5.06208245e-02] [ 8.86314452e-04 -1.77982141e-05 9.99999607e-01 -3.39438750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.275769231 meters 0.026077888918289025 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.05, Z:-0.03 [[ 9.99600375e-01 -2.82640612e-02 -4.83410790e-04 3.30656585e+00] [ 2.82640625e-02 9.99600492e-01 -4.21727086e-06 -4.70074104e-02] [ 4.83336860e-04 -9.44756723e-06 9.99999883e-01 -3.30879799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305769231000001 meters 0.026690623381939445 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.05, Z:-0.03 [[ 9.99584837e-01 -2.88092091e-02 -4.27741236e-04 3.33668989e+00] [ 2.88092102e-02 9.99584929e-01 -3.48123436e-06 -4.70897614e-02] [ 4.27663984e-04 -8.84309811e-06 9.99999909e-01 -3.28322291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335769231 meters 0.030983412671665076 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.05, Z:-0.03 [[ 9.99574147e-01 -2.91648255e-02 -9.68771891e-04 3.36566718e+00] [ 2.91648316e-02 9.99574616e-01 -7.87955415e-06 -5.23097127e-02] [ 9.68589597e-04 -2.03778704e-05 9.99999531e-01 -3.37304867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365769231 meters 0.027038174338455418 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.04, Z:-0.03 [[ 9.99568910e-01 -2.93312180e-02 -1.29345846e-03 3.39446994e+00] [ 2.93312283e-02 9.99569747e-01 -1.09821363e-05 -4.49336696e-02] [ 1.29322406e-03 -2.69613234e-05 9.99999163e-01 -3.29164684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395769231000001 meters 0.026811235476694995 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.04, Z:-0.03 [[ 9.99549779e-01 -2.99917555e-02 -8.56995222e-04 3.42360597e+00] [ 2.99917604e-02 9.99550146e-01 -7.15148519e-06 -4.35451710e-02] [ 8.56824185e-04 -1.85545299e-05 9.99999633e-01 -3.20992581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425769231 meters 0.026911564214794223 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.04, Z:-0.03 [[ 9.99490266e-01 -3.19240507e-02 2.53083305e-04 3.45283476e+00] [ 3.19240512e-02 9.99490298e-01 1.76246013e-06 -4.36513884e-02] [-2.53010573e-04 6.31788265e-06 9.99999968e-01 -3.13970127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455769231000001 meters 0.037409952433018125 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.06, Z:-0.03 [[ 9.99439960e-01 -3.34620143e-02 2.44797124e-04 3.48181371e+00] [ 3.34620148e-02 9.99439990e-01 1.99342552e-06 -5.90782647e-02] [-2.44726740e-04 6.19909588e-06 9.99999970e-01 -3.21043930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485769231 meters 0.037409952433018125 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.06, Z:-0.03 [[ 9.99434437e-01 -3.36265714e-02 2.44799138e-04 3.50930845e+00] [ 3.36265720e-02 9.99434467e-01 1.75863465e-06 -5.86301189e-02] [-2.44719832e-04 6.47411580e-06 9.99999970e-01 -3.21634646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.515769231 meters 0.031910768198804895 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.05, Z:-0.03 [[ 9.99379492e-01 -3.52201370e-02 -4.16217541e-04 3.53788313e+00] [ 3.52201384e-02 9.99379578e-01 -4.01133031e-06 -5.17205875e-02] [ 4.16100590e-04 -1.06503982e-05 9.99999913e-01 -3.22403906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545769231000001 meters 0.04060401276754488 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.07, Z:-0.03 [[ 9.99360981e-01 -3.57122047e-02 -1.50611030e-03 3.56615109e+00] [ 3.57122249e-02 9.99362115e-01 -1.34556245e-05 -6.51790362e-02] [ 1.50563011e-03 -4.03395238e-05 9.99998866e-01 -3.48859712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575769231 meters 0.031722830903384305 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.05, Z:-0.03 [[ 9.99386544e-01 -3.50051950e-02 -1.08218868e-03 3.59446619e+00] [ 3.50052045e-02 9.99387130e-01 -1.01060952e-05 -5.39177012e-02] [ 1.08187920e-03 -2.77823405e-05 9.99999414e-01 -3.27623130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605769231 meters 0.029322476037840255 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.05, Z:-0.03 [[ 9.99482563e-01 -3.21563924e-02 7.56804301e-04 3.62205621e+00] [ 3.21563965e-02 9.99482849e-01 6.74242250e-06 -5.28715841e-02] [-7.56629731e-04 1.75971654e-05 9.99999714e-01 -2.97464854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635769231000001 meters 0.027398550298212716 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.05, Z:-0.03 [[ 9.99538183e-01 -3.03807830e-02 6.54336274e-04 3.65072801e+00] [ 3.03807858e-02 9.99538397e-01 5.69327129e-06 -4.96714458e-02] [-6.54207197e-04 1.41886081e-05 9.99999786e-01 -2.96632098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665769231 meters 0.022552564303599577 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.04, Z:-0.03 [[ 9.99650555e-01 -2.63863367e-02 -1.59016330e-03 3.67920104e+00] [ 2.63863464e-02 9.99651820e-01 -1.48626350e-05 -4.14068740e-02] [ 1.59000181e-03 -2.71011583e-05 9.99998736e-01 -3.29338813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695769231 meters 0.02199453438070861 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.04, Z:-0.04 [[ 9.99702551e-01 -2.42569053e-02 -2.53206591e-03 3.70747236e+00] [ 2.42569216e-02 9.99705757e-01 -2.42827811e-05 -4.07424089e-02] [ 2.53190989e-03 -3.71445660e-05 9.99996794e-01 -3.57602628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725769231000001 meters 0.019537922167995235 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.04, Z:-0.04 [[ 9.99745555e-01 -2.23057969e-02 -3.35821084e-03 3.73589936e+00] [ 2.23058131e-02 9.99751194e-01 -3.26446092e-05 -3.64882447e-02] [ 3.35810346e-03 -4.22713204e-05 9.99994361e-01 -3.68229757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755769231 meters 0.017095705995020697 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.03, Z:-0.04 [[ 9.99825769e-01 -1.83549718e-02 -3.39509672e-03 3.76393362e+00] [ 1.83549657e-02 9.99831533e-01 -3.29690645e-05 -3.14315304e-02] [ 3.39512991e-03 -2.93535635e-05 9.99994236e-01 -3.75328708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785769231000002 meters 0.015861530041873524 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.03, Z:-0.04 [[ 9.99846929e-01 -1.72372604e-02 -2.99915042e-03 3.79276482e+00] [ 1.72372484e-02 9.99851427e-01 -2.98565943e-05 -2.80679646e-02] [ 2.99921948e-03 -2.18450766e-05 9.99995502e-01 -3.60771744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815769231 meters 0.014479585646219447 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.02, Z:-0.03 [[ 9.99881969e-01 -1.52662780e-02 -1.72855857e-03 3.82151913e+00] [ 1.52662703e-02 9.99883464e-01 -1.76408950e-05 -2.45832795e-02] [ 1.72862644e-03 -8.74982942e-06 9.99998506e-01 -3.37136779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845769231 meters 0.013921549698542418 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.02, Z:-0.03 [[ 9.99896877e-01 -1.43141416e-02 -1.15819278e-03 3.85076864e+00] [ 1.43141377e-02 9.99897547e-01 -1.16608839e-05 -2.22594064e-02] [ 1.15824104e-03 -4.91884963e-06 9.99999329e-01 -3.35458285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875769231000001 meters 0.01357196361496344 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.02, Z:-0.03 [[ 9.99915077e-01 -1.30017591e-02 -8.89979746e-04 3.88019377e+00] [ 1.30017563e-02 9.99915474e-01 -8.95728886e-06 -1.96071654e-02] [ 8.90020980e-04 -2.61477155e-06 9.99999604e-01 -3.31348584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905769231 meters 0.013314931186089963 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.02, Z:-0.04 [[ 9.99935022e-01 -1.11300972e-02 -2.46439665e-03 3.91036937e+00] [ 1.11300701e-02 9.99938059e-01 -2.47340515e-05 -1.51077677e-02] [ 2.46451929e-03 -2.69646298e-06 9.99996963e-01 -3.67972936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.935769231 meters 0.013651786707924213 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.01, Z:-0.04 [[ 9.99935713e-01 -1.07420952e-02 -3.62999182e-03 3.93895614e+00] [ 1.07420330e-02 9.99942302e-01 -3.66351974e-05 -1.42087060e-02] [ 3.63017592e-03 -2.36064961e-06 9.99993411e-01 -3.98997554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965769231000001 meters 0.013389618779792462 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.01, Z:-0.04 [[ 9.99935830e-01 -1.07862138e-02 -3.46322706e-03 3.96786741e+00] [ 1.07861545e-02 9.99941827e-01 -3.57955976e-05 -1.22038072e-02] [ 3.46341169e-03 -1.56160172e-06 9.99994002e-01 -3.83292430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995769231 meters 0.013161195206805917 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.01, Z:-0.04 [[ 9.99936828e-01 -1.10036713e-02 -2.29349177e-03 3.99716002e+00] [ 1.10036448e-02 9.99939458e-01 -2.41578700e-05 -1.07065644e-02] [ 2.29361874e-03 -1.08042497e-06 9.99997370e-01 -3.55154954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025769231 meters 0.013091934480385802 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.01, Z:-0.03 [[ 9.99935091e-01 -1.13242951e-02 -1.25455863e-03 4.02614151e+00] [ 1.13242875e-02 9.99935878e-01 -1.31536712e-05 -1.01066072e-02] [ 1.25462714e-03 -1.05416521e-06 9.99999213e-01 -3.39748321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055769231000001 meters 0.0133290079848486 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.01, Z:-0.03 [[ 9.99924333e-01 -1.22340083e-02 -1.28765891e-03 4.05524489e+00] [ 1.22340011e-02 9.99925162e-01 -1.34617589e-05 -1.10515801e-02] [ 1.28772723e-03 -2.29248019e-06 9.99999171e-01 -3.47341840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085769231 meters 0.013440743169428887 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.01, Z:-0.04 [[ 9.99908541e-01 -1.34271344e-02 -1.61904500e-03 4.08464890e+00] [ 1.34271245e-02 9.99909852e-01 -1.69840956e-05 -1.22517957e-02] [ 1.61912709e-03 -4.75657656e-06 9.99998689e-01 -3.58229020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115769231 meters 0.014934590678238815 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.02, Z:-0.03 [[ 9.99858552e-01 -1.68045714e-02 -6.93883972e-04 4.11391720e+00] [ 1.68045704e-02 9.99858793e-01 -7.29048700e-06 -1.74580784e-02] [ 6.93908504e-04 -4.37096627e-06 9.99999759e-01 -3.36774530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145769231000001 meters 0.01589981016888689 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.02, Z:-0.03 [[ 9.99838289e-01 -1.79826434e-02 1.44987397e-04 4.14331739e+00] [ 1.79826434e-02 9.99838299e-01 1.51906204e-06 -1.90004429e-02] [-1.44991269e-04 1.08844026e-06 9.99999989e-01 -3.17036690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175769231 meters 0.016126215396223904 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.02, Z:-0.03 [[ 9.99819750e-01 -1.89712685e-02 7.47250150e-04 4.17344666e+00] [ 1.89712679e-02 9.99820029e-01 7.82386729e-06 -1.89068972e-02] [-7.47264095e-04 6.35382575e-06 9.99999721e-01 -3.07764719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205769231000001 meters 0.017198793872549568 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.02, Z:-0.03 [[ 9.99773604e-01 -2.12528595e-02 -1.02795503e-03 4.20388760e+00] [ 2.12528596e-02 9.99774132e-01 -1.07629069e-05 -2.21997969e-02] [ 1.02795159e-03 -1.10865138e-05 9.99999472e-01 -3.47620055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235769231 meters 0.019749351920035286 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.03, Z:-0.04 [[ 9.99724973e-01 -2.33758552e-02 -1.88355984e-03 4.23298012e+00] [ 2.33758594e-02 9.99726747e-01 -1.98187621e-05 -2.86074586e-02] [ 1.88350844e-03 -2.42165187e-05 9.99998226e-01 -3.68200168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265769231 meters 0.022078530341044164 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.03, Z:-0.04 [[ 9.99638257e-01 -2.67589367e-02 -2.70457855e-03 4.26154677e+00] [ 2.67589557e-02 9.99641915e-01 -2.91926131e-05 -3.43227912e-02] [ 2.70439125e-03 -4.31896448e-05 9.99996342e-01 -3.78660545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295769231000001 meters 0.028257379269638838 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.05, Z:-0.04 [[ 9.99466681e-01 -3.25715044e-02 -2.33470077e-03 4.29086455e+00] [ 3.25715350e-02 9.99469406e-01 -2.49114398e-05 -4.95198676e-02] [ 2.33427340e-03 -5.11466339e-05 9.99997274e-01 -3.67864145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325769231 meters 0.03123146082463358 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.06, Z:-0.03 [[ 9.99415157e-01 -3.41764379e-02 -1.14687753e-03 4.31909674e+00] [ 3.41764462e-02 9.99415815e-01 -1.24242862e-05 -5.65216180e-02] [ 1.14663215e-03 -2.67791780e-05 9.99999342e-01 -3.48658874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355769231 meters 0.027463833601522443 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.05, Z:-0.03 [[ 9.99412447e-01 -3.42745734e-02 -1.23711248e-04 4.34736578e+00] [ 3.42745734e-02 9.99412454e-01 -1.76569337e-06 -5.31200100e-02] [ 1.23699080e-04 -2.47549432e-06 9.99999992e-01 -3.20904598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385769231000001 meters 0.02424815065538057 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.05, Z:-0.03 [[ 9.99567892e-01 -2.93814755e-02 -8.71154632e-04 4.37584156e+00] [ 2.93814783e-02 9.99568271e-01 -9.61947413e-06 -4.94079286e-02] [ 8.71061164e-04 -1.59804934e-05 9.99999620e-01 -3.25555057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415769231 meters 0.02113009649168526 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.04, Z:-0.04 [[ 9.99664510e-01 -2.57972602e-02 -2.31714031e-03 4.40461127e+00] [ 2.57972702e-02 9.99667195e-01 -2.55898773e-05 -4.35125872e-02] [ 2.31702930e-03 -3.41946024e-05 9.99997315e-01 -3.51274385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445769231 meters 0.01833218313296948 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.04, Z:-0.04 [[ 9.99750104e-01 -2.21022857e-02 -3.34950906e-03 4.43277241e+00] [ 2.21022832e-02 9.99755714e-01 -3.77470170e-05 -3.77929188e-02] [ 3.34952512e-03 -3.62942139e-05 9.99994390e-01 -3.76769608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475769231000001 meters 0.014773131033571965 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.03, Z:-0.04 [[ 9.99846684e-01 -1.73383125e-02 -2.44757211e-03 4.46131788e+00] [ 1.73382957e-02 9.99849680e-01 -2.80838294e-05 -3.02554133e-02] [ 2.44769112e-03 -1.43572053e-05 9.99997004e-01 -3.59083629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505769231 meters 0.014165874565966229 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.03, Z:-0.04 [[ 9.99861803e-01 -1.64759506e-02 -2.21754454e-03 4.48972592e+00] [ 1.64759338e-02 9.99864262e-01 -2.58473826e-05 -2.89238838e-02] [ 2.21766940e-03 -1.06923065e-05 9.99997541e-01 -3.53428167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535769231000002 meters 0.015251226154699607 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.03, Z:-0.04 [[ 9.99830725e-01 -1.81553740e-02 -2.98377612e-03 4.51843508e+00] [ 1.81553519e-02 9.99835177e-01 -3.44800915e-05 -3.20130650e-02] [ 2.98391033e-03 -1.96972507e-05 9.99995548e-01 -3.72707472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565769231 meters 0.016637423999481937 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.03, Z:-0.04 [[ 9.99783087e-01 -2.06555306e-02 -2.66982334e-03 4.54740194e+00] [ 2.06555199e-02 9.99786651e-01 -3.15821433e-05 -3.46968412e-02] [ 2.66990609e-03 -2.35712965e-05 9.99996436e-01 -3.65601857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.595769231 meters 0.018790951610226213 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.04, Z:-0.03 [[ 9.99734231e-01 -2.29655130e-02 -2.01298357e-03 4.57507302e+00] [ 2.29655117e-02 9.99736258e-01 -2.37886816e-05 -3.91543433e-02] [ 2.01299898e-03 -2.24468385e-05 9.99997974e-01 -3.48876613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625769231000001 meters 0.02000332872616794 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.04, Z:-0.03 [[ 9.99658681e-01 -2.61241836e-02 -2.20109005e-04 4.60375200e+00] [ 2.61241836e-02 9.99658705e-01 -2.98713294e-06 -4.42942353e-02] [ 2.20111920e-04 -2.76405469e-06 9.99999976e-01 -3.07261727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655769231 meters 0.0204883304902342 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.05, Z:-0.03 [[ 9.99649524e-01 -2.64700780e-02 4.04112400e-04 4.63287337e+00] [ 2.64700783e-02 9.99649606e-01 4.75623631e-06 -4.62248947e-02] [-4.04096700e-04 5.94231750e-06 9.99999918e-01 -3.00018741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685769231 meters 0.021183469215439666 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.05, Z:-0.03 [[ 9.99653250e-01 -2.63304982e-02 -2.90713637e-04 4.66133179e+00] [ 2.63304983e-02 9.99653292e-01 -3.56270174e-06 -4.92478652e-02] [ 2.90706652e-04 -4.09316855e-06 9.99999958e-01 -3.21127335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715769231000001 meters 0.020968868673228985 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.05, Z:-0.03 [[ 9.99644270e-01 -2.66353779e-02 -1.37486600e-03 4.69052102e+00] [ 2.66353801e-02 9.99645215e-01 -1.66557869e-05 -5.01811337e-02] [ 1.37482186e-03 -1.99702167e-05 9.99999055e-01 -3.45145159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745769231 meters 0.021170791248674502 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.06, Z:-0.04 [[ 9.99602486e-01 -2.81161545e-02 -2.08610686e-03 4.71917041e+00] [ 2.81161617e-02 9.99604662e-01 -2.58458843e-05 -5.60088233e-02] [ 2.08600883e-03 -3.28177077e-05 9.99997824e-01 -3.52967801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.775769231 meters 0.024072348144840685 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.06, Z:-0.04 [[ 9.99598651e-01 -2.82434867e-02 -2.20069931e-03 4.74603829e+00] [ 2.82434951e-02 9.99601073e-01 -2.72482240e-05 -6.22850088e-02] [ 2.20059097e-03 -3.49181521e-05 9.99997578e-01 -3.57187531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805769231000001 meters 0.021534177227411206 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.06, Z:-0.03 [[ 9.99607843e-01 -2.78995511e-02 -2.40327006e-03 4.77446028e+00] [ 2.78995585e-02 9.99610731e-01 -3.04239030e-05 -5.90422966e-02] [ 2.40318336e-03 -3.66382017e-05 9.99997112e-01 -3.49623048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835769231 meters 0.020372415914603256 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.06, Z:-0.03 [[ 9.99645377e-01 -2.65468392e-02 -2.09411487e-03 4.80266732e+00] [ 2.65468421e-02 9.99647570e-01 -2.64051884e-05 -5.82906792e-02] [ 2.09407781e-03 -2.91963122e-05 9.99997807e-01 -3.44645466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865769231000002 meters 0.020169945801509277 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.06, Z:-0.03 [[ 9.99668803e-01 -2.57042634e-02 -1.25465547e-03 4.83049312e+00] [ 2.57042637e-02 9.99669591e-01 -1.59444193e-05 -5.92385690e-02] [ 1.25465076e-03 -1.63108564e-05 9.99999213e-01 -3.32573699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895769231000001 meters 0.018313135922440067 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.06, Z:-0.03 [[ 9.99710672e-01 -2.40534900e-02 -5.15208396e-05 4.85949641e+00] [ 2.40534900e-02 9.99710673e-01 -1.01017970e-06 -5.84418976e-02] [ 5.15302316e-05 -2.29368569e-07 9.99999999e-01 -3.13177543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925769231 meters 0.018204803833390522 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.06, Z:-0.03 [[ 9.99712644e-01 -2.39687996e-02 -3.55803243e-04 4.88820891e+00] [ 2.39687994e-02 9.99712707e-01 -4.95201999e-06 -5.86938005e-02] [ 3.55819718e-04 -3.57757956e-06 9.99999937e-01 -3.25893264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955769231000001 meters 0.01856061500807061 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.06, Z:-0.03 [[ 9.99700237e-01 -2.44652321e-02 -9.42761719e-04 4.91689434e+00] [ 2.44652310e-02 9.99700681e-01 -1.26958042e-05 -6.00899313e-02] [ 9.42790138e-04 -1.03728848e-05 9.99999556e-01 -3.42101514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985769231 meters 0.019348059592643147 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.07, Z:-0.04 [[ 9.99667512e-01 -2.56282821e-02 -2.83842546e-03 4.94612442e+00] [ 2.56282775e-02 9.99671541e-01 -3.79927672e-05 -6.61288047e-02] [ 2.83846684e-03 -3.47638204e-05 9.99995971e-01 -3.75239061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015769231 meters 0.019934644300604175 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.07, Z:-0.04 [[ 9.99647356e-01 -2.63118491e-02 -3.58475191e-03 4.97529484e+00] [ 2.63118444e-02 9.99653782e-01 -4.84816611e-05 -7.01255334e-02] [ 3.58478645e-03 -4.58568703e-05 9.99993574e-01 -3.89241945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045769231000001 meters 0.021084082328016715 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.08, Z:-0.04 [[ 9.99615463e-01 -2.75868469e-02 -2.80920780e-03 5.00293882e+00] [ 2.75868490e-02 9.99619410e-01 -3.80047263e-05 -7.78044338e-02] [ 2.80918707e-03 -3.95070793e-05 9.99996053e-01 -3.65420189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075769231 meters 0.02153422504575246 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.08, Z:-0.04 [[ 9.99622512e-01 -2.74073348e-02 -1.91617855e-03 5.03105039e+00] [ 2.74073352e-02 9.99624348e-01 -2.60713959e-05 -8.04849425e-02] [ 1.91617328e-03 -2.64557935e-05 9.99998164e-01 -3.52831299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105769231 meters 0.020072825560679474 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.08, Z:-0.03 [[ 9.99650178e-01 -2.63966845e-02 -1.65446705e-03 5.05994251e+00] [ 2.63966826e-02 9.99651547e-01 -2.30134104e-05 -8.04093637e-02] [ 1.65449802e-03 -2.06670818e-05 9.99998631e-01 -3.46920257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135769231000001 meters 0.01694065567914111 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.08, Z:-0.04 [[ 9.99737713e-01 -2.27178799e-02 -2.89894701e-03 5.08915450e+00] [ 2.27178578e-02 9.99741915e-01 -4.05273791e-05 -8.15663432e-02] [ 2.89911953e-03 -2.53411168e-05 9.99995797e-01 -3.74395997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165769231 meters 0.015434898816243206 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.08, Z:-0.04 [[ 9.99780810e-01 -2.06162334e-02 -3.64727537e-03 5.11760499e+00] [ 2.06161827e-02 9.99787463e-01 -5.14901445e-05 -8.08799977e-02] [ 3.64756172e-03 -2.37140372e-05 9.99993347e-01 -3.85139489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195769231 meters 0.0133192540344272 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.08, Z:-0.04 [[ 9.99877277e-01 -1.52840813e-02 -3.43929924e-03 5.14515130e+00] [ 1.52840047e-02 9.99883192e-01 -4.85478882e-05 -7.79526697e-02] [ 3.43963951e-03 -4.02433566e-06 9.99994084e-01 -3.78081920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225769231000001 meters 0.01313106956364473 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.08, Z:-0.04 [[ 9.99908376e-01 -1.31802698e-02 -3.08549998e-03 5.17320591e+00] [ 1.31801955e-02 9.99913136e-01 -4.44025965e-05 -7.58240141e-02] [ 3.08581720e-03 3.73103513e-06 9.99995239e-01 -3.71415301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255769231 meters 0.013536421962148085 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.07, Z:-0.04 [[ 9.99934240e-01 -1.11679311e-02 -2.60646415e-03 5.20109373e+00] [ 1.11678699e-02 9.99937637e-01 -3.80418167e-05 -7.34552681e-02] [ 2.60672645e-03 8.93066264e-06 9.99996602e-01 -3.69876203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285769231000002 meters 0.015699733651288055 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.07, Z:-0.03 [[ 9.99977608e-01 -6.50085015e-03 -1.58839223e-03 5.22990195e+00] [ 6.50082092e-03 9.99978869e-01 -2.35640562e-05 -6.83714609e-02] [ 1.58851185e-03 1.32376752e-05 9.99998738e-01 -3.47812294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315769231 meters 0.0171479681066721 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.07, Z:-0.03 [[ 9.99988208e-01 -4.53107475e-03 -1.74724818e-03 5.25900745e+00] [ 4.53103674e-03 9.99989734e-01 -2.57091347e-05 -6.57550613e-02] [ 1.74734674e-03 1.77919858e-05 9.99998473e-01 -3.47441896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345769231 meters 0.01959618858748813 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.06, Z:-0.04 [[ 9.99992985e-01 -2.84241124e-03 -2.43941261e-03 5.28741720e+00] [ 2.84233208e-03 9.99995960e-01 -3.59164102e-05 -6.15259423e-02] [ 2.43950484e-03 2.89825375e-05 9.99997024e-01 -3.64740450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375769231000001 meters 0.020257734142493957 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.06, Z:-0.04 [[ 9.99993481e-01 -1.22955112e-03 -3.39492903e-03 5.31664174e+00] [ 1.22938843e-03 9.99999243e-01 -5.00086813e-05 -5.99430940e-02] [ 3.39498795e-03 4.58346689e-05 9.99994236e-01 -3.91481335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405769231 meters 0.020257734142493957 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.06, Z:-0.04 [[ 9.99993268e-01 -1.39216624e-03 -3.39491643e-03 5.34496802e+00] [ 1.39200160e-03 9.99999030e-01 -5.08600669e-05 -5.93759895e-02] [ 3.39498394e-03 4.61339955e-05 9.99994236e-01 -3.92089964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.435769231 meters 0.02021639169481355 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.06, Z:-0.04 [[ 9.99989667e-01 -1.67736029e-03 -4.22530192e-03 5.37423317e+00] [ 1.67710525e-03 9.99998592e-01 -6.39031420e-05 -5.92012350e-02] [ 4.22540315e-03 5.68162056e-05 9.99991071e-01 -4.02677162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465769231000001 meters 0.01989863982438128 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.06, Z:-0.04 [[ 9.99976830e-01 -3.89863838e-03 -5.58024645e-03 5.40166282e+00] [ 3.89822820e-03 9.99992398e-01 -8.43801896e-05 -5.77371780e-02] [ 5.58053300e-03 6.26251604e-05 9.99984427e-01 -4.43097247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495769231 meters 0.018624274442952966 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.06, Z:-0.04 [[ 9.99974216e-01 -5.31833488e-03 -4.82511771e-03 5.43042270e+00] [ 5.31804009e-03 9.99985856e-01 -7.39238279e-05 -5.72126424e-02] [ 4.82544262e-03 4.82617524e-05 9.99988356e-01 -4.31500325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525769231 meters 0.01692400443730499 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.06, Z:-0.04 [[ 9.99977325e-01 -6.22829300e-03 -2.56080732e-03 5.45934754e+00] [ 6.22821146e-03 9.99980604e-01 -3.98137369e-05 -5.77267816e-02] [ 2.56100562e-03 2.38635846e-05 9.99996720e-01 -3.87133418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555769231000001 meters 0.015678552414033663 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.06, Z:-0.03 [[ 9.99963793e-01 -8.48629043e-03 6.28741997e-04 5.48769462e+00] [ 8.48628616e-03 9.99963991e-01 9.44868110e-06 -6.00211003e-02] [-6.28799541e-04 -4.11265448e-06 9.99999802e-01 -3.31385210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585769231 meters 0.013980731332782655 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.06, Z:-0.03 [[ 9.99944669e-01 -1.05194402e-02 2.49310681e-05 5.51818290e+00] [ 1.05194402e-02 9.99944669e-01 3.88227431e-07 -6.49891803e-02] [-2.49337726e-05 -1.25945069e-07 1.00000000e+00 -3.45316367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615769231000002 meters 0.013661068769926317 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.07, Z:-0.04 [[ 9.99909078e-01 -1.30732563e-02 -3.30542078e-03 5.54731466e+00] [ 1.30731574e-02 9.99914541e-01 -5.15337054e-05 -6.98585675e-02] [ 3.30581202e-03 8.31673375e-06 9.99994536e-01 -4.17690574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645769231000001 meters 0.013468149787677425 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.07, Z:-0.04 [[ 9.99902338e-01 -1.35450722e-02 -3.44178469e-03 5.57494773e+00] [ 1.35449643e-02 9.99908261e-01 -5.46404672e-05 -7.09608303e-02] [ 3.44220905e-03 8.01628002e-06 9.99994076e-01 -4.17896383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675769231 meters 0.013167227508834856 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.07, Z:-0.04 [[ 9.99893602e-01 -1.42603859e-02 -3.07014719e-03 5.60252778e+00] [ 1.42603016e-02 9.99898316e-01 -4.93303236e-05 -7.20372747e-02] [ 3.07053847e-03 5.54385005e-06 9.99995286e-01 -4.10720565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705769231000001 meters 0.013036013827981988 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.07, Z:-0.04 [[ 9.99893437e-01 -1.43997594e-02 -2.40030228e-03 5.63083098e+00] [ 1.43997071e-02 9.99896318e-01 -3.90811361e-05 -7.16836878e-02] [ 2.40061617e-03 4.51332184e-06 9.99997119e-01 -3.88430662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735769231 meters 0.013393596104367867 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.07, Z:-0.04 [[ 9.99920537e-01 -1.25771502e-02 -8.56867466e-04 5.65824859e+00] [ 1.25771428e-02 9.99920905e-01 -1.39811138e-05 -6.56316339e-02] [ 8.56975534e-04 3.20305831e-06 9.99999633e-01 -3.51379999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765769231 meters 0.014230183836372281 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.06, Z:-0.04 [[ 9.99938126e-01 -1.10781503e-02 -1.00980409e-03 5.68688605e+00] [ 1.10781393e-02 9.99938635e-01 -1.64404379e-05 -6.18363419e-02] [ 1.00992425e-03 5.25267025e-06 9.99999490e-01 -3.57038657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795769231000001 meters 0.01611688334650253 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.06, Z:-0.04 [[ 9.99959121e-01 -8.80053716e-03 -2.07506439e-03 5.71562350e+00] [ 8.80048593e-03 9.99961274e-01 -3.38187026e-05 -5.75694451e-02] [ 2.07528165e-03 1.55557452e-05 9.99997846e-01 -3.86763553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825769231 meters 0.016408592033509792 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.06, Z:-0.04 [[ 9.99959818e-01 -8.65035238e-03 -2.35256815e-03 5.74442217e+00] [ 8.65028475e-03 9.99962585e-01 -3.89225142e-05 -5.59613203e-02] [ 2.35281682e-03 1.85705659e-05 9.99997232e-01 -3.93912929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.855769231 meters 0.01541278898807557 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.06, Z:-0.04 [[ 9.99953742e-01 -9.14304775e-03 -2.98637514e-03 5.77292232e+00] [ 9.14293969e-03 9.99958201e-01 -4.98373575e-05 -5.61664075e-02] [ 2.98670598e-03 2.25308044e-05 9.99995540e-01 -3.98357305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885769231000001 meters 0.01628018480174052 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.05, Z:-0.04 [[ 9.99946893e-01 -9.50074473e-03 -3.99329545e-03 5.80115865e+00] [ 9.50055481e-03 9.99954866e-01 -6.65281323e-05 -5.27609962e-02] [ 3.99374728e-03 2.85860770e-05 9.99992025e-01 -4.19005387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915769231 meters 0.01587454663197712 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.05, Z:-0.04 [[ 9.99944298e-01 -1.00903714e-02 -3.09614987e-03 5.83022140e+00] [ 1.00902579e-02 9.99949091e-01 -5.22737940e-05 -5.22963585e-02] [ 3.09651971e-03 2.10299316e-05 9.99995206e-01 -4.00548806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945769231000002 meters 0.015380332702066887 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.05, Z:-0.03 [[ 9.99956957e-01 -9.21445724e-03 -1.08512358e-03 5.85876477e+00] [ 9.21444233e-03 9.99957546e-01 -1.87381069e-05 -4.92673609e-02] [ 1.08525017e-03 8.73849171e-06 9.99999411e-01 -3.45679463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975769231000001 meters 0.017206414614797758 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.04, Z:-0.03 [[ 9.99972178e-01 -7.42969537e-03 -6.65979023e-04 5.88735427e+00] [ 7.42968943e-03 9.99972399e-01 -1.13822405e-05 -4.35955245e-02] [ 6.66045208e-04 6.43390653e-06 9.99999778e-01 -3.46464032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005769231 meters 0.01880868222262088 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.04, Z:-0.04 [[ 9.99984425e-01 -5.47391247e-03 -1.08943708e-03 5.91674773e+00] [ 5.47389549e-03 9.99985018e-01 -1.85704305e-05 -3.86640423e-02] [ 1.08952241e-03 1.26066765e-05 9.99999406e-01 -3.54594611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035769231000002 meters 0.02161754030949188 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.03, Z:-0.04 [[ 9.99997899e-01 -1.63264627e-03 -1.23988091e-03 5.94612351e+00] [ 1.63262129e-03 9.99998667e-01 -2.11584433e-05 -2.97235473e-02] [ 1.23991380e-03 1.91341429e-05 9.99999231e-01 -3.60960110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065769231 meters 0.022448440698182873 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.03, Z:-0.04 [[ 9.99998518e-01 -1.30272516e-03 -1.12526939e-03 5.97533563e+00] [ 1.30270439e-03 9.99999151e-01 -1.91948526e-05 -2.58622345e-02] [ 1.12529344e-03 1.77289308e-05 9.99999367e-01 -3.62112368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.095769231 meters 0.01979625830288721 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.03, Z:-0.04 [[ 9.99990244e-01 -4.13735971e-03 -1.54702280e-03 6.00470923e+00] [ 4.13732376e-03 9.99991441e-01 -2.64398348e-05 -2.71964315e-02] [ 1.54711895e-03 2.00390427e-05 9.99998803e-01 -3.68152983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125769231000001 meters 0.017657460474417543 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.03, Z:-0.04 [[ 9.99980759e-01 -6.06505830e-03 -1.30276931e-03 6.03405395e+00] [ 6.06503439e-03 9.99981607e-01 -2.23051792e-05 -2.91215479e-02] [ 1.30288063e-03 1.44034094e-05 9.99999151e-01 -3.63655760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155769231 meters 0.01680782394103671 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.03, Z:-0.04 [[ 9.99973450e-01 -7.21667836e-03 -1.00928057e-03 6.06359244e+00] [ 7.21666456e-03 9.99973959e-01 -1.73159626e-05 -2.84276364e-02] [ 1.00937925e-03 1.00318635e-05 9.99999491e-01 -3.55551023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185769231 meters 0.0179581649036235 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.02, Z:-0.03 [[ 9.99983045e-01 -5.81859073e-03 -2.29994622e-04 6.09261516e+00] [ 5.81858997e-03 9.99983072e-01 -3.96247853e-06 -2.09578619e-02] [ 2.30013785e-04 2.62416695e-06 9.99999974e-01 -3.38682674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215769231000001 meters 0.020121467091148374 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.01, Z:-0.03 [[ 9.99991735e-01 -4.05641634e-03 -2.73129433e-04 6.12240543e+00] [ 4.05641520e-03 9.99991773e-01 -4.70369573e-06 -1.39526064e-02] [ 2.73146266e-04 3.59573047e-06 9.99999963e-01 -3.36853971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245769231 meters 0.02126072398516101 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.01, Z:-0.03 [[ 9.99997639e-01 -2.03264929e-03 -7.68914351e-04 6.15245193e+00] [ 2.03263976e-03 9.99997934e-01 -1.31712866e-05 -8.06492544e-03] [ 7.68939535e-04 1.16083296e-05 9.99999704e-01 -3.40023916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.275769231 meters 0.024888391716378428 Centerline is valid? [True, True] Translation: X:6.18, Y:0.01, Z:-0.04 [[ 9.99997876e-01 1.43617630e-03 -1.47850737e-03 6.18145246e+00] [-1.43621537e-03 9.99998968e-01 -2.53686554e-05 5.66340920e-03] [ 1.47846941e-03 2.74920565e-05 9.99998907e-01 -3.53519454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305769231000001 meters 0.02701985989872532 Centerline is valid? [True, True] Translation: X:6.21, Y:0.01, Z:-0.03 [[ 9.99997064e-01 2.09517587e-03 -1.21767571e-03 6.21130112e+00] [-2.09520288e-03 9.99997805e-01 -2.09114606e-05 1.29514318e-02] [ 1.21762923e-03 2.34626769e-05 9.99999258e-01 -3.47870866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335769231 meters 0.02751974880007927 Centerline is valid? [True, True] Translation: X:6.24, Y:0.02, Z:-0.03 [[ 9.99995400e-01 2.85431438e-03 -1.02597821e-03 6.24086727e+00] [-2.85433401e-03 9.99995926e-01 -1.76700468e-05 1.85449706e-02] [ 1.02592360e-03 2.05984500e-05 9.99999474e-01 -3.40902702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365769231000002 meters 0.025278231645753838 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:-0.04 [[ 9.99996476e-01 2.02767488e-03 -1.71338893e-03 6.27152335e+00] [-2.02772828e-03 9.99997944e-01 -2.94282161e-05 1.68214319e-02] [ 1.71332573e-03 3.29023996e-05 9.99998532e-01 -3.56814867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395769231000001 meters 0.022082643978027987 Centerline is valid? [True, True] Translation: X:6.30, Y:0.02, Z:-0.04 [[ 9.99995785e-01 -2.36001884e-03 -1.69097760e-03 6.30100731e+00] [ 2.35997302e-03 9.99997215e-01 -2.90879146e-05 1.58920521e-02] [ 1.69104154e-03 2.50971305e-05 9.99998570e-01 -3.80220792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425769231 meters 0.01847639045266003 Centerline is valid? [True, True] Translation: X:6.33, Y:0.01, Z:-0.04 [[ 9.99985473e-01 -5.28418870e-03 -1.06389221e-03 6.33065686e+00] [ 5.28417215e-03 9.99986038e-01 -1.83608802e-05 1.26043238e-02] [ 1.06397437e-03 1.27388239e-05 9.99999434e-01 -3.69267345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455769231000001 meters 0.01633536765995734 Centerline is valid? [True, True] Translation: X:6.36, Y:0.01, Z:-0.04 [[ 9.99966666e-01 -8.13808561e-03 -6.62681240e-04 6.35998638e+00] [ 8.13807988e-03 9.99966885e-01 -1.13491477e-05 9.39182993e-03] [ 6.62751656e-04 5.95581651e-06 9.99999780e-01 -3.62620445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485769231 meters 0.014724293174971205 Centerline is valid? [True, True] Translation: X:6.39, Y:0.01, Z:-0.04 [[ 9.99937912e-01 -1.11155829e-02 -7.84230094e-04 6.38923424e+00] [ 1.11155757e-02 9.99938220e-01 -1.35498969e-05 5.75850280e-03] [ 7.84332259e-04 4.83188659e-06 9.99999692e-01 -3.63541122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.515769231 meters 0.012809013918895145 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.01, Z:-0.04 [[ 9.99837663e-01 -1.79424415e-02 -1.64828845e-03 6.41939522e+00] [ 1.79424190e-02 9.99839021e-01 -2.84591022e-05 -6.28829561e-03] [ 1.64853374e-03 -1.11979983e-06 9.99998641e-01 -3.85758026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545769231000001 meters 0.013428350023676853 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.01, Z:-0.04 [[ 9.99773615e-01 -2.12245125e-02 -1.49621142e-03 6.44794086e+00] [ 2.12244968e-02 9.99774735e-01 -2.63811508e-05 -1.15257716e-02] [ 1.49643430e-03 -5.38115599e-06 9.99998880e-01 -3.78005125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575769231 meters 0.014810512379116824 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.02, Z:-0.04 [[ 9.99719494e-01 -2.36790360e-02 -4.87369286e-04 6.47564246e+00] [ 2.36790346e-02 9.99719612e-01 -8.63150407e-06 -1.73867842e-02] [ 4.87437019e-04 -2.91135128e-06 9.99999881e-01 -3.62366505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605769231 meters 0.014419289386143414 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.02, Z:-0.04 [[ 9.99722929e-01 -2.35378522e-02 1.84941440e-04 6.50399708e+00] [ 2.35378521e-02 9.99722946e-01 2.91832480e-06 -1.63363524e-02] [-1.84958893e-04 1.43560804e-06 9.99999983e-01 -3.51871834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635769231000001 meters 0.013779529455834987 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.01, Z:-0.03 [[ 9.99738973e-01 -2.28298145e-02 8.86801322e-04 6.53330768e+00] [ 2.28298097e-02 9.99739366e-01 1.55914540e-05 -1.43227977e-02] [-8.86926141e-04 4.65812121e-06 9.99999607e-01 -3.39062438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665769231 meters 0.012555777573177399 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.01, Z:-0.03 [[ 9.99798085e-01 -1.99850131e-02 2.09485063e-03 6.56186564e+00] [ 1.99849795e-02 9.99800280e-01 3.69461488e-05 -1.15148614e-02] [-2.09517061e-03 4.92685802e-06 9.99997805e-01 -3.19274546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695769231000002 meters 0.012357546858750778 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.01, Z:-0.03 [[ 9.99824630e-01 -1.85974482e-02 2.20096919e-03 6.59282323e+00] [ 1.85974076e-02 9.99827053e-01 3.88952326e-05 -1.02769513e-02] [-2.20131189e-03 2.04390979e-06 9.99997577e-01 -3.17474023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725769231000001 meters 0.01235068537942928 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.01, Z:-0.03 [[ 9.99841401e-01 -1.77216998e-02 1.76498291e-03 6.62185289e+00] [ 1.77216723e-02 9.99842958e-01 3.11859577e-05 -9.71953253e-03] [-1.76525840e-03 9.74371528e-08 9.99998442e-01 -3.28718577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755769231 meters 0.01233608050900475 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.01, Z:-0.03 [[ 9.99837503e-01 -1.79871268e-02 1.19652919e-03 6.65269048e+00] [ 1.79871144e-02 9.99838219e-01 2.11592224e-05 -1.05898050e-02] [-1.19671620e-03 3.66323256e-07 9.99999284e-01 -3.42862936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785769231000002 meters 0.012450316388703381 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.01, Z:-0.03 [[ 9.99824832e-01 -1.86640380e-02 1.39948805e-03 6.68213368e+00] [ 1.86640216e-02 9.99825812e-01 2.47397417e-05 -1.21173679e-02] [-1.39970601e-03 1.38466708e-06 9.99999020e-01 -3.44293903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815769231 meters 0.012908635749574288 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.02, Z:-0.04 [[ 9.99785531e-01 -2.06955485e-02 7.66295553e-04 6.71174773e+00] [ 2.06955443e-02 9.99785824e-01 1.35286119e-05 -1.89091778e-02] [-7.66411413e-04 2.33319306e-06 9.99999706e-01 -3.60670728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845769231 meters 0.013480463143017892 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.02, Z:-0.04 [[ 9.99774772e-01 -2.12116655e-02 -6.85934429e-04 6.74055544e+00] [ 2.12116621e-02 9.99775007e-01 -1.22491417e-05 -2.15307647e-02] [ 6.86039923e-04 -2.30342641e-06 9.99999765e-01 -3.97127755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875769231000001 meters 0.013421607655079562 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.02, Z:-0.04 [[ 9.99767698e-01 -2.14479245e-02 -2.12995716e-03 6.76913334e+00] [ 2.14478911e-02 9.99769967e-01 -3.85388678e-05 -2.19698509e-02] [ 2.13029377e-03 -7.15317393e-06 9.99997731e-01 -4.12875104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905769231 meters 0.013274918062471153 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.02, Z:-0.04 [[ 9.99796379e-01 -1.99242132e-02 -3.19785075e-03 6.79736900e+00] [ 1.99241303e-02 9.99801493e-01 -5.77850205e-05 -2.28019238e-02] [ 3.19836728e-03 -5.94114090e-06 9.99994885e-01 -4.41586822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.935769231 meters 0.013035234073169118 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.02, Z:-0.04 [[ 9.99825538e-01 -1.84827619e-02 -2.69845020e-03 6.82513786e+00] [ 1.84826973e-02 9.99829179e-01 -4.88737231e-05 -2.15710712e-02] [ 2.69889257e-03 -1.00944167e-06 9.99996358e-01 -4.31520992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965769231000001 meters 0.012983466955213645 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.02, Z:-0.04 [[ 9.99854889e-01 -1.69056426e-02 -2.09765698e-03 6.85364032e+00] [ 1.69055988e-02 9.99857089e-01 -3.85748605e-05 -1.95282018e-02] [ 2.09800934e-03 3.10711543e-06 9.99997799e-01 -4.11704450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995769231 meters 0.013656728156327933 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.02, Z:-0.04 [[ 9.99905689e-01 -1.36713536e-02 -1.30623879e-03 6.88245117e+00] [ 1.36713334e-02 9.99906543e-01 -2.43990680e-05 -1.53181077e-02] [ 1.30645028e-03 6.53874091e-06 9.99999147e-01 -3.89346515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025769231000002 meters 0.015013149579953398 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.01, Z:-0.04 [[ 9.99919950e-01 -1.25583142e-02 -1.54329902e-03 6.91088814e+00] [ 1.25582851e-02 9.99921141e-01 -2.85607203e-05 -1.17318700e-02] [ 1.54353599e-03 9.17724487e-06 9.99998809e-01 -4.08558535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055769231000001 meters 0.015450361398872209 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.01, Z:-0.04 [[ 9.99925152e-01 -1.21149869e-02 -1.70834112e-03 6.94074830e+00] [ 1.21149507e-02 9.99926611e-01 -3.15916399e-05 -1.14111352e-02] [ 1.70859848e-03 1.08928070e-05 9.99998540e-01 -4.20662695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085769231 meters 0.01518942031269544 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.02, Z:-0.04 [[ 9.99914991e-01 -1.29045139e-02 -1.86688351e-03 6.96945519e+00] [ 1.29044718e-02 9.99916733e-01 -3.46036254e-05 -1.50148167e-02] [ 1.86717460e-03 1.05095381e-05 9.99998257e-01 -4.34939092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115769231000002 meters 0.014503366589759566 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.02, Z:-0.04 [[ 9.99899957e-01 -1.40139260e-02 -1.91968125e-03 6.99784526e+00] [ 1.40138825e-02 9.99901800e-01 -3.61177830e-05 -1.71615186e-02] [ 1.91999889e-03 9.21198217e-06 9.99998157e-01 -4.37349353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145769231000001 meters 0.013600090826101526 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.02, Z:-0.04 [[ 9.99878159e-01 -1.55023153e-02 -1.82888729e-03 7.02666073e+00] [ 1.55022777e-02 9.99879832e-01 -3.47091737e-05 -2.08493719e-02] [ 1.82920559e-03 6.35302591e-06 9.99998327e-01 -4.30676953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175769231 meters 0.012983985679790226 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.03, Z:-0.04 [[ 9.99849477e-01 -1.73380350e-02 -6.44609656e-04 7.05529116e+00] [ 1.73380305e-02 9.99849685e-01 -1.25790776e-05 -2.50542780e-02] [ 6.44730858e-04 1.40092229e-06 9.99999792e-01 -3.97819053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205769231000001 meters 0.012844397802314821 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.03, Z:-0.04 [[ 9.99846491e-01 -1.75212475e-02 -3.12887164e-05 7.08349596e+00] [ 1.75212475e-02 9.99846491e-01 -6.69688815e-07 -2.51073696e-02] [ 3.12956471e-05 1.21368668e-07 1.00000000e+00 -3.86681094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235769231 meters 0.013028385458764244 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.02, Z:-0.04 [[ 9.99856113e-01 -1.69618658e-02 -2.20700593e-04 7.11344421e+00] [ 1.69618652e-02 9.99856137e-01 -4.24867693e-06 -2.38932567e-02] [ 2.20740908e-04 5.04571875e-07 9.99999976e-01 -3.88154006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265769231 meters 0.013028385458764244 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.02, Z:-0.04 [[ 9.99855715e-01 -1.69852757e-02 -2.20700494e-04 7.14260416e+00] [ 1.69852752e-02 9.99855740e-01 -4.25384427e-06 -2.32924354e-02] [ 2.20740909e-04 5.04571876e-07 9.99999976e-01 -3.88780564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295769231000001 meters 0.013998658586782318 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.02, Z:-0.04 [[ 9.99897198e-01 -1.43069882e-02 -9.50607571e-04 7.17241454e+00] [ 1.43069774e-02 9.99897650e-01 -1.81791504e-05 -1.74216575e-02] [ 9.50770365e-04 4.57696052e-06 9.99999548e-01 -3.99589548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325769231 meters 0.014973059792747564 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.01, Z:-0.04 [[ 9.99922977e-01 -1.23856068e-02 -7.97949618e-04 7.20112732e+00] [ 1.23855985e-02 9.99923295e-01 -1.53212081e-05 -1.31735061e-02] [ 7.98078174e-04 5.43694442e-06 9.99999682e-01 -3.96971512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355769231000002 meters 0.017901479541154484 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.01, Z:-0.04 [[ 9.99965092e-01 -8.30467976e-03 -9.20011003e-04 7.23063884e+00] [ 8.30466704e-03 9.99965516e-01 -1.76494561e-05 -5.34754617e-03] [ 9.20125850e-04 1.00084549e-05 9.99999577e-01 -4.04959286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385769231000001 meters 0.019711932110078306 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.00, Z:-0.04 [[ 9.99979746e-01 -6.27536148e-03 -1.06154448e-03 7.26007257e+00] [ 6.27534338e-03 9.99980310e-01 -2.03813877e-05 -5.34517638e-04] [ 1.06165148e-03 1.37194187e-05 9.99999436e-01 -4.06586870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415769231 meters 0.024731269212122313 Centerline is valid? [True, True] Translation: X:7.29, Y:0.01, Z:-0.04 [[ 9.99997646e-01 -1.20805076e-03 -1.80248343e-03 7.28926146e+00] [ 1.20799040e-03 9.99999270e-01 -3.45732117e-05 1.41310179e-02] [ 1.80252388e-03 3.23957477e-05 9.99998375e-01 -4.08395790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445769231000002 meters 0.027266901541566423 Centerline is valid? [True, True] Translation: X:7.32, Y:0.02, Z:-0.04 [[ 9.99994842e-01 1.11594354e-03 -3.01183590e-03 7.31902540e+00] [-1.11612257e-03 9.99999375e-01 -5.77628368e-05 2.26214604e-02] [ 3.01176956e-03 6.11241169e-05 9.99995463e-01 -4.29306976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475769231000001 meters 0.028806416536048412 Centerline is valid? [True, True] Translation: X:7.35, Y:0.03, Z:-0.04 [[ 9.99985504e-01 3.23557764e-03 -4.30384400e-03 7.34800132e+00] [-3.23596372e-03 9.99994761e-01 -8.27444787e-05 2.99361955e-02] [ 4.30355372e-03 9.66703623e-05 9.99990735e-01 -4.48727727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505769231 meters 0.03177065637354252 Centerline is valid? [True, True] Translation: X:7.38, Y:0.04, Z:-0.05 [[ 9.99977423e-01 4.83156193e-03 -4.67005247e-03 7.37622122e+00] [-4.83203452e-03 9.99988322e-01 -8.99182373e-05 3.89214962e-02] [ 4.66956349e-03 1.12482062e-04 9.99989091e-01 -4.70872450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535769231000002 meters 0.03008150791289558 Centerline is valid? [True, True] Translation: X:7.40, Y:0.05, Z:-0.05 [[ 9.99980335e-01 4.61770639e-03 -4.24328123e-03 7.40492296e+00] [-4.61809564e-03 9.99989333e-01 -8.19414775e-05 4.77270908e-02] [ 4.24285759e-03 1.01535745e-04 9.99990994e-01 -4.58616404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565769231 meters 0.028409394324085777 Centerline is valid? [True, True] Translation: X:7.43, Y:0.05, Z:-0.04 [[ 9.99989968e-01 2.97262624e-03 -3.35073228e-03 7.43474220e+00] [-2.97285990e-03 9.99995579e-01 -6.47554418e-05 5.12990686e-02] [ 3.35052497e-03 7.47160498e-05 9.99994384e-01 -4.40772831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.595769231 meters 0.024145028947372846 Centerline is valid? [True, True] Translation: X:7.46, Y:0.05, Z:-0.04 [[ 9.99994359e-01 -1.92130889e-03 -2.75509610e-03 7.46394736e+00] [ 1.92116928e-03 9.99998153e-01 -5.33176151e-05 5.44226496e-02] [ 2.75519345e-03 4.80243084e-05 9.99996203e-01 -4.29051304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625769231000001 meters 0.0213716489895516 Centerline is valid? [True, True] Translation: X:7.49, Y:0.05, Z:-0.04 [[ 9.99981825e-01 -5.06995990e-03 -3.26281620e-03 7.49367453e+00] [ 5.06978064e-03 9.99987147e-01 -6.32095227e-05 5.47335992e-02] [ 3.26309474e-03 4.66666114e-05 9.99994675e-01 -4.49762980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655769231 meters 0.018813866950274098 Centerline is valid? [True, True] Translation: X:7.52, Y:0.06, Z:-0.05 [[ 9.99959432e-01 -8.20658948e-03 -3.71297411e-03 7.52299085e+00] [ 8.20637866e-03 9.99966325e-01 -7.20098621e-05 5.57454074e-02] [ 3.71344003e-03 4.15368694e-05 9.99993104e-01 -4.59655636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685769231 meters 0.015056958366413914 Centerline is valid? [True, True] Translation: X:7.55, Y:0.06, Z:-0.05 [[ 9.99898755e-01 -1.39178382e-02 -2.96191069e-03 7.55128326e+00] [ 1.39177287e-02 9.99903142e-01 -5.75813726e-05 5.87994078e-02] [ 2.96242522e-03 1.63524734e-05 9.99995612e-01 -4.62671187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715769231000001 meters 0.013979930910810833 Centerline is valid? [True, True] Translation: X:7.58, Y:0.06, Z:-0.05 [[ 9.99866225e-01 -1.60980905e-02 -2.89528066e-03 7.58099923e+00] [ 1.60979949e-02 9.99870417e-01 -5.63298147e-05 5.93255165e-02] [ 2.89581228e-03 9.71406588e-06 9.99995807e-01 -4.51449532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745769231 meters 0.013435572396936725 Centerline is valid? [True, True] Translation: X:7.61, Y:0.06, Z:-0.04 [[ 9.99825363e-01 -1.84517304e-02 -2.96269384e-03 7.61048760e+00] [ 1.84516404e-02 9.99829752e-01 -5.77082999e-05 5.83291857e-02] [ 2.96325427e-03 3.03166053e-06 9.99995610e-01 -4.48703776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775769231000002 meters 0.014181965192671122 Centerline is valid? [True, True] Translation: X:7.64, Y:0.05, Z:-0.04 [[ 9.99712617e-01 -2.38977464e-02 -1.89245905e-03 7.63898346e+00] [ 2.38977192e-02 9.99714408e-01 -3.69692671e-05 5.33578999e-02] [ 1.89280206e-03 -8.26681223e-06 9.99998209e-01 -4.20211331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805769231000001 meters 0.01582881884716922 Centerline is valid? [True, True] Translation: X:7.67, Y:0.05, Z:-0.04 [[ 9.99639899e-01 -2.68024132e-02 -1.30531318e-03 7.66736656e+00] [ 2.68024026e-02 9.99640751e-01 -2.55650276e-05 5.04855127e-02] [ 1.30552945e-03 -9.42970772e-06 9.99999148e-01 -4.08871261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835769231 meters 0.01963775702710336 Centerline is valid? [True, True] Translation: X:7.70, Y:0.04, Z:-0.04 [[ 9.99501742e-01 -3.14984224e-02 -2.02920803e-03 7.69655060e+00] [ 3.14984055e-02 9.99503801e-01 -4.02864073e-05 4.31614461e-02] [ 2.02947010e-03 -2.36504831e-05 9.99997940e-01 -4.34769477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865769231000002 meters 0.021958101699232426 Centerline is valid? [True, True] Translation: X:7.72, Y:0.04, Z:-0.05 [[ 9.99428129e-01 -3.36432635e-02 -3.39786541e-03 7.72473431e+00] [ 3.36432294e-02 9.99433904e-01 -6.72021735e-05 3.89842933e-02] [ 3.39820279e-03 -4.71514230e-05 9.99994225e-01 -4.68664654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895769231000001 meters 0.024025578206217632 Centerline is valid? [True, True] Translation: X:7.75, Y:0.04, Z:-0.05 [[ 9.99359396e-01 -3.55045295e-02 -4.49730134e-03 7.75389094e+00] [ 3.55044847e-02 9.99369513e-01 -8.98193549e-05 3.58810137e-02] [ 4.49765485e-03 -6.99125505e-05 9.99989883e-01 -4.89201973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925769231 meters 0.02450365306644014 Centerline is valid? [True, True] Translation: X:7.78, Y:0.04, Z:-0.05 [[ 9.99329201e-01 -3.63220111e-02 -4.67551471e-03 7.78232135e+00] [ 3.63219682e-02 9.99340135e-01 -9.40959246e-05 3.52782071e-02] [ 4.67584725e-03 -7.57910916e-05 9.99989065e-01 -4.87908487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955769231000001 meters 0.02230489572421986 Centerline is valid? [True, True] Translation: X:7.81, Y:0.04, Z:-0.04 [[ 9.99385337e-01 -3.49793586e-02 -2.32205271e-03 7.81164231e+00] [ 3.49793433e-02 9.99388034e-01 -4.72175577e-05 3.67425932e-02] [ 2.32228333e-03 -3.40353439e-05 9.99997303e-01 -4.30622303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985769231 meters 0.020626351322311113 Centerline is valid? [True, True] Translation: X:7.84, Y:0.04, Z:-0.04 [[ 9.99441655e-01 -3.33885627e-02 -1.25817300e-03 7.84004083e+00] [ 3.33885564e-02 9.99442446e-01 -2.59488017e-05 4.00736535e-02] [ 1.25833789e-03 -1.60742668e-05 9.99999208e-01 -4.04529949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015769231 meters 0.01754148841524035 Centerline is valid? [True, True] Translation: X:7.87, Y:0.05, Z:-0.04 [[ 9.99522819e-01 -3.08479268e-02 -1.59358458e-03 7.86917344e+00] [ 3.08479134e-02 9.99524089e-01 -3.30092295e-05 4.68664253e-02] [ 1.59384444e-03 -1.61652810e-05 9.99998730e-01 -4.03688206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045769231000001 meters 0.014517686617295748 Centerline is valid? [True, True] Translation: X:7.90, Y:0.06, Z:-0.05 [[ 9.99677745e-01 -2.49727520e-02 -4.55708855e-03 7.89696458e+00] [ 2.49725836e-02 9.99688132e-01 -9.38513087e-05 5.82380030e-02] [ 4.55801107e-03 -1.99812104e-05 9.99989612e-01 -4.73981697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075769231 meters 0.014246231984123819 Centerline is valid? [True, True] Translation: X:7.93, Y:0.06, Z:-0.05 [[ 9.99712689e-01 -2.33028610e-02 -5.61389939e-03 7.92507020e+00] [ 2.33025775e-02 9.99728451e-01 -1.15908766e-04 6.12217442e-02] [ 5.61507595e-03 -1.49428611e-05 9.99984235e-01 -5.04017483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105769231000002 meters 0.014094928939215929 Centerline is valid? [True, True] Translation: X:7.95, Y:0.06, Z:-0.05 [[ 9.99704278e-01 -2.36856028e-02 -5.50903099e-03 7.95290326e+00] [ 2.36853282e-02 9.99719457e-01 -1.15084034e-04 6.13066901e-02] [ 5.51021130e-03 -1.54332065e-05 9.99984819e-01 -5.07518809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135769231000001 meters 0.01450444584783623 Centerline is valid? [True, True] Translation: X:7.98, Y:0.06, Z:-0.05 [[ 9.99674061e-01 -2.49525290e-02 -5.39841277e-03 7.98091980e+00] [ 2.49522836e-02 9.99688637e-01 -1.12820106e-04 5.99626513e-02] [ 5.39954705e-03 -2.19193933e-05 9.99985422e-01 -5.09611726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165769231 meters 0.01503305708037689 Centerline is valid? [True, True] Translation: X:8.01, Y:0.06, Z:-0.05 [[ 9.99632391e-01 -2.65744954e-02 -5.37390520e-03 8.00988426e+00] [ 2.65742697e-02 9.99646835e-01 -1.13413768e-04 5.87658096e-02] [ 5.37502124e-03 -2.94355300e-05 9.99985554e-01 -5.12636647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195769231000002 meters 0.0165044822636779 Centerline is valid? [True, True] Translation: X:8.04, Y:0.06, Z:-0.05 [[ 9.99607287e-01 -2.74176673e-02 -5.79167906e-03 8.03746024e+00] [ 2.74174188e-02 9.99624064e-01 -1.22312088e-04 5.58520605e-02] [ 5.79285527e-03 -3.65288363e-05 9.99983221e-01 -5.44217828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225769231000001 meters 0.01593513162826504 Centerline is valid? [True, True] Translation: X:8.07, Y:0.06, Z:-0.05 [[ 9.99607269e-01 -2.73061091e-02 -6.29948627e-03 8.06541909e+00] [ 2.73058041e-02 9.99627118e-01 -1.34420765e-04 5.75859535e-02] [ 6.30080781e-03 -3.76445647e-05 9.99980149e-01 -5.37649511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255769231 meters 0.015470950222926308 Centerline is valid? [True, True] Translation: X:8.09, Y:0.06, Z:-0.05 [[ 9.99607049e-01 -2.71984793e-02 -6.78156398e-03 8.09363061e+00] [ 2.71981149e-02 9.99630052e-01 -1.45960745e-04 6.04700735e-02] [ 6.78302507e-03 -3.85423665e-05 9.99976994e-01 -5.27039421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285769231000002 meters 0.015219603268382896 Centerline is valid? [True, True] Translation: X:8.12, Y:0.06, Z:-0.05 [[ 9.99628048e-01 -2.63346640e-02 -7.08886371e-03 8.12045374e+00] [ 2.63342418e-02 9.99653182e-01 -1.52904344e-04 6.39887035e-02] [ 7.09043185e-03 -3.38323799e-05 9.99974862e-01 -5.36556400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315769231 meters 0.01437259569538276 Centerline is valid? [True, True] Translation: X:8.15, Y:0.07, Z:-0.05 [[ 9.99687638e-01 -2.39115087e-02 -7.27096554e-03 8.14907678e+00] [ 2.39109906e-02 9.99714079e-01 -1.58190189e-04 7.11503080e-02] [ 7.27266918e-03 -1.57152120e-05 9.99973554e-01 -5.42517590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345769231 meters 0.014267238465203122 Centerline is valid? [True, True] Translation: X:8.18, Y:0.07, Z:-0.05 [[ 9.99704441e-01 -2.32265163e-02 -7.18047682e-03 8.17602860e+00] [ 2.32259904e-02 9.99730228e-01 -1.56632582e-04 7.23962585e-02] [ 7.18217776e-03 -1.01873978e-05 9.99974208e-01 -5.45533400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375769231000001 meters 0.01382537335967231 Centerline is valid? [True, True] Translation: X:8.20, Y:0.07, Z:-0.05 [[ 9.99695793e-01 -2.41646092e-02 -4.93902474e-03 8.20393249e+00] [ 2.41643704e-02 9.99707993e-01 -1.08026117e-04 7.01088046e-02] [ 4.94019292e-03 -1.13551684e-05 9.99987797e-01 -5.07250594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405769231 meters 0.01402158960079846 Centerline is valid? [True, True] Translation: X:8.23, Y:0.07, Z:-0.05 [[ 9.99661787e-01 -2.57888721e-02 -3.35346818e-03 8.23180868e+00] [ 2.57887681e-02 9.99667412e-01 -7.42603143e-05 6.84277914e-02] [ 3.35426795e-03 -1.22466147e-05 9.99994374e-01 -4.80662344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435769231000002 meters 0.016879654481613618 Centerline is valid? [True, True] Translation: X:8.26, Y:0.06, Z:-0.05 [[ 9.99531733e-01 -3.03659611e-02 -3.77148302e-03 8.25970190e+00] [ 3.03658625e-02 9.99538847e-01 -8.34122121e-05 6.03934849e-02] [ 3.77227668e-03 -3.11511819e-05 9.99992884e-01 -4.95631313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465769231000001 meters 0.019395064253584993 Centerline is valid? [True, True] Translation: X:8.29, Y:0.06, Z:-0.05 [[ 9.99436627e-01 -3.31770520e-02 -5.07060636e-03 8.28707426e+00] [ 3.31769083e-02 9.99449489e-01 -1.12467686e-04 5.53991824e-02] [ 5.07154628e-03 -5.58227172e-05 9.99987138e-01 -5.21890226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495769231 meters 0.0215859000034772 Centerline is valid? [True, True] Translation: X:8.31, Y:0.05, Z:-0.05 [[ 9.99358137e-01 -3.52891347e-02 -6.16374411e-03 8.31468806e+00] [ 3.52889608e-02 9.99377141e-01 -1.36998886e-04 5.13936989e-02] [ 6.16473954e-03 -8.06011728e-05 9.99980995e-01 -5.40067234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525769231000002 meters 0.02284946858976365 Centerline is valid? [True, True] Translation: X:8.34, Y:0.05, Z:-0.05 [[ 9.99306680e-01 -3.66626447e-02 -6.48142404e-03 8.34312532e+00] [ 3.66624735e-02 9.99327695e-01 -1.45271897e-04 4.97981998e-02] [ 6.48239260e-03 -9.24538596e-05 9.99978985e-01 -5.39311064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555769231000001 meters 0.02311016787288883 Centerline is valid? [True, True] Translation: X:8.37, Y:0.05, Z:-0.05 [[ 9.99284692e-01 -3.72662332e-02 -6.42897716e-03 8.37183586e+00] [ 3.72660707e-02 9.99305368e-01 -1.45099520e-04 5.00127552e-02] [ 6.42991870e-03 -9.45869890e-05 9.99979323e-01 -5.23020724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585769231 meters 0.021241977121136783 Centerline is valid? [True, True] Translation: X:8.40, Y:0.05, Z:-0.05 [[ 9.99292820e-01 -3.72659934e-02 -5.01062890e-03 8.40057165e+00] [ 3.72658901e-02 9.99305379e-01 -1.14002647e-04 5.11430583e-02] [ 5.01139683e-03 -7.28035193e-05 9.99987440e-01 -4.78040962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615769231000002 meters 0.021601779883296555 Centerline is valid? [True, True] Translation: X:8.43, Y:0.05, Z:-0.05 [[ 9.99287336e-01 -3.75971796e-02 -3.35751166e-03 8.42879637e+00] [ 3.75971348e-02 9.99292975e-01 -7.64765669e-05 4.91424671e-02] [ 3.35801312e-03 -4.98107537e-05 9.99994361e-01 -4.61310323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645769231000001 meters 0.025260990723638625 Centerline is valid? [True, True] Translation: X:8.46, Y:0.04, Z:-0.04 [[ 9.99132231e-01 -4.16319412e-02 -1.25125210e-03 8.45849792e+00] [ 4.16319381e-02 9.99133015e-01 -2.85324886e-05 3.92377811e-02] [ 1.25135514e-03 -2.35843209e-05 9.99999217e-01 -4.37477370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675769231 meters 0.027005761427932446 Centerline is valid? [True, True] Translation: X:8.49, Y:0.03, Z:-0.04 [[ 9.99025834e-01 -4.41137347e-02 -1.16692735e-03 8.48703207e+00] [ 4.41137335e-02 9.99026515e-01 -2.67582343e-05 3.45302601e-02] [ 1.16697177e-03 -2.47453547e-05 9.99999319e-01 -4.35954909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705769231000001 meters 0.02869490500563079 Centerline is valid? [True, True] Translation: X:8.52, Y:0.03, Z:-0.04 [[ 9.98930248e-01 -4.62148283e-02 -1.59685002e-03 8.51621788e+00] [ 4.62148281e-02 9.98931523e-01 -3.70619424e-05 2.97672534e-02] [ 1.59685663e-03 -3.67758538e-05 9.99998724e-01 -4.37731042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735769231 meters 0.03284187788131837 Centerline is valid? [True, True] Translation: X:8.55, Y:0.02, Z:-0.05 [[ 9.98769604e-01 -4.94759729e-02 -3.37743487e-03 8.54523976e+00] [ 4.94759921e-02 9.98775310e-01 -7.79169177e-05 1.86277495e-02] [ 3.37715357e-03 -8.92808918e-05 9.99994293e-01 -4.63345618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765769231 meters 0.033895876557563744 Centerline is valid? [True, True] Translation: X:8.57, Y:0.01, Z:-0.05 [[ 9.98707406e-01 -5.06546295e-02 -4.19822560e-03 8.57406167e+00] [ 5.06546658e-02 9.98716224e-01 -9.77492486e-05 1.45523161e-02] [ 4.19778747e-03 -1.15036816e-04 9.99991183e-01 -4.82306759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795769231000001 meters 0.036259250330119765 Centerline is valid? [True, True] Translation: X:8.60, Y:0.00, Z:-0.05 [[ 9.98696395e-01 -5.07907591e-02 -5.08031226e-03 8.60192133e+00] [ 5.07908141e-02 9.98709307e-01 -1.18280395e-04 4.83882501e-03] [ 5.07976268e-03 -1.39906991e-04 9.99987088e-01 -5.04128672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825769231 meters 0.033201703158599695 Centerline is valid? [True, True] Translation: X:8.63, Y:0.01, Z:-0.05 [[ 9.98758177e-01 -4.95586999e-02 -5.10281789e-03 8.63066892e+00] [ 4.95587340e-02 9.98771204e-01 -1.19844551e-04 5.96938986e-03] [ 5.10248690e-03 -1.33193468e-04 9.99986973e-01 -4.98152141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855769231000002 meters 0.03242774458993818 Centerline is valid? [True, True] Translation: X:8.66, Y:0.00, Z:-0.05 [[ 9.98859739e-01 -4.74667068e-02 -5.11200462e-03 8.65825736e+00] [ 4.74667132e-02 9.98872813e-01 -1.20129152e-04 4.53851523e-03] [ 5.11194457e-03 -1.22657884e-04 9.99986926e-01 -5.04983601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885769231000001 meters 0.027281848883161066 Centerline is valid? [True, True] Translation: X:8.69, Y:0.01, Z:-0.05 [[ 9.99088472e-01 -4.23408538e-02 -5.42926700e-03 8.68684876e+00] [ 4.23407852e-02 9.99103219e-01 -1.27614372e-04 6.93409196e-03] [ 5.42980144e-03 -1.02381380e-04 9.99985253e-01 -5.15346003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915769231 meters 0.021831132760329355 Centerline is valid? [True, True] Translation: X:8.72, Y:0.01, Z:-0.05 [[ 9.99182700e-01 -4.01521063e-02 -4.66265290e-03 8.71566484e+00] [ 4.01520267e-02 9.99193576e-01 -1.10722111e-04 1.31575865e-02] [ 4.66333855e-03 -7.65833459e-05 9.99989124e-01 -4.83932936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945769231000002 meters 0.020021166890752656 Centerline is valid? [True, True] Translation: X:8.74, Y:0.01, Z:-0.05 [[ 9.99294734e-01 -3.73410667e-02 -3.95973822e-03 8.74409255e+00] [ 3.73409843e-02 9.99302578e-01 -9.47629275e-05 1.36480658e-02] [ 3.96051516e-03 -5.31644281e-05 9.99992156e-01 -4.76489588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975769231000001 meters 0.02049089994800749 Centerline is valid? [True, True] Translation: X:8.77, Y:0.01, Z:-0.05 [[ 9.99324207e-01 -3.65371464e-02 -4.02077530e-03 8.77222137e+00] [ 3.65370550e-02 9.99332294e-01 -9.62155313e-05 1.22299484e-02] [ 4.02160604e-03 -5.07567785e-05 9.99991912e-01 -4.89881871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005769231 meters 0.018741002393710796 Centerline is valid? [True, True] Translation: X:8.80, Y:0.01, Z:-0.05 [[ 9.99344613e-01 -3.59195353e-02 -4.48688729e-03 8.80017923e+00] [ 3.59194102e-02 9.99354684e-01 -1.08484041e-04 1.38502266e-02] [ 4.48788852e-03 -5.27534032e-05 9.99989928e-01 -4.88784632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035769231000002 meters 0.01814335814646023 Centerline is valid? [True, True] Translation: X:8.83, Y:0.01, Z:-0.05 [[ 9.99367253e-01 -3.52474024e-02 -4.76601740e-03 8.82869426e+00] [ 3.52472502e-02 9.99378616e-01 -1.15944189e-04 1.38908335e-02] [ 4.76714260e-03 -5.21181820e-05 9.99988636e-01 -4.93518410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065769231 meters 0.01633341658715742 Centerline is valid? [True, True] Translation: X:8.86, Y:0.02, Z:-0.05 [[ 9.99456497e-01 -3.26250213e-02 -4.72431475e-03 8.85639826e+00] [ 3.26248422e-02 9.99467662e-01 -1.14981927e-04 1.65065523e-02] [ 4.72555110e-03 -3.92105890e-05 9.99988834e-01 -5.00729824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095769231 meters 0.015490739531486651 Centerline is valid? [True, True] Translation: X:8.88, Y:0.02, Z:-0.05 [[ 9.99501295e-01 -3.13383452e-02 -3.88204738e-03 8.88442550e+00] [ 3.13382129e-02 9.99508833e-01 -9.49267621e-05 1.84602113e-02] [ 3.88311549e-03 -2.67770057e-05 9.99992460e-01 -4.87896214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125769231000001 meters 0.01482810376027991 Centerline is valid? [True, True] Translation: X:8.91, Y:0.02, Z:-0.05 [[ 9.99541330e-01 -3.01019580e-02 -3.31701174e-03 8.91197031e+00] [ 3.01018541e-02 9.99546833e-01 -8.12580041e-05 1.97818788e-02] [ 3.31795460e-03 -1.86274700e-05 9.99994495e-01 -4.83203071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155769231 meters 0.01433275772270569 Centerline is valid? [True, True] Translation: X:8.94, Y:0.02, Z:-0.05 [[ 9.99571851e-01 -2.89276044e-02 -4.39411588e-03 8.93858546e+00] [ 2.89274078e-02 9.99581509e-01 -1.08300719e-04 1.76062232e-02] [ 4.39540986e-03 -1.88560320e-05 9.99990340e-01 -4.98019741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185769231000002 meters 0.014451841460711502 Centerline is valid? [True, True] Translation: X:8.97, Y:0.02, Z:-0.05 [[ 9.99570508e-01 -2.87623270e-02 -5.61497192e-03 8.96677786e+00] [ 2.87620029e-02 9.99586278e-01 -1.38477616e-04 1.67307883e-02] [ 5.61663182e-03 -2.30796980e-05 9.99984226e-01 -5.21496954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215769231000001 meters 0.014451841460711502 Centerline is valid? [True, True] Translation: X:8.99, Y:0.02, Z:-0.05 [[ 9.99565395e-01 -2.89394681e-02 -5.61494083e-03 8.99426073e+00] [ 2.89391397e-02 9.99581166e-01 -1.39734122e-04 1.76217169e-02] [ 5.61663293e-03 -2.28181646e-05 9.99984226e-01 -5.22087592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245769231 meters 0.014227856902703196 Centerline is valid? [True, True] Translation: X:9.02, Y:0.02, Z:-0.05 [[ 9.99575133e-01 -2.83974903e-02 -6.56785778e-03 9.02266885e+00] [ 2.83970232e-02 9.99596710e-01 -1.64385046e-04 1.74213075e-02] [ 6.56987715e-03 -2.21924051e-05 9.99978418e-01 -5.45152397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275769231000002 meters 0.013871319470658335 Centerline is valid? [True, True] Translation: X:9.05, Y:0.02, Z:-0.05 [[ 9.99594472e-01 -2.79011467e-02 -5.69361332e-03 9.05003531e+00] [ 2.79007868e-02 9.99610687e-01 -1.42650880e-04 1.74434626e-02] [ 5.69537685e-03 -1.62632597e-05 9.99983781e-01 -5.35965249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305769231000001 meters 0.013407393524094851 Centerline is valid? [True, True] Translation: X:9.08, Y:0.02, Z:-0.05 [[ 9.99604962e-01 -2.77324948e-02 -4.56374446e-03 9.07924460e+00] [ 2.77322572e-02 9.99615380e-01 -1.15346297e-04 1.64923312e-02] [ 4.56518800e-03 -1.12622048e-05 9.99989579e-01 -5.10021782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335769231 meters 0.013519508071500234 Centerline is valid? [True, True] Translation: X:9.11, Y:0.01, Z:-0.05 [[ 9.99594832e-01 -2.82468446e-02 -3.50546265e-03 9.10728282e+00] [ 2.82467074e-02 9.99600978e-01 -8.86564693e-05 9.12683971e-03] [ 3.50656816e-03 -1.03972292e-05 9.99993852e-01 -4.95144346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365769231000002 meters 0.013202612363157699 Centerline is valid? [True, True] Translation: X:9.14, Y:0.01, Z:-0.05 [[ 9.99595014e-01 -2.82021206e-02 -3.80104377e-03 9.13537930e+00] [ 2.82019551e-02 9.99602241e-01 -9.71315950e-05 8.52580304e-03] [ 3.80227119e-03 -1.01046078e-05 9.99992771e-01 -4.78436210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395769231000001 meters 0.012891096805868078 Centerline is valid? [True, True] Translation: X:9.16, Y:0.01, Z:-0.05 [[ 9.99616679e-01 -2.73864409e-02 -4.05920799e-03 9.16370621e+00] [ 2.73862424e-02 9.99624921e-01 -1.04481769e-04 9.43282004e-03] [ 4.06054685e-03 -6.72473536e-06 9.99991756e-01 -4.78291716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425769231 meters 0.012914642651589123 Centerline is valid? [True, True] Translation: X:9.19, Y:0.01, Z:-0.05 [[ 9.99709614e-01 -2.38773489e-02 -3.24947041e-03 9.19156041e+00] [ 2.38772009e-02 9.99714895e-01 -8.43386543e-05 1.48240855e-02] [ 3.25055776e-03 6.72590578e-06 9.99994717e-01 -4.74538552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455769231000001 meters 0.013532645663962721 Centerline is valid? [True, True] Translation: X:9.22, Y:0.02, Z:-0.05 [[ 9.99760553e-01 -2.17113694e-02 -2.73002168e-03 9.21935151e+00] [ 2.17112566e-02 9.99764280e-01 -7.09518059e-05 1.95198355e-02] [ 2.73091863e-03 1.16626154e-05 9.99996271e-01 -4.73604311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485769231 meters 0.015873753822687513 Centerline is valid? [True, True] Translation: X:9.25, Y:0.03, Z:-0.05 [[ 9.99826123e-01 -1.83792843e-02 -3.15051799e-03 9.24695823e+00] [ 1.83791172e-02 9.99831086e-01 -8.19628246e-05 2.73716307e-02] [ 3.15149225e-03 2.40448336e-05 9.99995034e-01 -4.81697099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515769231000002 meters 0.01597007415107845 Centerline is valid? [True, True] Translation: X:9.28, Y:0.03, Z:-0.05 [[ 9.99840532e-01 -1.75890875e-02 -3.08782486e-03 9.27567874e+00] [ 1.75889210e-02 9.99845300e-01 -8.10695517e-05 2.88316250e-02] [ 3.08877311e-03 2.67451162e-05 9.99995229e-01 -4.67043386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545769231000001 meters 0.015942358687232826 Centerline is valid? [True, True] Translation: X:9.30, Y:0.03, Z:-0.04 [[ 9.99842154e-01 -1.76213222e-02 -2.27078643e-03 9.30350999e+00] [ 1.76212310e-02 9.99844732e-01 -6.01912193e-05 3.03549912e-02] [ 2.27149449e-03 2.01676663e-05 9.99997420e-01 -4.43230716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575769231 meters 0.015513122563060887 Centerline is valid? [True, True] Translation: X:9.33, Y:0.03, Z:-0.04 [[ 9.99832902e-01 -1.82326191e-02 -1.31885399e-03 9.33245196e+00] [ 1.82325884e-02 9.99833772e-01 -3.52940639e-05 3.23538468e-02] [ 1.31927826e-03 1.12420444e-05 9.99999130e-01 -4.16962096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605769231000002 meters 0.013728042248332614 Centerline is valid? [True, True] Translation: X:9.36, Y:0.04, Z:-0.04 [[ 9.99776896e-01 -2.11216196e-02 1.87296415e-04 9.36047215e+00] [ 2.11216190e-02 9.99776914e-01 4.84760441e-06 3.55199352e-02] [-1.87357021e-04 -8.90519355e-07 9.99999982e-01 -4.06001288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635769231000001 meters 0.012908004023884437 Centerline is valid? [True, True] Translation: X:9.39, Y:0.04, Z:-0.04 [[ 9.99732988e-01 -2.31064352e-02 2.10884754e-04 9.38878280e+00] [ 2.31064346e-02 9.99733011e-01 5.53272188e-06 3.57048817e-02] [-2.10956292e-04 -6.58449811e-07 9.99999978e-01 -4.24083551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665769231 meters 0.01248320119819319 Centerline is valid? [True, True] Translation: X:9.42, Y:0.03, Z:-0.05 [[ 9.99644201e-01 -2.66252879e-02 -1.60199197e-03 9.41801407e+00] [ 2.66252529e-02 9.99645484e-01 -4.32126678e-05 3.30024784e-02] [ 1.60257459e-03 5.43851440e-07 9.99998716e-01 -4.56621703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695769231000002 meters 0.012701163389698681 Centerline is valid? [True, True] Translation: X:9.45, Y:0.03, Z:-0.05 [[ 9.99617656e-01 -2.74909833e-02 -2.96432003e-03 9.44558033e+00] [ 2.74908681e-02 9.99622051e-01 -7.96031762e-05 3.41749164e-02] [ 2.96538804e-03 -1.91899061e-06 9.99995603e-01 -4.82070896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725769231000001 meters 0.012986217237197466 Centerline is valid? [True, True] Translation: X:9.47, Y:0.04, Z:-0.05 [[ 9.99603793e-01 -2.77924900e-02 -4.45367060e-03 9.47394843e+00] [ 2.77922290e-02 9.99613714e-01 -1.20500313e-04 3.79393966e-02] [ 4.45529921e-03 -3.32486348e-06 9.99990075e-01 -5.00426378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755769231 meters 0.01352523054670618 Centerline is valid? [True, True] Translation: X:9.50, Y:0.04, Z:-0.05 [[ 9.99581777e-01 -2.82459842e-02 -6.19969801e-03 9.50193007e+00] [ 2.82454871e-02 9.99601003e-01 -1.67739070e-04 4.28081638e-02] [ 6.20196230e-03 -7.44457287e-06 9.99980768e-01 -5.42187944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785769231000002 meters 0.013534264305828212 Centerline is valid? [True, True] Translation: X:9.53, Y:0.04, Z:-0.05 [[ 9.99586272e-01 -2.80851593e-02 -6.20547394e-03 9.52879602e+00] [ 2.80846549e-02 9.99605534e-01 -1.68430671e-04 4.48643656e-02] [ 6.20775650e-03 -5.91760753e-06 9.99980732e-01 -5.44532135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815769231 meters 0.012970022384713295 Centerline is valid? [True, True] Translation: X:9.56, Y:0.05, Z:-0.05 [[ 9.99621987e-01 -2.71294580e-02 -4.45813319e-03 9.55774229e+00] [ 2.71291840e-02 9.99631929e-01 -1.21944596e-04 4.73849450e-02] [ 4.45980057e-03 9.52983929e-07 9.99990055e-01 -5.08631075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845769231 meters 0.012650495208439349 Centerline is valid? [True, True] Translation: X:9.59, Y:0.05, Z:-0.05 [[ 9.99640534e-01 -2.66756289e-02 -2.68593715e-03 9.58668920e+00] [ 2.66755262e-02 9.99644142e-01 -7.40549784e-05 4.96519267e-02] [ 2.68695680e-03 2.37957143e-06 9.99996390e-01 -4.78557490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875769231000001 meters 0.012328023756437394 Centerline is valid? [True, True] Translation: X:9.61, Y:0.05, Z:-0.04 [[ 9.99644666e-01 -2.66241010e-02 -1.30342423e-03 9.61470897e+00] [ 2.66240762e-02 9.99645516e-01 -3.64173080e-05 5.16999372e-02] [ 1.30393177e-03 1.70190169e-06 9.99999150e-01 -4.49551793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905769231 meters 0.012370255684499855 Centerline is valid? [True, True] Translation: X:9.64, Y:0.05, Z:-0.04 [[ 9.99636346e-01 -2.69575680e-02 -6.82186850e-04 9.64276604e+00] [ 2.69575610e-02 9.99636579e-01 -1.93788685e-05 5.27163020e-02] [ 6.82461336e-04 9.81727718e-07 9.99999767e-01 -4.41601214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935769231000002 meters 0.012598704317807088 Centerline is valid? [True, True] Translation: X:9.67, Y:0.05, Z:-0.05 [[ 9.99609390e-01 -2.78315686e-02 -2.54385065e-03 9.67076683e+00] [ 2.78314780e-02 9.99612627e-01 -7.10347193e-05 4.89097643e-02] [ 2.54484224e-03 2.07849025e-07 9.99996762e-01 -4.82974604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965769231000001 meters 0.01273122024555179 Centerline is valid? [True, True] Translation: X:9.70, Y:0.05, Z:-0.05 [[ 9.99608547e-01 -2.77015885e-02 -3.92110685e-03 9.69959109e+00] [ 2.77013690e-02 9.99616237e-01 -1.10301254e-04 4.59267175e-02] [ 3.92265759e-03 1.63804829e-06 9.99992306e-01 -5.02893889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995769231 meters 0.012659193638149688 Centerline is valid? [True, True] Translation: X:9.73, Y:0.05, Z:-0.05 [[ 9.99613325e-01 -2.75376053e-02 -3.85768641e-03 9.72664380e+00] [ 2.75373911e-02 9.99620768e-01 -1.08660721e-04 4.56444175e-02] [ 3.85921571e-03 2.38808553e-06 9.99992553e-01 -5.00813545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025769231000002 meters 0.012536023055632896 Centerline is valid? [True, True] Translation: X:9.75, Y:0.04, Z:-0.05 [[ 9.99616239e-01 -2.75498681e-02 -2.89471785e-03 9.75441827e+00] [ 2.75497452e-02 9.99620430e-01 -8.23478985e-05 4.49203734e-02] [ 2.89588778e-03 2.56755732e-06 9.99995807e-01 -4.88894439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055769231000001 meters 0.012416937115868418 Centerline is valid? [True, True] Translation: X:9.78, Y:0.04, Z:-0.05 [[ 9.99624901e-01 -2.73162813e-02 -1.96910923e-03 9.78290573e+00] [ 2.73162230e-02 9.99626841e-01 -5.65145842e-05 4.30962308e-02] [ 1.96991821e-03 2.70475879e-06 9.99998060e-01 -4.68219347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085769231 meters 0.012240714143457378 Centerline is valid? [True, True] Translation: X:9.81, Y:0.04, Z:-0.04 [[ 9.99633373e-01 -2.70653970e-02 -7.64010094e-04 9.81086406e+00] [ 2.70653879e-02 9.99633665e-01 -2.23133776e-05 3.81123010e-02] [ 7.64334131e-04 1.62696739e-06 9.99999708e-01 -4.38178935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115769231000002 meters 0.012413693182491721 Centerline is valid? [True, True] Translation: X:9.84, Y:0.04, Z:-0.04 [[ 9.99648583e-01 -2.64909309e-02 -9.70089941e-04 9.83921441e+00] [ 2.64909162e-02 9.99649054e-01 -2.80050265e-05 3.77502701e-02] [ 9.70491371e-04 2.29661374e-06 9.99999529e-01 -4.37228604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145769231000001 meters 0.013677196427424779 Centerline is valid? [True, True] Translation: X:9.87, Y:0.04, Z:-0.04 [[ 9.99729870e-01 -2.32416488e-02 1.14006235e-04 9.86821809e+00] [ 2.32416486e-02 9.99729876e-01 2.94987936e-06 4.02733717e-02] [-1.14043999e-04 -2.99389649e-07 9.99999993e-01 -4.19299959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175769231 meters 0.015278440647359413 Centerline is valid? [True, True] Translation: X:9.90, Y:0.04, Z:-0.04 [[ 9.99784422e-01 -2.07335403e-02 1.10913106e-03 9.89741227e+00] [ 2.07335177e-02 9.99785037e-01 3.18860235e-05 4.33787950e-02] [-1.10955375e-03 -8.88296110e-06 9.99999384e-01 -4.00392206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205769231000001 meters 0.018560503030909947 Centerline is valid? [True, True] Translation: X:9.93, Y:0.05, Z:-0.04 [[ 9.99848925e-01 -1.72833679e-02 1.84723365e-03 9.92626318e+00] [ 1.72832982e-02 9.99850631e-01 5.36769028e-05 4.93641180e-02] [-1.84788545e-03 -2.17425035e-05 9.99998292e-01 -3.88260618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235769231 meters 0.021172741680695373 Centerline is valid? [True, True] Translation: X:9.96, Y:0.05, Z:-0.04 [[ 9.99914382e-01 -1.29686871e-02 1.74379990e-03 9.95692174e+00] [ 1.29686183e-02 9.99915903e-01 5.07415794e-05 5.45825439e-02] [-1.74431131e-03 -2.81225598e-05 9.99998478e-01 -3.89214745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265769231000002 meters 0.030259838519871973 Centerline is valid? [True, True] Translation: X:9.99, Y:0.07, Z:-0.04 [[ 9.99992819e-01 -3.69091081e-03 8.59530597e-04 9.98631884e+00] [ 3.69089069e-03 9.99993188e-01 2.49943438e-05 7.15173081e-02] [-8.59616994e-04 -2.18217308e-05 9.99999630e-01 -4.05023445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295769231000001 meters 0.03721534803775681 Centerline is valid? [True, True] Translation: X:10.02, Y:0.08, Z:-0.04 [[ 9.99999754e-01 -5.36506833e-05 6.98925160e-04 1.00160671e+01] [ 5.36364758e-05 9.99999998e-01 2.03464853e-05 8.39533141e-02] [-6.98926250e-04 -2.03089924e-05 9.99999756e-01 -4.06230668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325769231 meters 0.042057253835789635 Centerline is valid? [True, True] Translation: X:10.05, Y:0.10, Z:-0.04 [[ 9.99990601e-01 4.33567480e-03 1.98143358e-06 1.00460879e+01] [-4.33567480e-03 9.99990601e-01 5.89319792e-08 9.69443919e-02] [-1.98115945e-06 -6.75222768e-08 1.00000000e+00 -4.16821861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355769231000002 meters 0.03952232049594152 Centerline is valid? [True, True] Translation: X:10.08, Y:0.10, Z:-0.04 [[ 9.99985601e-01 5.33783771e-03 -5.52612516e-04 1.00766321e+01] [-5.33784741e-03 9.99985753e-01 -1.60868402e-05 9.70884460e-02] [ 5.52518775e-04 1.90363698e-05 9.99999847e-01 -4.23629962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385769231000001 meters 0.04509568412591509 Centerline is valid? [True, True] Translation: X:10.11, Y:0.11, Z:-0.04 [[ 9.99982317e-01 5.86314856e-03 -9.94982322e-04 1.01055605e+01] [-5.86318032e-03 9.99982811e-01 -2.90010160e-05 1.08048551e-01] [ 9.94795182e-04 3.48342639e-05 9.99999505e-01 -4.38697789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415769231 meters 0.04322415888013239 Centerline is valid? [True, True] Translation: X:10.14, Y:0.11, Z:-0.04 [[ 9.99985451e-01 5.38885719e-03 -2.41494782e-04 1.01359762e+01] [-5.38885905e-03 9.99985480e-01 -7.03284932e-06 1.13668708e-01] [ 2.41453377e-04 8.33412835e-06 9.99999971e-01 -4.22637828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445769231000002 meters 0.03967153990613205 Centerline is valid? [True, True] Translation: X:10.17, Y:0.11, Z:-0.04 [[ 9.99986859e-01 5.11281919e-03 3.75289398e-04 1.01666925e+01] [-5.11282365e-03 9.99986929e-01 1.09292373e-05 1.14338084e-01] [-3.75228614e-04 -1.28478822e-05 9.99999930e-01 -4.07350246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475769231000001 meters 0.03968081736495598 Centerline is valid? [True, True] Translation: X:10.20, Y:0.12, Z:-0.04 [[ 9.99988866e-01 4.71671415e-03 -1.41664237e-04 1.01964545e+01] [-4.71671478e-03 9.99988876e-01 -4.09887075e-06 1.23879004e-01] [ 1.41643328e-04 4.76701492e-06 9.99999990e-01 -4.29782754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505769231 meters 0.04248616731614654 Centerline is valid? [True, True] Translation: X:10.23, Y:0.13, Z:-0.05 [[ 9.99990719e-01 4.23802021e-03 -7.75465555e-04 1.02259383e+01] [-4.23803901e-03 9.99991019e-01 -2.26079105e-05 1.32137726e-01] [ 7.75362778e-04 2.58941540e-05 9.99999699e-01 -4.51095160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535769231000002 meters 0.040440160183619844 Centerline is valid? [True, True] Translation: X:10.26, Y:0.13, Z:-0.05 [[ 9.99992960e-01 3.43057991e-03 -1.52026351e-03 1.02567033e+01] [-3.43065117e-03 9.99994114e-01 -4.42731646e-05 1.33942134e-01] [ 1.52010268e-03 4.94883467e-05 9.99998843e-01 -4.59070192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565769231 meters 0.03504471017411977 Centerline is valid? [True, True] Translation: X:10.29, Y:0.13, Z:-0.05 [[ 9.99996089e-01 3.81300927e-04 -2.77077298e-03 1.02863561e+01] [-3.81526126e-04 9.99999924e-01 -8.07484520e-05 1.34009520e-01] [ 2.77074198e-03 8.18052584e-05 9.99996158e-01 -4.67896798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595769231000002 meters 0.034924943939133334 Centerline is valid? [True, True] Translation: X:10.32, Y:0.14, Z:-0.05 [[ 9.99994817e-01 -1.01127429e-03 -3.05669576e-03 1.03150848e+01] [ 1.01100624e-03 9.99999485e-01 -8.92371075e-05 1.37610970e-01] [ 3.05678443e-03 8.61463065e-05 9.99995324e-01 -4.71373720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625769231000001 meters 0.030278729255882028 Centerline is valid? [True, True] Translation: X:10.35, Y:0.14, Z:-0.04 [[ 9.99990387e-01 -4.30421594e-03 -8.35945702e-04 1.03453124e+01] [ 4.30419703e-03 9.99990737e-01 -2.44189211e-05 1.38864427e-01] [ 8.36043062e-04 2.08206113e-05 9.99999650e-01 -4.40058304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655769231 meters 0.029997144508605134 Centerline is valid? [True, True] Translation: X:10.37, Y:0.14, Z:-0.04 [[ 9.99987451e-01 -5.00727640e-03 -1.58641490e-04 1.03749416e+01] [ 5.00727573e-03 9.99987464e-01 -4.61661263e-06 1.43104080e-01] [ 1.58662617e-04 3.82219301e-06 9.99999987e-01 -4.32685181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685769231000002 meters 0.02968799216932201 Centerline is valid? [True, True] Translation: X:10.40, Y:0.15, Z:-0.04 [[ 9.99985323e-01 -5.38179269e-03 -6.24232955e-04 1.04049346e+01] [ 5.38178237e-03 9.99985518e-01 -1.82122524e-05 1.47231960e-01] [ 6.24321929e-04 1.48524992e-05 9.99999805e-01 -4.42377968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715769231000001 meters 0.029605821332248903 Centerline is valid? [True, True] Translation: X:10.44, Y:0.15, Z:-0.05 [[ 9.99982258e-01 -5.72646557e-03 -1.64077055e-03 1.04350485e+01] [ 5.72639473e-03 9.99983603e-01 -4.78701534e-05 1.50878725e-01] [ 1.64101777e-03 3.84736042e-05 9.99998653e-01 -4.69870087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745769231 meters 0.026818409523113148 Centerline is valid? [True, True] Translation: X:10.46, Y:0.15, Z:-0.05 [[ 9.99964921e-01 -8.12062007e-03 -2.05255013e-03 1.04646707e+01] [ 8.12051404e-03 9.99967026e-01 -5.99827024e-05 1.50956277e-01] [ 2.05296955e-03 4.33128361e-05 9.99997892e-01 -4.76314221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775769231000002 meters 0.024339177587871123 Centerline is valid? [True, True] Translation: X:10.49, Y:0.15, Z:-0.05 [[ 9.99940013e-01 -1.09161171e-02 -8.99818456e-04 1.04939225e+01] [ 1.09160978e-02 9.99940417e-01 -2.63093942e-05 1.48211909e-01] [ 9.00052039e-04 1.64853097e-05 9.99999595e-01 -4.55263556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805769231000001 meters 0.017561632357367903 Centerline is valid? [True, True] Translation: X:10.52, Y:0.14, Z:-0.04 [[ 9.99837285e-01 -1.80194652e-02 8.37718312e-04 1.05241705e+01] [ 1.80194510e-02 9.99837636e-01 2.44547662e-05 1.38309043e-01] [-8.38022959e-04 -9.35556302e-06 9.99999649e-01 -4.35355990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835769231 meters 0.015043978464085818 Centerline is valid? [True, True] Translation: X:10.55, Y:0.13, Z:-0.04 [[ 9.99764244e-01 -2.16874824e-02 1.05310251e-03 1.05537310e+01] [ 2.16874620e-02 9.99764799e-01 3.07613289e-05 1.34027194e-01] [-1.05352195e-03 -7.91495613e-06 9.99999445e-01 -4.39101929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865769231000002 meters 0.012376344661643671 Centerline is valid? [True, True] Translation: X:10.59, Y:0.12, Z:-0.05 [[ 9.99568370e-01 -2.93776005e-02 1.75127074e-04 1.05850083e+01] [ 2.93776000e-02 9.99568385e-01 5.11971038e-06 1.21636996e-01] [-1.75201891e-04 2.73125671e-08 9.99999985e-01 -4.59390649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895769231000001 meters 0.01345053867699222 Centerline is valid? [True, True] Translation: X:10.61, Y:0.12, Z:-0.05 [[ 9.99445680e-01 -3.32865330e-02 -5.83341505e-04 1.06134372e+01] [ 3.32865287e-02 9.99445850e-01 -1.71505567e-05 1.15489451e-01] [ 5.83589129e-04 -2.27636392e-06 9.99999830e-01 -4.78508117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925769231000002 meters 0.015097194188684876 Centerline is valid? [True, True] Translation: X:10.64, Y:0.11, Z:-0.05 [[ 9.99329800e-01 -3.65841532e-02 -1.24546318e-03 1.06424775e+01] [ 3.65841355e-02 9.99330576e-01 -3.70048529e-05 1.10805196e-01] [ 1.24598323e-03 -8.58414153e-06 9.99999224e-01 -4.87953368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955769231000001 meters 0.017613534380350536 Centerline is valid? [True, True] Translation: X:10.67, Y:0.11, Z:-0.05 [[ 9.99194707e-01 -4.00703425e-02 -2.07482281e-03 1.06715807e+01] [ 4.00703006e-02 9.99196861e-01 -6.17559506e-05 1.05053751e-01] [ 2.07563103e-03 -2.14325550e-05 9.99997846e-01 -4.88395383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985769231 meters 0.01736478642173923 Centerline is valid? [True, True] Translation: X:10.70, Y:0.11, Z:-0.05 [[ 9.99189642e-01 -4.01767706e-02 -2.42624444e-03 1.06998187e+01] [ 4.01767126e-02 9.99192587e-01 -7.26712329e-05 1.05265060e-01] [ 2.42720515e-03 -2.48661822e-05 9.99997054e-01 -4.89004339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015769231000004 meters 0.01572621155338215 Centerline is valid? [True, True] Translation: X:10.73, Y:0.11, Z:-0.05 [[ 9.99291829e-01 -3.75193853e-02 -2.85228425e-03 1.07281326e+01] [ 3.75192933e-02 9.99295900e-01 -8.57774929e-05 1.07028580e-01] [ 2.85349428e-03 -2.12989415e-05 9.99995929e-01 -4.96283500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045769231 meters 0.014352528645559123 Centerline is valid? [True, True] Translation: X:10.76, Y:0.11, Z:-0.05 [[ 9.99364911e-01 -3.55139512e-02 -2.92113359e-03 1.07565018e+01] [ 3.55138448e-02 9.99369181e-01 -8.83119536e-05 1.10300687e-01] [ 2.92242719e-03 -1.54848173e-05 9.99995730e-01 -4.99464217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.075769231000002 meters 0.01320519354108022 Centerline is valid? [True, True] Translation: X:10.79, Y:0.11, Z:-0.05 [[ 9.99437964e-01 -3.34389826e-02 -2.36434038e-03 1.07852478e+01] [ 3.34389060e-02 9.99440761e-01 -7.19292515e-05 1.13829034e-01] [ 2.36542339e-03 -7.17213118e-06 9.99997202e-01 -4.97317590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105769231000004 meters 0.01320519354108022 Centerline is valid? [True, True] Translation: X:10.81, Y:0.11, Z:-0.05 [[ 9.99431706e-01 -3.36255107e-02 -2.36432537e-03 1.08127179e+01] [ 3.36254335e-02 9.99434503e-01 -7.24224493e-05 1.14865385e-01] [ 2.36542359e-03 -7.12017339e-06 9.99997202e-01 -4.97908047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135769231000005 meters 0.012604212723490079 Centerline is valid? [True, True] Translation: X:10.84, Y:0.12, Z:-0.05 [[ 9.99499325e-01 -3.15949957e-02 -1.68963652e-03 1.08407680e+01] [ 3.15949526e-02 9.99500753e-01 -5.22213396e-05 1.19148879e-01] [ 1.69044291e-03 -1.18879221e-06 9.99998571e-01 -4.81814322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165769231000002 meters 0.013537168312125033 Centerline is valid? [True, True] Translation: X:10.87, Y:0.13, Z:-0.05 [[ 9.99655842e-01 -2.61879086e-02 -1.54617085e-03 1.08689510e+01] [ 2.61878656e-02 9.99657038e-01 -4.80298982e-05 1.28579556e-01] [ 1.54689837e-03 7.52245402e-06 9.99998804e-01 -4.77783895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195769231000003 meters 0.01586593184477233 Centerline is valid? [True, True] Translation: X:10.90, Y:0.14, Z:-0.05 [[ 9.99736873e-01 -2.28940003e-02 -1.43176929e-03 1.08963892e+01] [ 2.28939602e-02 9.99737898e-01 -4.43542241e-05 1.36360562e-01] [ 1.43240946e-03 1.15636842e-05 9.99998974e-01 -4.81831830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225769231000005 meters 0.02187929351273015 Centerline is valid? [True, True] Translation: X:10.93, Y:0.15, Z:-0.04 [[ 9.99886201e-01 -1.50822247e-02 3.33100729e-04 1.09252532e+01] [ 1.50822221e-02 9.99886257e-01 1.02246210e-05 1.50091916e-01] [-3.33217051e-04 -5.19955826e-06 9.99999944e-01 -4.46905392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255769231000002 meters 0.024752983075742592 Centerline is valid? [True, True] Translation: X:10.96, Y:0.16, Z:-0.04 [[ 9.99932510e-01 -1.16135323e-02 3.18041056e-04 1.09552151e+01] [ 1.16135297e-02 9.99932561e-01 9.81325647e-06 1.57091112e-01] [-3.18133574e-04 -6.11901492e-06 9.99999949e-01 -4.49910603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285769231000003 meters 0.028287043847404693 Centerline is valid? [True, True] Translation: X:10.98, Y:0.17, Z:-0.05 [[ 9.99961818e-01 -8.71255514e-03 -6.74325961e-04 1.09847927e+01] [ 8.71254303e-03 9.99962045e-01 -2.08936696e-05 1.65038887e-01] [ 6.74482404e-04 1.50177779e-05 9.99999772e-01 -4.68945989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315769231000004 meters 0.031978600511978345 Centerline is valid? [True, True] Translation: X:11.01, Y:0.18, Z:-0.05 [[ 9.99980854e-01 -5.53634915e-03 -2.76418519e-03 1.10133183e+01] [ 5.53613384e-03 9.99984672e-01 -8.55392148e-05 1.75690274e-01] [ 2.76461639e-03 7.02346779e-05 9.99996176e-01 -5.09895583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345769231000002 meters 0.03192231605699475 Centerline is valid? [True, True] Translation: X:11.04, Y:0.18, Z:-0.05 [[ 9.99985275e-01 -4.80226607e-03 -2.52747013e-03 1.10426355e+01] [ 4.80208343e-03 9.99988467e-01 -7.83258080e-05 1.78651577e-01] [ 2.52781712e-03 6.61875322e-05 9.99996803e-01 -5.04493785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375769231000003 meters 0.032269456474189044 Centerline is valid? [True, True] Translation: X:11.07, Y:0.18, Z:-0.05 [[ 9.99991132e-01 -3.98392415e-03 -1.36554353e-03 1.10720513e+01] [ 3.98387000e-03 9.99992063e-01 -4.23740023e-05 1.84677181e-01] [ 1.36570151e-03 3.69334787e-05 9.99999067e-01 -4.82957440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405769231000004 meters 0.03175394566795852 Centerline is valid? [True, True] Translation: X:11.10, Y:0.19, Z:-0.05 [[ 9.99986805e-01 -5.03678024e-03 -1.01000528e-03 1.11014466e+01] [ 5.03675121e-03 9.99987315e-01 -3.12783544e-05 1.87453710e-01] [ 1.01015001e-03 2.61907964e-05 9.99999489e-01 -4.80841822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435769231000002 meters 0.030172141326084322 Centerline is valid? [True, True] Translation: X:11.13, Y:0.19, Z:-0.05 [[ 9.99973511e-01 -7.12457913e-03 -1.48896230e-03 1.11308171e+01] [ 7.12451826e-03 9.99974619e-01 -4.61788358e-05 1.88420929e-01] [ 1.48925351e-03 3.55694735e-05 9.99998890e-01 -4.96754242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465769231000003 meters 0.0238173626694479 Centerline is valid? [True, True] Translation: X:11.16, Y:0.18, Z:-0.05 [[ 9.99908227e-01 -1.32999060e-02 -2.57869038e-03 1.11613499e+01] [ 1.32997440e-02 9.99911551e-01 -7.99322532e-05 1.82263215e-01] [ 2.57952539e-03 4.56289957e-05 9.99996672e-01 -5.22958255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495769231000004 meters 0.019941769005632336 Centerline is valid? [True, True] Translation: X:11.19, Y:0.18, Z:-0.05 [[ 9.99840885e-01 -1.77117057e-02 -2.12119823e-03 1.11911229e+01] [ 1.77116059e-02 9.99843135e-01 -6.58516253e-05 1.77559132e-01] [ 2.12203183e-03 2.82713202e-05 9.99997748e-01 -5.15193598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525769231 meters 0.015868408265219 Centerline is valid? [True, True] Translation: X:11.22, Y:0.17, Z:-0.05 [[ 9.99746123e-01 -2.24941507e-02 -1.30493987e-03 1.12208204e+01] [ 2.24941169e-02 9.99746975e-01 -4.05624071e-05 1.71196839e-01] [ 1.30552210e-03 1.11986392e-05 9.99999148e-01 -5.01620691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555769231000003 meters 0.012642992448070165 Centerline is valid? [True, True] Translation: X:11.25, Y:0.15, Z:-0.05 [[ 9.99462112e-01 -3.27946014e-02 2.79138016e-05 1.12497724e+01] [ 3.27946014e-02 9.99462112e-01 7.82349481e-07 1.54442799e-01] [-2.79244439e-05 1.33493332e-07 1.00000000e+00 -4.75644530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585769231000004 meters 0.01457064554881101 Centerline is valid? [True, True] Translation: X:11.28, Y:0.15, Z:-0.05 [[ 9.99297468e-01 -3.74763934e-02 -3.00796675e-04 1.12790187e+01] [ 3.74763924e-02 9.99297513e-01 -9.27299371e-06 1.46504723e-01] [ 3.00932888e-04 -2.00629508e-06 9.99999955e-01 -4.83740576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.615769231 meters 0.02086290792544497 Centerline is valid? [True, True] Translation: X:11.31, Y:0.13, Z:-0.05 [[ 9.99010868e-01 -4.44254520e-02 -1.91458015e-03 1.13073923e+01] [ 4.44254192e-02 9.99012702e-01 -5.96413048e-05 1.34708783e-01] [ 1.91533948e-03 -2.54737140e-05 9.99998165e-01 -5.08631322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645769231000003 meters 0.022039443804997963 Centerline is valid? [True, True] Translation: X:11.34, Y:0.13, Z:-0.05 [[ 9.98904717e-01 -4.67455809e-02 -2.05334239e-03 1.13360673e+01] [ 4.67455470e-02 9.98906827e-01 -6.45366323e-05 1.33420567e-01] [ 2.05411454e-03 -3.15186668e-05 9.99997890e-01 -5.11878863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675769231000004 meters 0.023322646737300973 Centerline is valid? [True, True] Translation: X:11.36, Y:0.13, Z:-0.05 [[ 9.98835354e-01 -4.82206975e-02 -1.64289024e-03 1.13649942e+01] [ 4.82206773e-02 9.98836705e-01 -5.19696485e-05 1.31118123e-01] [ 1.64348508e-03 -2.73121576e-05 9.99998649e-01 -5.03328183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705769231 meters 0.023675532494933947 Centerline is valid? [True, True] Translation: X:11.39, Y:0.13, Z:-0.05 [[ 9.98760946e-01 -4.97614305e-02 6.09847231e-04 1.13940785e+01] [ 4.97614282e-02 9.98761133e-01 1.89092678e-05 1.27956993e-01] [-6.10032664e-04 1.14610311e-05 9.99999814e-01 -4.61329405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.735769231000003 meters 0.02516746010922486 Centerline is valid? [True, True] Translation: X:11.42, Y:0.13, Z:-0.05 [[ 9.98760366e-01 -4.97615228e-02 1.23358888e-03 1.14215052e+01] [ 4.97615127e-02 9.98761128e-01 3.88907516e-05 1.25899955e-01] [-1.23399588e-03 2.25427074e-05 9.99999238e-01 -4.51133472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765769231000004 meters 0.023270852916382874 Centerline is valid? [True, True] Translation: X:11.45, Y:0.13, Z:-0.04 [[ 9.98785041e-01 -4.92331362e-02 2.13086933e-03 1.14507344e+01] [ 4.92331043e-02 9.98787313e-01 6.74807764e-05 1.29568884e-01] [-2.13160754e-03 3.75105217e-05 9.99997727e-01 -4.33177601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.795769231 meters 0.021467027314408763 Centerline is valid? [True, True] Translation: X:11.48, Y:0.13, Z:-0.04 [[ 9.98931862e-01 -4.61298287e-02 2.67850931e-03 1.14781347e+01] [ 4.61297663e-02 9.98935452e-01 8.50954975e-05 1.31571661e-01] [-2.67958335e-03 3.85544049e-05 9.99996409e-01 -4.26576040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825769231000002 meters 0.018624852059363213 Centerline is valid? [True, True] Translation: X:11.51, Y:0.14, Z:-0.04 [[ 9.98997056e-01 -4.47181185e-02 2.27422755e-03 1.15072989e+01] [ 4.47180696e-02 9.98999644e-01 7.23768843e-05 1.36280082e-01] [-2.27518908e-03 2.93947718e-05 9.99997411e-01 -4.32103211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855769231000004 meters 0.01717543061184142 Centerline is valid? [True, True] Translation: X:11.54, Y:0.14, Z:-0.04 [[ 9.99108693e-01 -4.21851357e-02 1.49440639e-03 1.15351116e+01] [ 4.21851115e-02 9.99109811e-01 4.77387842e-05 1.39985025e-01] [-1.49508995e-03 1.53454657e-05 9.99998882e-01 -4.42495097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885769231000005 meters 0.015612784309783629 Centerline is valid? [True, True] Translation: X:11.56, Y:0.14, Z:-0.05 [[ 9.99177942e-01 -4.05333972e-02 6.95340918e-04 1.15642276e+01] [ 4.05333917e-02 9.99178184e-01 2.20319190e-05 1.44036147e-01] [-6.95662505e-04 6.17071834e-06 9.99999758e-01 -4.57946847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.915769231000002 meters 0.01467846414679501 Centerline is valid? [True, True] Translation: X:11.59, Y:0.15, Z:-0.05 [[ 9.99234714e-01 -3.91149007e-02 1.01681249e-04 1.15934220e+01] [ 3.91149006e-02 9.99234719e-01 2.93518972e-06 1.47039302e-01] [-1.01718244e-04 1.04430847e-06 9.99999995e-01 -4.66894583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945769231000003 meters 0.01418637820765977 Centerline is valid? [True, True] Translation: X:11.62, Y:0.15, Z:-0.05 [[ 9.99298496e-01 -3.74494381e-02 -2.34050129e-04 1.16215724e+01] [ 3.74494373e-02 9.99298524e-01 -7.71404949e-06 1.49525190e-01] [ 2.34174835e-04 -1.05640756e-06 9.99999973e-01 -4.83312729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.975769231000005 meters 0.012951540330262629 Centerline is valid? [True, True] Translation: X:11.65, Y:0.15, Z:-0.05 [[ 9.99391755e-01 -3.48668896e-02 -6.47387396e-04 1.16499098e+01] [ 3.48668831e-02 9.99391965e-01 -2.14223929e-05 1.54897913e-01] [ 6.47740694e-04 -1.16301773e-06 9.99999790e-01 -4.93169759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005769231000002 meters 0.012709012415207282 Centerline is valid? [True, True] Translation: X:11.68, Y:0.16, Z:-0.05 [[ 9.99405692e-01 -3.44703556e-02 -2.38669438e-04 1.16782133e+01] [ 3.44703546e-02 9.99405721e-01 -8.16522421e-06 1.56905256e-01] [ 2.38809060e-04 -6.66486237e-08 9.99999971e-01 -4.80238742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035769231000003 meters 0.012891435733770287 Centerline is valid? [True, True] Translation: X:11.71, Y:0.16, Z:-0.05 [[ 9.99357411e-01 -3.58318199e-02 9.19364771e-04 1.17068794e+01] [ 3.58318075e-02 9.99357834e-01 2.98969063e-05 1.55273490e-01] [-9.19845647e-04 3.06480662e-06 9.99999577e-01 -4.65094467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065769231000004 meters 0.013727962128392819 Centerline is valid? [True, True] Translation: X:11.74, Y:0.15, Z:-0.05 [[ 9.99280146e-01 -3.79329716e-02 5.27802041e-04 1.17359747e+01] [ 3.79329679e-02 9.99280286e-01 1.71016366e-05 1.52370574e-01] [-5.28070891e-04 2.93177196e-06 9.99999861e-01 -4.75445412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.095769231000002 meters 0.01687248753563383 Centerline is valid? [True, True] Translation: X:11.77, Y:0.14, Z:-0.05 [[ 9.99085168e-01 -4.27469242e-02 -1.23628112e-03 1.17653431e+01] [ 4.27469057e-02 9.99085932e-01 -4.14298457e-05 1.42444174e-01] [ 1.23692207e-03 -1.14552481e-05 9.99999235e-01 -5.05762596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125769231000003 meters 0.01869582034609313 Centerline is valid? [True, True] Translation: X:11.79, Y:0.14, Z:-0.05 [[ 9.99019278e-01 -4.42382002e-02 -1.86124939e-03 1.17930182e+01] [ 4.42381613e-02 9.99021011e-01 -6.20793628e-05 1.38742677e-01] [ 1.86217352e-03 -2.03197703e-05 9.99998266e-01 -5.23434832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.155769231000004 meters 0.019192243475151256 Centerline is valid? [True, True] Translation: X:11.82, Y:0.14, Z:-0.05 [[ 9.98961574e-01 -4.55133122e-02 -2.07658828e-03 1.18219169e+01] [ 4.55132654e-02 9.98963732e-01 -6.98048342e-05 1.37639059e-01] [ 2.07761343e-03 -2.47799665e-05 9.99997841e-01 -5.34964651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185769231000002 meters 0.020763840350971903 Centerline is valid? [True, True] Translation: X:11.85, Y:0.14, Z:-0.05 [[ 9.98910866e-01 -4.66103011e-02 -2.13589343e-03 1.18500984e+01] [ 4.66102543e-02 9.98913149e-01 -7.16873896e-05 1.35340595e-01] [ 2.13691340e-03 -2.79452234e-05 9.99997716e-01 -5.31149359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215769231000003 meters 0.020702525149434794 Centerline is valid? [True, True] Translation: X:11.88, Y:0.14, Z:-0.05 [[ 9.98902984e-01 -4.67982836e-02 -1.65793419e-03 1.18777299e+01] [ 4.67982547e-02 9.98904360e-01 -5.62359163e-05 1.35724504e-01] [ 1.65874943e-03 -2.14142017e-05 9.99998624e-01 -5.12457573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245769231000004 meters 0.01875185085761157 Centerline is valid? [True, True] Translation: X:11.91, Y:0.14, Z:-0.05 [[ 9.98986717e-01 -4.49591012e-02 -2.05408680e-03 1.19062872e+01] [ 4.49590525e-02 9.98988828e-01 -6.98588532e-05 1.40028400e-01] [ 2.05515055e-03 -2.25617299e-05 9.99997888e-01 -5.13789301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.275769231 meters 0.014135388740594767 Centerline is valid? [True, True] Translation: X:11.93, Y:0.15, Z:-0.05 [[ 9.99254654e-01 -3.84800592e-02 -3.06942200e-03 1.19347236e+01] [ 3.84799192e-02 9.99259368e-01 -1.04688460e-04 1.52436212e-01] [ 3.07117711e-03 -1.35006798e-05 9.99995284e-01 -5.43690649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305769231000003 meters 0.013389196714556486 Centerline is valid? [True, True] Translation: X:11.96, Y:0.16, Z:-0.05 [[ 9.99331785e-01 -3.64404910e-02 -2.84139391e-03 1.19638622e+01] [ 3.64403616e-02 9.99335825e-01 -9.73307858e-05 1.58205764e-01] [ 2.84305351e-03 -6.27567342e-06 9.99995958e-01 -5.49571734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335769231000004 meters 0.013072088820138118 Centerline is valid? [True, True] Translation: X:11.99, Y:0.16, Z:-0.05 [[ 9.99356225e-01 -3.58164098e-02 -2.07878057e-03 1.19920325e+01] [ 3.58163380e-02 9.99358387e-01 -7.17379326e-05 1.61493892e-01] [ 2.08001620e-03 -2.76255824e-06 9.99997837e-01 -5.45154288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365769231 meters 0.019480236743515924 Centerline is valid? [True, True] Translation: X:12.02, Y:0.16, Z:-0.05 [[ 9.99339035e-01 -3.62532718e-02 -2.68198034e-03 1.20203922e+01] [ 3.62531530e-02 9.99342634e-01 -9.29208682e-05 1.62801965e-01] [ 2.68358598e-03 -4.37079272e-06 9.99996399e-01 -5.09583404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395769231000003 meters 0.013509284702223906 Centerline is valid? [True, True] Translation: X:12.05, Y:0.16, Z:-0.06 [[ 9.99307431e-01 -3.70687118e-02 -3.25111097e-03 1.20482268e+01] [ 3.70685420e-02 9.99312719e-01 -1.12473688e-04 1.62749600e-01] [ 3.25304580e-03 -8.11815199e-06 9.99994709e-01 -5.56877405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425769231000004 meters 0.014022244553239964 Centerline is valid? [True, True] Translation: X:12.08, Y:0.16, Z:-0.06 [[ 9.99268203e-01 -3.80289238e-02 -4.10595738e-03 1.20763653e+01] [ 3.80286603e-02 9.99276639e-01 -1.42240820e-04 1.63432710e-01] [ 4.10839655e-03 -1.40073297e-05 9.99991560e-01 -5.77316345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.455769231 meters 0.014119073689802841 Centerline is valid? [True, True] Translation: X:12.10, Y:0.16, Z:-0.06 [[ 9.99243412e-01 -3.87093155e-02 -3.76739463e-03 1.21043374e+01] [ 3.87090951e-02 9.99250513e-01 -1.31442778e-04 1.63810251e-01] [ 3.76965908e-03 -1.44891071e-05 9.99992895e-01 -5.71211431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485769231000003 meters 0.015261851199943447 Centerline is valid? [True, True] Translation: X:12.13, Y:0.16, Z:-0.05 [[ 9.99147625e-01 -4.12747171e-02 -6.49350408e-04 1.21313417e+01] [ 4.12747110e-02 9.99147836e-01 -2.28041954e-05 1.59705380e-01] [ 6.49738291e-04 -4.01699274e-06 9.99999789e-01 -5.16879383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515769231000004 meters 0.01684598856748291 Centerline is valid? [True, True] Translation: X:12.16, Y:0.16, Z:-0.05 [[ 9.99052747e-01 -4.35002300e-02 1.15711498e-03 1.21601503e+01] [ 4.35002126e-02 9.99053417e-01 4.01944033e-05 1.57025263e-01] [-1.15776814e-03 1.01784186e-05 9.99999330e-01 -4.82669233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545769231000005 meters 0.018837944327883296 Centerline is valid? [True, True] Translation: X:12.19, Y:0.15, Z:-0.05 [[ 9.98952921e-01 -4.57008985e-02 2.11882987e-03 1.21893866e+01] [ 4.57008440e-02 9.98955168e-01 7.41903375e-05 1.53179815e-01] [-2.12000661e-03 2.27196588e-05 9.99997753e-01 -4.70012957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.575769231000002 meters 0.02205231976931886 Centerline is valid? [True, True] Translation: X:12.22, Y:0.14, Z:-0.05 [[ 9.98684952e-01 -5.12649185e-02 5.24675211e-04 1.22193740e+01] [ 5.12649159e-02 9.98685090e-01 1.84131773e-05 1.43070938e-01] [-5.24929260e-04 8.50846752e-06 9.99999862e-01 -5.11240535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605769231000004 meters 0.0288746710072942 Centerline is valid? [True, True] Translation: X:12.25, Y:0.13, Z:-0.05 [[ 9.98518506e-01 -5.44108279e-02 -5.04621745e-04 1.22488338e+01] [ 5.44108259e-02 9.98518634e-01 -1.78508436e-05 1.30246754e-01] [ 5.04845495e-04 -9.63248827e-06 9.99999873e-01 -5.42266621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635769231000005 meters 0.0361606562650069 Centerline is valid? [True, True] Translation: X:12.28, Y:0.11, Z:-0.06 [[ 9.98218701e-01 -5.96377393e-02 -1.66305977e-03 1.22782902e+01] [ 5.96377242e-02 9.98220085e-01 -5.86628114e-05 1.13119463e-01] [ 1.66359818e-03 -4.06227846e-05 9.99998615e-01 -5.60229248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665769231000002 meters 0.03653016687828763 Centerline is valid? [True, True] Translation: X:12.31, Y:0.11, Z:-0.06 [[ 9.98090619e-01 -6.17281356e-02 -2.18008142e-03 1.23082202e+01] [ 6.17281147e-02 9.98092999e-01 -7.69348972e-05 1.08634435e-01] [ 2.18067305e-03 -5.77843165e-05 9.99997621e-01 -5.62208165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695769231000003 meters 0.03933405102789361 Centerline is valid? [True, True] Translation: X:12.34, Y:0.10, Z:-0.06 [[ 9.98001331e-01 -6.31375002e-02 -2.64544846e-03 1.23361507e+01] [ 6.31374739e-02 9.98004835e-01 -9.35604504e-05 1.00111826e-01] [ 2.64607753e-03 -7.36534791e-05 9.99996496e-01 -5.77844629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725769231000005 meters 0.03500507176788544 Centerline is valid? [True, True] Translation: X:12.36, Y:0.10, Z:-0.06 [[ 9.97942309e-01 -6.40559813e-02 -2.82459396e-03 1.23648233e+01] [ 6.40559530e-02 9.97946304e-01 -1.00581580e-04 9.75816707e-02] [ 2.82523595e-03 -8.05574440e-05 9.99996006e-01 -5.72147724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755769231000002 meters 0.03854085185047718 Centerline is valid? [True, True] Translation: X:12.39, Y:0.09, Z:-0.06 [[ 9.97996138e-01 -6.32377871e-02 -2.16587554e-03 1.23931910e+01] [ 6.32377676e-02 9.97998486e-01 -7.75554879e-05 9.04803407e-02] [ 2.16644495e-03 -5.95650566e-05 9.99997651e-01 -5.74992406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785769231000003 meters 0.03377621924299123 Centerline is valid? [True, True] Translation: X:12.42, Y:0.09, Z:-0.06 [[ 9.98230843e-01 -5.94284851e-02 -1.85450757e-03 1.24227721e+01] [ 5.94284646e-02 9.98232565e-01 -6.61956853e-05 9.07119416e-02] [ 1.85516376e-03 -4.41319630e-05 9.99998278e-01 -5.70183059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.815769231000004 meters 0.027563361176111082 Centerline is valid? [True, True] Translation: X:12.45, Y:0.10, Z:-0.06 [[ 9.98359478e-01 -5.72264877e-02 -1.86617844e-03 1.24520095e+01] [ 5.72264626e-02 9.98361221e-01 -6.68839222e-05 9.60435111e-02] [ 1.86694772e-03 -4.00205930e-05 9.99998256e-01 -5.61723915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845769231000002 meters 0.02823002628950673 Centerline is valid? [True, True] Translation: X:12.48, Y:0.09, Z:-0.06 [[ 9.98487469e-01 -5.49459533e-02 -1.92758823e-03 1.24797718e+01] [ 5.49459219e-02 9.98489329e-01 -6.92391693e-05 9.18258181e-02] [ 1.92848069e-03 -3.67786693e-05 9.99998140e-01 -5.73975013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875769231000003 meters 0.025475820513967816 Centerline is valid? [True, True] Translation: X:12.51, Y:0.09, Z:-0.06 [[ 9.98636235e-01 -5.21466112e-02 -2.53018437e-03 1.25078052e+01] [ 5.21465482e-02 9.98639439e-01 -9.09104541e-05 9.00571397e-02] [ 2.53148258e-03 -4.11539077e-05 9.99996795e-01 -5.82983813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905769231000004 meters 0.024183651427474282 Centerline is valid? [True, True] Translation: X:12.54, Y:0.09, Z:-0.06 [[ 9.98688131e-01 -5.11477893e-02 -2.43331932e-03 1.25369530e+01] [ 5.11477266e-02 9.98691095e-01 -8.80136509e-05 9.04087900e-02] [ 2.43463603e-03 -3.65605626e-05 9.99997036e-01 -5.81803021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935769231000002 meters 0.02096137609386926 Centerline is valid? [True, True] Translation: X:12.57, Y:0.09, Z:-0.05 [[ 9.98784755e-01 -4.92849936e-02 4.63746048e-05 1.25657196e+01] [ 4.92849936e-02 9.98784756e-01 1.34221799e-06 9.10003781e-02] [-4.63843995e-05 9.44985234e-07 9.99999999e-01 -5.28806713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965769231000003 meters 0.020126360310930264 Centerline is valid? [True, True] Translation: X:12.59, Y:0.09, Z:-0.05 [[ 9.98851607e-01 -4.79016394e-02 9.48638982e-04 1.25933591e+01] [ 4.79016284e-02 9.98852058e-01 3.42387148e-05 9.06977555e-02] [-9.49190089e-04 1.12419567e-05 9.99999549e-01 -5.06685921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995769231000004 meters 0.017079571724172658 Centerline is valid? [True, True] Translation: X:12.62, Y:0.09, Z:-0.05 [[ 9.98921713e-01 -4.64082178e-02 1.29927085e-03 1.26219295e+01] [ 4.64081960e-02 9.98922558e-01 4.69880429e-05 9.40879164e-02] [-1.30005159e-03 1.33594397e-05 9.99999155e-01 -4.96277174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025769231 meters 0.017079571724172658 Centerline is valid? [True, True] Translation: X:12.65, Y:0.10, Z:-0.05 [[ 9.98912981e-01 -4.65957884e-02 1.29926383e-03 1.26494102e+01] [ 4.65957664e-02 9.98913826e-01 4.71811241e-05 9.52905423e-02] [-1.30005104e-03 1.34103565e-05 9.99999155e-01 -4.96867694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055769231000003 meters 0.015865056877989 Centerline is valid? [True, True] Translation: X:12.68, Y:0.10, Z:-0.05 [[ 9.98991712e-01 -4.48713516e-02 1.45620167e-03 1.26775029e+01] [ 4.48713216e-02 9.98992774e-01 5.32922383e-05 9.53569820e-02] [-1.45712624e-03 1.21031892e-05 9.99998938e-01 -4.92589681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085769231000004 meters 0.015029539716010712 Centerline is valid? [True, True] Translation: X:12.71, Y:0.09, Z:-0.05 [[ 9.99095622e-01 -4.24994228e-02 1.31785116e-03 1.27054690e+01] [ 4.24993960e-02 9.99096491e-01 4.82943788e-05 9.36208506e-02] [-1.31871295e-03 7.75717573e-06 9.99999130e-01 -4.96640763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.115769231 meters 0.013594234032370223 Centerline is valid? [True, True] Translation: X:12.73, Y:0.10, Z:-0.05 [[ 9.99148878e-01 -4.12412790e-02 8.22206649e-04 1.27338451e+01] [ 4.12412683e-02 9.99149217e-01 2.99784739e-05 9.80644804e-02] [-8.22743480e-04 3.95588642e-06 9.99999662e-01 -5.01912012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145769231000003 meters 0.01288752698940879 Centerline is valid? [True, True] Translation: X:12.76, Y:0.11, Z:-0.05 [[ 9.99356371e-01 -3.58563287e-02 -1.08047585e-03 1.27611888e+01] [ 3.58563064e-02 9.99356955e-01 -4.00713941e-05 1.08276788e-01] [ 1.08121787e-03 1.30372978e-06 9.99999415e-01 -5.42558405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175769231000004 meters 0.013816270475085752 Centerline is valid? [True, True] Translation: X:12.79, Y:0.11, Z:-0.05 [[ 9.99468246e-01 -3.25425438e-02 -2.05111939e-03 1.27896477e+01] [ 3.25424553e-02 9.99470351e-01 -7.65280984e-05 1.14736107e-01] [ 2.05252344e-03 9.73894324e-06 9.99997894e-01 -5.43336548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205769231 meters 0.02054160664264918 Centerline is valid? [True, True] Translation: X:12.82, Y:0.13, Z:-0.06 [[ 9.99678316e-01 -2.52981146e-02 -1.80801715e-03 1.28175561e+01] [ 2.52980342e-02 9.99679951e-01 -6.73435883e-05 1.33474899e-01] [ 1.80914217e-03 2.15826452e-05 9.99998363e-01 -5.50907996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235769231000003 meters 0.02095499649072338 Centerline is valid? [True, True] Translation: X:12.85, Y:0.14, Z:-0.05 [[ 9.99750358e-01 -2.23419273e-02 -2.44432440e-04 1.28464297e+01] [ 2.23419257e-02 9.99750388e-01 -9.48345228e-06 1.38168462e-01] [ 2.44583305e-04 4.01999341e-06 9.99999970e-01 -5.14207653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265769231000004 meters 0.023038821028147798 Centerline is valid? [True, True] Translation: X:12.87, Y:0.15, Z:-0.05 [[ 9.99795816e-01 -2.01701836e-02 1.22093369e-03 1.28749092e+01] [ 2.01701431e-02 9.99796561e-01 4.54523105e-05 1.45247738e-01] [-1.22160209e-03 -2.08166225e-05 9.99999254e-01 -4.92160665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295769231000005 meters 0.025132605039942826 Centerline is valid? [True, True] Translation: X:12.90, Y:0.15, Z:-0.05 [[ 9.99833691e-01 -1.82262840e-02 6.27171382e-04 1.29036480e+01] [ 1.82262728e-02 9.99833887e-01 2.34761041e-05 1.53516677e-01] [-6.27495083e-04 -1.20412031e-05 9.99999803e-01 -5.10622696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325769231000002 meters 0.025068263118057127 Centerline is valid? [True, True] Translation: X:12.93, Y:0.16, Z:-0.05 [[ 9.99826267e-01 -1.85900681e-02 -1.35810227e-03 1.29327189e+01] [ 1.85900158e-02 9.99827189e-01 -5.10801405e-05 1.57488279e-01] [ 1.35881716e-03 2.58241236e-05 9.99999076e-01 -5.48622272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355769231000004 meters 0.02418062746706937 Centerline is valid? [True, True] Translation: X:12.96, Y:0.16, Z:-0.06 [[ 9.99796776e-01 -1.99876872e-02 -2.62646530e-03 1.29603184e+01] [ 1.99874962e-02 9.99800225e-01 -9.89644111e-05 1.63679077e-01] [ 2.62791867e-03 4.64478341e-05 9.99996546e-01 -5.86362559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385769231000005 meters 0.023250509169860007 Centerline is valid? [True, True] Translation: X:12.99, Y:0.17, Z:-0.06 [[ 9.99776811e-01 -2.09832388e-02 -2.45585268e-03 1.29895021e+01] [ 2.09830733e-02 9.99779827e-01 -9.31670688e-05 1.66303973e-01] [ 2.45726691e-03 4.16149382e-05 9.99996980e-01 -5.83795598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415769231000002 meters 0.022697637752277868 Centerline is valid? [True, True] Translation: X:13.02, Y:0.17, Z:-0.06 [[ 9.99755431e-01 -2.19994757e-02 -2.25852532e-03 1.30171824e+01] [ 2.19993384e-02 9.99757982e-01 -8.56154548e-05 1.68624659e-01] [ 2.25986221e-03 3.59084531e-05 9.99997446e-01 -5.76338990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445769231000003 meters 0.021363483568367175 Centerline is valid? [True, True] Translation: X:13.04, Y:0.17, Z:-0.06 [[ 9.99717128e-01 -2.37428805e-02 -1.39298200e-03 1.30445401e+01] [ 2.37428297e-02 9.99718098e-01 -5.30295075e-05 1.71846310e-01] [ 1.39384839e-03 1.99411725e-05 9.99999028e-01 -5.57176946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.475769231000005 meters 0.020693851746577233 Centerline is valid? [True, True] Translation: X:13.07, Y:0.17, Z:-0.05 [[ 9.99697332e-01 -2.45944287e-02 -5.98712945e-04 1.30728134e+01] [ 2.45944193e-02 9.99697511e-01 -2.31505213e-05 1.74748413e-01] [ 5.99101215e-04 8.41851715e-06 9.99999821e-01 -5.41893481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505769231000002 meters 0.019996883902181704 Centerline is valid? [True, True] Translation: X:13.10, Y:0.18, Z:-0.05 [[ 9.99672339e-01 -2.55692333e-02 1.19508468e-03 1.31004857e+01] [ 2.55691972e-02 9.99673054e-01 4.54752304e-05 1.77648370e-01] [-1.19585672e-03 -1.49029742e-05 9.99999285e-01 -5.13551700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535769231000003 meters 0.019268291747298345 Centerline is valid? [True, True] Translation: X:13.13, Y:0.18, Z:-0.05 [[ 9.99654912e-01 -2.62030145e-02 1.85994454e-03 1.31300287e+01] [ 2.62029278e-02 9.99656642e-01 7.09567234e-05 1.77678887e-01] [-1.86116519e-03 -2.21962445e-05 9.99998268e-01 -5.02966763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565769231000004 meters 0.01756963358849072 Centerline is valid? [True, True] Translation: X:13.16, Y:0.18, Z:-0.05 [[ 9.99601789e-01 -2.81524196e-02 1.92453928e-03 1.31600461e+01] [ 2.81523303e-02 9.99603642e-01 7.34658854e-05 1.75314481e-01] [-1.92584472e-03 -1.92563649e-05 9.99998145e-01 -4.99593748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595769231000002 meters 0.013671637057398878 Centerline is valid? [True, True] Translation: X:13.19, Y:0.17, Z:-0.05 [[ 9.99429369e-01 -3.37425663e-02 1.54129350e-03 1.31891351e+01] [ 3.37425157e-02 9.99430557e-01 5.88544916e-05 1.67837622e-01] [-1.54240172e-03 -6.81378738e-06 9.99998810e-01 -5.00217413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625769231000003 meters 0.012831082556881151 Centerline is valid? [True, True] Translation: X:13.22, Y:0.16, Z:-0.05 [[ 9.99347119e-01 -3.61086374e-02 1.22585309e-03 1.32177083e+01] [ 3.61086073e-02 9.99347871e-01 4.67224422e-05 1.64987772e-01] [-1.22674076e-03 -2.42809032e-06 9.99999248e-01 -5.11946550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655769231000004 meters 0.01277907482566607 Centerline is valid? [True, True] Translation: X:13.25, Y:0.16, Z:-0.06 [[ 9.99242529e-01 -3.89125702e-02 -4.24866474e-04 1.32461731e+01] [ 3.89125666e-02 9.99242619e-01 -1.67714111e-05 1.58150504e-01] [ 4.25197307e-04 2.26062317e-07 9.99999910e-01 -5.50966579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685769231000002 meters 0.012926875472915616 Centerline is valid? [True, True] Translation: X:13.27, Y:0.16, Z:-0.06 [[ 9.99231445e-01 -3.91837821e-02 -1.07251350e-03 1.32743933e+01] [ 3.91837597e-02 9.99232021e-01 -4.19542635e-05 1.58150112e-01] [ 1.07333375e-03 -1.03091703e-07 9.99999424e-01 -5.52724877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715769231000003 meters 0.012905961216927487 Centerline is valid? [True, True] Translation: X:13.30, Y:0.16, Z:-0.06 [[ 9.99249298e-01 -3.87361829e-02 -5.90473519e-04 1.33008262e+01] [ 3.87361759e-02 9.99249472e-01 -2.32233026e-05 1.60879663e-01] [ 5.90929934e-04 3.33182719e-07 9.99999825e-01 -5.50680414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745769231000004 meters 0.013054176174304159 Centerline is valid? [True, True] Translation: X:13.33, Y:0.17, Z:-0.05 [[ 9.99320977e-01 -3.68401805e-02 6.21670081e-04 1.33283796e+01] [ 3.68401728e-02 9.99321170e-01 2.38777479e-05 1.68377869e-01] [-6.22127733e-04 -9.59101133e-07 9.99999806e-01 -5.24294356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775769231 meters 0.013573070155599816 Centerline is valid? [True, True] Translation: X:13.36, Y:0.17, Z:-0.05 [[ 9.99366795e-01 -3.55810317e-02 -1.23328769e-06 1.33557435e+01] [ 3.55810317e-02 9.99366795e-01 -1.75130085e-07 1.72451035e-01] [ 1.23873807e-06 1.31137543e-07 1.00000000e+00 -5.34022825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805769231000003 meters 0.014225020770894709 Centerline is valid? [True, True] Translation: X:13.38, Y:0.18, Z:-0.06 [[ 9.99413433e-01 -3.42106614e-02 -1.55555605e-03 1.33848993e+01] [ 3.42106072e-02 9.99414644e-01 -6.14733534e-05 1.75782719e-01] [ 1.55674854e-03 8.22077808e-06 9.99998788e-01 -5.60951927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835769231000004 meters 0.016766983523793855 Centerline is valid? [True, True] Translation: X:13.41, Y:0.18, Z:-0.06 [[ 9.99497970e-01 -3.11035049e-02 -6.03165663e-03 1.34121345e+01] [ 3.11026382e-02 9.99516168e-01 -2.37467329e-04 1.84460329e-01] [ 6.03612439e-03 4.97476787e-05 9.99981781e-01 -6.41469957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865769231 meters 0.01858248581777471 Centerline is valid? [True, True] Translation: X:13.44, Y:0.19, Z:-0.07 [[ 9.99536211e-01 -2.97727830e-02 -6.39875878e-03 1.34399706e+01] [ 2.97717779e-02 9.99556691e-01 -2.52284185e-04 1.90838926e-01] [ 6.40343335e-03 6.16647531e-05 9.99979496e-01 -6.62735640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895769231000003 meters 0.017954243668868403 Centerline is valid? [True, True] Translation: X:13.47, Y:0.19, Z:-0.06 [[ 9.99570116e-01 -2.91904220e-02 -2.73903557e-03 1.34691226e+01] [ 2.91902337e-02 9.99573868e-01 -1.08731668e-04 1.93268000e-01] [ 2.74104231e-03 2.87318372e-05 9.99996243e-01 -5.94304924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925769231000004 meters 0.01762400092553957 Centerline is valid? [True, True] Translation: X:13.50, Y:0.19, Z:-0.06 [[ 9.99554775e-01 -2.98064366e-02 -1.35193663e-03 1.34969431e+01] [ 2.98063912e-02 9.99555689e-01 -5.36974470e-05 1.94140215e-01] [ 1.35293648e-03 1.33771875e-05 9.99999085e-01 -5.70326665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955769231 meters 0.01641068297976042 Centerline is valid? [True, True] Translation: X:13.53, Y:0.19, Z:-0.06 [[ 9.99509647e-01 -3.12987269e-02 -9.24507779e-04 1.35258156e+01] [ 3.12987060e-02 9.99510075e-01 -3.70923541e-05 1.94414742e-01] [ 9.25215783e-04 8.13826862e-06 9.99999572e-01 -5.58645197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985769231000003 meters 0.015257931662848096 Centerline is valid? [True, True] Translation: X:13.55, Y:0.19, Z:-0.06 [[ 9.99438772e-01 -3.34135337e-02 -2.38255763e-03 1.35537716e+01] [ 3.34134021e-02 9.99441612e-01 -9.50276238e-05 1.94669875e-01] [ 2.38440245e-03 1.53649356e-05 9.99997157e-01 -5.86952631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015769231000004 meters 0.01474813633017259 Centerline is valid? [True, True] Translation: X:13.58, Y:0.19, Z:-0.06 [[ 9.99395992e-01 -3.46368156e-02 -2.81801202e-03 1.35821093e+01] [ 3.46366342e-02 9.99399965e-01 -1.13158469e-04 1.94067551e-01] [ 2.82024056e-03 1.54836689e-05 9.99996023e-01 -5.97455017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045769231000005 meters 0.0131793187038379 Centerline is valid? [True, True] Translation: X:13.61, Y:0.19, Z:-0.05 [[ 9.99289072e-01 -3.77007969e-02 -1.73423833e-06 1.36111534e+01] [ 3.77007969e-02 9.99289072e-01 -4.11571230e-07 1.90270451e-01] [ 1.74852197e-06 3.45896466e-07 1.00000000e+00 -5.44624184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075769231000002 meters 0.012683351894145052 Centerline is valid? [True, True] Translation: X:13.64, Y:0.19, Z:-0.05 [[ 9.99212237e-01 -3.96331114e-02 2.03040505e-03 1.36391963e+01] [ 3.96330276e-02 9.99214300e-01 8.15504327e-05 1.89594456e-01] [-2.03204186e-03 -1.01509086e-06 9.99997935e-01 -5.02302822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105769231000004 meters 0.01259599877905351 Centerline is valid? [True, True] Translation: X:13.67, Y:0.19, Z:-0.05 [[ 9.99170575e-01 -4.06160741e-02 2.91476736e-03 1.36666410e+01] [ 4.06159035e-02 9.99174827e-01 1.17713487e-04 1.90972881e-01] [-2.91714323e-03 7.70057428e-07 9.99995745e-01 -4.82289904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135769231000005 meters 0.012946299605408924 Centerline is valid? [True, True] Translation: X:13.69, Y:0.19, Z:-0.05 [[ 9.99128218e-01 -4.17387553e-02 8.24848636e-04 1.36947450e+01] [ 4.17387422e-02 9.99128558e-01 3.31134789e-05 1.93297265e-01] [-8.25511944e-04 1.34353336e-06 9.99999659e-01 -5.25258020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165769231000002 meters 0.013254990095888897 Centerline is valid? [True, True] Translation: X:13.72, Y:0.19, Z:-0.06 [[ 9.99100631e-01 -4.23912254e-02 -9.55773233e-04 1.37226113e+01] [ 4.23912074e-02 9.99101088e-01 -3.90173454e-05 1.94513325e-01] [ 9.56568070e-04 -1.53412702e-06 9.99999542e-01 -5.58796867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195769231000003 meters 0.013439595102994953 Centerline is valid? [True, True] Translation: X:13.75, Y:0.20, Z:-0.06 [[ 9.99058672e-01 -4.33516673e-02 -1.55035952e-03 1.37500923e+01] [ 4.33516205e-02 9.99059875e-01 -6.37817185e-05 1.96551320e-01] [ 1.55166703e-03 -3.48891877e-06 9.99998796e-01 -5.68750697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225769231000005 meters 0.013883184975740856 Centerline is valid? [True, True] Translation: X:13.78, Y:0.20, Z:-0.06 [[ 9.99008014e-01 -4.44902303e-02 -1.89926077e-03 1.37777382e+01] [ 4.44901624e-02 9.99009819e-01 -7.80096813e-05 1.99453695e-01] [ 1.90085082e-03 -6.56612313e-06 9.99998193e-01 -5.67808127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255769231000002 meters 0.013787801048243743 Centerline is valid? [True, True] Translation: X:13.81, Y:0.20, Z:-0.06 [[ 9.98998878e-01 -4.47025520e-02 -1.70990530e-03 1.38053356e+01] [ 4.47024964e-02 9.99000341e-01 -7.07700466e-05 2.01730183e-01] [ 1.71135958e-03 -5.73783807e-06 9.99998536e-01 -5.61107201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285769231000003 meters 0.013958961097823323 Centerline is valid? [True, True] Translation: X:13.83, Y:0.20, Z:-0.06 [[ 9.98976011e-01 -4.52213551e-02 -1.39946907e-03 1.38321487e+01] [ 4.52213184e-02 9.98976991e-01 -5.78817693e-05 2.03316062e-01] [ 1.40065489e-03 -5.46333721e-06 9.99999019e-01 -5.55436569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315769231000004 meters 0.014850131712801426 Centerline is valid? [True, True] Translation: X:13.86, Y:0.20, Z:-0.06 [[ 9.98922889e-01 -4.63704031e-02 -1.68722734e-03 1.38603773e+01] [ 4.63703514e-02 9.98924314e-01 -6.97949856e-05 2.02316204e-01] [ 1.68864883e-03 -8.51751599e-06 9.99998574e-01 -5.69313887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345769231000002 meters 0.015438124321005041 Centerline is valid? [True, True] Translation: X:13.89, Y:0.20, Z:-0.06 [[ 9.98847744e-01 -4.79603422e-02 -1.72932050e-03 1.38890307e+01] [ 4.79602894e-02 9.98849241e-01 -7.20242416e-05 2.02136573e-01] [ 1.73078477e-03 -1.09974601e-05 9.99998502e-01 -5.66180518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375769231000003 meters 0.0163714212781193 Centerline is valid? [True, True] Translation: X:13.92, Y:0.20, Z:-0.05 [[ 9.98723368e-01 -5.05067594e-02 -8.37932883e-04 1.39179220e+01] [ 5.05067476e-02 9.98723719e-01 -3.52327561e-05 2.01102718e-01] [ 8.38642938e-04 -7.13348783e-06 9.99999648e-01 -5.40037383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405769231000004 meters 0.017614846989236422 Centerline is valid? [True, True] Translation: X:13.95, Y:0.20, Z:-0.05 [[ 9.98678780e-01 -5.13845623e-02 -5.66339903e-04 1.39453504e+01] [ 5.13845571e-02 9.98678941e-01 -2.37315802e-05 2.00418959e-01] [ 5.66811171e-04 -5.40089949e-06 9.99999839e-01 -5.42443011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435769231000002 meters 0.018237321162301045 Centerline is valid? [True, True] Translation: X:13.97, Y:0.20, Z:-0.06 [[ 9.98598519e-01 -5.28921908e-02 -1.84789029e-03 1.39739782e+01] [ 5.28921376e-02 9.98600228e-01 -7.76774827e-05 1.99921206e-01] [ 1.84941220e-03 -2.01702484e-05 9.99998290e-01 -5.64557629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465769231000003 meters 0.019703915350229025 Centerline is valid? [True, True] Translation: X:14.00, Y:0.20, Z:-0.06 [[ 9.98556539e-01 -5.36448818e-02 -2.65783555e-03 1.40021814e+01] [ 5.36447751e-02 9.98560076e-01 -1.11495544e-04 1.97394310e-01] [ 2.65998963e-03 -3.12443852e-05 9.99996462e-01 -5.83372043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495769231000004 meters 0.01976009848894277 Centerline is valid? [True, True] Translation: X:14.03, Y:0.20, Z:-0.06 [[ 9.98498615e-01 -5.46719276e-02 -3.39060920e-03 1.40310596e+01] [ 5.46717573e-02 9.98504371e-01 -1.42985090e-04 1.97649085e-01] [ 3.39335538e-03 -4.26001491e-05 9.99994242e-01 -5.91580948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525769231 meters 0.020934168629479548 Centerline is valid? [True, True] Translation: X:14.06, Y:0.20, Z:-0.06 [[ 9.98421169e-01 -5.60262115e-02 -4.02901565e-03 1.40599560e+01] [ 5.60259796e-02 9.98429297e-01 -1.70501133e-04 1.96993951e-01] [ 4.03223980e-03 -5.54976081e-05 9.99991869e-01 -6.06259941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555769231000003 meters 0.022453378895727377 Centerline is valid? [True, True] Translation: X:14.09, Y:0.20, Z:-0.06 [[ 9.98335703e-01 -5.74868586e-02 -4.59194148e-03 1.40880936e+01] [ 5.74865728e-02 9.98346261e-01 -1.94315800e-04 1.95169241e-01] [ 4.59551821e-03 -6.99825768e-05 9.99989438e-01 -6.19333037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585769231000004 meters 0.023200952775581544 Centerline is valid? [True, True] Translation: X:14.12, Y:0.19, Z:-0.06 [[ 9.98301215e-01 -5.80989707e-02 -4.38111244e-03 1.41156166e+01] [ 5.80987153e-02 9.98310826e-01 -1.85649887e-04 1.93791352e-01] [ 4.38449805e-03 -6.92024969e-05 9.99990386e-01 -6.18080493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615769231 meters 0.02227381615076963 Centerline is valid? [True, True] Translation: X:14.14, Y:0.19, Z:-0.06 [[ 9.98358287e-01 -5.72409202e-02 -2.05110499e-03 1.41438258e+01] [ 5.72408618e-02 9.98360394e-01 -8.72262816e-05 1.94341526e-01] [ 2.05273490e-03 -3.03239361e-05 9.99997893e-01 -5.71191158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645769231000003 meters 0.021118938351417215 Centerline is valid? [True, True] Translation: X:14.17, Y:0.20, Z:-0.06 [[ 9.98406755e-01 -5.64089998e-02 -1.40568887e-03 1.41727978e+01] [ 5.64089709e-02 9.98407745e-01 -6.02231480e-05 1.97385885e-01] [ 1.40684778e-03 -1.91662649e-05 9.99999010e-01 -5.52963011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675769231000004 meters 0.020666207141932732 Centerline is valid? [True, True] Translation: X:14.20, Y:0.20, Z:-0.06 [[ 9.98426751e-01 -5.60515879e-02 -1.49765631e-03 1.42006357e+01] [ 5.60515543e-02 9.98427874e-01 -6.44650023e-05 1.98629803e-01] [ 1.49891517e-03 -1.95823813e-05 9.99998876e-01 -5.57350743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705769231000005 meters 0.020336413898922833 Centerline is valid? [True, True] Translation: X:14.23, Y:0.20, Z:-0.06 [[ 9.98379597e-01 -5.68614651e-02 -2.22575920e-03 1.42290921e+01] [ 5.68613935e-02 9.98382078e-01 -9.54799857e-05 1.96071062e-01] [ 2.22758722e-03 -3.12345000e-05 9.99997518e-01 -5.59558438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735769231000003 meters 0.021745806523670846 Centerline is valid? [True, True] Translation: X:14.26, Y:0.19, Z:-0.06 [[ 9.98362513e-01 -5.71803652e-02 -1.64276186e-03 1.42560203e+01] [ 5.71803262e-02 9.98363864e-01 -7.06901713e-05 1.93039838e-01] [ 1.64411617e-03 -2.33592422e-05 9.99998648e-01 -5.64424440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765769231000004 meters 0.021824609145027322 Centerline is valid? [True, True] Translation: X:14.28, Y:0.19, Z:-0.05 [[ 9.98342313e-01 -5.75499505e-02 -7.93003927e-04 1.42844671e+01] [ 5.75499412e-02 9.98342628e-01 -3.45725751e-05 1.93246105e-01] [ 7.93679274e-04 -1.11220648e-05 9.99999685e-01 -5.45908293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795769231000005 meters 0.022586590376334797 Centerline is valid? [True, True] Translation: X:14.31, Y:0.19, Z:-0.05 [[ 9.98290845e-01 -5.84376145e-02 6.59345716e-04 1.43130837e+01] [ 5.84376087e-02 9.98291062e-01 2.81859196e-05 1.89906366e-01] [-6.59866053e-04 1.03928415e-05 9.99999782e-01 -5.27681629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825769231000002 meters 0.02589090367775338 Centerline is valid? [True, True] Translation: X:14.34, Y:0.18, Z:-0.06 [[ 9.98093993e-01 -6.17120653e-02 -4.54956527e-05 1.43422439e+01] [ 6.17120653e-02 9.98093994e-01 -2.31444788e-06 1.78445250e-01] [ 4.55517671e-05 -4.97594159e-07 9.99999999e-01 -5.54980412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855769231000004 meters 0.029434989698321166 Centerline is valid? [True, True] Translation: X:14.37, Y:0.17, Z:-0.06 [[ 9.97910578e-01 -6.46096307e-02 -2.70738190e-04 1.43707945e+01] [ 6.46096298e-02 9.97910615e-01 -1.18703586e-05 1.69837046e-01] [ 2.70939453e-04 -5.64673785e-06 9.99999963e-01 -5.60152545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885769231000005 meters 0.03227650076848425 Centerline is valid? [True, True] Translation: X:14.40, Y:0.16, Z:-0.06 [[ 9.97737542e-01 -6.72292902e-02 -1.42791427e-04 1.44008222e+01] [ 6.72292900e-02 9.97737552e-01 -6.25795203e-06 1.62466795e-01] [ 1.42889086e-04 -3.35597257e-06 9.99999990e-01 -5.62831330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915769231000002 meters 0.03227650076848425 Centerline is valid? [True, True] Translation: X:14.43, Y:0.16, Z:-0.06 [[ 9.97725559e-01 -6.74068943e-02 -1.42775747e-04 1.44283007e+01] [ 6.74068941e-02 9.97725569e-01 -6.61764315e-06 1.63866807e-01] [ 1.42897089e-04 -3.02147796e-06 9.99999990e-01 -5.63422352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945769231000003 meters 0.03305962896926409 Centerline is valid? [True, True] Translation: X:14.46, Y:0.15, Z:-0.06 [[ 9.97495585e-01 -7.07164275e-02 -1.32080256e-03 1.44581605e+01] [ 7.07164129e-02 9.97496459e-01 -5.78001893e-05 1.54401775e-01] [ 1.32158330e-03 -3.57469853e-05 9.99999126e-01 -5.68312227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975769231000005 meters 0.03379099772579775 Centerline is valid? [True, True] Translation: X:14.49, Y:0.15, Z:-0.06 [[ 9.97522647e-01 -7.03147800e-02 -2.09779744e-03 1.44858795e+01] [ 7.03147421e-02 9.97524851e-01 -9.19304252e-05 1.49458853e-01] [ 2.09906915e-03 -5.58034047e-05 9.99997795e-01 -5.75902619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005769231000002 meters 0.030147297555117792 Centerline is valid? [True, True] Translation: X:14.52, Y:0.15, Z:-0.06 [[ 9.97766853e-01 -6.67630975e-02 -1.99888444e-03 1.45155728e+01] [ 6.67630559e-02 9.97768854e-01 -8.75719238e-05 1.47375151e-01] [ 2.00027121e-03 -4.60752711e-05 9.99997998e-01 -5.72798655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035769231000003 meters 0.029671148646280596 Centerline is valid? [True, True] Translation: X:14.54, Y:0.15, Z:-0.06 [[ 9.97920805e-01 -6.44222771e-02 -1.95904603e-03 1.45435042e+01] [ 6.44222323e-02 9.97922727e-01 -8.60146808e-05 1.46143818e-01] [ 1.96051782e-03 -4.03702790e-05 9.99998077e-01 -5.84650213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065769231000004 meters 0.02553080646279556 Centerline is valid? [True, True] Translation: X:14.57, Y:0.15, Z:-0.06 [[ 9.98051132e-01 -6.23748621e-02 -1.82066780e-03 1.45725053e+01] [ 6.23748190e-02 9.98052792e-01 -8.04642954e-05 1.50022720e-01] [ 1.82214154e-03 -3.32563437e-05 9.99998339e-01 -5.88442889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095769231000002 meters 0.02239353678422242 Centerline is valid? [True, True] Translation: X:14.60, Y:0.15, Z:-0.06 [[ 9.98167646e-01 -6.04531753e-02 -2.60072621e-03 1.46017400e+01] [ 6.04530802e-02 9.98171033e-01 -1.15243909e-04 1.47181170e-01] [ 2.60293643e-03 -4.21891683e-05 9.99996611e-01 -5.98563275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125769231000003 meters 0.02274257394473707 Centerline is valid? [True, True] Translation: X:14.63, Y:0.14, Z:-0.06 [[ 9.98141952e-01 -6.08548888e-02 -3.05387900e-03 1.46307292e+01] [ 6.08547582e-02 9.98146622e-01 -1.35775117e-04 1.43595401e-01] [ 3.05648159e-03 -5.03202278e-05 9.99995328e-01 -5.97998656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.155769231000004 meters 0.023868855808495206 Centerline is valid? [True, True] Translation: X:14.66, Y:0.14, Z:-0.06 [[ 9.98131615e-01 -6.10190567e-02 -3.15484634e-03 1.46581750e+01] [ 6.10189179e-02 9.98136600e-01 -1.40334780e-04 1.36802417e-01] [ 3.15753070e-03 -5.24327296e-05 9.99995014e-01 -5.96777987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185769231000002 meters 0.021959308204881123 Centerline is valid? [True, True] Translation: X:14.69, Y:0.14, Z:-0.06 [[ 9.98205720e-01 -5.98275362e-02 -2.45091282e-03 1.46872826e+01] [ 5.98274473e-02 9.98208728e-01 -1.09646742e-04 1.38124354e-01] [ 2.45308246e-03 -3.71818531e-05 9.99996990e-01 -5.83756397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215769231000003 meters 0.01996449595666882 Centerline is valid? [True, True] Translation: X:14.72, Y:0.14, Z:-0.06 [[ 9.98301981e-01 -5.82177937e-02 -1.96026178e-03 1.47162508e+01] [ 5.82177329e-02 9.98303906e-01 -8.81063124e-05 1.40414601e-01] [ 1.96206635e-03 -2.61652904e-05 9.99998075e-01 -5.74637306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245769231000004 meters 0.0169898791804994 Centerline is valid? [True, True] Translation: X:14.74, Y:0.14, Z:-0.06 [[ 9.98546718e-01 -5.38069859e-02 -3.04318397e-03 1.47435905e+01] [ 5.38068193e-02 9.98551354e-01 -1.36671260e-04 1.43350294e-01] [ 3.04612935e-03 -2.72714115e-05 9.99995360e-01 -6.03508187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.275769231 meters 0.015198781309116569 Centerline is valid? [True, True] Translation: X:14.77, Y:0.15, Z:-0.06 [[ 9.98687630e-01 -5.10217736e-02 -4.44940346e-03 1.47725611e+01] [ 5.10213860e-02 9.98697541e-01 -2.00644285e-04 1.47531952e-01] [ 4.45384552e-03 -2.66337660e-05 9.99990081e-01 -6.22927750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305769231000003 meters 0.013795156759628004 Centerline is valid? [True, True] Translation: X:14.80, Y:0.16, Z:-0.06 [[ 9.99037804e-01 -4.35629079e-02 -5.07340902e-03 1.47999378e+01] [ 4.35623077e-02 9.99050686e-01 -2.28801116e-04 1.56314346e-01] [ 5.07856000e-03 7.57155988e-06 9.99987104e-01 -6.36650305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335769231000004 meters 0.014963755660849854 Centerline is valid? [True, True] Translation: X:14.83, Y:0.16, Z:-0.06 [[ 9.99205029e-01 -3.96253284e-02 -4.37521248e-03 1.48281718e+01] [ 3.96248401e-02 9.99214608e-01 -1.98247473e-04 1.62821850e-01] [ 4.37963184e-03 2.47227767e-05 9.99990409e-01 -6.20341396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365769231 meters 0.016700022606257525 Centerline is valid? [True, True] Translation: X:14.86, Y:0.17, Z:-0.06 [[ 9.99327712e-01 -3.64819978e-02 -3.63154337e-03 1.48570727e+01] [ 3.64816383e-02 9.99334310e-01 -1.65201518e-04 1.68711240e-01] [ 3.63515277e-03 3.26058026e-05 9.99993392e-01 -6.07878033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.395769231000003 meters 0.021291082574553647 Centerline is valid? [True, True] Translation: X:14.89, Y:0.18, Z:-0.06 [[ 9.99528248e-01 -3.06321434e-02 -2.22564345e-03 1.48859199e+01] [ 3.06319939e-02 9.99530725e-01 -1.01241174e-04 1.77776526e-01] [ 2.22770025e-03 3.30175167e-05 9.99997518e-01 -5.82041629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425769231000004 meters 0.023794916662866712 Centerline is valid? [True, True] Translation: X:14.91, Y:0.18, Z:-0.06 [[ 9.99608044e-01 -2.79755308e-02 -1.06237787e-03 1.49135849e+01] [ 2.79754951e-02 9.99608608e-01 -4.84625014e-05 1.83210888e-01] [ 1.06331783e-03 1.87229595e-05 9.99999435e-01 -5.61594310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455769231000005 meters 0.027514724059102293 Centerline is valid? [True, True] Translation: X:14.94, Y:0.19, Z:-0.05 [[ 9.99683422e-01 -2.51583873e-02 3.34225977e-04 1.49406368e+01] [ 2.51583837e-02 9.99683478e-01 1.50255458e-05 1.90719438e-01] [-3.34498205e-04 -6.61220364e-06 9.99999944e-01 -5.29943297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485769231000003 meters 0.03151353205006419 Centerline is valid? [True, True] Translation: X:14.97, Y:0.20, Z:-0.05 [[ 9.99833537e-01 -1.81897430e-02 1.42565294e-03 1.49706768e+01] [ 1.81896688e-02 9.99834552e-01 6.50059607e-05 2.01729879e-01] [-1.42659951e-03 -3.90629846e-05 9.99998982e-01 -5.08485638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515769231000004 meters 0.037195194523417574 Centerline is valid? [True, True] Translation: X:15.00, Y:0.21, Z:-0.05 [[ 9.99888626e-01 -1.49131432e-02 5.77918106e-04 1.49988560e+01] [ 1.49131305e-02 9.99888793e-01 2.63022817e-05 2.13155303e-01] [-5.78246087e-04 -1.76807842e-05 9.99999833e-01 -5.29749553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545769231000005 meters 0.04076385761732161 Centerline is valid? [True, True] Translation: X:15.03, Y:0.23, Z:-0.06 [[ 9.99952361e-01 -9.64315303e-03 -1.51201646e-03 1.50291961e+01] [ 9.64305968e-03 9.99953502e-01 -6.90180550e-05 2.25178380e-01] [ 1.51261171e-03 5.44343020e-05 9.99998855e-01 -5.68235774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.575769231000002 meters 0.042927713574927626 Centerline is valid? [True, True] Translation: X:15.06, Y:0.23, Z:-0.06 [[ 9.99969132e-01 -7.62969820e-03 -1.87687348e-03 1.50580275e+01] [ 7.62955056e-03 9.99970891e-01 -8.58086290e-05 2.32795076e-01] [ 1.87747354e-03 7.14862792e-05 9.99998235e-01 -5.76029282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605769231000004 meters 0.04465092157866941 Centerline is valid? [True, True] Translation: X:15.09, Y:0.24, Z:-0.06 [[ 9.99977354e-01 -6.30627525e-03 -2.34999700e-03 1.50869390e+01] [ 6.30604000e-03 9.99980111e-01 -1.07502014e-04 2.39858517e-01] [ 2.35062820e-03 9.26804040e-05 9.99997233e-01 -5.83870113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635769231000005 meters 0.04541345484750107 Centerline is valid? [True, True] Translation: X:15.12, Y:0.24, Z:-0.06 [[ 9.99977113e-01 -6.06699542e-03 -2.99424571e-03 1.51153475e+01] [ 6.06661204e-03 9.99981589e-01 -1.37103102e-04 2.44772904e-01] [ 2.99502238e-03 1.18935037e-04 9.99995508e-01 -5.94143658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665769231000002 meters 0.043488652410144886 Centerline is valid? [True, True] Translation: X:15.15, Y:0.25, Z:-0.06 [[ 9.99957233e-01 -8.58603978e-03 -3.43698898e-03 1.51454972e+01] [ 8.58554966e-03 9.99963131e-01 -1.57332062e-04 2.46852328e-01] [ 3.43821312e-03 1.27816894e-04 9.99994081e-01 -6.01493143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695769231000003 meters 0.04197384201895421 Centerline is valid? [True, True] Translation: X:15.17, Y:0.25, Z:-0.06 [[ 9.99941569e-01 -1.03491504e-02 -3.12315015e-03 1.51740568e+01] [ 1.03487536e-02 9.99946440e-01 -1.43185459e-04 2.48367293e-01] [ 3.12446473e-03 1.10856381e-04 9.99995113e-01 -5.96804884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725769231000005 meters 0.04208280720604936 Centerline is valid? [True, True] Translation: X:15.20, Y:0.26, Z:-0.06 [[ 9.99941573e-01 -1.06982133e-02 -1.54884430e-03 1.52016340e+01] [ 1.06981159e-02 9.99942771e-01 -7.11718714e-05 2.56434640e-01] [ 1.54951708e-03 5.45979972e-05 9.99998798e-01 -5.57225169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.755769231000002 meters 0.04379959096247275 Centerline is valid? [True, True] Translation: X:15.23, Y:0.26, Z:-0.05 [[ 9.99954755e-01 -9.50204753e-03 -4.47062071e-04 1.52308910e+01] [ 9.50203928e-03 9.99954854e-01 -2.05665021e-05 2.63744755e-01] [ 4.47237312e-04 1.63175702e-05 9.99999900e-01 -5.44167715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785769231000003 meters 0.043816851871127625 Centerline is valid? [True, True] Translation: X:15.26, Y:0.27, Z:-0.05 [[ 9.99963138e-01 -8.58248423e-03 -2.52086018e-04 1.52602861e+01] [ 8.58248158e-03 9.99963170e-01 -1.16245904e-05 2.69236934e-01] [ 2.52176502e-04 9.46063828e-06 9.99999968e-01 -5.39156309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.815769231000004 meters 0.04628641290931352 Centerline is valid? [True, True] Translation: X:15.29, Y:0.28, Z:-0.06 [[ 9.99966210e-01 -8.04756232e-03 -1.67822443e-03 1.52891787e+01] [ 8.04744423e-03 9.99967616e-01 -7.71042070e-05 2.81690346e-01] [ 1.67879059e-03 6.35961841e-05 9.99998589e-01 -5.72134682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845769231000002 meters 0.04743126139001879 Centerline is valid? [True, True] Translation: X:15.32, Y:0.29, Z:-0.06 [[ 9.99966162e-01 -8.00389647e-03 -1.90056967e-03 1.53173008e+01] [ 8.00374474e-03 9.99967966e-01 -8.74275032e-05 2.87838226e-01] [ 1.90120855e-03 7.22128703e-05 9.99998190e-01 -5.80365258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875769231000003 meters 0.04739552946828372 Centerline is valid? [True, True] Translation: X:15.35, Y:0.29, Z:-0.06 [[ 9.99967705e-01 -7.81612676e-03 -1.87021733e-03 1.53467858e+01] [ 7.81597947e-03 9.99969451e-01 -8.60497514e-05 2.92326443e-01] [ 1.87083278e-03 7.14293921e-05 9.99998247e-01 -5.68280206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905769231000004 meters 0.04723212465482416 Centerline is valid? [True, True] Translation: X:15.38, Y:0.30, Z:-0.06 [[ 9.99963259e-01 -8.30945433e-03 -2.10547562e-03 1.53759517e+01] [ 8.30926757e-03 9.99965473e-01 -9.74349777e-05 2.95631354e-01] [ 2.10621256e-03 7.99364376e-05 9.99997779e-01 -5.74719458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.935769231000002 meters 0.045812920942971444 Centerline is valid? [True, True] Translation: X:15.41, Y:0.30, Z:-0.06 [[ 9.99962480e-01 -7.65669814e-03 -4.05140011e-03 1.54050293e+01] [ 7.65600312e-03 9.99970675e-01 -1.87031639e-04 3.04290433e-01] [ 4.05271334e-03 1.56007089e-04 9.99991776e-01 -6.07086756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965769231000003 meters 0.05045189426118935 Centerline is valid? [True, True] Translation: X:15.43, Y:0.32, Z:-0.06 [[ 9.99969290e-01 -6.83835115e-03 -3.82841560e-03 1.54325230e+01] [ 6.83772342e-03 9.99976607e-01 -1.77032319e-04 3.17179708e-01] [ 3.82953665e-03 1.50849236e-04 9.99992656e-01 -6.13388416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995769231000004 meters 0.05181375385678955 Centerline is valid? [True, True] Translation: X:15.46, Y:0.32, Z:-0.06 [[ 9.99980125e-01 -5.87024334e-03 -2.29996232e-03 1.54610253e+01] [ 5.87001395e-03 9.99982766e-01 -1.06476584e-04 3.24079869e-01] [ 2.30054772e-03 9.29736571e-05 9.99997349e-01 -5.85347714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025769231 meters 0.04924137627687976 Centerline is valid? [True, True] Translation: X:15.49, Y:0.32, Z:-0.05 [[ 9.99986524e-01 -5.13952371e-03 -7.32979309e-04 1.54910597e+01] [ 5.13950019e-03 9.99986792e-01 -3.39682154e-05 3.24372800e-01] [ 7.33144208e-04 3.02006104e-05 9.99999731e-01 -5.43067152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055769231000003 meters 0.05371032590410984 Centerline is valid? [True, True] Translation: X:15.52, Y:0.34, Z:-0.05 [[ 9.99987059e-01 -5.08732605e-03 -4.19171724e-05 1.55199229e+01] [ 5.08732597e-03 9.99987059e-01 -1.96436800e-06 3.35736483e-01] [ 4.19266233e-05 1.75109626e-06 9.99999999e-01 -5.24837845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085769231000004 meters 0.054092274132719526 Centerline is valid? [True, True] Translation: X:15.55, Y:0.34, Z:-0.05 [[ 9.99985623e-01 -5.29862364e-03 -8.23616365e-04 1.55489365e+01] [ 5.29859401e-03 9.99985962e-01 -3.81550971e-05 3.40508577e-01] [ 8.23806972e-04 3.37905398e-05 9.99999660e-01 -5.49166918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115769231000005 meters 0.05207112789466243 Centerline is valid? [True, True] Translation: X:15.58, Y:0.34, Z:-0.06 [[ 9.99975126e-01 -6.74020045e-03 -2.07769960e-03 1.55789933e+01] [ 6.74001502e-03 9.99977281e-01 -9.62394735e-05 3.44619845e-01] [ 2.07830107e-03 8.22333531e-05 9.99997837e-01 -5.84244271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145769231000003 meters 0.05170009431792188 Centerline is valid? [True, True] Translation: X:15.61, Y:0.35, Z:-0.06 [[ 9.99967817e-01 -7.80617886e-03 -1.85183779e-03 1.56080107e+01] [ 7.80603326e-03 9.99969529e-01 -8.58423346e-05 3.47446886e-01] [ 1.85245146e-03 7.13840645e-05 9.99998282e-01 -5.91361808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175769231000004 meters 0.04066774419613725 Centerline is valid? [True, True] Translation: X:15.64, Y:0.34, Z:-0.06 [[ 9.99960454e-01 -8.78617208e-03 -1.37586708e-03 1.56382047e+01] [ 8.78609256e-03 9.99961400e-01 -6.38295280e-05 3.36129238e-01] [ 1.37637479e-03 5.17385083e-05 9.99999051e-01 -5.62789030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205769231000005 meters 0.051045465442007804 Centerline is valid? [True, True] Translation: X:15.67, Y:0.36, Z:-0.05 [[ 9.99959241e-01 -9.01294831e-03 -5.31951141e-04 1.56671354e+01] [ 9.01293645e-03 9.99959382e-01 -2.46905328e-05 3.57482609e-01] [ 5.32152069e-04 1.98950846e-05 9.99999858e-01 -5.48365220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.235769231000003 meters 0.05250076224928741 Centerline is valid? [True, True] Translation: X:15.70, Y:0.36, Z:-0.06 [[ 9.99964595e-01 -8.37514232e-03 -8.16344280e-04 1.56967881e+01] [ 8.37511418e-03 9.99964927e-01 -3.78824156e-05 3.64091963e-01] [ 8.16632919e-04 3.10440978e-05 9.99999666e-01 -5.59169606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265769231000004 meters 0.053080386284789366 Centerline is valid? [True, True] Translation: X:15.73, Y:0.37, Z:-0.06 [[ 9.99967420e-01 -7.96362435e-03 -1.31932445e-03 1.57272827e+01] [ 7.96355054e-03 9.99968289e-01 -6.11865290e-05 3.68800100e-01] [ 1.31976988e-03 5.06780285e-05 9.99999128e-01 -5.75981990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295769231000005 meters 0.043352022384425724 Centerline is valid? [True, True] Translation: X:15.76, Y:0.36, Z:-0.06 [[ 9.99967281e-01 -8.07881482e-03 -4.12267582e-04 1.57570129e+01] [ 8.07880760e-03 9.99967366e-01 -1.91803122e-05 3.61453290e-01] [ 4.12409083e-04 1.58490542e-05 9.99999915e-01 -5.55885115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325769231000002 meters 0.047306137965815814 Centerline is valid? [True, True] Translation: X:15.79, Y:0.37, Z:-0.05 [[ 9.99961048e-01 -8.80881658e-03 5.55025315e-04 1.57862169e+01] [ 8.80880365e-03 9.99961201e-01 2.57348798e-05 3.70912737e-01] [-5.55230475e-04 -2.08447683e-05 9.99999846e-01 -5.40994058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355769231000004 meters 0.044086241391005615 Centerline is valid? [True, True] Translation: X:15.82, Y:0.37, Z:-0.05 [[ 9.99925678e-01 -1.21786754e-02 5.64232336e-04 1.58159155e+01] [ 1.21786626e-02 9.99925837e-01 2.61874914e-05 3.72631209e-01] [-5.64509420e-04 -1.93139499e-05 9.99999840e-01 -5.40026855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385769231000005 meters 0.04754769773586293 Centerline is valid? [True, True] Translation: X:15.85, Y:0.38, Z:-0.05 [[ 9.99903463e-01 -1.38944647e-02 9.14312509e-05 1.58460341e+01] [ 1.38944644e-02 9.99903467e-01 4.34942023e-06 3.80368783e-01] [-9.14828577e-05 -3.07861209e-06 9.99999996e-01 -5.49905993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.415769231000002 meters 0.04507713663618175 Centerline is valid? [True, True] Translation: X:15.88, Y:0.38, Z:-0.06 [[ 9.99875635e-01 -1.57698857e-02 1.56605363e-04 1.58771704e+01] [ 1.57698848e-02 9.99875648e-01 7.28092988e-06 3.80893817e-01] [-1.56700708e-04 -4.81037587e-06 9.99999988e-01 -5.57506606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445769231000003 meters 0.037017580888423704 Centerline is valid? [True, True] Translation: X:15.91, Y:0.38, Z:-0.06 [[ 9.99813938e-01 -1.92893003e-02 1.15046070e-04 1.59075740e+01] [ 1.92892999e-02 9.99813944e-01 5.31024712e-06 3.77496594e-01] [-1.15127096e-04 -3.09010095e-06 9.99999993e-01 -5.66873547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.475769231000005 meters 0.0337121676969254 Centerline is valid? [True, True] Translation: X:15.94, Y:0.38, Z:-0.06 [[ 9.99780343e-01 -2.09581864e-02 -1.42873040e-04 1.59383626e+01] [ 2.09581857e-02 9.99780353e-01 -6.62383714e-06 3.76761584e-01] [ 1.42980482e-04 3.62802248e-06 9.99999990e-01 -5.78408586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505769231000002 meters 0.03325507848755032 Centerline is valid? [True, True] Translation: X:15.97, Y:0.38, Z:-0.06 [[ 9.99733052e-01 -2.30822241e-02 -1.01746353e-03 1.59682770e+01] [ 2.30821880e-02 9.99733570e-01 -4.71713399e-05 3.80631356e-01] [ 1.01828127e-03 2.36734631e-05 9.99999481e-01 -5.86957734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535769231000003 meters 0.027331108805059706 Centerline is valid? [True, True] Translation: X:16.00, Y:0.38, Z:-0.06 [[ 9.99706795e-01 -2.42056882e-02 -6.39315965e-04 1.59986279e+01] [ 2.42056741e-02 9.99706999e-01 -2.96734404e-05 3.75924823e-01] [ 6.39846911e-04 1.41896661e-05 9.99999795e-01 -5.68883841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565769231000004 meters 0.02772376300845328 Centerline is valid? [True, True] Translation: X:16.03, Y:0.38, Z:-0.06 [[ 9.99690869e-01 -2.48525601e-02 -7.19016018e-04 1.60280094e+01] [ 2.48525425e-02 9.99691127e-01 -3.33780248e-05 3.79489592e-01] [ 7.19623463e-04 1.54983305e-05 9.99999741e-01 -5.63705773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.595769231000002 meters 0.026716832966606274 Centerline is valid? [True, True] Translation: X:16.06, Y:0.38, Z:-0.06 [[ 9.99657625e-01 -2.61649516e-02 1.64889686e-04 1.60577350e+01] [ 2.61649507e-02 9.99657639e-01 7.60193960e-06 3.80010487e-01] [-1.65032138e-04 -3.28500639e-06 9.99999986e-01 -5.55904423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625769231000003 meters 0.026130594516500284 Centerline is valid? [True, True] Translation: X:16.09, Y:0.38, Z:-0.05 [[ 9.99637454e-01 -2.68985681e-02 1.19504143e-03 1.60860404e+01] [ 2.68985210e-02 9.99638168e-01 5.54276617e-05 3.80396889e-01] [-1.19609995e-03 -2.32627195e-05 9.99999284e-01 -5.36827131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.655769231000004 meters 0.02803502495667619 Centerline is valid? [True, True] Translation: X:16.12, Y:0.39, Z:-0.05 [[ 9.99600905e-01 -2.81763650e-02 2.03035700e-03 1.61155712e+01] [ 2.81762316e-02 9.99602967e-01 9.42976555e-05 3.85108858e-01] [-2.03220784e-03 -3.70522128e-05 9.99997934e-01 -5.23517544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685769231000002 meters 0.024404076843607264 Centerline is valid? [True, True] Translation: X:16.15, Y:0.38, Z:-0.05 [[ 9.99548443e-01 -2.99869304e-02 1.92213604e-03 1.61460571e+01] [ 2.99868141e-02 9.99550290e-01 8.92950296e-05 3.81969017e-01] [-1.92394932e-03 -3.16159718e-05 9.99998149e-01 -5.21613794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715769231000003 meters 0.024326864021679585 Centerline is valid? [True, True] Translation: X:16.18, Y:0.38, Z:-0.05 [[ 9.99559990e-01 -2.96335579e-02 1.29592470e-03 1.61756728e+01] [ 2.96335048e-02 9.99560829e-01 6.01844076e-05 3.83258309e-01] [-1.29713905e-03 -2.17551350e-05 9.99999158e-01 -5.33211502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745769231000004 meters 0.025649202722752073 Centerline is valid? [True, True] Translation: X:16.21, Y:0.39, Z:-0.05 [[ 9.99635634e-01 -2.69912697e-02 2.65018820e-04 1.62055464e+01] [ 2.69912674e-02 9.99635669e-01 1.23067334e-05 3.87609817e-01] [-2.65254440e-04 -5.14905538e-06 9.99999965e-01 -5.49135960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.775769231 meters 0.026912536756451628 Centerline is valid? [True, True] Translation: X:16.23, Y:0.39, Z:-0.05 [[ 9.99672849e-01 -2.55720673e-02 5.13670380e-04 1.62348571e+01] [ 2.55720585e-02 9.99672981e-01 2.38390885e-05 3.92667142e-01] [-5.14112015e-04 -1.06956805e-05 9.99999868e-01 -5.43760164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805769231000003 meters 0.028527324974775784 Centerline is valid? [True, True] Translation: X:16.26, Y:0.40, Z:-0.05 [[ 9.99699099e-01 -2.45247429e-02 4.97978977e-04 1.62639948e+01] [ 2.45247344e-02 9.99699223e-01 2.31535648e-05 3.97780489e-01] [-4.98397032e-04 -1.09337957e-05 9.99999876e-01 -5.39599656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835769231000004 meters 0.028527324974775784 Centerline is valid? [True, True] Translation: X:16.29, Y:0.40, Z:-0.05 [[ 9.99698530e-01 -2.45479337e-02 4.97980356e-04 1.62931324e+01] [ 2.45479252e-02 9.99698654e-01 2.31239419e-05 3.99181039e-01] [-4.98397936e-04 -1.08925862e-05 9.99999876e-01 -5.40226354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865769231000005 meters 0.02953589540998813 Centerline is valid? [True, True] Translation: X:16.32, Y:0.40, Z:-0.05 [[ 9.99724438e-01 -2.34530289e-02 1.00201464e-03 1.63223125e+01] [ 2.34529940e-02 9.99724940e-01 4.66026892e-05 4.02492679e-01] [-1.00283200e-03 -2.30896040e-05 9.99999497e-01 -5.33249034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895769231000003 meters 0.02958347875559656 Centerline is valid? [True, True] Translation: X:16.35, Y:0.40, Z:-0.05 [[ 9.99724565e-01 -2.34571507e-02 7.46175381e-04 1.63526110e+01] [ 2.34571313e-02 9.99724843e-01 3.47411611e-05 4.04021107e-01] [-7.46784994e-04 -1.72284583e-05 9.99999721e-01 -5.45844664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925769231000004 meters 0.029571567567383557 Centerline is valid? [True, True] Translation: X:16.38, Y:0.41, Z:-0.06 [[ 9.99721806e-01 -2.35827077e-02 4.07854120e-04 1.63826868e+01] [ 2.35827019e-02 9.99721889e-01 1.89892699e-05 4.05624152e-01] [-4.08188509e-04 -9.36568502e-06 9.99999917e-01 -5.67877760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955769231000005 meters 0.02902266601371833 Centerline is valid? [True, True] Translation: X:16.41, Y:0.41, Z:-0.06 [[ 9.99691062e-01 -2.48391247e-02 -8.93716179e-04 1.64125070e+01] [ 2.48390974e-02 9.99691461e-01 -4.16455256e-05 4.05627445e-01] [ 8.94474872e-04 1.94335565e-05 9.99999600e-01 -6.06964444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985769231000003 meters 0.027286901323005906 Centerline is valid? [True, True] Translation: X:16.44, Y:0.40, Z:-0.06 [[ 9.99653438e-01 -2.63198131e-02 -5.21770867e-04 1.64424328e+01] [ 2.63198040e-02 9.99653574e-01 -2.43607287e-05 4.04022471e-01] [ 5.22231281e-04 1.06193792e-05 9.99999864e-01 -5.99790032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015769231000004 meters 0.024502000889686158 Centerline is valid? [True, True] Translation: X:16.47, Y:0.40, Z:-0.06 [[ 9.99558093e-01 -2.97219618e-02 4.72241392e-04 1.64717970e+01] [ 2.97219547e-02 9.99558205e-01 2.19841945e-05 4.01345241e-01] [-4.72686171e-04 -7.93854228e-06 9.99999888e-01 -5.69312387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045769231000005 meters 0.022891923387462723 Centerline is valid? [True, True] Translation: X:16.50, Y:0.40, Z:-0.06 [[ 9.99523048e-01 -3.08809858e-02 2.05085623e-04 1.65018796e+01] [ 3.08809845e-02 9.99523069e-01 9.51320961e-06 4.01311602e-01] [-2.05281588e-04 -3.17542632e-06 9.99999979e-01 -5.73674642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.075769231000002 meters 0.02258439391384573 Centerline is valid? [True, True] Translation: X:16.53, Y:0.40, Z:-0.06 [[ 9.99493314e-01 -3.18283934e-02 2.63726774e-04 1.65302001e+01] [ 3.18283912e-02 9.99493348e-01 1.22323871e-05 4.03364100e-01] [-2.63982494e-04 -3.83219014e-06 9.99999965e-01 -5.75297839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105769231000004 meters 0.0221112035973253 Centerline is valid? [True, True] Translation: X:16.56, Y:0.40, Z:-0.05 [[ 9.99476033e-01 -3.21928234e-02 3.35875285e-03 1.65602271e+01] [ 3.21924784e-02 9.99481676e-01 1.56755222e-04 4.03769777e-01] [-3.36205832e-03 -4.85465089e-05 9.99994347e-01 -5.12161696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135769231000005 meters 0.022453671018905812 Centerline is valid? [True, True] Translation: X:16.59, Y:0.41, Z:-0.05 [[ 9.99474396e-01 -3.21224211e-02 4.36829759e-03 1.65900075e+01] [ 3.21218365e-02 9.99483940e-01 2.03934117e-04 4.05583699e-01] [-4.37259414e-03 -6.35091879e-05 9.99990438e-01 -4.96351134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165769231000002 meters 0.022045802886567257 Centerline is valid? [True, True] Translation: X:16.62, Y:0.41, Z:-0.05 [[ 9.99469267e-01 -3.24004175e-02 3.37583815e-03 1.66208070e+01] [ 3.24000701e-02 9.99474967e-01 1.57573500e-04 4.07373816e-01] [-3.37917117e-03 -4.81124777e-05 9.99994289e-01 -5.18609358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195769231000003 meters 0.021121756403202727 Centerline is valid? [True, True] Translation: X:16.65, Y:0.41, Z:-0.06 [[ 9.99429393e-01 -3.37710409e-02 6.37170643e-04 1.66512850e+01] [ 3.37710288e-02 9.99429596e-01 2.97488617e-05 4.10086692e-01] [-6.37811849e-04 -8.21397859e-06 9.99999797e-01 -5.84698628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225769231000005 meters 0.019815827172251974 Centerline is valid? [True, True] Translation: X:16.68, Y:0.41, Z:-0.06 [[ 9.99381841e-01 -3.51530999e-02 4.41153100e-04 1.66810063e+01] [ 3.51530943e-02 9.99381939e-01 2.05423456e-05 4.08745527e-01] [-4.41602568e-04 -5.02175066e-06 9.99999902e-01 -5.84929993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.255769231000002 meters 0.0169861660115782 Centerline is valid? [True, True] Translation: X:16.71, Y:0.40, Z:-0.06 [[ 9.99261106e-01 -3.84100971e-02 1.38060740e-03 1.67096876e+01] [ 3.84100447e-02 9.99262060e-01 6.44101848e-05 4.02417905e-01] [-1.38206259e-03 -1.13334007e-05 9.99999045e-01 -5.50519835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285769231000003 meters 0.016331730616102574 Centerline is valid? [True, True] Translation: X:16.74, Y:0.40, Z:-0.06 [[ 9.99219401e-01 -3.94817171e-02 1.33527100e-03 1.67386305e+01] [ 3.94816690e-02 9.99220293e-01 6.23441629e-05 4.02503506e-01] [-1.33669134e-03 -9.57676934e-06 9.99999107e-01 -5.54239672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.315769231000004 meters 0.015903767282584864 Centerline is valid? [True, True] Translation: X:16.77, Y:0.40, Z:-0.06 [[ 9.99190532e-01 -4.02226868e-02 6.44737519e-04 1.67670062e+01] [ 4.02226759e-02 9.99190740e-01 2.99059862e-05 4.03105861e-01] [-6.45418658e-04 -3.94870994e-06 9.99999792e-01 -5.70591862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345769231000002 meters 0.014999135610529716 Centerline is valid? [True, True] Translation: X:16.80, Y:0.40, Z:-0.06 [[ 9.99154628e-01 -4.11078064e-02 -4.22050706e-04 1.67962675e+01] [ 4.11078016e-02 9.99154717e-01 -2.02183395e-05 4.01363942e-01] [ 4.22525086e-04 2.85167080e-06 9.99999911e-01 -5.89146869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375769231000003 meters 0.015399020387763397 Centerline is valid? [True, True] Translation: X:16.82, Y:0.40, Z:-0.06 [[ 9.99143408e-01 -4.13772208e-02 -6.12254217e-04 1.68241207e+01] [ 4.13772108e-02 9.99143596e-01 -2.89761890e-05 4.03294936e-01] [ 6.12928834e-04 3.61799643e-06 9.99999812e-01 -5.97198475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405769231000004 meters 0.016009415445541162 Centerline is valid? [True, True] Translation: X:16.85, Y:0.41, Z:-0.06 [[ 9.99178300e-01 -4.05304807e-02 6.46077665e-05 1.68515655e+01] [ 4.05304806e-02 9.99178302e-01 2.93186490e-06 4.06478548e-01] [-6.46735084e-05 -3.10871966e-07 9.99999998e-01 -5.81557425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.435769231000002 meters 0.01732795081494205 Centerline is valid? [True, True] Translation: X:16.88, Y:0.41, Z:-0.06 [[ 9.99233360e-01 -3.91493658e-02 1.36913373e-04 1.68800205e+01] [ 3.91493653e-02 9.99233370e-01 6.15669541e-06 4.11025933e-01] [-1.37049442e-04 -7.91903793e-07 9.99999991e-01 -5.80904804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465769231000003 meters 0.01861864361858871 Centerline is valid? [True, True] Translation: X:16.91, Y:0.41, Z:-0.06 [[ 9.99280084e-01 -3.79358326e-02 4.32544351e-04 1.69085635e+01] [ 3.79358274e-02 9.99280177e-01 2.02137691e-05 4.14725283e-01] [-4.32999822e-04 -3.79028905e-06 9.99999906e-01 -5.79565838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495769231000004 meters 0.02088655848486354 Centerline is valid? [True, True] Translation: X:16.94, Y:0.42, Z:-0.06 [[ 9.99356460e-01 -3.58691939e-02 2.57965620e-04 1.69372181e+01] [ 3.58691919e-02 9.99356493e-01 1.21867774e-05 4.20248542e-01] [-2.58236748e-04 -2.92591638e-06 9.99999967e-01 -5.73079542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525769231 meters 0.021186085389450063 Centerline is valid? [True, True] Translation: X:16.97, Y:0.42, Z:-0.06 [[ 9.99361815e-01 -3.57191005e-02 3.28247216e-04 1.69657278e+01] [ 3.57190974e-02 9.99361869e-01 1.53246159e-05 4.23896068e-01] [-3.28585133e-04 -3.59014173e-06 9.99999946e-01 -5.66545955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555769231000003 meters 0.01899607970737588 Centerline is valid? [True, True] Translation: X:17.00, Y:0.42, Z:-0.05 [[ 9.99364650e-01 -3.56239545e-02 1.10925881e-03 1.69953161e+01] [ 3.56239178e-02 9.99365265e-01 5.28386583e-05 4.23985393e-01] [-1.11043705e-03 -1.32889425e-05 9.99999383e-01 -5.49636814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585769231000004 meters 0.018684296436176313 Centerline is valid? [True, True] Translation: X:17.02, Y:0.43, Z:-0.05 [[ 9.99358206e-01 -3.55851005e-02 4.10813769e-03 1.70245180e+01] [ 3.55845957e-02 9.99366649e-01 1.95921395e-04 4.27717385e-01] [-4.11250768e-03 -4.96092345e-05 9.99991542e-01 -5.11011730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615769231000005 meters 0.021478678885950588 Centerline is valid? [True, True] Translation: X:17.05, Y:0.43, Z:-0.05 [[ 9.99350112e-01 -3.56948046e-02 5.02338578e-03 1.70544089e+01] [ 3.56940511e-02 9.99362736e-01 2.39599005e-04 4.34055413e-01] [-5.02873700e-03 -6.01383033e-05 9.99987354e-01 -4.87089733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645769231000003 meters 0.018891206417463016 Centerline is valid? [True, True] Translation: X:17.09, Y:0.43, Z:-0.05 [[ 9.99358631e-01 -3.54767730e-02 4.87082025e-03 1.70860107e+01] [ 3.54760624e-02 9.99370499e-01 2.32232923e-04 4.31143620e-01] [-4.87599294e-03 -5.92864531e-05 9.99988111e-01 -5.02450914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675769231000004 meters 0.018425742999625603 Centerline is valid? [True, True] Translation: X:17.12, Y:0.43, Z:-0.05 [[ 9.99339483e-01 -3.62684055e-02 2.28027779e-03 1.71162542e+01] [ 3.62682519e-02 9.99342085e-01 1.08694606e-04 4.32440398e-01] [-2.28271974e-03 -2.59211221e-05 9.99997394e-01 -5.47030421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705769231000005 meters 0.019007603941797912 Centerline is valid? [True, True] Translation: X:17.15, Y:0.44, Z:-0.06 [[ 9.99332260e-01 -3.65046041e-02 1.56449904e-03 1.71453366e+01] [ 3.65045321e-02 9.99333485e-01 7.45512467e-05 4.35036289e-01] [-1.56617774e-03 -1.73901604e-05 9.99998773e-01 -5.58726060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.735769231000003 meters 0.019664583534828334 Centerline is valid? [True, True] Translation: X:17.17, Y:0.44, Z:-0.06 [[ 9.99359756e-01 -3.57610185e-02 1.10758927e-03 1.71749262e+01] [ 3.57609820e-02 9.99360370e-01 5.27729779e-05 4.40667217e-01] [-1.10876804e-03 -1.31307103e-05 9.99999385e-01 -5.56660283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765769231000004 meters 0.020490736800247402 Centerline is valid? [True, True] Translation: X:17.20, Y:0.45, Z:-0.06 [[ 9.99388704e-01 -3.49393757e-02 1.20750984e-03 1.72042777e+01] [ 3.49393317e-02 9.99389433e-01 5.75654806e-05 4.45864202e-01] [-1.20878388e-03 -1.53407041e-05 9.99999269e-01 -5.57505852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795769231000005 meters 0.019778495255005874 Centerline is valid? [True, True] Translation: X:17.23, Y:0.45, Z:-0.06 [[ 9.99424009e-01 -3.39050742e-02 1.44788574e-03 1.72343680e+01] [ 3.39050097e-02 9.99425057e-01 6.90828733e-05 4.48221446e-01] [-1.44939554e-03 -1.99525022e-05 9.99998949e-01 -5.53653078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825769231000002 meters 0.02476020694953874 Centerline is valid? [True, True] Translation: X:17.26, Y:0.46, Z:-0.05 [[ 9.99516955e-01 -3.10133351e-02 2.00747267e-03 1.72636631e+01] [ 3.10132053e-02 9.99518970e-01 9.57807359e-05 4.60925229e-01] [-2.00947750e-03 -3.34763074e-05 9.99997980e-01 -5.36514691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855769231000004 meters 0.023785435112380765 Centerline is valid? [True, True] Translation: X:17.29, Y:0.46, Z:-0.05 [[ 9.99551575e-01 -2.98300223e-02 2.61118601e-03 1.72938012e+01] [ 2.98297985e-02 9.99554985e-01 1.24618853e-04 4.63177727e-01] [-2.61374137e-03 -4.66718185e-05 9.99996583e-01 -5.22411628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885769231000005 meters 0.024501406557155565 Centerline is valid? [True, True] Translation: X:17.32, Y:0.47, Z:-0.05 [[ 9.99563886e-01 -2.94203975e-02 2.54511758e-03 1.73240167e+01] [ 2.94201835e-02 9.99567125e-01 1.21461028e-04 4.68608520e-01] [-2.54758930e-03 -4.65302312e-05 9.99996754e-01 -5.23378186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.915769231000002 meters 0.023660573754966316 Centerline is valid? [True, True] Translation: X:17.35, Y:0.47, Z:-0.06 [[ 9.99518401e-01 -3.10009010e-02 1.38194885e-03 1.73540895e+01] [ 3.10008394e-02 9.99519356e-01 6.59461180e-05 4.72383402e-01] [-1.38332902e-03 -2.30727839e-05 9.99999043e-01 -5.50299928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945769231000003 meters 0.02060654727887665 Centerline is valid? [True, True] Translation: X:17.38, Y:0.47, Z:-0.06 [[ 9.99459236e-01 -3.28721422e-02 8.11505358e-04 1.73848670e+01] [ 3.28721216e-02 9.99459565e-01 3.87100566e-05 4.70231983e-01] [-8.12339275e-04 -1.20132208e-05 9.99999670e-01 -5.57198881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.975769231000005 meters 0.01818546960707864 Centerline is valid? [True, True] Translation: X:17.41, Y:0.47, Z:-0.05 [[ 9.99292018e-01 -3.76018998e-02 1.24933353e-03 1.74140360e+01] [ 3.76018547e-02 9.99292798e-01 5.95842849e-05 4.70639892e-01] [-1.25069048e-03 -1.25648427e-05 9.99999218e-01 -5.42756523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005769231000002 meters 0.016165816163451967 Centerline is valid? [True, True] Translation: X:17.44, Y:0.47, Z:-0.05 [[ 9.99223358e-01 -3.93339157e-02 2.35046680e-03 1.74443904e+01] [ 3.93337607e-02 9.99226122e-01 1.12149335e-04 4.70006193e-01] [-2.35305909e-03 -1.96095368e-05 9.99997231e-01 -5.20844898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035769231000003 meters 0.015377690017034243 Centerline is valid? [True, True] Translation: X:17.47, Y:0.47, Z:-0.05 [[ 9.99153624e-01 -4.08979793e-02 4.40347569e-03 1.74740942e+01] [ 4.08974504e-02 9.99163327e-01 2.10131622e-04 4.70714182e-01] [-4.40838538e-03 -2.98628428e-05 9.99990283e-01 -4.85216232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065769231000004 meters 0.015019822313987113 Centerline is valid? [True, True] Translation: X:17.50, Y:0.47, Z:-0.05 [[ 9.99146969e-01 -4.10814813e-02 4.20073617e-03 1.75045204e+01] [ 4.10810015e-02 9.99155799e-01 2.00480345e-04 4.72277262e-01] [-4.20542593e-03 -2.77388807e-05 9.99991157e-01 -4.95799112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.095769231000002 meters 0.014704331735442585 Centerline is valid? [True, True] Translation: X:17.53, Y:0.47, Z:-0.05 [[ 9.99160423e-01 -4.08112524e-02 3.59037575e-03 1.75346507e+01] [ 4.08109001e-02 9.99166873e-01 1.71350864e-04 4.74510079e-01] [-3.59437755e-03 -2.46805353e-05 9.99993540e-01 -5.15469012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125769231000003 meters 0.014971616921657625 Centerline is valid? [True, True] Translation: X:17.56, Y:0.48, Z:-0.05 [[ 9.99190563e-01 -4.01225591e-02 2.89804111e-03 1.75649594e+01] [ 4.01223267e-02 9.99194766e-01 1.38309158e-04 4.78734760e-01] [-2.90125682e-03 -2.19210535e-05 9.99995791e-01 -5.29927034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.155769231000004 meters 0.01649027815498031 Centerline is valid? [True, True] Translation: X:17.60, Y:0.49, Z:-0.05 [[ 9.99261354e-01 -3.83414582e-02 2.58448112e-03 1.75950964e+01] [ 3.83412675e-02 9.99264696e-01 1.23339122e-04 4.86243573e-01] [-2.58730975e-03 -2.41557363e-05 9.99996653e-01 -5.36235561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185769231000002 meters 0.018318140274757352 Centerline is valid? [True, True] Translation: X:17.62, Y:0.49, Z:-0.05 [[ 9.99276713e-01 -3.79443008e-02 2.50629698e-03 1.76247170e+01] [ 3.79441202e-02 9.99279855e-01 1.19582465e-04 4.91310841e-01] [-2.50902956e-03 -2.43967386e-05 9.99996852e-01 -5.31790320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215769231000003 meters 0.016687623652243726 Centerline is valid? [True, True] Translation: X:17.66, Y:0.49, Z:-0.05 [[ 9.99270675e-01 -3.81084836e-02 2.42099803e-03 1.76562416e+01] [ 3.81083156e-02 9.99273608e-01 1.15506093e-04 4.90018015e-01] [-2.42364120e-03 -2.31616942e-05 9.99997063e-01 -5.34928207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245769231000004 meters 0.015229962389774823 Centerline is valid? [True, True] Translation: X:17.69, Y:0.49, Z:-0.05 [[ 9.99187281e-01 -4.02397256e-02 2.35399972e-03 1.76873284e+01] [ 4.02395728e-02 9.99190054e-01 1.12257691e-04 4.88827675e-01] [-2.35661033e-03 -1.74425138e-05 9.99997223e-01 -5.43985423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275769231000005 meters 0.014340217938823521 Centerline is valid? [True, True] Translation: X:17.72, Y:0.49, Z:-0.05 [[ 9.99128341e-01 -4.16161491e-02 3.26401105e-03 1.77179349e+01] [ 4.16158628e-02 9.99133673e-01 1.55619302e-04 4.87234036e-01] [-3.26765962e-03 -1.96490191e-05 9.99994661e-01 -5.28534143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305769231000003 meters 0.014009540713070163 Centerline is valid? [True, True] Translation: X:17.75, Y:0.49, Z:-0.05 [[ 9.99090278e-01 -4.23967930e-02 4.59659562e-03 1.77475468e+01] [ 4.23962333e-02 9.99100851e-01 2.19182300e-04 4.86258026e-01] [-4.60175523e-03 -2.41045644e-05 9.99989412e-01 -4.97057521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335769231000004 meters 0.014352347475424519 Centerline is valid? [True, True] Translation: X:17.78, Y:0.49, Z:-0.05 [[ 9.99133544e-01 -4.14425075e-02 3.83138641e-03 1.77781228e+01] [ 4.14421116e-02 9.99140890e-01 1.82715476e-04 4.89843701e-01] [-3.83566701e-03 -2.37764186e-05 9.99992644e-01 -5.12174417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365769231000005 meters 0.01647034346246462 Centerline is valid? [True, True] Translation: X:17.81, Y:0.50, Z:-0.05 [[ 9.99240347e-01 -3.88801818e-02 2.65718506e-03 1.78071230e+01] [ 3.88799823e-02 9.99243880e-01 1.26724890e-04 4.97963653e-01] [-2.66010300e-03 -2.33173146e-05 9.99996462e-01 -5.26967675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395769231000003 meters 0.018684083826840267 Centerline is valid? [True, True] Translation: X:17.84, Y:0.51, Z:-0.05 [[ 9.99369886e-01 -3.54580016e-02 1.60014306e-03 1.78372889e+01] [ 3.54579248e-02 9.99371167e-01 7.63283659e-05 5.06003946e-01] [-1.60184329e-03 -1.95425182e-05 9.99998717e-01 -5.45171416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425769231000004 meters 0.022592525884397325 Centerline is valid? [True, True] Translation: X:17.87, Y:0.52, Z:-0.05 [[ 9.99554976e-01 -2.98136326e-02 9.98349939e-04 1.78673849e+01] [ 2.98135999e-02 9.99555475e-01 4.76222542e-05 5.20052280e-01] [-9.99325940e-04 -1.78366555e-05 9.99999501e-01 -5.49430697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455769231000005 meters 0.025638432248666927 Centerline is valid? [True, True] Translation: X:17.90, Y:0.53, Z:-0.05 [[ 9.99600707e-01 -2.81905698e-02 1.92845153e-03 1.78973131e+01] [ 2.81904448e-02 9.99602566e-01 9.19916637e-05 5.30167812e-01] [-1.93027840e-03 -3.75910256e-05 9.99998136e-01 -5.38207410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485769231000003 meters 0.026621699818589965 Centerline is valid? [True, True] Translation: X:17.93, Y:0.54, Z:-0.05 [[ 9.99626668e-01 -2.71531204e-02 3.03846622e-03 1.79278017e+01] [ 2.71528054e-02 9.99631284e-01 1.44879406e-04 5.40081512e-01] [-3.04127982e-03 -6.23224356e-05 9.99995373e-01 -5.29995963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515769231000004 meters 0.025630482461645104 Centerline is valid? [True, True] Translation: X:17.96, Y:0.54, Z:-0.06 [[ 9.99601386e-01 -2.81681477e-02 1.90389570e-03 1.79587553e+01] [ 2.81680260e-02 9.99603198e-01 9.07550185e-05 5.42045444e-01] [-1.90569663e-03 -3.70898588e-05 9.99998183e-01 -5.57016361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545769231000005 meters 0.023951832016286843 Centerline is valid? [True, True] Translation: X:17.99, Y:0.54, Z:-0.06 [[ 9.99548864e-01 -3.00320985e-02 3.75958690e-04 1.79905811e+01] [ 3.00320939e-02 9.99548935e-01 1.79734768e-05 5.42935038e-01] [-3.76328889e-04 -6.67454169e-06 9.99999929e-01 -5.85478978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.575769231000002 meters 0.018358124840520237 Centerline is valid? [True, True] Translation: X:18.02, Y:0.54, Z:-0.06 [[ 9.99351974e-01 -3.59696708e-02 -1.34707461e-03 1.80215131e+01] [ 3.59696170e-02 9.99352882e-01 -6.41278197e-05 5.41136012e-01] [ 1.34850955e-03 1.56325052e-05 9.99999091e-01 -6.14523993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605769231000004 meters 0.015395932875557839 Centerline is valid? [True, True] Translation: X:18.05, Y:0.54, Z:-0.06 [[ 9.99221176e-01 -3.94573063e-02 -4.02043080e-04 1.80522233e+01] [ 3.94573017e-02 9.99221257e-01 -1.91396315e-05 5.39580062e-01] [ 4.02485190e-04 3.26119001e-06 9.99999919e-01 -5.97395967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635769231000005 meters 0.013558413683113306 Centerline is valid? [True, True] Translation: X:18.08, Y:0.54, Z:-0.06 [[ 9.99077522e-01 -4.29323009e-02 9.60487000e-04 1.80830065e+01] [ 4.29322767e-02 9.99077984e-01 4.57392481e-05 5.38289454e-01] [-9.61565106e-04 -4.46116095e-06 9.99999538e-01 -5.72996665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665769231000002 meters 0.012515517947572557 Centerline is valid? [True, True] Translation: X:18.11, Y:0.53, Z:-0.05 [[ 9.98802801e-01 -4.88380940e-02 2.79388505e-03 1.81138838e+01] [ 4.88379131e-02 9.98806708e-01 1.32964050e-04 5.31101703e-01] [-2.79704484e-03 3.64264944e-06 9.99996088e-01 -5.31323570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695769231000003 meters 0.014327720266749791 Centerline is valid? [True, True] Translation: X:18.14, Y:0.53, Z:-0.05 [[ 9.98539311e-01 -5.38910843e-02 3.87241071e-03 1.81447648e+01] [ 5.38907749e-02 9.98546819e-01 1.84257684e-04 5.25434886e-01] [-3.87671325e-03 2.46986734e-05 9.99992485e-01 -5.14940282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725769231000005 meters 0.014327720266749791 Centerline is valid? [True, True] Translation: X:18.17, Y:0.53, Z:-0.05 [[ 9.98539311e-01 -5.38910843e-02 3.87241071e-03 1.81747315e+01] [ 5.38907749e-02 9.98546819e-01 1.84257684e-04 5.26860766e-01] [-3.87671325e-03 2.46986734e-05 9.99992485e-01 -5.15584798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.755769231000002 meters 0.015758969252605025 Centerline is valid? [True, True] Translation: X:18.20, Y:0.52, Z:-0.05 [[ 9.98413187e-01 -5.61363083e-02 4.45219991e-03 1.82047527e+01] [ 5.61359216e-02 9.98423113e-01 2.11872179e-04 5.23859543e-01] [-4.45707302e-03 3.83923680e-05 9.99990066e-01 -5.00895673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785769231000003 meters 0.017082603051775322 Centerline is valid? [True, True] Translation: X:18.24, Y:0.52, Z:-0.05 [[ 9.98291989e-01 -5.82186462e-02 4.86760556e-03 1.82354920e+01] [ 5.82182086e-02 9.98303855e-01 2.31667919e-04 5.21139526e-01] [-4.87283679e-03 5.21110483e-05 9.99988126e-01 -4.99947008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.815769231000004 meters 0.019038965023100613 Centerline is valid? [True, True] Translation: X:18.26, Y:0.52, Z:-0.05 [[ 9.98164983e-01 -6.03987449e-02 4.31948501e-03 1.82649671e+01] [ 6.03984207e-02 9.98174328e-01 2.05589340e-04 5.16483819e-01] [-4.32401638e-03 5.56779922e-05 9.99990650e-01 -5.08714189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845769231000002 meters 0.022553879229180004 Centerline is valid? [True, True] Translation: X:18.30, Y:0.51, Z:-0.06 [[ 9.97938665e-01 -6.41382403e-02 2.16948192e-03 1.82956005e+01] [ 6.41381673e-02 9.97941023e-01 1.03262747e-04 5.07081281e-01] [-2.17163810e-03 3.60967069e-05 9.99997641e-01 -5.50056504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875769231000003 meters 0.024448452673426675 Centerline is valid? [True, True] Translation: X:18.32, Y:0.50, Z:-0.06 [[ 9.97830308e-01 -6.58127884e-02 1.83138652e-03 1.83239258e+01] [ 6.58127392e-02 9.97831988e-01 8.71765636e-05 5.03388850e-01] [-1.83315339e-03 3.35411465e-05 9.99998319e-01 -5.61633342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905769231000004 meters 0.025231936921526702 Centerline is valid? [True, True] Translation: X:18.35, Y:0.50, Z:-0.06 [[ 9.97598878e-01 -6.92564595e-02 1.47476940e-04 1.83535030e+01] [ 6.92564592e-02 9.97598889e-01 6.95457132e-06 4.98810280e-01] [-1.47604481e-04 3.27585815e-06 9.99999989e-01 -5.88204746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.935769231000002 meters 0.027737002514039103 Centerline is valid? [True, True] Translation: X:18.38, Y:0.49, Z:-0.06 [[ 9.97480924e-01 -7.09224896e-02 -1.34446866e-03 1.83818902e+01] [ 7.09224673e-02 9.97481829e-01 -6.43325793e-05 4.94211200e-01] [ 1.34564569e-03 -3.11825142e-05 9.99999094e-01 -6.15050928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965769231000003 meters 0.029421487698220377 Centerline is valid? [True, True] Translation: X:18.41, Y:0.49, Z:-0.06 [[ 9.97382014e-01 -7.22662140e-02 -2.59098347e-03 1.84099949e+01] [ 7.22661356e-02 9.97385377e-01 -1.24007616e-04 4.90462299e-01] [ 2.59317059e-03 -6.35573968e-05 9.99996636e-01 -6.38959699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995769231000004 meters 0.034341478058860016 Centerline is valid? [True, True] Translation: X:18.44, Y:0.48, Z:-0.07 [[ 9.97218092e-01 -7.44816069e-02 -2.92706958e-03 1.84389198e+01] [ 7.44815160e-02 9.97222384e-01 -1.40187010e-04 4.78550886e-01] [ 2.92938066e-03 -7.82155568e-05 9.99995706e-01 -6.55258831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025769231000005 meters 0.0314015565990241 Centerline is valid? [True, True] Translation: X:18.47, Y:0.48, Z:-0.06 [[ 9.97137233e-01 -7.55866469e-02 -1.99929316e-03 1.84677216e+01] [ 7.55866054e-02 9.97139236e-01 -9.63823025e-05 4.80499063e-01] [ 2.00085887e-03 -5.50134006e-05 9.99997997e-01 -6.25894125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055769231000003 meters 0.03500194863715474 Centerline is valid? [True, True] Translation: X:18.50, Y:0.47, Z:-0.06 [[ 9.97029607e-01 -7.70140226e-02 8.96473176e-04 1.84961095e+01] [ 7.70140150e-02 9.97030009e-01 4.29447325e-05 4.69436051e-01] [-8.97118006e-04 2.62238289e-05 9.99999597e-01 -5.80385470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085769231000004 meters 0.03522331812796034 Centerline is valid? [True, True] Translation: X:18.52, Y:0.47, Z:-0.06 [[ 9.97021571e-01 -7.71219886e-02 4.30423266e-04 1.85247104e+01] [ 7.71219870e-02 9.97021664e-01 2.03937497e-05 4.66564655e-01] [-4.30714127e-04 1.28620892e-05 9.99999907e-01 -5.84093969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115769231000005 meters 0.03595165393152393 Centerline is valid? [True, True] Translation: X:18.55, Y:0.46, Z:-0.06 [[ 9.97045739e-01 -7.68092994e-02 -3.54687931e-04 1.85524062e+01] [ 7.68092981e-02 9.97045802e-01 -1.72752186e-05 4.63214113e-01] [ 3.54967010e-04 -1.00191480e-05 9.99999937e-01 -6.06125540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145769231000003 meters 0.032127021827179636 Centerline is valid? [True, True] Translation: X:18.58, Y:0.46, Z:-0.06 [[ 9.97219220e-01 -7.44847806e-02 -2.41743671e-03 1.85815673e+01] [ 7.44847143e-02 9.97222149e-01 -1.17589566e-04 4.62981538e-01] [ 2.41948006e-03 -6.27995068e-05 9.99997071e-01 -6.43517009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175769231000004 meters 0.030031209746611214 Centerline is valid? [True, True] Translation: X:18.61, Y:0.46, Z:-0.06 [[ 9.97406596e-01 -7.19395576e-02 -2.18701365e-03 1.86097622e+01] [ 7.19394974e-02 9.97408992e-01 -1.06288515e-04 4.63392308e-01] [ 2.18899343e-03 -5.13197973e-05 9.99997603e-01 -6.39951503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205769231000005 meters 0.021924259876635467 Centerline is valid? [True, True] Translation: X:18.64, Y:0.47, Z:-0.06 [[ 9.97855340e-01 -6.53765036e-02 -3.26073651e-03 1.86398501e+01] [ 6.53763350e-02 9.97860666e-01 -1.58389313e-04 4.71012738e-01] [ 3.26411565e-03 -5.51253802e-05 9.99994671e-01 -6.35148958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.235769231000003 meters 0.020431573933477443 Centerline is valid? [True, True] Translation: X:18.67, Y:0.47, Z:-0.07 [[ 9.98057027e-01 -6.21680752e-02 -4.15949593e-03 1.86678618e+01] [ 6.21677715e-02 9.98065693e-01 -2.02394886e-04 4.73160579e-01] [ 4.16403269e-03 -5.65849546e-05 9.99991329e-01 -6.57819598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265769231000004 meters 0.018017954021767205 Centerline is valid? [True, True] Translation: X:18.70, Y:0.48, Z:-0.07 [[ 9.98239271e-01 -5.90818157e-02 -5.26275134e-03 1.86966180e+01] [ 5.90812812e-02 9.98253142e-01 -2.57121933e-04 4.77613433e-01] [ 5.26874930e-03 -5.42608808e-05 9.99986119e-01 -6.72032017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295769231000005 meters 0.014255408904321372 Centerline is valid? [True, True] Translation: X:18.72, Y:0.48, Z:-0.07 [[ 9.98591379e-01 -5.29512367e-02 -3.38013360e-03 1.87242919e+01] [ 5.29509808e-02 9.98597099e-01 -1.65238078e-04 4.83822774e-01] [ 3.38414117e-03 -1.39760689e-05 9.99994274e-01 -6.50372421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325769231000002 meters 0.012774388986606116 Centerline is valid? [True, True] Translation: X:18.75, Y:0.49, Z:-0.06 [[ 9.98732929e-01 -5.03085942e-02 -1.25784497e-03 1.87524362e+01] [ 5.03085560e-02 9.98733721e-01 -6.20029692e-05 4.89262890e-01] [ 1.25937147e-03 -1.35595708e-06 9.99999207e-01 -5.98149561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355769231000004 meters 0.01358650831804018 Centerline is valid? [True, True] Translation: X:18.78, Y:0.50, Z:-0.05 [[ 9.99011796e-01 -4.44128707e-02 1.71139076e-03 1.87802361e+01] [ 4.44127922e-02 9.99013262e-01 8.38544877e-05 5.00060240e-01] [-1.71342628e-03 -7.76398023e-06 9.99998532e-01 -5.35049880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385769231000005 meters 0.014790793532919936 Centerline is valid? [True, True] Translation: X:18.81, Y:0.51, Z:-0.05 [[ 9.99108034e-01 -4.21683115e-02 2.22932966e-03 1.88099792e+01] [ 4.21681724e-02 9.99110521e-01 1.09397312e-04 5.06328943e-01] [-2.23195982e-03 -1.52929759e-05 9.99997509e-01 -5.32246237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.415769231000002 meters 0.015300228448344467 Centerline is valid? [True, True] Translation: X:18.84, Y:0.51, Z:-0.05 [[ 9.99155976e-01 -4.10395920e-02 1.75716246e-03 1.88399514e+01] [ 4.10395038e-02 9.99157521e-01 8.62571739e-05 5.10054996e-01] [-1.75922205e-03 -1.40712954e-05 9.99998452e-01 -5.47440188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445769231000003 meters 0.014875015384712822 Centerline is valid? [True, True] Translation: X:18.87, Y:0.51, Z:-0.06 [[ 9.99113244e-01 -4.21019050e-02 3.93528166e-04 1.88682860e+01] [ 4.21019006e-02 9.99113322e-01 1.92667205e-05 5.09849766e-01] [-3.93990398e-04 -2.68135188e-06 9.99999922e-01 -5.83310093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.475769231000005 meters 0.01496508712471271 Centerline is valid? [True, True] Translation: X:18.90, Y:0.51, Z:-0.06 [[ 9.99052841e-01 -4.35006347e-02 -1.05616329e-03 1.88960523e+01] [ 4.35006039e-02 9.99053399e-01 -5.21032154e-05 5.10546262e-01] [ 1.05743005e-03 6.11012431e-06 9.99999441e-01 -6.15666479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505769231000002 meters 0.01336416005721559 Centerline is valid? [True, True] Translation: X:18.92, Y:0.50, Z:-0.07 [[ 9.98893511e-01 -4.68983389e-02 -3.50717853e-03 1.89248471e+01] [ 4.68980184e-02 9.98899667e-01 -1.73619954e-04 5.04411781e-01] [ 3.51146196e-03 8.94812238e-06 9.99993835e-01 -6.50121153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535769231000003 meters 0.01305787061497381 Centerline is valid? [True, True] Translation: X:18.95, Y:0.50, Z:-0.06 [[ 9.98837067e-01 -4.81157584e-02 -3.06390248e-03 1.89527147e+01] [ 4.81155177e-02 9.98841766e-01 -1.52277386e-04 5.02831424e-01] [ 3.06768070e-03 4.67904401e-06 9.99995295e-01 -6.42366223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565769231000004 meters 0.012844828192497257 Centerline is valid? [True, True] Translation: X:18.98, Y:0.50, Z:-0.06 [[ 9.98800503e-01 -4.89081406e-02 -2.35576319e-03 1.89805287e+01] [ 4.89079992e-02 9.98803281e-01 -1.17621726e-04 5.01578160e-01] [ 2.35869666e-03 2.26497498e-06 9.99997218e-01 -6.30436478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.595769231000002 meters 0.012793099465120078 Centerline is valid? [True, True] Translation: X:19.01, Y:0.50, Z:-0.06 [[ 9.98777004e-01 -4.93906764e-02 -2.24888827e-03 1.90076957e+01] [ 4.93905484e-02 9.98779536e-01 -1.12467233e-04 5.01473439e-01] [ 2.25169842e-03 1.25586056e-06 9.99997465e-01 -6.35477540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625769231000003 meters 0.012921362160548332 Centerline is valid? [True, True] Translation: X:19.04, Y:0.50, Z:-0.06 [[ 9.98685418e-01 -5.11966870e-02 -2.51684468e-03 1.90359670e+01] [ 5.11965310e-02 9.98688590e-01 -1.26421834e-04 4.97573484e-01] [ 2.52001644e-03 -2.59807464e-06 9.99996825e-01 -6.45144535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.655769231000004 meters 0.013274534830904005 Centerline is valid? [True, True] Translation: X:19.06, Y:0.49, Z:-0.06 [[ 9.98601604e-01 -5.28218479e-02 -2.16540123e-03 1.90627302e+01] [ 5.28217362e-02 9.98603952e-01 -1.08774893e-04 4.93325192e-01] [ 2.16812391e-03 -5.75746932e-06 9.99997650e-01 -6.49872564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685769231000005 meters 0.014509221272991039 Centerline is valid? [True, True] Translation: X:19.09, Y:0.48, Z:-0.06 [[ 9.98403371e-01 -5.64178323e-02 -2.78142756e-03 1.90925037e+01] [ 5.64176604e-02 9.98407246e-01 -1.40315585e-04 4.82251523e-01] [ 2.78491373e-03 -1.68300822e-05 9.99996122e-01 -6.39603823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715769231000003 meters 0.01603380736820545 Centerline is valid? [True, True] Translation: X:19.12, Y:0.48, Z:-0.07 [[ 9.98318468e-01 -5.78702891e-02 -3.35653581e-03 1.91207977e+01] [ 5.78700473e-02 9.98324110e-01 -1.69223045e-04 4.77161350e-01] [ 3.36070362e-03 -2.53043952e-05 9.99994352e-01 -6.52695876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745769231000004 meters 0.01661032110230364 Centerline is valid? [True, True] Translation: X:19.15, Y:0.48, Z:-0.07 [[ 9.98266119e-01 -5.87001889e-02 -4.36399700e-03 1.91500591e+01] [ 5.86997842e-02 9.98275657e-01 -2.20879198e-04 4.75594217e-01] [ 4.36943762e-03 -3.56694624e-05 9.99990453e-01 -6.68654729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775769231000005 meters 0.01633467177104982 Centerline is valid? [True, True] Translation: X:19.18, Y:0.48, Z:-0.07 [[ 9.98283996e-01 -5.83298306e-02 -5.16659893e-03 1.91777080e+01] [ 5.83292537e-02 9.98297365e-01 -2.62417266e-04 4.75691117e-01] [ 5.17310885e-03 -3.93969026e-05 9.99986619e-01 -6.74996002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805769231000003 meters 0.014249157999997627 Centerline is valid? [True, True] Translation: X:19.21, Y:0.48, Z:-0.07 [[ 9.98478317e-01 -5.49282776e-02 -4.89240941e-03 1.92056394e+01] [ 5.49277192e-02 9.98490302e-01 -2.48519294e-04 4.78734151e-01] [ 4.89867409e-03 -2.05877641e-05 9.99988001e-01 -6.74376228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835769231000004 meters 0.01363884585072504 Centerline is valid? [True, True] Translation: X:19.23, Y:0.48, Z:-0.07 [[ 9.98546813e-01 -5.36628797e-02 -4.95564638e-03 1.92338970e+01] [ 5.36622856e-02 9.98559109e-01 -2.52880780e-04 4.81447227e-01] [ 4.96207615e-03 -1.34180144e-05 9.99987689e-01 -6.74444035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865769231000005 meters 0.013291986342880613 Centerline is valid? [True, True] Translation: X:19.26, Y:0.48, Z:-0.07 [[ 9.98637591e-01 -5.19426816e-02 -4.99205767e-03 1.92622682e+01] [ 5.19420527e-02 9.98650068e-01 -2.55640675e-04 4.83503051e-01] [ 4.99859739e-03 -4.00533418e-06 9.99987507e-01 -6.86173435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895769231000003 meters 0.013490151620216046 Centerline is valid? [True, True] Translation: X:19.29, Y:0.48, Z:-0.07 [[ 9.98630755e-01 -5.20152049e-02 -5.57082200e-03 1.92904837e+01] [ 5.20144229e-02 9.98646293e-01 -2.85278736e-04 4.82612402e-01] [ 5.57811957e-03 -4.87497199e-06 9.99984442e-01 -7.08521575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925769231000004 meters 0.013964502702534484 Centerline is valid? [True, True] Translation: X:19.32, Y:0.48, Z:-0.07 [[ 9.98500357e-01 -5.43940022e-02 -6.19110630e-03 1.93194539e+01] [ 5.43930745e-02 9.98519550e-01 -3.18241659e-04 4.75000982e-01] [ 6.19925111e-03 -1.89888961e-05 9.99980784e-01 -7.13933778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955769231000005 meters 0.01432525398026942 Centerline is valid? [True, True] Translation: X:19.35, Y:0.47, Z:-0.07 [[ 9.98420621e-01 -5.58543756e-02 -6.04577815e-03 1.93480708e+01] [ 5.58535106e-02 9.98438926e-01 -3.11956702e-04 4.73058113e-01] [ 6.05376439e-03 -2.62139302e-05 9.99981675e-01 -7.03401649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985769231000003 meters 0.01533233001077086 Centerline is valid? [True, True] Translation: X:19.38, Y:0.47, Z:-0.07 [[ 9.98357867e-01 -5.70217227e-02 -5.48575121e-03 1.93751979e+01] [ 5.70210268e-02 9.98372937e-01 -2.83312948e-04 4.71192827e-01] [ 5.49298054e-03 -2.99554560e-05 9.99984913e-01 -7.05699810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015769231000004 meters 0.014933548423531144 Centerline is valid? [True, True] Translation: X:19.40, Y:0.47, Z:-0.07 [[ 9.98335690e-01 -5.75093562e-02 -4.30395419e-03 1.94034656e+01] [ 5.75089279e-02 9.98344967e-01 -2.23301424e-04 4.70380620e-01] [ 4.30967293e-03 -2.45860107e-05 9.99990713e-01 -6.79773589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045769231000005 meters 0.014645821728830676 Centerline is valid? [True, True] Translation: X:19.43, Y:0.47, Z:-0.07 [[ 9.98333035e-01 -5.75741586e-02 -4.04559853e-03 1.94311467e+01] [ 5.75737777e-02 9.98341232e-01 -2.10657944e-04 4.70887874e-01] [ 4.05101627e-03 -2.26136051e-05 9.99991794e-01 -6.66078312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.075769231000002 meters 0.014734566380426452 Centerline is valid? [True, True] Translation: X:19.46, Y:0.47, Z:-0.07 [[ 9.98345096e-01 -5.73920398e-02 -3.63637115e-03 1.94587155e+01] [ 5.73917283e-02 9.98351718e-01 -1.90040512e-04 4.70041456e-01] [ 3.64128420e-03 -1.89716116e-05 9.99993370e-01 -6.65471074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105769231000004 meters 0.014193018398156837 Centerline is valid? [True, True] Translation: X:19.49, Y:0.47, Z:-0.07 [[ 9.98339212e-01 -5.74747900e-02 -3.93283135e-03 1.94871539e+01] [ 5.74744235e-02 9.98346958e-01 -2.06247251e-04 4.71260922e-01] [ 3.93818424e-03 -2.01324971e-05 9.99992245e-01 -6.60360212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135769231000005 meters 0.014110096506462999 Centerline is valid? [True, True] Translation: X:19.52, Y:0.47, Z:-0.07 [[ 9.98338324e-01 -5.74498524e-02 -4.48396529e-03 1.95154392e+01] [ 5.74493721e-02 9.98348393e-01 -2.35947950e-04 4.71502161e-01] [ 4.49011471e-03 -2.20451096e-05 9.99989919e-01 -6.73127526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165769231000002 meters 0.013370451967619662 Centerline is valid? [True, True] Translation: X:19.54, Y:0.47, Z:-0.07 [[ 9.98411356e-01 -5.61901170e-02 -4.17559973e-03 1.95439974e+01] [ 5.61896867e-02 9.98420087e-01 -2.20384726e-04 4.71896262e-01] [ 4.18138609e-03 -1.45910274e-05 9.99991258e-01 -6.66279942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195769231000003 meters 0.013041791980166155 Centerline is valid? [True, True] Translation: X:19.57, Y:0.47, Z:-0.07 [[ 9.98434983e-01 -5.57788921e-02 -4.03738188e-03 1.95715310e+01] [ 5.57784831e-02 9.98443146e-01 -2.13926277e-04 4.73235615e-01] [ 4.04302884e-03 -1.16075584e-05 9.99991827e-01 -6.60121593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225769231000005 meters 0.013390428009586508 Centerline is valid? [True, True] Translation: X:19.60, Y:0.47, Z:-0.07 [[ 9.98450066e-01 -5.53849155e-02 -5.47509888e-03 1.95996374e+01] [ 5.53841580e-02 9.98465077e-01 -2.90002557e-04 4.71918459e-01] [ 5.48275680e-03 -1.36806691e-05 9.99984969e-01 -6.91365289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.255769231000002 meters 0.013746699532757192 Centerline is valid? [True, True] Translation: X:19.63, Y:0.47, Z:-0.07 [[ 9.98412849e-01 -5.59714327e-02 -6.24357513e-03 1.96288014e+01] [ 5.59704513e-02 9.98432370e-01 -3.31940392e-04 4.71320223e-01] [ 6.25236669e-03 -1.80421650e-05 9.99980454e-01 -7.14502794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285769231000003 meters 0.014259699256724623 Centerline is valid? [True, True] Translation: X:19.66, Y:0.47, Z:-0.07 [[ 9.98371554e-01 -5.66698830e-02 -6.53944933e-03 1.96570961e+01] [ 5.66688205e-02 9.98392971e-01 -3.47807718e-04 4.69511197e-01] [ 6.54865047e-03 -2.33415480e-05 9.99978557e-01 -7.28071730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.315769231000004 meters 0.013598197265999498 Centerline is valid? [True, True] Translation: X:19.69, Y:0.47, Z:-0.07 [[ 9.98391246e-01 -5.64476740e-02 -5.34597650e-03 1.96863449e+01] [ 5.64469547e-02 9.98405559e-01 -2.85459522e-04 4.67669133e-01] [ 5.35356618e-03 -1.67638055e-05 9.99985669e-01 -6.92399334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345769231000002 meters 0.013226727069065653 Centerline is valid? [True, True] Translation: X:19.71, Y:0.47, Z:-0.07 [[ 9.98419182e-01 -5.59875904e-02 -4.95253514e-03 1.97141519e+01] [ 5.59869623e-02 9.98431465e-01 -2.65470553e-04 4.67918909e-01] [ 4.95962997e-03 -1.22265055e-05 9.99987701e-01 -6.81964404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375769231000003 meters 0.012759978366780717 Centerline is valid? [True, True] Translation: X:19.74, Y:0.47, Z:-0.07 [[ 9.98502945e-01 -5.45616490e-02 -3.85953375e-03 1.97419106e+01] [ 5.45612568e-02 9.98510404e-01 -2.06919161e-04 4.68326539e-01] [ 3.86507445e-03 -3.97162013e-06 9.99992531e-01 -6.69868815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405769231000004 meters 0.01256679654718232 Centerline is valid? [True, True] Translation: X:19.77, Y:0.47, Z:-0.07 [[ 9.98564704e-01 -5.34415467e-02 -3.54031269e-03 1.97702737e+01] [ 5.34412062e-02 9.98570979e-01 -1.90783219e-04 4.71399519e-01] [ 3.54544926e-03 1.31080812e-06 9.99993715e-01 -6.55420163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435769231000005 meters 0.012940457779531952 Centerline is valid? [True, True] Translation: X:19.80, Y:0.48, Z:-0.07 [[ 9.98666032e-01 -5.15331902e-02 -3.23819951e-03 1.97972763e+01] [ 5.15328942e-02 9.98671282e-01 -1.74839256e-04 4.76038446e-01] [ 3.24290688e-03 7.73223312e-06 9.99994742e-01 -6.56283049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465769231000003 meters 0.015280556825842711 Centerline is valid? [True, True] Translation: X:19.83, Y:0.49, Z:-0.06 [[ 9.98905697e-01 -4.66774275e-02 -2.93707245e-03 1.98253545e+01] [ 4.66771613e-02 9.98910015e-01 -1.59142106e-04 4.86396107e-01] [ 2.94129943e-03 2.18737514e-05 9.99995674e-01 -6.41732808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495769231000004 meters 0.017144088299606036 Centerline is valid? [True, True] Translation: X:19.85, Y:0.49, Z:-0.06 [[ 9.99012143e-01 -4.43923706e-02 -2.01380957e-03 1.98531854e+01] [ 4.43922408e-02 9.99014173e-01 -1.09116248e-04 4.93034714e-01] [ 2.01666823e-03 1.96109375e-05 9.99997966e-01 -6.27267846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525769231000005 meters 0.01785335084815532 Centerline is valid? [True, True] Translation: X:19.88, Y:0.50, Z:-0.06 [[ 9.99080314e-01 -4.28633046e-02 -1.12416755e-03 1.98821932e+01] [ 4.28632627e-02 9.99080946e-01 -6.13796103e-05 4.97507590e-01] [ 1.12576531e-03 1.31376715e-05 9.99999366e-01 -6.10062389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555769231000003 meters 0.02053709548386903 Centerline is valid? [True, True] Translation: X:19.91, Y:0.51, Z:-0.06 [[ 9.99176896e-01 -4.05348728e-02 -1.56652733e-03 1.99099440e+01] [ 4.05347889e-02 9.99178124e-01 -8.52579179e-05 5.05407048e-01] [ 1.56869576e-03 2.16888872e-05 9.99998769e-01 -6.30009532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585769231000004 meters 0.02124790427876039 Centerline is valid? [True, True] Translation: X:19.94, Y:0.51, Z:-0.07 [[ 9.99216186e-01 -3.94722569e-02 -2.99256697e-03 1.99387967e+01] [ 3.94719443e-02 9.99220666e-01 -1.63473359e-04 5.08559629e-01] [ 2.99668742e-03 4.52227898e-05 9.99995509e-01 -6.50246280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615769231000005 meters 0.024018660156584166 Centerline is valid? [True, True] Translation: X:19.97, Y:0.51, Z:-0.07 [[ 9.99237539e-01 -3.88027865e-02 -4.32253960e-03 1.99661165e+01] [ 3.88021286e-02 9.99246886e-01 -2.35993661e-04 5.14836857e-01] [ 4.32844145e-03 6.80899877e-05 9.99990630e-01 -6.83653234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645769231000003 meters 0.024018660156584166 Centerline is valid? [True, True] Translation: X:19.99, Y:0.52, Z:-0.07 [[ 9.99230696e-01 -3.89786223e-02 -4.32248419e-03 1.99935606e+01] [ 3.89779617e-02 9.99240042e-01 -2.37007384e-04 5.16547067e-01] [ 4.32843750e-03 6.83434303e-05 9.99990630e-01 -6.84243886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675769231000004 meters 0.025556468514608403 Centerline is valid? [True, True] Translation: X:20.02, Y:0.52, Z:-0.07 [[ 9.99263610e-01 -3.80945678e-02 -4.58709998e-03 2.00212616e+01] [ 3.80938146e-02 9.99274136e-01 -2.51483897e-04 5.24312774e-01] [ 4.59335053e-03 7.65585701e-05 9.99989448e-01 -6.85499757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705769231000005 meters 0.026369348827246154 Centerline is valid? [True, True] Translation: X:20.05, Y:0.53, Z:-0.07 [[ 9.99294804e-01 -3.73419804e-02 -3.93322404e-03 2.00500112e+01] [ 3.73414176e-02 9.99302543e-01 -2.16461704e-04 5.30669069e-01] [ 3.93856389e-03 6.94368945e-05 9.99992241e-01 -6.66487303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735769231000003 meters 0.02583890130115315 Centerline is valid? [True, True] Translation: X:20.08, Y:0.54, Z:-0.06 [[ 9.99425706e-01 -3.36246687e-02 -4.19987891e-03 2.00789201e+01] [ 3.36239946e-02 9.99434527e-01 -2.31019731e-04 5.38878830e-01] [ 4.20527196e-03 8.96703523e-05 9.99991154e-01 -6.48870066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765769231000004 meters 0.03242779990325658 Centerline is valid? [True, True] Translation: X:20.11, Y:0.55, Z:-0.07 [[ 9.99517811e-01 -3.06986748e-02 -4.66221746e-03 2.01065716e+01] [ 3.06978111e-02 9.99528678e-01 -2.56712162e-04 5.54148990e-01] [ 4.66790078e-03 1.13468507e-04 9.99989099e-01 -6.72276210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795769231000005 meters 0.03209417558301079 Centerline is valid? [True, True] Translation: X:20.14, Y:0.56, Z:-0.07 [[ 9.99606871e-01 -2.76189232e-02 -4.82679753e-03 2.01354669e+01] [ 2.76179609e-02 9.99618516e-01 -2.65911977e-04 5.60144643e-01] [ 4.83230039e-03 1.32501134e-04 9.99988316e-01 -6.50771962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825769231000002 meters 0.03571315425856035 Centerline is valid? [True, True] Translation: X:20.16, Y:0.57, Z:-0.06 [[ 9.99690778e-01 -2.45065248e-02 -4.21638404e-03 2.01637331e+01] [ 2.45057622e-02 9.99699662e-01 -2.32443736e-04 5.72241127e-01] [ 4.22081408e-03 1.29046155e-04 9.99991084e-01 -6.48670084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855769231000004 meters 0.04114892312558241 Centerline is valid? [True, True] Translation: X:20.19, Y:0.59, Z:-0.06 [[ 9.99796611e-01 -1.99781547e-02 -2.75877244e-03 2.01918185e+01] [ 1.99778110e-02 9.99800412e-01 -1.52109047e-04 5.93275527e-01] [ 2.76126068e-03 9.69638758e-05 9.99996183e-01 -6.28753916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885769231000005 meters 0.04175865065245114 Centerline is valid? [True, True] Translation: X:20.22, Y:0.60, Z:-0.06 [[ 9.99803753e-01 -1.96125754e-02 -2.79309936e-03 2.02209603e+01] [ 1.96122214e-02 9.99807650e-01 -1.54084758e-04 6.02225621e-01] [ 2.79558410e-03 9.92756365e-05 9.99996087e-01 -6.32719744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.915769231000002 meters 0.0392189404340287 Centerline is valid? [True, True] Translation: X:20.25, Y:0.61, Z:-0.07 [[ 9.99730502e-01 -2.28192853e-02 -4.26661916e-03 2.02505867e+01] [ 2.28184872e-02 9.99739597e-01 -2.35642719e-04 6.13079612e-01] [ 4.27088531e-03 1.38221419e-04 9.99990870e-01 -6.68756017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945769231000003 meters 0.03279908278807484 Centerline is valid? [True, True] Translation: X:20.28, Y:0.61, Z:-0.07 [[ 9.99653869e-01 -2.57579769e-02 -5.35424228e-03 2.02803225e+01] [ 2.57567619e-02 9.99668196e-01 -2.95750679e-04 6.12122581e-01] [ 5.36008366e-03 1.57740367e-04 9.99985622e-01 -6.69568004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.975769231000005 meters 0.029867372427250512 Centerline is valid? [True, True] Translation: X:20.31, Y:0.62, Z:-0.07 [[ 9.99477155e-01 -3.18946820e-02 -5.30520240e-03 2.03089746e+01] [ 3.18935752e-02 9.99491228e-01 -2.93121364e-04 6.21160596e-01] [ 5.31185227e-03 1.23766236e-04 9.99985884e-01 -6.86155437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005769231000002 meters 0.027366113086971726 Centerline is valid? [True, True] Translation: X:20.34, Y:0.62, Z:-0.07 [[ 9.99381773e-01 -3.48177407e-02 -4.87828538e-03 2.03367926e+01] [ 3.48168378e-02 9.99393674e-01 -2.69906115e-04 6.23729483e-01] [ 4.88472507e-03 9.98927811e-05 9.99988065e-01 -6.77439824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035769231000003 meters 0.022282315496432656 Centerline is valid? [True, True] Translation: X:20.37, Y:0.62, Z:-0.07 [[ 9.99274642e-01 -3.78506005e-02 -4.18581894e-03 2.03661808e+01] [ 3.78499605e-02 9.99283407e-01 -2.32048191e-04 6.21123151e-01] [ 4.19160257e-03 7.34467914e-05 9.99991212e-01 -6.57971174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065769231000004 meters 0.019432076783399015 Centerline is valid? [True, True] Translation: X:20.39, Y:0.62, Z:-0.07 [[ 9.99039642e-01 -4.36682647e-02 -3.58848724e-03 2.03947526e+01] [ 4.36678316e-02 9.99046085e-01 -1.98983610e-04 6.21199658e-01] [ 3.59375340e-03 4.20910579e-05 9.99993542e-01 -6.61692338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.095769231000002 meters 0.017578174707644122 Centerline is valid? [True, True] Translation: X:20.42, Y:0.62, Z:-0.07 [[ 9.98943737e-01 -4.58395258e-02 -3.18572114e-03 2.04234284e+01] [ 4.58391930e-02 9.98948816e-01 -1.77427443e-04 6.21390137e-01] [ 3.19050555e-03 3.12091473e-05 9.99994910e-01 -6.59487885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125769231000003 meters 0.015505321568755809 Centerline is valid? [True, True] Translation: X:20.45, Y:0.62, Z:-0.06 [[ 9.98884764e-01 -4.71584769e-02 -2.30349482e-03 2.04520848e+01] [ 4.71583052e-02 9.98887420e-01 -1.28815633e-04 6.21495208e-01] [ 2.30700675e-03 2.00430616e-05 9.99997339e-01 -6.31603905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.155769231000004 meters 0.016543906361390782 Centerline is valid? [True, True] Translation: X:20.48, Y:0.63, Z:-0.06 [[ 9.98876089e-01 -4.73698840e-02 -1.62865576e-03 2.04796524e+01] [ 4.73697985e-02 9.98877417e-01 -9.10466433e-05 6.28687807e-01] [ 1.63114033e-03 1.37952196e-05 9.99998670e-01 -6.24636417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185769231000005 meters 0.016842310875037268 Centerline is valid? [True, True] Translation: X:20.51, Y:0.63, Z:-0.06 [[ 9.98887480e-01 -4.71258413e-02 -1.71956827e-03 2.05083074e+01] [ 4.71257448e-02 9.98888960e-01 -9.65971148e-05 6.32143622e-01] [ 1.72220998e-03 1.54537130e-05 9.99998517e-01 -6.26873769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215769231000003 meters 0.01738663953102432 Centerline is valid? [True, True] Translation: X:20.54, Y:0.64, Z:-0.06 [[ 9.98918860e-01 -4.64675824e-02 -1.36928448e-03 2.05372698e+01] [ 4.64675202e-02 9.98919798e-01 -7.72068712e-05 6.35705920e-01] [ 1.37139299e-03 1.34961456e-05 9.99999060e-01 -6.20569010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245769231000004 meters 0.017419112574727166 Centerline is valid? [True, True] Translation: X:20.57, Y:0.64, Z:-0.06 [[ 9.98912206e-01 -4.66286687e-02 -4.14865204e-04 2.05654728e+01] [ 4.66286631e-02 9.98912292e-01 -2.33755400e-05 6.38399084e-01] [ 4.15503922e-04 4.00550240e-06 9.99999914e-01 -6.01391427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275769231000005 meters 0.017381574238570084 Centerline is valid? [True, True] Translation: X:20.59, Y:0.64, Z:-0.06 [[ 9.98900564e-01 -4.68762372e-02 5.30084494e-04 2.05935548e+01] [ 4.68762280e-02 9.98900705e-01 2.97077236e-05 6.40964808e-01] [-5.30894361e-04 -4.82670020e-06 9.99999859e-01 -5.84624152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305769231000003 meters 0.015903267286462613 Centerline is valid? [True, True] Translation: X:20.62, Y:0.64, Z:-0.06 [[ 9.98874738e-01 -4.74198816e-02 -7.82800176e-04 2.06236442e+01] [ 4.74198616e-02 9.98875045e-01 -4.40728840e-05 6.40788614e-01] [ 7.84009491e-04 6.90301443e-06 9.99999693e-01 -6.06002192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335769231000004 meters 0.016566231915205707 Centerline is valid? [True, True] Translation: X:20.65, Y:0.64, Z:-0.07 [[ 9.98831073e-01 -4.82565567e-02 -2.79156624e-03 2.06524668e+01] [ 4.82563058e-02 9.98834973e-01 -1.57210565e-04 6.42878993e-01] [ 2.79590043e-03 2.23161235e-05 9.99996091e-01 -6.56737162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365769231000005 meters 0.014834960984658387 Centerline is valid? [True, True] Translation: X:20.68, Y:0.64, Z:-0.07 [[ 9.98711974e-01 -5.04601173e-02 -5.30756322e-03 2.06805662e+01] [ 5.04592348e-02 9.98726076e-01 -3.00129821e-04 6.39525487e-01] [ 5.31594638e-03 3.19276667e-05 9.99985870e-01 -7.00832286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395769231000003 meters 0.014727806186447439 Centerline is valid? [True, True] Translation: X:20.71, Y:0.64, Z:-0.07 [[ 9.98689696e-01 -5.09083821e-02 -5.21797738e-03 2.07077480e+01] [ 5.09075324e-02 9.98703327e-01 -2.95628731e-04 6.40471506e-01] [ 5.22626135e-03 2.96070156e-05 9.99986343e-01 -6.93184839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425769231000004 meters 0.014344859232635003 Centerline is valid? [True, True] Translation: X:20.74, Y:0.64, Z:-0.07 [[ 9.98681300e-01 -5.12269618e-02 -3.38520297e-03 2.07354040e+01] [ 5.12266055e-02 9.98687037e-01 -1.91932105e-04 6.40088407e-01] [ 3.39059043e-03 1.82665465e-05 9.99994252e-01 -6.67537131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455769231000005 meters 0.013757325746277846 Centerline is valid? [True, True] Translation: X:20.76, Y:0.64, Z:-0.07 [[ 9.98641987e-01 -5.20219752e-02 -2.80990958e-03 2.07630038e+01] [ 5.20217305e-02 9.98645940e-01 -1.60156622e-04 6.39434885e-01] [ 2.81443646e-03 1.37627683e-05 9.99996039e-01 -6.55543121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485769231000003 meters 0.013622442496208365 Centerline is valid? [True, True] Translation: X:20.79, Y:0.64, Z:-0.07 [[ 9.98590255e-01 -5.30101107e-02 -2.72596032e-03 2.07897217e+01] [ 5.30098834e-02 9.98593976e-01 -1.55616554e-04 6.39130134e-01] [ 2.73037680e-03 1.08943361e-05 9.99996272e-01 -6.62458835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515769231000004 meters 0.012814888209062373 Centerline is valid? [True, True] Translation: X:20.82, Y:0.63, Z:-0.07 [[ 9.98429926e-01 -5.59277035e-02 -3.12641265e-03 2.08185897e+01] [ 5.59274167e-02 9.98434821e-01 -1.79143360e-04 6.31489077e-01] [ 3.13153833e-03 4.00990813e-06 9.99995097e-01 -6.67816648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545769231000005 meters 0.012765436257385711 Centerline is valid? [True, True] Translation: X:20.85, Y:0.63, Z:-0.07 [[ 9.98317755e-01 -5.79020226e-02 -3.00252196e-03 2.08460175e+01] [ 5.79017662e-02 9.98322271e-01 -1.72322162e-04 6.27352925e-01] [ 3.00746234e-03 -1.81905040e-06 9.99995478e-01 -6.76146077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.575769231000002 meters 0.01346053580711092 Centerline is valid? [True, True] Translation: X:20.87, Y:0.62, Z:-0.07 [[ 9.98166536e-01 -6.03950408e-02 -4.00079004e-03 2.08747680e+01] [ 6.03946031e-02 9.98174553e-01 -2.30244207e-04 6.21204286e-01] [ 4.00739242e-03 -1.18040639e-05 9.99991970e-01 -6.89664247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605769231000004 meters 0.013601815710757784 Centerline is valid? [True, True] Translation: X:20.90, Y:0.62, Z:-0.07 [[ 9.98138438e-01 -6.08056617e-02 -4.72536965e-03 2.09035733e+01] [ 6.08050523e-02 9.98149624e-01 -2.72653508e-04 6.21065773e-01] [ 4.73320481e-03 -1.51804014e-05 9.99988798e-01 -7.07697212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635769231000005 meters 0.013828999138440474 Centerline is valid? [True, True] Translation: X:20.93, Y:0.62, Z:-0.07 [[ 9.98135875e-01 -6.07618575e-02 -5.72473269e-03 2.09320870e+01] [ 6.07609575e-02 9.98152291e-01 -3.31174254e-04 6.21675352e-01] [ 5.73427781e-03 -1.72833354e-05 9.99983559e-01 -7.25370342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665769231000002 meters 0.013721513530530504 Centerline is valid? [True, True] Translation: X:20.96, Y:0.62, Z:-0.07 [[ 9.98186057e-01 -5.98725793e-02 -6.31429139e-03 2.09601203e+01] [ 5.98714590e-02 9.98206028e-01 -3.66467590e-04 6.23232309e-01] [ 6.32490509e-03 -1.22429995e-05 9.99979998e-01 -7.33915864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695769231000003 meters 0.013121221858443872 Centerline is valid? [True, True] Translation: X:20.99, Y:0.63, Z:-0.07 [[ 9.98416906e-01 -5.60984497e-02 -4.07980244e-03 2.09886986e+01] [ 5.60979473e-02 9.98425242e-01 -2.37547377e-04 6.28653229e-01] [ 4.08670378e-03 8.30277447e-06 9.99991649e-01 -6.80438341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725769231000005 meters 0.01370308787473725 Centerline is valid? [True, True] Translation: X:21.02, Y:0.63, Z:-0.06 [[ 9.98564704e-01 -5.34984826e-02 -2.53873808e-03 2.10165921e+01] [ 5.34982780e-02 9.98567931e-01 -1.48479431e-04 6.34222295e-01] [ 2.54304585e-03 1.24482038e-05 9.99996766e-01 -6.46894307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.755769231000002 meters 0.017578662593380694 Centerline is valid? [True, True] Translation: X:21.04, Y:0.64, Z:-0.06 [[ 9.98839377e-01 -4.81004360e-02 -2.49923115e-03 2.10440897e+01] [ 4.81002212e-02 9.98842504e-01 -1.46043676e-04 6.44398734e-01] [ 2.50336306e-03 2.56606033e-05 9.99996866e-01 -6.47973397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785769231000003 meters 0.020563579330670823 Centerline is valid? [True, True] Translation: X:21.07, Y:0.65, Z:-0.07 [[ 9.98954847e-01 -4.56151046e-02 -2.91147468e-03 2.10714124e+01] [ 4.56148020e-02 9.98959089e-01 -1.70279570e-04 6.51488450e-01] [ 2.91621142e-03 3.72952610e-05 9.99995747e-01 -6.62319277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.815769231000004 meters 0.023100360152075 Centerline is valid? [True, True] Translation: X:21.10, Y:0.66, Z:-0.07 [[ 9.99074017e-01 -4.29262737e-02 -2.90578503e-03 2.10993168e+01] [ 4.29259604e-02 9.99078242e-01 -1.70107800e-04 6.58159099e-01] [ 2.91040869e-03 4.52166699e-05 9.99995764e-01 -6.62573481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845769231000006 meters 0.02729610447739895 Centerline is valid? [True, True] Translation: X:21.13, Y:0.67, Z:-0.07 [[ 9.99253719e-01 -3.85240473e-02 -2.81117328e-03 2.11285203e+01] [ 3.85237367e-02 9.99257672e-01 -1.64565036e-04 6.68823749e-01] [ 2.81542617e-03 5.61453248e-05 9.99996035e-01 -6.65577415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875769231000003 meters 0.028171213261735908 Centerline is valid? [True, True] Translation: X:21.16, Y:0.67, Z:-0.07 [[ 9.99278955e-01 -3.78861897e-02 -2.49136020e-03 2.11574632e+01] [ 3.78859420e-02 9.99282059e-01 -1.46538136e-04 6.73427248e-01] [ 2.49512332e-03 5.20449470e-05 9.99996886e-01 -6.60403937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905769231000004 meters 0.027449467075119093 Centerline is valid? [True, True] Translation: X:21.19, Y:0.68, Z:-0.06 [[ 9.99247318e-01 -3.87595725e-02 -1.57893341e-03 2.11857229e+01] [ 3.87594736e-02 9.99248565e-01 -9.32441863e-05 6.78075590e-01] [ 1.58136105e-03 3.19753755e-05 9.99998749e-01 -6.43090267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935769231000005 meters 0.02604150321783228 Centerline is valid? [True, True] Translation: X:21.21, Y:0.68, Z:-0.06 [[ 9.99177643e-01 -4.05218727e-02 -1.41976610e-03 2.12145002e+01] [ 4.05217947e-02 9.99178651e-01 -8.36801341e-05 6.78955704e-01] [ 1.42199085e-03 2.60798488e-05 9.99998989e-01 -6.42634008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965769231000003 meters 0.02214665836653724 Centerline is valid? [True, True] Translation: X:21.24, Y:0.68, Z:-0.06 [[ 9.99059483e-01 -4.33443353e-02 -1.19075447e-03 2.12439162e+01] [ 4.33442819e-02 9.99060192e-01 -7.06549470e-05 6.75277149e-01] [ 1.19269788e-03 1.89760976e-05 9.99999289e-01 -6.38584610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995769231000004 meters 0.01629117566479986 Centerline is valid? [True, True] Translation: X:21.27, Y:0.67, Z:-0.06 [[ 9.98718821e-01 -5.05997845e-02 -6.14349872e-04 2.12735952e+01] [ 5.05997717e-02 9.98719010e-01 -3.63364991e-05 6.67813227e-01] [ 6.15401515e-04 5.20398227e-06 9.99999811e-01 -6.27988355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025769231000005 meters 0.013846817435282835 Centerline is valid? [True, True] Translation: X:21.30, Y:0.67, Z:-0.06 [[ 9.98545264e-01 -5.39198697e-02 -6.24439140e-05 2.13024023e+01] [ 5.39198695e-02 9.98545266e-01 -4.04098779e-06 6.65458413e-01] [ 6.25709642e-05 6.68141521e-07 9.99999998e-01 -6.19602791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055769231000003 meters 0.012359600136478101 Centerline is valid? [True, True] Translation: X:21.33, Y:0.66, Z:-0.06 [[ 9.98299656e-01 -5.82898813e-02 2.92797068e-04 2.13318520e+01] [ 5.82898788e-02 9.98299699e-01 1.70364298e-05 6.61749616e-01] [-2.93292277e-04 5.96436278e-08 9.99999957e-01 -6.12050391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085769231000004 meters 0.012246587408611651 Centerline is valid? [True, True] Translation: X:21.36, Y:0.66, Z:-0.06 [[ 9.98216698e-01 -5.96930444e-02 4.06273065e-04 2.13599622e+01] [ 5.96930397e-02 9.98216780e-01 2.37966661e-05 6.61017976e-01] [-4.06969086e-04 4.97444678e-07 9.99999917e-01 -6.07210243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115769231000005 meters 0.012368683043171623 Centerline is valid? [True, True] Translation: X:21.39, Y:0.66, Z:-0.06 [[ 9.98162120e-01 -6.05993775e-02 3.12688059e-04 2.13868208e+01] [ 6.05993747e-02 9.98162169e-01 1.84781360e-05 6.59580771e-01] [-3.13233155e-04 5.04525453e-07 9.99999951e-01 -6.12469919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145769231000003 meters 0.012501350969875064 Centerline is valid? [True, True] Translation: X:21.41, Y:0.66, Z:-0.06 [[ 9.98069823e-01 -6.21014574e-02 1.94213007e-04 2.14149427e+01] [ 6.21014564e-02 9.98069842e-01 1.12196627e-05 6.57876232e-01] [-1.94534902e-04 8.62903800e-07 9.99999981e-01 -6.07363165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175769231000004 meters 0.015168024256119014 Centerline is valid? [True, True] Translation: X:21.44, Y:0.65, Z:-0.06 [[ 9.97718306e-01 -6.75131115e-02 -4.01328237e-04 2.14444960e+01] [ 6.75131071e-02 9.97718387e-01 -2.44400383e-05 6.48184325e-01] [ 4.02062584e-04 -2.71064266e-06 9.99999919e-01 -6.22038649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205769231000005 meters 0.019697344861295915 Centerline is valid? [True, True] Translation: X:21.47, Y:0.64, Z:-0.06 [[ 9.97300853e-01 -7.34196503e-02 -7.50481802e-04 2.14749361e+01] [ 7.34196371e-02 9.97301135e-01 -4.51104056e-05 6.35567902e-01] [ 7.51768343e-04 -1.01114556e-05 9.99999717e-01 -6.30420524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235769231000003 meters 0.022262197521030508 Centerline is valid? [True, True] Translation: X:21.50, Y:0.63, Z:-0.06 [[ 9.97125382e-01 -7.57638996e-02 -8.97079865e-04 2.15029220e+01] [ 7.57638815e-02 9.97125785e-01 -5.41272317e-05 6.29278950e-01] [ 8.98602355e-04 -1.39946160e-05 9.99999596e-01 -6.39271060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265769231000004 meters 0.023560104145477143 Centerline is valid? [True, True] Translation: X:21.53, Y:0.62, Z:-0.06 [[ 9.96974590e-01 -7.77169159e-02 -1.32244230e-03 2.15324550e+01] [ 7.77168780e-02 9.96975466e-01 -8.00830941e-05 6.24579304e-01] [ 1.32466634e-03 -2.29352768e-05 9.99999122e-01 -6.49749807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295769231000005 meters 0.025282777456023604 Centerline is valid? [True, True] Translation: X:21.56, Y:0.62, Z:-0.07 [[ 9.96842317e-01 -7.93815767e-02 -1.99029572e-03 2.15615345e+01] [ 7.93814940e-02 9.96844303e-01 -1.20670639e-04 6.19641342e-01] [ 1.99359397e-03 -3.77030487e-05 9.99998012e-01 -6.69585228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325769231000002 meters 0.030076013066224906 Centerline is valid? [True, True] Translation: X:21.59, Y:0.61, Z:-0.07 [[ 9.96770684e-01 -8.02526742e-02 -2.77709475e-03 2.15902988e+01] [ 8.02525170e-02 9.96774551e-01 -1.68171436e-04 6.06418735e-01] [ 2.78163358e-03 -5.52404871e-05 9.99996130e-01 -6.87500920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355769231000004 meters 0.025614337161740025 Centerline is valid? [True, True] Translation: X:21.62, Y:0.61, Z:-0.07 [[ 9.96814971e-01 -7.97124480e-02 -2.41636785e-03 2.16189515e+01] [ 7.97123259e-02 9.96817899e-01 -1.46960057e-04 6.10844684e-01] [ 2.42039327e-03 -4.61223167e-05 9.99997070e-01 -6.67598819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385769231000005 meters 0.022447451982257387 Centerline is valid? [True, True] Translation: X:21.65, Y:0.61, Z:-0.07 [[ 9.97132010e-01 -7.56569893e-02 -1.94304147e-03 2.16473825e+01] [ 7.56569028e-02 9.97133902e-01 -1.18080246e-04 6.10801973e-01] [ 1.94640612e-03 -2.92629064e-05 9.99998105e-01 -6.59168035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.415769231000002 meters 0.019372389590318246 Centerline is valid? [True, True] Translation: X:21.68, Y:0.62, Z:-0.07 [[ 9.97360005e-01 -7.25886703e-02 -1.97617044e-03 2.16756557e+01] [ 7.25885738e-02 9.97361963e-01 -1.20640416e-04 6.15063756e-01] [ 1.97971436e-03 -2.31254679e-05 9.99998040e-01 -6.60810218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445769231000003 meters 0.016491930917805712 Centerline is valid? [True, True] Translation: X:21.70, Y:0.62, Z:-0.07 [[ 9.97594977e-01 -6.92839613e-02 -1.99888963e-03 2.17046811e+01] [ 6.92838553e-02 9.97596979e-01 -1.22290773e-04 6.20200287e-01] [ 2.00255905e-03 -1.64941195e-05 9.99997995e-01 -6.66820705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.475769231000005 meters 0.01281032461037162 Centerline is valid? [True, True] Translation: X:21.73, Y:0.63, Z:-0.07 [[ 9.98072065e-01 -6.19898803e-02 -3.06734361e-03 2.17323671e+01] [ 6.19895953e-02 9.98076778e-01 -1.87996492e-04 6.31077094e-01] [ 3.07309831e-03 -2.50934213e-06 9.99995278e-01 -6.95421476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505769231000002 meters 0.014553798024873141 Centerline is valid? [True, True] Translation: X:21.76, Y:0.64, Z:-0.07 [[ 9.98434140e-01 -5.57958186e-02 -4.01176602e-03 2.17609559e+01] [ 5.57952788e-02 9.98442200e-01 -2.46416026e-04 6.41436243e-01] [ 4.01926547e-03 2.21925689e-05 9.99991922e-01 -7.04241199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535769231000003 meters 0.014553798024873141 Centerline is valid? [True, True] Translation: X:21.79, Y:0.64, Z:-0.07 [[ 9.98424075e-01 -5.59756482e-02 -4.01171869e-03 2.17883824e+01] [ 5.59751068e-02 9.98432134e-01 -2.47185974e-04 6.43328858e-01] [ 4.01926525e-03 2.22400451e-05 9.99991922e-01 -7.04831671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565769231000004 meters 0.016030341773904302 Centerline is valid? [True, True] Translation: X:21.82, Y:0.65, Z:-0.07 [[ 9.98534186e-01 -5.39982446e-02 -3.69705626e-03 2.18155167e+01] [ 5.39977708e-02 9.98541030e-01 -2.27937225e-04 6.48191991e-01] [ 3.70397058e-03 2.79703144e-05 9.99993140e-01 -7.00044991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595769231000006 meters 0.016028259199413378 Centerline is valid? [True, True] Translation: X:21.84, Y:0.65, Z:-0.07 [[ 9.98593804e-01 -5.29443526e-02 -2.70362216e-03 2.18436913e+01] [ 5.29440933e-02 9.98597464e-01 -1.67470844e-04 6.50676635e-01] [ 2.70869687e-03 2.40945236e-05 9.99996331e-01 -6.68805814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625769231000003 meters 0.01738700989666418 Centerline is valid? [True, True] Translation: X:21.87, Y:0.66, Z:-0.06 [[ 9.98636617e-01 -5.21986443e-02 4.57791643e-04 2.18704719e+01] [ 5.21986369e-02 9.98636721e-01 2.81499269e-05 6.56190826e-01] [-4.58636934e-04 -4.21544799e-06 9.99999895e-01 -6.07907047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.655769231000004 meters 0.017202646448640207 Centerline is valid? [True, True] Translation: X:21.90, Y:0.66, Z:-0.06 [[ 9.98618908e-01 -5.25108505e-02 1.69915840e-03 2.18985593e+01] [ 5.25107477e-02 9.98620353e-01 1.05057810e-04 6.58392854e-01] [-1.70233084e-03 -1.56886374e-05 9.99998551e-01 -5.82961287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685769231000005 meters 0.016282830704108534 Centerline is valid? [True, True] Translation: X:21.93, Y:0.66, Z:-0.06 [[ 9.98605048e-01 -5.27625203e-02 2.01852719e-03 2.19264701e+01] [ 5.27623749e-02 9.98607088e-01 1.25229259e-04 6.58725182e-01] [-2.02232297e-03 -1.85522816e-05 9.99997955e-01 -5.78830124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715769231000003 meters 0.016722201132305672 Centerline is valid? [True, True] Translation: X:21.95, Y:0.66, Z:-0.06 [[ 9.98613140e-01 -5.26320049e-02 1.29153236e-03 2.19544295e+01] [ 5.26319450e-02 9.98613975e-01 8.03335324e-05 6.62725749e-01] [-1.29397038e-03 -1.22462609e-05 9.99999163e-01 -5.95432679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745769231000004 meters 0.016883716055436537 Centerline is valid? [True, True] Translation: X:21.98, Y:0.67, Z:-0.06 [[ 9.98611697e-01 -5.26735492e-02 4.18992867e-04 2.19825842e+01] [ 5.26735430e-02 9.98611785e-01 2.57847163e-05 6.66789246e-01] [-4.19769388e-04 -3.67908046e-06 9.99999912e-01 -6.13787996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775769231000005 meters 0.01784721576064354 Centerline is valid? [True, True] Translation: X:22.01, Y:0.67, Z:-0.06 [[ 9.98646468e-01 -5.19797150e-02 -1.82771494e-03 2.20098895e+01] [ 5.19795924e-02 9.98648141e-01 -1.14541138e-04 6.72786433e-01] [ 1.83119794e-03 1.93822260e-05 9.99998323e-01 -6.47475735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805769231000003 meters 0.01994823457890051 Centerline is valid? [True, True] Translation: X:22.04, Y:0.68, Z:-0.07 [[ 9.98694399e-01 -5.10435777e-02 -2.01235973e-03 2.20375923e+01] [ 5.10434271e-02 9.98696427e-01 -1.26143369e-04 6.79251192e-01] [ 2.01617528e-03 2.32609394e-05 9.99997967e-01 -6.54494863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835769231000004 meters 0.0200653229925268 Centerline is valid? [True, True] Translation: X:22.07, Y:0.68, Z:-0.06 [[ 9.98749224e-01 -4.99732177e-02 -1.63242214e-03 2.20666648e+01] [ 4.99731163e-02 9.98750558e-01 -1.02824990e-04 6.82693455e-01] [ 1.63552102e-03 2.11191578e-05 9.99998662e-01 -6.34970979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865769231000005 meters 0.021079420395993986 Centerline is valid? [True, True] Translation: X:22.10, Y:0.69, Z:-0.06 [[ 9.98788377e-01 -4.92036900e-02 -8.79698015e-04 2.20950969e+01] [ 4.92036600e-02 9.98788765e-01 -5.57047531e-05 6.89888081e-01] [ 8.81373373e-04 1.23528979e-05 9.99999612e-01 -6.28531716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895769231000003 meters 0.022049709812655287 Centerline is valid? [True, True] Translation: X:22.12, Y:0.69, Z:-0.06 [[ 9.98761753e-01 -4.97459654e-02 -5.47887024e-04 2.21225028e+01] [ 4.97459539e-02 9.98761903e-01 -3.46343154e-05 6.94838358e-01] [ 5.48931604e-04 7.33626693e-06 9.99999849e-01 -6.37225733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925769231000004 meters 0.018918646541562095 Centerline is valid? [True, True] Translation: X:22.15, Y:0.70, Z:-0.06 [[ 9.98646774e-01 -5.20058922e-02 -9.16316125e-05 2.21515585e+01] [ 5.20058918e-02 9.98646778e-01 -6.11773909e-06 6.95373835e-01] [ 9.18257730e-05 1.34407668e-06 9.99999996e-01 -6.34716496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955769231000005 meters 0.01715227188644088 Centerline is valid? [True, True] Translation: X:22.18, Y:0.70, Z:-0.06 [[ 9.98595877e-01 -5.29741543e-02 1.13620450e-04 2.21806353e+01] [ 5.29741538e-02 9.98595884e-01 6.84215971e-06 6.96400382e-01] [-1.13823371e-04 -8.13605294e-07 9.99999994e-01 -6.21844637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985769231000003 meters 0.016236460052988094 Centerline is valid? [True, True] Translation: X:22.21, Y:0.70, Z:-0.06 [[ 9.98550967e-01 -5.38141654e-02 4.81108246e-05 2.22083414e+01] [ 5.38141653e-02 9.98550968e-01 2.64156373e-06 6.98982095e-01] [-4.81832640e-05 -4.86921479e-08 9.99999999e-01 -6.21155325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015769231000004 meters 0.01685298132199624 Centerline is valid? [True, True] Translation: X:22.24, Y:0.70, Z:-0.06 [[ 9.98497476e-01 -5.47942300e-02 -6.19064917e-04 2.22361877e+01] [ 5.47942161e-02 9.98497668e-01 -3.94807157e-05 7.03243254e-01] [ 6.20298192e-04 5.50021808e-06 9.99999808e-01 -6.38115594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045769231000005 meters 0.014461106965712353 Centerline is valid? [True, True] Translation: X:22.27, Y:0.70, Z:-0.07 [[ 9.98321672e-01 -5.78085537e-02 -3.46569605e-03 2.22655649e+01] [ 5.78081340e-02 9.98327687e-01 -2.21234841e-04 7.00529162e-01] [ 3.47268959e-03 2.05181144e-05 9.99993970e-01 -6.87082647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.075769231000002 meters 0.013979436840439664 Centerline is valid? [True, True] Translation: X:22.29, Y:0.70, Z:-0.07 [[ 9.98216936e-01 -5.95359873e-02 -4.29135421e-03 2.22930746e+01] [ 5.95353564e-02 9.98226160e-01 -2.74720916e-04 7.00882076e-01] [ 4.30009781e-03 1.87437691e-05 9.99990754e-01 -7.13048121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105769231000004 meters 0.013054047424029453 Centerline is valid? [True, True] Translation: X:22.32, Y:0.70, Z:-0.07 [[ 9.98047175e-01 -6.23545879e-02 -3.70707892e-03 2.23221878e+01] [ 6.23541342e-02 9.98054059e-01 -2.37934546e-04 6.99787525e-01] [ 3.71470148e-03 6.31820488e-06 9.99993100e-01 -6.99482616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135769231000005 meters 0.012827300939987388 Centerline is valid? [True, True] Translation: X:22.35, Y:0.70, Z:-0.07 [[ 9.98007853e-01 -6.30305639e-02 -2.73359634e-03 2.23498975e+01] [ 6.30303197e-02 9.98011597e-01 -1.75476713e-04 7.00613807e-01] [ 2.73922125e-03 2.82768596e-06 9.99996248e-01 -6.87766476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165769231000002 meters 0.012801399099977611 Centerline is valid? [True, True] Translation: X:22.38, Y:0.70, Z:-0.07 [[ 9.97957721e-01 -6.38270130e-02 -2.54959783e-03 2.23776971e+01] [ 6.38268013e-02 9.97960977e-01 -1.64405501e-04 7.01511100e-01] [ 2.55489265e-03 1.33706522e-06 9.99996736e-01 -6.77942039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195769231000003 meters 0.012950076362847313 Centerline is valid? [True, True] Translation: X:22.41, Y:0.70, Z:-0.07 [[ 9.97815086e-01 -6.60000866e-02 -3.00702934e-03 2.24059908e+01] [ 6.59998004e-02 9.97819617e-01 -1.94401522e-04 7.01385690e-01] [ 3.01330338e-03 -4.48656516e-06 9.99995460e-01 -6.88037471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225769231000005 meters 0.013136533082648373 Centerline is valid? [True, True] Translation: X:22.43, Y:0.70, Z:-0.07 [[ 9.97753159e-01 -6.69147044e-02 -3.32507126e-03 2.24343651e+01] [ 6.69143576e-02 9.97758699e-01 -2.15549367e-04 7.03065532e-01] [ 3.33204220e-03 -7.42994539e-06 9.99994449e-01 -6.91775607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255769231000006 meters 0.013175114504641145 Centerline is valid? [True, True] Translation: X:22.46, Y:0.71, Z:-0.07 [[ 9.97724895e-01 -6.73391851e-02 -3.23538545e-03 2.24614175e+01] [ 6.73388589e-02 9.97730141e-01 -2.09783968e-04 7.05195323e-01] [ 3.24216826e-03 -8.56047631e-06 9.99994744e-01 -6.96475875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285769231000003 meters 0.0132154899832096 Centerline is valid? [True, True] Translation: X:22.49, Y:0.71, Z:-0.07 [[ 9.97717906e-01 -6.74528671e-02 -3.01509462e-03 2.24878002e+01] [ 6.74525835e-02 9.97722462e-01 -1.95754455e-04 7.08636085e-01] [ 3.02143182e-03 -8.06819640e-06 9.99995435e-01 -6.84679898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.315769231000004 meters 0.01300323448676194 Centerline is valid? [True, True] Translation: X:22.52, Y:0.71, Z:-0.07 [[ 9.97735962e-01 -6.72095923e-02 -2.41248064e-03 2.25160506e+01] [ 6.72094083e-02 9.97738879e-01 -1.57350919e-04 7.12943734e-01] [ 2.41760122e-03 -5.14672493e-06 9.99997078e-01 -6.70056613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345769231000006 meters 0.01247982846724628 Centerline is valid? [True, True] Translation: X:22.54, Y:0.72, Z:-0.06 [[ 9.97817812e-01 -6.60190234e-02 -1.05051689e-03 2.25446651e+01] [ 6.60189875e-02 9.97818365e-01 -6.88698044e-05 7.19079614e-01] [ 1.05277176e-03 -6.34543752e-07 9.99999446e-01 -6.41453558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375769231000003 meters 0.012285843285210433 Centerline is valid? [True, True] Translation: X:22.57, Y:0.72, Z:-0.06 [[ 9.97846417e-01 -6.55921364e-02 -4.47814281e-04 2.25714560e+01] [ 6.55921298e-02 9.97846517e-01 -2.95447167e-05 7.22410695e-01] [ 4.48787822e-04 1.07997223e-07 9.99999899e-01 -6.31033173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405769231000004 meters 0.012401182048732981 Centerline is valid? [True, True] Translation: X:22.60, Y:0.73, Z:-0.06 [[ 9.97865643e-01 -6.52999622e-02 -2.71907570e-04 2.25981246e+01] [ 6.52999598e-02 9.97865680e-01 -1.79669407e-05 7.25678536e-01] [ 2.72500473e-04 1.73039499e-07 9.99999963e-01 -6.36783764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435769231000005 meters 0.012486374123504989 Centerline is valid? [True, True] Translation: X:22.63, Y:0.73, Z:-0.07 [[ 9.97847552e-01 -6.55664468e-02 -1.14201868e-03 2.26260083e+01] [ 6.55664035e-02 9.97848205e-01 -7.53526856e-05 7.30406572e-01] [ 1.14450189e-03 3.12435555e-07 9.99999345e-01 -6.63185587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465769231000003 meters 0.012637412576822752 Centerline is valid? [True, True] Translation: X:22.65, Y:0.73, Z:-0.07 [[ 9.97808567e-01 -6.61349668e-02 -2.05679577e-03 2.26531093e+01] [ 6.61348279e-02 9.97810687e-01 -1.35527923e-04 7.32906766e-01] [ 2.06125594e-03 -7.94911581e-07 9.99997876e-01 -6.89060070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495769231000004 meters 0.012861683838194023 Centerline is valid? [True, True] Translation: X:22.68, Y:0.74, Z:-0.07 [[ 9.97719949e-01 -6.74056209e-02 -3.37420101e-03 2.26819459e+01] [ 6.74052529e-02 9.97725655e-01 -2.22787404e-04 7.36427285e-01] [ 3.38154404e-03 -5.15943517e-06 9.99994283e-01 -6.96233055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525769231000005 meters 0.012928519830244727 Centerline is valid? [True, True] Translation: X:22.71, Y:0.74, Z:-0.07 [[ 9.97664226e-01 -6.82256965e-02 -3.36846424e-03 2.27099715e+01] [ 6.82253321e-02 9.97669912e-01 -2.23094748e-04 7.39566869e-01] [ 3.37583622e-03 -7.24094244e-06 9.99994302e-01 -6.85534905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555769231000003 meters 0.013546539320583426 Centerline is valid? [True, True] Translation: X:22.74, Y:0.74, Z:-0.07 [[ 9.97492546e-01 -7.07302791e-02 -2.41849165e-03 2.27380712e+01] [ 7.07300972e-02 9.97495477e-01 -1.60757708e-04 7.39168280e-01] [ 2.42380492e-03 -1.07055342e-05 9.99997063e-01 -6.59681425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585769231000004 meters 0.014472191890028862 Centerline is valid? [True, True] Translation: X:22.77, Y:0.74, Z:-0.07 [[ 9.97343466e-01 -7.28095185e-02 -2.18762107e-03 2.27673345e+01] [ 7.28093739e-02 9.97345865e-01 -1.45763901e-04 7.36695001e-01] [ 2.19242783e-03 -1.39026458e-05 9.99997597e-01 -6.57880595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615769231000005 meters 0.015883773704745505 Centerline is valid? [True, True] Translation: X:22.80, Y:0.73, Z:-0.07 [[ 9.97186701e-01 -7.49281460e-02 -2.11092112e-03 2.27954949e+01] [ 7.49280163e-02 9.97188935e-01 -1.40559385e-04 7.33239280e-01] [ 2.11551904e-03 -1.80031827e-05 9.99997762e-01 -6.67663215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645769231000003 meters 0.01863366710261765 Centerline is valid? [True, True] Translation: X:22.82, Y:0.73, Z:-0.07 [[ 9.96844961e-01 -7.93353872e-02 -2.45370462e-03 2.28243219e+01] [ 7.93352250e-02 9.96847980e-01 -1.63515302e-04 7.28070711e-01] [ 2.45894305e-03 -3.16658033e-05 9.99996976e-01 -6.72801188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675769231000004 meters 0.019540682808686632 Centerline is valid? [True, True] Translation: X:22.85, Y:0.73, Z:-0.07 [[ 9.96736559e-01 -8.07082442e-02 -1.55280561e-03 2.28534152e+01] [ 8.07081800e-02 9.96737768e-01 -1.04022200e-04 7.28104451e-01] [ 1.55613545e-03 -2.16413858e-05 9.99998789e-01 -6.60710594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705769231000005 meters 0.019127460384641384 Centerline is valid? [True, True] Translation: X:22.88, Y:0.73, Z:-0.06 [[ 9.96740442e-01 -8.06719424e-02 -7.26997859e-04 2.28813019e+01] [ 8.06719281e-02 9.96740707e-01 -4.90887706e-05 7.27866211e-01] [ 7.28588446e-04 -9.71955605e-06 9.99999735e-01 -6.41148168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735769231000003 meters 0.021217481180298786 Centerline is valid? [True, True] Translation: X:22.91, Y:0.72, Z:-0.07 [[ 9.96829357e-01 -7.95554688e-02 -1.46969291e-03 2.29094973e+01] [ 7.95554098e-02 9.96830440e-01 -9.86147138e-05 7.24729081e-01] [ 1.47287997e-03 -1.86199800e-05 9.99998915e-01 -6.63442380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765769231000004 meters 0.01729816503435282 Centerline is valid? [True, True] Translation: X:22.94, Y:0.73, Z:-0.07 [[ 9.97070216e-01 -7.64383734e-02 -2.85655046e-03 2.29380796e+01] [ 7.64381364e-02 9.97074307e-01 -1.92200065e-04 7.32530644e-01] [ 2.86288453e-03 -2.67124338e-05 9.99995902e-01 -6.83579590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795769231000005 meters 0.015014279479262652 Centerline is valid? [True, True] Translation: X:22.97, Y:0.74, Z:-0.07 [[ 9.97208870e-01 -7.46275240e-02 -2.28067101e-03 2.29670450e+01] [ 7.46273672e-02 9.97211478e-01 -1.53868687e-04 7.38539702e-01] [ 2.28579414e-03 -1.67612532e-05 9.99997387e-01 -6.69533520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825769231000002 meters 0.013889886712392796 Centerline is valid? [True, True] Translation: X:23.00, Y:0.74, Z:-0.07 [[ 9.97332285e-01 -7.29857722e-02 -1.17935366e-03 2.29959383e+01] [ 7.29857287e-02 9.97332982e-01 -7.99493784e-05 7.42350833e-01] [ 1.18204347e-03 -6.33988971e-06 9.99999301e-01 -6.53259591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855769231000004 meters 0.012752708402062166 Centerline is valid? [True, True] Translation: X:23.03, Y:0.74, Z:-0.06 [[ 9.97462986e-01 -7.11834304e-02 7.14930169e-04 2.30250958e+01] [ 7.11834143e-02 9.97463242e-01 4.80114817e-05 7.44119640e-01] [-7.16534187e-04 3.00149458e-06 9.99999743e-01 -6.21685409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885769231000005 meters 0.012526560725695449 Centerline is valid? [True, True] Translation: X:23.05, Y:0.75, Z:-0.06 [[ 9.97516965e-01 -7.04265399e-02 -8.74598064e-05 2.30518362e+01] [ 7.04265396e-02 9.97516969e-01 -6.10097135e-06 7.45805568e-01] [ 8.76723112e-05 -7.36690930e-08 9.99999996e-01 -6.37288833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.915769231000002 meters 0.012495049109049562 Centerline is valid? [True, True] Translation: X:23.08, Y:0.75, Z:-0.07 [[ 9.97625547e-01 -6.88313922e-02 -2.34673075e-03 2.30800737e+01] [ 6.88312068e-02 9.97628307e-01 -1.59801232e-04 7.47139042e-01] [ 2.35216437e-03 -2.10651799e-06 9.99997234e-01 -6.88170064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945769231000003 meters 0.012634019198615412 Centerline is valid? [True, True] Translation: X:23.11, Y:0.75, Z:-0.07 [[ 9.97702539e-01 -6.76597070e-02 -3.43622779e-03 2.31080842e+01] [ 6.76593033e-02 9.97708456e-01 -2.33728013e-04 7.48521206e-01] [ 3.44416749e-03 6.98254386e-07 9.99994069e-01 -7.05177786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.975769231000005 meters 0.012950880388404652 Centerline is valid? [True, True] Translation: X:23.14, Y:0.75, Z:-0.07 [[ 9.97779998e-01 -6.64675107e-02 -4.14071763e-03 2.31368100e+01] [ 6.64669106e-02 9.97788590e-01 -2.82523694e-04 7.50787505e-01] [ 4.15033945e-03 6.67578261e-06 9.99991387e-01 -7.23582732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005769231000006 meters 0.015108620363699622 Centerline is valid? [True, True] Translation: X:23.16, Y:0.76, Z:-0.07 [[ 9.98062858e-01 -6.19432712e-02 -5.79335153e-03 2.31640143e+01] [ 6.19420204e-02 9.98079671e-01 -3.95254042e-04 7.60190249e-01] [ 5.80670972e-03 3.56364800e-05 9.99983140e-01 -7.45745801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035769231000003 meters 0.017457637586501238 Centerline is valid? [True, True] Translation: X:23.19, Y:0.77, Z:-0.07 [[ 9.98275709e-01 -5.83821429e-02 -6.09370960e-03 2.31919489e+01] [ 5.83806851e-02 9.98294306e-01 -4.16978953e-04 7.68838346e-01] [ 6.10765972e-03 6.05050187e-05 9.99981346e-01 -7.37681348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065769231000004 meters 0.025948915609983157 Centerline is valid? [True, True] Translation: X:23.22, Y:0.79, Z:-0.07 [[ 9.98782726e-01 -4.90329648e-02 -5.36977683e-03 2.32200850e+01] [ 4.90316990e-02 9.98797155e-01 -3.67202886e-04 7.88180498e-01] [ 5.38132287e-03 1.03466618e-04 9.99985515e-01 -7.18481722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095769231000006 meters 0.031750185075541615 Centerline is valid? [True, True] Translation: X:23.25, Y:0.80, Z:-0.07 [[ 9.98996311e-01 -4.45621228e-02 -4.53738367e-03 2.32480357e+01] [ 4.45611719e-02 9.99006609e-01 -3.10496301e-04 8.01051394e-01] [ 4.54671265e-03 1.07993525e-04 9.99989658e-01 -7.10661618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125769231000003 meters 0.0372573418740537 Centerline is valid? [True, True] Translation: X:23.28, Y:0.81, Z:-0.07 [[ 9.99164108e-01 -4.06841694e-02 -3.98552160e-03 2.32753130e+01] [ 4.06834041e-02 9.99172050e-01 -2.72943300e-04 8.13396099e-01] [ 3.99332626e-03 1.10570563e-04 9.99992021e-01 -7.17171850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.155769231000004 meters 0.03858662617629811 Centerline is valid? [True, True] Translation: X:23.31, Y:0.82, Z:-0.07 [[ 9.99311904e-01 -3.68384048e-02 -4.31860177e-03 2.33052809e+01] [ 3.68374708e-02 9.99321226e-01 -2.95648921e-04 8.21038665e-01] [ 4.32656165e-03 1.36359120e-04 9.99990631e-01 -7.25371371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185769231000005 meters 0.041897858624288006 Centerline is valid? [True, True] Translation: X:23.33, Y:0.83, Z:-0.07 [[ 9.99317407e-01 -3.66576023e-02 -4.57598181e-03 2.33329088e+01] [ 3.66565500e-02 9.99327874e-01 -3.13658581e-04 8.28655850e-01] [ 4.58440414e-03 1.45704774e-04 9.99989481e-01 -7.38675763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215769231000003 meters 0.04077847204524764 Centerline is valid? [True, True] Translation: X:23.36, Y:0.83, Z:-0.07 [[ 9.99279775e-01 -3.76709108e-02 -4.56436631e-03 2.33620441e+01] [ 3.76698702e-02 9.99290189e-01 -3.13782027e-04 8.30865007e-01] [ 4.57294693e-03 1.41616947e-04 9.99989534e-01 -7.35350646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245769231000004 meters 0.03538544831253324 Centerline is valid? [True, True] Translation: X:23.39, Y:0.83, Z:-0.07 [[ 9.99122025e-01 -4.17477300e-02 -3.50788969e-03 2.33922076e+01] [ 4.17471411e-02 9.99128179e-01 -2.40960660e-04 8.30329022e-01] [ 3.51489100e-03 9.43047365e-05 9.99993818e-01 -7.12079290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275769231000005 meters 0.03337772608205239 Centerline is valid? [True, True] Translation: X:23.42, Y:0.83, Z:-0.07 [[ 9.99041188e-01 -4.36867865e-02 -2.85808266e-03 2.34213445e+01] [ 4.36864014e-02 9.99045274e-01 -1.97037299e-04 8.31590231e-01] [ 2.86396190e-03 7.19890308e-05 9.99995896e-01 -7.04366356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305769231000003 meters 0.028916653558977875 Centerline is valid? [True, True] Translation: X:23.45, Y:0.83, Z:-0.07 [[ 9.98831761e-01 -4.81987082e-02 -3.46371115e-03 2.34508742e+01] [ 4.81981707e-02 9.98837764e-01 -2.38534662e-04 8.29143664e-01] [ 3.47118256e-03 7.13114556e-05 9.99993973e-01 -7.19724216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335769231000004 meters 0.02573444688048632 Centerline is valid? [True, True] Translation: X:23.48, Y:0.83, Z:-0.07 [[ 9.98664149e-01 -5.14936496e-02 -4.28029513e-03 2.34798401e+01] [ 5.14928553e-02 9.98673319e-01 -2.95643509e-04 8.26808678e-01] [ 4.28984031e-03 7.48439549e-05 9.99990796e-01 -7.37641137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365769231000005 meters 0.02235667269516692 Centerline is valid? [True, True] Translation: X:23.51, Y:0.82, Z:-0.08 [[ 9.98480134e-01 -5.48995251e-02 -4.84404157e-03 2.35086971e+01] [ 5.48985444e-02 9.98491881e-01 -3.35294208e-04 8.23986159e-01] [ 4.85514368e-03 6.88537745e-05 9.99988211e-01 -7.57366693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395769231000003 meters 0.01557566667256599 Centerline is valid? [True, True] Translation: X:23.54, Y:0.81, Z:-0.07 [[ 9.98061458e-01 -6.21436348e-02 -3.39052642e-03 2.35381859e+01] [ 6.21431962e-02 9.98067216e-01 -2.34640770e-04 8.10878826e-01] [ 3.39855470e-03 2.34877602e-05 9.99994225e-01 -7.37992598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425769231000004 meters 0.01271760708534329 Centerline is valid? [True, True] Translation: X:23.57, Y:0.80, Z:-0.07 [[ 9.97802613e-01 -6.62469149e-02 -1.13696699e-03 2.35675449e+01] [ 6.62468676e-02 9.97803260e-01 -7.92065455e-05 8.03031620e-01] [ 1.13971655e-03 3.71199663e-06 9.99999351e-01 -6.87323887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455769231000005 meters 0.01271760708534329 Centerline is valid? [True, True] Translation: X:23.59, Y:0.81, Z:-0.07 [[ 9.97790048e-01 -6.64358932e-02 -1.13694850e-03 2.35949497e+01] [ 6.64358457e-02 9.97790696e-01 -7.94721767e-05 8.05129729e-01] [ 1.13971644e-03 3.76241149e-06 9.99999351e-01 -6.87914329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485769231000003 meters 0.013606918175125497 Centerline is valid? [True, True] Translation: X:23.62, Y:0.79, Z:-0.06 [[ 9.97180124e-01 -7.50339799e-02 1.30454693e-03 2.36237994e+01] [ 7.50339255e-02 9.97180977e-01 9.06412442e-05 7.89209870e-01] [-1.30767055e-03 7.49962970e-06 9.99999145e-01 -6.34936540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515769231000004 meters 0.016344477435032444 Centerline is valid? [True, True] Translation: X:23.65, Y:0.78, Z:-0.06 [[ 9.96851301e-01 -7.92925616e-02 4.16022210e-04 2.36534523e+01] [ 7.92925566e-02 9.96851388e-01 2.86843768e-05 7.82683029e-01] [-4.16986775e-04 4.39340621e-06 9.99999913e-01 -6.49775622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545769231000005 meters 0.022470831223888522 Centerline is valid? [True, True] Translation: X:23.68, Y:0.77, Z:-0.07 [[ 9.96361062e-01 -8.51749683e-02 -3.13988938e-03 2.36824947e+01] [ 8.51746995e-02 9.96366008e-01 -2.19453415e-04 7.68033118e-01] [ 3.14717099e-03 -4.87842970e-05 9.99995046e-01 -7.09408574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575769231000002 meters 0.024307865672327768 Centerline is valid? [True, True] Translation: X:23.71, Y:0.76, Z:-0.07 [[ 9.96261366e-01 -8.62993302e-02 -3.96433553e-03 2.37109061e+01] [ 8.62989099e-02 9.96269251e-01 -2.77274195e-04 7.64561199e-01] [ 3.97347416e-03 -6.58802657e-05 9.99992104e-01 -7.26239762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605769231000004 meters 0.0229741590424103 Centerline is valid? [True, True] Translation: X:23.74, Y:0.77, Z:-0.07 [[ 9.96242194e-01 -8.65124240e-02 -4.13414242e-03 2.37391226e+01] [ 8.65119645e-02 9.96250770e-01 -2.90193907e-04 7.65715525e-01] [ 4.14374795e-03 -6.85493679e-05 9.99991412e-01 -7.22432252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635769231000005 meters 0.02114245331795405 Centerline is valid? [True, True] Translation: X:23.77, Y:0.76, Z:-0.07 [[ 9.96453302e-01 -8.40850456e-02 -3.24366648e-03 2.37666946e+01] [ 8.40847498e-02 9.96458581e-01 -2.27685964e-04 7.64932897e-01] [ 3.25132428e-03 -4.58644545e-05 9.99994713e-01 -7.02194624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665769231000002 meters 0.01850598482334505 Centerline is valid? [True, True] Translation: X:23.80, Y:0.77, Z:-0.07 [[ 9.96635082e-01 -8.19232731e-02 -2.66279177e-03 2.37951028e+01] [ 8.19230642e-02 9.96638639e-01 -1.87593957e-04 7.69023339e-01] [ 2.66920948e-03 -3.11813422e-05 9.99996437e-01 -6.87981365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695769231000003 meters 0.015484316143078717 Centerline is valid? [True, True] Translation: X:23.82, Y:0.77, Z:-0.07 [[ 9.96979668e-01 -7.75811364e-02 -3.56495522e-03 2.38230852e+01] [ 7.75807326e-02 9.96986041e-01 -2.51611366e-04 7.74251052e-01] [ 3.57373089e-03 -2.57204215e-05 9.99993614e-01 -7.12221435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725769231000005 meters 0.014562307722667478 Centerline is valid? [True, True] Translation: X:23.85, Y:0.78, Z:-0.07 [[ 9.97043549e-01 -7.67225293e-02 -4.22080608e-03 2.38512307e+01] [ 7.67219522e-02 9.97052482e-01 -2.98692828e-04 7.77631227e-01] [ 4.23128165e-03 -2.60187251e-05 9.99991048e-01 -7.21434311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755769231000006 meters 0.014333676707116313 Centerline is valid? [True, True] Translation: X:23.88, Y:0.78, Z:-0.07 [[ 9.97053507e-01 -7.65722946e-02 -4.58117318e-03 2.38795426e+01] [ 7.65716095e-02 9.97064032e-01 -3.25028303e-04 7.78890764e-01] [ 4.59261116e-03 -2.67171939e-05 9.99989454e-01 -7.33325164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785769231000003 meters 0.015660632020405504 Centerline is valid? [True, True] Translation: X:23.91, Y:0.78, Z:-0.07 [[ 9.96939578e-01 -7.80616361e-02 -4.22604571e-03 2.39075922e+01] [ 7.80610664e-02 9.96948534e-01 -2.99832917e-04 7.76842632e-01] [ 4.23655553e-03 -3.09743337e-05 9.99991025e-01 -7.29782114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.815769231000004 meters 0.01562916747873004 Centerline is valid? [True, True] Translation: X:23.94, Y:0.78, Z:-0.07 [[ 9.96874539e-01 -7.88949623e-02 -4.09132089e-03 2.39352932e+01] [ 7.88944310e-02 9.96882934e-01 -2.91323508e-04 7.79536078e-01] [ 4.10155193e-03 -3.23694460e-05 9.99991588e-01 -7.18658273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845769231000006 meters 0.015981034166501394 Centerline is valid? [True, True] Translation: X:23.96, Y:0.78, Z:-0.07 [[ 9.96860518e-01 -7.90925615e-02 -3.67065127e-03 2.39626832e+01] [ 7.90921326e-02 9.96867276e-01 -2.62092937e-04 7.81896399e-01] [ 3.67988174e-03 -2.90495358e-05 9.99993229e-01 -7.13144606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875769231000003 meters 0.014459701469767964 Centerline is valid? [True, True] Translation: X:23.99, Y:0.79, Z:-0.07 [[ 9.96951288e-01 -7.79941567e-02 -2.24531648e-03 2.39909078e+01] [ 7.79939923e-02 9.96953816e-01 -1.60809170e-04 7.87322771e-01] [ 2.25101901e-03 -1.48022868e-05 9.99997466e-01 -6.80289151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905769231000004 meters 0.013643185388046881 Centerline is valid? [True, True] Translation: X:24.02, Y:0.79, Z:-0.07 [[ 9.97084691e-01 -7.62832457e-02 -1.72773391e-03 2.40184052e+01] [ 7.62831459e-02 9.97086188e-01 -1.23695274e-04 7.92924871e-01] [ 1.73213550e-03 -8.46231410e-06 9.99998500e-01 -6.68653038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935769231000005 meters 0.013048798335909717 Centerline is valid? [True, True] Translation: X:24.05, Y:0.80, Z:-0.07 [[ 9.97119971e-01 -7.58266117e-02 -1.44518174e-03 2.40461489e+01] [ 7.58265405e-02 9.97121018e-01 -1.04040004e-04 7.98079883e-01] [ 1.44891008e-03 -5.84276593e-06 9.99998950e-01 -6.58157353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965769231000003 meters 0.012870356430948162 Centerline is valid? [True, True] Translation: X:24.07, Y:0.80, Z:-0.07 [[ 9.97159899e-01 -7.52913649e-02 -1.82923668e-03 2.40734316e+01] [ 7.52912503e-02 9.97161577e-01 -1.31501105e-04 8.01867462e-01] [ 1.83394543e-03 -6.59788807e-06 9.99998318e-01 -6.63142138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995769231000004 meters 0.012546307309126752 Centerline is valid? [True, True] Translation: X:24.10, Y:0.81, Z:-0.07 [[ 9.97215261e-01 -7.45354439e-02 -2.48808474e-03 2.41011336e+01] [ 7.45352280e-02 9.97218365e-01 -1.79509500e-04 8.05610177e-01] [ 2.49454362e-03 -6.44035070e-06 9.99996889e-01 -6.74449578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025769231000005 meters 0.01235361788416038 Centerline is valid? [True, True] Translation: X:24.13, Y:0.81, Z:-0.07 [[ 9.97366731e-01 -7.24426820e-02 -3.41504972e-03 2.41274338e+01] [ 7.24422625e-02 9.97372577e-01 -2.46561239e-04 8.11590306e-01] [ 3.42393850e-03 -1.48195141e-06 9.99994138e-01 -6.99298658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055769231000003 meters 0.012456382098099893 Centerline is valid? [True, True] Translation: X:24.16, Y:0.82, Z:-0.07 [[ 9.97491260e-01 -7.06958228e-02 -3.64520755e-03 2.41550418e+01] [ 7.06953302e-02 9.97497920e-01 -2.63967180e-04 8.18738543e-01] [ 3.65474832e-03 5.60580413e-06 9.99993321e-01 -6.97688618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085769231000004 meters 0.012400192264522877 Centerline is valid? [True, True] Translation: X:24.18, Y:0.82, Z:-0.07 [[ 9.97501322e-01 -7.05619106e-02 -3.48265057e-03 2.41831828e+01] [ 7.05614578e-02 9.97507402e-01 -2.52875053e-04 8.21516287e-01] [ 3.49181307e-03 6.50229839e-06 9.99993904e-01 -6.89999596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115769231000005 meters 0.012314169760696549 Centerline is valid? [True, True] Translation: X:24.21, Y:0.82, Z:-0.07 [[ 9.97478781e-01 -7.08957310e-02 -3.14273490e-03 2.42102652e+01] [ 7.08953637e-02 9.97483732e-01 -2.28262474e-04 8.22842137e-01] [ 3.15100977e-03 4.88164023e-06 9.99995036e-01 -6.82165354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145769231000003 meters 0.012030252917606647 Centerline is valid? [True, True] Translation: X:24.24, Y:0.82, Z:-0.07 [[ 9.97427246e-01 -7.16556649e-02 -2.08685873e-03 2.42379787e+01] [ 7.16555032e-02 9.97429429e-01 -1.52251148e-04 8.23144243e-01] [ 2.09240397e-03 2.32453082e-06 9.99997811e-01 -6.65904467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175769231000004 meters 0.01204165556449432 Centerline is valid? [True, True] Translation: X:24.27, Y:0.82, Z:-0.07 [[ 9.97237792e-01 -7.42719521e-02 -6.79999746e-04 2.42651410e+01] [ 7.42719354e-02 9.97238024e-01 -4.98453102e-05 8.17831989e-01] [ 6.81823712e-04 -7.97270036e-07 9.99999768e-01 -6.53749045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205769231000005 meters 0.013903301018472529 Centerline is valid? [True, True] Translation: X:24.29, Y:0.81, Z:-0.07 [[ 9.96944634e-01 -7.80767855e-02 -2.32625202e-03 2.42934606e+01] [ 7.80766018e-02 9.96947348e-01 -1.69828151e-04 8.09013823e-01] [ 2.33241041e-03 -1.23165886e-05 9.99997280e-01 -6.97146560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235769231000003 meters 0.015262339531221988 Centerline is valid? [True, True] Translation: X:24.32, Y:0.81, Z:-0.07 [[ 9.96784288e-01 -8.00736282e-02 -3.04897939e-03 2.43226057e+01] [ 8.00733199e-02 9.96788951e-01 -2.23253252e-04 8.05494294e-01] [ 3.05706566e-03 -2.16065677e-05 9.99995327e-01 -7.04830578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265769231000004 meters 0.016131473198598034 Centerline is valid? [True, True] Translation: X:24.35, Y:0.80, Z:-0.07 [[ 9.96656010e-01 -8.16614547e-02 -2.86418391e-03 2.43520896e+01] [ 8.16611878e-02 9.96660126e-01 -2.10207413e-04 8.02684928e-01] [ 2.87178374e-03 -2.43881783e-05 9.99995876e-01 -6.93975716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295769231000005 meters 0.017499775997221315 Centerline is valid? [True, True] Translation: X:24.38, Y:0.80, Z:-0.07 [[ 9.96524358e-01 -8.32469331e-02 -3.02527108e-03 2.43812876e+01] [ 8.32466412e-02 9.96528950e-01 -2.22491947e-04 7.95629847e-01] [ 3.03329199e-03 -3.01250119e-05 9.99995399e-01 -6.93011069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325769231000002 meters 0.017374666418904013 Centerline is valid? [True, True] Translation: X:24.41, Y:0.79, Z:-0.07 [[ 9.96543058e-01 -8.30105915e-02 -3.34308690e-03 2.44082704e+01] [ 8.30102335e-02 9.96548664e-01 -2.45923462e-04 7.93862531e-01] [ 3.35196304e-03 -3.24371056e-05 9.99994382e-01 -7.06549590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355769231000004 meters 0.01712461890503086 Centerline is valid? [True, True] Translation: X:24.44, Y:0.79, Z:-0.07 [[ 9.96562441e-01 -8.27690951e-02 -3.54646312e-03 2.44363100e+01] [ 8.27686878e-02 9.96568751e-01 -2.61733571e-04 7.92849086e-01] [ 3.55595778e-03 -3.27022522e-05 9.99993677e-01 -7.14266504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385769231000005 meters 0.015812429758914084 Centerline is valid? [True, True] Translation: X:24.46, Y:0.79, Z:-0.07 [[ 9.96710041e-01 -8.09765259e-02 -3.44920751e-03 2.44642078e+01] [ 8.09761301e-02 9.96716008e-01 -2.54494363e-04 7.89915721e-01] [ 3.45848841e-03 -2.56463889e-05 9.99994019e-01 -7.13249623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415769231000006 meters 0.014892471546986067 Centerline is valid? [True, True] Translation: X:24.49, Y:0.79, Z:-0.07 [[ 9.96795916e-01 -7.99141084e-02 -3.41128016e-03 2.44931879e+01] [ 7.99137124e-02 9.96801753e-01 -2.52451612e-04 7.90450048e-01] [ 3.42054449e-03 -2.09653257e-05 9.99994150e-01 -7.09514501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445769231000003 meters 0.012894480346734962 Centerline is valid? [True, True] Translation: X:24.52, Y:0.79, Z:-0.07 [[ 9.97090486e-01 -7.61703674e-02 -2.93890274e-03 2.45210808e+01] [ 7.61700573e-02 9.97094817e-01 -2.17487325e-04 7.92434288e-01] [ 2.94693078e-03 -7.00184711e-06 9.99995658e-01 -6.94803127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.475769231000005 meters 0.012310329635153688 Centerline is valid? [True, True] Translation: X:24.55, Y:0.80, Z:-0.07 [[ 9.97260337e-01 -7.39268524e-02 -2.57710110e-03 2.45486642e+01] [ 7.39266045e-02 9.97263666e-01 -1.91448459e-04 7.97021080e-01] [ 2.58420248e-03 4.07620851e-07 9.99996661e-01 -6.86467450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505769231000006 meters 0.012833608575450576 Centerline is valid? [True, True] Translation: X:24.58, Y:0.80, Z:-0.07 [[ 9.97468536e-01 -7.10597582e-02 -2.65140069e-03 2.45765710e+01] [ 7.10594844e-02 9.97472060e-01 -1.97463591e-04 8.03304095e-01] [ 2.65872983e-03 8.55655270e-06 9.99996466e-01 -6.83363962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535769231000003 meters 0.018013854391073163 Centerline is valid? [True, True] Translation: X:24.60, Y:0.82, Z:-0.07 [[ 9.97989305e-01 -6.33017672e-02 -3.19902473e-03 2.46046650e+01] [ 6.33013296e-02 9.97994431e-01 -2.37953490e-04 8.17865871e-01] [ 3.20767174e-03 3.49725192e-05 9.99994855e-01 -6.90433957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565769231000004 meters 0.02232695108477052 Centerline is valid? [True, True] Translation: X:24.63, Y:0.83, Z:-0.07 [[ 9.98256366e-01 -5.89346262e-02 -3.30733875e-03 2.46322288e+01] [ 5.89341339e-02 9.98261843e-01 -2.46200880e-04 8.27799248e-01] [ 3.31609983e-03 5.08564505e-05 9.99994500e-01 -6.90228395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595769231000006 meters 0.031069624836173156 Centerline is valid? [True, True] Translation: X:24.66, Y:0.85, Z:-0.07 [[ 9.98699493e-01 -5.09101714e-02 -2.73445688e-03 2.46597337e+01] [ 5.09098048e-02 9.98703234e-01 -2.03531265e-04 8.46748324e-01] [ 2.74127274e-03 6.40559055e-05 9.99996241e-01 -6.73806258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625769231000003 meters 0.037774367849755054 Centerline is valid? [True, True] Translation: X:24.69, Y:0.86, Z:-0.07 [[ 9.98868569e-01 -4.75246818e-02 -1.72825542e-03 2.46875193e+01] [ 4.75245301e-02 9.98870063e-01 -1.28750263e-04 8.61412813e-01] [ 1.73242142e-03 4.64700639e-05 9.99998498e-01 -6.64087900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.655769231000004 meters 0.03793201136839962 Centerline is valid? [True, True] Translation: X:24.72, Y:0.87, Z:-0.07 [[ 9.98984347e-01 -4.50450112e-02 -1.10509592e-03 2.47164089e+01] [ 4.50449476e-02 9.98984958e-01 -8.23894825e-05 8.66689532e-01] [ 1.10768544e-03 3.25268156e-05 9.99999386e-01 -6.53532004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685769231000005 meters 0.042579272440696696 Centerline is valid? [True, True] Translation: X:24.74, Y:0.88, Z:-0.07 [[ 9.99135622e-01 -4.14815571e-02 -2.69969089e-03 2.47443321e+01] [ 4.14811647e-02 9.99139266e-01 -2.01204890e-04 8.80099073e-01] [ 2.70571347e-03 8.90446503e-05 9.99996336e-01 -6.75310893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715769231000003 meters 0.044597334996262596 Centerline is valid? [True, True] Translation: X:24.77, Y:0.89, Z:-0.07 [[ 9.99178135e-01 -4.04305108e-02 -2.90324887e-03 2.47714680e+01] [ 4.04300519e-02 9.99182348e-01 -2.16602708e-04 8.88783849e-01] [ 2.90963238e-03 9.90461869e-05 9.99995762e-01 -6.78608804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745769231000004 meters 0.0465300670010805 Centerline is valid? [True, True] Translation: X:24.80, Y:0.90, Z:-0.06 [[ 9.99239972e-01 -3.89640015e-02 -1.13361818e-03 2.47979164e+01] [ 3.89639304e-02 9.99240614e-01 -8.47460299e-05 9.03431965e-01] [ 1.13605937e-03 4.05114007e-05 9.99999354e-01 -6.42087300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775769231000005 meters 0.0477909465587858 Centerline is valid? [True, True] Translation: X:24.83, Y:0.91, Z:-0.06 [[ 9.99269395e-01 -3.82163550e-02 -4.30669933e-04 2.48262973e+01] [ 3.82163445e-02 9.99269488e-01 -3.25365771e-05 9.12033054e-01] [ 4.31598753e-04 1.60541751e-05 9.99999907e-01 -6.26356904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805769231000003 meters 0.049186833388213363 Centerline is valid? [True, True] Translation: X:24.85, Y:0.92, Z:-0.06 [[ 9.99291184e-01 -3.76431115e-02 -3.55313036e-04 2.48548986e+01] [ 3.76431043e-02 9.99291247e-01 -2.69537660e-05 9.20218678e-01] [ 3.56075831e-04 1.35595751e-05 9.99999937e-01 -6.26510479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835769231000004 meters 0.04991458239253994 Centerline is valid? [True, True] Translation: X:24.88, Y:0.93, Z:-0.07 [[ 9.99292008e-01 -3.75720048e-02 -1.95645760e-03 2.48831655e+01] [ 3.75717894e-02 9.99293920e-01 -1.46747450e-04 9.31981196e-01] [ 1.96058978e-03 7.31359413e-05 9.99998075e-01 -6.52530139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865769231000005 meters 0.04891172260944152 Centerline is valid? [True, True] Translation: X:24.91, Y:0.94, Z:-0.07 [[ 9.99244227e-01 -3.87931391e-02 -2.46321664e-03 2.49110200e+01] [ 3.87927998e-02 9.99247259e-01 -1.85366972e-04 9.38503368e-01] [ 2.46855344e-03 8.96718062e-05 9.99996949e-01 -6.68344836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895769231000003 meters 0.04508884136008184 Centerline is valid? [True, True] Translation: X:24.94, Y:0.95, Z:-0.07 [[ 9.99089128e-01 -4.25715712e-02 -2.92830402e-03 2.49397295e+01] [ 4.25711090e-02 9.99093415e-01 -2.20035467e-04 9.45018344e-01] [ 2.93501652e-03 9.51738937e-05 9.99995688e-01 -6.83369872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925769231000004 meters 0.0419424894907021 Centerline is valid? [True, True] Translation: X:24.97, Y:0.95, Z:-0.07 [[ 9.98964312e-01 -4.54276169e-02 -2.57570182e-03 2.49684349e+01] [ 4.54272684e-02 9.98967630e-01 -1.93671668e-04 9.45808219e-01] [ 2.58184079e-03 7.64639870e-05 9.99996664e-01 -6.74701365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955769231000005 meters 0.037894025697174365 Centerline is valid? [True, True] Translation: X:25.00, Y:0.95, Z:-0.07 [[ 9.98823237e-01 -4.84610777e-02 -1.91437317e-03 2.49987535e+01] [ 4.84608908e-02 9.98825070e-01 -1.43937402e-04 9.45340793e-01] [ 1.91909928e-03 5.09957921e-05 9.99998157e-01 -6.58265887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985769231000003 meters 0.030971226974532997 Centerline is valid? [True, True] Translation: X:25.03, Y:0.94, Z:-0.07 [[ 9.98511907e-01 -5.44749764e-02 -2.53925830e-03 2.50282205e+01] [ 5.44746668e-02 9.98515135e-01 -1.90966455e-04 9.43676387e-01] [ 2.54589074e-03 5.23570292e-05 9.99996758e-01 -6.72274001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015769231000004 meters 0.027913425333612574 Centerline is valid? [True, True] Translation: X:25.06, Y:0.94, Z:-0.07 [[ 9.98367546e-01 -5.70266011e-02 -3.19537178e-03 2.50573651e+01] [ 5.70261216e-02 9.98372658e-01 -2.41062859e-04 9.43471577e-01] [ 3.20391881e-03 5.84496751e-05 9.99994866e-01 -6.94247877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045769231000005 meters 0.019470477132282147 Centerline is valid? [True, True] Translation: X:25.09, Y:0.93, Z:-0.07 [[ 9.98126011e-01 -6.10084412e-02 -4.73673760e-03 2.50873197e+01] [ 6.10074289e-02 9.98137248e-01 -3.58044617e-04 9.33358725e-01] [ 4.74975797e-03 6.83974627e-05 9.99988717e-01 -6.89674951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075769231000002 meters 0.02054248212152064 Centerline is valid? [True, True] Translation: X:25.12, Y:0.94, Z:-0.07 [[ 9.98033585e-01 -6.25117530e-02 -4.60916294e-03 2.51151780e+01] [ 6.25108092e-02 9.98044226e-01 -3.48672778e-04 9.37837987e-01] [ 4.62194461e-03 5.98646377e-05 9.99989317e-01 -7.01633339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105769231000004 meters 0.018457392884649253 Centerline is valid? [True, True] Translation: X:25.14, Y:0.94, Z:-0.07 [[ 9.97948366e-01 -6.38859654e-02 -4.20023678e-03 2.51440439e+01] [ 6.38851902e-02 9.97957204e-01 -3.18602347e-04 9.38376422e-01] [ 4.21201077e-03 4.96157663e-05 9.99991128e-01 -6.82238436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135769231000005 meters 0.016839522516730356 Centerline is valid? [True, True] Translation: X:25.17, Y:0.94, Z:-0.06 [[ 9.97841084e-01 -6.56303129e-02 -2.41530883e-03 2.51729757e+01] [ 6.56300603e-02 9.97844007e-01 -1.83761438e-04 9.38658750e-01] [ 2.42216177e-03 2.48478481e-05 9.99997066e-01 -6.47844256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165769231000006 meters 0.015926431637304304 Centerline is valid? [True, True] Translation: X:25.20, Y:0.94, Z:-0.06 [[ 9.97763574e-01 -6.68210360e-02 -1.67314503e-03 2.52022301e+01] [ 6.68209158e-02 9.97764977e-01 -1.27684759e-04 9.37852088e-01] [ 1.67793754e-03 1.55981188e-05 9.99998592e-01 -6.33560780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195769231000003 meters 0.014087816643514809 Centerline is valid? [True, True] Translation: X:25.23, Y:0.93, Z:-0.06 [[ 9.97577276e-01 -6.95636906e-02 -6.86057162e-04 2.52302482e+01] [ 6.95636710e-02 9.97577512e-01 -5.23769608e-05 9.34583057e-01] [ 6.88038731e-04 4.52541118e-06 9.99999763e-01 -6.27895064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225769231000005 meters 0.01344558878827893 Centerline is valid? [True, True] Translation: X:25.26, Y:0.94, Z:-0.06 [[ 9.97494637e-01 -7.07396874e-02 -5.87403610e-04 2.52586258e+01] [ 7.07396730e-02 9.97494810e-01 -4.52558405e-05 9.35741990e-01] [ 5.89133437e-04 3.58971889e-06 9.99999826e-01 -6.33972309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255769231000006 meters 0.013200862386346875 Centerline is valid? [True, True] Translation: X:25.29, Y:0.94, Z:-0.06 [[ 9.97434723e-01 -7.15771710e-02 -8.26284369e-04 2.52867984e+01] [ 7.15771428e-02 9.97435065e-01 -6.36586487e-05 9.36703457e-01] [ 8.28721509e-04 4.35227228e-06 9.99999657e-01 -6.38777001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285769231000003 meters 0.01332593335281337 Centerline is valid? [True, True] Translation: X:25.31, Y:0.94, Z:-0.06 [[ 9.97430358e-01 -7.16198049e-02 -1.81223489e-03 2.53143957e+01] [ 7.16196706e-02 9.97432004e-01 -1.38950569e-04 9.36215416e-01] [ 1.81753270e-03 8.80184960e-06 9.99998348e-01 -6.49567240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.315769231000004 meters 0.013574201836768886 Centerline is valid? [True, True] Translation: X:25.34, Y:0.94, Z:-0.07 [[ 9.97458294e-01 -7.11978376e-02 -2.79621445e-03 2.53431255e+01] [ 7.11975146e-02 9.97462214e-01 -2.15023379e-04 9.38949108e-01] [ 2.80442745e-03 1.53933342e-05 9.99996067e-01 -6.53672392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345769231000006 meters 0.013574201836768886 Centerline is valid? [True, True] Translation: X:25.37, Y:0.94, Z:-0.07 [[ 9.97444755e-01 -7.13872652e-02 -2.79616968e-03 2.53705150e+01] [ 7.13869413e-02 9.97448674e-01 -2.15605295e-04 9.41249717e-01] [ 2.80442722e-03 1.54443699e-05 9.99996067e-01 -6.54262846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375769231000003 meters 0.015619395626941557 Centerline is valid? [True, True] Translation: X:25.40, Y:0.95, Z:-0.07 [[ 9.97616230e-01 -6.88323567e-02 -4.89541956e-03 2.53992139e+01] [ 6.88313313e-02 9.97628240e-01 -3.77844878e-04 9.48414597e-01] [ 4.90981675e-03 3.99859365e-05 9.99987946e-01 -6.89831993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405769231000004 meters 0.016923840299789526 Centerline is valid? [True, True] Translation: X:25.43, Y:0.95, Z:-0.07 [[ 9.97724557e-01 -6.72402576e-02 -4.94533048e-03 2.54277474e+01] [ 6.72391873e-02 9.97736812e-01 -3.82548566e-04 9.52769539e-01] [ 4.95986093e-03 4.91580959e-05 9.99987699e-01 -6.98201784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435769231000005 meters 0.018829770941280743 Centerline is valid? [True, True] Translation: X:25.45, Y:0.96, Z:-0.07 [[ 9.97850100e-01 -6.54155421e-02 -3.99804863e-03 2.54549986e+01] [ 6.54148276e-02 9.97858108e-01 -3.09345688e-04 9.57063065e-01] [ 4.00972126e-03 4.71489638e-05 9.99991960e-01 -6.91011979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465769231000003 meters 0.020844784157144185 Centerline is valid? [True, True] Translation: X:25.48, Y:0.96, Z:-0.07 [[ 9.97973303e-01 -6.36012630e-02 -2.04103187e-03 2.54820645e+01] [ 6.36010727e-02 9.97975390e-01 -1.58098561e-04 9.62315083e-01] [ 2.04695485e-03 2.79663265e-05 9.99997905e-01 -6.58295817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495769231000004 meters 0.020748561504802893 Centerline is valid? [True, True] Translation: X:25.51, Y:0.97, Z:-0.07 [[ 9.98015801e-01 -6.29370086e-02 -1.84240504e-03 2.55106673e+01] [ 6.29368514e-02 9.98017501e-01 -1.43256631e-04 9.65410919e-01] [ 1.84776862e-03 2.70172093e-05 9.99998293e-01 -6.51034289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525769231000005 meters 0.022540284394149575 Centerline is valid? [True, True] Translation: X:25.54, Y:0.97, Z:-0.07 [[ 9.98129507e-01 -6.10912751e-02 -2.31152661e-03 2.55390879e+01] [ 6.10910220e-02 9.98132183e-01 -1.80028045e-04 9.69627171e-01] [ 2.31820724e-03 3.84777814e-05 9.99997312e-01 -6.57577115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555769231000003 meters 0.02405711367468626 Centerline is valid? [True, True] Translation: X:25.57, Y:0.97, Z:-0.07 [[ 9.98202053e-01 -5.98504358e-02 -3.25376106e-03 2.55671388e+01] [ 5.98499283e-02 9.98207354e-01 -2.53229738e-04 9.73172992e-01] [ 3.26308413e-03 5.80370784e-05 9.99994674e-01 -6.69176308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585769231000004 meters 0.02605154863048786 Centerline is valid? [True, True] Translation: X:25.60, Y:0.98, Z:-0.07 [[ 9.98326737e-01 -5.76777884e-02 -4.12287906e-03 2.55955293e+01] [ 5.76769513e-02 9.98335247e-01 -3.21746712e-04 9.80266421e-01] [ 4.13457313e-03 8.34132503e-05 9.99991449e-01 -6.84844535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615769231000005 meters 0.026713328253502085 Centerline is valid? [True, True] Translation: X:25.62, Y:0.99, Z:-0.07 [[ 9.98377304e-01 -5.68294684e-02 -3.62919105e-03 2.56239415e+01] [ 5.68288118e-02 9.98383897e-01 -2.83871408e-04 9.85959024e-01] [ 3.63945816e-03 7.71681558e-05 9.99993374e-01 -6.89196184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645769231000003 meters 0.028623942170811566 Centerline is valid? [True, True] Translation: X:25.65, Y:0.99, Z:-0.07 [[ 9.98423354e-01 -5.60520212e-02 -2.99608802e-03 2.56508382e+01] [ 5.60515700e-02 9.98427847e-01 -2.34421773e-04 9.92218631e-01] [ 3.00451753e-03 6.61167356e-05 9.99995484e-01 -6.84303144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675769231000004 meters 0.02804787349027337 Centerline is valid? [True, True] Translation: X:25.68, Y:1.00, Z:-0.07 [[ 9.98437492e-01 -5.58258485e-02 -2.45968549e-03 2.56798745e+01] [ 5.58255421e-02 9.98440520e-01 -1.93094299e-04 9.95592842e-01] [ 2.46662931e-03 5.54793120e-05 9.99996956e-01 -6.64921688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705769231000005 meters 0.027426342396256576 Centerline is valid? [True, True] Translation: X:25.71, Y:1.00, Z:-0.07 [[ 9.98401607e-01 -5.64672345e-02 -2.38399782e-03 2.57082865e+01] [ 5.64669475e-02 9.98404451e-01 -1.87560442e-04 9.99632090e-01] [ 2.39078506e-03 5.26435668e-05 9.99997141e-01 -6.61945189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735769231000003 meters 0.026572684599420613 Centerline is valid? [True, True] Translation: X:25.74, Y:1.01, Z:-0.07 [[ 9.98334158e-01 -5.76558816e-02 -2.16971689e-03 2.57363130e+01] [ 5.76556458e-02 9.98336515e-01 -1.71091363e-04 1.00686133e+00] [ 2.17597202e-03 4.57099238e-05 9.99997632e-01 -6.64320238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765769231000004 meters 0.026428673930178323 Centerline is valid? [True, True] Translation: X:25.76, Y:1.01, Z:-0.07 [[ 9.98287754e-01 -5.84404576e-02 -2.50475714e-03 2.57636043e+01] [ 5.84401459e-02 9.98290895e-01 -1.97496044e-04 1.01090913e+00] [ 2.51201801e-03 5.07795094e-05 9.99996844e-01 -6.75278498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795769231000005 meters 0.0249812645394125 Centerline is valid? [True, True] Translation: X:25.79, Y:1.01, Z:-0.07 [[ 9.98217497e-01 -5.96026618e-02 -3.05798483e-03 2.57923028e+01] [ 5.96022007e-02 9.98222179e-01 -2.41760447e-04 1.01253943e+00] [ 3.06695785e-03 5.90668830e-05 9.99995295e-01 -6.88717000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825769231000006 meters 0.021797977847545166 Centerline is valid? [True, True] Translation: X:25.82, Y:1.02, Z:-0.07 [[ 9.97967860e-01 -6.35342118e-02 -4.85329808e-03 2.58197405e+01] [ 6.35330976e-02 9.97979658e-01 -3.83543854e-04 1.01519635e+00] [ 4.86786091e-03 7.44193786e-05 9.99988149e-01 -7.19194565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855769231000004 meters 0.020114467835153912 Centerline is valid? [True, True] Translation: X:25.85, Y:1.02, Z:-0.07 [[ 9.97847505e-01 -6.53132695e-02 -5.87660131e-03 2.58486446e+01] [ 6.53116599e-02 9.97864806e-01 -4.65601454e-04 1.01716769e+00] [ 5.89446358e-03 8.07886624e-05 9.99982624e-01 -7.35828326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885769231000005 meters 0.017945431082438842 Centerline is valid? [True, True] Translation: X:25.88, Y:1.02, Z:-0.07 [[ 9.97674233e-01 -6.79674739e-02 -5.15247624e-03 2.58775362e+01] [ 6.79662672e-02 9.97687536e-01 -4.09137278e-04 1.01711071e+00] [ 5.16836935e-03 5.79911433e-05 9.99986642e-01 -7.26969569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915769231000006 meters 0.01585065097361325 Centerline is valid? [True, True] Translation: X:25.91, Y:1.02, Z:-0.07 [[ 9.97536779e-01 -7.00388008e-02 -3.86545690e-03 2.59067963e+01] [ 7.00381342e-02 9.97544267e-01 -3.07706738e-04 1.01607880e+00] [ 3.87751578e-03 3.62193989e-05 9.99992482e-01 -7.02137005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945769231000003 meters 0.013908983685911081 Centerline is valid? [True, True] Translation: X:25.94, Y:1.02, Z:-0.07 [[ 9.97334999e-01 -7.29076466e-02 -2.71553905e-03 2.59358043e+01] [ 7.29073266e-02 9.97338696e-01 -2.16760125e-04 1.01552569e+00] [ 2.72411564e-03 1.81997673e-05 9.99996289e-01 -6.77085816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.975769231000005 meters 0.012577008531821372 Centerline is valid? [True, True] Translation: X:25.96, Y:1.01, Z:-0.07 [[ 9.97080475e-01 -7.63272723e-02 -2.16173507e-03 2.59634535e+01] [ 7.63270774e-02 9.97082819e-01 -1.72655393e-04 1.01479100e+00] [ 2.16860721e-03 7.15240153e-06 9.99997649e-01 -6.80796772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005769231 meters 0.012747846503142451 Centerline is valid? [True, True] Translation: X:25.99, Y:1.01, Z:-0.07 [[ 9.96553046e-01 -8.29085467e-02 -2.86347247e-03 2.59919007e+01] [ 8.29082299e-02 9.96557160e-01 -2.29377513e-04 1.00636502e+00] [ 2.87263135e-03 -8.81857511e-06 9.99995874e-01 -6.93234161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035769231 meters 0.015311138498376991 Centerline is valid? [True, True] Translation: X:26.02, Y:1.00, Z:-0.07 [[ 9.96080076e-01 -8.84458680e-02 -1.34567377e-03 2.60210238e+01] [ 8.84458031e-02 9.96080985e-01 -1.07814350e-04 9.97759078e-01] [ 1.34993579e-03 -1.16274715e-05 9.99999089e-01 -6.63187158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065769231 meters 0.0177286094608114 Centerline is valid? [True, True] Translation: X:26.05, Y:0.99, Z:-0.06 [[ 9.95862025e-01 -9.08775947e-02 -3.01169526e-04 2.60496478e+01] [ 9.08775916e-02 9.95862070e-01 -2.42454265e-05 9.94126431e-01] [ 3.02126674e-04 -3.22446167e-06 9.99999954e-01 -6.47738147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.095769231 meters 0.019026168533914065 Centerline is valid? [True, True] Translation: X:26.08, Y:0.99, Z:-0.06 [[ 9.95633567e-01 -9.33474410e-02 2.36903823e-04 2.60787438e+01] [ 9.33474392e-02 9.95633595e-01 1.86551926e-05 9.92690722e-01] [-2.37610819e-04 3.54062925e-06 9.99999972e-01 -6.34855565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125769231 meters 0.019827517893339325 Centerline is valid? [True, True] Translation: X:26.11, Y:0.99, Z:-0.06 [[ 9.95438936e-01 -9.54001052e-02 3.79076795e-04 2.61072656e+01] [ 9.54001006e-02 9.95439009e-01 3.03119166e-05 9.91095218e-01] [-3.80239589e-04 5.99030239e-06 9.99999928e-01 -6.35935545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155769231 meters 0.024473151766196494 Centerline is valid? [True, True] Translation: X:26.14, Y:0.98, Z:-0.07 [[ 9.94935178e-01 -1.00500998e-01 -1.88194815e-03 2.61370066e+01] [ 1.00500892e-01 9.94936957e-01 -1.51290399e-04 9.80348247e-01] [ 1.88762460e-03 -3.86133275e-05 9.99998218e-01 -6.90290541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185769231 meters 0.03305758935030051 Centerline is valid? [True, True] Translation: X:26.17, Y:0.96, Z:-0.08 [[ 9.94391607e-01 -1.05652324e-01 -4.78733051e-03 2.61680844e+01] [ 1.05651695e-01 9.94403123e-01 -3.84738446e-04 9.63716343e-01] [ 4.80118492e-03 -1.23208900e-04 9.99988467e-01 -7.51310602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215769231 meters 0.0371071207275274 Centerline is valid? [True, True] Translation: X:26.20, Y:0.96, Z:-0.08 [[ 9.94147855e-01 -1.07897407e-01 -5.30965119e-03 2.61970631e+01] [ 1.07896664e-01 9.94162023e-01 -4.27029738e-04 9.56871495e-01] [ 5.32472897e-03 -1.48362952e-04 9.99985813e-01 -7.63446433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245769231000004 meters 0.03487610532877346 Centerline is valid? [True, True] Translation: X:26.23, Y:0.96, Z:-0.07 [[ 9.93948707e-01 -1.09711280e-01 -5.42243789e-03 2.62253422e+01] [ 1.09710530e-01 9.93963485e-01 -4.36450573e-04 9.58585683e-01] [ 5.43758881e-03 -1.61089054e-04 9.99985203e-01 -7.47033307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.275769231 meters 0.0358668664972954 Centerline is valid? [True, True] Translation: X:26.25, Y:0.96, Z:-0.07 [[ 9.93808685e-01 -1.10982736e-01 -5.20864933e-03 2.62547476e+01] [ 1.10982056e-01 9.93822321e-01 -4.20345861e-04 9.56201665e-01] [ 5.22312311e-03 -1.60323245e-04 9.99986347e-01 -7.42110341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305769231 meters 0.03570137171094076 Centerline is valid? [True, True] Translation: X:26.28, Y:0.95, Z:-0.08 [[ 9.93897965e-01 -1.10148550e-01 -5.84230174e-03 2.62833382e+01] [ 1.10147679e-01 9.93915120e-01 -4.71781289e-04 9.52056601e-01] [ 5.85871806e-03 -1.74613511e-04 9.99982822e-01 -7.59400789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.335769231 meters 0.030661335606111846 Centerline is valid? [True, True] Translation: X:26.31, Y:0.96, Z:-0.08 [[ 9.94479122e-01 -1.04730664e-01 -6.53942348e-03 2.63115960e+01] [ 1.04729454e-01 9.94500610e-01 -5.28169110e-04 9.58316640e-01] [ 6.55877614e-03 -1.59617098e-04 9.99978478e-01 -7.70570711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365769231 meters 0.02633882614752273 Centerline is valid? [True, True] Translation: X:26.34, Y:0.97, Z:-0.08 [[ 9.94887291e-01 -1.00824213e-01 -5.80998141e-03 2.63405332e+01] [ 1.00823191e-01 9.94904249e-01 -4.69375274e-04 9.66210337e-01] [ 5.82769958e-03 -1.18805367e-04 9.99983012e-01 -7.54732856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.395769231 meters 0.023001976875801276 Centerline is valid? [True, True] Translation: X:26.37, Y:0.97, Z:-0.07 [[ 9.95271807e-01 -9.69934511e-02 -5.12843743e-03 2.63684374e+01] [ 9.69926020e-02 9.95285016e-01 -4.14607389e-04 9.73147808e-01] [ 5.14447113e-03 -8.47734453e-05 9.99986764e-01 -7.42306615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425769231000004 meters 0.017604914931845995 Centerline is valid? [True, True] Translation: X:26.40, Y:0.98, Z:-0.07 [[ 9.95834351e-01 -9.10615239e-02 -4.66302586e-03 2.63973755e+01] [ 9.10607566e-02 9.95845267e-01 -3.77050137e-04 9.83954711e-01] [ 4.67798700e-03 -4.91391846e-05 9.99989057e-01 -7.39404920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.455769231 meters 0.016280342180630722 Centerline is valid? [True, True] Translation: X:26.42, Y:0.99, Z:-0.07 [[ 9.96012588e-01 -8.90799931e-02 -4.86606270e-03 2.64244990e+01] [ 8.90791311e-02 9.96024474e-01 -3.94021619e-04 9.89648482e-01] [ 4.88181699e-03 -4.10141443e-05 9.99988083e-01 -7.44099150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485769231 meters 0.014097773528416166 Centerline is valid? [True, True] Translation: X:26.45, Y:1.00, Z:-0.07 [[ 9.96272845e-01 -8.61409972e-02 -4.48856075e-03 2.64530469e+01] [ 8.61402302e-02 9.96282956e-01 -3.64292653e-04 9.99869821e-01] [ 4.50325711e-03 -2.37107786e-05 9.99989860e-01 -7.37936202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.515769231 meters 0.013235338942002146 Centerline is valid? [True, True] Translation: X:26.48, Y:1.01, Z:-0.07 [[ 9.96419399e-01 -8.44594003e-02 -3.87189917e-03 2.64816824e+01] [ 8.44588141e-02 9.96426921e-01 -3.14943645e-04 1.00606117e+00] [ 3.88466452e-03 -1.32000551e-05 9.99992455e-01 -7.27667665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545769231 meters 0.012399262168131637 Centerline is valid? [True, True] Translation: X:26.51, Y:1.01, Z:-0.07 [[ 9.96594362e-01 -8.24102110e-02 -2.86966691e-03 2.65104977e+01] [ 8.24098790e-02 9.96598493e-01 -2.33936349e-04 1.01352404e+00] [ 2.87918446e-03 -3.34925619e-06 9.99995855e-01 -7.06791194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575769231 meters 0.0125154253783469 Centerline is valid? [True, True] Translation: X:26.54, Y:1.03, Z:-0.07 [[ 9.96875764e-01 -7.89608773e-02 -1.97236204e-03 2.65364768e+01] [ 7.89607135e-02 9.96877716e-01 -1.60900256e-04 1.02670499e+00] [ 1.97890859e-03 4.65845160e-06 9.99998042e-01 -6.96785401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605769231000004 meters 0.013470903126358572 Centerline is valid? [True, True] Translation: X:26.56, Y:1.04, Z:-0.07 [[ 9.97025710e-01 -7.69997482e-02 -3.28206509e-03 2.65647051e+01] [ 7.69992821e-02 9.97031112e-01 -2.68317248e-04 1.03642595e+00] [ 3.29298137e-03 1.48025393e-05 9.99994578e-01 -7.19769562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.635769231 meters 0.013643036048336148 Centerline is valid? [True, True] Translation: X:26.59, Y:1.04, Z:-0.07 [[ 9.97072816e-01 -7.63859308e-02 -3.31492612e-03 2.65925297e+01] [ 7.63854497e-02 9.97078327e-01 -2.71701604e-04 1.04104368e+00] [ 3.32599517e-03 1.76941615e-05 9.99994469e-01 -7.07202884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665769231 meters 0.013739677782127672 Centerline is valid? [True, True] Translation: X:26.62, Y:1.05, Z:-0.07 [[ 9.97133194e-01 -7.56161918e-02 -2.75425026e-03 2.66206110e+01] [ 7.56158550e-02 9.97136997e-01 -2.26381725e-04 1.04614972e+00] [ 2.76348296e-03 1.74677438e-05 9.99996181e-01 -6.90656606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.695769231 meters 0.01525127322485974 Centerline is valid? [True, True] Translation: X:26.65, Y:1.06, Z:-0.07 [[ 9.97266579e-01 -7.38701000e-02 -1.60564334e-03 2.66472302e+01] [ 7.38699832e-02 9.97267872e-01 -1.32064489e-04 1.05708499e+00] [ 1.61101213e-03 1.30946552e-05 9.99998702e-01 -6.78577771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725769231 meters 0.015290590605755069 Centerline is valid? [True, True] Translation: X:26.67, Y:1.06, Z:-0.07 [[ 9.97278204e-01 -7.37222374e-02 -1.10216830e-03 2.66749136e+01] [ 7.37221817e-02 9.97278813e-01 -9.11386629e-05 1.06202148e+00] [ 1.10588804e-03 9.63635073e-06 9.99999388e-01 -6.71969901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755769231 meters 0.0145009481270355 Centerline is valid? [True, True] Translation: X:26.70, Y:1.07, Z:-0.07 [[ 9.97172509e-01 -7.51314507e-02 -1.50093137e-03 2.67021070e+01] [ 7.51313493e-02 9.97173638e-01 -1.23873370e-04 1.06621178e+00] [ 1.50599598e-03 1.07561202e-05 9.99998866e-01 -6.83756392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785769231 meters 0.013941357935468307 Centerline is valid? [True, True] Translation: X:26.73, Y:1.07, Z:-0.07 [[ 9.97077970e-01 -7.63619694e-02 -2.09075263e-03 2.67300975e+01] [ 7.63617743e-02 9.97080162e-01 -1.73095847e-04 1.06878762e+00] [ 2.09786591e-03 1.29364754e-05 9.99997799e-01 -6.94045710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.815769231 meters 0.013305223203145172 Centerline is valid? [True, True] Translation: X:26.76, Y:1.07, Z:-0.07 [[ 9.96951661e-01 -7.79491213e-02 -3.36462217e-03 2.67576147e+01] [ 7.79486237e-02 9.96957338e-01 -2.78973456e-04 1.07074905e+00] [ 3.37613050e-03 1.58553832e-05 9.99994301e-01 -7.15756830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845769231 meters 0.0129898848335726 Centerline is valid? [True, True] Translation: X:26.78, Y:1.07, Z:-0.07 [[ 9.96782206e-01 -8.00037940e-02 -4.96252064e-03 2.67847540e+01] [ 8.00027352e-02 9.96794559e-01 -4.11819063e-04 1.07225869e+00] [ 4.97956066e-03 1.34786897e-05 9.99987602e-01 -7.49724539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.875769231 meters 0.013003241267811704 Centerline is valid? [True, True] Translation: X:26.81, Y:1.07, Z:-0.08 [[ 9.96449215e-01 -8.40038904e-02 -5.68399835e-03 2.68130601e+01] [ 8.40025658e-02 9.96465427e-01 -4.71812684e-04 1.07213997e+00] [ 5.70354194e-03 -7.33306596e-06 9.99983735e-01 -7.72412658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905769231 meters 0.013033154602683195 Centerline is valid? [True, True] Translation: X:26.84, Y:1.07, Z:-0.07 [[ 9.96285659e-01 -8.59700326e-02 -4.90294044e-03 2.68409063e+01] [ 8.59690647e-02 9.96297723e-01 -4.08218618e-04 1.07482916e+00] [ 4.91988296e-03 -1.47988484e-05 9.99987897e-01 -7.46036994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935769231 meters 0.014323796426375353 Centerline is valid? [True, True] Translation: X:26.87, Y:1.08, Z:-0.07 [[ 9.95997702e-01 -8.93214178e-02 -3.20352909e-03 2.68689481e+01] [ 8.93210212e-02 9.96002853e-01 -2.66931596e-04 1.07771904e+00] [ 3.21456682e-03 -2.02792333e-05 9.99994833e-01 -7.20501555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965769231 meters 0.01549645684357149 Centerline is valid? [True, True] Translation: X:26.90, Y:1.08, Z:-0.07 [[ 9.95857565e-01 -9.08822270e-02 -2.85145074e-03 2.68966339e+01] [ 9.08819189e-02 9.95861647e-01 -2.37718147e-04 1.07951566e+00] [ 2.86125479e-03 -2.24119005e-05 9.99995906e-01 -7.19148951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995769231000004 meters 0.017675506535664267 Centerline is valid? [True, True] Translation: X:26.92, Y:1.08, Z:-0.07 [[ 9.95604698e-01 -9.36002565e-02 -3.20575083e-03 2.69249057e+01] [ 9.35998806e-02 9.95609859e-01 -2.67419154e-04 1.08200878e+00] [ 3.21670763e-03 -3.38141292e-05 9.99994826e-01 -7.17479757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025769231 meters 0.018849184282822316 Centerline is valid? [True, True] Translation: X:26.95, Y:1.08, Z:-0.07 [[ 9.95457901e-01 -9.51568065e-02 -2.95797623e-03 2.69532324e+01] [ 9.51564913e-02 9.95462295e-01 -2.47447701e-04 1.08421713e+00] [ 2.96810014e-03 -3.51468703e-05 9.99995595e-01 -7.11233612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.055769231 meters 0.020343845738833213 Centerline is valid? [True, True] Translation: X:26.98, Y:1.09, Z:-0.07 [[ 9.95343339e-01 -9.63552621e-02 -2.70193182e-03 2.69805689e+01] [ 9.63550032e-02 9.95347006e-01 -2.26128320e-04 1.08594022e+00] [ 2.71114840e-03 -3.52693314e-05 9.99996324e-01 -7.03440482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085769231 meters 0.021011761309770883 Centerline is valid? [True, True] Translation: X:27.01, Y:1.09, Z:-0.07 [[ 9.95197507e-01 -9.78711315e-02 -1.77875195e-03 2.70091202e+01] [ 9.78710208e-02 9.95199096e-01 -1.49373592e-04 1.09127640e+00] [ 1.78483170e-03 -2.54320436e-05 9.99998407e-01 -6.78255414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115769231 meters 0.021287919916481008 Centerline is valid? [True, True] Translation: X:27.04, Y:1.10, Z:-0.07 [[ 9.95179349e-01 -9.80462505e-02 -2.23526650e-03 2.70370304e+01] [ 9.80460765e-02 9.95181859e-01 -1.87528320e-04 1.09530037e+00] [ 2.24288312e-03 -3.25347996e-05 9.99997484e-01 -6.90168944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145769231 meters 0.020568687974712833 Centerline is valid? [True, True] Translation: X:27.06, Y:1.10, Z:-0.07 [[ 9.95278985e-01 -9.69469202e-02 -4.58664186e-03 2.70631043e+01] [ 9.69461749e-02 9.95289551e-01 -3.85078291e-04 1.10341404e+00] [ 4.60236887e-03 -6.13970531e-05 9.99989407e-01 -7.26023216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175769231000004 meters 0.0198323698343791 Centerline is valid? [True, True] Translation: X:27.09, Y:1.11, Z:-0.07 [[ 9.95338206e-01 -9.63404716e-02 -4.51329899e-03 2.70920025e+01] [ 9.63397397e-02 9.95348437e-01 -3.79800160e-04 1.10893572e+00] [ 4.52889522e-03 -5.67804400e-05 9.99989743e-01 -7.22990413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205769231 meters 0.019624969695810693 Centerline is valid? [True, True] Translation: X:27.12, Y:1.11, Z:-0.07 [[ 9.95362033e-01 -9.61200748e-02 -3.91845431e-03 2.71194192e+01] [ 9.61195213e-02 9.95369745e-01 -3.29789310e-04 1.11270921e+00] [ 3.93201024e-03 -4.83801940e-05 9.99992268e-01 -7.11580683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.235769231 meters 0.019624969695810693 Centerline is valid? [True, True] Translation: X:27.15, Y:1.12, Z:-0.07 [[ 9.95344989e-01 -9.62964128e-02 -3.91837388e-03 2.71467884e+01] [ 9.62958569e-02 9.95352701e-01 -3.30744122e-04 1.11521508e+00] [ 3.93201350e-03 -4.81186659e-05 9.99992268e-01 -7.12171126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265769231 meters 0.019360285507683872 Centerline is valid? [True, True] Translation: X:27.17, Y:1.12, Z:-0.07 [[ 9.95252660e-01 -9.72854601e-02 -2.77160800e-03 2.71743367e+01] [ 9.72851840e-02 9.95256519e-01 -2.34590061e-04 1.12004760e+00] [ 2.78128313e-03 -3.61600122e-05 9.99996132e-01 -6.82076657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295769231 meters 0.021140151392568186 Centerline is valid? [True, True] Translation: X:27.20, Y:1.12, Z:-0.07 [[ 9.95180028e-01 -9.80186520e-02 -3.00914898e-03 2.72017436e+01] [ 9.80183301e-02 9.95184577e-01 -2.54622157e-04 1.12034780e+00] [ 3.01961638e-03 -4.15568725e-05 9.99995440e-01 -6.91950623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325769231 meters 0.022581117409749805 Centerline is valid? [True, True] Translation: X:27.23, Y:1.12, Z:-0.07 [[ 9.95051441e-01 -9.93180988e-02 -2.92305561e-03 2.72301041e+01] [ 9.93178002e-02 9.95055734e-01 -2.47471523e-04 1.11954754e+00] [ 2.93318164e-03 -4.40645577e-05 9.99995697e-01 -6.97655615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355769231000004 meters 0.021100526854126014 Centerline is valid? [True, True] Translation: X:27.26, Y:1.12, Z:-0.07 [[ 9.95024300e-01 -9.96059173e-02 -2.30276460e-03 2.72576125e+01] [ 9.96057311e-02 9.95026964e-01 -1.95688396e-04 1.12386524e+00] [ 2.31080460e-03 -3.46538429e-05 9.99997329e-01 -6.75616881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385769231 meters 0.02110930882713789 Centerline is valid? [True, True] Translation: X:27.29, Y:1.13, Z:-0.07 [[ 9.94990090e-01 -9.99591154e-02 -1.70152714e-03 2.72852801e+01] [ 9.99590135e-02 9.94991545e-01 -1.45021206e-04 1.12697348e+00] [ 1.70750130e-03 -2.57883108e-05 9.99998542e-01 -6.60295411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.415769231 meters 0.022151225372887492 Centerline is valid? [True, True] Translation: X:27.31, Y:1.13, Z:-0.07 [[ 9.94981343e-01 -1.00044003e-01 -1.82329019e-03 2.73121195e+01] [ 1.00043886e-01 9.94983013e-01 -1.55293007e-04 1.12788511e+00] [ 1.82967890e-03 -2.78953915e-05 9.99998326e-01 -6.60432232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445769231 meters 0.0212069708422735 Centerline is valid? [True, True] Translation: X:27.34, Y:1.13, Z:-0.07 [[ 9.94941618e-01 -1.00432339e-01 -2.12652334e-03 2.73402710e+01] [ 1.00432180e-01 9.94943890e-01 -1.81717080e-04 1.13077564e+00] [ 2.13402167e-03 -3.27734893e-05 9.99997722e-01 -6.62436938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475769231 meters 0.02322376220122944 Centerline is valid? [True, True] Translation: X:27.37, Y:1.13, Z:-0.07 [[ 9.94840893e-01 -1.01430867e-01 -1.83761326e-03 2.73689735e+01] [ 1.01430750e-01 9.94842590e-01 -1.56914249e-04 1.12577696e+00] [ 1.84405189e-03 -3.02857799e-05 9.99998299e-01 -6.65965498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505769231 meters 0.02188218785853358 Centerline is valid? [True, True] Translation: X:27.40, Y:1.13, Z:-0.07 [[ 9.94703224e-01 -1.02780084e-01 -1.32314256e-03 2.73980598e+01] [ 1.02780024e-01 9.94704104e-01 -1.13482362e-04 1.12728022e+00] [ 1.32779906e-03 -2.31113519e-05 9.99999118e-01 -6.51675147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535769231 meters 0.02789743355140895 Centerline is valid? [True, True] Translation: X:27.43, Y:1.11, Z:-0.07 [[ 9.94420208e-01 -1.05484554e-01 -1.20768819e-03 2.74269133e+01] [ 1.05484506e-01 9.94420941e-01 -1.03449571e-04 1.11472713e+00] [ 1.21186276e-03 -2.45200483e-05 9.99999265e-01 -6.66666511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565769231 meters 0.025575411479413408 Centerline is valid? [True, True] Translation: X:27.46, Y:1.12, Z:-0.07 [[ 9.94323589e-01 -1.06376507e-01 -2.15398203e-03 2.74557872e+01] [ 1.06376356e-01 9.94325921e-01 -1.85001780e-04 1.11789995e+00] [ 2.16144001e-03 -4.51811248e-05 9.99997663e-01 -6.74427126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.595769231 meters 0.026882412618600388 Centerline is valid? [True, True] Translation: X:27.48, Y:1.12, Z:-0.07 [[ 9.94319429e-01 -1.06397461e-01 -2.90756210e-03 2.74843951e+01] [ 1.06397186e-01 9.94323678e-01 -2.49539952e-04 1.11548202e+00] [ 2.91760826e-03 -6.12340048e-05 9.99995742e-01 -6.91197511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625769231 meters 0.025142956879986873 Centerline is valid? [True, True] Translation: X:27.51, Y:1.11, Z:-0.07 [[ 9.94435306e-01 -1.05269359e-01 -4.09688785e-03 2.75136138e+01] [ 1.05268800e-01 9.94443742e-01 -3.52464626e-04 1.11380389e+00] [ 4.11122821e-03 -8.07711986e-05 9.99991546e-01 -7.02278230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655769231 meters 0.023986666265652885 Centerline is valid? [True, True] Translation: X:27.54, Y:1.11, Z:-0.07 [[ 9.94551602e-01 -1.04128382e-01 -4.93871958e-03 2.75427610e+01] [ 1.04127552e-01 9.94563860e-01 -4.25633803e-04 1.11490341e+00] [ 4.95619256e-03 -9.09419967e-05 9.99987714e-01 -7.09509023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685769231 meters 0.021115596191329616 Centerline is valid? [True, True] Translation: X:27.57, Y:1.12, Z:-0.07 [[ 9.94887401e-01 -1.00780120e-01 -6.51351152e-03 2.75713904e+01] [ 1.00778598e-01 9.94908718e-01 -5.62221057e-04 1.11745894e+00] [ 6.53701010e-03 -9.70759130e-05 9.99978629e-01 -7.40259126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715769231 meters 0.019172721211578928 Centerline is valid? [True, True] Translation: X:27.60, Y:1.12, Z:-0.07 [[ 9.95085126e-01 -9.87914592e-02 -6.77055408e-03 2.76001694e+01] [ 9.87897614e-02 9.95108155e-01 -5.85555308e-04 1.12223303e+00] [ 6.79528145e-03 -8.61840453e-05 9.99976908e-01 -7.47117578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745769231000004 meters 0.01730754975429842 Centerline is valid? [True, True] Translation: X:27.63, Y:1.13, Z:-0.07 [[ 9.95331541e-01 -9.62942185e-02 -6.52282907e-03 2.76280627e+01] [ 9.62925880e-02 9.95352912e-01 -5.64298704e-04 1.12694132e+00] [ 6.54685561e-03 -6.64357943e-05 9.99978567e-01 -7.46776859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.775769231 meters 0.013323085924129039 Centerline is valid? [True, True] Translation: X:27.66, Y:1.14, Z:-0.07 [[ 9.95896658e-01 -9.03251498e-02 -5.58697956e-03 2.76560797e+01] [ 9.03238582e-02 9.95912329e-01 -4.83593561e-04 1.13615420e+00] [ 5.60782249e-03 -2.30283389e-05 9.99984276e-01 -7.20498983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805769231 meters 0.012481867417067463 Centerline is valid? [True, True] Translation: X:27.68, Y:1.14, Z:-0.07 [[ 9.96226019e-01 -8.66455008e-02 -5.12596189e-03 2.76832332e+01] [ 8.66443631e-02 9.96239207e-01 -4.44023517e-04 1.14407145e+00] [ 5.14515685e-03 -1.78792238e-06 9.99986764e-01 -7.17394757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.835769231 meters 0.01633235562874546 Centerline is valid? [True, True] Translation: X:27.71, Y:1.17, Z:-0.07 [[ 9.97046508e-01 -7.66930576e-02 -4.05418146e-03 2.77100428e+01] [ 7.66922597e-02 9.97054749e-01 -3.52132434e-04 1.16536118e+00] [ 4.06924699e-03 4.01680763e-05 9.99991720e-01 -6.81056091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865769231 meters 0.0211354789512141 Centerline is valid? [True, True] Translation: X:27.74, Y:1.18, Z:-0.07 [[ 9.97414969e-01 -7.17688373e-02 -3.55158925e-03 2.77374587e+01] [ 7.17681939e-02 9.97421291e-01 -3.08432163e-04 1.17909196e+00] [ 3.56456655e-03 5.27437099e-05 9.99993646e-01 -6.76980053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.895769231 meters 0.02342805228916002 Centerline is valid? [True, True] Translation: X:27.77, Y:1.19, Z:-0.07 [[ 9.97639576e-01 -6.86262865e-02 -2.38957855e-03 2.77657232e+01] [ 6.86259846e-02 9.97642436e-01 -2.08213898e-04 1.18833749e+00] [ 2.39823392e-03 4.37352439e-05 9.99997123e-01 -6.60126143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925769231000004 meters 0.026848075284365214 Centerline is valid? [True, True] Translation: X:27.79, Y:1.20, Z:-0.06 [[ 9.97883942e-01 -6.50125775e-02 1.00177994e-03 2.77947017e+01] [ 6.50125228e-02 9.97884444e-01 8.71108382e-05 1.19962520e+00] [-1.00532392e-03 -2.17982652e-05 9.99999494e-01 -6.08922615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.955769231 meters 0.029416892044192573 Centerline is valid? [True, True] Translation: X:27.82, Y:1.21, Z:-0.06 [[ 9.97908638e-01 -6.46399665e-02 1.60038034e-04 2.78229129e+01] [ 6.46399651e-02 9.97908650e-01 1.38538815e-05 1.20970234e+00] [-1.60598853e-04 -3.48005511e-06 9.99999987e-01 -6.40968623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985769231 meters 0.028119513774504102 Centerline is valid? [True, True] Translation: X:27.85, Y:1.21, Z:-0.07 [[ 9.97881697e-01 -6.50427381e-02 -1.24926590e-03 2.78515768e+01] [ 6.50426522e-02 9.97882479e-01 -1.09296970e-04 1.21259427e+00] [ 1.25372953e-03 2.78098780e-05 9.99999214e-01 -6.70200446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.015769231 meters 0.027385825824093133 Centerline is valid? [True, True] Translation: X:27.88, Y:1.22, Z:-0.07 [[ 9.97856678e-01 -6.54052183e-02 -2.05116894e-03 2.78803626e+01] [ 6.54049873e-02 9.97858785e-01 -1.79576933e-04 1.21590912e+00] [ 2.05852221e-03 4.50353640e-05 9.99997880e-01 -6.85359454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045769231 meters 0.029587810867223802 Centerline is valid? [True, True] Translation: X:27.91, Y:1.23, Z:-0.07 [[ 9.97849107e-01 -6.54972731e-02 -2.69581927e-03 2.79077419e+01] [ 6.54968745e-02 9.97852747e-01 -2.35974980e-04 1.22566352e+00] [ 2.70548638e-03 5.88996865e-05 9.99996338e-01 -6.95611033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075769231 meters 0.028399914125407627 Centerline is valid? [True, True] Translation: X:27.94, Y:1.23, Z:-0.07 [[ 9.97861888e-01 -6.52933869e-02 -2.90279493e-03 2.79364020e+01] [ 6.52929221e-02 9.97866108e-01 -2.54716118e-04 1.22986494e+00] [ 2.91323196e-03 6.46395433e-05 9.99995754e-01 -6.90471727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105769231000004 meters 0.031194007880289268 Centerline is valid? [True, True] Translation: X:27.96, Y:1.24, Z:-0.07 [[ 9.97971483e-01 -6.36250397e-02 -2.18480162e-03 2.79626240e+01] [ 6.36247723e-02 9.97973873e-01 -1.91750655e-04 1.24324590e+00] [ 2.19257508e-03 5.23541796e-05 9.99997595e-01 -6.81291852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.135769231 meters 0.029514537606929094 Centerline is valid? [True, True] Translation: X:27.99, Y:1.25, Z:-0.07 [[ 9.98020705e-01 -6.28693788e-02 -1.45356106e-03 2.79923364e+01] [ 6.28692596e-02 9.98021763e-01 -1.27560273e-04 1.24645111e+00] [ 1.45870521e-03 3.59234856e-05 9.99998935e-01 -6.64085987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165769231 meters 0.033327246158263386 Centerline is valid? [True, True] Translation: X:28.02, Y:1.26, Z:-0.07 [[ 9.98061172e-01 -6.22315246e-02 -1.06491031e-03 2.80198087e+01] [ 6.22314602e-02 9.98061740e-01 -9.35305721e-05 1.25663257e+00] [ 1.06866679e-03 2.70783090e-05 9.99999429e-01 -6.61801144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.195769231 meters 0.031471836558847534 Centerline is valid? [True, True] Translation: X:28.05, Y:1.27, Z:-0.07 [[ 9.98047216e-01 -6.24485227e-02 -1.39148626e-03 2.80487437e+01] [ 6.24484130e-02 9.98048186e-01 -1.22195891e-04 1.26502304e+00] [ 1.39640129e-03 3.50611604e-05 9.99999024e-01 -6.63678656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225769231 meters 0.03168985447683811 Centerline is valid? [True, True] Translation: X:28.08, Y:1.28, Z:-0.07 [[ 9.97933886e-01 -6.41909187e-02 -2.73607092e-03 2.80770777e+01] [ 6.41905012e-02 9.97937634e-01 -2.40231215e-04 1.27610738e+00] [ 2.74584880e-03 6.41051060e-05 9.99996228e-01 -7.05420935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255769231 meters 0.030395254206710878 Centerline is valid? [True, True] Translation: X:28.11, Y:1.28, Z:-0.07 [[ 9.97817781e-01 -6.58880533e-02 -4.29413472e-03 2.81051339e+01] [ 6.58870364e-02 9.97827017e-01 -3.78011633e-04 1.27936067e+00] [ 4.30971008e-03 9.42589187e-05 9.99990709e-01 -7.37087781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285769231 meters 0.027252332881104905 Centerline is valid? [True, True] Translation: X:28.13, Y:1.28, Z:-0.08 [[ 9.97645707e-01 -6.83423946e-02 -5.68863940e-03 2.81337285e+01] [ 6.83406452e-02 9.97661919e-01 -5.01578130e-04 1.28021573e+00] [ 5.70961795e-03 1.11631981e-04 9.99983694e-01 -7.59612772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.315769231 meters 0.02498070452806842 Centerline is valid? [True, True] Translation: X:28.16, Y:1.28, Z:-0.08 [[ 9.97443502e-01 -7.11345499e-02 -6.80710676e-03 2.81619719e+01] [ 7.11321029e-02 9.97466722e-01 -6.01216499e-04 1.28289010e+00] [ 6.83262973e-03 1.15475672e-04 9.99976651e-01 -7.85680822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345769231 meters 0.017390155859635444 Centerline is valid? [True, True] Translation: X:28.19, Y:1.28, Z:-0.08 [[ 9.97037907e-01 -7.66879645e-02 -5.86237206e-03 2.81918366e+01] [ 7.66862460e-02 9.97055140e-01 -5.17680555e-04 1.28170722e+00] [ 5.88480806e-03 6.65838312e-05 9.99982682e-01 -7.61253806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.375769231 meters 0.013337842601131125 Centerline is valid? [True, True] Translation: X:28.22, Y:1.28, Z:-0.07 [[ 9.96495587e-01 -8.36214717e-02 -1.99886819e-03 2.82202890e+01] [ 8.36212855e-02 9.96497591e-01 -1.76698074e-04 1.28109128e+00] [ 2.00664309e-03 8.93092302e-06 9.99997987e-01 -7.17653868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405769231 meters 0.011754306208106838 Centerline is valid? [True, True] Translation: X:28.25, Y:1.28, Z:-0.07 [[ 9.96114489e-01 -8.80662355e-02 -5.13626792e-04 2.82487819e+01] [ 8.80662238e-02 9.96114621e-01 -4.55242999e-05 1.27813279e+00] [ 5.15640311e-04 1.14242784e-07 9.99999867e-01 -6.88740391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435769231 meters 0.012648387197254932 Centerline is valid? [True, True] Translation: X:28.28, Y:1.28, Z:-0.07 [[ 9.95681459e-01 -9.28354832e-02 7.47942682e-05 2.82783351e+01] [ 9.28354830e-02 9.95681462e-01 6.26537285e-06 1.27528408e+00] [-7.50529152e-05 7.05246435e-07 9.99999997e-01 -6.67727335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465769231 meters 0.01928333659486765 Centerline is valid? [True, True] Translation: X:28.31, Y:1.26, Z:-0.07 [[ 9.94764027e-01 -1.02197795e-01 -3.77256596e-04 2.83095038e+01] [ 1.02197789e-01 9.94764098e-01 -3.34733108e-05 1.26233442e+00] [ 3.78702216e-04 -5.25674474e-06 9.99999928e-01 -6.86801829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495769231000004 meters 0.02345878913594554 Centerline is valid? [True, True] Translation: X:28.34, Y:1.26, Z:-0.07 [[ 9.94307407e-01 -1.06547315e-01 -6.71218669e-04 2.83384509e+01] [ 1.06547299e-01 9.94307633e-01 -5.95985291e-05 1.25591830e+00] [ 6.73747909e-04 -1.22572773e-05 9.99999773e-01 -7.04265298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525769231 meters 0.02951286711520617 Centerline is valid? [True, True] Translation: X:28.37, Y:1.24, Z:-0.07 [[ 9.93578604e-01 -1.13138451e-01 -1.11742680e-03 2.83692956e+01] [ 1.13138411e-01 9.93579232e-01 -9.90878296e-05 1.24437711e+00] [ 1.12146271e-03 -2.79723459e-05 9.99999371e-01 -7.06666530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.555769231 meters 0.03194343844125266 Centerline is valid? [True, True] Translation: X:28.40, Y:1.24, Z:-0.07 [[ 9.93328119e-01 -1.15320760e-01 -6.07941826e-04 2.83974692e+01] [ 1.15320749e-01 9.93328305e-01 -5.40553008e-05 1.24097957e+00] [ 6.10119522e-04 -1.64136562e-05 9.99999814e-01 -6.88782607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585769231 meters 0.034044781408059596 Centerline is valid? [True, True] Translation: X:28.43, Y:1.24, Z:-0.07 [[ 9.93166129e-01 -1.16709213e-01 -2.77714519e-05 2.84256434e+01] [ 1.16709213e-01 9.93166129e-01 -2.58966495e-06 1.23774223e+00] [ 2.78839031e-05 -6.69216769e-07 1.00000000e+00 -6.73912264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615769231 meters 0.03460365193062552 Centerline is valid? [True, True] Translation: X:28.45, Y:1.23, Z:-0.07 [[ 9.93044756e-01 -1.17718157e-01 -2.13258296e-03 2.84545182e+01] [ 1.17718021e-01 9.93047044e-01 -1.90002720e-04 1.23454369e+00] [ 2.14012197e-03 -6.23622401e-05 9.99997708e-01 -7.04600599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645769231 meters 0.03257753562963794 Centerline is valid? [True, True] Translation: X:28.48, Y:1.24, Z:-0.07 [[ 9.93115938e-01 -1.17066156e-01 -4.03098314e-03 2.84836013e+01] [ 1.17065660e-01 9.93124112e-01 -3.59512797e-04 1.23666474e+00] [ 4.04535333e-03 -1.14851813e-04 9.99991811e-01 -7.35589854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675769231000004 meters 0.03274897628843392 Centerline is valid? [True, True] Translation: X:28.51, Y:1.23, Z:-0.08 [[ 9.93429027e-01 -1.14355945e-01 -4.63537843e-03 2.85119414e+01] [ 1.14355260e-01 9.93439834e-01 -4.13409126e-04 1.23059980e+00] [ 4.65224537e-03 -1.19387279e-04 9.99989171e-01 -7.68642612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705769231 meters 0.028875331901295334 Centerline is valid? [True, True] Translation: X:28.54, Y:1.23, Z:-0.07 [[ 9.93617905e-01 -1.12761577e-01 -2.87857332e-03 2.85407337e+01] [ 1.12761305e-01 9.93622072e-01 -2.56886685e-04 1.23446700e+00] [ 2.88918094e-03 -6.93444757e-05 9.99995824e-01 -7.28421278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.735769231 meters 0.027377134394809245 Centerline is valid? [True, True] Translation: X:28.57, Y:1.24, Z:-0.07 [[ 9.93827364e-01 -1.10932848e-01 -1.03661118e-03 2.85681985e+01] [ 1.10932812e-01 9.93827904e-01 -9.26594001e-05 1.23630226e+00] [ 1.04049209e-03 -2.29067453e-05 9.99999458e-01 -6.88152523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765769231 meters 0.021280724912549925 Centerline is valid? [True, True] Translation: X:28.60, Y:1.24, Z:-0.07 [[ 9.94454564e-01 -1.05167092e-01 4.49944011e-05 2.85978864e+01] [ 1.05167092e-01 9.94454565e-01 3.99151632e-06 1.24396473e+00] [-4.51646638e-05 7.62548699e-07 9.99999999e-01 -6.60619329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795769231 meters 0.015177024748596996 Centerline is valid? [True, True] Translation: X:28.63, Y:1.25, Z:-0.07 [[ 9.95287035e-01 -9.69118252e-02 -3.43734853e-03 2.86260686e+01] [ 9.69113429e-02 9.95292971e-01 -3.07007387e-04 1.25422091e+00] [ 3.45092148e-03 -2.75575899e-05 9.99994045e-01 -7.24649551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825769231 meters 0.013102587450914034 Centerline is valid? [True, True] Translation: X:28.65, Y:1.26, Z:-0.08 [[ 9.95701402e-01 -9.24837216e-02 -5.04773760e-03 2.86542225e+01] [ 9.24826193e-02 9.95714196e-01 -4.51870847e-04 1.26357558e+00] [ 5.06789469e-03 -1.68995591e-05 9.99987158e-01 -7.51211621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855769231000004 meters 0.012574282858980632 Centerline is valid? [True, True] Translation: X:28.68, Y:1.27, Z:-0.08 [[ 9.96104513e-01 -8.80352451e-02 -5.05908825e-03 2.86817648e+01] [ 8.80340749e-02 9.96117360e-01 -4.53946435e-04 1.27419295e+00] [ 5.07940892e-03 6.80593797e-06 9.99987100e-01 -7.56138101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885769231 meters 0.01508476027152244 Centerline is valid? [True, True] Translation: X:28.71, Y:1.29, Z:-0.07 [[ 9.96659367e-01 -8.16397741e-02 -2.24795275e-03 2.87084389e+01] [ 8.16395263e-02 9.96661902e-01 -2.01922356e-04 1.28814492e+00] [ 2.25693376e-03 1.77260094e-05 9.99997453e-01 -7.10972348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.915769231 meters 0.01578370078117783 Centerline is valid? [True, True] Translation: X:28.74, Y:1.29, Z:-0.07 [[ 9.96750367e-01 -8.05511694e-02 -4.62755826e-04 2.87355555e+01] [ 8.05511588e-02 9.96750475e-01 -4.16816978e-05 1.29206821e+00] [ 4.64609599e-04 4.27072959e-06 9.99999892e-01 -6.77573073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945769231 meters 0.014571643865993225 Centerline is valid? [True, True] Translation: X:28.76, Y:1.29, Z:-0.06 [[ 9.96654591e-01 -8.17155528e-02 1.48164279e-03 2.87648533e+01] [ 8.17154455e-02 9.96655692e-01 1.32945364e-04 1.29346265e+00] [-1.48755142e-03 -1.14275069e-05 9.99998894e-01 -6.37896702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975769231 meters 0.013936627422194826 Centerline is valid? [True, True] Translation: X:28.79, Y:1.29, Z:-0.06 [[ 9.96515110e-01 -8.34047572e-02 1.13231942e-03 2.87925211e+01] [ 8.34046953e-02 9.96515753e-01 1.01796553e-04 1.29494413e+00] [-1.13686446e-03 -7.00104655e-06 9.99999354e-01 -6.48381878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005769231 meters 0.012361954188372706 Centerline is valid? [True, True] Translation: X:28.82, Y:1.29, Z:-0.07 [[ 9.96289476e-01 -8.60642870e-02 4.67041590e-04 2.88217236e+01] [ 8.60642769e-02 9.96289586e-01 4.17565389e-05 1.29322029e+00] [-4.68902419e-04 -1.40600357e-06 9.99999890e-01 -6.72729625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035769231 meters 0.012137488723303348 Centerline is valid? [True, True] Translation: X:28.85, Y:1.29, Z:-0.07 [[ 9.95848002e-01 -9.10121019e-02 -1.88510330e-03 2.88491486e+01] [ 9.10119421e-02 9.95849787e-01 -1.70543000e-04 1.28510159e+00] [ 1.89280119e-03 -1.73200611e-06 9.99998209e-01 -7.27850461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065769231000004 meters 0.012385001696782453 Centerline is valid? [True, True] Translation: X:28.88, Y:1.28, Z:-0.07 [[ 9.95648148e-01 -9.31679885e-02 -2.11920157e-03 2.88773988e+01] [ 9.31677904e-02 9.95650403e-01 -1.92239646e-04 1.28353762e+00] [ 2.12789448e-03 -6.03827956e-06 9.99997736e-01 -7.14682677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.095769231 meters 0.012828044204231108 Centerline is valid? [True, True] Translation: X:28.91, Y:1.28, Z:-0.07 [[ 9.95474172e-01 -9.50214860e-02 -1.44588696e-03 2.89057076e+01] [ 9.50213959e-02 9.95475222e-01 -1.31092442e-04 1.28118988e+00] [ 1.45180125e-03 -6.89105747e-06 9.99998946e-01 -6.85570336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125769231 meters 0.012828044204231108 Centerline is valid? [True, True] Translation: X:28.93, Y:1.28, Z:-0.07 [[ 9.95455757e-01 -9.52142053e-02 -1.44583577e-03 2.89330587e+01] [ 9.52141145e-02 9.95456807e-01 -1.31656920e-04 1.28385281e+00] [ 1.45180267e-03 -6.60533356e-06 9.99998946e-01 -6.86160721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155769231 meters 0.013105376694828029 Centerline is valid? [True, True] Translation: X:28.96, Y:1.28, Z:-0.07 [[ 9.95461511e-01 -9.51558339e-02 -1.32163629e-03 2.89603182e+01] [ 9.51557579e-02 9.95462389e-01 -1.20431164e-04 1.28440822e+00] [ 1.32709895e-03 -5.87671389e-06 9.99999119e-01 -6.92480469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185769231 meters 0.012579691653981314 Centerline is valid? [True, True] Translation: X:28.99, Y:1.29, Z:-0.07 [[ 9.95521467e-01 -9.45274070e-02 -1.25593941e-03 2.89880977e+01] [ 9.45273373e-02 9.95522260e-01 -1.14808679e-04 1.28584810e+00] [ 1.26116821e-03 -4.42610405e-06 9.99999205e-01 -6.96371808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215769231 meters 0.012696320102603322 Centerline is valid? [True, True] Translation: X:29.02, Y:1.29, Z:-0.07 [[ 9.95511043e-01 -9.46294832e-02 -1.73927020e-03 2.90162213e+01] [ 9.46293496e-02 9.95512562e-01 -1.59168024e-04 1.28800685e+00] [ 1.74652732e-03 -6.13248197e-06 9.99998475e-01 -7.13460417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245769231000004 meters 0.012830231042402019 Centerline is valid? [True, True] Translation: X:29.04, Y:1.29, Z:-0.07 [[ 9.95504435e-01 -9.46860512e-02 -2.33930877e-03 2.90444070e+01] [ 9.46858088e-02 9.95507183e-01 -2.14380487e-04 1.29012910e+00] [ 2.34909753e-03 -8.08261833e-06 9.99997241e-01 -7.24340949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.275769231 meters 0.013060769947390666 Centerline is valid? [True, True] Translation: X:29.07, Y:1.29, Z:-0.07 [[ 9.95418060e-01 -9.55860250e-02 -2.48953013e-03 2.90728878e+01] [ 9.55857523e-02 9.95421173e-01 -2.28597487e-04 1.29055025e+00] [ 2.49998173e-03 -1.04135431e-05 9.99996875e-01 -7.27525304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305769231 meters 0.01343588032114226 Centerline is valid? [True, True] Translation: X:29.10, Y:1.29, Z:-0.07 [[ 9.95354420e-01 -9.62408659e-02 -2.69696368e-03 2.90999642e+01] [ 9.62405469e-02 9.95358074e-01 -2.48118712e-04 1.29180948e+00] [ 2.70832373e-03 -1.25912028e-05 9.99996332e-01 -7.31673418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335769231 meters 0.013756840822214613 Centerline is valid? [True, True] Translation: X:29.13, Y:1.29, Z:-0.07 [[ 9.95283623e-01 -9.69597415e-02 -3.05262915e-03 2.91282962e+01] [ 9.69593346e-02 9.95288304e-01 -2.81368597e-04 1.29426391e+00] [ 3.06552752e-03 -1.59393350e-05 9.99995301e-01 -7.38781140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365769231 meters 0.014636869849067032 Centerline is valid? [True, True] Translation: X:29.16, Y:1.29, Z:-0.08 [[ 9.95144953e-01 -9.83461621e-02 -3.81514997e-03 2.91566348e+01] [ 9.83455372e-02 9.95152266e-01 -3.51493079e-04 1.29443246e+00] [ 3.83122313e-03 -2.54164098e-05 9.99992661e-01 -7.61222751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.395769231 meters 0.014685400854764153 Centerline is valid? [True, True] Translation: X:29.18, Y:1.30, Z:-0.08 [[ 9.95139541e-01 -9.84085272e-02 -3.61333999e-03 2.91846925e+01] [ 9.84079636e-02 9.95146100e-01 -3.33854717e-04 1.29618886e+00] [ 3.62865535e-03 -2.33494008e-05 9.99993416e-01 -7.61076509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425769231000004 meters 0.012722157483728232 Centerline is valid? [True, True] Translation: X:29.21, Y:1.30, Z:-0.07 [[ 9.95479770e-01 -9.49232639e-02 -3.09861995e-03 2.92124899e+01] [ 9.49228310e-02 9.95484592e-01 -2.86807680e-04 1.30367515e+00] [ 3.11185314e-03 -8.61853374e-06 9.99995158e-01 -7.39601586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.455769231 meters 0.012167140117479838 Centerline is valid? [True, True] Translation: X:29.24, Y:1.31, Z:-0.07 [[ 9.95746562e-01 -9.20997587e-02 -2.53365209e-03 2.92411958e+01] [ 9.20994591e-02 9.95749785e-01 -2.34933127e-04 1.31176668e+00] [ 2.54452081e-03 5.85866189e-07 9.99996763e-01 -7.25543339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485769231 meters 0.012738972256649245 Centerline is valid? [True, True] Translation: X:29.27, Y:1.32, Z:-0.07 [[ 9.96017824e-01 -8.91333242e-02 -1.93491451e-03 2.92685202e+01] [ 8.91331429e-02 9.96019704e-01 -1.79922857e-04 1.32041369e+00] [ 1.94325010e-03 6.74136143e-06 9.99998112e-01 -7.15053589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.515769231 meters 0.014391567134468963 Centerline is valid? [True, True] Translation: X:29.30, Y:1.33, Z:-0.07 [[ 9.96256605e-01 -8.64289330e-02 -1.67831714e-03 2.92952056e+01] [ 8.64287928e-02 9.96258019e-01 -1.55983417e-04 1.32868257e+00] [ 1.68551838e-03 1.03445852e-05 9.99998579e-01 -7.11116205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545769231 meters 0.016574655509650354 Centerline is valid? [True, True] Translation: X:29.32, Y:1.34, Z:-0.07 [[ 9.96533574e-01 -8.31872679e-02 -8.45603616e-04 2.93235332e+01] [ 8.31872308e-02 9.96533932e-01 -7.89960320e-05 1.33694630e+00] [ 8.49244161e-04 8.37877482e-06 9.99999639e-01 -6.99152860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575769231 meters 0.017209596789323302 Centerline is valid? [True, True] Translation: X:29.35, Y:1.34, Z:-0.07 [[ 9.96568453e-01 -8.27712489e-02 -4.89475734e-04 2.93514511e+01] [ 8.27712362e-02 9.96568573e-01 -4.60082020e-05 1.34080367e+00] [ 4.91604290e-04 5.33581107e-06 9.99999879e-01 -6.92454894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605769231000004 meters 0.016598543769073423 Centerline is valid? [True, True] Translation: X:29.38, Y:1.34, Z:-0.07 [[ 9.96483635e-01 -8.37855297e-02 -5.91087111e-04 2.93792365e+01] [ 8.37855116e-02 9.96483811e-01 -5.52424217e-05 1.34218090e+00] [ 5.93637253e-04 5.52363320e-06 9.99999824e-01 -7.08130972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.635769231 meters 0.015638313864052372 Centerline is valid? [True, True] Translation: X:29.41, Y:1.34, Z:-0.07 [[ 9.96364489e-01 -8.51809789e-02 -1.41626217e-03 2.94081764e+01] [ 8.51808764e-02 9.96365496e-01 -1.32637476e-04 1.34265386e+00] [ 1.42241295e-03 1.15168184e-05 9.99998988e-01 -7.30465155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665769231 meters 0.01326130277906455 Centerline is valid? [True, True] Translation: X:29.44, Y:1.34, Z:-0.08 [[ 9.96069015e-01 -8.85355653e-02 -2.82337549e-03 2.94379183e+01] [ 8.85351709e-02 9.96073016e-01 -2.64592293e-04 1.33726158e+00] [ 2.83571397e-03 1.35841532e-05 9.99995979e-01 -7.50683769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.695769231 meters 0.01303199474786613 Centerline is valid? [True, True] Translation: X:29.47, Y:1.34, Z:-0.08 [[ 9.95972510e-01 -8.96012419e-02 -3.22126330e-03 2.94651117e+01] [ 8.96007340e-02 9.95977719e-01 -3.01918898e-04 1.33768693e+00] [ 3.23535879e-03 1.20753661e-05 9.99994766e-01 -7.55127741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725769231 meters 0.012773698780278252 Centerline is valid? [True, True] Translation: X:29.49, Y:1.34, Z:-0.08 [[ 9.95867299e-01 -9.07732783e-02 -2.92142367e-03 2.94926743e+01] [ 9.07728633e-02 9.95871584e-01 -2.74604828e-04 1.33815050e+00] [ 2.93428960e-03 8.28397678e-06 9.99995695e-01 -7.51944786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755769231 meters 0.012213353559704312 Centerline is valid? [True, True] Translation: X:29.52, Y:1.34, Z:-0.07 [[ 9.95747104e-01 -9.21212084e-02 -1.17800239e-03 2.95211124e+01] [ 9.21211418e-02 9.95747801e-01 -1.10750790e-04 1.33592870e+00] [ 1.18319578e-03 1.76085334e-06 9.99999300e-01 -7.24059810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785769231 meters 0.012057566057923273 Centerline is valid? [True, True] Translation: X:29.55, Y:1.34, Z:-0.07 [[ 9.95725786e-01 -9.23584172e-02 -2.87036375e-04 2.95493463e+01] [ 9.23584132e-02 9.95725827e-01 -2.74171864e-05 1.33645140e+00] [ 2.88341740e-04 7.89775373e-07 9.99999958e-01 -7.11940701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815769231000004 meters 0.012045651248522977 Centerline is valid? [True, True] Translation: X:29.58, Y:1.34, Z:-0.07 [[ 9.95724955e-01 -9.23677914e-02 -7.16155744e-05 2.95760163e+01] [ 9.23677912e-02 9.95724958e-01 -7.02876870e-06 1.33579435e+00] [ 7.19586466e-05 3.83747974e-07 9.99999997e-01 -7.27673572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845769231 meters 0.012160438360242418 Centerline is valid? [True, True] Translation: X:29.60, Y:1.34, Z:-0.07 [[ 9.95726854e-01 -9.23422363e-02 -9.70897417e-04 2.96039240e+01] [ 9.23421904e-02 9.95727328e-01 -9.20965472e-05 1.33699224e+00] [ 9.75253491e-04 2.04821114e-06 9.99999524e-01 -7.31278637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.875769231 meters 0.012507608007181759 Centerline is valid? [True, True] Translation: X:29.63, Y:1.34, Z:-0.08 [[ 9.95738677e-01 -9.21651253e-02 -3.17429410e-03 2.96319900e+01] [ 9.21646371e-02 9.95743737e-01 -3.00067835e-04 1.33796931e+00] [ 3.18843926e-03 6.23148496e-06 9.99994917e-01 -7.60027811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905769231 meters 0.012705686506614241 Centerline is valid? [True, True] Translation: X:29.66, Y:1.34, Z:-0.08 [[ 9.95774879e-01 -9.17569145e-02 -3.61377295e-03 2.96596012e+01] [ 9.17562783e-02 9.95781436e-01 -3.41803923e-04 1.34091525e+00] [ 3.62989090e-03 8.77340323e-06 9.99993412e-01 -7.73146223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935769231 meters 0.013011559294341531 Centerline is valid? [True, True] Translation: X:29.69, Y:1.34, Z:-0.08 [[ 9.95857633e-01 -9.08642769e-02 -3.35538348e-03 2.96878347e+01] [ 9.08637202e-02 9.95863285e-01 -3.18298092e-04 1.34465742e+00] [ 3.37042514e-03 1.20969588e-05 9.99994320e-01 -7.65922559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965769231 meters 0.015339510083435178 Centerline is valid? [True, True] Translation: X:29.72, Y:1.35, Z:-0.08 [[ 9.96133998e-01 -8.78183493e-02 -2.23490881e-03 2.97150306e+01] [ 8.78180947e-02 9.96136505e-01 -2.11994158e-04 1.35366381e+00] [ 2.24489123e-03 1.49091547e-05 9.99997480e-01 -7.58681029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995769231000004 meters 0.015122965986940295 Centerline is valid? [True, True] Translation: X:29.74, Y:1.36, Z:-0.07 [[ 9.96229770e-01 -8.67319514e-02 -1.95279414e-03 2.97440225e+01] [ 8.67317538e-02 9.96231684e-01 -1.85800271e-04 1.35722431e+00] [ 1.96155022e-03 1.57305003e-05 9.99998076e-01 -7.33640218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025769231 meters 0.01743682184989802 Centerline is valid? [True, True] Translation: X:29.77, Y:1.37, Z:-0.07 [[ 9.96301573e-01 -8.59041260e-02 -1.91224224e-03 2.97706452e+01] [ 8.59039349e-02 9.96303408e-01 -1.81992940e-04 1.36582751e+00] [ 1.92080741e-03 1.70507187e-05 9.99998155e-01 -7.44693707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.055769231 meters 0.015132762083808865 Centerline is valid? [True, True] Translation: X:29.80, Y:1.36, Z:-0.07 [[ 9.96220815e-01 -8.68417140e-02 -1.61373368e-03 2.97998306e+01] [ 8.68415784e-02 9.96222122e-01 -1.54039063e-04 1.36483200e+00] [ 1.62101421e-03 1.33177404e-05 9.99998686e-01 -7.26718303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085769231 meters 0.013392004146474063 Centerline is valid? [True, True] Translation: X:29.83, Y:1.36, Z:-0.07 [[ 9.95957434e-01 -8.98206928e-02 -1.01654544e-03 2.98282505e+01] [ 8.98206406e-02 9.95957952e-01 -9.69960434e-05 1.36343984e+00] [ 1.02114877e-03 5.29716780e-06 9.99999479e-01 -7.20161428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115769231 meters 0.012892347936695426 Centerline is valid? [True, True] Translation: X:29.86, Y:1.36, Z:-0.07 [[ 9.95841543e-01 -9.10992498e-02 -7.40358974e-04 2.98560282e+01] [ 9.10992222e-02 9.95841818e-01 -7.10972953e-05 1.36428351e+00] [ 7.43757337e-04 3.35551353e-06 9.99999723e-01 -7.15475913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145769231 meters 0.012340973065473224 Centerline is valid? [True, True] Translation: X:29.88, Y:1.36, Z:-0.07 [[ 9.95644909e-01 -9.32257903e-02 -4.09492167e-04 2.98841351e+01] [ 9.32257821e-02 9.95644993e-01 -3.92490441e-05 1.36432739e+00] [ 4.11367849e-04 9.02883438e-07 9.99999915e-01 -7.21144902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175769231000004 meters 0.012067730701169975 Centerline is valid? [True, True] Translation: X:29.91, Y:1.37, Z:-0.07 [[ 9.95538470e-01 -9.43540048e-02 -6.90598246e-04 2.99121703e+01] [ 9.43539814e-02 9.95538709e-01 -6.65139436e-05 1.36536755e+00] [ 6.93793143e-04 1.05649564e-06 9.99999759e-01 -7.19793030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205769231 meters 0.01212779321708977 Centerline is valid? [True, True] Translation: X:29.94, Y:1.37, Z:-0.07 [[ 9.95459323e-01 -9.51769584e-02 -1.44316027e-03 2.99395693e+01] [ 9.51768577e-02 9.95460369e-01 -1.38446099e-04 1.36707316e+00] [ 1.44978573e-03 4.62000103e-07 9.99998949e-01 -7.34489667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.235769231 meters 0.01279891820891229 Centerline is valid? [True, True] Translation: X:29.97, Y:1.37, Z:-0.08 [[ 9.95239455e-01 -9.73963122e-02 -3.51929767e-03 2.99680469e+01] [ 9.73957277e-02 9.95245677e-01 -3.37516955e-04 1.36553253e+00] [ 3.53543870e-03 -6.85436680e-06 9.99993750e-01 -7.81228222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265769231 meters 0.012932201160237005 Centerline is valid? [True, True] Translation: X:30.00, Y:1.37, Z:-0.08 [[ 9.95188964e-01 -9.78960588e-02 -3.90987807e-03 2.99959341e+01] [ 9.78953373e-02 9.95196645e-01 -3.75959259e-04 1.36672657e+00] [ 3.92790247e-03 -8.60832733e-06 9.99992286e-01 -7.81227795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295769231 meters 0.012736078939853946 Centerline is valid? [True, True] Translation: X:30.02, Y:1.37, Z:-0.08 [[ 9.95239519e-01 -9.74124847e-02 -3.01775581e-03 3.00233927e+01] [ 9.74120522e-02 9.95244095e-01 -2.90321931e-04 1.36844193e+00] [ 3.03168463e-03 -5.02592810e-06 9.99995404e-01 -7.67129774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325769231 meters 0.012341221284426952 Centerline is valid? [True, True] Translation: X:30.05, Y:1.37, Z:-0.08 [[ 9.95324412e-01 -9.65686823e-02 -1.95043247e-03 3.00509868e+01] [ 9.65684996e-02 9.95326323e-01 -1.87872007e-04 1.37225741e+00] [ 1.95945933e-03 -1.35674298e-06 9.99998080e-01 -7.66784732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355769231000004 meters 0.012138182882451078 Centerline is valid? [True, True] Translation: X:30.08, Y:1.38, Z:-0.07 [[ 9.95421326e-01 -9.55809508e-02 -8.15629723e-04 3.00786457e+01] [ 9.55809181e-02 9.95421660e-01 -7.90232715e-05 1.37737998e+00] [ 8.19448612e-04 7.02812025e-07 9.99999664e-01 -7.33249336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385769231 meters 0.012415324722151901 Centerline is valid? [True, True] Translation: X:30.11, Y:1.38, Z:-0.07 [[ 9.95612049e-01 -9.35720472e-02 9.59252846e-04 3.01052757e+01] [ 9.35720016e-02 9.95612511e-01 9.23330935e-05 1.38441345e+00] [-9.63683931e-04 -2.16873160e-06 9.99999536e-01 -6.93975571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.415769231 meters 0.012601648672861081 Centerline is valid? [True, True] Translation: X:30.13, Y:1.39, Z:-0.07 [[ 9.95650382e-01 -9.31603097e-02 1.21388815e-03 3.01330585e+01] [ 9.31602363e-02 9.95651122e-01 1.17016608e-04 1.38794476e+00] [-1.21951041e-03 -3.42152328e-06 9.99999256e-01 -6.83527491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445769231 meters 0.01276061168296843 Centerline is valid? [True, True] Translation: X:30.16, Y:1.39, Z:-0.07 [[ 9.95663716e-01 -9.30254359e-02 1.83252899e-04 3.01613010e+01] [ 9.30254343e-02 9.95663733e-01 1.73656623e-05 1.38874414e+00] [-1.84073713e-04 -2.43179378e-07 9.99999983e-01 -7.00675935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475769231 meters 0.012769305059340397 Centerline is valid? [True, True] Translation: X:30.19, Y:1.39, Z:-0.07 [[ 9.95644891e-01 -9.32265666e-02 -2.42292063e-04 3.01888658e+01] [ 9.32265635e-02 9.95644920e-01 -2.39160347e-05 1.39003948e+00] [ 2.43466472e-04 1.22382127e-06 9.99999970e-01 -7.16233152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505769231 meters 0.012952659093995865 Centerline is valid? [True, True] Translation: X:30.22, Y:1.39, Z:-0.07 [[ 9.95658367e-01 -9.30822272e-02 -3.40554359e-04 3.02155365e+01] [ 9.30822212e-02 9.95658425e-01 -3.33761160e-05 1.39230436e+00] [ 3.42182540e-04 1.53165297e-06 9.99999941e-01 -7.23575710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535769231 meters 0.014128264026486094 Centerline is valid? [True, True] Translation: X:30.24, Y:1.40, Z:-0.07 [[ 9.95815438e-01 -9.13851440e-02 -6.07482030e-04 3.02429255e+01] [ 9.13851249e-02 9.95815623e-01 -5.92091326e-05 1.39785629e+00] [ 6.10350931e-04 3.44654713e-06 9.99999814e-01 -7.23569819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565769231000004 meters 0.01486117367653499 Centerline is valid? [True, True] Translation: X:30.27, Y:1.40, Z:-0.07 [[ 9.95977062e-01 -8.96048970e-02 -8.08529153e-04 3.02710349e+01] [ 8.96048623e-02 9.95977391e-01 -7.91376878e-05 1.40278092e+00] [ 8.12367880e-04 6.37117840e-06 9.99999670e-01 -7.22941300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.595769231 meters 0.020098516645887878 Centerline is valid? [True, True] Translation: X:30.30, Y:1.42, Z:-0.07 [[ 9.96504826e-01 -8.35127587e-02 -1.93676098e-03 3.02981999e+01] [ 8.35125493e-02 9.96506708e-01 -1.88905296e-04 1.41788866e+00] [ 1.94577131e-03 2.65011928e-05 9.99998107e-01 -7.29186917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625769231 meters 0.02376834756796628 Centerline is valid? [True, True] Translation: X:30.33, Y:1.43, Z:-0.07 [[ 9.96829576e-01 -7.95303511e-02 -2.39175535e-03 3.03264884e+01] [ 7.95300201e-02 9.96832444e-01 -2.33318012e-04 1.42910381e+00] [ 2.40273519e-03 4.23619444e-05 9.99997113e-01 -7.36615642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655769231 meters 0.03567049028390462 Centerline is valid? [True, True] Translation: X:30.35, Y:1.46, Z:-0.07 [[ 9.97423085e-01 -7.17381462e-02 -9.09978627e-04 3.03538420e+01] [ 7.17380951e-02 9.97423500e-01 -8.87699087e-05 1.45515516e+00] [ 9.14002256e-04 2.32610229e-05 9.99999582e-01 -7.25778143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685769231 meters 0.038728202298785507 Centerline is valid? [True, True] Translation: X:30.38, Y:1.47, Z:-0.07 [[ 9.97606495e-01 -6.91440751e-02 6.15566324e-04 3.03825303e+01] [ 6.91440513e-02 9.97606684e-01 6.00022120e-05 1.46582019e+00] [-6.18241877e-04 -1.72958469e-05 9.99999809e-01 -6.96571861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715769231 meters 0.04104391257202655 Centerline is valid? [True, True] Translation: X:30.41, Y:1.48, Z:-0.07 [[ 9.97696255e-01 -6.78191725e-02 1.65626015e-03 3.04089745e+01] [ 6.78189978e-02 9.97697628e-01 1.61523655e-04 1.47577949e+00] [-1.66340122e-03 -4.88256426e-05 9.99998615e-01 -6.70946166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745769231000004 meters 0.043386491176653184 Centerline is valid? [True, True] Translation: X:30.44, Y:1.49, Z:-0.07 [[ 9.97747011e-01 -6.70875698e-02 4.01175891e-04 3.04364334e+01] [ 6.70875595e-02 9.97747091e-01 3.91167880e-05 1.49089832e+00] [-4.02896328e-04 -1.21147469e-05 9.99999919e-01 -7.01964293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.775769231 meters 0.04302415944980785 Centerline is valid? [True, True] Translation: X:30.47, Y:1.50, Z:-0.07 [[ 9.97760794e-01 -6.68794736e-02 -7.30939202e-04 3.04651324e+01] [ 6.68794392e-02 9.97761061e-01 -7.14579848e-05 1.49788177e+00] [ 7.34081746e-04 2.24131717e-05 9.99999730e-01 -7.31991701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805769231 meters 0.04245862889658869 Centerline is valid? [True, True] Translation: X:30.49, Y:1.51, Z:-0.07 [[ 9.97727272e-01 -6.73651930e-02 -1.49038000e-03 3.04937670e+01] [ 6.73650497e-02 9.97728384e-01 -1.46155995e-04 1.50506404e+00] [ 1.49684025e-03 4.54242996e-05 9.99998879e-01 -7.43608736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835769231 meters 0.033935493754781144 Centerline is valid? [True, True] Translation: X:30.52, Y:1.51, Z:-0.07 [[ 9.97540675e-01 -7.00869476e-02 -6.49206286e-04 3.05237322e+01] [ 7.00869211e-02 9.97540886e-01 -6.35900906e-05 1.50532256e+00] [ 6.52066649e-04 1.79328321e-05 9.99999787e-01 -7.18166428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865769231 meters 0.03148620163468873 Centerline is valid? [True, True] Translation: X:30.55, Y:1.51, Z:-0.07 [[ 9.97334897e-01 -7.29594972e-02 -1.25832731e-04 3.05526072e+01] [ 7.29594962e-02 9.97334905e-01 -1.23684928e-05 1.50778398e+00] [ 1.26399774e-04 3.15483677e-06 9.99999992e-01 -7.15015598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.895769231 meters 0.024483195277241212 Centerline is valid? [True, True] Translation: X:30.58, Y:1.50, Z:-0.08 [[ 9.96570030e-01 -8.27460371e-02 -1.12635197e-03 3.05831811e+01] [ 8.27459653e-02 9.96570666e-01 -1.10234780e-04 1.50279652e+00] [ 1.13161083e-03 1.66555971e-05 9.99999360e-01 -7.57209858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925769231000004 meters 0.0176586544160296 Centerline is valid? [True, True] Translation: X:30.61, Y:1.49, Z:-0.08 [[ 9.96035874e-01 -8.89419934e-02 -1.36371063e-03 3.06133508e+01] [ 8.89418933e-02 9.96036807e-01 -1.33972098e-04 1.49431879e+00] [ 1.37022172e-03 1.21500109e-05 9.99999061e-01 -7.66483947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.955769231 meters 0.012817758809540914 Centerline is valid? [True, True] Translation: X:30.64, Y:1.48, Z:-0.07 [[ 9.94987139e-01 -9.99981039e-02 -9.86559374e-04 3.06437431e+01] [ 9.99980566e-02 9.94987628e-01 -9.72451648e-05 1.47661716e+00] [ 9.91338704e-04 -1.89633187e-06 9.99999509e-01 -7.28730609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985769231 meters 0.01601369327711318 Centerline is valid? [True, True] Translation: X:30.67, Y:1.47, Z:-0.07 [[ 9.94503544e-01 -1.04702647e-01 -2.37393260e-04 3.06723695e+01] [ 1.04702644e-01 9.94503573e-01 -2.34560895e-05 1.46801868e+00] [ 2.38544360e-04 -1.52853788e-06 9.99999972e-01 -7.30262863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.015769231 meters 0.018127546665429695 Centerline is valid? [True, True] Translation: X:30.70, Y:1.46, Z:-0.07 [[ 9.94099640e-01 -1.08469684e-01 4.82464597e-04 3.07012074e+01] [ 1.08469674e-01 9.94099757e-01 4.73131869e-05 1.46418458e+00] [-4.84749986e-04 5.29875560e-06 9.99999882e-01 -7.14432890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045769231 meters 0.021561115910562666 Centerline is valid? [True, True] Translation: X:30.73, Y:1.46, Z:-0.07 [[ 9.93492798e-01 -1.13880890e-01 1.78950058e-03 3.07317553e+01] [ 1.13880758e-01 9.93494410e-01 1.75924655e-04 1.45751353e+00] [-1.79789328e-03 2.90098046e-05 9.99998383e-01 -6.77491903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075769231 meters 0.021561115910562666 Centerline is valid? [True, True] Translation: X:30.76, Y:1.46, Z:-0.07 [[ 9.93471316e-01 -1.14068142e-01 1.78950210e-03 3.07590890e+01] [ 1.14068010e-01 9.93472928e-01 1.75909186e-04 1.46038961e+00] [-1.79788753e-03 2.93642133e-05 9.99998383e-01 -6.78082358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105769231000004 meters 0.022723630175634366 Centerline is valid? [True, True] Translation: X:30.79, Y:1.46, Z:-0.07 [[ 9.93272167e-01 -1.15791707e-01 1.63789105e-03 3.07881479e+01] [ 1.15791598e-01 9.93273517e-01 1.61294459e-04 1.46059584e+00] [-1.64555036e-03 2.94447247e-05 9.99998646e-01 -6.77962254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.135769231 meters 0.024169712542863934 Centerline is valid? [True, True] Translation: X:30.82, Y:1.46, Z:-0.07 [[ 9.93189182e-01 -1.16507251e-01 -1.14412179e-03 3.08158477e+01] [ 1.16507198e-01 9.93189841e-01 -1.13152748e-04 1.45833173e+00] [ 1.14951325e-03 -2.09163376e-05 9.99999339e-01 -7.23378545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165769231 meters 0.024745464675875625 Centerline is valid? [True, True] Translation: X:30.84, Y:1.46, Z:-0.07 [[ 9.93143054e-01 -1.16889280e-01 -1.94157321e-03 3.08442604e+01] [ 1.16889128e-01 9.93144952e-01 -1.92122179e-04 1.45769734e+00] [ 1.95072065e-03 -3.61439908e-05 9.99998097e-01 -7.39958026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.195769231 meters 0.025082207776646017 Centerline is valid? [True, True] Translation: X:30.87, Y:1.46, Z:-0.07 [[ 9.93058335e-01 -1.17607387e-01 -1.90923694e-03 3.08728112e+01] [ 1.17607241e-01 9.93060170e-01 -1.89401009e-04 1.45736373e+00] [ 1.91826212e-03 -3.64538374e-05 9.99998159e-01 -7.43472275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225769231 meters 0.026120958835246448 Centerline is valid? [True, True] Translation: X:30.90, Y:1.45, Z:-0.07 [[ 9.92904550e-01 -1.18897067e-01 -2.01047914e-03 3.09021897e+01] [ 1.18896906e-01 9.92906585e-01 -1.99756395e-04 1.45445849e+00] [ 2.01996842e-03 -4.07007162e-05 9.99997959e-01 -7.39843476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255769231 meters 0.024603716647903156 Centerline is valid? [True, True] Translation: X:30.93, Y:1.46, Z:-0.07 [[ 9.93136798e-01 -1.16933624e-01 -2.41394406e-03 3.09304179e+01] [ 1.16933387e-01 9.93139731e-01 -2.39686936e-04 1.45553333e+00] [ 2.42541122e-03 -4.42287377e-05 9.99997058e-01 -7.41905304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285769231 meters 0.022858593421157786 Centerline is valid? [True, True] Translation: X:30.96, Y:1.46, Z:-0.07 [[ 9.93381202e-01 -1.14840971e-01 -2.31074645e-03 3.09581570e+01] [ 1.14840747e-01 9.93383889e-01 -2.29577425e-04 1.45977696e+00] [ 2.32182319e-03 -3.73099514e-05 9.99997304e-01 -7.36588808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315769231000004 meters 0.020485185012116942 Centerline is valid? [True, True] Translation: X:30.99, Y:1.47, Z:-0.07 [[ 9.93653594e-01 -1.12454165e-01 -2.56828289e-03 3.09869534e+01] [ 1.12453879e-01 9.93656912e-01 -2.55729828e-04 1.46593546e+00] [ 2.58074993e-03 -3.47065111e-05 9.99996669e-01 -7.34816609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345769231 meters 0.015118469449336007 Centerline is valid? [True, True] Translation: X:31.01, Y:1.48, Z:-0.07 [[ 9.94402200e-01 -1.05610215e-01 -3.27816418e-03 3.10144146e+01] [ 1.05609713e-01 9.94407604e-01 -3.26259442e-04 1.47923176e+00] [ 3.29428772e-03 -2.17728723e-05 9.99994574e-01 -7.45447374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.375769231 meters 0.013500781399921398 Centerline is valid? [True, True] Translation: X:31.04, Y:1.49, Z:-0.08 [[ 9.94806507e-01 -1.01723208e-01 -3.52171282e-03 3.10415798e+01] [ 1.01722603e-01 9.94812741e-01 -3.50721126e-04 1.48787071e+00] [ 3.53912126e-03 -9.33813794e-06 9.99993737e-01 -7.50740810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405769231 meters 0.014706537830482815 Centerline is valid? [True, True] Translation: X:31.07, Y:1.51, Z:-0.08 [[ 9.95577056e-01 -9.38821571e-02 -3.53060166e-03 3.10678919e+01] [ 9.38814998e-02 9.95583317e-01 -3.51805452e-04 1.50559148e+00] [ 3.54803636e-03 1.87912569e-05 9.99993706e-01 -7.54215180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435769231 meters 0.017145006779786823 Centerline is valid? [True, True] Translation: X:31.09, Y:1.52, Z:-0.07 [[ 9.95887791e-01 -9.05471190e-02 -2.95402535e-03 3.10947938e+01] [ 9.05466437e-02 9.95892172e-01 -2.94540298e-04 1.51664371e+00] [ 2.96856050e-03 2.58520057e-05 9.99995593e-01 -7.45580619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465769231 meters 0.019971668116705598 Centerline is valid? [True, True] Translation: X:31.12, Y:1.53, Z:-0.07 [[ 9.96174762e-01 -8.73589131e-02 -2.06498243e-03 3.11222467e+01] [ 8.73586728e-02 9.96176902e-01 -2.06482110e-04 1.53057713e+00] [ 2.07512585e-03 2.52981421e-05 9.99997847e-01 -7.35798133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495769231000004 meters 0.02003656078963548 Centerline is valid? [True, True] Translation: X:31.15, Y:1.54, Z:-0.07 [[ 9.96156109e-01 -8.75627299e-02 -2.40294576e-03 3.11485633e+01] [ 8.75624051e-02 9.96159007e-01 -2.40239215e-04 1.53623825e+00] [ 2.41475207e-03 2.89080511e-05 9.99997084e-01 -7.46176610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525769231 meters 0.01895815638087809 Centerline is valid? [True, True] Translation: X:31.18, Y:1.54, Z:-0.08 [[ 9.96028414e-01 -8.89940794e-02 -2.72991738e-03 3.11770462e+01] [ 8.89936640e-02 9.96032155e-01 -2.73504433e-04 1.54046825e+00] [ 2.74342576e-03 2.94728364e-05 9.99996236e-01 -7.55350744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.555769231 meters 0.015189875354022823 Centerline is valid? [True, True] Translation: X:31.20, Y:1.54, Z:-0.08 [[ 9.95576400e-01 -9.39293151e-02 -2.21697067e-03 3.12047820e+01] [ 9.39290532e-02 9.95578869e-01 -2.22201890e-04 1.54144406e+00] [ 2.22804043e-03 1.29810014e-05 9.99997518e-01 -7.51452417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585769231 meters 0.013424628464862948 Centerline is valid? [True, True] Translation: X:31.23, Y:1.54, Z:-0.08 [[ 9.95185759e-01 -9.79831882e-02 -2.14490347e-03 3.12340759e+01] [ 9.79829514e-02 9.95188070e-01 -2.15472801e-04 1.53999041e+00] [ 2.15569506e-03 4.27149028e-06 9.99997676e-01 -7.51089359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615769231 meters 0.015945576661229297 Centerline is valid? [True, True] Translation: X:31.26, Y:1.53, Z:-0.07 [[ 9.94259710e-01 -1.06992519e-01 -4.80442165e-04 3.12629714e+01] [ 1.06992508e-01 9.94259826e-01 -4.83341188e-05 1.52893189e+00] [ 4.82855733e-04 -3.34704512e-06 9.99999883e-01 -7.23283002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645769231 meters 0.019558499441018312 Centerline is valid? [True, True] Translation: X:31.29, Y:1.53, Z:-0.07 [[ 9.93800456e-01 -1.11176822e-01 -6.07306283e-04 3.12921309e+01] [ 1.11176805e-01 9.93800641e-01 -6.13684017e-05 1.52524178e+00] [ 6.10364117e-04 -6.53042667e-06 9.99999814e-01 -7.25194618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675769231000004 meters 0.022844981091066186 Centerline is valid? [True, True] Translation: X:31.32, Y:1.52, Z:-0.08 [[ 9.93435418e-01 -1.14379781e-01 -1.82616774e-03 3.13211829e+01] [ 1.14379636e-01 9.93437097e-01 -1.84154469e-04 1.52313019e+00] [ 1.83524633e-03 -2.59308299e-05 9.99998316e-01 -7.50569472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705769231 meters 0.023502582352947405 Centerline is valid? [True, True] Translation: X:31.35, Y:1.52, Z:-0.08 [[ 9.92990147e-01 -1.18101031e-01 -4.76603950e-03 3.13510749e+01] [ 1.18100088e-01 9.93001581e-01 -4.79933286e-04 1.52492102e+00] [ 4.78936537e-03 -8.63006591e-05 9.99988527e-01 -7.93747352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.735769231 meters 0.024791014620133722 Centerline is valid? [True, True] Translation: X:31.38, Y:1.52, Z:-0.08 [[ 9.92847667e-01 -1.19291925e-01 -4.79031668e-03 3.13800758e+01] [ 1.19290981e-01 9.92859219e-01 -4.83405670e-04 1.52495724e+00] [ 4.81377647e-03 -9.14933818e-05 9.99988410e-01 -7.92315825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765769231 meters 0.0259779036746026 Centerline is valid? [True, True] Translation: X:31.41, Y:1.52, Z:-0.08 [[ 9.92700866e-01 -1.20530411e-01 -4.17249484e-03 3.14085761e+01] [ 1.20529705e-01 9.92709632e-01 -4.21147115e-04 1.52195487e+00] [ 4.19283686e-03 -8.48364686e-05 9.99991206e-01 -7.69018751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795769231 meters 0.026773977056887218 Centerline is valid? [True, True] Translation: X:31.44, Y:1.52, Z:-0.08 [[ 9.92563945e-01 -1.21655298e-01 -4.09930751e-03 3.14373049e+01] [ 1.21654622e-01 9.92572406e-01 -4.14675431e-04 1.52129502e+00] [ 4.11930698e-03 -8.71078261e-05 9.99991512e-01 -7.67661489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825769231 meters 0.028354473409432448 Centerline is valid? [True, True] Translation: X:31.47, Y:1.52, Z:-0.08 [[ 9.92341364e-01 -1.23459821e-01 -4.03616861e-03 3.14662360e+01] [ 1.23459179e-01 9.92349567e-01 -4.08966393e-04 1.51906504e+00] [ 4.05578109e-03 -9.24677935e-05 9.99991771e-01 -7.65289815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855769231000004 meters 0.03341628439924049 Centerline is valid? [True, True] Translation: X:31.50, Y:1.51, Z:-0.07 [[ 9.91745796e-01 -1.28200079e-01 -2.23964037e-03 3.14964615e+01] [ 1.28199893e-01 9.91748323e-01 -2.26838155e-04 1.50632389e+00] [ 2.25024025e-03 -6.21558685e-05 9.99997466e-01 -7.44459074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885769231 meters 0.03686132221523655 Centerline is valid? [True, True] Translation: X:31.53, Y:1.50, Z:-0.07 [[ 9.91353994e-01 -1.31202600e-01 -1.77121666e-03 3.15276235e+01] [ 1.31202488e-01 9.91355574e-01 -1.79445855e-04 1.49575435e+00] [ 1.77944928e-03 -5.44936688e-05 9.99998415e-01 -7.36630518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.915769231 meters 0.03718911783014168 Centerline is valid? [True, True] Translation: X:31.56, Y:1.49, Z:-0.07 [[ 9.91318373e-01 -1.31465262e-01 -2.18377582e-03 3.15559609e+01] [ 1.31465092e-01 9.91320776e-01 -2.21986270e-04 1.49459963e+00] [ 2.19400583e-03 -6.70312217e-05 9.99997591e-01 -7.46591235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945769231 meters 0.03640813023823756 Centerline is valid? [True, True] Translation: X:31.59, Y:1.50, Z:-0.08 [[ 9.91411163e-01 -1.30736603e-01 -3.44179666e-03 3.15852584e+01] [ 1.30736175e-01 9.91417132e-01 -3.50082217e-04 1.49603589e+00] [ 3.45802473e-03 -1.02891910e-04 9.99994016e-01 -7.56652079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975769231 meters 0.034559080206226396 Centerline is valid? [True, True] Translation: X:31.61, Y:1.50, Z:-0.08 [[ 9.91686430e-01 -1.28597820e-01 -4.54140134e-03 3.16141073e+01] [ 1.28597053e-01 9.91696821e-01 -4.61811719e-04 1.49972732e+00] [ 4.56308125e-03 -1.26038412e-04 9.99989581e-01 -7.69209921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005769231 meters 0.028826677119655638 Centerline is valid? [True, True] Translation: X:31.64, Y:1.51, Z:-0.08 [[ 9.92459350e-01 -1.22470431e-01 -5.04294914e-03 3.16429870e+01] [ 1.22469406e-01 9.92472157e-01 -5.12843568e-04 1.50856128e+00] [ 5.06779478e-03 -1.08630589e-04 9.99987153e-01 -7.72754485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035769231 meters 0.031476670835013563 Centerline is valid? [True, True] Translation: X:31.67, Y:1.52, Z:-0.07 [[ 9.93339693e-01 -1.15127014e-01 -4.69314677e-03 3.16720659e+01] [ 1.15126043e-01 9.93350777e-01 -4.77310570e-04 1.52161611e+00] [ 4.71689233e-03 -6.61718826e-05 9.99988873e-01 -7.05930174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065769231000004 meters 0.01921870490598785 Centerline is valid? [True, True] Translation: X:31.70, Y:1.53, Z:-0.08 [[ 9.93671001e-01 -1.12270670e-01 -3.63849359e-03 3.16991673e+01] [ 1.12270067e-01 9.93677661e-01 -3.70362203e-04 1.52932383e+00] [ 3.65707062e-03 -4.04757378e-05 9.99993312e-01 -7.58126730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.095769231 meters 0.016904308398468383 Centerline is valid? [True, True] Translation: X:31.73, Y:1.54, Z:-0.07 [[ 9.93887743e-01 -1.10360940e-01 -2.75990469e-03 3.17276073e+01] [ 1.10360583e-01 9.93891575e-01 -2.81649263e-04 1.53753677e+00] [ 2.77412909e-03 -2.46569414e-05 9.99996152e-01 -7.44641263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125769231 meters 0.015962642053777273 Centerline is valid? [True, True] Translation: X:31.75, Y:1.54, Z:-0.08 [[ 9.94127305e-01 -1.08169333e-01 -3.20876048e-03 3.17544339e+01] [ 1.08168840e-01 9.94132484e-01 -3.27357985e-04 1.54465714e+00] [ 3.22534312e-03 -2.16523864e-05 9.99994798e-01 -7.56300101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155769231 meters 0.01549186225546203 Centerline is valid? [True, True] Translation: X:31.78, Y:1.55, Z:-0.08 [[ 9.94198958e-01 -1.07495695e-01 -3.62029241e-03 3.17824962e+01] [ 1.07495061e-01 9.94205550e-01 -3.69856531e-04 1.55022841e+00] [ 3.63907279e-03 -2.14525760e-05 9.99993378e-01 -7.57856639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185769231 meters 0.01517552068787125 Centerline is valid? [True, True] Translation: X:31.81, Y:1.56, Z:-0.07 [[ 9.94241636e-01 -1.07136202e-01 -2.32460304e-03 3.18098390e+01] [ 1.07135939e-01 9.94244353e-01 -2.37583193e-04 1.55718053e+00] [ 2.33667721e-03 -1.28334277e-05 9.99997270e-01 -7.27408204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215769231 meters 0.015211655537053444 Centerline is valid? [True, True] Translation: X:31.84, Y:1.56, Z:-0.07 [[ 9.94206458e-01 -1.07477636e-01 -1.44095571e-03 3.18371887e+01] [ 1.07477535e-01 9.94207502e-01 -1.47836077e-04 1.56173878e+00] [ 1.44849804e-03 -7.89078501e-06 9.99998951e-01 -7.10338897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245769231000004 meters 0.015789112453855714 Centerline is valid? [True, True] Translation: X:31.86, Y:1.56, Z:-0.07 [[ 9.94096572e-01 -1.08492276e-01 -1.19625773e-03 3.18649167e+01] [ 1.08492206e-01 9.94097292e-01 -1.23007865e-04 1.56492834e+00] [ 1.20254197e-03 -7.50294301e-06 9.99999277e-01 -7.12864185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.275769231 meters 0.016430870726788487 Centerline is valid? [True, True] Translation: X:31.89, Y:1.57, Z:-0.07 [[ 9.93988912e-01 -1.09473272e-01 -1.28272393e-03 3.18937884e+01] [ 1.09473193e-01 9.93989740e-01 -1.32021827e-04 1.56709414e+00] [ 1.28946728e-03 -9.19565182e-06 9.99999169e-01 -7.19133927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305769231 meters 0.017202096295430597 Centerline is valid? [True, True] Translation: X:31.92, Y:1.57, Z:-0.07 [[ 9.93878155e-01 -1.10476461e-01 -1.07896703e-03 3.19219159e+01] [ 1.10476405e-01 9.93878741e-01 -1.10948807e-04 1.56900547e+00] [ 1.08461962e-03 -8.93080278e-06 9.99999412e-01 -7.09263916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335769231 meters 0.01809331872468457 Centerline is valid? [True, True] Translation: X:31.95, Y:1.57, Z:-0.07 [[ 9.93759793e-01 -1.11538746e-01 -7.62855093e-04 3.19492771e+01] [ 1.11538718e-01 9.93760086e-01 -7.85192694e-05 1.57212028e+00] [ 7.66852884e-04 -7.05858653e-06 9.99999706e-01 -7.05038207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365769231 meters 0.017830779391352514 Centerline is valid? [True, True] Translation: X:31.98, Y:1.58, Z:-0.07 [[ 9.93795820e-01 -1.11206157e-01 -1.74877651e-03 3.19766889e+01] [ 1.11206011e-01 9.93797359e-01 -1.80407175e-04 1.57761276e+00] [ 1.75799186e-03 -1.51865633e-05 9.99998455e-01 -7.21517217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.395769231 meters 0.016405288173409097 Centerline is valid? [True, True] Translation: X:32.00, Y:1.59, Z:-0.08 [[ 9.94063792e-01 -1.08710182e-01 -4.39023532e-03 3.20034000e+01] [ 1.08709245e-01 9.94073486e-01 -4.52323339e-04 1.58812047e+00] [ 4.41338869e-03 -2.76209130e-05 9.99990261e-01 -7.81694296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425769231000004 meters 0.015897229984880835 Centerline is valid? [True, True] Translation: X:32.03, Y:1.59, Z:-0.08 [[ 9.94117015e-01 -1.08180275e-01 -5.32800662e-03 3.20312380e+01] [ 1.08178880e-01 9.94131293e-01 -5.50136491e-04 1.59463742e+00] [ 5.35625203e-03 -2.94777443e-05 9.99985655e-01 -7.96472996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.455769231 meters 0.01649075169956245 Centerline is valid? [True, True] Translation: X:32.06, Y:1.60, Z:-0.08 [[ 9.94039942e-01 -1.08928149e-01 -4.38764664e-03 3.20585051e+01] [ 1.08927209e-01 9.94049625e-01 -4.53234032e-04 1.59727566e+00] [ 4.41090844e-03 -2.74013720e-05 9.99990272e-01 -7.93887345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485769231 meters 0.01767588369646818 Centerline is valid? [True, True] Translation: X:32.09, Y:1.60, Z:-0.08 [[ 9.93841768e-01 -1.10740335e-01 -3.88833473e-03 3.20870278e+01] [ 1.10739608e-01 9.93849374e-01 -4.02414492e-04 1.59769573e+00] [ 3.90898255e-03 -3.06563345e-05 9.99992359e-01 -7.86949359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.515769231 meters 0.020778070551969886 Centerline is valid? [True, True] Translation: X:32.12, Y:1.60, Z:-0.08 [[ 9.93233465e-01 -1.16050670e-01 -4.41871504e-03 3.21167434e+01] [ 1.16049785e-01 9.93243293e-01 -4.57169252e-04 1.59520137e+00] [ 4.44191387e-03 -5.87151284e-05 9.99990133e-01 -7.76200881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545769231 meters 0.023846672373660772 Centerline is valid? [True, True] Translation: X:32.14, Y:1.59, Z:-0.08 [[ 9.92906825e-01 -1.18782394e-01 -5.17489370e-03 3.21447730e+01] [ 1.18781215e-01 9.92920307e-01 -5.35740757e-04 1.59335900e+00] [ 5.20189361e-03 -8.27395050e-05 9.99986467e-01 -8.01076081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575769231 meters 0.0287727369114777 Centerline is valid? [True, True] Translation: X:32.17, Y:1.59, Z:-0.08 [[ 9.92660779e-01 -1.20782831e-01 -6.00717324e-03 3.21731654e+01] [ 1.20781277e-01 9.92678949e-01 -6.22221168e-04 1.58826194e+00] [ 6.03834805e-03 -1.07899503e-04 9.99981763e-01 -8.33492615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605769231000004 meters 0.0322281067799623 Centerline is valid? [True, True] Translation: X:32.20, Y:1.58, Z:-0.08 [[ 9.92309222e-01 -1.23664192e-01 -5.43833776e-03 3.22022352e+01] [ 1.23662960e-01 9.92324118e-01 -5.63510825e-04 1.58094108e+00] [ 5.46627984e-03 -1.13343958e-04 9.99985053e-01 -8.13525943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635769231000005 meters 0.028677093008045287 Centerline is valid? [True, True] Translation: X:32.23, Y:1.59, Z:-0.08 [[ 9.92103671e-01 -1.25350330e-01 -4.19541746e-03 3.22303496e+01] [ 1.25349611e-01 9.92112537e-01 -4.35023920e-04 1.58542787e+00] [ 4.21685665e-03 -9.43051171e-05 9.99991105e-01 -7.63125364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665769231 meters 0.03259824729482535 Centerline is valid? [True, True] Translation: X:32.26, Y:1.58, Z:-0.08 [[ 9.91880701e-01 -1.27130534e-01 -3.24062656e-03 3.22591266e+01] [ 1.27130113e-01 9.91885992e-01 -3.36397287e-04 1.57516509e+00] [ 3.25709846e-03 -7.83152451e-05 9.99994693e-01 -7.55899431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.695769231 meters 0.030901834298509664 Centerline is valid? [True, True] Translation: X:32.29, Y:1.58, Z:-0.08 [[ 9.91853871e-01 -1.27331042e-01 -3.56427626e-03 3.22875465e+01] [ 1.27330533e-01 9.91860271e-01 -3.70290482e-04 1.57584187e+00] [ 3.58241349e-03 -8.65671497e-05 9.99993579e-01 -7.56067584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725769231 meters 0.029802663456715683 Centerline is valid? [True, True] Translation: X:32.32, Y:1.57, Z:-0.07 [[ 9.92061323e-01 -1.25706200e-01 -3.50469797e-03 3.23160252e+01] [ 1.25705695e-01 9.92067510e-01 -3.64834985e-04 1.57079403e+00] [ 3.52275901e-03 -7.86218181e-05 9.99993792e-01 -7.49599111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755769231 meters 0.02863247312715721 Centerline is valid? [True, True] Translation: X:32.34, Y:1.57, Z:-0.07 [[ 9.92257825e-01 -1.24162266e-01 -2.85312190e-03 3.23437340e+01] [ 1.24161925e-01 9.92261925e-01 -2.97011975e-04 1.57176452e+00] [ 2.86792191e-03 -5.95366501e-05 9.99995886e-01 -7.31115258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785769231 meters 0.02534579538657349 Centerline is valid? [True, True] Translation: X:32.37, Y:1.58, Z:-0.07 [[ 9.92495826e-01 -1.22266298e-01 -1.72829427e-03 3.23720197e+01] [ 1.22266169e-01 9.92497331e-01 -1.80476777e-04 1.57640552e+00] [ 1.73739368e-03 -3.21894714e-05 9.99998490e-01 -7.08088270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815769231000004 meters 0.02018924396463908 Centerline is valid? [True, True] Translation: X:32.40, Y:1.58, Z:-0.07 [[ 9.93239939e-01 -1.16077920e-01 -5.82850894e-04 3.24007620e+01] [ 1.16077904e-01 9.93240110e-01 -6.08094251e-05 1.57968608e+00] [ 5.85969518e-04 -7.25776033e-06 9.99999828e-01 -6.99288774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845769231 meters 0.017118837728959387 Centerline is valid? [True, True] Translation: X:32.43, Y:1.58, Z:-0.07 [[ 9.93638401e-01 -1.12605592e-01 -1.64548141e-03 3.24297230e+01] [ 1.12605462e-01 9.93639764e-01 -1.71836315e-04 1.58412693e+00] [ 1.65436549e-03 -1.45470341e-05 9.99998631e-01 -7.22503270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.875769231 meters 0.014307927801112058 Centerline is valid? [True, True] Translation: X:32.46, Y:1.59, Z:-0.08 [[ 9.94414893e-01 -1.05379348e-01 -5.84926512e-03 3.24569604e+01] [ 1.05377574e-01 9.94432096e-01 -6.11508896e-04 1.59450679e+00] [ 5.88113738e-03 -8.28781697e-06 9.99982706e-01 -7.91343838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905769231 meters 0.014973425101584188 Centerline is valid? [True, True] Translation: X:32.48, Y:1.60, Z:-0.08 [[ 9.94868178e-01 -1.00948324e-01 -6.83691837e-03 3.24841598e+01] [ 1.00945795e-01 9.94891670e-01 -7.14875680e-04 1.60399545e+00] [ 6.87415864e-03 2.10489030e-05 9.99976372e-01 -8.07477410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935769231 meters 0.017069214611148846 Centerline is valid? [True, True] Translation: X:32.51, Y:1.61, Z:-0.08 [[ 9.95288045e-01 -9.67611018e-02 -6.24476812e-03 3.25124280e+01] [ 9.67589016e-02 9.95307634e-01 -6.54192796e-04 1.61396460e+00] [ 6.27876580e-03 4.68733649e-05 9.99980287e-01 -7.92293364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965769231 meters 0.017069214611148846 Centerline is valid? [True, True] Translation: X:32.54, Y:1.62, Z:-0.08 [[ 9.95270440e-01 -9.69420206e-02 -6.24464397e-03 3.25397446e+01] [ 9.69398165e-02 9.95290029e-01 -6.55377179e-04 1.61703754e+00] [ 6.27876547e-03 4.69228926e-05 9.99980287e-01 -7.92883839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995769231000004 meters 0.023240223928729563 Centerline is valid? [True, True] Translation: X:32.57, Y:1.64, Z:-0.07 [[ 9.95966687e-01 -8.97043164e-02 -1.86922171e-03 3.25668079e+01] [ 8.97041061e-02 9.95968441e-01 -1.96194990e-04 1.63578975e+00] [ 1.87928536e-03 2.77268116e-05 9.99998234e-01 -7.08623185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025769231 meters 0.0308067459119923 Centerline is valid? [True, True] Translation: X:32.60, Y:1.66, Z:-0.07 [[ 9.96563850e-01 -8.28279255e-02 1.69137310e-04 3.25955236e+01] [ 8.28279237e-02 9.96563864e-01 1.77461661e-05 1.65574989e+00] [-1.70026009e-04 -3.67589538e-06 9.99999986e-01 -6.69910581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.055769231 meters 0.033826344827791024 Centerline is valid? [True, True] Translation: X:32.62, Y:1.67, Z:-0.07 [[ 9.96798231e-01 -7.99539612e-02 -8.07272072e-04 3.26242880e+01] [ 7.99539187e-02 9.96798557e-01 -8.47656787e-05 1.66558917e+00] [ 8.11464988e-04 1.99497129e-05 9.99999671e-01 -6.95743633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085769231 meters 0.03674602710599208 Centerline is valid? [True, True] Translation: X:32.65, Y:1.68, Z:-0.07 [[ 9.96966953e-01 -7.77918040e-02 -2.30877548e-03 3.26533232e+01] [ 7.77914511e-02 9.96969624e-01 -2.42390213e-04 1.67542180e+00] [ 2.32063499e-03 6.20520374e-05 9.99997305e-01 -7.31055862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115769231 meters 0.039488830002911555 Centerline is valid? [True, True] Translation: X:32.68, Y:1.69, Z:-0.08 [[ 9.97041144e-01 -7.67903926e-02 -3.49188401e-03 3.26805599e+01] [ 7.67895784e-02 9.97047254e-01 -3.66839919e-04 1.68619429e+00] [ 3.50974314e-03 9.76141916e-05 9.99993836e-01 -7.59318263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145769231 meters 0.038337365280220206 Centerline is valid? [True, True] Translation: X:32.71, Y:1.70, Z:-0.07 [[ 9.97013509e-01 -7.71671645e-02 -3.04821010e-03 3.27080322e+01] [ 7.71665437e-02 9.97018165e-01 -3.20924328e-04 1.69928102e+00] [ 3.06388566e-03 8.47460527e-05 9.99995303e-01 -7.40199109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175769231000004 meters 0.03886831624131848 Centerline is valid? [True, True] Translation: X:32.73, Y:1.71, Z:-0.07 [[ 9.96986989e-01 -7.75251850e-02 -2.60554916e-03 3.27347688e+01] [ 7.75247315e-02 9.96990391e-01 -2.74763165e-04 1.71390709e+00] [ 2.61900854e-03 7.19408020e-05 9.99996568e-01 -7.23117648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205769231 meters 0.032475261013420485 Centerline is valid? [True, True] Translation: X:32.76, Y:1.71, Z:-0.07 [[ 9.96947053e-01 -7.80426642e-02 -2.43220314e-03 3.27635489e+01] [ 7.80422694e-02 9.96950018e-01 -2.56952730e-04 1.71343760e+00] [ 2.44483824e-03 6.63536138e-05 9.99997009e-01 -7.07989369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.235769231 meters 0.031596467221430974 Centerline is valid? [True, True] Translation: X:32.79, Y:1.72, Z:-0.07 [[ 9.96853029e-01 -7.92411536e-02 -2.20865348e-03 3.27918777e+01] [ 7.92408301e-02 9.96855474e-01 -2.33738525e-04 1.72126658e+00] [ 2.22023002e-03 5.79874216e-05 9.99997534e-01 -7.07807000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265769231 meters 0.02813963965487445 Centerline is valid? [True, True] Translation: X:32.82, Y:1.73, Z:-0.07 [[ 9.96524326e-01 -8.32937775e-02 -1.18912429e-03 3.28200767e+01] [ 8.32936867e-02 9.96525035e-01 -1.25728993e-04 1.73159769e+00] [ 1.19546457e-03 2.62454540e-05 9.99999285e-01 -7.04713248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295769231 meters 0.026132747910505596 Centerline is valid? [True, True] Translation: X:32.85, Y:1.74, Z:-0.07 [[ 9.96307778e-01 -8.58467931e-02 -1.06781917e-03 3.28473616e+01] [ 8.58467212e-02 9.96308350e-01 -1.13048152e-04 1.73582360e+00] [ 1.07358197e-03 2.09619791e-05 9.99999423e-01 -7.07285965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325769231 meters 0.021665363597653513 Centerline is valid? [True, True] Translation: X:32.88, Y:1.74, Z:-0.07 [[ 9.95767190e-01 -9.18753245e-02 -2.57454455e-03 3.28761654e+01] [ 9.18749274e-02 9.95770518e-01 -2.72366364e-04 1.73813848e+00] [ 2.58867931e-03 3.46773953e-05 9.99996649e-01 -7.39632351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355769231000004 meters 0.018180208950700376 Centerline is valid? [True, True] Translation: X:32.91, Y:1.74, Z:-0.08 [[ 9.95442596e-01 -9.53004642e-02 -3.44379933e-03 3.29052314e+01] [ 9.52997711e-02 9.95448552e-01 -3.65182003e-04 1.73867211e+00] [ 3.46292707e-03 3.53244340e-05 9.99994003e-01 -7.50024539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385769231000005 meters 0.014413930550485624 Centerline is valid? [True, True] Translation: X:32.93, Y:1.74, Z:-0.08 [[ 9.94760525e-01 -1.02154857e-01 -3.98532909e-03 3.29340075e+01] [ 1.02153981e-01 9.94768508e-01 -4.23208644e-04 1.73708687e+00] [ 4.00771269e-03 1.38740201e-05 9.99991969e-01 -7.65344504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.415769231 meters 0.01380716447207136 Centerline is valid? [True, True] Translation: X:32.96, Y:1.74, Z:-0.08 [[ 9.94374996e-01 -1.05862709e-01 -3.38430678e-03 3.29625899e+01] [ 1.05862099e-01 9.94380755e-01 -3.59408446e-04 1.73514131e+00] [ 3.40333749e-03 -8.83046416e-07 9.99994209e-01 -7.63513904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445769231 meters 0.01602477981529328 Centerline is valid? [True, True] Translation: X:32.99, Y:1.73, Z:-0.08 [[ 9.93670407e-01 -1.12289893e-01 -3.17829574e-03 3.29911300e+01] [ 1.12289386e-01 9.93675490e-01 -3.37892136e-04 1.72820423e+00] [ 3.19613644e-03 -2.11354604e-05 9.99994892e-01 -7.57550494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475769231 meters 0.017379180899466058 Centerline is valid? [True, True] Translation: X:33.02, Y:1.73, Z:-0.08 [[ 9.93381905e-01 -1.14798829e-01 -3.69059173e-03 3.30198983e+01] [ 1.14798161e-01 9.93388760e-01 -3.93072468e-04 1.72811744e+00] [ 3.71131660e-03 -3.32020665e-05 9.99993112e-01 -7.59745275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505769231 meters 0.020307730509951324 Centerline is valid? [True, True] Translation: X:33.05, Y:1.72, Z:-0.07 [[ 9.92923142e-01 -1.18707712e-01 -3.48043815e-03 3.30494459e+01] [ 1.18707139e-01 9.92929241e-01 -3.71267401e-04 1.72412373e+00] [ 3.49990112e-03 -4.45128629e-05 9.99993874e-01 -7.46571894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535769231 meters 0.021775766787209373 Centerline is valid? [True, True] Translation: X:33.08, Y:1.72, Z:-0.07 [[ 9.92743858e-01 -1.20230661e-01 -2.05417534e-03 3.30779443e+01] [ 1.20230465e-01 9.92745983e-01 -2.19159835e-04 1.72373255e+00] [ 2.06562405e-03 -2.94048765e-05 9.99997866e-01 -7.19168471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565769231000004 meters 0.02300251299664099 Centerline is valid? [True, True] Translation: X:33.11, Y:1.72, Z:-0.07 [[ 9.92565787e-01 -1.21709207e-01 -1.63244392e-04 3.31065252e+01] [ 1.21709206e-01 9.92565801e-01 -1.77700784e-05 1.72431285e+00] [ 1.64193583e-04 -2.23037345e-06 9.99999987e-01 -6.92429671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.595769231 meters 0.02465868672258236 Centerline is valid? [True, True] Translation: X:33.14, Y:1.72, Z:-0.07 [[ 9.92154336e-01 -1.25019089e-01 -1.88387923e-05 3.31358083e+01] [ 1.25019088e-01 9.92154337e-01 -2.36668527e-06 1.72164325e+00] [ 1.89868703e-05 -7.09159264e-09 1.00000000e+00 -7.01668109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625769231 meters 0.02644679855478545 Centerline is valid? [True, True] Translation: X:33.17, Y:1.72, Z:-0.07 [[ 9.91934562e-01 -1.26743024e-01 -1.42518712e-03 3.31651448e+01] [ 1.26742935e-01 9.91935585e-01 -1.53015124e-04 1.71953050e+00] [ 1.43308742e-03 -2.88514090e-05 9.99998973e-01 -7.27716701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655769231 meters 0.030743091960305523 Centerline is valid? [True, True] Translation: X:33.19, Y:1.71, Z:-0.08 [[ 9.91676312e-01 -1.28700285e-01 -3.78532516e-03 3.31940115e+01] [ 1.28699673e-01 9.91683533e-01 -4.06004019e-04 1.71118510e+00] [ 3.80609746e-03 -8.45455411e-05 9.99992753e-01 -7.75436981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685769231 meters 0.03170671951433799 Centerline is valid? [True, True] Translation: X:33.22, Y:1.71, Z:-0.08 [[ 9.91600625e-01 -1.29265510e-01 -4.31606391e-03 3.32216898e+01] [ 1.29264718e-01 9.91610013e-01 -4.63070154e-04 1.71067840e+00] [ 4.33971119e-03 -9.87341319e-05 9.99990579e-01 -7.82983023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715769231 meters 0.03305983824976024 Centerline is valid? [True, True] Translation: X:33.25, Y:1.71, Z:-0.08 [[ 9.91462000e-01 -1.30360789e-01 -3.02762182e-03 3.32503647e+01] [ 1.30360404e-01 9.91466620e-01 -3.25035184e-04 1.70514924e+00] [ 3.04415782e-03 -7.24219705e-05 9.99995364e-01 -7.65386802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745769231000004 meters 0.03182801235646544 Centerline is valid? [True, True] Translation: X:33.28, Y:1.71, Z:-0.08 [[ 9.91346263e-01 -1.31244987e-01 -2.70948776e-03 3.32793201e+01] [ 1.31244680e-01 9.91349963e-01 -2.91552989e-04 1.70619057e+00] [ 2.72431546e-03 -6.65758870e-05 9.99996287e-01 -7.56125720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.775769231 meters 0.03312436912241831 Centerline is valid? [True, True] Translation: X:33.31, Y:1.70, Z:-0.08 [[ 9.91198192e-01 -1.32361411e-01 -2.56940133e-03 3.33083129e+01] [ 1.32361137e-01 9.91201520e-01 -2.76905044e-04 1.70386406e+00] [ 2.58344604e-03 -6.56211029e-05 9.99996661e-01 -7.57481893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805769231 meters 0.037923391830967254 Centerline is valid? [True, True] Translation: X:33.34, Y:1.69, Z:-0.08 [[ 9.90980218e-01 -1.33962397e-01 -3.50485355e-03 3.33368842e+01] [ 1.33961899e-01 9.90986411e-01 -3.77638502e-04 1.69391787e+00] [ 3.52385160e-03 -9.52845514e-05 9.99993787e-01 -7.87886209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835769231 meters 0.03768685535102622 Centerline is valid? [True, True] Translation: X:33.37, Y:1.69, Z:-0.08 [[ 9.91045144e-01 -1.33452562e-01 -4.46493978e-03 3.33652410e+01] [ 1.33451748e-01 9.91055195e-01 -4.81256669e-04 1.69015788e+00] [ 4.48922670e-03 -1.18906932e-04 9.99989916e-01 -7.99680423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865769231 meters 0.03304181328078834 Centerline is valid? [True, True] Translation: X:33.39, Y:1.70, Z:-0.08 [[ 9.91134878e-01 -1.32799515e-01 -3.99272938e-03 3.33931674e+01] [ 1.32798855e-01 9.91142915e-01 -4.31244043e-04 1.69640211e+00] [ 4.01463444e-03 -1.02808877e-04 9.99991936e-01 -7.68464543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.895769231 meters 0.03176310617123806 Centerline is valid? [True, True] Translation: X:33.42, Y:1.70, Z:-0.08 [[ 9.91301388e-01 -1.31556179e-01 -3.81187448e-03 3.34218649e+01] [ 1.31555565e-01 9.91308712e-01 -4.12336488e-04 1.69861683e+00] [ 3.83298980e-03 -9.27235688e-05 9.99992650e-01 -7.61922098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925769231000004 meters 0.02804737880316058 Centerline is valid? [True, True] Translation: X:33.45, Y:1.70, Z:-0.08 [[ 9.91806136e-01 -1.27699577e-01 -3.66146083e-03 3.34506214e+01] [ 1.27698985e-01 9.91812892e-01 -3.95869125e-04 1.70373889e+00] [ 3.68203638e-03 -7.49394063e-05 9.99993218e-01 -7.57587185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.955769231 meters 0.022542892401326044 Centerline is valid? [True, True] Translation: X:33.48, Y:1.71, Z:-0.07 [[ 9.92480847e-01 -1.22371826e-01 -2.62761277e-03 3.34801329e+01] [ 1.22371503e-01 9.92484325e-01 -2.84111210e-04 1.71304199e+00] [ 2.64263169e-03 -3.95699885e-05 9.99996507e-01 -7.41087958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985769231 meters 0.020117062517330007 Centerline is valid? [True, True] Translation: X:33.51, Y:1.72, Z:-0.07 [[ 9.92811685e-01 -1.19667125e-01 -2.17677529e-03 3.35070853e+01] [ 1.19666896e-01 9.92814070e-01 -2.35590139e-04 1.71926326e+00] [ 2.18932553e-03 -2.65912990e-05 9.99997603e-01 -7.35255212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.015769231 meters 0.01780626982076073 Centerline is valid? [True, True] Translation: X:33.54, Y:1.73, Z:-0.07 [[ 9.93043900e-01 -1.17732517e-01 -1.69323766e-03 3.35353021e+01] [ 1.17732375e-01 9.93045343e-01 -1.83792809e-04 1.72626284e+00] [ 1.70310016e-03 -1.68345639e-05 9.99998550e-01 -7.29204655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045769231 meters 0.016492816801282627 Centerline is valid? [True, True] Translation: X:33.56, Y:1.73, Z:-0.07 [[ 9.93288182e-01 -1.15658776e-01 -1.27849858e-03 3.35630258e+01] [ 1.15658693e-01 9.93289005e-01 -1.38709256e-04 1.73251515e+00] [ 1.28596153e-03 -1.00912106e-05 9.99999173e-01 -7.31498917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075769231 meters 0.016745877634171624 Centerline is valid? [True, True] Translation: X:33.59, Y:1.74, Z:-0.07 [[ 9.93309920e-01 -1.15460039e-01 -2.09331890e-03 3.35899821e+01] [ 1.15459816e-01 9.93312126e-01 -2.27449653e-04 1.73512587e+00] [ 2.10558039e-03 -1.57662181e-05 9.99997783e-01 -7.46131278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105769231000004 meters 0.017073360405001237 Centerline is valid? [True, True] Translation: X:33.62, Y:1.74, Z:-0.08 [[ 9.93221495e-01 -1.16204118e-01 -2.76861563e-03 3.36191161e+01] [ 1.16203730e-01 9.93225353e-01 -3.01248338e-04 1.73648223e+00] [ 2.78486554e-03 -2.25171372e-05 9.99996122e-01 -7.56049993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135769231000005 meters 0.016906546153675407 Centerline is valid? [True, True] Translation: X:33.65, Y:1.74, Z:-0.07 [[ 9.93196987e-01 -1.16437394e-01 -1.44184738e-03 3.36466422e+01] [ 1.16437288e-01 9.93198033e-01 -1.57366547e-04 1.73904669e+00] [ 1.45036333e-03 -1.15888178e-05 9.99998948e-01 -7.29621737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165769231 meters 0.0165592714557245 Centerline is valid? [True, True] Translation: X:33.67, Y:1.74, Z:-0.07 [[ 9.93197590e-01 -1.16439736e-01 5.78809219e-04 3.36747964e+01] [ 1.16439719e-01 9.93197759e-01 6.27274024e-05 1.74225620e+00] [-5.82175982e-04 5.09567786e-06 9.99999831e-01 -6.93094365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.195769231 meters 0.015553380892848592 Centerline is valid? [True, True] Translation: X:33.70, Y:1.75, Z:-0.07 [[ 9.93366425e-01 -1.14986418e-01 1.12627891e-03 3.37035034e+01] [ 1.14986353e-01 9.93367064e-01 1.22662872e-04 1.74905760e+00] [-1.13291294e-03 7.65752457e-06 9.99999358e-01 -6.78187528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225769231 meters 0.015070716789216534 Centerline is valid? [True, True] Translation: X:33.73, Y:1.75, Z:-0.07 [[ 9.93507567e-01 -1.13764415e-01 -6.09707598e-04 3.37304253e+01] [ 1.13764395e-01 9.93507754e-01 -6.67444238e-05 1.75475164e+00] [ 6.13342367e-04 -3.05192601e-06 9.99999812e-01 -7.11468378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255769231 meters 0.014217314773817808 Centerline is valid? [True, True] Translation: X:33.76, Y:1.77, Z:-0.08 [[ 9.93778570e-01 -1.11342435e-01 -2.64893898e-03 3.37577535e+01] [ 1.11342057e-01 9.93782100e-01 -2.90318960e-04 1.76510887e+00] [ 2.66479297e-03 -6.42555414e-06 9.99996449e-01 -7.58035457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285769231 meters 0.01379009473247629 Centerline is valid? [True, True] Translation: X:33.79, Y:1.77, Z:-0.07 [[ 9.93858072e-01 -1.10643700e-01 -2.02572120e-03 3.37851660e+01] [ 1.10643476e-01 9.93860137e-01 -2.22544609e-04 1.77157290e+00] [ 2.03790671e-03 -2.95507832e-06 9.99997923e-01 -7.35330726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315769231000004 meters 0.013465681439027159 Centerline is valid? [True, True] Translation: X:33.81, Y:1.78, Z:-0.07 [[ 9.93876513e-01 -1.10495421e-01 4.88268637e-04 3.38122007e+01] [ 1.10495409e-01 9.93876633e-01 5.33851984e-05 1.77705186e+00] [-4.91177609e-04 8.93147644e-07 9.99999879e-01 -6.98255534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345769231 meters 0.01367358645237236 Centerline is valid? [True, True] Translation: X:33.84, Y:1.78, Z:-0.07 [[ 9.93765146e-01 -1.11490992e-01 7.70588205e-04 3.38395933e+01] [ 1.11490960e-01 9.93765445e-01 8.43017950e-05 1.77987027e+00] [-7.75182820e-04 2.13743301e-06 9.99999700e-01 -6.90987958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.375769231 meters 0.014250515319972623 Centerline is valid? [True, True] Translation: X:33.87, Y:1.78, Z:-0.07 [[ 9.93624317e-01 -1.12741810e-01 -1.55721954e-05 3.38670684e+01] [ 1.12741810e-01 9.93624317e-01 -1.84197227e-06 1.78059332e+00] [ 1.56805793e-05 7.45909442e-08 1.00000000e+00 -7.17349813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405769231 meters 0.015637476185990092 Centerline is valid? [True, True] Translation: X:33.90, Y:1.78, Z:-0.07 [[ 9.93344679e-01 -1.15170809e-01 -1.42592089e-03 3.38956977e+01] [ 1.15170702e-01 9.93345703e-01 -1.57045412e-04 1.77887951e+00] [ 1.43451944e-03 -8.22408539e-06 9.99998971e-01 -7.47759536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435769231 meters 0.015589637572181375 Centerline is valid? [True, True] Translation: X:33.92, Y:1.78, Z:-0.07 [[ 9.93199456e-01 -1.16423399e-01 -6.58075278e-04 3.39240219e+01] [ 1.16423377e-01 9.93199674e-01 -7.29564081e-05 1.78132286e+00] [ 6.62093984e-04 -4.15508117e-06 9.99999781e-01 -7.22275158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465769231 meters 0.017361098881887915 Centerline is valid? [True, True] Translation: X:33.95, Y:1.78, Z:-0.07 [[ 9.92802368e-01 -1.19758627e-01 1.15258217e-03 3.39533956e+01] [ 1.19758560e-01 9.92803037e-01 1.26900460e-04 1.77777244e+00] [-1.15948450e-03 1.20445044e-05 9.99999328e-01 -6.86907414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495769231000004 meters 0.020221759702126262 Centerline is valid? [True, True] Translation: X:33.98, Y:1.77, Z:-0.07 [[ 9.92545754e-01 -1.21869477e-01 8.69538630e-04 3.39813513e+01] [ 1.21869440e-01 9.92546135e-01 9.59170885e-05 1.77338443e+00] [-8.74746572e-04 1.07680865e-05 9.99999617e-01 -6.96460135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525769231 meters 0.027145698867069322 Centerline is valid? [True, True] Translation: X:34.01, Y:1.76, Z:-0.08 [[ 9.91876268e-01 -1.27195462e-01 -1.66843642e-03 3.40113187e+01] [ 1.27195331e-01 9.91877671e-01 -1.84534818e-04 1.75965706e+00] [ 1.67835682e-03 -2.91816162e-05 9.99998591e-01 -7.57865615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.555769231 meters 0.030396001551477547 Centerline is valid? [True, True] Translation: X:34.04, Y:1.75, Z:-0.08 [[ 9.91517455e-01 -1.29954335e-01 -2.23760313e-03 3.40415109e+01] [ 1.29954108e-01 9.91519979e-01 -2.47431088e-04 1.75497078e+00] [ 2.25078295e-03 -4.54534754e-05 9.99997466e-01 -7.76989753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585769231 meters 0.030451290998849332 Centerline is valid? [True, True] Translation: X:34.07, Y:1.75, Z:-0.07 [[ 9.90991623e-01 -1.33919675e-01 -1.05994504e-03 3.40711182e+01] [ 1.33919626e-01 9.90992190e-01 -1.17298144e-04 1.75095329e+00] [ 1.06610579e-03 -2.57059651e-05 9.99999431e-01 -7.47114043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615769231 meters 0.029684056404329844 Centerline is valid? [True, True] Translation: X:34.10, Y:1.75, Z:-0.07 [[ 9.90839795e-01 -1.35041339e-01 -5.80657415e-04 3.40998195e+01] [ 1.35041325e-01 9.90839965e-01 -6.46792634e-05 1.75204649e+00] [ 5.84072947e-04 -1.43259584e-05 9.99999829e-01 -7.36094845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645769231 meters 0.031817071418298926 Centerline is valid? [True, True] Translation: X:34.13, Y:1.75, Z:-0.07 [[ 9.90799315e-01 -1.35335106e-01 -1.06135552e-03 3.41279355e+01] [ 1.35335057e-01 9.90799883e-01 -1.17753669e-04 1.74910602e+00] [ 1.06752713e-03 -2.69683554e-05 9.99999430e-01 -7.38372046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675769231000004 meters 0.030153171146658202 Centerline is valid? [True, True] Translation: X:34.16, Y:1.75, Z:-0.08 [[ 9.90847007e-01 -1.34957218e-01 -2.95925096e-03 3.41558645e+01] [ 1.34956837e-01 9.90851424e-01 -3.28937016e-04 1.74904091e+00] [ 2.97657045e-03 -7.34448899e-05 9.99995567e-01 -7.63652800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705769231 meters 0.03151446032012296 Centerline is valid? [True, True] Translation: X:34.18, Y:1.75, Z:-0.08 [[ 9.90895716e-01 -1.34583297e-01 -3.60771088e-03 3.41841980e+01] [ 1.34582729e-01 9.90902280e-01 -4.00858532e-04 1.74679742e+00] [ 3.62883780e-03 -8.83265743e-05 9.99993412e-01 -7.82679887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.735769231 meters 0.036630754214948914 Centerline is valid? [True, True] Translation: X:34.21, Y:1.73, Z:-0.08 [[ 9.90976220e-01 -1.34013839e-01 -2.53406744e-03 3.42137180e+01] [ 1.34013556e-01 9.90979459e-01 -2.81875314e-04 1.73493072e+00] [ 2.54898397e-03 -6.02676545e-05 9.99996750e-01 -7.85166138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765769231 meters 0.02951335291428843 Centerline is valid? [True, True] Translation: X:34.24, Y:1.74, Z:-0.07 [[ 9.91026461e-01 -1.33659094e-01 -1.34172999e-03 3.42420906e+01] [ 1.33659014e-01 9.91027369e-01 -1.49723666e-04 1.74395380e+00] [ 1.34970307e-03 -3.09541922e-05 9.99999089e-01 -7.48134689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795769231 meters 0.02800672495846061 Centerline is valid? [True, True] Translation: X:34.27, Y:1.74, Z:-0.07 [[ 9.91225205e-01 -1.32182599e-01 5.93804187e-04 3.42718864e+01] [ 1.32182584e-01 9.91225383e-01 6.59766746e-05 1.74184242e+00] [-5.97314751e-04 1.30928288e-05 9.99999822e-01 -7.10493219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825769231 meters 0.027137560583878 Centerline is valid? [True, True] Translation: X:34.30, Y:1.74, Z:-0.07 [[ 9.91285369e-01 -1.31726179e-01 1.23754705e-03 3.43009397e+01] [ 1.31726110e-01 9.91286141e-01 1.37728106e-04 1.74258039e+00] [-1.24490564e-03 2.64894026e-05 9.99999225e-01 -6.97059179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855769231000004 meters 0.027075847868478293 Centerline is valid? [True, True] Translation: X:34.33, Y:1.74, Z:-0.07 [[ 9.91268917e-01 -1.31844869e-01 1.69249755e-03 3.43287080e+01] [ 1.31844738e-01 9.91270361e-01 1.88760437e-04 1.74275015e+00] [-1.70260976e-03 3.60345431e-05 9.99998550e-01 -6.91653294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885769231000005 meters 0.027075847868478293 Centerline is valid? [True, True] Translation: X:34.36, Y:1.75, Z:-0.07 [[ 9.91244223e-01 -1.32030397e-01 1.69246213e-03 3.43560228e+01] [ 1.32030266e-01 9.91245667e-01 1.89077431e-04 1.74599781e+00] [-1.70260972e-03 3.60343147e-05 9.99998550e-01 -6.92243855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.915769231 meters 0.027312932578458717 Centerline is valid? [True, True] Translation: X:34.38, Y:1.74, Z:-0.07 [[ 9.91297044e-01 -1.31633290e-01 1.68758773e-03 3.43849838e+01] [ 1.31633159e-01 9.91298480e-01 1.88862557e-04 1.74196283e+00] [-1.69776375e-03 3.49236098e-05 9.99998558e-01 -7.05137785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945769231 meters 0.02691286350791015 Centerline is valid? [True, True] Translation: X:34.41, Y:1.74, Z:-0.07 [[ 9.91383285e-01 -1.30992951e-01 1.67661018e-04 3.44147004e+01] [ 1.30992950e-01 9.91383300e-01 1.85017610e-05 1.73681988e+00] [-1.68639934e-04 3.62007474e-06 9.99999986e-01 -7.44196171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975769231 meters 0.025462885884895054 Centerline is valid? [True, True] Translation: X:34.44, Y:1.74, Z:-0.08 [[ 9.91377783e-01 -1.31030754e-01 -1.01666166e-03 3.44424862e+01] [ 1.31030705e-01 9.91378304e-01 -1.14752340e-04 1.73809049e+00] [ 1.02293240e-03 -1.94509744e-05 9.99999477e-01 -7.62059897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005769231 meters 0.02533631713816267 Centerline is valid? [True, True] Translation: X:34.47, Y:1.74, Z:-0.08 [[ 9.91387618e-01 -1.30942609e-01 -2.15033053e-03 3.44709406e+01] [ 1.30942390e-01 9.91389949e-01 -2.42664225e-04 1.73775406e+00] [ 2.16359116e-03 -4.09951123e-05 9.99997659e-01 -7.86418939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035769231 meters 0.025396100464153703 Centerline is valid? [True, True] Translation: X:34.50, Y:1.73, Z:-0.08 [[ 9.91631263e-01 -1.29071286e-01 -2.83564334e-03 3.44995766e+01] [ 1.29070899e-01 9.91635316e-01 -3.19756620e-04 1.73468085e+00] [ 2.85319548e-03 -4.89183743e-05 9.99995928e-01 -7.98576070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065769231000004 meters 0.021431333976907257 Centerline is valid? [True, True] Translation: X:34.53, Y:1.74, Z:-0.08 [[ 9.91841219e-01 -1.27462939e-01 -2.04830944e-03 3.45279178e+01] [ 1.27462732e-01 9.91843334e-01 -2.31601693e-04 1.74220062e+00] [ 2.06112269e-03 -3.13710122e-05 9.99997875e-01 -7.71961845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.095769231 meters 0.01667452090720095 Centerline is valid? [True, True] Translation: X:34.56, Y:1.75, Z:-0.08 [[ 9.92632791e-01 -1.21157606e-01 -9.88005943e-04 3.45568670e+01] [ 1.21157555e-01 9.92633283e-01 -1.11612983e-04 1.75184099e+00] [ 9.94250345e-04 -8.91367767e-06 9.99999506e-01 -7.51426812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125769231 meters 0.014935328505107148 Centerline is valid? [True, True] Translation: X:34.58, Y:1.76, Z:-0.07 [[ 9.93047104e-01 -1.17716929e-01 -4.15812268e-04 3.45838346e+01] [ 1.17716919e-01 9.93047192e-01 -4.71077650e-05 1.75914636e+00] [ 4.18466586e-04 -2.16790963e-06 9.99999912e-01 -7.47301442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155769231 meters 0.013357122990433836 Centerline is valid? [True, True] Translation: X:34.61, Y:1.77, Z:-0.07 [[ 9.93852317e-01 -1.10705106e-01 1.39715519e-03 3.46110059e+01] [ 1.10704994e-01 9.93853299e-01 1.57720007e-04 1.77321067e+00] [-1.40602770e-03 -2.07833766e-06 9.99999012e-01 -7.13806244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185769231 meters 0.014061280417793358 Centerline is valid? [True, True] Translation: X:34.64, Y:1.78, Z:-0.07 [[ 9.94145986e-01 -1.08027424e-01 1.95817666e-03 3.46390164e+01] [ 1.08027197e-01 9.94147914e-01 2.21529472e-04 1.78115697e+00] [-1.97064850e-03 -8.69629926e-06 9.99998058e-01 -7.03410273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215769231 meters 0.015266211731551849 Centerline is valid? [True, True] Translation: X:34.67, Y:1.79, Z:-0.07 [[ 9.94380226e-01 -1.05850671e-01 1.89778097e-03 3.46660443e+01] [ 1.05850453e-01 9.94382037e-01 2.15038568e-04 1.78910789e+00] [-1.90988128e-03 -1.29491243e-05 9.99998176e-01 -7.10298020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245769231000004 meters 0.01746896366586723 Centerline is valid? [True, True] Translation: X:34.69, Y:1.80, Z:-0.07 [[ 9.94731520e-01 -1.02513799e-01 3.53632639e-04 3.46941759e+01] [ 1.02513791e-01 9.94731582e-01 3.97910912e-05 1.79927603e+00] [-3.55848690e-04 -3.32923011e-06 9.99999937e-01 -7.40345440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.275769231 meters 0.018536642575564356 Centerline is valid? [True, True] Translation: X:34.72, Y:1.80, Z:-0.07 [[ 9.94850195e-01 -1.01356234e-01 5.06475854e-05 3.47217394e+01] [ 1.01356234e-01 9.94850197e-01 5.62494125e-06 1.80498797e+00] [-5.09568831e-05 -4.62525381e-07 9.99999999e-01 -7.42630378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305769231 meters 0.020259278417973293 Centerline is valid? [True, True] Translation: X:34.75, Y:1.81, Z:-0.07 [[ 9.95021019e-01 -9.96556256e-02 1.38847315e-03 3.47485070e+01] [ 9.96555025e-02 9.95021988e-01 1.57700084e-04 1.81344516e+00] [-1.39727701e-03 -1.85459092e-05 9.99999024e-01 -7.22602226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335769231 meters 0.020302980341469802 Centerline is valid? [True, True] Translation: X:34.78, Y:1.82, Z:-0.07 [[ 9.95152215e-01 -9.83357917e-02 1.46321521e-03 3.47768989e+01] [ 9.83356536e-02 9.95153291e-01 1.66207009e-04 1.81889389e+00] [-1.47246753e-03 -2.15150495e-05 9.99998916e-01 -7.19989577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365769231 meters 0.023016848260345824 Centerline is valid? [True, True] Translation: X:34.80, Y:1.83, Z:-0.07 [[ 9.95350783e-01 -9.63155329e-02 3.69161219e-04 3.48034648e+01] [ 9.63155240e-02 9.95350852e-01 4.19179671e-05 1.82880992e+00] [-3.71482285e-04 -6.16712512e-06 9.99999931e-01 -7.41705856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.395769231 meters 0.027569632566544027 Centerline is valid? [True, True] Translation: X:34.83, Y:1.85, Z:-0.08 [[ 9.95766724e-01 -9.18784542e-02 -2.64230597e-03 3.48314389e+01] [ 9.18779785e-02 9.95770228e-01 -3.01088708e-04 1.84550598e+00] [ 2.65879319e-03 5.70443848e-05 9.99996464e-01 -7.96931306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425769231000004 meters 0.03260187250952438 Centerline is valid? [True, True] Translation: X:34.86, Y:1.86, Z:-0.08 [[ 9.96051755e-01 -8.87593555e-02 -1.63669774e-03 3.48585109e+01] [ 8.87591686e-02 9.96053099e-01 -1.86603206e-04 1.86408412e+00] [ 1.64680063e-03 4.05945207e-05 9.99998643e-01 -7.82349976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.455769231 meters 0.0309689986153219 Centerline is valid? [True, True] Translation: X:34.89, Y:1.87, Z:-0.08 [[ 9.96094707e-01 -8.82911848e-02 -3.44019408e-05 3.48867909e+01] [ 8.82911847e-02 9.96094708e-01 -4.28312360e-06 1.86819766e+00] [ 3.46457532e-05 1.22900865e-06 9.99999999e-01 -7.52873024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485769231 meters 0.030412343142831665 Centerline is valid? [True, True] Translation: X:34.92, Y:1.87, Z:-0.07 [[ 9.96018564e-01 -8.91441252e-02 5.87998827e-04 3.49157152e+01] [ 8.91441011e-02 9.96018737e-01 6.70732240e-05 1.87360442e+00] [-5.91637033e-04 -1.43895494e-05 9.99999825e-01 -7.43747394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.515769231 meters 0.0265005185304888 Centerline is valid? [True, True] Translation: X:34.94, Y:1.87, Z:-0.08 [[ 9.95802631e-01 -9.15264031e-02 1.92099687e-04 3.49447637e+01] [ 9.15264006e-02 9.95802650e-01 2.15936743e-05 1.87339671e+00] [-1.93269769e-04 -3.92084474e-06 9.99999981e-01 -7.51203088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545769231 meters 0.021561325444335595 Centerline is valid? [True, True] Translation: X:34.97, Y:1.87, Z:-0.08 [[ 9.95041447e-01 -9.94255770e-02 -2.65945760e-03 3.49738350e+01] [ 9.94251192e-02 9.95045001e-01 -3.04122330e-04 1.87200375e+00] [ 2.67651753e-03 3.81974343e-05 9.99996417e-01 -8.12721581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575769231 meters 0.015309450551889899 Centerline is valid? [True, True] Translation: X:35.00, Y:1.87, Z:-0.08 [[ 9.94173397e-01 -1.07775087e-01 -1.94596952e-03 3.50045911e+01] [ 1.07774858e-01 9.94175302e-01 -2.22557137e-04 1.86520039e+00] [ 1.95862095e-03 1.15337960e-05 9.99998082e-01 -8.02669461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605769231000004 meters 0.014128192550677116 Centerline is valid? [True, True] Translation: X:35.03, Y:1.87, Z:-0.08 [[ 9.93898699e-01 -1.10295628e-01 -5.00946547e-04 3.50328544e+01] [ 1.10295613e-01 9.93898825e-01 -5.74412136e-05 1.86590781e+00] [ 5.04225699e-04 1.83854076e-06 9.99999873e-01 -7.78207018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635769231000005 meters 0.013675472158081875 Centerline is valid? [True, True] Translation: X:35.06, Y:1.87, Z:-0.08 [[ 9.93726665e-01 -1.11833595e-01 7.50063073e-04 3.50608892e+01] [ 1.11833562e-01 9.93726948e-01 8.55571786e-05 1.86850787e+00] [-7.54926056e-04 -1.13822433e-06 9.99999715e-01 -7.52396986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665769231 meters 0.013420383891468272 Centerline is valid? [True, True] Translation: X:35.09, Y:1.87, Z:-0.07 [[ 9.93602210e-01 -1.12916086e-01 2.14602402e-03 3.50887863e+01] [ 1.12915818e-01 9.93604528e-01 2.45942307e-04 1.87197940e+00] [-2.16007003e-03 -2.04876153e-06 9.99997667e-01 -7.24534411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.695769231 meters 0.013321343750337044 Centerline is valid? [True, True] Translation: X:35.12, Y:1.88, Z:-0.07 [[ 9.93570941e-01 -1.13190014e-01 2.19213027e-03 3.51156863e+01] [ 1.13189734e-01 9.93573360e-01 2.51670163e-04 1.87624061e+00] [-2.20652878e-03 -1.92551855e-06 9.99997566e-01 -7.21514278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725769231 meters 0.013324271856968032 Centerline is valid? [True, True] Translation: X:35.14, Y:1.88, Z:-0.07 [[ 9.93511584e-01 -1.13700044e-01 2.65173714e-03 3.51431889e+01] [ 1.13699635e-01 9.93515123e-01 3.04766656e-04 1.88129754e+00] [-2.66919293e-03 -1.28765808e-06 9.99996438e-01 -7.22192489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755769231 meters 0.013376930436609273 Centerline is valid? [True, True] Translation: X:35.17, Y:1.89, Z:-0.07 [[ 9.93500165e-01 -1.13806254e-01 2.35761089e-03 3.51697116e+01] [ 1.13805930e-01 9.93502963e-01 2.71366196e-04 1.88510611e+00] [-2.37317658e-03 -1.29225958e-06 9.99997184e-01 -7.29444658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785769231 meters 0.01347380923392339 Centerline is valid? [True, True] Translation: X:35.20, Y:1.89, Z:-0.08 [[ 9.93470355e-01 -1.14084288e-01 1.19548619e-03 3.51961127e+01] [ 1.14084205e-01 9.93471074e-01 1.37616354e-04 1.88833045e+00] [-1.20338081e-03 -3.31676725e-07 9.99999276e-01 -7.51242576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815769231000004 meters 0.013797894941924245 Centerline is valid? [True, True] Translation: X:35.22, Y:1.89, Z:-0.08 [[ 9.93323919e-01 -1.15350972e-01 -1.32135295e-03 3.52241824e+01] [ 1.15350871e-01 9.93324798e-01 -1.52515229e-04 1.89145605e+00] [ 1.33012543e-03 -9.22189108e-07 9.99999115e-01 -7.93533794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845769231 meters 0.014038850166003076 Centerline is valid? [True, True] Translation: X:35.25, Y:1.90, Z:-0.08 [[ 9.93142662e-01 -1.16893765e-01 -1.87087870e-03 3.52514572e+01] [ 1.16893565e-01 9.93144424e-01 -2.16546105e-04 1.89651872e+00] [ 1.88336564e-03 -3.63250619e-06 9.99998226e-01 -7.94659397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.875769231 meters 0.014214327038435483 Centerline is valid? [True, True] Translation: X:35.28, Y:1.90, Z:-0.08 [[ 9.93036662e-01 -1.17799199e-01 -1.23974646e-03 3.52785519e+01] [ 1.17799111e-01 9.93037436e-01 -1.43666916e-04 1.89912268e+00] [ 1.24803849e-03 -3.37451655e-06 9.99999221e-01 -7.89727728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905769231 meters 0.0142627083264272 Centerline is valid? [True, True] Translation: X:35.31, Y:1.90, Z:-0.08 [[ 9.92958420e-01 -1.18463350e-01 -1.03864837e-04 3.53055926e+01] [ 1.18463350e-01 9.92958425e-01 -1.21894118e-05 1.90231103e+00] [ 1.04577463e-04 -2.00597387e-07 9.99999995e-01 -7.66142565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935769231 meters 0.014396946466289246 Centerline is valid? [True, True] Translation: X:35.33, Y:1.91, Z:-0.07 [[ 9.92891392e-01 -1.19022145e-01 6.42494528e-04 3.53322804e+01] [ 1.19022122e-01 9.92891600e-01 7.42420202e-05 1.90601005e+00] [-6.46763864e-04 2.75679933e-06 9.99999791e-01 -7.48506738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965769231 meters 0.014499309081982983 Centerline is valid? [True, True] Translation: X:35.36, Y:1.91, Z:-0.08 [[ 9.92851173e-01 -1.19358050e-01 4.52176339e-04 3.53599841e+01] [ 1.19358039e-01 9.92851276e-01 5.20663501e-05 1.91342380e+00] [-4.55158393e-04 2.27674416e-06 9.99999896e-01 -7.55064152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995769231000004 meters 0.014599394006964153 Centerline is valid? [True, True] Translation: X:35.39, Y:1.92, Z:-0.08 [[ 9.92738976e-01 -1.20288505e-01 2.59449014e-05 3.53878262e+01] [ 1.20288505e-01 9.92738976e-01 2.60357835e-06 1.91992733e+00] [-2.60696954e-05 5.36199710e-07 1.00000000e+00 -7.69755881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025769231 meters 0.01565211071310232 Centerline is valid? [True, True] Translation: X:35.42, Y:1.92, Z:-0.08 [[ 9.92601605e-01 -1.21416640e-01 2.30731486e-04 3.54152861e+01] [ 1.21416637e-01 9.92601632e-01 2.66363591e-05 1.92079174e+00] [-2.32258546e-04 1.57534821e-06 9.99999973e-01 -7.70914616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.055769231 meters 0.016218056081939675 Centerline is valid? [True, True] Translation: X:35.44, Y:1.92, Z:-0.08 [[ 9.92502771e-01 -1.22220363e-01 6.56939418e-04 3.54434882e+01] [ 1.22220339e-01 9.92502989e-01 7.63053908e-05 1.92356014e+00] [-6.61340409e-04 4.55804641e-06 9.99999781e-01 -7.58730945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085769231 meters 0.015971466584788558 Centerline is valid? [True, True] Translation: X:35.47, Y:1.93, Z:-0.08 [[ 9.92396589e-01 -1.23080441e-01 -4.64370370e-04 3.54722205e+01] [ 1.23080429e-01 9.92396697e-01 -5.44535910e-05 1.92916958e+00] [ 4.67541793e-04 -3.11534619e-06 9.99999891e-01 -7.70596993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115769231 meters 0.015359014925696876 Centerline is valid? [True, True] Translation: X:35.50, Y:1.94, Z:-0.08 [[ 9.92535355e-01 -1.21941434e-01 -1.96353496e-03 3.54999450e+01] [ 1.21941218e-01 9.92537297e-01 -2.29524371e-04 1.93564299e+00] [ 1.97687021e-03 -1.16247919e-05 9.99998046e-01 -7.95378969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145769231 meters 0.014846204820268749 Centerline is valid? [True, True] Translation: X:35.53, Y:1.94, Z:-0.08 [[ 9.92646116e-01 -1.21043026e-01 -1.50783427e-03 3.55286900e+01] [ 1.21042898e-01 9.92647262e-01 -1.76546617e-04 1.94176665e+00] [ 1.51811730e-03 -7.26431608e-06 9.99998848e-01 -7.84727739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175769231000004 meters 0.014338255375381574 Centerline is valid? [True, True] Translation: X:35.56, Y:1.95, Z:-0.08 [[ 9.92751710e-01 -1.20181656e-01 -6.42233418e-04 3.55559054e+01] [ 1.20181632e-01 9.92751917e-01 -7.52097691e-05 1.94887277e+00] [ 6.46617292e-04 -2.52003349e-06 9.99999791e-01 -7.70362770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205769231000005 meters 0.013973520622150556 Centerline is valid? [True, True] Translation: X:35.58, Y:1.96, Z:-0.08 [[ 9.92880014e-01 -1.19117915e-01 -4.46365007e-04 3.55829445e+01] [ 1.19117903e-01 9.92880115e-01 -5.26714453e-05 1.95851585e+00] [ 4.49461053e-04 -8.73638405e-07 9.99999899e-01 -7.71416286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.235769231 meters 0.014047570867696263 Centerline is valid? [True, True] Translation: X:35.61, Y:1.96, Z:-0.08 [[ 9.92896238e-01 -1.18975291e-01 -1.39287560e-03 3.56108470e+01] [ 1.18975179e-01 9.92897215e-01 -1.63310224e-04 1.96278439e+00] [ 1.40241219e-03 -3.56751716e-06 9.99999017e-01 -7.91246335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265769231 meters 0.01401558184097783 Centerline is valid? [True, True] Translation: X:35.64, Y:1.97, Z:-0.08 [[ 9.92867079e-01 -1.19213701e-01 -1.74842282e-03 3.56381852e+01] [ 1.19213524e-01 9.92868618e-01 -2.05563851e-04 1.96961820e+00] [ 1.76046018e-03 -4.33806583e-06 9.99998450e-01 -7.88317242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295769231 meters 0.013950589516931629 Centerline is valid? [True, True] Translation: X:35.67, Y:1.98, Z:-0.08 [[ 9.92807751e-01 -1.19717163e-01 -7.54914534e-04 3.56659959e+01] [ 1.19717130e-01 9.92808038e-01 -8.91237322e-05 1.97521672e+00] [ 7.60154858e-04 -1.89346905e-06 9.99999711e-01 -7.68147647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325769231 meters 0.014121355762472953 Centerline is valid? [True, True] Translation: X:35.69, Y:1.98, Z:-0.08 [[ 9.92717833e-01 -1.20461601e-01 5.54543654e-04 3.56919659e+01] [ 1.20461583e-01 9.92717988e-01 6.50477231e-05 1.98324728e+00] [-5.58341213e-04 2.22717188e-06 9.99999844e-01 -7.52948326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355769231000004 meters 0.014257597309376894 Centerline is valid? [True, True] Translation: X:35.72, Y:1.99, Z:-0.08 [[ 9.92697728e-01 -1.20628405e-01 -9.63036066e-05 3.57191446e+01] [ 1.20628404e-01 9.92697732e-01 -1.17135738e-05 1.98893780e+00] [ 9.70133616e-05 1.10877025e-08 9.99999995e-01 -7.67835922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385769231000005 meters 0.014290295885075395 Centerline is valid? [True, True] Translation: X:35.75, Y:2.00, Z:-0.08 [[ 9.92800624e-01 -1.19745246e-01 -2.82800792e-03 3.57465186e+01] [ 1.19744782e-01 9.92804652e-01 -3.33384293e-04 1.99722098e+00] [ 2.84758060e-03 -7.65505697e-06 9.99995946e-01 -8.16091942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.415769231 meters 0.013945811330496785 Centerline is valid? [True, True] Translation: X:35.77, Y:2.00, Z:-0.08 [[ 9.92913323e-01 -1.18789177e-01 -3.50203331e-03 3.57741766e+01] [ 1.18788456e-01 9.92919499e-01 -4.13771818e-04 2.00434584e+00] [ 3.52638877e-03 -5.16158014e-06 9.99993782e-01 -8.18574207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445769231 meters 0.013977346456730258 Centerline is valid? [True, True] Translation: X:35.80, Y:2.01, Z:-0.08 [[ 9.92991594e-01 -1.18138566e-01 -3.31260126e-03 3.58009043e+01] [ 1.18137918e-01 9.92997119e-01 -3.91456493e-04 2.01031156e+00] [ 3.33564962e-03 -2.63080827e-06 9.99994437e-01 -8.21838673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475769231 meters 0.013593059450896902 Centerline is valid? [True, True] Translation: X:35.83, Y:2.02, Z:-0.08 [[ 9.92980391e-01 -1.18270339e-01 -1.43883652e-03 3.58288634e+01] [ 1.18270216e-01 9.92981433e-01 -1.70555277e-04 2.01761721e+00] [ 1.44890958e-03 -8.13461108e-07 9.99998950e-01 -7.80684766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505769231 meters 0.01345376409529156 Centerline is valid? [True, True] Translation: X:35.86, Y:2.02, Z:-0.08 [[ 9.92950749e-01 -1.18523846e-01 -9.52883920e-04 3.58564799e+01] [ 1.18523792e-01 9.92951206e-01 -1.13306653e-04 2.02246255e+00] [ 9.59596778e-04 -4.31488811e-07 9.99999540e-01 -7.80068682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535769231 meters 0.013800542982025071 Centerline is valid? [True, True] Translation: X:35.88, Y:2.03, Z:-0.08 [[ 9.92760140e-01 -1.20106188e-01 -1.34480631e-03 3.58839801e+01] [ 1.20106082e-01 9.92761051e-01 -1.60016599e-04 2.02623508e+00] [ 1.35429031e-03 -2.66131536e-06 9.99999083e-01 -7.92696911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565769231000004 meters 0.014230504862122855 Centerline is valid? [True, True] Translation: X:35.91, Y:2.03, Z:-0.08 [[ 9.92627054e-01 -1.21200289e-01 -1.42165116e-03 3.59122754e+01] [ 1.21200171e-01 9.92628072e-01 -1.68932771e-04 2.02789388e+00] [ 1.43164555e-03 -4.61712619e-06 9.99998975e-01 -8.05769512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.595769231 meters 0.014782129556097376 Centerline is valid? [True, True] Translation: X:35.94, Y:2.03, Z:-0.08 [[ 9.92379329e-01 -1.23218702e-01 -6.47883539e-04 3.59407081e+01] [ 1.23218677e-01 9.92379540e-01 -7.73905334e-05 2.02991202e+00] [ 6.52482329e-04 -3.03058719e-06 9.99999787e-01 -7.88198188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625769231 meters 0.014538163940725822 Centerline is valid? [True, True] Translation: X:35.97, Y:2.03, Z:-0.08 [[ 9.92330097e-01 -1.23615988e-01 2.57489283e-04 3.59679643e+01] [ 1.23615984e-01 9.92330130e-01 3.02399026e-05 2.03428564e+00] [-2.59252509e-04 1.82182572e-06 9.99999966e-01 -7.68889045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655769231 meters 0.01427281198341368 Centerline is valid? [True, True] Translation: X:36.00, Y:2.04, Z:-0.08 [[ 9.92365688e-01 -1.23326255e-01 9.88132792e-04 3.59960409e+01] [ 1.23326200e-01 9.92366180e-01 1.17461684e-04 2.03901904e+00] [-9.95075674e-04 5.29771749e-06 9.99999505e-01 -7.58829755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685769231 meters 0.01411658476377348 Centerline is valid? [True, True] Translation: X:36.02, Y:2.04, Z:-0.08 [[ 9.92423505e-01 -1.22857472e-01 1.27639626e-03 3.60227039e+01] [ 1.22857378e-01 9.92424325e-01 1.52204722e-04 2.04378709e+00] [-1.28542618e-03 5.76315345e-06 9.99999174e-01 -7.55171590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715769231 meters 0.014170108907045212 Centerline is valid? [True, True] Translation: X:36.05, Y:2.05, Z:-0.08 [[ 9.92439730e-01 -1.22732876e-01 -1.50727205e-04 3.60494076e+01] [ 1.22732875e-01 9.92439742e-01 -1.81892044e-05 2.04823384e+00] [ 1.51820082e-04 -4.47494080e-07 9.99999988e-01 -7.85127916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745769231000004 meters 0.015307528614172207 Centerline is valid? [True, True] Translation: X:36.08, Y:2.05, Z:-0.08 [[ 9.92091604e-01 -1.25503743e-01 -1.74924853e-03 3.60788773e+01] [ 1.25503568e-01 9.92093146e-01 -2.09667186e-04 2.04729722e+00] [ 1.76173149e-03 -1.15278768e-05 9.99998448e-01 -8.08292258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.775769231 meters 0.015307528614172207 Centerline is valid? [True, True] Translation: X:36.11, Y:2.05, Z:-0.08 [[ 9.92067047e-01 -1.25697714e-01 -1.74920132e-03 3.61061443e+01] [ 1.25697539e-01 9.92068589e-01 -2.10061132e-04 2.05074811e+00] [ 1.76173189e-03 -1.14755737e-05 9.99998448e-01 -8.08882705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805769231 meters 0.016297144024909865 Centerline is valid? [True, True] Translation: X:36.13, Y:2.05, Z:-0.08 [[ 9.91894639e-01 -1.27051823e-01 -1.69088147e-03 3.61342022e+01] [ 1.27051661e-01 9.91896080e-01 -2.02883982e-04 2.05000801e+00] [ 1.70295548e-03 -1.35897653e-05 9.99998550e-01 -8.10064219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835769231 meters 0.016572467997655903 Centerline is valid? [True, True] Translation: X:36.16, Y:2.05, Z:-0.08 [[ 9.91760879e-01 -1.28094331e-01 -1.48365221e-03 3.61625991e+01] [ 1.28094207e-01 9.91761989e-01 -1.78526008e-04 2.05127083e+00] [ 1.49429803e-03 -1.29921430e-05 9.99998883e-01 -8.02719099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865769231 meters 0.017696259528818047 Centerline is valid? [True, True] Translation: X:36.19, Y:2.05, Z:-0.08 [[ 9.91659625e-01 -1.28879941e-01 -1.07237995e-03 3.61902906e+01] [ 1.28879877e-01 9.91660204e-01 -1.28968413e-04 2.05067008e+00] [ 1.08005796e-03 -1.03154276e-05 9.99999417e-01 -8.04106123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.895769231 meters 0.019002863226716658 Centerline is valid? [True, True] Translation: X:36.22, Y:2.05, Z:-0.08 [[ 9.91327322e-01 -1.31411471e-01 -1.08012341e-03 3.62190550e+01] [ 1.31411407e-01 9.91327910e-01 -1.30309839e-04 2.04949457e+00] [ 1.08788069e-03 -1.27608342e-05 9.99999408e-01 -8.02321243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925769231000004 meters 0.020914462820397096 Centerline is valid? [True, True] Translation: X:36.25, Y:2.05, Z:-0.08 [[ 9.90983192e-01 -1.33986228e-01 6.03476708e-05 3.62479304e+01] [ 1.33986228e-01 9.90983194e-01 6.91180263e-06 2.04818846e+00] [-6.07296140e-05 1.23627653e-06 9.99999998e-01 -7.80686080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955769231000005 meters 0.021501581245657847 Centerline is valid? [True, True] Translation: X:36.28, Y:2.05, Z:-0.08 [[ 9.90864195e-01 -1.34862463e-01 5.13750797e-04 3.62768873e+01] [ 1.34862450e-01 9.90864328e-01 6.16244032e-05 2.05027898e+00] [-5.17368157e-04 8.22427632e-06 9.99999866e-01 -7.72719331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985769231 meters 0.022454914167964038 Centerline is valid? [True, True] Translation: X:36.30, Y:2.05, Z:-0.08 [[ 9.90766427e-01 -1.35578305e-01 6.41087819e-04 3.63042919e+01] [ 1.35578284e-01 9.90766634e-01 7.72385803e-05 2.05141564e+00] [-6.45640296e-04 1.03921940e-05 9.99999792e-01 -7.72130332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015769231 meters 0.02402496246791088 Centerline is valid? [True, True] Translation: X:36.33, Y:2.05, Z:-0.08 [[ 9.90570713e-01 -1.37001477e-01 -5.08232565e-04 3.63335138e+01] [ 1.37001463e-01 9.90570843e-01 -6.17560040e-05 2.04997151e+00] [ 5.11901024e-04 -8.45491617e-06 9.99999869e-01 -7.89965971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045769231 meters 0.024463678928741878 Centerline is valid? [True, True] Translation: X:36.36, Y:2.05, Z:-0.08 [[ 9.90448094e-01 -1.37884303e-01 -7.02151402e-04 3.63620619e+01] [ 1.37884277e-01 9.90448342e-01 -8.53417437e-05 2.05128702e+00] [ 7.07211979e-04 -1.22890711e-05 9.99999750e-01 -7.94880435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075769231 meters 0.024877835128125584 Centerline is valid? [True, True] Translation: X:36.39, Y:2.05, Z:-0.08 [[ 9.90399510e-01 -1.38233392e-01 5.83181389e-04 3.63900165e+01] [ 1.38233374e-01 9.90399682e-01 7.04953112e-05 2.05183316e+00] [-5.87327468e-04 1.07966095e-05 9.99999827e-01 -7.76999611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105769231000004 meters 0.02445627460700893 Centerline is valid? [True, True] Translation: X:36.42, Y:2.05, Z:-0.08 [[ 9.90422477e-01 -1.38067377e-01 8.46178886e-04 3.64178632e+01] [ 1.38067340e-01 9.90422839e-01 1.02227886e-04 2.05459264e+00] [-8.52189230e-04 1.55808715e-05 9.99999637e-01 -7.72905753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135769231000005 meters 0.024211819491659226 Centerline is valid? [True, True] Translation: X:36.45, Y:2.06, Z:-0.08 [[ 9.90474063e-01 -1.37697854e-01 6.56902617e-04 3.64454543e+01] [ 1.37697831e-01 9.90474281e-01 7.95423789e-05 2.05621153e+00] [-6.61597962e-04 1.16694023e-05 9.99999781e-01 -7.79845311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165769231 meters 0.024327689592204528 Centerline is valid? [True, True] Translation: X:36.47, Y:2.06, Z:-0.08 [[ 9.90499640e-01 -1.37515047e-01 -2.73537951e-04 3.64723025e+01] [ 1.37515043e-01 9.90499678e-01 -3.33953478e-05 2.05523947e+00] [ 2.75531616e-04 -4.53750326e-06 9.99999962e-01 -7.96152261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.195769231 meters 0.024748737219938068 Centerline is valid? [True, True] Translation: X:36.50, Y:2.05, Z:-0.08 [[ 9.90422769e-01 -1.38058386e-01 1.61895913e-03 3.65009893e+01] [ 1.38058249e-01 9.90424092e-01 1.96598500e-04 2.05416966e+00] [-1.63059820e-03 2.87950326e-05 9.99998670e-01 -7.62406412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225769231 meters 0.025501259476592895 Centerline is valid? [True, True] Translation: X:36.53, Y:2.05, Z:-0.07 [[ 9.90366343e-01 -1.38439632e-01 2.99592450e-03 3.65293002e+01] [ 1.38439164e-01 9.90370873e-01 3.64112880e-04 2.05422981e+00] [-3.01748401e-03 5.41481412e-05 9.99995446e-01 -7.41550433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255769231 meters 0.023885425123688894 Centerline is valid? [True, True] Translation: X:36.56, Y:2.06, Z:-0.07 [[ 9.90226080e-01 -1.39430009e-01 3.40344989e-03 3.65577619e+01] [ 1.39429409e-01 9.90231927e-01 4.14068286e-04 2.05794996e+00] [-3.42793828e-03 6.45197914e-05 9.99994123e-01 -7.40194720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285769231 meters 0.02651135745827637 Centerline is valid? [True, True] Translation: X:36.59, Y:2.05, Z:-0.08 [[ 9.89990725e-01 -1.41127159e-01 1.22016632e-03 3.65863078e+01] [ 1.41127083e-01 9.89991477e-01 1.48522058e-04 2.05112418e+00] [-1.22891475e-03 2.51630526e-05 9.99999245e-01 -7.84147755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315769231000004 meters 0.02923762085787025 Centerline is valid? [True, True] Translation: X:36.62, Y:2.05, Z:-0.08 [[ 9.89905896e-01 -1.41725932e-01 -2.78123643e-04 3.66151266e+01] [ 1.41725928e-01 9.89905935e-01 -3.40253576e-05 2.04708516e+00] [ 2.80138520e-04 -5.73542935e-06 9.99999961e-01 -8.13165086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345769231 meters 0.029983424953230732 Centerline is valid? [True, True] Translation: X:36.65, Y:2.04, Z:-0.08 [[ 9.89805724e-01 -1.42418096e-01 -1.30920196e-03 3.66450170e+01] [ 1.42418009e-01 9.89806590e-01 -1.60122483e-04 2.04181085e+00] [ 1.31866107e-03 -2.79637864e-05 9.99999130e-01 -8.34892704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.375769231 meters 0.029424335124633216 Centerline is valid? [True, True] Translation: X:36.67, Y:2.04, Z:-0.08 [[ 9.89878360e-01 -1.41918233e-01 -2.20024879e-04 3.66731160e+01] [ 1.41918231e-01 9.89878384e-01 -2.69862918e-05 2.04108625e+00] [ 2.21627718e-04 -4.51239521e-06 9.99999975e-01 -8.17280686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405769231 meters 0.025034588881526654 Centerline is valid? [True, True] Translation: X:36.70, Y:2.04, Z:-0.08 [[ 9.90158412e-01 -1.39924949e-01 2.70692606e-03 3.67024636e+01] [ 1.39924568e-01 9.90162111e-01 3.30620116e-04 2.03969039e+00] [-2.72655763e-03 5.13991706e-05 9.99996282e-01 -7.64186094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435769231 meters 0.02416188437398187 Centerline is valid? [True, True] Translation: X:36.73, Y:2.04, Z:-0.08 [[ 9.90410265e-01 -1.38128893e-01 2.81335651e-03 3.67303139e+01] [ 1.38128473e-01 9.90414260e-01 3.44028703e-04 2.03873127e+00] [-2.83390871e-03 4.78750803e-05 9.99995983e-01 -7.60309530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465769231 meters 0.023259660038651056 Centerline is valid? [True, True] Translation: X:36.76, Y:2.04, Z:-0.08 [[ 9.90674387e-01 -1.36236418e-01 1.97425797e-03 3.67589446e+01] [ 1.36236207e-01 9.90676354e-01 2.41485269e-04 2.03854998e+00] [-1.98874977e-03 2.97321469e-05 9.99998022e-01 -7.84304370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495769231000004 meters 0.01773642236575308 Centerline is valid? [True, True] Translation: X:36.79, Y:2.04, Z:-0.09 [[ 9.91411704e-01 -1.30771149e-01 -1.31924923e-03 3.67881696e+01] [ 1.30771049e-01 9.91412581e-01 -1.61843621e-04 2.04208856e+00] [ 1.32908476e-03 -1.20659464e-05 9.99999117e-01 -8.55255436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525769231 meters 0.01574118369602736 Centerline is valid? [True, True] Translation: X:36.82, Y:2.05, Z:-0.09 [[ 9.91874734e-01 -1.27194753e-01 -2.45080572e-03 3.68160004e+01] [ 1.27194399e-01 9.91877762e-01 -3.00619420e-04 2.04608249e+00] [ 2.46913691e-03 -1.35519531e-05 9.99996952e-01 -8.85330999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.555769231 meters 0.013977537511100578 Centerline is valid? [True, True] Translation: X:36.84, Y:2.05, Z:-0.09 [[ 9.92767417e-01 -1.20015184e-01 -3.03502301e-03 3.68435255e+01] [ 1.20014605e-01 9.92772056e-01 -3.72977064e-04 2.05470612e+00] [ 3.05784894e-03 6.03238933e-06 9.99995325e-01 -8.87529448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585769231 meters 0.015102178421415592 Centerline is valid? [True, True] Translation: X:36.87, Y:2.06, Z:-0.09 [[ 9.93149836e-01 -1.16828364e-01 -2.13016836e-03 3.68707183e+01] [ 1.16828071e-01 9.93152120e-01 -2.61781131e-04 2.06113987e+00] [ 2.14616468e-03 1.11244264e-05 9.99997697e-01 -8.69173977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615769231 meters 0.017214894557754178 Centerline is valid? [True, True] Translation: X:36.90, Y:2.07, Z:-0.08 [[ 9.93512078e-01 -1.13725717e-01 -4.60457714e-04 3.68987736e+01] [ 1.13725703e-01 9.93512185e-01 -5.69663887e-05 2.06829809e+00] [ 4.63948893e-04 4.23091825e-06 9.99999892e-01 -8.29922982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645769231 meters 0.022476085143130785 Centerline is valid? [True, True] Translation: X:36.93, Y:2.08, Z:-0.08 [[ 9.94127799e-01 -1.08191412e-01 2.13015422e-03 3.69262235e+01] [ 1.08191099e-01 9.94130081e-01 2.61989286e-04 2.07921963e+00] [-2.14599537e-03 -2.99871064e-05 9.99997697e-01 -7.80896199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675769231000004 meters 0.02728133162016261 Centerline is valid? [True, True] Translation: X:36.95, Y:2.09, Z:-0.08 [[ 9.94693995e-01 -1.02874901e-01 7.81336819e-04 3.69546611e+01] [ 1.02874857e-01 9.94694302e-01 9.60925242e-05 2.09027878e+00] [-7.87076791e-04 -1.52027432e-05 9.99999690e-01 -8.19017468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705769231000005 meters 0.03067842787231517 Centerline is valid? [True, True] Translation: X:36.98, Y:2.10, Z:-0.08 [[ 9.94982106e-01 -1.00050994e-01 -6.37751777e-04 3.69826935e+01] [ 1.00050964e-01 9.94982311e-01 -7.85984009e-05 2.09964608e+00] [ 6.42415585e-04 1.43963224e-05 9.99999794e-01 -8.34762174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.735769231 meters 0.03484455139964123 Centerline is valid? [True, True] Translation: X:37.01, Y:2.11, Z:-0.08 [[ 9.95305996e-01 -9.67728589e-02 -9.93976483e-04 3.70098851e+01] [ 9.67727848e-02 9.95306492e-01 -1.22514958e-04 2.11057854e+00] [ 1.00116737e-03 2.57500004e-05 9.99999498e-01 -8.39484625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765769231 meters 0.041834466252419066 Centerline is valid? [True, True] Translation: X:37.04, Y:2.13, Z:-0.08 [[ 9.95957221e-01 -8.98277688e-02 -4.31172558e-04 3.70380776e+01] [ 8.98277543e-02 9.95957314e-01 -5.30964031e-05 2.13095701e+00] [ 4.34198994e-04 1.41504835e-05 9.99999906e-01 -8.09969994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795769231 meters 0.04620119164605091 Centerline is valid? [True, True] Translation: X:37.07, Y:2.15, Z:-0.08 [[ 9.96213237e-01 -8.69431408e-02 2.76303224e-04 3.70654127e+01] [ 8.69431347e-02 9.96213275e-01 3.39628711e-05 2.14544553e+00] [-2.78209779e-04 -9.81159336e-06 9.99999961e-01 -8.01731116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825769231 meters 0.0509968868677207 Centerline is valid? [True, True] Translation: X:37.09, Y:2.17, Z:-0.08 [[ 9.96463710e-01 -8.40003522e-02 2.00398327e-03 3.70925168e+01] [ 8.40000254e-02 9.96465722e-01 2.46843997e-04 2.16515626e+00] [-2.01763561e-03 -7.76364402e-05 9.99997962e-01 -7.79256243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855769231000004 meters 0.04820632926912979 Centerline is valid? [True, True] Translation: X:37.12, Y:2.17, Z:-0.08 [[ 9.96405724e-01 -8.46856369e-02 1.99410222e-03 3.71207432e+01] [ 8.46853146e-02 9.96407716e-01 2.45651992e-04 2.16903971e+00] [-2.00774203e-03 -7.58978766e-05 9.99997982e-01 -7.86018641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885769231000005 meters 0.051158061516698994 Centerline is valid? [True, True] Translation: X:37.15, Y:2.18, Z:-0.08 [[ 9.96245998e-01 -8.65525764e-02 1.60092409e-03 3.71471143e+01] [ 8.65523707e-02 9.96247283e-01 1.97455756e-04 2.17998502e+00] [-1.61200657e-03 -5.81507320e-05 9.99998699e-01 -7.97470090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.915769231 meters 0.038742761958596265 Centerline is valid? [True, True] Translation: X:37.18, Y:2.17, Z:-0.08 [[ 9.95691958e-01 -9.27097859e-02 1.55574520e-03 3.71783802e+01] [ 9.27095989e-02 9.95693172e-01 1.91997927e-04 2.17408281e+00] [-1.56684496e-03 -4.69382791e-05 9.99998771e-01 -8.01581084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945769231 meters 0.036331008995389574 Centerline is valid? [True, True] Translation: X:37.21, Y:2.18, Z:-0.08 [[ 9.95408088e-01 -9.57141600e-02 1.24020189e-03 3.72072674e+01] [ 9.57140435e-02 9.95408860e-01 1.53039190e-04 2.17860154e+00] [-1.24915596e-03 -3.36317104e-05 9.99999219e-01 -8.07025354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975769231 meters 0.02926466109581892 Centerline is valid? [True, True] Translation: X:37.24, Y:2.18, Z:-0.08 [[ 9.95007441e-01 -9.97924944e-02 -1.28446956e-03 3.72371723e+01] [ 9.97923727e-02 9.95008270e-01 -1.58592090e-04 2.18162881e+00] [ 1.29388413e-03 2.96200450e-05 9.99999162e-01 -8.34544880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005769231 meters 0.027617954930354644 Centerline is valid? [True, True] Translation: X:37.27, Y:2.19, Z:-0.08 [[ 9.94815557e-01 -1.01682331e-01 -1.64623998e-03 3.72659269e+01] [ 1.01682133e-01 9.94816919e-01 -2.03814180e-04 2.18826022e+00] [ 1.65843169e-03 3.53643246e-05 9.99998624e-01 -8.45831542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035769231 meters 0.02911815756887995 Centerline is valid? [True, True] Translation: X:37.29, Y:2.20, Z:-0.08 [[ 9.94634160e-01 -1.03452016e-01 -7.54110702e-04 3.72929571e+01] [ 1.03451975e-01 9.94634445e-01 -9.33835706e-05 2.19913277e+00] [ 7.59725199e-04 1.48682476e-05 9.99999711e-01 -8.40124976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065769231000004 meters 0.022377081126468586 Centerline is valid? [True, True] Translation: X:37.32, Y:2.20, Z:-0.08 [[ 9.94274774e-01 -1.06820010e-01 2.67565696e-03 3.73223293e+01] [ 1.06819507e-01 9.94278373e-01 3.30968725e-04 2.19987130e+00] [-2.69570193e-03 -4.32614985e-05 9.99996366e-01 -7.92606075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.095769231 meters 0.02044407207011603 Centerline is valid? [True, True] Translation: X:37.35, Y:2.20, Z:-0.08 [[ 9.93978104e-01 -1.09522469e-01 3.51522833e-03 3.73501917e+01] [ 1.09521614e-01 9.93984319e-01 4.35385406e-04 2.20160558e+00] [-3.54176632e-03 -4.77700779e-05 9.99993727e-01 -7.85577542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125769231 meters 0.014781426795334996 Centerline is valid? [True, True] Translation: X:37.38, Y:2.19, Z:-0.08 [[ 9.92982192e-01 -1.18260955e-01 8.44902351e-04 3.73804193e+01] [ 1.18260908e-01 9.92982551e-01 1.04661910e-04 2.19443766e+00] [-8.51350709e-04 -4.00849377e-06 9.99999638e-01 -8.34368810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155769231 meters 0.014082640919425845 Centerline is valid? [True, True] Translation: X:37.41, Y:2.19, Z:-0.09 [[ 9.92318949e-01 -1.23689918e-01 -1.97687666e-03 3.74088598e+01] [ 1.23689674e-01 9.92320918e-01 -2.45814190e-04 2.19081758e+00] [ 1.99210080e-03 -5.93151359e-07 9.99998016e-01 -8.73675284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185769231 meters 0.019218860745705044 Centerline is valid? [True, True] Translation: X:37.44, Y:2.18, Z:-0.09 [[ 9.90932933e-01 -1.34293194e-01 -4.15445643e-03 3.74391111e+01] [ 1.34292211e-01 9.90941641e-01 -5.16009254e-04 2.17693356e+00] [ 4.18612040e-03 -4.65805741e-05 9.99991237e-01 -9.11933553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215769231 meters 0.022769533438185403 Centerline is valid? [True, True] Translation: X:37.47, Y:2.17, Z:-0.09 [[ 9.90271365e-01 -1.39121866e-01 -2.78026459e-03 3.74690314e+01] [ 1.39121442e-01 9.90275267e-01 -3.46079781e-04 2.17187602e+00] [ 2.80137453e-03 -4.40815231e-05 9.99996075e-01 -8.85259549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245769231000004 meters 0.025791934023531915 Centerline is valid? [True, True] Translation: X:37.50, Y:2.17, Z:-0.08 [[ 9.89720598e-01 -1.43013152e-01 -6.13658819e-04 3.74990605e+01] [ 1.43013132e-01 9.89720788e-01 -7.64072693e-05 2.16804446e+00] [ 6.18278134e-04 -1.21394217e-05 9.99999809e-01 -8.46752463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.275769231 meters 0.03089584308824681 Centerline is valid? [True, True] Translation: X:37.53, Y:2.16, Z:-0.08 [[ 9.89035555e-01 -1.47668293e-01 1.65699030e-03 3.75290208e+01] [ 1.47668155e-01 9.89036943e-01 2.06087547e-04 2.16050443e+00] [-1.66925722e-03 4.08567884e-05 9.99998606e-01 -8.10931362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305769231 meters 0.035406112073004745 Centerline is valid? [True, True] Translation: X:37.56, Y:2.15, Z:-0.08 [[ 9.88672841e-01 -1.50084455e-01 8.18105560e-04 3.75590745e+01] [ 1.50084423e-01 9.88673179e-01 1.01743383e-04 2.15287963e+00] [-8.24109126e-04 2.21939812e-05 9.99999660e-01 -8.31000345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335769231 meters 0.033950487756412295 Centerline is valid? [True, True] Translation: X:37.59, Y:2.16, Z:-0.08 [[ 9.88542139e-01 -1.50945082e-01 1.48756871e-04 3.75879902e+01] [ 1.50945081e-01 9.88542150e-01 1.81850375e-05 2.15573815e+00] [-1.49797379e-04 4.47744205e-06 9.99999989e-01 -8.41583444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365769231 meters 0.03406229971435874 Centerline is valid? [True, True] Translation: X:37.62, Y:2.16, Z:-0.09 [[ 9.88383012e-01 -1.51982831e-01 -4.91426338e-04 3.76171750e+01] [ 1.51982819e-01 9.88383134e-01 -6.16849714e-05 2.15711231e+00] [ 4.95092560e-04 -1.37199822e-05 9.99999877e-01 -8.54152377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.395769231 meters 0.0362197791879891 Centerline is valid? [True, True] Translation: X:37.65, Y:2.15, Z:-0.09 [[ 9.88230047e-01 -1.52968815e-01 -1.38410708e-03 3.76459459e+01] [ 1.52968723e-01 9.88231016e-01 -1.72934115e-04 2.15298854e+00] [ 1.39427108e-03 -4.08264042e-05 9.99999027e-01 -8.66565542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425769231000004 meters 0.036211871634420106 Centerline is valid? [True, True] Translation: X:37.67, Y:2.15, Z:-0.09 [[ 9.88238694e-01 -1.52912945e-01 -1.38406420e-03 3.76739661e+01] [ 1.52912852e-01 9.88239662e-01 -1.73461755e-04 2.15430466e+00] [ 1.39431169e-03 -4.02195858e-05 9.99999027e-01 -8.63937594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455769231000005 meters 0.03331246864903877 Centerline is valid? [True, True] Translation: X:37.70, Y:2.16, Z:-0.09 [[ 9.88690828e-01 -1.49965467e-01 -8.97126020e-04 3.77041225e+01] [ 1.49965427e-01 9.88691235e-01 -1.12210741e-04 2.15747031e+00] [ 9.03808369e-04 -2.35961553e-05 9.99999591e-01 -8.56454092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485769231 meters 0.030109386157673727 Centerline is valid? [True, True] Translation: X:37.73, Y:2.16, Z:-0.08 [[ 9.89029101e-01 -1.47720722e-01 -1.58646116e-04 3.77324881e+01] [ 1.47720720e-01 9.89029114e-01 -1.99480467e-05 2.16407069e+00] [ 1.59852368e-04 -3.70611987e-06 9.99999987e-01 -8.49350517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515769231 meters 0.024061631181393345 Centerline is valid? [True, True] Translation: X:37.76, Y:2.17, Z:-0.08 [[ 9.89793669e-01 -1.42503481e-01 1.11862684e-03 3.77617087e+01] [ 1.42503414e-01 9.89794301e-01 1.39925494e-04 2.17407512e+00] [-1.12715034e-03 2.09107757e-05 9.99999365e-01 -8.28316754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545769231 meters 0.023210486149059923 Centerline is valid? [True, True] Translation: X:37.79, Y:2.18, Z:-0.08 [[ 9.90206854e-01 -1.39600222e-01 1.47094881e-03 3.77889246e+01] [ 1.39600102e-01 9.90207947e-01 1.83990290e-04 2.17820206e+00] [-1.48223028e-03 2.31561580e-05 9.99998901e-01 -8.25458868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575769231 meters 0.020847992860717455 Centerline is valid? [True, True] Translation: X:37.82, Y:2.18, Z:-0.08 [[ 9.90582021e-01 -1.36913034e-01 1.44246193e-03 3.78158145e+01] [ 1.36912916e-01 9.90583071e-01 1.80496178e-04 2.18473908e+00] [-1.45359065e-03 1.86954007e-05 9.99998943e-01 -8.25570457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605769231000004 meters 0.016884235525009172 Centerline is valid? [True, True] Translation: X:37.84, Y:2.19, Z:-0.09 [[ 9.91226876e-01 -1.32166153e-01 -1.17835014e-03 3.78432864e+01] [ 1.32166070e-01 9.91227576e-01 -1.48127508e-04 2.19447163e+00] [ 1.18759060e-03 -8.90994059e-06 9.99999295e-01 -8.86374190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635769231000005 meters 0.014419133837301102 Centerline is valid? [True, True] Translation: X:37.87, Y:2.21, Z:-0.09 [[ 9.91897090e-01 -1.27026019e-01 -2.13396277e-03 3.78707694e+01] [ 1.27025736e-01 9.91899385e-01 -2.68317362e-04 2.20522606e+00] [ 2.15075965e-03 -4.92498128e-06 9.99997687e-01 -9.06036627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665769231 meters 0.014419133837301102 Centerline is valid? [True, True] Translation: X:37.90, Y:2.21, Z:-0.09 [[ 9.91874087e-01 -1.27205511e-01 -2.13390796e-03 3.78980242e+01] [ 1.27205227e-01 9.91876382e-01 -2.68753304e-04 2.20886345e+00] [ 2.15075981e-03 -4.87480712e-06 9.99997687e-01 -9.06627095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.695769231 meters 0.013855146011126649 Centerline is valid? [True, True] Translation: X:37.93, Y:2.22, Z:-0.09 [[ 9.92197558e-01 -1.24667814e-01 -1.39361030e-03 3.79253644e+01] [ 1.24667689e-01 9.92198537e-01 -1.75912050e-04 2.21701140e+00] [ 1.40466867e-03 8.01330576e-07 9.99999013e-01 -8.86435433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725769231 meters 0.014181606794206086 Centerline is valid? [True, True] Translation: X:37.95, Y:2.23, Z:-0.09 [[ 9.92469804e-01 -1.22487461e-01 -7.14466400e-04 3.79526512e+01] [ 1.22487427e-01 9.92470061e-01 -9.05078639e-05 2.22507554e+00] [ 7.20172590e-04 2.31317076e-06 9.99999741e-01 -8.74416656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755769231 meters 0.014397975002593206 Centerline is valid? [True, True] Translation: X:37.98, Y:2.23, Z:-0.09 [[ 9.92632974e-01 -1.21159978e-01 1.95058142e-04 3.79796032e+01] [ 1.21159976e-01 9.92632993e-01 2.42281377e-05 2.23211756e+00] [-1.96556628e-04 -4.16408664e-07 9.99999981e-01 -8.61807566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785769231 meters 0.01470799808932773 Centerline is valid? [True, True] Translation: X:38.01, Y:2.24, Z:-0.09 [[ 9.92605156e-01 -1.21387820e-01 3.09640112e-05 3.80061579e+01] [ 1.21387820e-01 9.92605157e-01 3.73542000e-06 2.23637802e+00] [-3.11884717e-05 5.08566650e-08 1.00000000e+00 -8.72591867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815769231000004 meters 0.014620416312589174 Centerline is valid? [True, True] Translation: X:38.03, Y:2.24, Z:-0.09 [[ 9.92499735e-01 -1.22241780e-01 -1.10610155e-03 3.80324968e+01] [ 1.22241700e-01 9.92500351e-01 -1.40073342e-04 2.23945224e+00] [ 1.11492899e-03 3.81102116e-06 9.99999378e-01 -9.03971776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845769231 meters 0.014412597471877139 Centerline is valid? [True, True] Translation: X:38.06, Y:2.24, Z:-0.09 [[ 9.92435347e-01 -1.22760138e-01 -1.42515349e-03 3.80605309e+01] [ 1.22760005e-01 9.92436370e-01 -1.80933445e-04 2.24314978e+00] [ 1.43658557e-03 4.61289633e-06 9.99998968e-01 -9.12301478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.875769231 meters 0.014919730694768225 Centerline is valid? [True, True] Translation: X:38.09, Y:2.25, Z:-0.09 [[ 9.92529604e-01 -1.21994437e-01 -1.53062521e-03 3.80880301e+01] [ 1.21994283e-01 9.92530784e-01 -1.94106228e-04 2.25111507e+00] [ 1.54287252e-03 5.92865286e-06 9.99998810e-01 -9.25750044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905769231 meters 0.015048414509596946 Centerline is valid? [True, True] Translation: X:38.12, Y:2.26, Z:-0.09 [[ 9.92544536e-01 -1.21874197e-01 -1.42264456e-03 3.81155519e+01] [ 1.21874063e-01 9.92545556e-01 -1.80921783e-04 2.25644783e+00] [ 1.43408923e-03 6.18945440e-06 9.99998972e-01 -9.19127909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935769231 meters 0.015097944974882078 Centerline is valid? [True, True] Translation: X:38.14, Y:2.26, Z:-0.09 [[ 9.92531574e-01 -1.21975984e-01 -1.71261260e-03 3.81433029e+01] [ 1.21975789e-01 9.92533052e-01 -2.18027724e-04 2.26169015e+00] [ 1.72641876e-03 7.50212633e-06 9.99998510e-01 -9.17317117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965769231 meters 0.014741331906235462 Centerline is valid? [True, True] Translation: X:38.17, Y:2.27, Z:-0.09 [[ 9.92425377e-01 -1.22837175e-01 -1.70274560e-03 3.81702844e+01] [ 1.22836984e-01 9.92426838e-01 -2.16691322e-04 2.26634125e+00] [ 1.71646818e-03 5.88983178e-06 9.99998527e-01 -9.14398450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995769231000004 meters 0.014555888716309603 Centerline is valid? [True, True] Translation: X:38.20, Y:2.27, Z:-0.09 [[ 9.92363969e-01 -1.23341254e-01 -8.29259770e-04 3.81982256e+01] [ 1.23341208e-01 9.92364316e-01 -1.05972295e-04 2.27003715e+00] [ 8.35998560e-04 2.88118482e-06 9.99999651e-01 -8.98097483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025769231 meters 0.013949247529976068 Centerline is valid? [True, True] Translation: X:38.23, Y:2.27, Z:-0.09 [[ 9.92131176e-01 -1.25201460e-01 5.68583908e-04 3.82273962e+01] [ 1.25201440e-01 9.92131339e-01 7.21639840e-05 2.27215817e+00] [-5.73144950e-04 -4.08614456e-07 9.99999836e-01 -8.82668044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.055769231 meters 0.013937249834331922 Centerline is valid? [True, True] Translation: X:38.26, Y:2.27, Z:-0.09 [[ 9.91931487e-01 -1.26774513e-01 3.84819404e-04 3.82553369e+01] [ 1.26774504e-01 9.91931562e-01 4.87384216e-05 2.27387916e+00] [-3.87893302e-04 4.40114104e-07 9.99999925e-01 -8.87781317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085769231 meters 0.013953940641583971 Centerline is valid? [True, True] Translation: X:38.28, Y:2.28, Z:-0.09 [[ 9.91766641e-01 -1.28056774e-01 -6.26028425e-04 3.82838090e+01] [ 1.28056749e-01 9.91766839e-01 -8.04373290e-05 2.27526012e+00] [ 6.31174777e-04 -3.92104969e-07 9.99999801e-01 -9.03765515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115769231 meters 0.014165362536593448 Centerline is valid? [True, True] Translation: X:38.31, Y:2.28, Z:-0.09 [[ 9.91649476e-01 -1.28953664e-01 -1.50669102e-03 3.83113943e+01] [ 1.28953520e-01 9.91650620e-01 -1.92856341e-04 2.27519621e+00] [ 1.51898062e-03 -3.04722132e-06 9.99998846e-01 -9.14072964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145769231 meters 0.013654020458787199 Centerline is valid? [True, True] Translation: X:38.34, Y:2.28, Z:-0.09 [[ 9.91854223e-01 -1.27373690e-01 1.06880721e-03 3.83382210e+01] [ 1.27373617e-01 9.91854799e-01 1.36660417e-04 2.28129890e+00] [-1.07750850e-03 5.90627595e-07 9.99999419e-01 -8.63327872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175769231000004 meters 0.01366591763986395 Centerline is valid? [True, True] Translation: X:38.37, Y:2.29, Z:-0.08 [[ 9.92035196e-01 -1.25940746e-01 2.25775655e-03 3.83652113e+01] [ 1.25940415e-01 9.92037766e-01 2.88960777e-04 2.28866264e+00] [-2.27617170e-03 -2.31646491e-06 9.99997410e-01 -8.47205329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205769231000005 meters 0.014056579465226702 Centerline is valid? [True, True] Translation: X:38.39, Y:2.30, Z:-0.08 [[ 9.92256997e-01 -1.24174669e-01 2.58925901e-03 3.83929110e+01] [ 1.24174225e-01 9.92260375e-01 3.31914885e-04 2.29655534e+00] [-2.61043454e-03 -7.82563480e-06 9.99996593e-01 -8.41015304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.235769231 meters 0.015366572548849806 Centerline is valid? [True, True] Translation: X:38.42, Y:2.31, Z:-0.09 [[ 9.92600899e-01 -1.21419493e-01 8.73483495e-04 3.84207980e+01] [ 1.21419441e-01 9.92601283e-01 1.11891964e-04 2.30542318e+00] [-8.80606703e-04 -5.00618648e-06 9.99999612e-01 -8.77318022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265769231 meters 0.01569463075193018 Centerline is valid? [True, True] Translation: X:38.45, Y:2.31, Z:-0.09 [[ 9.92638395e-01 -1.21115655e-01 1.23357329e-04 3.84482836e+01] [ 1.21115654e-01 9.92638402e-01 1.54707717e-05 2.31098704e+00] [-1.24322975e-04 -4.16378400e-07 9.99999992e-01 -8.87978478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295769231 meters 0.01627979506708266 Centerline is valid? [True, True] Translation: X:38.48, Y:2.32, Z:-0.09 [[ 9.92659174e-01 -1.20944863e-01 -3.22406636e-04 3.84757284e+01] [ 1.20944856e-01 9.92659227e-01 -4.16368459e-05 2.31868184e+00] [ 3.25075684e-04 2.33777307e-06 9.99999947e-01 -9.13494014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325769231 meters 0.016112955380599772 Centerline is valid? [True, True] Translation: X:38.50, Y:2.32, Z:-0.09 [[ 9.92601625e-01 -1.21413436e-01 -8.89741001e-04 3.85023717e+01] [ 1.21413382e-01 9.92602024e-01 -1.14799091e-04 2.32351936e+00] [ 8.97096871e-04 5.92330000e-06 9.99999598e-01 -9.25127920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355769231000004 meters 0.016230578662615562 Centerline is valid? [True, True] Translation: X:38.53, Y:2.33, Z:-0.10 [[ 9.92526615e-01 -1.22014239e-01 -1.85560248e-03 3.85292318e+01] [ 1.22014004e-01 9.92528350e-01 -2.39560840e-04 2.32831919e+00] [ 1.87096790e-03 1.13610211e-05 9.99998250e-01 -9.50986470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385769231000005 meters 0.015923496894937366 Centerline is valid? [True, True] Translation: X:38.56, Y:2.33, Z:-0.10 [[ 9.92372739e-01 -1.23177517e-01 -4.86266678e-03 3.85580170e+01] [ 1.23175918e-01 9.92384653e-01 -6.28192946e-04 2.33356402e+00] [ 4.90301513e-03 2.44381112e-05 9.99987980e-01 -1.00468907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.415769231 meters 0.01588683906418563 Centerline is valid? [True, True] Translation: X:38.58, Y:2.34, Z:-0.10 [[ 9.92417152e-01 -1.22845813e-01 -4.13556597e-03 3.85846828e+01] [ 1.22844650e-01 9.92425768e-01 -5.35131515e-04 2.34388155e+00] [ 4.16998090e-03 2.30415390e-05 9.99991305e-01 -9.80264403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445769231 meters 0.016185615718154557 Centerline is valid? [True, True] Translation: X:38.61, Y:2.35, Z:-0.09 [[ 9.92434942e-01 -1.22753085e-01 -2.13679307e-03 3.86122354e+01] [ 1.22752773e-01 9.92437242e-01 -2.76977901e-04 2.35163510e+00] [ 2.15463291e-03 1.25852730e-05 9.99997679e-01 -9.47651270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475769231 meters 0.01576107973725116 Centerline is valid? [True, True] Translation: X:38.64, Y:2.36, Z:-0.09 [[ 9.92450837e-01 -1.22641664e-01 -5.99375657e-04 3.86394331e+01] [ 1.22641639e-01 9.92451018e-01 -7.80958317e-05 2.35602581e+00] [ 6.04428784e-04 3.99786024e-06 9.99999817e-01 -9.13344420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505769231 meters 0.015552762231315272 Centerline is valid? [True, True] Translation: X:38.67, Y:2.36, Z:-0.09 [[ 9.92413268e-01 -1.22946679e-01 -1.39864821e-04 3.86673451e+01] [ 1.22946678e-01 9.92413278e-01 -1.85569198e-05 2.36023121e+00] [ 1.41085217e-04 1.22021838e-06 9.99999990e-01 -9.03240047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535769231 meters 0.015175448604847111 Centerline is valid? [True, True] Translation: X:38.70, Y:2.36, Z:-0.09 [[ 9.92314130e-01 -1.23744324e-01 -1.02502449e-04 3.86950669e+01] [ 1.23744324e-01 9.92314135e-01 -1.37248623e-05 2.36384718e+00] [ 1.03413003e-04 9.35278585e-07 9.99999995e-01 -8.99452876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565769231000004 meters 0.014132264606071655 Centerline is valid? [True, True] Translation: X:38.72, Y:2.36, Z:-0.09 [[ 9.91975397e-01 -1.26431053e-01 -2.70209677e-05 3.87234258e+01] [ 1.26431053e-01 9.91975397e-01 -3.70063383e-06 2.36411811e+00] [ 2.72720102e-05 2.54648321e-07 1.00000000e+00 -9.00330726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.595769231 meters 0.01386875100175939 Centerline is valid? [True, True] Translation: X:38.75, Y:2.36, Z:-0.09 [[ 9.91757683e-01 -1.28127550e-01 1.69962858e-04 3.87512165e+01] [ 1.28127548e-01 9.91757698e-01 2.17450916e-05 2.36430466e+00] [-1.71348118e-04 2.11062643e-07 9.99999985e-01 -8.95799107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625769231 meters 0.013681816985611519 Centerline is valid? [True, True] Translation: X:38.78, Y:2.36, Z:-0.09 [[ 9.91437908e-01 -1.30577350e-01 6.55562501e-04 3.87795169e+01] [ 1.30577322e-01 9.91438125e-01 8.51341337e-05 2.36278914e+00] [-6.61066247e-04 1.19638847e-06 9.99999781e-01 -8.86066322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655769231 meters 0.01367066511375278 Centerline is valid? [True, True] Translation: X:38.81, Y:2.37, Z:-0.09 [[ 9.91419806e-01 -1.30715626e-01 4.40407069e-04 3.88074505e+01] [ 1.30715613e-01 9.91419904e-01 5.71314844e-05 2.36610360e+00] [-4.44096311e-04 9.26794924e-07 9.99999901e-01 -8.93601344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685769231 meters 0.014008695035775079 Centerline is valid? [True, True] Translation: X:38.83, Y:2.37, Z:-0.09 [[ 9.91692989e-01 -1.28619503e-01 -1.42816614e-03 3.88341121e+01] [ 1.28619366e-01 9.91694017e-01 -1.87338359e-04 2.37106601e+00] [ 1.44039918e-03 2.09231293e-06 9.99998963e-01 -9.34220512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715769231 meters 0.014460190020535795 Centerline is valid? [True, True] Translation: X:38.86, Y:2.38, Z:-0.10 [[ 9.91880810e-01 -1.27158107e-01 -1.80962295e-03 3.88610953e+01] [ 1.27157886e-01 9.91882461e-01 -2.37070491e-04 2.37649029e+00] [ 1.82507870e-03 5.03784139e-06 9.99998335e-01 -9.51599276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745769231000004 meters 0.01573331382057285 Centerline is valid? [True, True] Translation: X:38.89, Y:2.39, Z:-0.09 [[ 9.92326044e-01 -1.23636751e-01 -1.72508152e-03 3.88894460e+01] [ 1.23636544e-01 9.92327544e-01 -2.26527797e-04 2.38511580e+00] [ 1.73985307e-03 1.15063152e-05 9.99998486e-01 -9.29157773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775769231000005 meters 0.01866403084236448 Centerline is valid? [True, True] Translation: X:38.92, Y:2.40, Z:-0.09 [[ 9.92888807e-01 -1.19043239e-01 -7.24201805e-04 3.89168233e+01] [ 1.19043201e-01 9.92889071e-01 -9.54342020e-05 2.39615007e+00] [ 7.30412854e-04 8.54424978e-06 9.99999733e-01 -9.06226906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805769231 meters 0.02029349909673544 Centerline is valid? [True, True] Translation: X:38.94, Y:2.40, Z:-0.09 [[ 9.93174044e-01 -1.16638264e-01 -9.13248266e-04 3.89448071e+01] [ 1.16638202e-01 9.93174464e-01 -1.20416428e-04 2.40336473e+00] [ 9.21060020e-04 1.30748350e-05 9.99999576e-01 -9.09144601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835769231 meters 0.023150115012312546 Centerline is valid? [True, True] Translation: X:38.97, Y:2.41, Z:-0.09 [[ 9.93453654e-01 -1.14228969e-01 -1.25708693e-03 3.89716808e+01] [ 1.14228851e-01 9.93454449e-01 -1.65452514e-04 2.41333861e+00] [ 1.26775808e-03 2.07738085e-05 9.99999196e-01 -9.17470516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865769231 meters 0.027219277524436144 Centerline is valid? [True, True] Translation: X:39.00, Y:2.43, Z:-0.09 [[ 9.93922452e-01 -1.10079282e-01 -8.43038310e-04 3.89985146e+01] [ 1.10079228e-01 9.93922810e-01 -1.10975412e-04 2.42922924e+00] [ 8.50131099e-04 1.74999475e-05 9.99999638e-01 -9.12982330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.895769231 meters 0.028845469515576587 Centerline is valid? [True, True] Translation: X:39.03, Y:2.44, Z:-0.09 [[ 9.94107046e-01 -1.08398303e-01 -9.94307173e-04 3.90263932e+01] [ 1.08398226e-01 9.94107543e-01 -1.31318812e-04 2.43813698e+00] [ 1.00268300e-03 2.27638231e-05 9.99999497e-01 -9.14148388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925769231000004 meters 0.031600957730440575 Centerline is valid? [True, True] Translation: X:39.05, Y:2.45, Z:-0.09 [[ 9.94409516e-01 -1.05590984e-01 -5.08500604e-04 3.90547832e+01] [ 1.05590964e-01 9.94409646e-01 -6.70394834e-05 2.45076384e+00] [ 5.12736671e-04 1.29716313e-05 9.99999868e-01 -9.13957495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955769231000005 meters 0.030963019517661994 Centerline is valid? [True, True] Translation: X:39.08, Y:2.46, Z:-0.09 [[ 9.94428770e-01 -1.05410337e-01 -2.85653848e-04 3.90830016e+01] [ 1.05410331e-01 9.94428811e-01 -3.80430854e-05 2.45655874e+00] [ 2.88072551e-04 7.72027195e-06 9.99999958e-01 -9.06049225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985769231 meters 0.03178040732295003 Centerline is valid? [True, True] Translation: X:39.11, Y:2.47, Z:-0.09 [[ 9.94409109e-01 -1.05587346e-01 -1.35502725e-03 3.91091403e+01] [ 1.05587200e-01 9.94410032e-01 -1.79206628e-04 2.46772854e+00] [ 1.36637464e-03 3.51311700e-05 9.99999066e-01 -9.22659647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015769231 meters 0.03291934923633844 Centerline is valid? [True, True] Translation: X:39.14, Y:2.48, Z:-0.09 [[ 9.94410973e-01 -1.05548037e-01 -2.53551385e-03 3.91358796e+01] [ 1.05547525e-01 9.94414203e-01 -3.35073878e-04 2.47559450e+00] [ 2.55671737e-03 6.55839292e-05 9.99996729e-01 -9.48022956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045769231 meters 0.032454000438583853 Centerline is valid? [True, True] Translation: X:39.16, Y:2.48, Z:-0.09 [[ 9.94359532e-01 -1.06029032e-01 -2.63915073e-03 3.91628671e+01] [ 1.06028478e-01 9.94363032e-01 -3.49540954e-04 2.48416374e+00] [ 2.66133541e-03 6.77442450e-05 9.99996456e-01 -9.41488531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075769231 meters 0.03166575064254073 Centerline is valid? [True, True] Translation: X:39.19, Y:2.49, Z:-0.09 [[ 9.94276811e-01 -1.06828095e-01 -1.17534281e-03 3.91916429e+01] [ 1.06827985e-01 9.94277505e-01 -1.55997663e-04 2.48979125e+00] [ 1.18528185e-03 2.95453553e-05 9.99999297e-01 -9.17205221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105769231000004 meters 0.029912989889475192 Centerline is valid? [True, True] Translation: X:39.22, Y:2.50, Z:-0.09 [[ 9.94067601e-01 -1.08761603e-01 7.19763436e-04 3.92190434e+01] [ 1.08761562e-01 9.94067862e-01 9.52466145e-05 2.49566514e+00] [-7.25852874e-04 -1.63989778e-05 9.99999736e-01 -8.80725801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135769231000005 meters 0.02792841619863768 Centerline is valid? [True, True] Translation: X:39.25, Y:2.50, Z:-0.09 [[ 9.93951708e-01 -1.09809798e-01 1.34526773e-03 3.92482221e+01] [ 1.09809657e-01 9.93952618e-01 1.78131328e-04 2.49856862e+00] [-1.35669295e-03 -2.93305490e-05 9.99999079e-01 -8.66179334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165769231 meters 0.029418998701340515 Centerline is valid? [True, True] Translation: X:39.28, Y:2.51, Z:-0.09 [[ 9.93822334e-01 -1.10968220e-01 1.79505504e-03 3.92754198e+01] [ 1.10967970e-01 9.93823955e-01 2.38114421e-04 2.50642450e+00] [-1.81039183e-03 -3.74498148e-05 9.99998361e-01 -8.60798858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.195769231 meters 0.025035044398074944 Centerline is valid? [True, True] Translation: X:39.30, Y:2.51, Z:-0.09 [[ 9.93540742e-01 -1.13450148e-01 2.42033104e-03 3.93047414e+01] [ 1.13449702e-01 9.93543689e-01 3.21253257e-04 2.50840297e+00] [-2.44115086e-03 -4.45923644e-05 9.99997019e-01 -8.50855007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225769231 meters 0.023114451459708765 Centerline is valid? [True, True] Translation: X:39.33, Y:2.51, Z:-0.09 [[ 9.93309106e-01 -1.15476721e-01 1.46552748e-03 3.93327479e+01] [ 1.15476560e-01 9.93310186e-01 1.94515440e-04 2.51319425e+00] [-1.47818537e-03 -2.39798861e-05 9.99998907e-01 -8.67938488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255769231 meters 0.022235958127126036 Centerline is valid? [True, True] Translation: X:39.36, Y:2.52, Z:-0.09 [[ 9.93233182e-01 -1.16127456e-01 1.50355873e-03 3.93614666e+01] [ 1.16127287e-01 9.93234319e-01 1.99823225e-04 2.51816118e+00] [-1.51659110e-03 -2.38668615e-05 9.99998850e-01 -8.70364925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285769231 meters 0.023450626773135377 Centerline is valid? [True, True] Translation: X:39.39, Y:2.53, Z:-0.09 [[ 9.93173208e-01 -1.16636244e-01 1.72208442e-03 3.93884639e+01] [ 1.16636022e-01 9.93174701e-01 2.29258243e-04 2.52647322e+00] [-1.73707049e-03 -2.68360688e-05 9.99998491e-01 -8.64125392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315769231000004 meters 0.021204769851623482 Centerline is valid? [True, True] Translation: X:39.42, Y:2.53, Z:-0.08 [[ 9.93017845e-01 -1.17943552e-01 2.20851509e-03 3.94168782e+01] [ 1.17943189e-01 9.93020301e-01 2.94195756e-04 2.53230182e+00] [-2.22779881e-03 -3.16623232e-05 9.99997518e-01 -8.42023548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345769231 meters 0.021936871584251373 Centerline is valid? [True, True] Translation: X:39.44, Y:2.54, Z:-0.08 [[ 9.92947631e-01 -1.18532000e-01 2.27309784e-03 3.94442844e+01] [ 1.18531616e-01 9.92950232e-01 3.03178629e-04 2.54029941e+00] [-2.29300940e-03 -3.16065401e-05 9.99997371e-01 -8.38807060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.375769231 meters 0.019085308953941983 Centerline is valid? [True, True] Translation: X:39.47, Y:2.55, Z:-0.09 [[ 9.92675147e-01 -1.20801292e-01 1.76067846e-03 3.94722578e+01] [ 1.20801065e-01 9.92676708e-01 2.34871460e-04 2.54573899e+00] [-1.77615727e-03 -2.04592279e-05 9.99998422e-01 -8.54543973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405769231 meters 0.017846896667396348 Centerline is valid? [True, True] Translation: X:39.50, Y:2.55, Z:-0.09 [[ 9.92460516e-01 -1.22558949e-01 1.19529408e-03 3.95007768e+01] [ 1.22558846e-01 9.92461235e-01 1.59535233e-04 2.54977110e+00] [-1.20583551e-03 -1.18385567e-05 9.99999273e-01 -8.74133622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435769231 meters 0.01509303289062697 Centerline is valid? [True, True] Translation: X:39.53, Y:2.55, Z:-0.09 [[ 9.91912828e-01 -1.26918328e-01 8.23834981e-04 3.95296838e+01] [ 1.26918280e-01 9.91913171e-01 1.09980814e-04 2.55219457e+00] [-8.31131349e-04 -4.53166162e-06 9.99999655e-01 -8.94862587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465769231 meters 0.014376776765060204 Centerline is valid? [True, True] Translation: X:39.56, Y:2.56, Z:-0.09 [[ 9.91657287e-01 -1.28898930e-01 9.44046933e-04 3.95568215e+01] [ 1.28898868e-01 9.91657736e-01 1.26374389e-04 2.55593633e+00] [-9.52460968e-04 -3.63350226e-06 9.99999546e-01 -8.93246802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495769231000004 meters 0.013561044416290143 Centerline is valid? [True, True] Translation: X:39.58, Y:2.56, Z:-0.09 [[ 9.91211658e-01 -1.32285474e-01 5.26341862e-05 3.95844452e+01] [ 1.32285474e-01 9.91211659e-01 6.93052607e-06 2.55859512e+00] [-5.30884269e-05 9.31200295e-08 9.99999999e-01 -8.96966488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525769231000005 meters 0.013798862671274784 Centerline is valid? [True, True] Translation: X:39.61, Y:2.56, Z:-0.09 [[ 9.90957446e-01 -1.34174551e-01 -7.27848765e-04 3.96123846e+01] [ 1.34174515e-01 9.90957713e-01 -9.81152267e-05 2.56178718e+00] [ 7.34431915e-04 -4.30740784e-07 9.99999730e-01 -9.13536458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.555769231 meters 0.013798862671274784 Centerline is valid? [True, True] Translation: X:39.64, Y:2.57, Z:-0.09 [[ 9.90932481e-01 -1.34358807e-01 -7.27830413e-04 3.96395876e+01] [ 1.34358772e-01 9.90932748e-01 -9.82515537e-05 2.56563899e+00] [ 7.34431953e-04 -4.29744416e-07 9.99999730e-01 -9.14126888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585769231 meters 0.014063116247695647 Centerline is valid? [True, True] Translation: X:39.67, Y:2.57, Z:-0.09 [[ 9.90710463e-01 -1.35980802e-01 -1.41426358e-03 3.96669870e+01] [ 1.35980668e-01 9.90711472e-01 -1.90811796e-04 2.56912482e+00] [ 1.42707389e-03 -3.27326350e-06 9.99998982e-01 -9.26760831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615769231 meters 0.01451023005632384 Centerline is valid? [True, True] Translation: X:39.69, Y:2.57, Z:-0.09 [[ 9.90429608e-01 -1.38018582e-01 -2.50396383e-04 3.96947475e+01] [ 1.38018577e-01 9.90429640e-01 -3.41647775e-05 2.57320985e+00] [ 2.52715374e-04 -7.21545469e-07 9.99999968e-01 -9.10257023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645769231 meters 0.01489807354287628 Centerline is valid? [True, True] Translation: X:39.72, Y:2.58, Z:-0.09 [[ 9.90298587e-01 -1.38954152e-01 6.72087724e-04 3.97217810e+01] [ 1.38954123e-01 9.90298815e-01 9.04213476e-05 2.57679658e+00] [-6.78132099e-04 3.84522721e-06 9.99999770e-01 -8.94524324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675769231000004 meters 0.015135863882891358 Centerline is valid? [True, True] Translation: X:39.75, Y:2.58, Z:-0.09 [[ 9.90159851e-01 -1.39931114e-01 1.65936902e-03 3.97496192e+01] [ 1.39930935e-01 9.90161241e-01 2.23845534e-04 2.58130940e+00] [-1.67436584e-03 1.05541980e-05 9.99998598e-01 -8.75359955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705769231000005 meters 0.01554700834824092 Centerline is valid? [True, True] Translation: X:39.78, Y:2.58, Z:-0.09 [[ 9.90051096e-01 -1.40703531e-01 1.15930333e-03 3.97772117e+01] [ 1.40703444e-01 9.90051775e-01 1.56485364e-04 2.58438123e+00] [-1.16978837e-03 8.18946636e-06 9.99999316e-01 -8.89167013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.735769231 meters 0.016439711190639486 Centerline is valid? [True, True] Translation: X:39.80, Y:2.58, Z:-0.09 [[ 9.89849557e-01 -1.42118529e-01 -4.21952376e-04 3.98047829e+01] [ 1.42118518e-01 9.89849647e-01 -5.73716444e-05 2.58435901e+00] [ 4.25822985e-04 -3.17794953e-06 9.99999909e-01 -9.11766759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765769231 meters 0.016558803851798528 Centerline is valid? [True, True] Translation: X:39.83, Y:2.59, Z:-0.09 [[ 9.89760021e-01 -1.42741221e-01 -2.09522808e-04 3.98321835e+01] [ 1.42741218e-01 9.89760044e-01 -2.88264191e-05 2.58754969e+00] [ 2.11492022e-04 -1.37630363e-06 9.99999978e-01 -9.04393816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795769231 meters 0.01668228916242019 Centerline is valid? [True, True] Translation: X:39.86, Y:2.59, Z:-0.09 [[ 9.89715520e-01 -1.43049246e-01 3.20021206e-04 3.98586282e+01] [ 1.43049239e-01 9.89715572e-01 4.32531498e-05 2.59064852e+00] [-3.22917302e-04 2.97047643e-06 9.99999948e-01 -8.89751354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825769231 meters 0.016040618693528238 Centerline is valid? [True, True] Translation: X:39.89, Y:2.60, Z:-0.09 [[ 9.89811069e-01 -1.42369489e-01 2.23069902e-03 3.98870441e+01] [ 1.42369168e-01 9.89813583e-01 3.02755027e-04 2.59619825e+00] [-2.25107927e-03 1.79124872e-05 9.99997466e-01 -8.51343512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855769231000004 meters 0.014868902410348592 Centerline is valid? [True, True] Translation: X:39.92, Y:2.60, Z:-0.08 [[ 9.90080136e-01 -1.40466788e-01 3.22583498e-03 3.99152300e+01] [ 1.40466105e-01 9.90085391e-01 4.38505396e-04 2.60350609e+00] [-3.25544753e-03 1.89649941e-05 9.99994701e-01 -8.31482447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885769231000005 meters 0.014430710767828665 Centerline is valid? [True, True] Translation: X:39.94, Y:2.61, Z:-0.08 [[ 9.90248734e-01 -1.39283225e-01 2.76198692e-03 3.99426852e+01] [ 1.39282719e-01 9.90252585e-01 3.75806832e-04 2.61008755e+00] [-2.78740828e-03 1.25548069e-05 9.99996115e-01 -8.43422174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.915769231 meters 0.014122764495622294 Centerline is valid? [True, True] Translation: X:39.97, Y:2.62, Z:-0.09 [[ 9.90338555e-01 -1.38656844e-01 1.95579828e-03 3.99697855e+01] [ 1.38656589e-01 9.90340487e-01 2.66213713e-04 2.61736205e+00] [-1.97381857e-03 7.54261305e-06 9.99998052e-01 -8.65408949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945769231 meters 0.014199710294050255 Centerline is valid? [True, True] Translation: X:40.00, Y:2.62, Z:-0.09 [[ 9.90344138e-01 -1.38624831e-01 1.28276838e-03 3.99966267e+01] [ 1.38624721e-01 9.90344968e-01 1.74798873e-04 2.62344985e+00] [-1.29461468e-03 4.71236940e-06 9.99999162e-01 -8.81420515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975769231 meters 0.01456189133685032 Centerline is valid? [True, True] Translation: X:40.03, Y:2.63, Z:-0.08 [[ 9.90066462e-01 -1.40529815e-01 4.44658551e-03 4.00253629e+01] [ 1.40528506e-01 9.90076447e-01 6.06925272e-04 2.62753046e+00] [-4.48775068e-03 2.39756622e-05 9.99989930e-01 -8.23522867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005769231 meters 0.015277014710949732 Centerline is valid? [True, True] Translation: X:40.05, Y:2.63, Z:-0.08 [[ 9.89876356e-01 -1.41851154e-01 4.80094999e-03 4.00528209e+01] [ 1.41849641e-01 9.89887998e-01 6.55847532e-04 2.63041468e+00] [-4.84543551e-03 3.18050691e-05 9.99988260e-01 -8.12937874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035769231 meters 0.01624955432235613 Centerline is valid? [True, True] Translation: X:40.08, Y:2.63, Z:-0.08 [[ 9.89701874e-01 -1.43097746e-01 3.63816618e-03 4.00804942e+01] [ 1.43096885e-01 9.89708560e-01 4.97187562e-04 2.63363710e+00] [-3.67187063e-03 2.85427862e-05 9.99993258e-01 -8.37966876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065769231000004 meters 0.017496391616948416 Centerline is valid? [True, True] Translation: X:40.11, Y:2.64, Z:-0.09 [[ 9.89426891e-01 -1.45015049e-01 2.25018152e-03 4.01089559e+01] [ 1.45014724e-01 9.89429449e-01 3.07603241e-04 2.63597436e+00] [-2.27100296e-03 2.19585342e-05 9.99997421e-01 -8.74092605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.095769231 meters 0.021843808340460805 Centerline is valid? [True, True] Translation: X:40.14, Y:2.63, Z:-0.09 [[ 9.88710720e-01 -1.49836950e-01 -2.62293161e-05 4.01396961e+01] [ 1.49836949e-01 9.88710720e-01 -3.63899873e-06 2.63155148e+00] [ 2.64784624e-05 -3.32203649e-07 1.00000000e+00 -9.18548538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125769231 meters 0.026711388175456798 Centerline is valid? [True, True] Translation: X:40.17, Y:2.62, Z:-0.09 [[ 9.87799848e-01 -1.55728484e-01 -3.16111611e-04 4.01707868e+01] [ 1.55728478e-01 9.87799898e-01 -4.33239675e-05 2.62417101e+00] [ 3.19001793e-04 -6.43217174e-06 9.99999949e-01 -9.15900802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155769231 meters 0.02848896498886305 Centerline is valid? [True, True] Translation: X:40.20, Y:2.62, Z:-0.09 [[ 9.87366586e-01 -1.58452593e-01 4.12437648e-08 4.02001358e+01] [ 1.58452593e-01 9.87366586e-01 -3.47370329e-07 2.62321719e+00] [ 1.43190086e-08 3.49517037e-07 1.00000000e+00 -9.15998795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185769231 meters 0.030549396435920816 Centerline is valid? [True, True] Translation: X:40.23, Y:2.62, Z:-0.09 [[ 9.87093653e-01 -1.60143684e-01 3.47083656e-04 4.02285204e+01] [ 1.60143677e-01 9.87093714e-01 4.74682986e-05 2.62119149e+00] [-3.50205844e-04 8.72759656e-06 9.99999939e-01 -9.15815051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215769231 meters 0.028990152434399036 Centerline is valid? [True, True] Translation: X:40.26, Y:2.62, Z:-0.09 [[ 9.86954545e-01 -1.60999135e-01 -7.20169236e-05 4.02574524e+01] [ 1.60999135e-01 9.86954547e-01 -1.02551579e-05 2.62206170e+00] [ 7.27285018e-05 -1.47328765e-06 9.99999997e-01 -9.19057874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245769231000004 meters 0.03393505056183349 Centerline is valid? [True, True] Translation: X:40.29, Y:2.61, Z:-0.09 [[ 9.86992878e-01 -1.60760652e-01 -1.03559427e-03 4.02866528e+01] [ 1.60760591e-01 9.86993420e-01 -1.42377923e-04 2.61495311e+00] [ 1.04501350e-03 -2.59567514e-05 9.99999454e-01 -9.36887348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275769231000005 meters 0.03454971129688658 Centerline is valid? [True, True] Translation: X:40.31, Y:2.62, Z:-0.09 [[ 9.86966568e-01 -1.60918195e-01 -1.52582058e-03 4.03148475e+01] [ 1.60918063e-01 9.86967747e-01 -2.09787471e-04 2.61506568e+00] [ 1.53969432e-03 -3.84788708e-05 9.99998814e-01 -9.47498704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305769231 meters 0.031855649620079536 Centerline is valid? [True, True] Translation: X:40.34, Y:2.62, Z:-0.09 [[ 9.86882512e-01 -1.61432515e-01 -1.56557289e-03 4.03428478e+01] [ 1.61432376e-01 9.86883753e-01 -2.15737641e-04 2.61981648e+00] [ 1.57986552e-03 -3.98264464e-05 9.99998751e-01 -9.42293580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335769231 meters 0.03146724366941279 Centerline is valid? [True, True] Translation: X:40.37, Y:2.62, Z:-0.09 [[ 9.86817877e-01 -1.61830465e-01 -1.17422378e-03 4.03716928e+01] [ 1.61830386e-01 9.86818575e-01 -1.62174052e-04 2.61888415e+00] [ 1.18499054e-03 -2.99888334e-05 9.99999297e-01 -9.34613485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365769231 meters 0.03195126402145197 Centerline is valid? [True, True] Translation: X:40.40, Y:2.62, Z:-0.09 [[ 9.86794661e-01 -1.61972106e-01 -1.15469930e-03 4.03997346e+01] [ 1.61972030e-01 9.86795336e-01 -1.59274006e-04 2.61991500e+00] [ 1.16524983e-03 -2.98582512e-05 9.99999321e-01 -9.30202760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.395769231 meters 0.035993873822687004 Centerline is valid? [True, True] Translation: X:40.43, Y:2.61, Z:-0.09 [[ 9.86893504e-01 -1.61372274e-01 -4.48464733e-04 4.04281763e+01] [ 1.61372263e-01 9.86893606e-01 -6.19619564e-05 2.61436023e+00] [ 4.52585919e-04 -1.12199164e-05 9.99999898e-01 -9.24002998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425769231000004 meters 0.02975847263615927 Centerline is valid? [True, True] Translation: X:40.46, Y:2.63, Z:-0.09 [[ 9.87050444e-01 -1.60410100e-01 1.40577867e-04 4.04561880e+01] [ 1.60410099e-01 9.87050454e-01 1.90764313e-05 2.62577037e+00] [-1.41817500e-04 3.72070960e-06 9.99999990e-01 -9.01810527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455769231000005 meters 0.028447530737242672 Centerline is valid? [True, True] Translation: X:40.48, Y:2.63, Z:-0.09 [[ 9.87285504e-01 -1.58956683e-01 3.25135027e-04 4.04841457e+01] [ 1.58956677e-01 9.87285558e-01 4.45833741e-05 2.63037878e+00] [-3.28087942e-04 7.66586435e-06 9.99999946e-01 -8.96289418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485769231 meters 0.023953124198588287 Centerline is valid? [True, True] Translation: X:40.51, Y:2.64, Z:-0.09 [[ 9.87993168e-01 -1.54493883e-01 1.06810464e-03 4.05128860e+01] [ 1.54493814e-01 9.87993745e-01 1.47592881e-04 2.63942982e+00] [-1.07808290e-03 1.91948018e-05 9.99999419e-01 -8.91715454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515769231 meters 0.022605310885350418 Centerline is valid? [True, True] Translation: X:40.54, Y:2.64, Z:-0.09 [[ 9.88370014e-01 -1.52059674e-01 1.60350017e-03 4.05404783e+01] [ 1.52059515e-01 9.88371314e-01 2.21619636e-04 2.64483692e+00] [-1.61855298e-03 2.47852542e-05 9.99998690e-01 -8.86121972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545769231 meters 0.01800502691410382 Centerline is valid? [True, True] Translation: X:40.57, Y:2.66, Z:-0.09 [[ 9.89016233e-01 -1.47779178e-01 2.86446273e-03 4.05683699e+01] [ 1.47778650e-01 9.89020381e-01 3.96157400e-04 2.65514140e+00] [-2.89155584e-03 3.15003367e-05 9.99995819e-01 -8.65487828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575769231 meters 0.016955647313666812 Centerline is valid? [True, True] Translation: X:40.60, Y:2.66, Z:-0.09 [[ 9.89259354e-01 -1.46150166e-01 2.46148697e-03 4.05954363e+01] [ 1.46149771e-01 9.89262416e-01 3.40533042e-04 2.66027279e+00] [-2.48482551e-03 2.28702595e-05 9.99996913e-01 -8.71695552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605769231000004 meters 0.0161337067663733 Centerline is valid? [True, True] Translation: X:40.62, Y:2.67, Z:-0.09 [[ 9.89413968e-01 -1.45113000e-01 1.48902539e-03 4.06241839e+01] [ 1.45112855e-01 9.89415088e-01 2.05968989e-04 2.66531835e+00] [-1.50315297e-03 1.22881305e-05 9.99998870e-01 -8.92527365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635769231000005 meters 0.015442350425789925 Centerline is valid? [True, True] Translation: X:40.65, Y:2.67, Z:-0.10 [[ 9.89638168e-01 -1.43574796e-01 -1.60434697e-03 4.06515524e+01] [ 1.43574623e-01 9.89639469e-01 -2.23011446e-04 2.66929965e+00] [ 1.61974391e-03 -9.64287275e-06 9.99998688e-01 -9.54238170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665769231 meters 0.015425923848739734 Centerline is valid? [True, True] Translation: X:40.68, Y:2.67, Z:-0.10 [[ 9.89671496e-01 -1.43334736e-01 -2.34176472e-03 4.06783420e+01] [ 1.43334368e-01 9.89674266e-01 -3.25296110e-04 2.67229590e+00] [ 2.36421051e-03 -1.37190783e-05 9.99997205e-01 -9.67121266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.695769231 meters 0.015033029418229711 Centerline is valid? [True, True] Translation: X:40.71, Y:2.68, Z:-0.09 [[ 9.89708275e-01 -1.43097200e-01 -8.50099286e-04 4.07067782e+01] [ 1.43097151e-01 9.89708640e-01 -1.18518952e-04 2.67578440e+00] [ 8.58310338e-04 -4.34759790e-06 9.99999632e-01 -9.35451615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725769231 meters 0.014645346653690614 Centerline is valid? [True, True] Translation: X:40.73, Y:2.68, Z:-0.09 [[ 9.89789109e-01 -1.42539110e-01 3.48804827e-04 4.07338357e+01] [ 1.42539102e-01 9.89789171e-01 4.83254043e-05 2.68029835e+00] [-3.52131500e-04 1.88636776e-06 9.99999938e-01 -9.14894799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755769231 meters 0.013952330794769159 Centerline is valid? [True, True] Translation: X:40.76, Y:2.69, Z:-0.09 [[ 9.89972574e-01 -1.41259401e-01 2.92058598e-04 4.07610327e+01] [ 1.41259395e-01 9.89972617e-01 4.02688646e-05 2.68754069e+00] [-2.94818371e-04 1.39094932e-06 9.99999957e-01 -9.12949665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785769231 meters 0.013702944526939487 Centerline is valid? [True, True] Translation: X:40.79, Y:2.69, Z:-0.09 [[ 9.90128897e-01 -1.40159244e-01 -3.91168300e-04 4.07875629e+01] [ 1.40159234e-01 9.90128975e-01 -5.48150857e-05 2.69269524e+00] [ 3.94989909e-04 -5.51848760e-07 9.99999922e-01 -9.33815969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815769231000004 meters 0.013668350677010267 Centerline is valid? [True, True] Translation: X:40.81, Y:2.70, Z:-0.09 [[ 9.90258602e-01 -1.39237526e-01 -9.01167109e-04 4.08145972e+01] [ 1.39237469e-01 9.90259012e-01 -1.26214808e-04 2.69871221e+00] [ 9.09962688e-04 -4.90927567e-07 9.99999586e-01 -9.40070625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845769231 meters 0.013656404636888681 Centerline is valid? [True, True] Translation: X:40.84, Y:2.71, Z:-0.09 [[ 9.90443068e-01 -1.37917715e-01 -1.11068449e-03 4.08405821e+01] [ 1.37917627e-01 9.90443690e-01 -1.55326776e-04 2.70675187e+00] [ 1.12149276e-03 6.59359491e-07 9.99999371e-01 -9.42169221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.875769231 meters 0.013621776632745147 Centerline is valid? [True, True] Translation: X:40.87, Y:2.71, Z:-0.09 [[ 9.90403469e-01 -1.38201601e-01 -1.13377493e-03 4.08681638e+01] [ 1.38201510e-01 9.90404118e-01 -1.58999538e-04 2.71274169e+00] [ 1.14486935e-03 7.84287217e-07 9.99999345e-01 -9.41169988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905769231 meters 0.013942875241784464 Centerline is valid? [True, True] Translation: X:40.90, Y:2.72, Z:-0.10 [[ 9.90181891e-01 -1.39768341e-01 -2.15247784e-03 4.08953415e+01] [ 1.39768016e-01 9.90184231e-01 -3.01344144e-04 2.71790589e+00] [ 2.17346799e-03 -2.46204354e-06 9.99997638e-01 -9.70414677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935769231 meters 0.014249995388717518 Centerline is valid? [True, True] Translation: X:40.92, Y:2.72, Z:-0.10 [[ 9.89942830e-01 -1.41438708e-01 -2.87834506e-03 4.09236258e+01] [ 1.41438134e-01 9.89947015e-01 -4.03096787e-04 2.72031698e+00] [ 2.90642258e-03 -8.06498036e-06 9.99995776e-01 -9.82010269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965769231 meters 0.016148529479680943 Centerline is valid? [True, True] Translation: X:40.95, Y:2.72, Z:-0.10 [[ 9.89345008e-01 -1.45577056e-01 -1.94301953e-03 4.09520678e+01] [ 1.45576802e-01 9.89346916e-01 -2.72266909e-04 2.71751026e+00] [ 1.96195620e-03 -1.34926618e-05 9.99998075e-01 -9.63471201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995769231000004 meters 0.017024720645442182 Centerline is valid? [True, True] Translation: X:40.98, Y:2.72, Z:-0.09 [[ 9.89013706e-01 -1.47821615e-01 -8.11742984e-04 4.09814475e+01] [ 1.47821571e-01 9.89014039e-01 -1.14182364e-04 2.71834746e+00] [ 8.19703829e-04 -7.06520022e-06 9.99999664e-01 -9.41115925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025769231000005 meters 0.019388579814382044 Centerline is valid? [True, True] Translation: X:41.01, Y:2.71, Z:-0.09 [[ 9.88422849e-01 -1.51724116e-01 -2.54372273e-04 4.10107900e+01] [ 1.51724112e-01 9.88422881e-01 -3.60739863e-05 2.71415770e+00] [ 2.56900669e-04 -2.93805493e-06 9.99999967e-01 -9.25263351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.055769231 meters 0.021561760693038137 Centerline is valid? [True, True] Translation: X:41.04, Y:2.71, Z:-0.09 [[ 9.88122292e-01 -1.53667276e-01 -8.38809703e-04 4.10391021e+01] [ 1.53667231e-01 9.88122648e-01 -1.17944447e-04 2.71187016e+00] [ 8.46971067e-04 -1.23540270e-05 9.99999641e-01 -9.33943642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085769231 meters 0.02414166691860902 Centerline is valid? [True, True] Translation: X:41.07, Y:2.71, Z:-0.09 [[ 9.87596281e-01 -1.57012936e-01 7.23889425e-04 4.10691072e+01] [ 1.57012904e-01 9.87596546e-01 1.01440565e-04 2.70525648e+00] [-7.30838176e-04 1.34776557e-05 9.99999733e-01 -9.03664425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115769231 meters 0.024988855966764804 Centerline is valid? [True, True] Translation: X:41.10, Y:2.70, Z:-0.09 [[ 9.87391875e-01 -1.58271543e-01 2.72120303e-03 4.10986004e+01] [ 1.58271088e-01 9.87395623e-01 3.82765170e-04 2.70429132e+00] [-2.74748480e-03 5.27485476e-05 9.99996224e-01 -8.64810417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145769231 meters 0.0254099082210163 Centerline is valid? [True, True] Translation: X:41.13, Y:2.70, Z:-0.08 [[ 9.87290358e-01 -1.58877744e-01 3.95114707e-03 4.11272745e+01] [ 1.58876789e-01 9.87298261e-01 5.56397826e-04 2.70310658e+00] [-3.98935987e-03 7.84193496e-05 9.99992039e-01 -8.36812638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175769231000004 meters 0.02651532179338957 Centerline is valid? [True, True] Translation: X:41.16, Y:2.70, Z:-0.09 [[ 9.87430957e-01 -1.58034293e-01 2.29500088e-03 4.11563666e+01] [ 1.58033968e-01 9.87433623e-01 3.23269037e-04 2.69688413e+00] [-2.31724862e-03 4.34822416e-05 9.99997314e-01 -8.70911753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205769231000005 meters 0.023557935194710323 Centerline is valid? [True, True] Translation: X:41.18, Y:2.70, Z:-0.09 [[ 9.87690528e-01 -1.56415155e-01 1.31184348e-03 4.11845266e+01] [ 1.56415047e-01 9.87691399e-01 1.84756094e-04 2.70122091e+00] [-1.32459517e-03 2.27102154e-05 9.99999122e-01 -8.94191182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.235769231 meters 0.0192849452779444 Centerline is valid? [True, True] Translation: X:41.21, Y:2.70, Z:-0.09 [[ 9.88420878e-01 -1.51735303e-01 7.51903005e-04 4.12133790e+01] [ 1.51735267e-01 9.88421164e-01 1.06031402e-04 2.70425377e+00] [-7.59285551e-04 9.28655179e-06 9.99999712e-01 -8.91091342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265769231 meters 0.017325890752710963 Centerline is valid? [True, True] Translation: X:41.24, Y:2.71, Z:-0.09 [[ 9.88831572e-01 -1.49034662e-01 8.90222147e-04 4.12407832e+01] [ 1.49034609e-01 9.88831972e-01 1.25582677e-04 2.70924634e+00] [-8.98996294e-04 8.49379440e-06 9.99999596e-01 -8.80966183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295769231 meters 0.013373951884207166 Centerline is valid? [True, True] Translation: X:41.27, Y:2.72, Z:-0.09 [[ 9.89954795e-01 -1.41384241e-01 3.01675611e-05 4.12684272e+01] [ 1.41384241e-01 9.89954795e-01 3.94288947e-06 2.72241196e+00] [-3.04219842e-05 3.61935403e-07 1.00000000e+00 -8.90314006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325769231 meters 0.013763057952440802 Centerline is valid? [True, True] Translation: X:41.30, Y:2.73, Z:-0.09 [[ 9.90532662e-01 -1.37276595e-01 -4.26282045e-04 4.12951589e+01] [ 1.37276582e-01 9.90532754e-01 -6.07372064e-05 2.73178691e+00] [ 4.30584125e-04 1.64364472e-06 9.99999907e-01 -9.00785272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355769231000004 meters 0.01828201318363368 Centerline is valid? [True, True] Translation: X:41.32, Y:2.74, Z:-0.09 [[ 9.91499984e-01 -1.30106808e-01 2.03855100e-06 4.13222461e+01] [ 1.30106808e-01 9.91499984e-01 -5.87628351e-08 2.74435651e+00] [-2.01357785e-06 3.23492715e-07 1.00000000e+00 -9.04369788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385769231000005 meters 0.020526562152898758 Centerline is valid? [True, True] Translation: X:41.35, Y:2.75, Z:-0.09 [[ 9.91806636e-01 -1.27746702e-01 6.14033933e-04 4.13489559e+01] [ 1.27746672e-01 9.91806826e-01 8.68839879e-05 2.75141355e+00] [-6.20102189e-04 -7.73132393e-06 9.99999808e-01 -8.95113832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.415769231 meters 0.025523053828369932 Centerline is valid? [True, True] Translation: X:41.38, Y:2.76, Z:-0.09 [[ 9.92482853e-01 -1.22379435e-01 1.02935133e-03 4.13771175e+01] [ 1.22379349e-01 9.92483387e-01 1.45904573e-04 2.76217318e+00] [-1.03946982e-03 -1.88364410e-05 9.99999460e-01 -8.87564746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445769231 meters 0.02748399396404437 Centerline is valid? [True, True] Translation: X:41.41, Y:2.77, Z:-0.09 [[ 9.92910292e-01 -1.18865819e-01 2.61129176e-04 4.14063519e+01] [ 1.18865814e-01 9.92910327e-01 3.69954002e-05 2.76938414e+00] [-2.63675344e-04 -5.69378166e-06 9.99999965e-01 -8.99866188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475769231 meters 0.034049195095073335 Centerline is valid? [True, True] Translation: X:41.43, Y:2.78, Z:-0.09 [[ 9.93383568e-01 -1.14839545e-01 -9.83028628e-04 4.14327376e+01] [ 1.14839463e-01 9.93384054e-01 -1.39613758e-04 2.78355513e+00] [ 9.92558144e-04 2.57995336e-05 9.99999507e-01 -9.22445020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505769231 meters 0.034049195095073335 Centerline is valid? [True, True] Translation: X:41.46, Y:2.79, Z:-0.09 [[ 9.93362680e-01 -1.15020084e-01 -9.82962583e-04 4.14599263e+01] [ 1.15020002e-01 9.93363166e-01 -1.40078754e-04 2.78761901e+00] [ 9.92550694e-04 2.60886487e-05 9.99999507e-01 -9.23035609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535769231 meters 0.04327726313999988 Centerline is valid? [True, True] Translation: X:41.49, Y:2.81, Z:-0.09 [[ 9.94272911e-01 -1.06843558e-01 -2.41496060e-03 4.14865159e+01] [ 1.06843039e-01 9.94275841e-01 -3.43227160e-04 2.80924998e+00] [ 2.43780859e-03 8.32397384e-05 9.99997025e-01 -9.49379975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565769231000004 meters 0.048183205575451124 Centerline is valid? [True, True] Translation: X:41.51, Y:2.82, Z:-0.09 [[ 9.94652561e-01 -1.03256119e-01 -2.11098356e-03 4.15137787e+01] [ 1.03255715e-01 9.94654798e-01 -3.00042420e-04 2.82327938e+00] [ 2.13068114e-03 8.04668452e-05 9.99997727e-01 -9.40321202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.595769231 meters 0.05471492243145795 Centerline is valid? [True, True] Translation: X:41.54, Y:2.84, Z:-0.09 [[ 9.95215699e-01 -9.77021467e-02 4.92020441e-05 4.15417458e+01] [ 9.77021465e-02 9.95215701e-01 6.99371003e-06 2.84356453e+00] [-4.96499473e-05 -2.15310470e-06 9.99999999e-01 -9.07379228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625769231 meters 0.052568498477653845 Centerline is valid? [True, True] Translation: X:41.57, Y:2.85, Z:-0.09 [[ 9.95433970e-01 -9.54496201e-02 7.62510902e-04 4.15710324e+01] [ 9.54495651e-02 9.95434261e-01 1.08339219e-04 2.84896612e+00] [-7.69370414e-04 -3.50632048e-05 9.99999703e-01 -8.87891673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655769231 meters 0.054310863750959414 Centerline is valid? [True, True] Translation: X:41.60, Y:2.86, Z:-0.09 [[ 9.95595885e-01 -9.37424579e-02 1.08920022e-03 4.15990583e+01] [ 9.37423445e-02 9.95596479e-01 1.54791077e-04 2.85933990e+00] [-1.09891440e-03 -5.20051769e-05 9.99999395e-01 -8.86592846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685769231 meters 0.05680815495338002 Centerline is valid? [True, True] Translation: X:41.63, Y:2.88, Z:-0.09 [[ 9.95685288e-01 -9.27894627e-02 9.60449497e-04 4.16250240e+01] [ 9.27893742e-02 9.95685750e-01 1.36452651e-04 2.87551365e+00] [-9.68967247e-04 -4.67443889e-05 9.99999529e-01 -8.92483207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715769231 meters 0.05696701930891695 Centerline is valid? [True, True] Translation: X:41.65, Y:2.89, Z:-0.09 [[ 9.95534340e-01 -9.43839666e-02 1.74466106e-03 4.16524567e+01] [ 9.43836762e-02 9.95535866e-01 2.48214392e-04 2.88914216e+00] [-1.76030012e-03 -8.24384262e-05 9.99998447e-01 -8.75868384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745769231000004 meters 0.05433573034694158 Centerline is valid? [True, True] Translation: X:41.68, Y:2.89, Z:-0.09 [[ 9.95375180e-01 -9.60587905e-02 9.79288808e-04 4.16809485e+01] [ 9.60586999e-02 9.95375661e-01 1.39299161e-04 2.89429283e+00] [-9.88141153e-04 -4.45857175e-05 9.99999511e-01 -8.91710419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775769231000005 meters 0.051424247430650945 Centerline is valid? [True, True] Translation: X:41.71, Y:2.90, Z:-0.09 [[ 9.95131550e-01 -9.85547109e-02 -4.08524448e-04 4.17104503e+01] [ 9.85546953e-02 9.95131634e-01 -5.81810067e-05 2.89924911e+00] [ 4.12269614e-04 1.76357528e-05 9.99999915e-01 -9.22799504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805769231 meters 0.044572586919894144 Centerline is valid? [True, True] Translation: X:41.74, Y:2.90, Z:-0.10 [[ 9.94276525e-01 -1.06805346e-01 -2.60957983e-03 4.17397646e+01] [ 1.06804738e-01 9.94279945e-01 -3.71513030e-04 2.90144194e+00] [ 2.63433247e-03 9.06711950e-05 9.99996526e-01 -9.78225398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835769231 meters 0.03485771252538115 Centerline is valid? [True, True] Translation: X:41.77, Y:2.89, Z:-0.10 [[ 9.93619669e-01 -1.12764636e-01 -2.02254790e-03 4.17716003e+01] [ 1.12764283e-01 9.93621726e-01 -2.87942209e-04 2.89462347e+00] [ 2.04211723e-03 5.80338786e-05 9.99997913e-01 -9.68957774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865769231 meters 0.022572036640906824 Centerline is valid? [True, True] Translation: X:41.80, Y:2.88, Z:-0.09 [[ 9.91970593e-01 -1.26466405e-01 7.69399006e-04 4.18029516e+01] [ 1.26466358e-01 9.91970891e-01 1.09500199e-04 2.88113634e+00] [-7.77069513e-04 -1.13178871e-05 9.99999698e-01 -9.13133639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.895769231 meters 0.016199589233219323 Centerline is valid? [True, True] Translation: X:41.83, Y:2.87, Z:-0.09 [[ 9.91023588e-01 -1.33677682e-01 1.58938504e-03 4.18334617e+01] [ 1.33677491e-01 9.91024862e-01 2.26298465e-04 2.87270730e+00] [-1.60537115e-03 -1.18021116e-05 9.99998711e-01 -8.97104125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925769231000004 meters 0.015806541837708465 Centerline is valid? [True, True] Translation: X:41.87, Y:2.85, Z:-0.09 [[ 9.88995772e-01 -1.47925649e-01 2.31638154e-03 4.18652276e+01] [ 1.47925282e-01 9.88998484e-01 3.29914738e-04 2.85021549e+00] [-2.33970068e-03 1.63671118e-05 9.99997263e-01 -8.90302954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955769231000005 meters 0.020805998527741572 Centerline is valid? [True, True] Translation: X:41.90, Y:2.84, Z:-0.09 [[ 9.87932576e-01 -1.54859780e-01 2.77013041e-03 4.18966760e+01] [ 1.54859281e-01 9.87936459e-01 3.95020689e-04 2.84170224e+00] [-2.79788564e-03 3.87265964e-05 9.99996085e-01 -8.86817405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985769231 meters 0.03250240275247523 Centerline is valid? [True, True] Translation: X:41.93, Y:2.82, Z:-0.09 [[ 9.85975676e-01 -1.66875946e-01 2.09387435e-03 4.19307310e+01] [ 1.66875688e-01 9.85977898e-01 2.98624098e-04 2.81976422e+00] [-2.11434701e-03 5.49806268e-05 9.99997763e-01 -9.03767702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015769231 meters 0.035957286037229 Centerline is valid? [True, True] Translation: X:41.96, Y:2.81, Z:-0.09 [[ 9.85265565e-01 -1.71025768e-01 1.39779663e-03 4.19625627e+01] [ 1.71025657e-01 9.85266555e-01 1.99358799e-04 2.81381381e+00] [-1.41129776e-03 4.26377273e-05 9.99999003e-01 -9.09064268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045769231 meters 0.04075417514187672 Centerline is valid? [True, True] Translation: X:42.00, Y:2.80, Z:-0.09 [[ 9.84468138e-01 -1.75560401e-01 1.01548186e-03 4.19952537e+01] [ 1.75560345e-01 9.84468661e-01 1.44831687e-04 2.80064056e+00] [-1.02513677e-03 3.56961646e-05 9.99999474e-01 -8.94884188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075769231 meters 0.039272900194718616 Centerline is valid? [True, True] Translation: X:42.02, Y:2.80, Z:-0.09 [[ 9.84388114e-01 -1.76006482e-01 1.32644842e-03 4.20239340e+01] [ 1.76006387e-01 9.84389006e-01 1.89047538e-04 2.80171069e+00] [-1.33901484e-03 4.73672449e-05 9.99999102e-01 -8.83855549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105769231000004 meters 0.039394384983397666 Centerline is valid? [True, True] Translation: X:42.05, Y:2.80, Z:-0.09 [[ 9.84601563e-01 -1.74806142e-01 1.60478587e-03 4.20527071e+01] [ 1.74806001e-01 9.84602869e-01 2.29064038e-04 2.80013866e+00] [-1.62011858e-03 5.49893913e-05 9.99998686e-01 -8.76264956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135769231000005 meters 0.033478213618931656 Centerline is valid? [True, True] Translation: X:42.08, Y:2.80, Z:-0.09 [[ 9.85697854e-01 -1.68516509e-01 1.38842649e-03 4.20827067e+01] [ 1.68516396e-01 9.85698831e-01 1.98475870e-04 2.80118084e+00] [-1.40201683e-03 3.83353890e-05 9.99999016e-01 -8.69555909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165769231 meters 0.030101850062158025 Centerline is valid? [True, True] Translation: X:42.11, Y:2.81, Z:-0.09 [[ 9.86434551e-01 -1.64149524e-01 1.34557253e-03 4.21112387e+01] [ 1.64149414e-01 9.86435468e-01 1.92371704e-04 2.80560950e+00] [-1.35889819e-03 3.11128466e-05 9.99999076e-01 -8.75729764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.195769231 meters 0.020450212497628104 Centerline is valid? [True, True] Translation: X:42.14, Y:2.82, Z:-0.09 [[ 9.87920656e-01 -1.54950980e-01 1.72387687e-03 4.21400032e+01] [ 1.54950785e-01 9.87922160e-01 2.46523045e-04 2.81861251e+00] [-1.74125515e-03 2.35708669e-05 9.99998484e-01 -8.75615264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225769231 meters 0.016510550530758544 Centerline is valid? [True, True] Translation: X:42.17, Y:2.83, Z:-0.09 [[ 9.88591104e-01 -1.50608820e-01 2.14762087e-03 4.21683317e+01] [ 1.50608508e-01 9.88593437e-01 3.07109864e-04 2.82747835e+00] [-2.16937735e-03 1.98438956e-05 9.99997647e-01 -8.69503592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255769231 meters 0.013418350147463494 Centerline is valid? [True, True] Translation: X:42.20, Y:2.84, Z:-0.09 [[ 9.89775876e-01 -1.42627795e-01 1.01382796e-03 4.21950144e+01] [ 1.42627721e-01 9.89776395e-01 1.45069908e-04 2.83617337e+00] [-1.02415398e-03 1.01327588e-06 9.99999476e-01 -8.86181695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285769231 meters 0.013783149001602298 Centerline is valid? [True, True] Translation: X:42.22, Y:2.84, Z:-0.09 [[ 9.90249778e-01 -1.39302983e-01 2.37354864e-04 4.22226737e+01] [ 1.39302979e-01 9.90249806e-01 3.38805392e-05 2.84293402e+00] [-2.39760268e-04 -4.85956826e-07 9.99999971e-01 -9.02719506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315769231000004 meters 0.017475087474884354 Centerline is valid? [True, True] Translation: X:42.25, Y:2.86, Z:-0.09 [[ 9.91158942e-01 -1.32676657e-01 -9.24914701e-04 4.22485721e+01] [ 1.32676591e-01 9.91159374e-01 -1.32739232e-04 2.85580954e+00] [ 9.34349273e-04 8.85114667e-06 9.99999563e-01 -9.29197824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345769231000006 meters 0.019669657136514376 Centerline is valid? [True, True] Translation: X:42.28, Y:2.86, Z:-0.09 [[ 9.91587122e-01 -1.29437351e-01 -9.75143300e-04 4.22761104e+01] [ 1.29437276e-01 9.91587602e-01 -1.40316628e-04 2.86459104e+00] [ 9.85102219e-04 1.29162690e-05 9.99999515e-01 -9.29649173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.375769231 meters 0.025630026028933748 Centerline is valid? [True, True] Translation: X:42.30, Y:2.88, Z:-0.09 [[ 9.92427535e-01 -1.22831451e-01 -1.47991237e-04 4.23028537e+01] [ 1.22831449e-01 9.92427546e-01 -2.13494954e-05 2.87864372e+00] [ 1.49492970e-04 3.00984905e-06 9.99999989e-01 -9.16378303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405769231 meters 0.030131620618396908 Centerline is valid? [True, True] Translation: X:42.33, Y:2.89, Z:-0.09 [[ 9.92700601e-01 -1.20604594e-01 -2.20761871e-04 4.23288608e+01] [ 1.20604590e-01 9.92700625e-01 -3.18624619e-05 2.88978061e+00] [ 2.22993207e-04 5.00499019e-06 9.99999975e-01 -9.20054072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435769231 meters 0.029660352406938317 Centerline is valid? [True, True] Translation: X:42.36, Y:2.89, Z:-0.09 [[ 9.92852575e-01 -1.19344569e-01 -7.98548778e-04 4.23577461e+01] [ 1.19344515e-01 9.92852896e-01 -1.15191205e-04 2.89358671e+00] [ 8.06588912e-04 1.90654679e-05 9.99999675e-01 -9.32606248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465769231 meters 0.02824888244092824 Centerline is valid? [True, True] Translation: X:42.39, Y:2.90, Z:-0.09 [[ 9.92699579e-01 -1.20607666e-01 -1.15589791e-03 4.23870753e+01] [ 1.20607554e-01 9.92700252e-01 -1.66738569e-04 2.89537561e+00] [ 1.16757010e-03 2.61112885e-05 9.99999318e-01 -9.44247036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495769231000004 meters 0.024571068166963233 Centerline is valid? [True, True] Translation: X:42.42, Y:2.89, Z:-0.10 [[ 9.92181199e-01 -1.24793561e-01 -1.74246731e-03 4.24172413e+01] [ 1.24793313e-01 9.92182728e-01 -2.50943987e-04 2.89335540e+00] [ 1.76016216e-03 3.15336376e-05 9.99998450e-01 -9.61408815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525769231000005 meters 0.021990349192425578 Centerline is valid? [True, True] Translation: X:42.45, Y:2.89, Z:-0.09 [[ 9.91790558e-01 -1.27862921e-01 -1.60054533e-03 4.24469630e+01] [ 1.27862715e-01 9.91791850e-01 -2.31036867e-04 2.89302323e+00] [ 1.61694887e-03 2.44901119e-05 9.99998692e-01 -9.49760464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.555769231 meters 0.0182060749279208 Centerline is valid? [True, True] Translation: X:42.48, Y:2.89, Z:-0.09 [[ 9.91198338e-01 -1.32383558e-01 -6.69513642e-04 4.24764794e+01] [ 1.32383523e-01 9.91198564e-01 -9.66386549e-05 2.89078766e+00] [ 6.76414330e-04 7.15549935e-06 9.99999771e-01 -9.19894420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585769231 meters 0.01724961052212331 Centerline is valid? [True, True] Translation: X:42.51, Y:2.89, Z:-0.09 [[ 9.91019554e-01 -1.33717002e-01 8.08802693e-05 4.25054174e+01] [ 1.33717001e-01 9.91019558e-01 1.13198135e-05 2.89351147e+00] [-8.16675803e-05 -4.03089450e-07 9.99999997e-01 -9.08472328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615769231 meters 0.016654109869372928 Centerline is valid? [True, True] Translation: X:42.53, Y:2.90, Z:-0.09 [[ 9.90884816e-01 -1.34707724e-01 1.05387311e-03 4.25329081e+01] [ 1.34707639e-01 9.90885376e-01 1.52070888e-04 2.89727199e+00] [-1.06475257e-03 -8.71997576e-06 9.99999433e-01 -8.94896915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645769231 meters 0.014952838457204565 Centerline is valid? [True, True] Translation: X:42.56, Y:2.90, Z:-0.09 [[ 9.90488293e-01 -1.37580370e-01 2.14079382e-03 4.25613077e+01] [ 1.37580023e-01 9.90490607e-01 3.09169340e-04 2.89900944e+00] [-2.16297180e-03 -1.16981493e-05 9.99997661e-01 -8.75520037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675769231000004 meters 0.013790446776316476 Centerline is valid? [True, True] Translation: X:42.59, Y:2.90, Z:-0.09 [[ 9.90095719e-01 -1.40382876e-01 1.76524951e-03 4.25902840e+01] [ 1.40382644e-01 9.90097292e-01 2.55157889e-04 2.89847041e+00] [-1.78358856e-03 -4.82033935e-06 9.99998409e-01 -8.89125227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705769231000005 meters 0.014564444528063358 Centerline is valid? [True, True] Translation: X:42.62, Y:2.89, Z:-0.09 [[ 9.88989328e-01 -1.47986718e-01 2.02091557e-04 4.26197712e+01] [ 1.47986715e-01 9.88989348e-01 2.90730051e-05 2.88976643e+00] [-2.04168816e-04 1.15397385e-06 9.99999979e-01 -9.26594559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.735769231 meters 0.017734102958524352 Centerline is valid? [True, True] Translation: X:42.65, Y:2.88, Z:-0.09 [[ 9.88305925e-01 -1.52483979e-01 -1.88026554e-04 4.26486530e+01] [ 1.52483977e-01 9.88305943e-01 -2.74447838e-05 2.88478229e+00] [ 1.90012650e-04 -1.54719423e-06 9.99999982e-01 -9.46045376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765769231 meters 0.020644579819593726 Centerline is valid? [True, True] Translation: X:42.68, Y:2.88, Z:-0.09 [[ 9.87624456e-01 -1.56836601e-01 -4.63282472e-04 4.26780815e+01] [ 1.56836587e-01 9.87624565e-01 -6.75796033e-05 2.88207450e+00] [ 4.68148105e-04 -5.91637283e-06 9.99999890e-01 -9.46919110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795769231 meters 0.025996004452016476 Centerline is valid? [True, True] Translation: X:42.71, Y:2.87, Z:-0.09 [[ 9.86480283e-01 -1.63878085e-01 -7.90210209e-04 4.27094431e+01] [ 1.63878046e-01 9.86480599e-01 -1.14707671e-04 2.87320216e+00] [ 7.98325114e-04 -1.63412489e-05 9.99999681e-01 -9.44814693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825769231 meters 0.0288223337451655 Centerline is valid? [True, True] Translation: X:42.74, Y:2.87, Z:-0.09 [[ 9.86059855e-01 -1.66390973e-01 8.59694325e-05 4.27384710e+01] [ 1.66390972e-01 9.86059858e-01 1.23517476e-05 2.86882421e+00] [-8.68262257e-05 2.12497498e-06 9.99999996e-01 -9.32034274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855769231000004 meters 0.03192376923568068 Centerline is valid? [True, True] Translation: X:42.77, Y:2.86, Z:-0.09 [[ 9.85718217e-01 -1.68399671e-01 1.07148885e-03 4.27674149e+01] [ 1.68399602e-01 9.85718799e-01 1.55487060e-04 2.86069402e+00] [-1.08237068e-03 2.71718683e-05 9.99999414e-01 -9.06924950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885769231000005 meters 0.030383696538726607 Centerline is valid? [True, True] Translation: X:42.80, Y:2.86, Z:-0.09 [[ 9.85802083e-01 -1.67906991e-01 1.22274200e-03 4.27963444e+01] [ 1.67906900e-01 9.85802841e-01 1.77458340e-04 2.86462882e+00] [-1.23517903e-03 3.03680170e-05 9.99999237e-01 -9.03856655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.915769231 meters 0.02825231954714953 Centerline is valid? [True, True] Translation: X:42.82, Y:2.87, Z:-0.09 [[ 9.86257420e-01 -1.65215918e-01 -5.35494072e-05 4.28238680e+01] [ 1.65215918e-01 9.86257421e-01 -7.97078868e-06 2.86716162e+00] [ 5.41304014e-05 -9.85964983e-07 9.99999999e-01 -9.28472877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945769231 meters 0.026764664707974 Centerline is valid? [True, True] Translation: X:42.85, Y:2.87, Z:-0.09 [[ 9.86487557e-01 -1.63832028e-01 -1.16866028e-03 4.28519803e+01] [ 1.63831941e-01 9.86488249e-01 -1.70597955e-04 2.87131618e+00] [ 1.18081904e-03 -2.31711226e-05 9.99999303e-01 -9.46131126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975769231 meters 0.022890920724386785 Centerline is valid? [True, True] Translation: X:42.88, Y:2.88, Z:-0.10 [[ 9.87206153e-01 -1.59440635e-01 -1.64156321e-03 4.28801005e+01] [ 1.59440457e-01 9.87207518e-01 -2.39222790e-04 2.87977202e+00] [ 1.65870538e-03 -2.55693785e-05 9.99998624e-01 -9.60581285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005769231 meters 0.021292702771303487 Centerline is valid? [True, True] Translation: X:42.91, Y:2.89, Z:-0.10 [[ 9.87603699e-01 -1.56961930e-01 -1.37375908e-03 4.29071731e+01] [ 1.56961803e-01 9.87604654e-01 -2.00359119e-04 2.88702518e+00] [ 1.38817961e-03 -1.77522952e-05 9.99999036e-01 -9.58211116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035769231 meters 0.0192046678971774 Centerline is valid? [True, True] Translation: X:42.93, Y:2.90, Z:-0.10 [[ 9.87944566e-01 -1.54804077e-01 -1.10991872e-03 4.29348611e+01] [ 1.54803992e-01 9.87945190e-01 -1.62294019e-04 2.89526760e+00] [ 1.12166263e-03 -1.14823542e-05 9.99999371e-01 -9.54125299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065769231000004 meters 0.01610979749541581 Centerline is valid? [True, True] Translation: X:42.96, Y:2.91, Z:-0.09 [[ 9.88492322e-01 -1.51265749e-01 -1.26555121e-03 4.29628500e+01] [ 1.51265636e-01 9.88493133e-01 -1.85180540e-04 2.90648659e+00] [ 1.27900016e-03 -8.38486647e-06 9.99999182e-01 -9.43898122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095769231000006 meters 0.015337877818521879 Centerline is valid? [True, True] Translation: X:42.99, Y:2.91, Z:-0.09 [[ 9.88701110e-01 -1.49893711e-01 -1.41067012e-03 4.29897860e+01] [ 1.49893569e-01 9.88702117e-01 -2.06364892e-04 2.91421250e+00] [ 1.42566533e-03 -7.41718145e-06 9.99998984e-01 -9.43583407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125769231 meters 0.01439919935313206 Centerline is valid? [True, True] Translation: X:43.02, Y:2.92, Z:-0.09 [[ 9.88877135e-01 -1.48734492e-01 -2.49173820e-04 4.30176769e+01] [ 1.48734487e-01 9.88877167e-01 -3.68090490e-05 2.92402996e+00] [ 2.51877076e-04 -6.61113424e-07 9.99999968e-01 -9.36198913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155769231 meters 0.014531839312708775 Centerline is valid? [True, True] Translation: X:43.04, Y:2.93, Z:-0.09 [[ 9.88830614e-01 -1.49043054e-01 4.29868577e-04 4.30446034e+01] [ 1.49043041e-01 9.88830707e-01 6.27602313e-05 2.92675650e+00] [-4.34421225e-04 2.00968173e-06 9.99999906e-01 -9.32351872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185769231 meters 0.01498814547754605 Centerline is valid? [True, True] Translation: X:43.07, Y:2.93, Z:-0.09 [[ 9.88590416e-01 -1.50625810e-01 9.24512289e-04 4.30742538e+01] [ 1.50625750e-01 9.88590848e-01 1.35148013e-04 2.92622218e+00] [-9.34321167e-04 5.64932694e-06 9.99999564e-01 -9.27000161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215769231 meters 0.015559534523573493 Centerline is valid? [True, True] Translation: X:43.10, Y:2.93, Z:-0.09 [[ 9.88506323e-01 -1.51179268e-01 2.81353640e-04 4.31021662e+01] [ 1.51179262e-01 9.88506363e-01 4.11280167e-05 2.92799533e+00] [-2.84337567e-04 1.87953122e-06 9.99999960e-01 -9.36599108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245769231000004 meters 0.015073241055286247 Centerline is valid? [True, True] Translation: X:43.13, Y:2.93, Z:-0.09 [[ 9.88494202e-01 -1.51258499e-01 -2.79773320e-04 4.31298871e+01] [ 1.51258493e-01 9.88494242e-01 -4.15004515e-05 2.93327719e+00] [ 2.82831612e-04 -1.29513519e-06 9.99999960e-01 -9.38092981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275769231000005 meters 0.014137320512472006 Centerline is valid? [True, True] Translation: X:43.16, Y:2.94, Z:-0.09 [[ 9.88918911e-01 -1.48456667e-01 -7.51929503e-05 4.31567071e+01] [ 1.48456666e-01 9.88918914e-01 -1.11760084e-05 2.93928054e+00] [ 7.60188837e-05 -1.10728641e-07 9.99999997e-01 -9.34452338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305769231 meters 0.013541775049138728 Centerline is valid? [True, True] Translation: X:43.18, Y:2.95, Z:-0.09 [[ 9.89125967e-01 -1.47070171e-01 4.32515359e-04 4.31843777e+01] [ 1.47070158e-01 9.89126061e-01 6.32032381e-05 2.94617141e+00] [-4.37107525e-04 1.09413807e-06 9.99999904e-01 -9.28778907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335769231 meters 0.013653343740942936 Centerline is valid? [True, True] Translation: X:43.21, Y:2.96, Z:-0.09 [[ 9.89575043e-01 -1.44017807e-01 3.23333300e-04 4.32103148e+01] [ 1.44017800e-01 9.89575096e-01 4.73186105e-05 2.95644397e+00] [-3.26777304e-04 -2.59565699e-07 9.99999947e-01 -9.36254775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365769231 meters 0.013856382136626981 Centerline is valid? [True, True] Translation: X:43.24, Y:2.96, Z:-0.09 [[ 9.89737515e-01 -1.42897235e-01 -1.78903862e-04 4.32380509e+01] [ 1.42897232e-01 9.89737531e-01 -2.67825531e-05 2.96255236e+00] [ 1.80895020e-04 9.42830843e-07 9.99999984e-01 -9.45953069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.395769231 meters 0.013856382136626981 Centerline is valid? [True, True] Translation: X:43.27, Y:2.97, Z:-0.09 [[ 9.89710524e-01 -1.43084053e-01 -1.78898881e-04 4.32652248e+01] [ 1.43084051e-01 9.89710540e-01 -2.68160623e-05 2.96676009e+00] [ 1.80895059e-04 9.42562516e-07 9.99999984e-01 -9.46543498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425769231000004 meters 0.014613131275589435 Centerline is valid? [True, True] Translation: X:43.29, Y:2.97, Z:-0.10 [[ 9.89951999e-01 -1.41401092e-01 -8.77610932e-04 4.32919362e+01] [ 1.41401033e-01 9.89952388e-01 -1.29718492e-04 2.97430520e+00] [ 8.87135375e-04 4.31998799e-06 9.99999606e-01 -9.52229575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455769231000005 meters 0.014988922217942787 Centerline is valid? [True, True] Translation: X:43.32, Y:2.98, Z:-0.10 [[ 9.90010642e-01 -1.40988134e-01 -1.12896237e-03 4.33187647e+01] [ 1.40988035e-01 9.90011286e-01 -1.67326135e-04 2.98103176e+00] [ 1.14127649e-03 6.48446807e-06 9.99999349e-01 -9.53938926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485769231 meters 0.014969408927839054 Centerline is valid? [True, True] Translation: X:43.35, Y:2.99, Z:-0.10 [[ 9.89992417e-01 -1.41116544e-01 -1.06598417e-03 4.33465304e+01] [ 1.41116455e-01 9.89992990e-01 -1.58219299e-04 2.98745333e+00] [ 1.07764421e-03 6.20799929e-06 9.99999419e-01 -9.55235903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515769231 meters 0.014754771909856778 Centerline is valid? [True, True] Translation: X:43.37, Y:2.99, Z:-0.09 [[ 9.89919733e-01 -1.41629303e-01 -2.49785070e-04 4.33736686e+01] [ 1.41629298e-01 9.89919765e-01 -3.71199683e-05 2.99479307e+00] [ 2.52524453e-04 1.36890503e-06 9.99999968e-01 -9.41446355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545769231 meters 0.014168816756713639 Centerline is valid? [True, True] Translation: X:43.40, Y:3.00, Z:-0.09 [[ 9.89780212e-01 -1.42600869e-01 3.51001813e-04 4.34007943e+01] [ 1.42600859e-01 9.89780275e-01 5.16469751e-05 2.99959716e+00] [-3.54779575e-04 -1.06599369e-06 9.99999937e-01 -9.26959463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575769231 meters 0.014166378845599662 Centerline is valid? [True, True] Translation: X:43.43, Y:3.00, Z:-0.09 [[ 9.89718941e-01 -1.43025520e-01 3.44831993e-04 4.34269658e+01] [ 1.43025511e-01 9.89719001e-01 5.09889629e-05 3.00469935e+00] [-3.48579499e-04 -1.14497034e-06 9.99999939e-01 -9.31589898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605769231000004 meters 0.013826998267882338 Centerline is valid? [True, True] Translation: X:43.46, Y:3.01, Z:-0.09 [[ 9.89644617e-01 -1.43539217e-01 1.59988040e-04 4.34550610e+01] [ 1.43539215e-01 9.89644630e-01 2.33452841e-05 3.00880065e+00] [-1.61682268e-04 -1.38977105e-07 9.99999987e-01 -9.27252323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635769231000005 meters 0.013614040515805325 Centerline is valid? [True, True] Translation: X:43.48, Y:3.01, Z:-0.09 [[ 9.89473866e-01 -1.44710772e-01 5.10021473e-04 4.34821637e+01] [ 1.44710753e-01 9.89473998e-01 7.56772322e-05 3.01424662e+00] [-5.15604297e-04 -1.07505236e-06 9.99999867e-01 -9.26840843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665769231 meters 0.013391536543868219 Centerline is valid? [True, True] Translation: X:43.51, Y:3.02, Z:-0.09 [[ 9.89164301e-01 -1.46810091e-01 8.85254883e-04 4.35095283e+01] [ 1.46810032e-01 9.89164697e-01 1.31484126e-04 3.01633760e+00] [-8.94966075e-04 -9.51054198e-08 9.99999600e-01 -9.23881527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695769231 meters 0.013543210460164675 Centerline is valid? [True, True] Translation: X:43.54, Y:3.02, Z:-0.09 [[ 9.88838204e-01 -1.48989663e-01 1.04266227e-03 4.35376879e+01] [ 1.48989583e-01 9.88838753e-01 1.54864923e-04 3.01753152e+00] [-1.05409813e-03 2.20946484e-06 9.99999444e-01 -9.25060119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725769231 meters 0.014159297387949224 Centerline is valid? [True, True] Translation: X:43.57, Y:3.02, Z:-0.09 [[ 9.88416691e-01 -1.51761611e-01 9.26221126e-04 4.35670179e+01] [ 1.51761549e-01 9.88417125e-01 1.37713425e-04 3.01825520e+00] [-9.36392434e-04 4.44650476e-06 9.99999562e-01 -9.27911754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755769231 meters 0.017816778226820637 Centerline is valid? [True, True] Translation: X:43.60, Y:3.01, Z:-0.09 [[ 9.87599433e-01 -1.56994129e-01 4.51206252e-04 4.35964759e+01] [ 1.56994115e-01 9.87599536e-01 6.71626455e-05 3.01138512e+00] [-4.56155226e-04 4.50693547e-06 9.99999896e-01 -9.43870246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785769231 meters 0.020369102758192204 Centerline is valid? [True, True] Translation: X:43.63, Y:3.01, Z:-0.09 [[ 9.87154664e-01 -1.59767525e-01 8.21894091e-05 4.36250764e+01] [ 1.59767524e-01 9.87154668e-01 1.21397914e-05 3.00912034e+00] [-8.30732033e-05 1.14734669e-06 9.99999997e-01 -9.47796845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815769231000004 meters 0.022525086401875134 Centerline is valid? [True, True] Translation: X:43.65, Y:3.01, Z:-0.09 [[ 9.86590236e-01 -1.63215197e-01 7.10647796e-04 4.36543100e+01] [ 1.63215163e-01 9.86590492e-01 1.05942381e-04 3.00552635e+00] [-7.18409765e-04 1.14667769e-05 9.99999742e-01 -9.31133186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845769231000006 meters 0.022706346227403622 Centerline is valid? [True, True] Translation: X:43.68, Y:3.01, Z:-0.09 [[ 9.86523365e-01 -1.63616472e-01 1.14048122e-03 4.36820335e+01] [ 1.63616384e-01 9.86524024e-01 1.70037165e-04 3.00864528e+00] [-1.15293300e-03 1.88557774e-05 9.99999335e-01 -9.13893460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.875769231 meters 0.022252415859179087 Centerline is valid? [True, True] Translation: X:43.71, Y:3.01, Z:-0.09 [[ 9.86628612e-01 -1.62978229e-01 1.44215725e-03 4.37098138e+01] [ 1.62978088e-01 9.86629665e-01 2.15486629e-04 3.01340972e+00] [-1.45799476e-03 2.24347580e-05 9.99998937e-01 -9.02303036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905769231 meters 0.019975872486750597 Centerline is valid? [True, True] Translation: X:43.74, Y:3.02, Z:-0.09 [[ 9.87056602e-01 -1.60357360e-01 2.18649262e-03 4.37369586e+01] [ 1.60357029e-01 9.87059024e-01 3.26901463e-04 3.02099760e+00] [-2.21061833e-03 2.79492138e-05 9.99997556e-01 -8.99616471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935769231 meters 0.019262621187643308 Centerline is valid? [True, True] Translation: X:43.77, Y:3.02, Z:-0.09 [[ 9.87191073e-01 -1.59527473e-01 2.18440586e-03 4.37650791e+01] [ 1.59527140e-01 9.87193489e-01 3.26782101e-04 3.02431035e+00] [-2.20856197e-03 2.58756474e-05 9.99997561e-01 -9.11456682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965769231 meters 0.018957603076803466 Centerline is valid? [True, True] Translation: X:43.79, Y:3.03, Z:-0.09 [[ 9.87127944e-01 -1.59922103e-01 1.82861966e-03 4.37925865e+01] [ 1.59921870e-01 9.87129637e-01 2.73788842e-04 3.02766529e+00] [-1.84886955e-03 2.21716593e-05 9.99998291e-01 -9.19226979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995769231000004 meters 0.019826873950603528 Centerline is valid? [True, True] Translation: X:43.82, Y:3.03, Z:-0.09 [[ 9.87028324e-01 -1.60545203e-01 5.70714611e-04 4.38205831e+01] [ 1.60545181e-01 9.87028489e-01 8.54842608e-05 3.02902935e+00] [-5.77035668e-04 7.25009369e-06 9.99999833e-01 -9.43859970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025769231000005 meters 0.024439821679588438 Centerline is valid? [True, True] Translation: X:43.85, Y:3.02, Z:-0.10 [[ 9.86681039e-01 -1.62652503e-01 -2.16588720e-03 4.38491845e+01] [ 1.62652181e-01 9.86683415e-01 -3.25146793e-04 3.02359654e+00] [ 2.18993092e-03 -3.14701002e-05 9.99997602e-01 -1.00953367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.055769231 meters 0.022386971654565165 Centerline is valid? [True, True] Translation: X:43.88, Y:3.03, Z:-0.10 [[ 9.86410929e-01 -1.64285095e-01 -1.97150147e-03 4.38770115e+01] [ 1.64284830e-01 9.86412899e-01 -2.96550058e-04 3.03006983e+00] [ 1.99343323e-03 -3.13675658e-05 9.99998013e-01 -9.92095171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085769231 meters 0.024952298584575722 Centerline is valid? [True, True] Translation: X:43.91, Y:3.03, Z:-0.09 [[ 9.85928886e-01 -1.67161868e-01 1.06873921e-03 4.39055994e+01] [ 1.67161792e-01 9.85929465e-01 1.60465672e-04 3.02925150e+00] [-1.08052522e-03 2.04446208e-05 9.99999416e-01 -9.45216270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115769231 meters 0.027794487882342483 Centerline is valid? [True, True] Translation: X:43.93, Y:3.03, Z:-0.09 [[ 9.85816596e-01 -1.67809750e-01 2.35093229e-03 4.39343050e+01] [ 1.67809385e-01 9.85819398e-01 3.53419560e-04 3.02824199e+00] [-2.37690190e-03 4.61016334e-05 9.99997174e-01 -9.24112070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145769231 meters 0.025250153981423454 Centerline is valid? [True, True] Translation: X:43.96, Y:3.03, Z:-0.10 [[ 9.85648705e-01 -1.68806343e-01 1.02455307e-03 4.39627352e+01] [ 1.68806275e-01 9.85649237e-01 1.53887560e-04 3.03304677e+00] [-1.03582714e-03 2.12719118e-05 9.99999463e-01 -9.52885790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175769231000004 meters 0.02824337976274427 Centerline is valid? [True, True] Translation: X:43.99, Y:3.03, Z:-0.10 [[ 9.85605970e-01 -1.69057105e-01 -7.52997777e-04 4.39911333e+01] [ 1.69057068e-01 9.85606258e-01 -1.13546881e-04 3.03103237e+00] [ 7.61355228e-04 -1.53871130e-05 9.99999710e-01 -9.93767768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205769231000005 meters 0.028407407666184718 Centerline is valid? [True, True] Translation: X:44.02, Y:3.03, Z:-0.10 [[ 9.85512780e-01 -1.69589489e-01 -1.99156464e-03 4.40202470e+01] [ 1.69589228e-01 9.85514791e-01 -3.00643301e-04 3.03394871e+00] [ 2.01370236e-03 -4.14600947e-05 9.99997972e-01 -1.01527587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.235769231 meters 0.03029520075465945 Centerline is valid? [True, True] Translation: X:44.05, Y:3.03, Z:-0.10 [[ 9.85388757e-01 -1.70299722e-01 -2.64600561e-03 4.40481977e+01] [ 1.70299264e-01 9.85392308e-01 -3.99252651e-04 3.03358142e+00] [ 2.67534619e-03 -5.71937344e-05 9.99996420e-01 -1.03622449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265769231 meters 0.02910292767515683 Centerline is valid? [True, True] Translation: X:44.08, Y:3.04, Z:-0.10 [[ 9.85365863e-01 -1.70429215e-01 -2.82806450e-03 4.40761330e+01] [ 1.70428689e-01 9.85369920e-01 -4.27519074e-04 3.03830914e+00] [ 2.85955143e-03 -6.07206241e-05 9.99995910e-01 -1.03091922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295769231 meters 0.026934526383969065 Centerline is valid? [True, True] Translation: X:44.10, Y:3.04, Z:-0.10 [[ 9.85479243e-01 -1.69790048e-01 -1.41486952e-03 4.41046962e+01] [ 1.69789916e-01 9.85480258e-01 -2.14282908e-04 3.04246546e+00] [ 1.43070909e-03 -2.90592189e-05 9.99998976e-01 -9.99860680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325769231 meters 0.025603681411653114 Centerline is valid? [True, True] Translation: X:44.13, Y:3.05, Z:-0.10 [[ 9.85563433e-01 -1.69306069e-01 -4.18052189e-04 4.41336626e+01] [ 1.69306057e-01 9.85563522e-01 -6.36127486e-05 3.04724934e+00] [ 4.22787012e-04 -8.08436886e-06 9.99999911e-01 -9.83030832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355769231000004 meters 0.024399803579121356 Centerline is valid? [True, True] Translation: X:44.16, Y:3.05, Z:-0.10 [[ 9.85691743e-01 -1.68557931e-01 1.08339694e-04 4.41623745e+01] [ 1.68557931e-01 9.85691749e-01 1.60495986e-05 3.05121121e+00] [-1.09494829e-04 2.44155773e-06 9.99999994e-01 -9.73466915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385769231000005 meters 0.022516798828904578 Centerline is valid? [True, True] Translation: X:44.19, Y:3.05, Z:-0.10 [[ 9.85997316e-01 -1.66761181e-01 2.30061085e-05 4.41912749e+01] [ 1.66761181e-01 9.85997317e-01 3.12064094e-06 3.05232986e+00] [-2.32043630e-05 7.59582218e-07 1.00000000e+00 -9.73800056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.415769231 meters 0.021756753388153416 Centerline is valid? [True, True] Translation: X:44.22, Y:3.05, Z:-0.10 [[ 9.86158604e-01 -1.65804508e-01 -2.68969351e-04 4.42193466e+01] [ 1.65804503e-01 9.86158641e-01 -4.09516823e-05 3.05446411e+00] [ 2.72036423e-04 -4.21147575e-06 9.99999963e-01 -9.78302831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445769231 meters 0.02098000350819069 Centerline is valid? [True, True] Translation: X:44.25, Y:3.05, Z:-0.10 [[ 9.86422186e-01 -1.64228749e-01 4.34120014e-04 4.42473952e+01] [ 1.64228736e-01 9.86422282e-01 6.57805852e-05 3.05397616e+00] [-4.39028718e-04 6.40755242e-06 9.99999904e-01 -9.63912381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475769231 meters 0.020063964151786653 Centerline is valid? [True, True] Translation: X:44.28, Y:3.06, Z:-0.10 [[ 9.86567189e-01 -1.63355235e-01 4.99303611e-04 4.42765543e+01] [ 1.63355218e-01 9.86567315e-01 7.55531271e-05 3.05714384e+00] [-5.04938622e-04 7.02561409e-06 9.99999872e-01 -9.63057898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505769231 meters 0.017810126779694863 Centerline is valid? [True, True] Translation: X:44.31, Y:3.06, Z:-0.10 [[ 9.86971471e-01 -1.60892568e-01 9.46599511e-04 4.43051535e+01] [ 1.60892504e-01 9.86971925e-01 1.43668525e-04 3.05880460e+00] [-9.57382339e-04 1.05040302e-05 9.99999542e-01 -9.56756488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535769231 meters 0.016417631209764843 Centerline is valid? [True, True] Translation: X:44.33, Y:3.06, Z:-0.10 [[ 9.87229651e-01 -1.59300810e-01 9.32212323e-04 4.43338019e+01] [ 1.59300747e-01 9.87230091e-01 1.41637364e-04 3.06284409e+00] [-9.42871002e-04 8.67351468e-06 9.99999555e-01 -9.58722000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565769231000004 meters 0.014225531763118386 Centerline is valid? [True, True] Translation: X:44.36, Y:3.07, Z:-0.10 [[ 9.87831056e-01 -1.55530691e-01 9.53826579e-05 4.43610213e+01] [ 1.55530690e-01 9.87831061e-01 1.44074096e-05 3.06766743e+00] [-9.64627465e-05 6.02843980e-07 9.99999995e-01 -9.82480804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595769231000006 meters 0.013320618331838745 Centerline is valid? [True, True] Translation: X:44.39, Y:3.07, Z:-0.10 [[ 9.88139277e-01 -1.53560304e-01 3.87267126e-05 4.43893245e+01] [ 1.53560304e-01 9.88139278e-01 5.54801257e-06 3.07247735e+00] [-3.91193404e-05 4.64676619e-07 9.99999999e-01 -9.81522612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625769231 meters 0.012777637965868468 Centerline is valid? [True, True] Translation: X:44.42, Y:3.08, Z:-0.10 [[ 9.88641471e-01 -1.50289997e-01 9.79336944e-04 4.44170708e+01] [ 1.50289923e-01 9.88641956e-01 1.49329859e-04 3.07660415e+00] [-9.90656376e-04 -4.49217485e-07 9.99999509e-01 -9.56378164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655769231 meters 0.013108041573898372 Centerline is valid? [True, True] Translation: X:44.44, Y:3.08, Z:-0.09 [[ 9.88918394e-01 -1.48455835e-01 1.12887192e-03 4.44445697e+01] [ 1.48455736e-01 9.88919039e-01 1.72086977e-04 3.08281864e+00] [-1.14191025e-03 -2.59246635e-06 9.99999348e-01 -9.43575276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685769231 meters 0.016318960945522067 Centerline is valid? [True, True] Translation: X:44.47, Y:3.10, Z:-0.09 [[ 9.89832843e-01 -1.42224188e-01 1.79536142e-03 4.44717570e+01] [ 1.42223924e-01 9.89834471e-01 2.74281248e-04 3.09587125e+00] [-1.81612005e-03 -1.61492413e-05 9.99998351e-01 -9.31891766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715769231 meters 0.020460754808985047 Centerline is valid? [True, True] Translation: X:44.50, Y:3.11, Z:-0.09 [[ 9.90433628e-01 -1.37974341e-01 2.07582476e-03 4.44981287e+01] [ 1.37973979e-01 9.90435803e-01 3.17539153e-04 3.10812382e+00] [-2.09978342e-03 -2.80916539e-05 9.99997795e-01 -9.27494568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745769231000004 meters 0.024671199295605923 Centerline is valid? [True, True] Translation: X:44.53, Y:3.12, Z:-0.09 [[ 9.91062580e-01 -1.33373631e-01 2.53712118e-03 4.45256666e+01] [ 1.33373074e-01 9.91065827e-01 3.88279143e-04 3.12032627e+00] [-2.56624030e-03 -4.64252794e-05 9.99996706e-01 -9.27661815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775769231000005 meters 0.03468647764387343 Centerline is valid? [True, True] Translation: X:44.55, Y:3.14, Z:-0.10 [[ 9.92235472e-01 -1.24364163e-01 1.52434747e-03 4.45521165e+01] [ 1.24363951e-01 9.92236642e-01 2.33340910e-04 3.14412057e+00] [-1.54153267e-03 -4.19552531e-05 9.99998811e-01 -9.50516240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805769231 meters 0.04121849856322418 Centerline is valid? [True, True] Translation: X:44.58, Y:3.16, Z:-0.10 [[ 9.92944699e-01 -1.18573935e-01 1.02325501e-03 4.45802151e+01] [ 1.18573836e-01 9.92945225e-01 1.56646889e-04 3.16349479e+00] [-1.03461041e-03 -3.42104264e-05 9.99999464e-01 -9.60005993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835769231 meters 0.042713301613145904 Centerline is valid? [True, True] Translation: X:44.61, Y:3.17, Z:-0.09 [[ 9.93092250e-01 -1.17327305e-01 1.44420784e-03 4.46079549e+01] [ 1.17327107e-01 9.93093299e-01 2.20998901e-04 3.17267069e+00] [-1.46016233e-03 -5.00275685e-05 9.99998933e-01 -9.46647808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865769231 meters 0.041423283588279645 Centerline is valid? [True, True] Translation: X:44.64, Y:3.18, Z:-0.09 [[ 9.92990192e-01 -1.18173203e-01 2.36053200e-03 4.46362020e+01] [ 1.18172677e-01 9.92992995e-01 3.61814357e-04 3.18059410e+00] [-2.38674850e-03 -8.03277240e-05 9.99997148e-01 -9.31232415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.895769231 meters 0.03635687151230418 Centerline is valid? [True, True] Translation: X:44.67, Y:3.18, Z:-0.09 [[ 9.92750440e-01 -1.20168530e-01 2.46726582e-03 4.46659277e+01] [ 1.20167959e-01 9.92753503e-01 3.78585737e-04 3.18080883e+00] [-2.49488088e-03 -7.93548586e-05 9.99996885e-01 -9.32839644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925769231000004 meters 0.034976523747524906 Centerline is valid? [True, True] Translation: X:44.69, Y:3.19, Z:-0.09 [[ 9.92531306e-01 -1.21968168e-01 2.31806712e-03 4.46931927e+01] [ 1.21967669e-01 9.92534010e-01 3.56016711e-04 3.18579530e+00] [-2.34418316e-03 -7.06284887e-05 9.99997250e-01 -9.35378838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955769231000005 meters 0.03204365448813928 Centerline is valid? [True, True] Translation: X:44.72, Y:3.19, Z:-0.09 [[ 9.92157336e-01 -1.24960577e-01 2.94543078e-03 4.47223698e+01] [ 1.24959784e-01 9.92161704e-01 4.52551548e-04 3.19214510e+00] [-2.97889473e-03 -8.09419449e-05 9.99995560e-01 -9.34263184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985769231 meters 0.031743815523283946 Centerline is valid? [True, True] Translation: X:44.75, Y:3.20, Z:-0.09 [[ 9.92061208e-01 -1.25728570e-01 2.62425093e-03 4.47500356e+01] [ 1.25727943e-01 9.92064676e-01 4.03332944e-04 3.19866809e+00] [-2.65413713e-03 -7.01892963e-05 9.99996475e-01 -9.39153130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015769231 meters 0.032578068248718305 Centerline is valid? [True, True] Translation: X:44.78, Y:3.21, Z:-0.10 [[ 9.92107321e-01 -1.25385379e-01 1.25317558e-03 4.47784099e+01] [ 1.25385235e-01 9.92108112e-01 1.92631039e-04 3.20676721e+00] [-1.26743877e-03 -3.39809494e-05 9.99999196e-01 -9.65596096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045769231 meters 0.03320441413118694 Centerline is valid? [True, True] Translation: X:44.81, Y:3.21, Z:-0.10 [[ 9.92150739e-01 -1.25045246e-01 7.73548539e-04 4.48062294e+01] [ 1.25045191e-01 9.92151040e-01 1.18898718e-04 3.21317152e+00] [-7.82344707e-04 -2.12369262e-05 9.99999694e-01 -9.71320615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075769231 meters 0.034890517486248114 Centerline is valid? [True, True] Translation: X:44.83, Y:3.22, Z:-0.10 [[ 9.92152326e-01 -1.25025453e-01 1.54861336e-03 4.48322751e+01] [ 1.25025232e-01 9.92153534e-01 2.38663588e-04 3.22278750e+00] [-1.56630124e-03 -4.31748879e-05 9.99998772e-01 -9.57925413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105769231000004 meters 0.033540823080830215 Centerline is valid? [True, True] Translation: X:44.86, Y:3.23, Z:-0.10 [[ 9.92075205e-01 -1.25639904e-01 1.18416439e-03 4.48605465e+01] [ 1.25639776e-01 9.92075911e-01 1.82553542e-04 3.22636829e+00] [-1.19771697e-03 -3.23286945e-05 9.99999282e-01 -9.65825983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135769231000005 meters 0.033162205125550015 Centerline is valid? [True, True] Translation: X:44.89, Y:3.23, Z:-0.10 [[ 9.91879492e-01 -1.27175051e-01 -1.25678893e-03 4.48885228e+01] [ 1.27174907e-01 9.91880288e-01 -1.94673773e-04 3.23044095e+00] [ 1.27134181e-03 3.32609079e-05 9.99999191e-01 -1.01508652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165769231 meters 0.02992542689326953 Centerline is valid? [True, True] Translation: X:44.92, Y:3.23, Z:-0.10 [[ 9.91759937e-01 -1.28103529e-01 -1.30870434e-03 4.49178561e+01] [ 1.28103373e-01 9.91760800e-01 -2.02937545e-04 3.23061283e+00] [ 1.32391868e-03 3.36158867e-05 9.99999123e-01 -1.01435204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195769231 meters 0.031427410365574435 Centerline is valid? [True, True] Translation: X:44.94, Y:3.24, Z:-0.10 [[ 9.91667061e-01 -1.28825536e-01 -6.49524370e-04 4.49448978e+01] [ 1.28825498e-01 9.91667273e-01 -1.00790307e-04 3.23755670e+00] [ 6.57096427e-04 1.62751270e-05 9.99999784e-01 -1.00468979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225769231 meters 0.031378644146693946 Centerline is valid? [True, True] Translation: X:44.97, Y:3.24, Z:-0.10 [[ 9.91619833e-01 -1.29175611e-01 1.94111323e-03 4.49720825e+01] [ 1.29175270e-01 9.91621732e-01 3.00631706e-04 3.24287980e+00] [-1.96368434e-03 -4.73685377e-05 9.99998071e-01 -9.54203919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255769231 meters 0.0319306853297746 Centerline is valid? [True, True] Translation: X:45.00, Y:3.25, Z:-0.10 [[ 9.91671556e-01 -1.28778393e-01 1.91038092e-03 4.50006209e+01] [ 1.28778062e-01 9.91673395e-01 2.95958246e-04 3.24838732e+00] [-1.93258696e-03 -4.74782225e-05 9.99998131e-01 -9.52534013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285769231 meters 0.032000266535129385 Centerline is valid? [True, True] Translation: X:45.03, Y:3.25, Z:-0.10 [[ 9.91877924e-01 -1.27193437e-01 -1.15232300e-04 4.50286996e+01] [ 1.27193436e-01 9.91877931e-01 -1.82473844e-05 3.25429106e+00] [ 1.16617322e-04 3.44238568e-06 9.99999993e-01 -9.92299204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315769231000004 meters 0.032000266535129385 Centerline is valid? [True, True] Translation: X:45.06, Y:3.26, Z:-0.10 [[ 9.91854126e-01 -1.27378883e-01 -1.15221182e-04 4.50558496e+01] [ 1.27378881e-01 9.91854133e-01 -1.83187269e-05 3.25869503e+00] [ 1.16616025e-04 3.49275953e-06 9.99999993e-01 -9.92889872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345769231000006 meters 0.035659520805264994 Centerline is valid? [True, True] Translation: X:45.08, Y:3.27, Z:-0.10 [[ 9.91964383e-01 -1.26515157e-01 -7.60396231e-04 4.50818124e+01] [ 1.26515103e-01 9.91964674e-01 -1.18416663e-04 3.26946191e+00] [ 7.69267702e-04 2.12635039e-05 9.99999704e-01 -1.01005883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.375769231 meters 0.03386812542506524 Centerline is valid? [True, True] Translation: X:45.11, Y:3.27, Z:-0.10 [[ 9.91993708e-01 -1.26286087e-01 5.54177716e-04 4.51103623e+01] [ 1.26286059e-01 9.91993863e-01 8.59318841e-05 3.27421748e+00] [-5.60592894e-04 -1.52589686e-05 9.99999843e-01 -9.86445151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405769231 meters 0.036126509790899174 Centerline is valid? [True, True] Translation: X:45.14, Y:3.28, Z:-0.10 [[ 9.91855389e-01 -1.27362345e-01 1.31153448e-03 4.51376524e+01] [ 1.27362187e-01 9.91856256e-01 2.04131165e-04 3.28171813e+00] [-1.32685230e-03 -3.54286969e-05 9.99999119e-01 -9.77513783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435769231 meters 0.032323073851907226 Centerline is valid? [True, True] Translation: X:45.17, Y:3.28, Z:-0.10 [[ 9.91586035e-01 -1.29444742e-01 1.09241385e-03 4.51667468e+01] [ 1.29444633e-01 9.91586637e-01 1.70025807e-04 3.28033565e+00] [-1.10523192e-03 -2.71881051e-05 9.99999389e-01 -9.83541359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465769231 meters 0.02545433072837257 Centerline is valid? [True, True] Translation: X:45.20, Y:3.27, Z:-0.10 [[ 9.90862549e-01 -1.34874551e-01 5.14971829e-04 4.51985268e+01] [ 1.34874527e-01 9.90862682e-01 8.02556764e-05 3.27245967e+00] [-5.21090816e-04 -1.00657620e-05 9.99999864e-01 -1.00053993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495769231000004 meters 0.019200982161823765 Centerline is valid? [True, True] Translation: X:45.23, Y:3.26, Z:-0.10 [[ 9.90064131e-01 -1.40616415e-01 1.99465756e-04 4.52303145e+01] [ 1.40616412e-01 9.90064151e-01 3.10849294e-05 3.26363885e+00] [-2.01854946e-04 -2.72791473e-06 9.99999980e-01 -1.00880818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525769231000005 meters 0.017384667952550954 Centerline is valid? [True, True] Translation: X:45.26, Y:3.26, Z:-0.10 [[ 9.89688704e-01 -1.43234812e-01 -2.42181742e-04 4.52595296e+01] [ 1.43234807e-01 9.89688733e-01 -3.81859717e-05 3.26359183e+00] [ 2.45154102e-04 3.10336973e-06 9.99999970e-01 -1.01406266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.555769231 meters 0.015832910927070995 Centerline is valid? [True, True] Translation: X:45.29, Y:3.26, Z:-0.10 [[ 9.89217084e-01 -1.46455276e-01 -6.42195025e-04 4.52877618e+01] [ 1.46455242e-01 9.89217293e-01 -1.00448574e-04 3.26148194e+00] [ 6.49981647e-04 5.31261796e-06 9.99999789e-01 -1.02685159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585769231 meters 0.01522017297984676 Centerline is valid? [True, True] Translation: X:45.32, Y:3.26, Z:-0.10 [[ 9.89072736e-01 -1.47427464e-01 -5.15593478e-04 4.53157718e+01] [ 1.47427442e-01 9.89072870e-01 -8.10589762e-05 3.26296538e+00] [ 5.21909841e-04 4.16059595e-06 9.99999864e-01 -1.02535169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615769231 meters 0.015583354853180314 Centerline is valid? [True, True] Translation: X:45.34, Y:3.27, Z:-0.10 [[ 9.89135678e-01 -1.47004338e-01 -5.78741701e-04 4.53432877e+01] [ 1.47004310e-01 9.89135847e-01 -9.06836433e-05 3.26509053e+00] [ 5.85785052e-04 4.62090266e-06 9.99999828e-01 -1.02613710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645769231 meters 0.01711080746949115 Centerline is valid? [True, True] Translation: X:45.37, Y:3.27, Z:-0.10 [[ 9.89322422e-01 -1.45741079e-01 -8.26110209e-04 4.53702383e+01] [ 1.45741022e-01 9.89322767e-01 -1.29435502e-04 3.27107026e+00] [ 8.36153708e-04 7.65529758e-06 9.99999650e-01 -1.03194386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675769231000004 meters 0.018792163356818905 Centerline is valid? [True, True] Translation: X:45.40, Y:3.28, Z:-0.10 [[ 9.89749926e-01 -1.42807491e-01 -1.05073078e-03 4.53984314e+01] [ 1.42807396e-01 9.89750484e-01 -1.65003637e-04 3.27644063e+00] [ 1.06352505e-03 1.32602114e-05 9.99999434e-01 -1.02869534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705769231000005 meters 0.019814361290142427 Centerline is valid? [True, True] Translation: X:45.43, Y:3.28, Z:-0.10 [[ 9.89923604e-01 -1.41599481e-01 -9.19221820e-04 4.54263539e+01] [ 1.41599408e-01 9.89924031e-01 -1.44553336e-04 3.28220778e+00] [ 9.30428446e-04 1.29354940e-05 9.99999567e-01 -1.02316072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.735769231 meters 0.020562790299934363 Centerline is valid? [True, True] Translation: X:45.45, Y:3.29, Z:-0.10 [[ 9.90066947e-01 -1.40596301e-01 -3.46458409e-04 4.54541367e+01] [ 1.40596291e-01 9.90067008e-01 -5.47680455e-05 3.28906390e+00] [ 3.50717225e-04 5.51326449e-06 9.99999938e-01 -1.00946169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765769231 meters 0.02319994353979662 Centerline is valid? [True, True] Translation: X:45.48, Y:3.30, Z:-0.10 [[ 9.90405719e-01 -1.38160640e-01 2.85452771e-03 4.54808373e+01] [ 1.38159922e-01 9.90409832e-01 4.48307169e-04 3.30074318e+00] [-2.88909071e-03 -4.96246598e-05 9.99995825e-01 -9.55565743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795769231 meters 0.025201787637806363 Centerline is valid? [True, True] Translation: X:45.51, Y:3.31, Z:-0.09 [[ 9.90647806e-01 -1.36392775e-01 3.73296232e-03 4.55081996e+01] [ 1.36391533e-01 9.90654837e-01 5.86530188e-04 3.30827772e+00] [-3.77807566e-03 -7.19003893e-05 9.99992860e-01 -9.40934067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825769231 meters 0.02581055497041099 Centerline is valid? [True, True] Translation: X:45.54, Y:3.31, Z:-0.10 [[ 9.90670777e-01 -1.36253476e-01 2.53027579e-03 4.55357703e+01] [ 1.36252905e-01 9.90674007e-01 3.97723586e-04 3.31351645e+00] [-2.56086968e-03 -4.92557075e-05 9.99996720e-01 -9.62188400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855769231000004 meters 0.026991276007875986 Centerline is valid? [True, True] Translation: X:45.56, Y:3.32, Z:-0.10 [[ 9.90744559e-01 -1.35733141e-01 1.31660511e-03 4.55624918e+01] [ 1.35732985e-01 9.90745433e-01 2.07088571e-04 3.32046352e+00] [-1.33252928e-03 -2.64651328e-05 9.99999112e-01 -9.93024674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885769231000005 meters 0.027650218723593824 Centerline is valid? [True, True] Translation: X:45.59, Y:3.33, Z:-0.10 [[ 9.90797814e-01 -1.35338428e-01 1.78944241e-03 4.55906934e+01] [ 1.35338140e-01 9.90799429e-01 2.81659998e-04 3.32692412e+00] [-1.81109794e-03 -3.68883036e-05 9.99998359e-01 -9.81742799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.915769231000006 meters 0.028987552617784566 Centerline is valid? [True, True] Translation: X:45.62, Y:3.33, Z:-0.10 [[ 9.90929140e-01 -1.34359513e-01 2.63846369e-03 4.56188305e+01] [ 1.34358881e-01 9.90932651e-01 4.15887817e-04 3.33419493e+00] [-2.67041830e-03 -5.76143267e-05 9.99996433e-01 -9.66665235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945769231 meters 0.0323944659059313 Centerline is valid? [True, True] Translation: X:45.65, Y:3.34, Z:-0.10 [[ 9.91342943e-01 -1.31276274e-01 2.38958826e-03 4.56474106e+01] [ 1.31275746e-01 9.91345821e-01 3.76975646e-04 3.34393342e+00] [-2.41839629e-03 -6.00171642e-05 9.99997074e-01 -9.65845973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975769231 meters 0.034549924328552625 Centerline is valid? [True, True] Translation: X:45.67, Y:3.35, Z:-0.10 [[ 9.91525682e-01 -1.29900769e-01 1.61648377e-03 4.56746586e+01] [ 1.29900526e-01 9.91526998e-01 2.55016644e-04 3.35236094e+00] [-1.63591416e-03 -4.28734599e-05 9.99998661e-01 -9.83711725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005769231 meters 0.035742547523898834 Centerline is valid? [True, True] Translation: X:45.70, Y:3.36, Z:-0.10 [[ 9.91672769e-01 -1.28782310e-01 4.85377448e-04 4.57025474e+01] [ 1.28782288e-01 9.91672888e-01 7.63482539e-05 3.36245779e+00] [-4.91167960e-04 -1.32044660e-05 9.99999879e-01 -1.01033286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035769231 meters 0.036147857447984155 Centerline is valid? [True, True] Translation: X:45.73, Y:3.37, Z:-0.10 [[ 9.91661382e-01 -1.28870133e-01 4.37727747e-04 4.57301409e+01] [ 1.28870115e-01 9.91661479e-01 6.88524727e-05 3.36930690e+00] [-4.42950772e-04 -1.18683132e-05 9.99999902e-01 -1.01190157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065769231000004 meters 0.03656635627688815 Centerline is valid? [True, True] Translation: X:45.76, Y:3.38, Z:-0.10 [[ 9.91698567e-01 -1.28580146e-01 1.04800005e-03 4.57578599e+01] [ 1.28580043e-01 9.91699120e-01 1.65598323e-04 3.37868660e+00] [-1.06059339e-03 -2.94717277e-05 9.99999437e-01 -9.95132115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095769231000006 meters 0.03513171251120308 Centerline is valid? [True, True] Translation: X:45.79, Y:3.38, Z:-0.10 [[ 9.91651076e-01 -1.28944503e-01 1.20775842e-03 4.57853278e+01] [ 1.28944366e-01 9.91651811e-01 1.91062057e-04 3.38418570e+00] [-1.22231223e-03 -3.37332504e-05 9.99999252e-01 -9.87234225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125769231 meters 0.03551957055359798 Centerline is valid? [True, True] Translation: X:45.81, Y:3.40, Z:-0.10 [[ 9.91382139e-01 -1.31001701e-01 9.53913869e-05 4.58120930e+01] [ 1.31001700e-01 9.91382143e-01 1.50044749e-05 3.39502568e+00] [-9.65349294e-05 -2.37873454e-06 9.99999995e-01 -1.01979187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155769231 meters 0.03395685876890252 Centerline is valid? [True, True] Translation: X:45.84, Y:3.40, Z:-0.10 [[ 9.91168562e-01 -1.32607251e-01 -4.45476095e-04 4.58409450e+01] [ 1.32607233e-01 9.91168662e-01 -7.08482512e-05 3.39994454e+00] [ 4.50936937e-04 1.11492069e-05 9.99999898e-01 -1.03209276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185769231 meters 0.030162719307209342 Centerline is valid? [True, True] Translation: X:45.87, Y:3.40, Z:-0.10 [[ 9.90713592e-01 -1.35965176e-01 2.22619296e-04 4.58701978e+01] [ 1.35965172e-01 9.90713617e-01 3.50476459e-05 3.40346127e+00] [-2.25317228e-04 -4.45370828e-06 9.99999975e-01 -1.01874868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215769231 meters 0.028490590072161703 Centerline is valid? [True, True] Translation: X:45.90, Y:3.41, Z:-0.10 [[ 9.90479201e-01 -1.37660051e-01 8.13755596e-04 4.58991737e+01] [ 1.37659991e-01 9.90479535e-01 1.29039200e-04 3.40834143e+00] [-8.23771808e-04 -1.57890560e-05 9.99999661e-01 -1.00977383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245769231000004 meters 0.022509385362733114 Centerline is valid? [True, True] Translation: X:45.93, Y:3.41, Z:-0.10 [[ 9.89973048e-01 -1.41256082e-01 2.89244071e-04 4.59288930e+01] [ 1.41256074e-01 9.89973090e-01 4.56913466e-05 3.40851336e+00] [-2.92798028e-04 -4.37571966e-06 9.99999957e-01 -1.01483370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275769231000005 meters 0.020876136107055406 Centerline is valid? [True, True] Translation: X:45.96, Y:3.41, Z:-0.10 [[ 9.89706694e-01 -1.43109725e-01 -5.15383043e-04 4.59575250e+01] [ 1.43109701e-01 9.89706829e-01 -8.24423053e-05 3.41131831e+00] [ 5.21876413e-04 7.83738810e-06 9.99999864e-01 -1.03010706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305769231 meters 0.020227223091192206 Centerline is valid? [True, True] Translation: X:45.99, Y:3.41, Z:-0.11 [[ 9.89468348e-01 -1.44738413e-01 -1.78301020e-03 4.59850922e+01] [ 1.44738136e-01 9.89469955e-01 -2.84213277e-04 3.41489132e+00] [ 1.80537160e-03 2.31504691e-05 9.99998370e-01 -1.05603562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335769231 meters 0.01784269525444931 Centerline is valid? [True, True] Translation: X:46.01, Y:3.42, Z:-0.11 [[ 9.89031551e-01 -1.47682372e-01 -2.55103928e-03 4.60142140e+01] [ 1.47681813e-01 9.89034841e-01 -4.07225523e-04 3.41639287e+00] [ 2.58320676e-03 2.60167848e-05 9.99996663e-01 -1.07094744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365769231 meters 0.016041634854892385 Centerline is valid? [True, True] Translation: X:46.04, Y:3.42, Z:-0.10 [[ 9.88633033e-01 -1.50346832e-01 -7.46048193e-04 4.60423160e+01] [ 1.50346785e-01 9.88633314e-01 -1.19158781e-04 3.41717698e+00] [ 7.55483243e-04 5.63836014e-06 9.99999715e-01 -1.04759884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.395769231 meters 0.015351472089009499 Centerline is valid? [True, True] Translation: X:46.07, Y:3.42, Z:-0.10 [[ 9.88476037e-01 -1.51376445e-01 5.43970857e-04 4.60715632e+01] [ 1.51376421e-01 9.88476187e-01 8.65367168e-05 3.41921168e+00] [-5.50801859e-04 -3.19510952e-06 9.99999848e-01 -1.02292271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425769231000004 meters 0.014536121654076369 Centerline is valid? [True, True] Translation: X:46.10, Y:3.42, Z:-0.10 [[ 9.88336496e-01 -1.52275537e-01 1.76973573e-03 4.60991737e+01] [ 1.52275275e-01 9.88338080e-01 2.82584419e-04 3.42107541e+00] [-1.79212791e-03 -9.80149941e-06 9.99998394e-01 -9.94799787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455769231000005 meters 0.014081285457417011 Centerline is valid? [True, True] Translation: X:46.13, Y:3.43, Z:-0.10 [[ 9.88163160e-01 -1.53359653e-01 3.79288240e-03 4.61267471e+01] [ 1.53358454e-01 9.88170439e-01 6.06621853e-04 3.42618741e+00] [-3.84104559e-03 -1.77707848e-05 9.99992623e-01 -9.57321156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485769231 meters 0.013887854388114972 Centerline is valid? [True, True] Translation: X:46.15, Y:3.43, Z:-0.09 [[ 9.88106153e-01 -1.53714874e-01 4.23877217e-03 4.61544567e+01] [ 1.53713378e-01 9.88115245e-01 6.78492301e-04 3.43107283e+00] [-4.29268976e-03 -1.88664277e-05 9.99990786e-01 -9.47231505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515769231 meters 0.013965180515777319 Centerline is valid? [True, True] Translation: X:46.18, Y:3.44, Z:-0.10 [[ 9.88066952e-01 -1.53977809e-01 3.81218882e-03 4.61819277e+01] [ 1.53976598e-01 9.88074306e-01 6.10913528e-04 3.43654953e+00] [-3.86079294e-03 -1.66356034e-05 9.99992547e-01 -9.57751874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545769231 meters 0.014026289011911478 Centerline is valid? [True, True] Translation: X:46.21, Y:3.44, Z:-0.10 [[ 9.88092199e-01 -1.53841359e-01 2.57746173e-03 4.62081775e+01] [ 1.53840804e-01 9.88095560e-01 4.13365857e-04 3.44144068e+00] [-2.61037125e-03 -1.19247937e-05 9.99996593e-01 -9.79522894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575769231 meters 0.014254351049360093 Centerline is valid? [True, True] Translation: X:46.24, Y:3.45, Z:-0.10 [[ 9.88081659e-01 -1.53928903e-01 -7.27260984e-04 4.62350721e+01] [ 1.53928858e-01 9.88081926e-01 -1.17236502e-04 3.44840317e+00] [ 7.36639520e-04 3.89278436e-06 9.99999729e-01 -1.03933781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605769231000004 meters 0.014147518756416034 Centerline is valid? [True, True] Translation: X:46.26, Y:3.45, Z:-0.10 [[ 9.87996580e-01 -1.54471128e-01 -1.19486255e-03 4.62627508e+01] [ 1.54471008e-01 9.87997303e-01 -1.92587245e-04 3.45375894e+00] [ 1.21027015e-03 5.70391668e-06 9.99999268e-01 -1.04699360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635769231000005 meters 0.013211718295769306 Centerline is valid? [True, True] Translation: X:46.29, Y:3.45, Z:-0.10 [[ 9.87572183e-01 -1.57158111e-01 1.58461890e-03 4.62910607e+01] [ 1.57157904e-01 9.87573455e-01 2.54829199e-04 3.45446406e+00] [-1.60497603e-03 -2.62684324e-06 9.99998712e-01 -1.00212779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665769231000006 meters 0.012948058847062275 Centerline is valid? [True, True] Translation: X:46.32, Y:3.45, Z:-0.10 [[ 9.87119358e-01 -1.59951516e-01 3.29930919e-03 4.63189339e+01] [ 1.59950634e-01 9.87124872e-01 5.30939982e-04 3.45355538e+00] [-3.34175482e-03 3.62546404e-06 9.99994416e-01 -9.72396716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695769231 meters 0.016584856376859358 Centerline is valid? [True, True] Translation: X:46.35, Y:3.44, Z:-0.10 [[ 9.85789701e-01 -1.67935775e-01 4.02999959e-03 4.63498263e+01] [ 1.67934525e-01 9.85797938e-01 6.49060786e-04 3.44249373e+00] [-4.08176581e-03 3.69386296e-05 9.99991669e-01 -9.63249801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725769231 meters 0.02012770646670587 Centerline is valid? [True, True] Translation: X:46.38, Y:3.44, Z:-0.10 [[ 9.85046218e-01 -1.72261135e-01 3.17012167e-03 4.63795374e+01] [ 1.72260382e-01 9.85051318e-01 5.11024870e-04 3.43889585e+00] [-3.21076225e-03 4.27032541e-05 9.99994845e-01 -9.87336841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755769231 meters 0.02428945476217453 Centerline is valid? [True, True] Translation: X:46.41, Y:3.43, Z:-0.10 [[ 9.84370358e-01 -1.76102450e-01 1.71061220e-03 4.64095550e+01] [ 1.76102236e-01 9.84371843e-01 2.75928095e-04 3.43379506e+00] [-1.73247010e-03 2.96271960e-05 9.99998499e-01 -1.02206961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785769231 meters 0.029701799506913436 Centerline is valid? [True, True] Translation: X:46.44, Y:3.42, Z:-0.11 [[ 9.83235059e-01 -1.82339889e-01 -9.92037361e-04 4.64417401e+01] [ 1.82339820e-01 9.83235559e-01 -1.60100244e-04 3.42148385e+00] [ 1.00459907e-03 -2.34717412e-05 9.99999495e-01 -1.06622583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815769231000004 meters 0.0320057479521055 Centerline is valid? [True, True] Translation: X:46.47, Y:3.42, Z:-0.11 [[ 9.82852621e-01 -1.84387921e-01 -1.34930952e-03 4.64716552e+01] [ 1.84387795e-01 9.82853546e-01 -2.18304554e-04 3.41742126e+00] [ 1.36642637e-03 -3.42350053e-05 9.99999066e-01 -1.06827108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845769231000006 meters 0.032052685033489625 Centerline is valid? [True, True] Translation: X:46.50, Y:3.41, Z:-0.11 [[ 9.82615028e-01 -1.85651782e-01 -1.05961900e-03 4.65023547e+01] [ 1.85651704e-01 9.82615599e-01 -1.71701111e-04 3.41085225e+00] [ 1.07307477e-03 -2.80039817e-05 9.99999424e-01 -1.05375101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.875769231 meters 0.03184277124922927 Centerline is valid? [True, True] Translation: X:46.53, Y:3.41, Z:-0.10 [[ 9.82688943e-01 -1.85262000e-01 -6.57186255e-04 4.65303462e+01] [ 1.85261970e-01 9.82689163e-01 -1.06517352e-04 3.41002187e+00] [ 6.65543428e-04 -1.70781959e-05 9.99999778e-01 -1.04651538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905769231 meters 0.02872970547996857 Centerline is valid? [True, True] Translation: X:46.56, Y:3.41, Z:-0.10 [[ 9.83305494e-01 -1.81962127e-01 -2.99604801e-04 4.65613969e+01] [ 1.81962120e-01 9.83305540e-01 -4.85548931e-05 3.40795884e+00] [ 3.03438212e-04 -6.77243162e-06 9.99999954e-01 -1.04476454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935769231 meters 0.026711475626168067 Centerline is valid? [True, True] Translation: X:46.59, Y:3.41, Z:-0.10 [[ 9.83776310e-01 -1.79399475e-01 1.52534122e-05 4.65890716e+01] [ 1.79399475e-01 9.83776310e-01 2.34134299e-06 3.41042302e+00] [-1.54259813e-05 4.33096379e-07 1.00000000e+00 -1.03721523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965769231 meters 0.02304762179419878 Centerline is valid? [True, True] Translation: X:46.62, Y:3.42, Z:-0.10 [[ 9.84416784e-01 -1.75850164e-01 5.61099824e-04 4.66176316e+01] [ 1.75850141e-01 9.84416944e-01 9.07580230e-05 3.41621490e+00] [-5.68315987e-04 9.32576184e-06 9.99999838e-01 -1.02306512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995769231000004 meters 0.015936977293970395 Centerline is valid? [True, True] Translation: X:46.65, Y:3.43, Z:-0.10 [[ 9.85837305e-01 -1.67698550e-01 1.41609719e-03 4.66466193e+01] [ 1.67698394e-01 9.85838322e-01 2.29287706e-04 3.42702430e+00] [-1.43449409e-03 1.14368493e-05 9.99998971e-01 -1.00144289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025769231000005 meters 0.013269210833941308 Centerline is valid? [True, True] Translation: X:46.67, Y:3.44, Z:-0.10 [[ 9.86822824e-01 -1.61800434e-01 1.15515940e-03 4.66732588e+01] [ 1.61800326e-01 9.86823500e-01 1.87033738e-04 3.43604949e+00] [-1.17020058e-03 2.33600568e-06 9.99999315e-01 -1.00182683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.055769231 meters 0.013051114316744005 Centerline is valid? [True, True] Translation: X:46.70, Y:3.44, Z:-0.10 [[ 9.87163682e-01 -1.59709026e-01 9.44109347e-04 4.67000077e+01] [ 1.59708953e-01 9.87164134e-01 1.52869040e-04 3.44221291e+00] [-9.56405451e-04 -1.24049151e-07 9.99999543e-01 -1.01906961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085769231 meters 0.013380038625971473 Centerline is valid? [True, True] Translation: X:46.73, Y:3.45, Z:-0.10 [[ 9.87449337e-01 -1.57935022e-01 5.79583721e-04 4.67270119e+01] [ 1.57934994e-01 9.87449507e-01 9.36757743e-05 3.44869760e+00] [-5.87104345e-04 -9.63529704e-07 9.99999828e-01 -1.02559922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115769231 meters 0.015054138857270515 Centerline is valid? [True, True] Translation: X:46.75, Y:3.46, Z:-0.10 [[ 9.88048625e-01 -1.54139736e-01 9.25703662e-04 4.67549167e+01] [ 1.54139663e-01 9.88049058e-01 1.50032118e-04 3.45838083e+00] [-9.37766543e-04 -5.55137749e-06 9.99999560e-01 -1.02323222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145769231 meters 0.017205296217874266 Centerline is valid? [True, True] Translation: X:46.78, Y:3.47, Z:-0.10 [[ 9.88658879e-01 -1.50165366e-01 1.99610952e-03 4.67821509e+01] [ 1.50165017e-01 9.88660894e-01 3.24237274e-04 3.46903852e+00] [-2.02216463e-03 -2.08142388e-05 9.99997955e-01 -9.90192445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175769231000004 meters 0.01974003033567305 Centerline is valid? [True, True] Translation: X:46.81, Y:3.48, Z:-0.10 [[ 9.88952642e-01 -1.48209063e-01 2.59731960e-03 4.68084388e+01] [ 1.48208465e-01 9.88956052e-01 4.22392511e-04 3.47944249e+00] [-2.63123733e-03 -3.27814394e-05 9.99996538e-01 -9.82231545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205769231000005 meters 0.01974003033567305 Centerline is valid? [True, True] Translation: X:46.84, Y:3.48, Z:-0.10 [[ 9.88925940e-01 -1.48387126e-01 2.59728540e-03 4.68355581e+01] [ 1.48386528e-01 9.88929350e-01 4.22602676e-04 3.48405508e+00] [-2.63124056e-03 -3.25205859e-05 9.99996538e-01 -9.82822347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.235769231 meters 0.0202504104522454 Centerline is valid? [True, True] Translation: X:46.86, Y:3.49, Z:-0.10 [[ 9.89117901e-01 -1.47101908e-01 2.60888799e-03 4.68640749e+01] [ 1.47101298e-01 9.89121341e-01 4.24966415e-04 3.49099542e+00] [-2.64302016e-03 -3.65710788e-05 9.99996507e-01 -9.79557882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265769231 meters 0.023338669934923444 Centerline is valid? [True, True] Translation: X:46.89, Y:3.50, Z:-0.10 [[ 9.89418362e-01 -1.45083728e-01 1.42013483e-03 4.68901875e+01] [ 1.45083545e-01 9.89419381e-01 2.31480630e-04 3.50440143e+00] [-1.43869299e-03 -2.29929899e-05 9.99998965e-01 -1.01590896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295769231 meters 0.022113515446781633 Centerline is valid? [True, True] Translation: X:46.92, Y:3.51, Z:-0.10 [[ 9.89520248e-01 -1.44394119e-01 -1.28527083e-04 4.69182974e+01] [ 1.44394117e-01 9.89520257e-01 -2.11002885e-05 3.50833146e+00] [ 1.30226910e-04 2.32060795e-06 9.99999992e-01 -1.04195054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325769231 meters 0.023129216105437264 Centerline is valid? [True, True] Translation: X:46.95, Y:3.52, Z:-0.11 [[ 9.89500217e-01 -1.44517721e-01 -1.98718729e-03 4.69454445e+01] [ 1.44517361e-01 9.89502212e-01 -3.24463559e-04 3.51702052e+00] [ 2.01321695e-03 3.38736997e-05 9.99997973e-01 -1.07551501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355769231000004 meters 0.02231963606110348 Centerline is valid? [True, True] Translation: X:46.97, Y:3.52, Z:-0.11 [[ 9.89365973e-01 -1.45435517e-01 -1.86613391e-03 4.69740187e+01] [ 1.45435200e-01 9.89367732e-01 -3.05248830e-04 3.52232179e+00] [ 1.89068669e-03 3.06012477e-05 9.99998212e-01 -1.07034651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385769231000005 meters 0.022254064445015466 Centerline is valid? [True, True] Translation: X:47.00, Y:3.53, Z:-0.11 [[ 9.89216627e-01 -1.46454028e-01 -1.29709317e-03 4.70009490e+01] [ 1.46453876e-01 9.89217477e-01 -2.12124975e-04 3.52900517e+00] [ 1.31417379e-03 1.98732308e-05 9.99999136e-01 -1.06111323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.415769231000006 meters 0.02068906919257727 Centerline is valid? [True, True] Translation: X:47.03, Y:3.54, Z:-0.10 [[ 9.88929613e-01 -1.48384589e-01 -4.82928127e-04 4.70287778e+01] [ 1.48384568e-01 9.88929731e-01 -7.93513391e-05 3.53742856e+00] [ 4.89356499e-04 6.81380753e-06 9.99999880e-01 -1.04918658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445769231 meters 0.020564403373393603 Centerline is valid? [True, True] Translation: X:47.06, Y:3.54, Z:-0.11 [[ 9.88825402e-01 -1.49076796e-01 -6.58452312e-04 4.70553687e+01] [ 1.49076757e-01 9.88825621e-01 -1.07884599e-04 3.54471526e+00] [ 6.67177606e-04 8.51909633e-06 9.99999777e-01 -1.05644510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475769231 meters 0.01760311097100932 Centerline is valid? [True, True] Translation: X:47.08, Y:3.55, Z:-0.10 [[ 9.88468145e-01 -1.51428334e-01 4.31475808e-04 4.70841784e+01] [ 1.51428318e-01 9.88468239e-01 7.03529270e-05 3.55026587e+00] [-4.37153559e-04 -4.20397139e-06 9.99999904e-01 -1.03477324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505769231 meters 0.016414181033821734 Centerline is valid? [True, True] Translation: X:47.11, Y:3.56, Z:-0.10 [[ 9.88210376e-01 -1.53097795e-01 1.14845164e-03 4.71114559e+01] [ 1.53097680e-01 9.88211043e-01 1.88076364e-04 3.55559272e+00] [-1.16370667e-03 -1.00337328e-05 9.99999323e-01 -1.02324169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535769231 meters 0.01434250376531254 Centerline is valid? [True, True] Translation: X:47.14, Y:3.56, Z:-0.10 [[ 9.87580563e-01 -1.57113425e-01 6.32860428e-05 4.71400336e+01] [ 1.57113425e-01 9.87580565e-01 1.00279285e-05 3.55933213e+00] [-6.40755881e-05 3.96997100e-08 9.99999998e-01 -1.04763062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565769231000004 meters 0.013628913653844318 Centerline is valid? [True, True] Translation: X:47.17, Y:3.56, Z:-0.11 [[ 9.87155424e-01 -1.59760185e-01 -9.23498437e-04 4.71679103e+01] [ 1.59760113e-01 9.87155856e-01 -1.51673512e-04 3.56179649e+00] [ 9.35868278e-04 2.18711594e-06 9.99999562e-01 -1.06672637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595769231000006 meters 0.01389638104468681 Centerline is valid? [True, True] Translation: X:47.20, Y:3.56, Z:-0.11 [[ 9.86216887e-01 -1.65451450e-01 -1.43838674e-03 4.71962597e+01] [ 1.65451281e-01 9.86217936e-01 -2.36749694e-04 3.56012149e+00] [ 1.45773338e-03 -4.49638203e-06 9.99998937e-01 -1.06908584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625769231 meters 0.01522889597156343 Centerline is valid? [True, True] Translation: X:47.22, Y:3.56, Z:-0.11 [[ 9.85723534e-01 -1.68371630e-01 -3.30096606e-04 4.72248774e+01] [ 1.68371621e-01 9.85723589e-01 -5.43871244e-05 3.55989935e+00] [ 3.34541260e-04 -1.96823214e-06 9.99999944e-01 -1.05194353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655769231 meters 0.017056042996112023 Centerline is valid? [True, True] Translation: X:47.25, Y:3.56, Z:-0.10 [[ 9.85239800e-01 -1.71176363e-01 1.09050767e-03 4.72542480e+01] [ 1.71176269e-01 9.85240404e-01 1.79069687e-04 3.56060665e+00] [-1.10506471e-03 1.02424509e-05 9.99999389e-01 -1.02708061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685769231 meters 0.020228085761895973 Centerline is valid? [True, True] Translation: X:47.28, Y:3.56, Z:-0.10 [[ 9.84578451e-01 -1.74931112e-01 2.09275771e-03 4.72833562e+01] [ 1.74930775e-01 9.84580675e-01 3.44313383e-04 3.55844035e+00] [-2.12071992e-03 2.70841912e-05 9.99997751e-01 -1.00810239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715769231 meters 0.02080055499150954 Centerline is valid? [True, True] Translation: X:47.31, Y:3.56, Z:-0.10 [[ 9.84429103e-01 -1.75779809e-01 8.93877454e-04 4.73117219e+01] [ 1.75779748e-01 9.84429509e-01 1.46915913e-04 3.56184968e+00] [-9.05784194e-04 1.24972529e-05 9.99999590e-01 -1.03131015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745769231000004 meters 0.020659736262263237 Centerline is valid? [True, True] Translation: X:47.34, Y:3.57, Z:-0.11 [[ 9.84610644e-01 -1.74749079e-01 -2.15401608e-03 4.73388852e+01] [ 1.74748720e-01 9.84612999e-01 -3.55129594e-04 3.56678339e+00] [ 2.18293081e-03 -2.67471753e-05 9.99997617e-01 -1.08929663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775769231000005 meters 0.018563406650807784 Centerline is valid? [True, True] Translation: X:47.37, Y:3.58, Z:-0.11 [[ 9.84862448e-01 -1.73320176e-01 -2.46480908e-03 4.73670658e+01] [ 1.73319700e-01 9.84865532e-01 -4.06991545e-04 3.57547621e+00] [ 2.49804535e-03 -2.63692804e-05 9.99996880e-01 -1.09078500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805769231 meters 0.01750285716368425 Centerline is valid? [True, True] Translation: X:47.39, Y:3.58, Z:-0.11 [[ 9.85201934e-01 -1.71379212e-01 -2.51278888e-03 4.73939882e+01] [ 1.71378712e-01 9.85205139e-01 -4.14827434e-04 3.58239645e+00] [ 2.54670532e-03 -2.19497306e-05 9.99996757e-01 -1.09550408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835769231 meters 0.01514027242380317 Centerline is valid? [True, True] Translation: X:47.42, Y:3.59, Z:-0.11 [[ 9.85668667e-01 -1.68682121e-01 -1.90279936e-03 4.74217697e+01] [ 1.68681828e-01 9.85670504e-01 -3.14686036e-04 3.59148431e+00] [ 1.92861511e-03 -1.07915084e-05 9.99998140e-01 -1.08600626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865769231 meters 0.014963950409831207 Centerline is valid? [True, True] Translation: X:47.45, Y:3.60, Z:-0.11 [[ 9.85636196e-01 -1.68879199e-01 -1.05158972e-03 4.74497848e+01] [ 1.68879109e-01 9.85636757e-01 -1.74333827e-04 3.59674626e+00] [ 1.06592684e-03 -5.76180518e-06 9.99999432e-01 -1.06737510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.895769231 meters 0.014879224823076157 Centerline is valid? [True, True] Translation: X:47.48, Y:3.60, Z:-0.11 [[ 9.85551819e-01 -1.69374175e-01 -4.38401021e-05 4.74775470e+01] [ 1.69374174e-01 9.85551820e-01 -7.67284160e-06 3.59929317e+00] [ 4.45062736e-05 1.36601893e-07 9.99999999e-01 -1.05424140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925769231000004 meters 0.015254713633853867 Centerline is valid? [True, True] Translation: X:47.50, Y:3.60, Z:-0.11 [[ 9.85538546e-01 -1.69451379e-01 -7.08064215e-05 4.75041730e+01] [ 1.69451379e-01 9.85538548e-01 -1.19097377e-05 3.60137696e+00] [ 7.18005793e-05 -2.60740159e-07 9.99999997e-01 -1.06050880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955769231000005 meters 0.014397874822392416 Centerline is valid? [True, True] Translation: X:47.53, Y:3.61, Z:-0.11 [[ 9.85725348e-01 -1.68361261e-01 1.55151090e-04 4.75327872e+01] [ 1.68361259e-01 9.85725360e-01 2.53767946e-05 3.60589965e+00] [-1.57208834e-04 1.10688324e-06 9.99999988e-01 -1.05706734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985769231 meters 0.013797071512974324 Centerline is valid? [True, True] Translation: X:47.56, Y:3.61, Z:-0.11 [[ 9.85905172e-01 -1.67305034e-01 -1.29137919e-04 4.75606086e+01] [ 1.67305032e-01 9.85905181e-01 -2.18538757e-05 3.61162150e+00] [ 1.30974007e-04 -5.95746206e-08 9.99999991e-01 -1.05662565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015769231 meters 0.01333636810657373 Centerline is valid? [True, True] Translation: X:47.59, Y:3.62, Z:-0.11 [[ 9.86529179e-01 -1.63577660e-01 -1.59004973e-03 4.75871794e+01] [ 1.63577446e-01 9.86530460e-01 -2.64314517e-04 3.61846366e+00] [ 1.61186844e-03 6.57709034e-07 9.99998701e-01 -1.07859632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045769231 meters 0.013659750204561148 Centerline is valid? [True, True] Translation: X:47.61, Y:3.62, Z:-0.11 [[ 9.86871559e-01 -1.61495402e-01 -1.93911434e-03 4.76148348e+01] [ 1.61495080e-01 9.86873465e-01 -3.22898688e-04 3.62450773e+00] [ 1.96580714e-03 5.50210782e-06 9.99998068e-01 -1.08985307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075769231 meters 0.014415558460266662 Centerline is valid? [True, True] Translation: X:47.64, Y:3.63, Z:-0.11 [[ 9.87219534e-01 -1.59359202e-01 -1.49548771e-03 4.76433037e+01] [ 1.59359007e-01 9.87220667e-01 -2.49318029e-04 3.63045551e+00] [ 1.51610750e-03 7.81219110e-06 9.99998851e-01 -1.08837430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105769231000004 meters 0.016641525924552404 Centerline is valid? [True, True] Translation: X:47.67, Y:3.64, Z:-0.10 [[ 9.87829167e-01 -1.55541701e-01 5.62797720e-04 4.76713896e+01] [ 1.55541673e-01 9.87829327e-01 9.34339965e-05 3.63818454e+00] [-5.70480976e-04 -4.75832806e-06 9.99999837e-01 -1.04285724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135769231000005 meters 0.017955583218389623 Centerline is valid? [True, True] Translation: X:47.70, Y:3.64, Z:-0.10 [[ 9.88107024e-01 -1.53756621e-01 1.84680400e-03 4.76996872e+01] [ 1.53756314e-01 9.88108750e-01 3.07711066e-04 3.64485627e+00] [-1.87215580e-03 -2.00936896e-05 9.99998247e-01 -1.01952325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165769231000006 meters 0.02363677117954961 Centerline is valid? [True, True] Translation: X:47.73, Y:3.66, Z:-0.10 [[ 9.89022405e-01 -1.47759183e-01 1.38107519e-03 4.77265427e+01] [ 1.47759005e-01 9.89023368e-01 2.30349853e-04 3.65718070e+00] [-1.39995194e-03 -2.37548700e-05 9.99999020e-01 -1.01761856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195769231 meters 0.028029400174354516 Centerline is valid? [True, True] Translation: X:47.75, Y:3.67, Z:-0.10 [[ 9.89623943e-01 -1.43681715e-01 1.29833515e-04 4.77543775e+01] [ 1.43681713e-01 9.89623951e-01 2.16153564e-05 3.66950564e+00] [-1.31592087e-04 -2.73637239e-06 9.99999991e-01 -1.03255188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225769231 meters 0.03876719057648087 Centerline is valid? [True, True] Translation: X:47.78, Y:3.70, Z:-0.11 [[ 9.91039941e-01 -1.33564671e-01 -5.59473003e-04 4.77809668e+01] [ 1.33564640e-01 9.91040099e-01 -9.33552598e-05 3.69648568e+00] [ 5.66929145e-04 1.77929810e-05 9.99999839e-01 -1.06182330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255769231 meters 0.04390759341913201 Centerline is valid? [True, True] Translation: X:47.81, Y:3.71, Z:-0.11 [[ 9.91662234e-01 -1.28864302e-01 -7.71698498e-05 4.78087560e+01] [ 1.28864301e-01 9.91662237e-01 -1.28946189e-05 3.71263207e+00] [ 7.81880819e-05 2.84266783e-06 9.99999997e-01 -1.05841556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285769231 meters 0.04750155152528171 Centerline is valid? [True, True] Translation: X:47.84, Y:3.73, Z:-0.10 [[ 9.92395918e-01 -1.23082770e-01 9.86462561e-04 4.78370198e+01] [ 1.23082667e-01 9.92396408e-01 1.64616259e-04 3.73015972e+00] [-9.99223327e-04 -4.19480614e-05 9.99999500e-01 -1.04063211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315769231000004 meters 0.04703066509949062 Centerline is valid? [True, True] Translation: X:47.86, Y:3.74, Z:-0.10 [[ 9.92437776e-01 -1.22747920e-01 4.56535007e-04 4.78649733e+01] [ 1.22747898e-01 9.92437881e-01 7.59042656e-05 3.73825142e+00] [-4.62399726e-04 -1.92915482e-05 9.99999893e-01 -1.04684645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345769231000006 meters 0.04802792149420857 Centerline is valid? [True, True] Translation: X:47.89, Y:3.75, Z:-0.11 [[ 9.92354350e-01 -1.23419786e-01 -6.32800128e-04 4.78918669e+01] [ 1.23419743e-01 9.92354551e-01 -1.06165858e-04 3.74898149e+00] [ 6.41065055e-04 2.72541216e-05 9.99999794e-01 -1.06285858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.375769231 meters 0.04597050617310806 Centerline is valid? [True, True] Translation: X:47.92, Y:3.76, Z:-0.11 [[ 9.92204493e-01 -1.24607373e-01 -1.80207838e-03 4.79188973e+01] [ 1.24607030e-01 9.92206126e-01 -3.01988376e-04 3.76299743e+00] [ 1.82566318e-03 7.50825896e-05 9.99998331e-01 -1.08277358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405769231 meters 0.051298246345458445 Centerline is valid? [True, True] Translation: X:47.94, Y:3.78, Z:-0.11 [[ 9.92114932e-01 -1.25324358e-01 -1.32925753e-03 4.79437068e+01] [ 1.25324172e-01 9.92115821e-01 -2.22697157e-04 3.78157523e+00] [ 1.34668680e-03 5.43530755e-05 9.99999092e-01 -1.07798760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435769231 meters 0.04490615996521005 Centerline is valid? [True, True] Translation: X:47.97, Y:3.79, Z:-0.10 [[ 9.91762983e-01 -1.28066170e-01 2.28955189e-03 4.79727830e+01] [ 1.28065626e-01 9.91765622e-01 3.83363229e-04 3.79205861e+00] [-2.31979471e-03 -8.69925642e-05 9.99997305e-01 -1.01432615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465769231 meters 0.04111252067294475 Centerline is valid? [True, True] Translation: X:48.00, Y:3.80, Z:-0.10 [[ 9.91479992e-01 -1.30210549e-01 3.55493639e-03 4.80016214e+01] [ 1.30209250e-01 9.91486357e-01 5.95312403e-04 3.79864784e+00] [-3.60218688e-03 -1.27354736e-04 9.99993504e-01 -9.93583806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495769231000004 meters 0.037248299490802855 Centerline is valid? [True, True] Translation: X:48.03, Y:3.81, Z:-0.10 [[ 9.90717360e-01 -1.35927278e-01 1.69958188e-03 4.80294020e+01] [ 1.35926990e-01 9.90718816e-01 2.84631419e-04 3.80847006e+00] [-1.72249692e-03 -5.09702392e-05 9.99998515e-01 -1.03001115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525769231000005 meters 0.03340030467773757 Centerline is valid? [True, True] Translation: X:48.06, Y:3.81, Z:-0.11 [[ 9.90189488e-01 -1.39730958e-01 1.90669143e-04 4.80591522e+01] [ 1.39730954e-01 9.90189507e-01 3.19350831e-05 3.81140011e+00] [-1.93260904e-04 -4.97940226e-06 9.99999981e-01 -1.06675053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.555769231 meters 0.029506719276904573 Centerline is valid? [True, True] Translation: X:48.09, Y:3.81, Z:-0.11 [[ 9.89617707e-01 -1.43718969e-01 -1.28503058e-03 4.80875619e+01] [ 1.43718810e-01 9.89618541e-01 -2.15348598e-04 3.81373395e+00] [ 1.30263977e-03 2.84297196e-05 9.99999151e-01 -1.08432897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585769231 meters 0.020644746216443948 Centerline is valid? [True, True] Translation: X:48.12, Y:3.81, Z:-0.11 [[ 9.88462916e-01 -1.51461244e-01 -7.44975797e-04 4.81179773e+01] [ 1.51461193e-01 9.88463197e-01 -1.24870589e-04 3.81172379e+00] [ 7.55294213e-04 1.05950234e-05 9.99999715e-01 -1.05422588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615769231 meters 0.015635085548697483 Centerline is valid? [True, True] Translation: X:48.15, Y:3.81, Z:-0.10 [[ 9.87502122e-01 -1.57565954e-01 3.53968905e-03 4.81469507e+01] [ 1.57564840e-01 9.87508466e-01 5.93139789e-04 3.81285802e+00] [-3.58893153e-03 -2.79962628e-05 9.99993559e-01 -9.77287058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645769231 meters 0.014503411298467633 Centerline is valid? [True, True] Translation: X:48.17, Y:3.82, Z:-0.10 [[ 9.87054652e-01 -1.60323363e-01 4.41972970e-03 4.81749192e+01] [ 1.60321652e-01 9.87064546e-01 7.40877272e-04 3.81627460e+00] [-4.48133843e-03 -2.27079895e-05 9.99989958e-01 -9.60177555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675769231000004 meters 0.0134581163579954 Centerline is valid? [True, True] Translation: X:48.20, Y:3.82, Z:-0.10 [[ 9.86621310e-01 -1.62977143e-01 4.10385508e-03 4.82036272e+01] [ 1.62975689e-01 9.86629845e-01 6.88382907e-04 3.81769928e+00] [-4.16117658e-03 -1.03446343e-05 9.99991342e-01 -9.76568160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705769231000005 meters 0.013353957960475315 Centerline is valid? [True, True] Translation: X:48.23, Y:3.82, Z:-0.10 [[ 9.85955489e-01 -1.67003820e-01 1.22349375e-03 4.82318635e+01] [ 1.67003694e-01 9.85956249e-01 2.05162951e-04 3.81692361e+00] [-1.24057431e-03 2.04643894e-06 9.99999230e-01 -1.03989966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.735769231 meters 0.01376888438358587 Centerline is valid? [True, True] Translation: X:48.26, Y:3.82, Z:-0.11 [[ 9.85657543e-01 -1.68757272e-01 4.37800251e-04 4.82599831e+01] [ 1.68757256e-01 9.85657640e-01 7.34587525e-05 3.81852652e+00] [-4.43917861e-04 1.47679569e-06 9.99999901e-01 -1.05822463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765769231 meters 0.015285373806524517 Centerline is valid? [True, True] Translation: X:48.29, Y:3.82, Z:-0.11 [[ 9.85052707e-01 -1.72253006e-01 -2.55779206e-04 4.82897587e+01] [ 1.72253001e-01 9.85052741e-01 -4.33877422e-05 3.81784254e+00] [ 2.59429677e-04 -1.31952297e-06 9.99999966e-01 -1.06177935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795769231 meters 0.016145668001097686 Centerline is valid? [True, True] Translation: X:48.32, Y:3.82, Z:-0.11 [[ 9.84772282e-01 -1.73848688e-01 -4.32169047e-04 4.83182178e+01] [ 1.73848673e-01 9.84772377e-01 -7.31389901e-05 3.82036249e+00] [ 4.38303257e-04 -3.10676520e-06 9.99999904e-01 -1.06632963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825769231 meters 0.01685666980253884 Centerline is valid? [True, True] Translation: X:48.35, Y:3.82, Z:-0.11 [[ 9.84580668e-01 -1.74931118e-01 1.09179588e-04 4.83475439e+01] [ 1.74931117e-01 9.84580674e-01 1.80518791e-05 3.82263233e+00] [-1.10653948e-04 1.32537605e-06 9.99999994e-01 -1.06268923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855769231000004 meters 0.016480658590735775 Centerline is valid? [True, True] Translation: X:48.38, Y:3.82, Z:-0.10 [[ 9.84495190e-01 -1.75409262e-01 9.00490967e-04 4.83760268e+01] [ 1.75409196e-01 9.84495602e-01 1.51562918e-04 3.82333243e+00] [-9.13114937e-04 8.74143333e-06 9.99999583e-01 -1.04695872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885769231000005 meters 0.017076179421669318 Centerline is valid? [True, True] Translation: X:48.40, Y:3.82, Z:-0.11 [[ 9.84526772e-01 -1.75231875e-01 9.08057527e-04 4.84030756e+01] [ 1.75231808e-01 9.84527191e-01 1.53158999e-04 3.82399419e+00] [-9.20845665e-04 8.33142697e-06 9.99999576e-01 -1.05187443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.915769231000006 meters 0.016424574400729964 Centerline is valid? [True, True] Translation: X:48.43, Y:3.83, Z:-0.11 [[ 9.84563262e-01 -1.75027756e-01 6.83946679e-04 4.84312581e+01] [ 1.75027719e-01 9.84563499e-01 1.15221888e-04 3.82528210e+00] [-6.93555964e-04 6.26638854e-06 9.99999759e-01 -1.05831731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945769231 meters 0.015988340663566348 Centerline is valid? [True, True] Translation: X:48.46, Y:3.83, Z:-0.11 [[ 9.84634038e-01 -1.74629883e-01 4.64640864e-04 4.84587187e+01] [ 1.74629865e-01 9.84634147e-01 7.82325019e-05 3.82817496e+00] [-4.71162994e-04 4.10978733e-06 9.99999889e-01 -1.06490367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975769231 meters 0.015566251045247023 Centerline is valid? [True, True] Translation: X:48.49, Y:3.83, Z:-0.11 [[ 9.84780175e-01 -1.73804478e-01 9.82514016e-05 4.84863673e+01] [ 1.73804477e-01 9.84780180e-01 1.64452147e-05 3.83108386e+00] [-9.96142849e-05 8.81612079e-07 9.99999995e-01 -1.07356245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005769231 meters 0.013832228648246323 Centerline is valid? [True, True] Translation: X:48.51, Y:3.84, Z:-0.11 [[ 9.85472473e-01 -1.69831281e-01 -1.15763676e-03 4.85141145e+01] [ 1.69831167e-01 9.85473153e-01 -1.96601747e-04 3.83740261e+00] [ 1.17420907e-03 -2.85719135e-06 9.99999311e-01 -1.08628608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035769231 meters 0.013791569985735006 Centerline is valid? [True, True] Translation: X:48.54, Y:3.85, Z:-0.11 [[ 9.86357331e-01 -1.64615936e-01 -8.99551644e-04 4.85404150e+01] [ 1.64615865e-01 9.86357741e-01 -1.53080035e-04 3.84749544e+00] [ 9.12479141e-04 2.91114263e-06 9.99999584e-01 -1.07378758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065769231000004 meters 0.014650791690115414 Centerline is valid? [True, True] Translation: X:48.57, Y:3.85, Z:-0.11 [[ 9.86733764e-01 -1.62345702e-01 -5.93804466e-04 4.85683921e+01] [ 1.62345671e-01 9.86733942e-01 -1.01242281e-04 3.85493831e+00] [ 6.02363271e-04 3.49759221e-06 9.99999819e-01 -1.06858656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095769231000006 meters 0.016455823347766955 Centerline is valid? [True, True] Translation: X:48.60, Y:3.86, Z:-0.11 [[ 9.87079687e-01 -1.60228809e-01 -6.48128691e-04 4.85954149e+01] [ 1.60228771e-01 9.87079900e-01 -1.10358936e-04 3.86343836e+00] [ 6.57437484e-04 5.08420061e-06 9.99999784e-01 -1.07774881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125769231 meters 0.016455823347766955 Centerline is valid? [True, True] Translation: X:48.62, Y:3.87, Z:-0.11 [[ 9.87051468e-01 -1.60402555e-01 -6.48077630e-04 4.86224834e+01] [ 1.60402517e-01 9.87051681e-01 -1.10659074e-04 3.86825308e+00] [ 6.57436113e-04 5.27291849e-06 9.99999784e-01 -1.07833935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155769231 meters 0.01848954897158928 Centerline is valid? [True, True] Translation: X:48.65, Y:3.88, Z:-0.11 [[ 9.87587708e-01 -1.57064616e-01 -1.10702890e-03 4.86501239e+01] [ 1.57064503e-01 9.87588328e-01 -1.88913276e-04 3.87563230e+00] [ 1.12296041e-03 1.26934860e-05 9.99999369e-01 -1.09453753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185769231 meters 0.019649530664601983 Centerline is valid? [True, True] Translation: X:48.68, Y:3.88, Z:-0.11 [[ 9.87848055e-01 -1.55413541e-01 -1.68888524e-03 4.86782459e+01] [ 1.55413275e-01 9.87849498e-01 -2.88315588e-04 3.88185022e+00] [ 1.71317258e-03 2.23368057e-05 9.99998532e-01 -1.10427568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215769231 meters 0.019723159940433287 Centerline is valid? [True, True] Translation: X:48.71, Y:3.89, Z:-0.11 [[ 9.87773850e-01 -1.55884670e-01 -1.67048175e-03 4.87054462e+01] [ 1.55884411e-01 9.87775262e-01 -2.85044260e-04 3.88600014e+00] [ 1.69449458e-03 2.11572018e-05 9.99998564e-01 -1.10501188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245769231000004 meters 0.017658876136688116 Centerline is valid? [True, True] Translation: X:48.74, Y:3.89, Z:-0.11 [[ 9.87521233e-01 -1.57483980e-01 -7.81852202e-04 4.87350499e+01] [ 1.57483923e-01 9.87521542e-01 -1.33865616e-04 3.88593489e+00] [ 7.93177583e-04 9.06598584e-06 9.99999685e-01 -1.09145482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275769231000005 meters 0.015991551506786397 Centerline is valid? [True, True] Translation: X:48.76, Y:3.88, Z:-0.11 [[ 9.87024241e-01 -1.60571296e-01 8.36527168e-05 4.87633816e+01] [ 1.60571296e-01 9.87024244e-01 1.41544659e-05 3.88318444e+00] [-8.48400605e-05 -5.38575792e-07 9.99999996e-01 -1.07160568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305769231 meters 0.015699057990615866 Centerline is valid? [True, True] Translation: X:48.79, Y:3.89, Z:-0.11 [[ 9.86846060e-01 -1.61662295e-01 3.93983333e-04 4.87911245e+01] [ 1.61662281e-01 9.86846139e-01 6.71874605e-05 3.88569394e+00] [-3.99662611e-04 -2.61143625e-06 9.99999920e-01 -1.07185751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335769231 meters 0.015542619393042464 Centerline is valid? [True, True] Translation: X:48.82, Y:3.89, Z:-0.11 [[ 9.86882071e-01 -1.61439918e-01 9.65265818e-04 4.88195526e+01] [ 1.61439834e-01 9.86882543e-01 1.64699429e-04 3.88799686e+00] [-9.79193047e-04 -6.70656014e-06 9.99999521e-01 -1.06714944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365769231 meters 0.016347880401455347 Centerline is valid? [True, True] Translation: X:48.85, Y:3.89, Z:-0.11 [[ 9.87080786e-01 -1.60218891e-01 1.19542555e-03 4.88482630e+01] [ 1.60218761e-01 9.87081510e-01 2.04326433e-04 3.89375820e+00] [-1.21271941e-03 -1.01570959e-05 9.99999265e-01 -1.06262140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.395769231 meters 0.018483114289384164 Centerline is valid? [True, True] Translation: X:48.88, Y:3.90, Z:-0.11 [[ 9.87484443e-01 -1.57715503e-01 5.42934977e-04 4.88762916e+01] [ 1.57715476e-01 9.87484592e-01 9.26976939e-05 3.90125666e+00] [-5.50759787e-04 -5.90828258e-06 9.99999848e-01 -1.06767084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425769231000004 meters 0.019605886600553953 Centerline is valid? [True, True] Translation: X:48.90, Y:3.91, Z:-0.11 [[ 9.87654678e-01 -1.56646400e-01 3.77175325e-04 4.89037991e+01] [ 1.56646387e-01 9.87654750e-01 6.45416405e-05 3.90757980e+00] [-3.82629217e-04 -4.66170116e-06 9.99999927e-01 -1.07353837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455769231000005 meters 0.021166000085854366 Centerline is valid? [True, True] Translation: X:48.93, Y:3.91, Z:-0.11 [[ 9.87761328e-01 -1.55972528e-01 3.58794328e-04 4.89304846e+01] [ 1.55972516e-01 9.87761393e-01 6.14129446e-05 3.91450652e+00] [-3.63981918e-04 -4.69927753e-06 9.99999934e-01 -1.07364318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485769231000006 meters 0.019718248156979545 Centerline is valid? [True, True] Translation: X:48.96, Y:3.92, Z:-0.11 [[ 9.87716923e-01 -1.56249850e-01 1.12427623e-03 4.89590284e+01] [ 1.56249732e-01 9.87717563e-01 1.92638445e-04 3.91559121e+00] [-1.14056711e-03 -1.46043922e-05 9.99999349e-01 -1.06003851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515769231 meters 0.019357137161042016 Centerline is valid? [True, True] Translation: X:48.99, Y:3.92, Z:-0.11 [[ 9.87614792e-01 -1.56889503e-01 1.64496858e-03 4.89864698e+01] [ 1.56889250e-01 9.87616162e-01 2.82428968e-04 3.91843256e+00] [-1.66890769e-03 -2.08531407e-05 9.99998607e-01 -1.05381208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545769231 meters 0.017033476736440453 Centerline is valid? [True, True] Translation: X:49.02, Y:3.92, Z:-0.11 [[ 9.87099080e-01 -1.60101971e-01 1.66291381e-03 4.90155457e+01] [ 1.60101718e-01 9.87100480e-01 2.85562879e-04 3.91610257e+00] [-1.68718220e-03 -1.56434977e-05 9.99998577e-01 -1.06867789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575769231 meters 0.015659099838679465 Centerline is valid? [True, True] Translation: X:49.04, Y:3.92, Z:-0.11 [[ 9.86710328e-01 -1.62485608e-01 1.07533837e-03 4.90444164e+01] [ 1.62485503e-01 9.86710914e-01 1.84717915e-04 3.91517750e+00] [-1.09106211e-03 -7.53617852e-06 9.99999405e-01 -1.08814917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605769231000004 meters 0.013567245899345487 Centerline is valid? [True, True] Translation: X:49.08, Y:3.91, Z:-0.11 [[ 9.85910169e-01 -1.67275631e-01 -4.54418501e-05 4.90752384e+01] [ 1.67275631e-01 9.85910170e-01 -8.18193208e-06 3.90565961e+00] [ 4.61702200e-05 4.65335890e-07 9.99999999e-01 -1.10534091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635769231000005 meters 0.013175170095735184 Centerline is valid? [True, True] Translation: X:49.10, Y:3.90, Z:-0.11 [[ 9.85569409e-01 -1.69271715e-01 1.62619549e-04 4.91038363e+01] [ 1.69271713e-01 9.85569422e-01 2.76397943e-05 3.90390458e+00] [-1.64951490e-04 2.85953824e-07 9.99999986e-01 -1.09380796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665769231000006 meters 0.013116873122078787 Centerline is valid? [True, True] Translation: X:49.13, Y:3.90, Z:-0.11 [[ 9.85380261e-01 -1.70369315e-01 1.91423179e-04 4.91325022e+01] [ 1.70369312e-01 9.85380280e-01 3.26305406e-05 3.90405143e+00] [-1.94183869e-04 4.59144771e-07 9.99999981e-01 -1.08213566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695769231 meters 0.013414623674037673 Centerline is valid? [True, True] Translation: X:49.16, Y:3.91, Z:-0.11 [[ 9.85692932e-01 -1.68550259e-01 -5.03194973e-04 4.91600395e+01] [ 1.68550236e-01 9.85693061e-01 -8.70452471e-05 3.90592674e+00] [ 5.10667292e-04 9.86253354e-07 9.99999870e-01 -1.09390685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725769231 meters 0.014098651097591947 Centerline is valid? [True, True] Translation: X:49.19, Y:3.91, Z:-0.11 [[ 9.86109684e-01 -1.66094816e-01 -4.50704755e-04 4.91868021e+01] [ 1.66094798e-01 9.86109787e-01 -7.80742751e-05 3.91231213e+00] [ 4.57412102e-04 2.13008371e-06 9.99999895e-01 -1.10210919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755769231 meters 0.017977173855231253 Centerline is valid? [True, True] Translation: X:49.21, Y:3.92, Z:-0.11 [[ 9.87196323e-01 -1.59509454e-01 3.91710474e-04 4.92139367e+01] [ 1.59509440e-01 9.87196401e-01 6.73984970e-05 3.92361816e+00] [-3.97445868e-04 -4.05403005e-06 9.99999921e-01 -1.08000728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785769231 meters 0.02232125052444548 Centerline is valid? [True, True] Translation: X:49.24, Y:3.93, Z:-0.11 [[ 9.87769770e-01 -1.55918398e-01 5.77714741e-04 4.92399251e+01] [ 1.55918366e-01 9.87769939e-01 9.98423938e-05 3.93483817e+00] [-5.86216521e-04 -8.54495972e-06 9.99999828e-01 -1.07766399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815769231000004 meters 0.02765521754801529 Centerline is valid? [True, True] Translation: X:49.27, Y:3.95, Z:-0.11 [[ 9.88842534e-01 -1.48964423e-01 -2.10298442e-04 4.92687058e+01] [ 1.48964419e-01 9.88842556e-01 -3.64189476e-05 3.94649164e+00] [ 2.13377176e-04 4.68561921e-06 9.99999977e-01 -1.08658339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845769231000006 meters 0.031715698968301176 Centerline is valid? [True, True] Translation: X:49.30, Y:3.96, Z:-0.11 [[ 9.89361563e-01 -1.45477208e-01 -2.83252591e-04 4.92961327e+01] [ 1.45477200e-01 9.89361603e-01 -4.91412722e-05 3.95639934e+00] [ 2.87388173e-04 7.41169200e-06 9.99999959e-01 -1.09369440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.875769231 meters 0.035191204869940304 Centerline is valid? [True, True] Translation: X:49.32, Y:3.97, Z:-0.11 [[ 9.89794775e-01 -1.42499987e-01 -2.38052620e-04 4.93232889e+01] [ 1.42499981e-01 9.89794804e-01 -4.12920785e-05 3.96626795e+00] [ 2.41507367e-04 6.94818977e-06 9.99999971e-01 -1.09724294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905769231 meters 0.04097093380514871 Centerline is valid? [True, True] Translation: X:49.35, Y:3.98, Z:-0.11 [[ 9.90566606e-01 -1.37030733e-01 6.14053588e-04 4.93508178e+01] [ 1.37030693e-01 9.90566796e-01 1.06310555e-04 3.98268086e+00] [-6.22828909e-04 -2.11634969e-05 9.99999806e-01 -1.08497573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935769231 meters 0.043728287773952074 Centerline is valid? [True, True] Translation: X:49.38, Y:3.99, Z:-0.11 [[ 9.90851819e-01 -1.34950386e-01 1.03241190e-03 4.93778891e+01] [ 1.34950273e-01 9.90852356e-01 1.78722354e-04 3.99347177e+00] [-1.04708642e-03 -3.77631023e-05 9.99999451e-01 -1.07471992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965769231 meters 0.04598468074153596 Centerline is valid? [True, True] Translation: X:49.41, Y:4.01, Z:-0.11 [[ 9.91067442e-01 -1.33342550e-01 2.25620328e-03 4.94050553e+01] [ 1.33342006e-01 9.91070006e-01 3.90741429e-04 4.00558130e+00] [-2.28815785e-03 -8.64044387e-05 9.99997378e-01 -1.05844808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995769231000004 meters 0.04629579060164487 Centerline is valid? [True, True] Translation: X:49.43, Y:4.01, Z:-0.11 [[ 9.91024211e-01 -1.33669750e-01 1.84669541e-03 4.94317947e+01] [ 1.33669386e-01 9.91025930e-01 3.19831168e-04 4.01335833e+00] [-1.87287478e-03 -7.01137899e-05 9.99998244e-01 -1.06657748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025769231000005 meters 0.04603803474225586 Centerline is valid? [True, True] Translation: X:49.46, Y:4.02, Z:-0.11 [[ 9.90968326e-01 -1.34091468e-01 1.12051095e-03 4.94601956e+01] [ 1.34091334e-01 9.90968958e-01 1.94138560e-04 4.02053772e+00] [-1.13642389e-03 -4.21343560e-05 9.99999353e-01 -1.08393293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.055769231 meters 0.04512787375445983 Centerline is valid? [True, True] Translation: X:49.49, Y:4.03, Z:-0.11 [[ 9.90740209e-01 -1.35771154e-01 1.80446887e-04 4.94866499e+01] [ 1.35771150e-01 9.90740225e-01 3.12304894e-05 4.02925418e+00] [-1.83016190e-04 -6.44182005e-06 9.99999983e-01 -1.10622749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085769231 meters 0.044197252909612565 Centerline is valid? [True, True] Translation: X:49.52, Y:4.04, Z:-0.11 [[ 9.90578426e-01 -1.36946345e-01 2.83369095e-04 4.95151663e+01] [ 1.36946337e-01 9.90578467e-01 4.90456524e-05 4.03583664e+00] [-2.87415946e-04 -9.77720567e-06 9.99999959e-01 -1.10804780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115769231 meters 0.041551962880174466 Centerline is valid? [True, True] Translation: X:49.54, Y:4.04, Z:-0.11 [[ 9.90229606e-01 -1.39445656e-01 4.86437214e-04 4.95434638e+01] [ 1.39445632e-01 9.90229725e-01 8.44524971e-05 4.04337823e+00] [-4.93461122e-04 -1.57958185e-05 9.99999878e-01 -1.10752603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145769231 meters 0.037056464992993775 Centerline is valid? [True, True] Translation: X:49.57, Y:4.05, Z:-0.11 [[ 9.90055488e-01 -1.40677072e-01 3.03571662e-04 4.95719808e+01] [ 1.40677062e-01 9.90055534e-01 5.24321768e-05 4.04538500e+00] [-3.07928809e-04 -9.20519472e-06 9.99999953e-01 -1.10520333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175769231000004 meters 0.03450883319466573 Centerline is valid? [True, True] Translation: X:49.60, Y:4.05, Z:-0.11 [[ 9.89729494e-01 -1.42951579e-01 6.11746387e-04 4.95995986e+01] [ 1.42951540e-01 9.89729683e-01 1.06298250e-04 4.05316863e+00] [-6.20659060e-04 -1.77564249e-05 9.99999807e-01 -1.09615712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205769231000005 meters 0.03342435564883667 Centerline is valid? [True, True] Translation: X:49.63, Y:4.06, Z:-0.11 [[ 9.89558396e-01 -1.44127214e-01 1.23570188e-03 4.96275971e+01] [ 1.44127058e-01 9.89559167e-01 2.14774631e-04 4.05876776e+00] [-1.25375500e-03 -3.44339628e-05 9.99999213e-01 -1.09179668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.235769231000006 meters 0.03603017578236874 Centerline is valid? [True, True] Translation: X:49.65, Y:4.07, Z:-0.11 [[ 9.89372207e-01 -1.45399619e-01 1.25957850e-03 4.96543523e+01] [ 1.45399458e-01 9.89373008e-01 2.19235885e-04 4.06889738e+00] [-1.27806978e-03 -3.37638602e-05 9.99999183e-01 -1.08315577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265769231 meters 0.03006578357250846 Centerline is valid? [True, True] Translation: X:49.68, Y:4.07, Z:-0.11 [[ 9.88982264e-01 -1.48029305e-01 1.18559485e-03 4.96834761e+01] [ 1.48029164e-01 9.88982975e-01 2.06433008e-04 4.07083733e+00] [-1.20309125e-03 -2.86559696e-05 9.99999276e-01 -1.07873425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295769231 meters 0.029012902440478543 Centerline is valid? [True, True] Translation: X:49.71, Y:4.08, Z:-0.11 [[ 9.88752690e-01 -1.49556240e-01 1.02441665e-03 4.97112229e+01] [ 1.49556136e-01 9.88753220e-01 1.78274408e-04 4.07753843e+00] [-1.03955731e-03 -2.30615053e-05 9.99999459e-01 -1.08403562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325769231 meters 0.025763821342297356 Centerline is valid? [True, True] Translation: X:49.74, Y:4.08, Z:-0.11 [[ 9.88315394e-01 -1.52410336e-01 1.94190924e-03 4.97390611e+01] [ 1.52409965e-01 9.88317301e-01 3.38600723e-04 4.08421866e+00] [-1.97082875e-03 -3.86779882e-05 9.99998057e-01 -1.06838592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355769231000004 meters 0.02399737961286966 Centerline is valid? [True, True] Translation: X:49.77, Y:4.09, Z:-0.11 [[ 9.88088434e-01 -1.53870098e-01 2.28877686e-03 4.97673759e+01] [ 1.53869586e-01 9.88091084e-01 3.99231641e-04 4.09005484e+00] [-2.32294982e-03 -4.23030192e-05 9.99997301e-01 -1.05499094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385769231000005 meters 0.023135139261039685 Centerline is valid? [True, True] Translation: X:49.80, Y:4.10, Z:-0.10 [[ 9.87906414e-01 -1.55029910e-01 2.57753956e-03 4.97951901e+01] [ 1.55029263e-01 9.87909776e-01 4.50087135e-04 4.09684084e+00] [-2.61615349e-03 -4.50499089e-05 9.99996577e-01 -1.04967230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.415769231000006 meters 0.021400038163792042 Centerline is valid? [True, True] Translation: X:49.82, Y:4.10, Z:-0.11 [[ 9.87530276e-01 -1.57427203e-01 7.93687518e-04 4.98223502e+01] [ 1.57427142e-01 9.87530595e-01 1.38586330e-04 4.10291579e+00] [-8.05607965e-04 -1.19102387e-05 9.99999675e-01 -1.08222961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445769231 meters 0.021504274285061808 Centerline is valid? [True, True] Translation: X:49.85, Y:4.11, Z:-0.11 [[ 9.87302904e-01 -1.58848485e-01 3.66877781e-04 4.98493571e+01] [ 1.58848472e-01 9.87302972e-01 6.39914518e-05 4.10961222e+00] [-3.72384469e-04 -4.90097126e-06 9.99999931e-01 -1.09845216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475769231 meters 0.01743776812087135 Centerline is valid? [True, True] Translation: X:49.88, Y:4.11, Z:-0.11 [[ 9.86699511e-01 -1.62554817e-01 -8.08224978e-05 4.98779828e+01] [ 1.62554817e-01 9.86699514e-01 -1.45109179e-05 4.11265369e+00] [ 8.21063390e-05 1.17982933e-06 9.99999997e-01 -1.09396435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505769231 meters 0.01640315860376978 Centerline is valid? [True, True] Translation: X:49.91, Y:4.12, Z:-0.11 [[ 9.86408068e-01 -1.64314073e-01 9.07291020e-05 4.99054785e+01] [ 1.64314072e-01 9.86408072e-01 1.57650814e-05 4.11769716e+00] [-9.20863434e-05 -6.42735274e-07 9.99999996e-01 -1.09332849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535769231 meters 0.014876138554448234 Centerline is valid? [True, True] Translation: X:49.93, Y:4.12, Z:-0.11 [[ 9.85979787e-01 -1.66864175e-01 4.54147743e-04 4.99342632e+01] [ 1.66864156e-01 9.85979892e-01 7.92734856e-05 4.12172576e+00] [-4.61008447e-04 -2.38107443e-06 9.99999894e-01 -1.09004445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565769231000004 meters 0.013073311952949154 Centerline is valid? [True, True] Translation: X:49.96, Y:4.12, Z:-0.11 [[ 9.85179767e-01 -1.71518286e-01 1.51782004e-03 4.99631363e+01] [ 1.71518080e-01 9.85180936e-01 2.66026626e-04 4.12255860e+00] [-1.54095580e-03 -1.75047162e-06 9.99998813e-01 -1.06813109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595769231000006 meters 0.013410789138968433 Centerline is valid? [True, True] Translation: X:49.99, Y:4.13, Z:-0.11 [[ 9.84432929e-01 -1.75753413e-01 1.59587165e-03 4.99908191e+01] [ 1.75753190e-01 9.84434222e-01 2.79979037e-04 4.12523170e+00] [-1.62023794e-03 4.85895003e-06 9.99998687e-01 -1.06441625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625769231 meters 0.014466665741781475 Centerline is valid? [True, True] Translation: X:50.02, Y:4.13, Z:-0.11 [[ 9.83942983e-01 -1.78480506e-01 9.56586851e-04 5.00199378e+01] [ 1.78480428e-01 9.83943448e-01 1.67872789e-04 4.12800075e+00] [-9.71189385e-04 5.55477723e-06 9.99999528e-01 -1.08206378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655769231 meters 0.016566473301749405 Centerline is valid? [True, True] Translation: X:50.05, Y:4.13, Z:-0.11 [[ 9.83391021e-01 -1.81499089e-01 4.25959993e-04 5.00483897e+01] [ 1.81499073e-01 9.83391113e-01 7.47598908e-05 4.12839335e+00] [-4.32454124e-04 3.79313871e-06 9.99999906e-01 -1.09427130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685769231 meters 0.02260156100573139 Centerline is valid? [True, True] Translation: X:50.08, Y:4.12, Z:-0.11 [[ 9.82155808e-01 -1.88068936e-01 -2.12336611e-04 5.00797077e+01] [ 1.88068932e-01 9.82155831e-01 -3.74164028e-05 4.12192368e+00] [ 2.15584504e-04 -3.18518235e-06 9.99999977e-01 -1.11683517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715769231 meters 0.026245231878733663 Centerline is valid? [True, True] Translation: X:50.11, Y:4.12, Z:-0.11 [[ 9.81485422e-01 -1.91536374e-01 -4.29990720e-04 5.01098387e+01] [ 1.91536359e-01 9.81485516e-01 -7.57288627e-05 4.12062077e+00] [ 4.36534495e-04 -8.03208206e-06 9.99999905e-01 -1.12292088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745769231000004 meters 0.03266339902021535 Centerline is valid? [True, True] Translation: X:50.14, Y:4.11, Z:-0.11 [[ 9.80378706e-01 -1.97120311e-01 -1.08471777e-03 5.01409459e+01] [ 1.97120220e-01 9.80379305e-01 -1.90960587e-04 4.11491577e+00] [ 1.10107707e-03 -2.66061132e-05 9.99999393e-01 -1.12735636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775769231000005 meters 0.034264491694678184 Centerline is valid? [True, True] Translation: X:50.17, Y:4.12, Z:-0.11 [[ 9.80034519e-01 -1.98823231e-01 -1.29014742e-03 5.01696289e+01] [ 1.98823104e-01 9.80035368e-01 -2.27639974e-04 4.11643916e+00] [ 1.30965021e-03 -3.34160810e-05 9.99999142e-01 -1.13485574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805769231 meters 0.03536522645290477 Centerline is valid? [True, True] Translation: X:50.20, Y:4.12, Z:-0.11 [[ 9.79844826e-01 -1.99755644e-01 -1.34132064e-03 5.01972616e+01] [ 1.99755508e-01 9.79845744e-01 -2.36512690e-04 4.11841202e+00] [ 1.36153206e-03 -3.61904489e-05 9.99999072e-01 -1.13827185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835769231 meters 0.035431515086338246 Centerline is valid? [True, True] Translation: X:50.23, Y:4.12, Z:-0.11 [[ 9.79779147e-01 -2.00079099e-01 -1.08514105e-03 5.02252587e+01] [ 2.00079009e-01 9.79779747e-01 -1.91830675e-04 4.11953197e+00] [ 1.10158053e-03 -2.91622510e-05 9.99999393e-01 -1.13518472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865769231 meters 0.03554475132094955 Centerline is valid? [True, True] Translation: X:50.25, Y:4.12, Z:-0.11 [[ 9.79742676e-01 -2.00256320e-01 -1.30228835e-03 5.02532862e+01] [ 2.00256191e-01 9.79743540e-01 -2.30379054e-04 4.12193027e+00] [ 1.32204346e-03 -3.50791125e-05 9.99999125e-01 -1.14773893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.895769231 meters 0.035323826539041245 Centerline is valid? [True, True] Translation: X:50.28, Y:4.12, Z:-0.12 [[ 9.79523011e-01 -2.01318395e-01 -2.36126095e-03 5.02829632e+01] [ 2.01317972e-01 9.79525854e-01 -4.17747254e-04 4.12045386e+00] [ 2.39701635e-03 -6.61712179e-05 9.99997125e-01 -1.17563972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925769231000004 meters 0.035278914482009684 Centerline is valid? [True, True] Translation: X:50.31, Y:4.12, Z:-0.12 [[ 9.79268237e-01 -2.02551458e-01 -2.57418230e-03 5.03118054e+01] [ 2.02550959e-01 9.79271618e-01 -4.55824277e-04 4.12191945e+00] [ 2.61315154e-03 -7.50288564e-05 9.99996583e-01 -1.17095522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955769231000005 meters 0.037060158573330636 Centerline is valid? [True, True] Translation: X:50.34, Y:4.12, Z:-0.12 [[ 9.78940413e-01 -2.04136378e-01 -2.00187553e-03 5.03410519e+01] [ 2.04136079e-01 9.78942458e-01 -3.54893688e-04 4.12103187e+00] [ 2.03216767e-03 -6.12352483e-05 9.99997933e-01 -1.15815323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985769231000006 meters 0.04327863521332356 Centerline is valid? [True, True] Translation: X:50.37, Y:4.11, Z:-0.11 [[ 9.78191722e-01 -2.07704007e-01 -2.80452821e-05 5.03725402e+01] [ 2.07704007e-01 9.78191722e-01 -5.02489153e-06 4.11052005e+00] [ 2.84773529e-05 -9.09810160e-07 1.00000000e+00 -1.11769867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015769231 meters 0.04327863521332356 Centerline is valid? [True, True] Translation: X:50.40, Y:4.12, Z:-0.11 [[ 9.78154653e-01 -2.07878508e-01 -2.79873393e-05 5.03996032e+01] [ 2.07878507e-01 9.78154653e-01 -5.35181056e-06 4.11551720e+00] [ 2.84884726e-05 -5.83067924e-07 1.00000000e+00 -1.11828982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045769231 meters 0.04420978464927205 Centerline is valid? [True, True] Translation: X:50.43, Y:4.12, Z:-0.11 [[ 9.77752110e-01 -2.09761318e-01 1.00061412e-03 5.04296394e+01] [ 2.09761246e-01 9.77752621e-01 1.77398203e-04 4.11513563e+00] [-1.01556436e-03 3.64385975e-05 9.99999484e-01 -1.10340974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075769231 meters 0.04433172100214924 Centerline is valid? [True, True] Translation: X:50.46, Y:4.11, Z:-0.11 [[ 9.77130188e-01 -2.12640282e-01 8.40281433e-04 5.04607582e+01] [ 2.12640232e-01 9.77130549e-01 1.48989218e-04 4.11165041e+00] [-8.52745768e-04 3.30957764e-05 9.99999636e-01 -1.10974195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105769231000004 meters 0.048529527009230654 Centerline is valid? [True, True] Translation: X:50.49, Y:4.11, Z:-0.11 [[ 9.77023058e-01 -2.13132689e-01 6.33572294e-04 5.04902868e+01] [ 2.13132661e-01 9.77023263e-01 1.12235659e-04 4.10692383e+00] [-6.42935958e-04 2.53781218e-05 9.99999793e-01 -1.11845247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135769231000005 meters 0.0489301117784835 Centerline is valid? [True, True] Translation: X:50.52, Y:4.11, Z:-0.11 [[ 9.77085361e-01 -2.12847707e-01 2.25759946e-04 5.05185565e+01] [ 2.12847703e-01 9.77085387e-01 3.99522059e-05 4.10688275e+00] [-2.29090480e-04 9.01577042e-06 9.99999974e-01 -1.12716275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165769231000006 meters 0.046511598587543966 Centerline is valid? [True, True] Translation: X:50.55, Y:4.11, Z:-0.11 [[ 9.77685509e-01 -2.10073687e-01 -3.03960736e-04 5.05479466e+01] [ 2.10073680e-01 9.77685556e-01 -5.40100379e-05 4.10656414e+00] [ 3.08524109e-04 -1.10493192e-05 9.99999952e-01 -1.14077351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195769231 meters 0.03931454501203386 Centerline is valid? [True, True] Translation: X:50.58, Y:4.12, Z:-0.11 [[ 9.78235471e-01 -2.07497431e-01 -4.23022966e-04 5.05763443e+01] [ 2.07497418e-01 9.78235563e-01 -7.51294630e-05 4.11762094e+00] [ 4.29405280e-04 -1.42818675e-05 9.99999908e-01 -1.14545491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225769231 meters 0.03264951006435523 Centerline is valid? [True, True] Translation: X:50.61, Y:4.13, Z:-0.11 [[ 9.79494105e-01 -2.01472125e-01 -5.31211846e-04 5.06059716e+01] [ 2.01472103e-01 9.79494248e-01 -9.43451629e-05 4.12548682e+00] [ 5.39326869e-04 -1.46138370e-05 9.99999854e-01 -1.14712795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255769231 meters 0.029969162546944948 Centerline is valid? [True, True] Translation: X:50.63, Y:4.13, Z:-0.11 [[ 9.80142437e-01 -1.98294718e-01 -8.94737665e-05 5.06341098e+01] [ 1.98294717e-01 9.80142441e-01 -1.59400419e-05 4.13151115e+00] [ 9.08578620e-05 -2.11866372e-06 9.99999996e-01 -1.13785674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285769231 meters 0.029603027491542575 Centerline is valid? [True, True] Translation: X:50.66, Y:4.13, Z:-0.11 [[ 9.80744134e-01 -1.95296759e-01 3.45942548e-04 5.06624228e+01] [ 1.95296749e-01 9.80744195e-01 6.13456394e-05 4.13459761e+00] [-3.51261750e-04 7.39707918e-06 9.99999938e-01 -1.13360229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315769231000004 meters 0.022172452903583467 Centerline is valid? [True, True] Translation: X:50.69, Y:4.15, Z:-0.12 [[ 9.81919835e-01 -1.89297193e-01 -1.00078811e-04 5.06906799e+01] [ 1.89297192e-01 9.81919840e-01 -1.78026868e-05 4.14631596e+00] [ 1.01639369e-04 -1.46382669e-06 9.99999995e-01 -1.15097724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345769231000006 meters 0.019093615418881573 Centerline is valid? [True, True] Translation: X:50.72, Y:4.15, Z:-0.12 [[ 9.82387608e-01 -1.86853092e-01 -7.13340016e-04 5.07184595e+01] [ 1.86853049e-01 9.82387867e-01 -1.27197850e-04 4.15476218e+00] [ 7.24543889e-04 -8.33216604e-06 9.99999737e-01 -1.15591828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375769231 meters 0.01611532321105829 Centerline is valid? [True, True] Translation: X:50.74, Y:4.16, Z:-0.12 [[ 9.83154557e-01 -1.82768654e-01 -1.65438546e-03 5.07447994e+01] [ 1.82768417e-01 9.83155948e-01 -2.94498004e-04 4.16425532e+00] [ 1.68034391e-03 -1.28323585e-05 9.99998588e-01 -1.16621558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405769231 meters 0.015443243905843252 Centerline is valid? [True, True] Translation: X:50.77, Y:4.17, Z:-0.12 [[ 9.83303474e-01 -1.81964632e-01 -1.77507396e-03 5.07719019e+01] [ 1.81964357e-01 9.83305076e-01 -3.16525461e-04 4.17109247e+00] [ 1.80303567e-03 -1.17596056e-05 9.99998374e-01 -1.16661614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435769231 meters 0.015102115991572313 Centerline is valid? [True, True] Translation: X:50.80, Y:4.18, Z:-0.12 [[ 9.83407176e-01 -1.81406956e-01 -1.35746744e-03 5.07990941e+01] [ 1.81406795e-01 9.83408113e-01 -2.41956424e-04 4.17593553e+00] [ 1.37883707e-03 -8.31213322e-06 9.99999049e-01 -1.16399951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465769231 meters 0.015234764930291415 Centerline is valid? [True, True] Translation: X:50.83, Y:4.18, Z:-0.12 [[ 9.83318509e-01 -1.81889896e-01 -8.80767816e-04 5.08265760e+01] [ 1.81889828e-01 9.83318903e-01 -1.57475648e-04 4.17858720e+00] [ 8.94718872e-04 -5.35398711e-06 9.99999600e-01 -1.16158394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495769231000004 meters 0.01590570103028907 Centerline is valid? [True, True] Translation: X:50.85, Y:4.18, Z:-0.12 [[ 9.83123930e-01 -1.82939998e-01 -5.43516582e-04 5.08549281e+01] [ 1.82939972e-01 9.83124080e-01 -9.70864172e-05 4.17989609e+00] [ 5.52105229e-04 -3.98292860e-06 9.99999848e-01 -1.16355641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525769231000005 meters 0.018141364937585596 Centerline is valid? [True, True] Translation: X:50.88, Y:4.18, Z:-0.12 [[ 9.82602885e-01 -1.85717700e-01 -7.11501521e-04 5.08839918e+01] [ 1.85717657e-01 9.82603143e-01 -1.27177353e-04 4.17609605e+00] [ 7.22742716e-04 -7.17356193e-06 9.99999739e-01 -1.16428401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.555769231 meters 0.019570246924421015 Centerline is valid? [True, True] Translation: X:50.91, Y:4.18, Z:-0.12 [[ 9.82272831e-01 -1.87455291e-01 -7.74568339e-04 5.09131554e+01] [ 1.87455240e-01 9.82273136e-01 -1.38723225e-04 4.17668474e+00] [ 7.86842074e-04 -8.93283955e-06 9.99999690e-01 -1.16418337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585769231 meters 0.022097630376492473 Centerline is valid? [True, True] Translation: X:50.94, Y:4.17, Z:-0.11 [[ 9.81750552e-01 -1.90173213e-01 5.40206222e-05 5.09433449e+01] [ 1.90173213e-01 9.81750553e-01 9.31264696e-06 4.17181964e+00] [-5.48057917e-05 1.13057901e-06 9.99999998e-01 -1.13797536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615769231 meters 0.022998067727459777 Centerline is valid? [True, True] Translation: X:50.97, Y:4.17, Z:-0.11 [[ 9.81544552e-01 -1.91233133e-01 4.26568102e-04 5.09728617e+01] [ 1.91233118e-01 9.81544644e-01 7.59991950e-05 4.17272897e+00] [-4.33229200e-04 6.97735217e-06 9.99999906e-01 -1.12634942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645769231 meters 0.02280453234887914 Centerline is valid? [True, True] Translation: X:51.00, Y:4.17, Z:-0.11 [[ 9.81598989e-01 -1.90948617e-01 1.43173310e-03 5.10010029e+01] [ 1.90948446e-01 9.81600033e-01 2.56207258e-04 4.17365689e+00] [-1.45431168e-03 2.18944248e-05 9.99998942e-01 -1.10764721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675769231000004 meters 0.021238506347468537 Centerline is valid? [True, True] Translation: X:51.03, Y:4.18, Z:-0.11 [[ 9.81896074e-01 -1.89410070e-01 1.98127669e-03 5.10282888e+01] [ 1.89409740e-01 9.81898072e-01 3.54710131e-04 4.17921629e+00] [-2.01259743e-03 2.69846176e-05 9.99997974e-01 -1.10096392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705769231000005 meters 0.018950203270252416 Centerline is valid? [True, True] Translation: X:51.06, Y:4.19, Z:-0.11 [[ 9.82304524e-01 -1.87276075e-01 2.34398656e-03 5.10567546e+01] [ 1.87275606e-01 9.82307320e-01 4.19825399e-04 4.18646787e+00] [-2.38113841e-03 2.65751147e-05 9.99997165e-01 -1.09178490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.735769231000006 meters 0.014122111522961549 Centerline is valid? [True, True] Translation: X:51.08, Y:4.20, Z:-0.11 [[ 9.83400353e-01 -1.81432509e-01 2.44763775e-03 5.10837302e+01] [ 1.81431979e-01 9.83403399e-01 4.38735199e-04 4.20063352e+00] [-2.48661611e-03 1.26274120e-05 9.99996908e-01 -1.07727951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765769231 meters 0.013004020961909031 Centerline is valid? [True, True] Translation: X:51.11, Y:4.21, Z:-0.11 [[ 9.83866547e-01 -1.78894438e-01 1.84306954e-03 5.11100830e+01] [ 1.78894133e-01 9.83868274e-01 3.30417037e-04 4.21041511e+00] [-1.87244742e-03 4.62805827e-06 9.99998247e-01 -1.09272480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795769231 meters 0.013058099231810606 Centerline is valid? [True, True] Translation: X:51.14, Y:4.22, Z:-0.11 [[ 9.84638403e-01 -1.74603601e-01 8.93208474e-04 5.11368585e+01] [ 1.74603528e-01 9.84638808e-01 1.59995796e-04 4.22160617e+00] [-9.07423570e-04 -1.58065394e-06 9.99999588e-01 -1.12157144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825769231 meters 0.013693143254540857 Centerline is valid? [True, True] Translation: X:51.16, Y:4.23, Z:-0.11 [[ 9.84900400e-01 -1.73121848e-01 1.66833813e-04 5.11636051e+01] [ 1.73121845e-01 9.84900414e-01 2.98462991e-05 4.22924736e+00] [-1.69481738e-04 -5.13054422e-07 9.99999986e-01 -1.13429823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855769231000004 meters 0.01438177601390699 Centerline is valid? [True, True] Translation: X:51.19, Y:4.24, Z:-0.11 [[ 9.85119150e-01 -1.71872610e-01 -2.57361718e-04 5.11914811e+01] [ 1.71872604e-01 9.85119184e-01 -4.65985861e-05 4.23743228e+00] [ 2.61540986e-04 1.67173099e-06 9.99999966e-01 -1.14480237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885769231000005 meters 0.015859214438151456 Centerline is valid? [True, True] Translation: X:51.22, Y:4.25, Z:-0.11 [[ 9.85455024e-01 -1.69936445e-01 1.12607957e-06 5.12179801e+01] [ 1.69936445e-01 9.85455024e-01 8.46314152e-08 4.24833447e+00] [-1.12408274e-06 1.07961506e-07 1.00000000e+00 -1.13492155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.915769231000006 meters 0.018489080341239566 Centerline is valid? [True, True] Translation: X:51.24, Y:4.26, Z:-0.11 [[ 9.85939850e-01 -1.67096831e-01 1.12269587e-03 5.12449137e+01] [ 1.67096710e-01 9.85940490e-01 2.01734908e-04 4.26065999e+00] [-1.14062058e-03 -1.12996982e-05 9.99999349e-01 -1.10732122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945769231 meters 0.021060056742342438 Centerline is valid? [True, True] Translation: X:51.27, Y:4.27, Z:-0.11 [[ 9.86327778e-01 -1.64785868e-01 1.76998792e-03 5.12723137e+01] [ 1.64785562e-01 9.86329365e-01 3.18506549e-04 4.27210119e+00] [-1.79827644e-03 -2.24834020e-05 9.99998383e-01 -1.09452067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975769231 meters 0.024358511614263813 Centerline is valid? [True, True] Translation: X:51.30, Y:4.28, Z:-0.11 [[ 9.86785170e-01 -1.62026600e-01 1.55213848e-03 5.12989456e+01] [ 1.62026360e-01 9.86786390e-01 2.79559583e-04 4.28482760e+00] [-1.57692521e-03 -2.43779026e-05 9.99998756e-01 -1.10148827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005769231 meters 0.031617687797727584 Centerline is valid? [True, True] Translation: X:51.32, Y:4.31, Z:-0.12 [[ 9.87682521e-01 -1.56466781e-01 -1.17632459e-03 5.13248150e+01] [ 1.56466640e-01 9.87683221e-01 -2.12029696e-04 4.30626369e+00] [ 1.19501167e-03 2.53624682e-05 9.99999286e-01 -1.16266458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035769231 meters 0.031156822611731253 Centerline is valid? [True, True] Translation: X:51.35, Y:4.31, Z:-0.12 [[ 9.88061255e-01 -1.54030559e-01 -3.08910412e-03 5.13533058e+01] [ 1.54029570e-01 9.88066082e-01 -5.56863910e-04 4.31344089e+00] [ 3.13801306e-03 7.44022748e-05 9.99995074e-01 -1.18955143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065769231000004 meters 0.039443922589157576 Centerline is valid? [True, True] Translation: X:51.38, Y:4.34, Z:-0.12 [[ 9.88565185e-01 -1.50738742e-01 -4.08747180e-03 5.13784147e+01] [ 1.50736982e-01 9.88573629e-01 -7.36953902e-04 4.33556261e+00] [ 4.15185433e-03 1.12393806e-04 9.99991375e-01 -1.21984094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095769231000006 meters 0.036564053879254994 Centerline is valid? [True, True] Translation: X:51.41, Y:4.34, Z:-0.12 [[ 9.88746389e-01 -1.49578629e-01 -2.60978586e-03 5.14065561e+01] [ 1.49577906e-01 9.88749831e-01 -4.71247830e-04 4.33977651e+00] [ 2.65091394e-03 7.55782860e-05 9.99996483e-01 -1.18253428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125769231 meters 0.03694847125175934 Centerline is valid? [True, True] Translation: X:51.43, Y:4.35, Z:-0.12 [[ 9.88837917e-01 -1.48989043e-01 -1.35618718e-03 5.14340134e+01] [ 1.48988847e-01 9.88838846e-01 -2.45271351e-04 4.34833458e+00] [ 1.37759331e-03 4.04768478e-05 9.99999050e-01 -1.16153895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155769231 meters 0.035243336890663474 Centerline is valid? [True, True] Translation: X:51.46, Y:4.36, Z:-0.12 [[ 9.88816846e-01 -1.49129014e-01 -1.33514808e-03 5.14615121e+01] [ 1.49128823e-01 9.88817746e-01 -2.41786068e-04 4.35612180e+00] [ 1.35627543e-03 3.99730759e-05 9.99999079e-01 -1.16237215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185769231 meters 0.034763957326799766 Centerline is valid? [True, True] Translation: X:51.49, Y:4.36, Z:-0.12 [[ 9.88731936e-01 -1.49677312e-01 -2.42100802e-03 5.14890659e+01] [ 1.49676686e-01 9.88734897e-01 -4.38562358e-04 4.36305059e+00] [ 2.45937795e-03 7.12521514e-05 9.99996973e-01 -1.18751842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215769231 meters 0.03403125418862967 Centerline is valid? [True, True] Translation: X:51.52, Y:4.37, Z:-0.12 [[ 9.88541114e-01 -1.50899293e-01 -3.98368616e-03 5.15168986e+01] [ 1.50897608e-01 9.88549134e-01 -7.21991224e-04 4.37166590e+00] [ 4.04701747e-03 1.12589296e-04 9.99991804e-01 -1.22187278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245769231000004 meters 0.03395092136068406 Centerline is valid? [True, True] Translation: X:51.54, Y:4.38, Z:-0.12 [[ 9.88432262e-01 -1.51606929e-01 -4.12331002e-03 5.15442711e+01] [ 1.51605130e-01 9.88440856e-01 -7.47301161e-04 4.37840104e+00] [ 4.18894412e-03 1.13541627e-04 9.99991220e-01 -1.21972510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275769231000005 meters 0.03176560484678162 Centerline is valid? [True, True] Translation: X:51.57, Y:4.38, Z:-0.12 [[ 9.88321181e-01 -1.52342704e-01 -3.59783308e-03 5.15732653e+01] [ 1.52341335e-01 9.88327725e-01 -6.52928227e-04 4.38221243e+00] [ 3.65530704e-03 9.72040994e-05 9.99993315e-01 -1.20041954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305769231 meters 0.03924402413317016 Centerline is valid? [True, True] Translation: X:51.60, Y:4.40, Z:-0.12 [[ 9.88080187e-01 -1.53931573e-01 -1.61681986e-03 5.15978142e+01] [ 1.53931299e-01 9.88081509e-01 -2.93482344e-04 4.40077683e+00] [ 1.64272600e-03 4.11049076e-05 9.99998650e-01 -1.17713211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335769231 meters 0.031475641024076226 Centerline is valid? [True, True] Translation: X:51.63, Y:4.40, Z:-0.11 [[ 9.87891168e-01 -1.55147186e-01 -6.25890187e-04 5.16275822e+01] [ 1.55147145e-01 9.87891366e-01 -1.14006116e-04 4.39776951e+00] [ 6.35999240e-04 1.55205593e-05 9.99999798e-01 -1.14794711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365769231 meters 0.0305344120976034 Centerline is valid? [True, True] Translation: X:51.66, Y:4.41, Z:-0.11 [[ 9.87724419e-01 -1.56204592e-01 7.73101881e-04 5.16552381e+01] [ 1.56204530e-01 9.87724721e-01 1.40179614e-04 4.40539953e+00] [-7.85508539e-04 -1.76968121e-05 9.99999691e-01 -1.12758755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.395769231 meters 0.030656480824164632 Centerline is valid? [True, True] Translation: X:51.68, Y:4.41, Z:-0.11 [[ 9.87696209e-01 -1.56381636e-01 9.90787273e-04 5.16828774e+01] [ 1.56381535e-01 9.87696706e-01 1.79881829e-04 4.41253858e+00] [-1.00672754e-03 -2.27277665e-05 9.99999493e-01 -1.12601701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425769231000004 meters 0.029105872044740858 Centerline is valid? [True, True] Translation: X:51.71, Y:4.42, Z:-0.11 [[ 9.87688522e-01 -1.56427644e-01 1.33240784e-03 5.17107060e+01] [ 1.56427459e-01 9.87689420e-01 2.42278323e-04 4.41802891e+00] [-1.35390416e-03 -3.08703449e-05 9.99999083e-01 -1.11369650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455769231000005 meters 0.0291285900244476 Centerline is valid? [True, True] Translation: X:51.74, Y:4.43, Z:-0.11 [[ 9.87629607e-01 -1.56794096e-01 1.83608656e-03 5.17372048e+01] [ 1.56793745e-01 9.87631313e-01 3.34405836e-04 4.42791049e+00] [-1.86580944e-03 -4.23822145e-05 9.99998258e-01 -1.10222968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485769231000006 meters 0.028417771735054834 Centerline is valid? [True, True] Translation: X:51.77, Y:4.43, Z:-0.11 [[ 9.87523119e-01 -1.57461463e-01 1.99438243e-03 5.17653605e+01] [ 1.57461050e-01 9.87525132e-01 3.63352967e-04 4.43393851e+00] [-2.02671686e-03 -4.47819022e-05 9.99997945e-01 -1.09913673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515769231 meters 0.025962354743098884 Centerline is valid? [True, True] Translation: X:51.79, Y:4.44, Z:-0.11 [[ 9.87282281e-01 -1.58975483e-01 7.02342732e-04 5.17942133e+01] [ 1.58975432e-01 9.87282531e-01 1.27840911e-04 4.43786065e+00] [-7.13734280e-04 -1.45598266e-05 9.99999745e-01 -1.12509732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545769231 meters 0.033562613545320204 Centerline is valid? [True, True] Translation: X:51.82, Y:4.45, Z:-0.12 [[ 9.87079992e-01 -1.60228189e-01 1.26006019e-04 5.18193914e+01] [ 1.60228188e-01 9.87080000e-01 2.28211351e-05 4.45448634e+00] [-1.28034610e-04 -2.33656985e-06 9.99999992e-01 -1.15254540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575769231 meters 0.023619699624284313 Centerline is valid? [True, True] Translation: X:51.85, Y:4.45, Z:-0.11 [[ 9.86825555e-01 -1.61787891e-01 -4.18112515e-05 5.18504892e+01] [ 1.61787891e-01 9.86825556e-01 -8.00461949e-06 4.44664488e+00] [ 4.25554620e-05 1.13460889e-06 9.99999999e-01 -1.14916994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605769231000004 meters 0.025157056708558848 Centerline is valid? [True, True] Translation: X:51.88, Y:4.45, Z:-0.12 [[ 9.86521679e-01 -1.63630468e-01 2.16836975e-04 5.18780732e+01] [ 1.63630463e-01 9.86521703e-01 3.93138055e-05 4.45340547e+00] [-2.20347318e-04 -3.30278686e-06 9.99999976e-01 -1.15439059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635769231000005 meters 0.028083812486116775 Centerline is valid? [True, True] Translation: X:51.90, Y:4.46, Z:-0.11 [[ 9.86884776e-01 -1.61423681e-01 9.13868290e-04 5.19045125e+01] [ 1.61423595e-01 9.86885198e-01 1.67129447e-04 4.46136797e+00] [-9.28861739e-04 -1.74176023e-05 9.99999568e-01 -1.12565922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665769231000006 meters 0.028065467992915833 Centerline is valid? [True, True] Translation: X:51.93, Y:4.47, Z:-0.11 [[ 9.87314622e-01 -1.58773175e-01 9.56656794e-04 5.19332040e+01] [ 1.58773080e-01 9.87315086e-01 1.75060517e-04 4.46665735e+00] [-9.72316598e-04 -2.09484627e-05 9.99999527e-01 -1.11834618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695769231 meters 0.02841676631484364 Centerline is valid? [True, True] Translation: X:51.96, Y:4.47, Z:-0.11 [[ 9.87687771e-01 -1.56437037e-01 5.65733043e-04 5.19612833e+01] [ 1.56437003e-01 9.87687933e-01 1.03300385e-04 4.47332264e+00] [-5.74927706e-04 -1.35269452e-05 9.99999835e-01 -1.12528561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725769231 meters 0.03649241880885367 Centerline is valid? [True, True] Translation: X:51.99, Y:4.49, Z:-0.11 [[ 9.88172435e-01 -1.53346667e-01 1.94234102e-04 5.19872264e+01] [ 1.53346663e-01 9.88172454e-01 3.55212708e-05 4.49078504e+00] [-1.97383858e-04 -5.31598929e-06 9.99999981e-01 -1.14239629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755769231 meters 0.03916687354860583 Centerline is valid? [True, True] Translation: X:52.01, Y:4.50, Z:-0.12 [[ 9.88154152e-01 -1.53464451e-01 1.87301637e-04 5.20129849e+01] [ 1.53464447e-01 9.88154169e-01 3.41766622e-05 4.49977559e+00] [-1.90327796e-04 -5.02766842e-06 9.99999982e-01 -1.15243562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785769231 meters 0.03188274157716268 Centerline is valid? [True, True] Translation: X:52.04, Y:4.49, Z:-0.12 [[ 9.87841505e-01 -1.55463390e-01 -5.43304029e-04 5.20433537e+01] [ 1.55463359e-01 9.87841654e-01 -9.97456665e-05 4.49380580e+00] [ 5.52205150e-04 1.40690400e-05 9.99999847e-01 -1.15901012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815769231000004 meters 0.027664555488842134 Centerline is valid? [True, True] Translation: X:52.07, Y:4.49, Z:-0.12 [[ 9.87609777e-01 -1.56926654e-01 -9.76248366e-04 5.20734819e+01] [ 1.56926553e-01 9.87610260e-01 -1.79335302e-04 4.49198723e+00] [ 9.92295391e-04 2.39140064e-05 9.99999507e-01 -1.16158230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845769231000006 meters 0.029154591864064657 Centerline is valid? [True, True] Translation: X:52.10, Y:4.50, Z:-0.12 [[ 9.87441496e-01 -1.57972114e-01 -2.02554021e-03 5.21008472e+01] [ 1.57971684e-01 9.87443572e-01 -3.71943787e-04 4.49766591e+00] [ 2.05886341e-03 4.72947321e-05 9.99997879e-01 -1.18128039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875769231 meters 0.027268707444032803 Centerline is valid? [True, True] Translation: X:52.13, Y:4.50, Z:-0.12 [[ 9.87282547e-01 -1.58930167e-01 -3.79132427e-03 5.21301281e+01] [ 1.58928662e-01 9.87289823e-01 -6.96953500e-04 4.49938172e+00] [ 3.85390281e-03 8.55399318e-05 9.99992570e-01 -1.20371960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905769231 meters 0.03279561609879198 Centerline is valid? [True, True] Translation: X:52.16, Y:4.51, Z:-0.12 [[ 9.87596225e-01 -1.56983992e-01 -3.11806992e-03 5.21561175e+01] [ 1.56982963e-01 9.87601144e-01 -5.73371944e-04 4.51407535e+00] [ 3.16941964e-03 7.67761111e-05 9.99994974e-01 -1.21186129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935769231 meters 0.03279561609879198 Centerline is valid? [True, True] Translation: X:52.18, Y:4.52, Z:-0.12 [[ 9.87568437e-01 -1.57158711e-01 -3.11793415e-03 5.21831266e+01] [ 1.57157681e-01 9.87573356e-01 -5.74110059e-04 4.51924803e+00] [ 3.16941509e-03 7.69656713e-05 9.99994974e-01 -1.21245198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965769231 meters 0.03487732059732459 Centerline is valid? [True, True] Translation: X:52.21, Y:4.53, Z:-0.12 [[ 9.87894469e-01 -1.55112447e-01 -2.15571941e-03 5.22109895e+01] [ 1.55111949e-01 9.87896819e-01 -3.97354873e-04 4.52809085e+00] [ 2.19126303e-03 5.81668430e-05 9.99997597e-01 -1.19742358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995769231000004 meters 0.03758961602904629 Centerline is valid? [True, True] Translation: X:52.24, Y:4.54, Z:-0.12 [[ 9.88300393e-01 -1.52513724e-01 -1.37754748e-03 5.22397887e+01] [ 1.52513519e-01 9.88301352e-01 -2.53780691e-04 4.53726023e+00] [ 1.40013708e-03 4.07169428e-05 9.99999019e-01 -1.18211522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025769231000005 meters 0.04101430582340777 Centerline is valid? [True, True] Translation: X:52.27, Y:4.55, Z:-0.12 [[ 9.88801337e-01 -1.49237378e-01 -3.48282689e-04 5.22677695e+01] [ 1.49237365e-01 9.88801398e-01 -6.42349196e-05 4.54611215e+00] [ 3.53968660e-04 1.15387837e-05 9.99999937e-01 -1.16444970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.055769231000006 meters 0.037930376403073354 Centerline is valid? [True, True] Translation: X:52.30, Y:4.55, Z:-0.12 [[ 9.88831307e-01 -1.49038971e-01 -1.77857032e-04 5.22964088e+01] [ 1.49038967e-01 9.88831323e-01 -3.29037812e-05 4.54703666e+00] [ 1.80774550e-04 6.02866063e-06 9.99999984e-01 -1.15010691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085769231 meters 0.034431517679775286 Centerline is valid? [True, True] Translation: X:52.33, Y:4.55, Z:-0.12 [[ 9.88412813e-01 -1.51789539e-01 -2.18663609e-04 5.23260640e+01] [ 1.51789534e-01 9.88412837e-01 -4.06663453e-05 4.54812485e+00] [ 2.22302644e-04 7.00428943e-06 9.99999975e-01 -1.15787181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115769231 meters 0.03399350890152137 Centerline is valid? [True, True] Translation: X:52.35, Y:4.55, Z:-0.12 [[ 9.88113288e-01 -1.53725700e-01 -7.33755251e-04 5.23540454e+01] [ 1.53725642e-01 9.88113561e-01 -1.35475676e-04 4.55233427e+00] [ 7.45859607e-04 2.10683188e-05 9.99999722e-01 -1.18008338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145769231 meters 0.03007083513908548 Centerline is valid? [True, True] Translation: X:52.38, Y:4.55, Z:-0.12 [[ 9.87696852e-01 -1.56369995e-01 -1.83114172e-03 5.23839531e+01] [ 1.56369636e-01 9.87698548e-01 -3.38465164e-04 4.55150781e+00] [ 1.86154182e-03 4.79660126e-05 9.99998266e-01 -1.18774709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175769231000004 meters 0.03219934355478214 Centerline is valid? [True, True] Translation: X:52.41, Y:4.56, Z:-0.12 [[ 9.87670644e-01 -1.56532865e-01 -2.03980316e-03 5.24099777e+01] [ 1.56532420e-01 9.87672749e-01 -3.77216206e-04 4.56021987e+00] [ 2.07370473e-03 5.32700479e-05 9.99997848e-01 -1.18813815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205769231000005 meters 0.03205504938117623 Centerline is valid? [True, True] Translation: X:52.44, Y:4.57, Z:-0.12 [[ 9.87791447e-01 -1.55772711e-01 -1.70855092e-03 5.24381397e+01] [ 1.55772396e-01 9.87792924e-01 -3.16367274e-04 4.56684213e+00] [ 1.73697589e-03 4.63598165e-05 9.99998490e-01 -1.17831030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.235769231000006 meters 0.037518215540764864 Centerline is valid? [True, True] Translation: X:52.46, Y:4.58, Z:-0.11 [[ 9.88363105e-01 -1.52113023e-01 4.07667257e-05 5.24637593e+01] [ 1.52113023e-01 9.88363105e-01 7.44072508e-06 4.58339070e+00] [-4.14241588e-05 -1.15298827e-06 9.99999999e-01 -1.14575017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265769231 meters 0.038168098237413337 Centerline is valid? [True, True] Translation: X:52.49, Y:4.59, Z:-0.11 [[ 9.88645516e-01 -1.50264106e-01 8.61576026e-04 5.24919623e+01] [ 1.50264024e-01 9.88645891e-01 1.59334897e-04 4.59214557e+00] [-8.75735914e-04 -2.80618503e-05 9.99999616e-01 -1.13544144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295769231 meters 0.04346272598222381 Centerline is valid? [True, True] Translation: X:52.52, Y:4.61, Z:-0.12 [[ 9.89010620e-01 -1.47844146e-01 3.17967683e-04 5.25175711e+01] [ 1.47844135e-01 9.89010671e-01 5.87408939e-05 4.60944729e+00] [-3.23157929e-04 -1.10857108e-05 9.99999948e-01 -1.16275559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325769231 meters 0.043190468619349456 Centerline is valid? [True, True] Translation: X:52.55, Y:4.62, Z:-0.12 [[ 9.88965704e-01 -1.48143843e-01 -4.87085500e-04 5.25451292e+01] [ 1.48143816e-01 9.88965824e-01 -9.06467503e-05 4.61646511e+00] [ 4.95139671e-04 1.74878224e-05 9.99999877e-01 -1.18265531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355769231000004 meters 0.04170852261060451 Centerline is valid? [True, True] Translation: X:52.57, Y:4.62, Z:-0.12 [[ 9.88750270e-01 -1.49570693e-01 -1.22926222e-03 5.25733949e+01] [ 1.49570525e-01 9.88751033e-01 -2.28319278e-04 4.62194357e+00] [ 1.24958416e-03 4.18893523e-05 9.99999218e-01 -1.19331596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385769231000005 meters 0.03490928750032361 Centerline is valid? [True, True] Translation: X:52.60, Y:4.62, Z:-0.12 [[ 9.88015935e-01 -1.54349236e-01 -9.08520599e-04 5.26041191e+01] [ 1.54349147e-01 9.88016352e-01 -1.68539484e-04 4.62200361e+00] [ 9.23647148e-04 2.62903164e-05 9.99999573e-01 -1.17721139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.415769231000006 meters 0.0312948020519128 Centerline is valid? [True, True] Translation: X:52.63, Y:4.62, Z:-0.12 [[ 9.87518043e-01 -1.57505907e-01 6.01245378e-05 5.26342525e+01] [ 1.57505907e-01 9.87518045e-01 1.11270488e-05 4.62444251e+00] [-6.11266420e-05 -1.51819156e-06 9.99999998e-01 -1.16272480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445769231 meters 0.024238787632495103 Centerline is valid? [True, True] Translation: X:52.67, Y:4.62, Z:-0.12 [[ 9.86417865e-01 -1.64251223e-01 1.15399663e-03 5.26652109e+01] [ 1.64251085e-01 9.86418540e-01 2.14030066e-04 4.62253730e+00] [-1.17347838e-03 -2.15778813e-05 9.99999311e-01 -1.15401714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475769231 meters 0.022713172051765658 Centerline is valid? [True, True] Translation: X:52.69, Y:4.63, Z:-0.12 [[ 9.85952246e-01 -1.67027236e-01 2.68436634e-04 5.26930977e+01] [ 1.67027228e-01 9.85952282e-01 4.96860245e-05 4.62559542e+00] [-2.72964631e-04 -4.15182048e-06 9.99999963e-01 -1.17785402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505769231 meters 0.01981257933666059 Centerline is valid? [True, True] Translation: X:52.72, Y:4.63, Z:-0.12 [[ 9.85537814e-01 -1.69453193e-01 -9.12942587e-04 5.27219587e+01] [ 1.69453108e-01 9.85538236e-01 -1.69920510e-04 4.62622668e+00] [ 9.28533401e-04 1.27621290e-05 9.99999569e-01 -1.20660477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535769231 meters 0.017932097875006617 Centerline is valid? [True, True] Translation: X:52.75, Y:4.63, Z:-0.12 [[ 9.84981362e-01 -1.72636935e-01 -2.86449339e-03 5.27506513e+01] [ 1.72636115e-01 9.84985527e-01 -5.32871906e-04 4.62644037e+00] [ 2.91347790e-03 3.03538855e-05 9.99995755e-01 -1.24107234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565769231000004 meters 0.016207058164161285 Centerline is valid? [True, True] Translation: X:52.78, Y:4.63, Z:-0.12 [[ 9.84784655e-01 -1.73758030e-01 -2.70758367e-03 5.27794214e+01] [ 1.73757300e-01 9.84788377e-01 -5.04196186e-04 4.62761239e+00] [ 2.75400507e-03 2.60622383e-05 9.99996207e-01 -1.22932765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595769231000006 meters 0.016109328807655178 Centerline is valid? [True, True] Translation: X:52.81, Y:4.63, Z:-0.12 [[ 9.84658558e-01 -1.74473526e-01 -2.55210375e-03 5.28076275e+01] [ 1.74472880e-01 9.84661865e-01 -4.75331976e-04 4.63036048e+00] [ 2.59589209e-03 2.27668068e-05 9.99996630e-01 -1.21936181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625769231 meters 0.016056041431551798 Centerline is valid? [True, True] Translation: X:52.84, Y:4.63, Z:-0.12 [[ 9.84613883e-01 -1.74728816e-01 -2.31134400e-03 5.28351238e+01] [ 1.74728285e-01 9.84616596e-01 -4.31170954e-04 4.63444238e+00] [ 2.35112565e-03 2.06797352e-05 9.99997236e-01 -1.21848522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655769231 meters 0.015907641920624434 Centerline is valid? [True, True] Translation: X:52.86, Y:4.64, Z:-0.12 [[ 9.84567459e-01 -1.74990460e-01 -2.29311226e-03 5.28630509e+01] [ 1.74989938e-01 9.84570129e-01 -4.28223245e-04 4.63899161e+00] [ 2.33266481e-03 2.03431011e-05 9.99997279e-01 -1.21896567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685769231 meters 0.017246934890263504 Centerline is valid? [True, True] Translation: X:52.89, Y:4.65, Z:-0.12 [[ 9.84769746e-01 -1.73862050e-01 -7.31153241e-04 5.28898433e+01] [ 1.73861997e-01 9.84770018e-01 -1.36579069e-04 4.64635111e+00] [ 7.43763707e-04 7.37917251e-06 9.99999723e-01 -1.20048349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715769231 meters 0.019976079996202014 Centerline is valid? [True, True] Translation: X:52.92, Y:4.66, Z:-0.12 [[ 9.85237139e-01 -1.71194357e-01 -5.21372316e-04 5.29159189e+01] [ 1.71194330e-01 9.85237277e-01 -9.74856928e-05 4.65600817e+00] [ 5.30364442e-04 6.79054080e-06 9.99999859e-01 -1.18788868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745769231000004 meters 0.0207984884091494 Centerline is valid? [True, True] Translation: X:52.94, Y:4.66, Z:-0.12 [[ 9.85590053e-01 -1.69147339e-01 -1.19351555e-03 5.29439701e+01] [ 1.69147193e-01 9.85590776e-01 -2.23385856e-04 4.66382634e+00] [ 1.21410304e-03 1.82870722e-05 9.99999263e-01 -1.18852303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775769231000005 meters 0.022965590482692578 Centerline is valid? [True, True] Translation: X:52.97, Y:4.67, Z:-0.12 [[ 9.85972461e-01 -1.66899292e-01 -1.71214595e-03 5.29713930e+01] [ 1.66898987e-01 9.85973948e-01 -3.20596323e-04 4.67446228e+00] [ 1.74163860e-03 3.03437204e-05 9.99998483e-01 -1.19529121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805769231000006 meters 0.027541776638869635 Centerline is valid? [True, True] Translation: X:53.00, Y:4.69, Z:-0.12 [[ 9.86707974e-01 -1.62498420e-01 -1.27990815e-03 5.29969508e+01] [ 1.62498246e-01 9.86708803e-01 -2.39583116e-04 4.69114975e+00] [ 1.30182851e-03 2.84157416e-05 9.99999152e-01 -1.18477644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835769231 meters 0.029286077972274435 Centerline is valid? [True, True] Translation: X:53.02, Y:4.70, Z:-0.12 [[ 9.87000167e-01 -1.60718747e-01 -3.92324340e-04 5.30245222e+01] [ 1.60718730e-01 9.87000245e-01 -7.38276585e-05 4.70158738e+00] [ 3.99089708e-04 9.81404150e-06 9.99999920e-01 -1.17030937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865769231 meters 0.033398367916108083 Centerline is valid? [True, True] Translation: X:53.05, Y:4.72, Z:-0.12 [[ 9.87489423e-01 -1.57684919e-01 -3.24765223e-04 5.30503043e+01] [ 1.57684907e-01 9.87489477e-01 -6.09341618e-05 4.71819202e+00] [ 3.30310638e-04 8.96126627e-06 9.99999945e-01 -1.16719208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.895769231 meters 0.03598479299264249 Centerline is valid? [True, True] Translation: X:53.08, Y:4.73, Z:-0.12 [[ 9.87708241e-01 -1.56305299e-01 -1.04127916e-03 5.30762203e+01] [ 1.56305180e-01 9.87708789e-01 -1.95230039e-04 4.73057181e+00] [ 1.05899607e-03 3.00729912e-05 9.99999439e-01 -1.17975931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925769231000004 meters 0.037228865767936145 Centerline is valid? [True, True] Translation: X:53.10, Y:4.74, Z:-0.12 [[ 9.87948169e-01 -1.54779249e-01 -1.34116687e-03 5.31035657e+01] [ 1.54779049e-01 9.87949079e-01 -2.51867370e-04 4.74250761e+00] [ 1.36398842e-03 4.12473733e-05 9.99999069e-01 -1.17935386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955769231000005 meters 0.04028386491835874 Centerline is valid? [True, True] Translation: X:53.13, Y:4.76, Z:-0.11 [[ 9.88618672e-01 -1.50442449e-01 4.37654974e-04 5.31308954e+01] [ 1.50442428e-01 9.88618768e-01 8.20762928e-05 4.76286733e+00] [-4.45021679e-04 -1.53002789e-05 9.99999901e-01 -1.14611971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985769231000006 meters 0.04158657397407654 Centerline is valid? [True, True] Translation: X:53.16, Y:4.78, Z:-0.11 [[ 9.88899381e-01 -1.48577418e-01 1.66264860e-03 5.31590527e+01] [ 1.48577104e-01 9.88900777e-01 3.11796417e-04 4.77555997e+00] [-1.69052040e-03 -6.13037700e-05 9.99998569e-01 -1.12491743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015769231 meters 0.047861057351681044 Centerline is valid? [True, True] Translation: X:53.18, Y:4.80, Z:-0.11 [[ 9.89319340e-01 -1.45747785e-01 2.19710068e-03 5.31843215e+01] [ 1.45747229e-01 9.89321775e-01 4.12091131e-04 4.80053387e+00] [-2.23370092e-03 -8.74683902e-05 9.99997501e-01 -1.10149196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045769231 meters 0.04661109561054391 Centerline is valid? [True, True] Translation: X:53.21, Y:4.81, Z:-0.11 [[ 9.89392041e-01 -1.45258275e-01 1.85021219e-03 5.32121220e+01] [ 1.45257880e-01 9.89393768e-01 3.47006003e-04 4.81022453e+00] [-1.88099390e-03 -7.45670771e-05 9.99998228e-01 -1.10687542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075769231 meters 0.04598017723670333 Centerline is valid? [True, True] Translation: X:53.24, Y:4.83, Z:-0.11 [[ 9.89442431e-01 -1.44920583e-01 1.30416931e-03 5.32381917e+01] [ 1.44920386e-01 9.89443289e-01 2.44708096e-04 4.82603728e+00] [-1.32586481e-03 -5.31238534e-05 9.99999120e-01 -1.12256809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105769231000004 meters 0.046473675478610164 Centerline is valid? [True, True] Translation: X:53.26, Y:4.84, Z:-0.11 [[ 9.89425615e-01 -1.45031819e-01 1.65057290e-03 5.32633528e+01] [ 1.45031503e-01 9.89426989e-01 3.10120414e-04 4.83740769e+00] [-1.67809870e-03 -6.74560132e-05 9.99998590e-01 -1.11980133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135769231000005 meters 0.04681516169557894 Centerline is valid? [True, True] Translation: X:53.29, Y:4.85, Z:-0.11 [[ 9.89372784e-01 -1.45386151e-01 2.08825344e-03 5.32900874e+01] [ 1.45385646e-01 9.89374984e-01 3.92576329e-04 4.84857818e+00] [-2.12314087e-03 -8.48022612e-05 9.99997743e-01 -1.11554159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165769231000006 meters 0.04637617829344772 Centerline is valid? [True, True] Translation: X:53.32, Y:4.86, Z:-0.11 [[ 9.89282900e-01 -1.45989034e-01 2.55827546e-03 5.33161832e+01] [ 1.45988277e-01 9.89286203e-01 4.81445787e-04 4.86362619e+00] [-2.60115242e-03 -1.02807860e-04 9.99996612e-01 -1.10364190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195769231 meters 0.04755282655080871 Centerline is valid? [True, True] Translation: X:53.34, Y:4.88, Z:-0.11 [[ 9.89232417e-01 -1.46351346e-01 7.13821828e-04 5.33419025e+01] [ 1.46351287e-01 9.89232674e-01 1.34350983e-04 4.87885450e+00] [-7.25798323e-04 -2.84356044e-05 9.99999736e-01 -1.13967705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225769231 meters 0.044927430348783756 Centerline is valid? [True, True] Translation: X:53.37, Y:4.88, Z:-0.11 [[ 9.89161265e-01 -1.46831522e-01 7.04366179e-04 5.33706839e+01] [ 1.46831465e-01 9.89161515e-01 1.32565751e-04 4.88450697e+00] [-7.16196748e-04 -2.77057878e-05 9.99999743e-01 -1.14656477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255769231 meters 0.04915290940838327 Centerline is valid? [True, True] Translation: X:53.40, Y:4.90, Z:-0.11 [[ 9.89017100e-01 -1.47798520e-01 8.78934491e-04 5.33963565e+01] [ 1.47798432e-01 9.89017490e-01 1.65589176e-04 4.89837896e+00] [-8.93755420e-04 -3.38653875e-05 9.99999600e-01 -1.14769276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285769231 meters 0.03822604169481921 Centerline is valid? [True, True] Translation: X:53.43, Y:4.90, Z:-0.11 [[ 9.88355012e-01 -1.52152833e-01 1.97118703e-03 5.34279637e+01] [ 1.52152394e-01 9.88356975e-01 3.71651224e-04 4.89575050e+00] [-2.00478424e-03 -6.74025256e-05 9.99997988e-01 -1.12767272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315769231000004 meters 0.0367529842267602 Centerline is valid? [True, True] Translation: X:53.46, Y:4.90, Z:-0.11 [[ 9.87885156e-01 -1.55171235e-01 2.19244813e-03 5.34563039e+01] [ 1.55170699e-01 9.87887586e-01 4.13381796e-04 4.90200951e+00] [-2.23003725e-03 -6.81700312e-05 9.99997511e-01 -1.12673072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345769231000006 meters 0.030539291093687578 Centerline is valid? [True, True] Translation: X:53.49, Y:4.90, Z:-0.11 [[ 9.86921942e-01 -1.61183230e-01 2.24657306e-03 5.34871074e+01] [ 1.61182683e-01 9.86924497e-01 4.23640594e-04 4.90341672e+00] [-2.28548174e-03 -5.59915264e-05 9.99997387e-01 -1.13663608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375769231 meters 0.026762760700620294 Centerline is valid? [True, True] Translation: X:53.52, Y:4.91, Z:-0.12 [[ 9.86420144e-01 -1.64233217e-01 1.65846652e-03 5.35159868e+01] [ 1.64232923e-01 9.86421537e-01 3.12722538e-04 4.90502134e+00] [-1.68730652e-03 -3.61010062e-05 9.99998576e-01 -1.15201384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405769231 meters 0.021685734546171842 Centerline is valid? [True, True] Translation: X:53.55, Y:4.91, Z:-0.12 [[ 9.85425621e-01 -1.70106804e-01 1.41971788e-04 5.35452356e+01] [ 1.70106802e-01 9.85425632e-01 2.67310487e-05 4.90628922e+00] [-1.44449772e-04 -2.19109337e-06 9.99999990e-01 -1.16948280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435769231 meters 0.018704447729321047 Centerline is valid? [True, True] Translation: X:53.57, Y:4.91, Z:-0.12 [[ 9.84916125e-01 -1.73032378e-01 -1.53263353e-04 5.35745767e+01] [ 1.73032375e-01 9.84916137e-01 -2.92767177e-05 4.90924558e+00] [ 1.56017369e-04 2.31558932e-06 9.99999988e-01 -1.17090540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465769231 meters 0.017077056203624194 Centerline is valid? [True, True] Translation: X:53.60, Y:4.91, Z:-0.12 [[ 9.84494362e-01 -1.75416098e-01 -2.07167201e-04 5.36019408e+01] [ 1.75416094e-01 9.84494384e-01 -3.92573165e-05 4.91340255e+00] [ 2.10841312e-04 2.30814556e-06 9.99999978e-01 -1.17214356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495769231000004 meters 0.013748036427449704 Centerline is valid? [True, True] Translation: X:53.63, Y:4.91, Z:-0.11 [[ 9.83609640e-01 -1.80301297e-01 1.87580388e-03 5.36303184e+01] [ 1.80300949e-01 9.83611428e-01 3.54270023e-04 4.91463130e+00] [-1.90893748e-03 -1.02541893e-05 9.99998178e-01 -1.14695769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525769231000005 meters 0.01253586214535725 Centerline is valid? [True, True] Translation: X:53.66, Y:4.92, Z:-0.11 [[ 9.83183836e-01 -1.82597532e-01 2.77220788e-03 5.36589288e+01] [ 1.82596780e-01 9.83187745e-01 5.23867180e-04 4.91783189e+00] [-2.82125767e-03 -8.86151001e-06 9.99996020e-01 -1.12712899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.555769231000006 meters 0.012090590073598756 Centerline is valid? [True, True] Translation: X:53.69, Y:4.92, Z:-0.11 [[ 9.82512747e-01 -1.86181863e-01 2.23980836e-03 5.36867688e+01] [ 1.86181381e-01 9.82515300e-01 4.23571977e-04 4.92078162e+00] [-2.27950740e-03 8.45747579e-07 9.99997402e-01 -1.14176871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585769231 meters 0.01233213727650733 Centerline is valid? [True, True] Translation: X:53.71, Y:4.93, Z:-0.12 [[ 9.82182653e-01 -1.87926101e-01 1.00839515e-03 5.37146470e+01] [ 1.87926004e-01 9.82183171e-01 1.90666536e-04 4.92546103e+00] [-1.02625997e-03 2.23430792e-06 9.99999473e-01 -1.16333515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615769231 meters 0.013500954319521674 Centerline is valid? [True, True] Translation: X:53.74, Y:4.93, Z:-0.12 [[ 9.81516319e-01 -1.91377716e-01 -5.34072577e-04 5.37433085e+01] [ 1.91377689e-01 9.81516464e-01 -1.01664583e-04 4.92884732e+00] [ 5.43657364e-04 -2.42412824e-06 9.99999852e-01 -1.18395570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645769231 meters 0.014944487368468816 Centerline is valid? [True, True] Translation: X:53.77, Y:4.93, Z:-0.12 [[ 9.81174010e-01 -1.93124763e-01 -6.23190118e-04 5.37709968e+01] [ 1.93124726e-01 9.81174208e-01 -1.18369225e-04 4.93151137e+00] [ 6.34318099e-04 -4.21261351e-06 9.99999799e-01 -1.19084145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675769231000004 meters 0.015852098485758723 Centerline is valid? [True, True] Translation: X:53.80, Y:4.94, Z:-0.12 [[ 9.80726031e-01 -1.95387782e-01 2.57741615e-04 5.37998381e+01] [ 1.95387776e-01 9.80726065e-01 4.85873877e-05 4.93568998e+00] [-2.62267302e-04 2.70864511e-06 9.99999966e-01 -1.17319895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705769231000005 meters 0.01892969957189222 Centerline is valid? [True, True] Translation: X:53.83, Y:4.93, Z:-0.11 [[ 9.79848825e-01 -1.99726748e-01 2.34655050e-03 5.38293315e+01] [ 1.99726253e-01 9.79851634e-01 4.45653324e-04 4.93458310e+00] [-2.38828023e-03 3.19948540e-05 9.99997148e-01 -1.14083742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.735769231000006 meters 0.020758477981161122 Centerline is valid? [True, True] Translation: X:53.86, Y:4.94, Z:-0.11 [[ 9.79421518e-01 -2.01804163e-01 2.92740648e-03 5.38571815e+01] [ 2.01803401e-01 9.79425892e-01 5.56468016e-04 4.93549633e+00] [-2.97947526e-03 4.57438325e-05 9.99995560e-01 -1.13615037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765769231 meters 0.022376367009850726 Centerline is valid? [True, True] Translation: X:53.89, Y:4.94, Z:-0.12 [[ 9.79068214e-01 -2.03518606e-01 2.36859196e-03 5.38864420e+01] [ 2.03518112e-01 9.79071078e-01 4.50390676e-04 4.93701134e+00] [-2.41068277e-03 4.10881692e-05 9.99997093e-01 -1.15085511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795769231 meters 0.02546407354023698 Centerline is valid? [True, True] Translation: X:53.92, Y:4.94, Z:-0.12 [[ 9.78483608e-01 -2.06324064e-01 -4.58721892e-04 5.39158723e+01] [ 2.06324046e-01 9.78483715e-01 -8.73879895e-05 4.93624801e+00] [ 4.66882147e-04 -9.13764145e-06 9.99999891e-01 -1.20210204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825769231 meters 0.02546407354023698 Centerline is valid? [True, True] Translation: X:53.94, Y:4.94, Z:-0.12 [[ 9.78445759e-01 -2.06503479e-01 -4.58646140e-04 5.39428337e+01] [ 2.06503461e-01 9.78445866e-01 -8.77857444e-05 4.94156967e+00] [ 4.66888481e-04 -8.81842604e-06 9.99999891e-01 -1.20269245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855769231000004 meters 0.026662679164719767 Centerline is valid? [True, True] Translation: X:53.97, Y:4.94, Z:-0.12 [[ 9.78197634e-01 -2.07670176e-01 -1.57701882e-03 5.39721598e+01] [ 2.07669960e-01 9.78198905e-01 -3.01076310e-04 4.94335863e+00] [ 1.60516266e-03 -3.29873025e-05 9.99998711e-01 -1.22206024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885769231000005 meters 0.026356232265852753 Centerline is valid? [True, True] Translation: X:54.00, Y:4.95, Z:-0.12 [[ 9.78164839e-01 -2.07824552e-01 -1.58196982e-03 5.40001804e+01] [ 2.07824335e-01 9.78166118e-01 -3.02378135e-04 4.94807687e+00] [ 1.61027088e-03 -3.29961661e-05 9.99998703e-01 -1.21693008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.915769231000006 meters 0.025875869740285808 Centerline is valid? [True, True] Translation: X:54.03, Y:4.95, Z:-0.12 [[ 9.78163821e-01 -2.07827867e-01 -1.76537018e-03 5.40279390e+01] [ 2.07827595e-01 9.78165414e-01 -3.37733701e-04 4.95245733e+00] [ 1.79701453e-03 -3.65337525e-05 9.99998385e-01 -1.21693495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945769231 meters 0.027061877052927466 Centerline is valid? [True, True] Translation: X:54.06, Y:4.95, Z:-0.12 [[ 9.78144226e-01 -2.07914217e-01 -2.35600484e-03 5.40555076e+01] [ 2.07913734e-01 9.78147062e-01 -4.50772455e-04 4.95140733e+00] [ 2.39824122e-03 -4.89252910e-05 9.99997123e-01 -1.23317052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975769231 meters 0.026914978790629037 Centerline is valid? [True, True] Translation: X:54.08, Y:4.95, Z:-0.12 [[ 9.77993518e-01 -2.08626763e-01 -1.88466228e-03 5.40838291e+01] [ 2.08626455e-01 9.77995333e-01 -3.61034564e-04 4.95479261e+00] [ 1.91851239e-03 -4.01009466e-05 9.99998159e-01 -1.22722676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005769231 meters 0.030975115079678015 Centerline is valid? [True, True] Translation: X:54.11, Y:4.95, Z:-0.12 [[ 9.77456991e-01 -2.11133863e-01 -5.68313675e-04 5.41131340e+01] [ 2.11133836e-01 9.77457156e-01 -1.08921312e-04 4.94983440e+00] [ 5.78499246e-04 -1.35243481e-05 9.99999833e-01 -1.20838675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035769231 meters 0.03297818043654489 Centerline is valid? [True, True] Translation: X:54.14, Y:4.95, Z:-0.12 [[ 9.77094984e-01 -2.12803362e-01 -3.49451328e-04 5.41408740e+01] [ 2.12803351e-01 9.77095046e-01 -6.70688959e-05 4.94980179e+00] [ 3.55719648e-04 -8.83173193e-06 9.99999937e-01 -1.20035673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065769231000004 meters 0.03679849507599242 Centerline is valid? [True, True] Translation: X:54.17, Y:4.94, Z:-0.12 [[ 9.76341133e-01 -2.16235817e-01 2.52507374e-04 5.41706894e+01] [ 2.16235811e-01 9.76341166e-01 4.82713220e-05 4.94462871e+00] [-2.56971333e-04 7.47185975e-06 9.99999967e-01 -1.17668947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095769231000006 meters 0.03867264895718468 Centerline is valid? [True, True] Translation: X:54.20, Y:4.95, Z:-0.12 [[ 9.75985822e-01 -2.17833571e-01 4.58268613e-04 5.41998620e+01] [ 2.17833554e-01 9.75985930e-01 8.75181354e-05 4.94516045e+00] [-4.66328107e-04 1.44098213e-05 9.99999891e-01 -1.17132189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125769231 meters 0.040375724637510144 Centerline is valid? [True, True] Translation: X:54.23, Y:4.94, Z:-0.12 [[ 9.75763150e-01 -2.18828072e-01 7.41012246e-04 5.42282914e+01] [ 2.18828028e-01 9.75763431e-01 1.41983355e-04 4.94347069e+00] [-7.54122596e-04 2.36121227e-05 9.99999715e-01 -1.16866921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155769231 meters 0.038887331338812586 Centerline is valid? [True, True] Translation: X:54.26, Y:4.95, Z:-0.12 [[ 9.75825592e-01 -2.18548716e-01 9.34660607e-04 5.42563047e+01] [ 2.18548645e-01 9.75826039e-01 1.79050512e-04 4.94883284e+00] [-9.51197417e-04 2.95467375e-05 9.99999547e-01 -1.16796088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185769231 meters 0.03817307307674937 Centerline is valid? [True, True] Translation: X:54.28, Y:4.95, Z:-0.12 [[ 9.76062526e-01 -2.17487851e-01 9.89602753e-04 5.42840978e+01] [ 2.17487771e-01 9.76063027e-01 1.89870846e-04 4.95286129e+00] [-1.00720926e-03 2.99006791e-05 9.99999492e-01 -1.17070767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215769231 meters 0.035488365264094865 Centerline is valid? [True, True] Translation: X:54.31, Y:4.96, Z:-0.12 [[ 9.76605097e-01 -2.15033392e-01 1.76748829e-03 5.43129250e+01] [ 2.15033130e-01 9.76606696e-01 3.39285171e-04 4.95705164e+00] [-1.79909854e-03 4.87209117e-05 9.99998380e-01 -1.15364762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245769231000004 meters 0.03353733232347257 Centerline is valid? [True, True] Translation: X:54.34, Y:4.96, Z:-0.11 [[ 9.76858882e-01 -2.13874693e-01 2.08317114e-03 5.43413941e+01] [ 2.13874325e-01 9.76861102e-01 4.00246182e-04 4.96273026e+00] [-2.12057139e-03 5.45527838e-05 9.99997750e-01 -1.14529077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275769231000005 meters 0.029779364960725967 Centerline is valid? [True, True] Translation: X:54.37, Y:4.97, Z:-0.12 [[ 9.77688308e-01 -2.10057581e-01 1.17664662e-03 5.43698564e+01] [ 2.10057461e-01 9.77689016e-01 2.26242704e-04 4.96885364e+00] [-1.19791847e-03 2.59685539e-05 9.99999282e-01 -1.16562505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305769231000006 meters 0.026746327670477178 Centerline is valid? [True, True] Translation: X:54.40, Y:4.98, Z:-0.12 [[ 9.78177053e-01 -2.07772115e-01 6.33665543e-04 5.43979292e+01] [ 2.07772080e-01 9.78177258e-01 1.21798208e-04 4.97646622e+00] [-6.45143495e-04 1.25177959e-05 9.99999792e-01 -1.17372929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335769231 meters 0.020187333221906228 Centerline is valid? [True, True] Translation: X:54.43, Y:4.99, Z:-0.12 [[ 9.79242746e-01 -2.02690978e-01 1.05978095e-04 5.44260948e+01] [ 2.02690977e-01 9.79242752e-01 2.03171905e-05 4.98822116e+00] [-1.07896392e-04 1.58534211e-06 9.99999994e-01 -1.17907813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365769231 meters 0.01879785877653643 Centerline is valid? [True, True] Translation: X:54.45, Y:4.99, Z:-0.12 [[ 9.79824341e-01 -1.99860373e-01 3.04999345e-04 5.44535217e+01] [ 1.99860364e-01 9.79824388e-01 5.85221314e-05 4.99458191e+00] [-3.10542052e-04 3.61587148e-06 9.99999952e-01 -1.18023557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.395769231 meters 0.013263499841001995 Centerline is valid? [True, True] Translation: X:54.48, Y:5.01, Z:-0.12 [[ 9.80931402e-01 -1.94353884e-01 3.89562927e-04 5.44802784e+01] [ 1.94353870e-01 9.80931480e-01 7.46826473e-05 5.00883123e+00] [-3.96649401e-04 2.45450850e-06 9.99999921e-01 -1.17768582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425769231000004 meters 0.012692348485808193 Centerline is valid? [True, True] Translation: X:54.51, Y:5.02, Z:-0.12 [[ 9.81414382e-01 -1.91900472e-01 -1.39202791e-04 5.45076021e+01] [ 1.91900470e-01 9.81414392e-01 -2.69601627e-05 5.01561032e+00] [ 1.41789291e-04 -2.53989522e-07 9.99999990e-01 -1.19513762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455769231000005 meters 0.012415132494268033 Centerline is valid? [True, True] Translation: X:54.53, Y:5.03, Z:-0.12 [[ 9.82287288e-01 -1.87380263e-01 -5.65653717e-04 5.45334279e+01] [ 1.87380231e-01 9.82287451e-01 -1.09519753e-04 5.02818845e+00] [ 5.76156388e-04 1.58753694e-06 9.99999834e-01 -1.19766423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485769231000006 meters 0.013589363310075438 Centerline is valid? [True, True] Translation: X:54.56, Y:5.04, Z:-0.12 [[ 9.82741991e-01 -1.84980878e-01 -5.03073689e-04 5.45595444e+01] [ 1.84980852e-01 9.82742120e-01 -9.72032517e-05 5.03781982e+00] [ 5.12372446e-04 2.46671760e-06 9.99999869e-01 -1.19613358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515769231 meters 0.017706053876845325 Centerline is valid? [True, True] Translation: X:54.59, Y:5.05, Z:-0.12 [[ 9.83622617e-01 -1.80240245e-01 -3.89996475e-05 5.45853045e+01] [ 1.80240245e-01 9.83622618e-01 -7.64605199e-06 5.05173190e+00] [ 3.97390617e-05 4.91523657e-07 9.99999999e-01 -1.18928509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545769231 meters 0.017275067832592424 Centerline is valid? [True, True] Translation: X:54.61, Y:5.06, Z:-0.12 [[ 9.83925283e-01 -1.78580346e-01 -3.10836380e-04 5.46132374e+01] [ 1.78580336e-01 9.83925333e-01 -6.04236567e-05 5.05728186e+00] [ 3.16630266e-04 3.94309850e-06 9.99999950e-01 -1.18571761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575769231 meters 0.022593161545491444 Centerline is valid? [True, True] Translation: X:54.64, Y:5.07, Z:-0.12 [[ 9.84212433e-01 -1.76990512e-01 -4.95271263e-04 5.46386739e+01] [ 1.76990487e-01 9.84212558e-01 -9.58499967e-05 5.07211850e+00] [ 5.04416737e-04 6.67845652e-06 9.99999873e-01 -1.20671759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605769231000004 meters 0.020592123784264883 Centerline is valid? [True, True] Translation: X:54.67, Y:5.08, Z:-0.12 [[ 9.84540276e-01 -1.75153229e-01 -1.33804595e-03 5.46672277e+01] [ 1.75153039e-01 9.84541185e-01 -2.59200484e-04 5.07630724e+00] [ 1.36276115e-03 2.08305027e-05 9.99999071e-01 -1.20678410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635769231000005 meters 0.022303748891799324 Centerline is valid? [True, True] Translation: X:54.69, Y:5.09, Z:-0.12 [[ 9.84576388e-01 -1.74944904e-01 -1.90153924e-03 5.46935099e+01] [ 1.74944519e-01 9.84578224e-01 -3.68208537e-04 5.08588319e+00] [ 1.93663033e-03 2.98655630e-05 9.99998124e-01 -1.22460537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665769231000006 meters 0.023514421466894003 Centerline is valid? [True, True] Translation: X:54.72, Y:5.09, Z:-0.12 [[ 9.84422330e-01 -1.75808934e-01 -1.97373543e-03 5.47206463e+01] [ 1.75808521e-01 9.84424308e-01 -3.82224299e-04 5.09445655e+00] [ 2.01019158e-03 2.92706285e-05 9.99997979e-01 -1.23830381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695769231 meters 0.01957602262123743 Centerline is valid? [True, True] Translation: X:54.75, Y:5.10, Z:-0.12 [[ 9.84193358e-01 -1.77086965e-01 -1.90814725e-03 5.47494087e+01] [ 1.77086580e-01 9.84195207e-01 -3.70094739e-04 5.09543698e+00] [ 1.94352833e-03 2.63375130e-05 9.99998111e-01 -1.22516180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725769231 meters 0.018191223157874817 Centerline is valid? [True, True] Translation: X:54.78, Y:5.10, Z:-0.12 [[ 9.83578078e-01 -1.80478136e-01 -1.34432193e-03 5.47767577e+01] [ 1.80477948e-01 9.83578996e-01 -2.60693002e-04 5.09888665e+00] [ 1.36929620e-03 1.37914585e-05 9.99999062e-01 -1.23210886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755769231 meters 0.014733377356643275 Centerline is valid? [True, True] Translation: X:54.81, Y:5.10, Z:-0.12 [[ 9.83095951e-01 -1.83089602e-01 -7.41371127e-04 5.48066763e+01] [ 1.83089546e-01 9.83096230e-01 -1.44165842e-04 5.09821870e+00] [ 7.55234427e-04 5.99155286e-06 9.99999715e-01 -1.21376477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785769231 meters 0.012569358219420528 Centerline is valid? [True, True] Translation: X:54.84, Y:5.10, Z:-0.12 [[ 9.82119009e-01 -1.88260420e-01 -5.16671673e-04 5.48355291e+01] [ 1.88260394e-01 9.82119145e-01 -1.00394629e-04 5.09762036e+00] [ 5.26333476e-04 1.33066100e-06 9.99999861e-01 -1.21309567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815769231000004 meters 0.012238380518582297 Centerline is valid? [True, True] Translation: X:54.86, Y:5.10, Z:-0.12 [[ 9.81644483e-01 -1.90719003e-01 -6.09405774e-04 5.48633291e+01] [ 1.90718966e-01 9.81644672e-01 -1.18786166e-04 5.09956332e+00] [ 6.20874711e-04 3.80544849e-07 9.99999807e-01 -1.22142140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845769231000006 meters 0.01242516453140156 Centerline is valid? [True, True] Translation: X:54.89, Y:5.10, Z:-0.12 [[ 9.81283140e-01 -1.92567189e-01 -1.13035225e-03 5.48912262e+01] [ 1.92567063e-01 9.81283791e-01 -2.20204381e-04 5.10237749e+00] [ 1.15160048e-03 -1.58576665e-06 9.99999337e-01 -1.23441400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875769231 meters 0.012939664233129039 Centerline is valid? [True, True] Translation: X:54.92, Y:5.10, Z:-0.12 [[ 9.81042372e-01 -1.93783119e-01 -1.99190999e-03 5.49194369e+01] [ 1.93782732e-01 9.81044394e-01 -3.87564835e-04 5.10486271e+00] [ 2.02925565e-03 -5.78023397e-06 9.99997941e-01 -1.24968587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905769231 meters 0.012720161881257271 Centerline is valid? [True, True] Translation: X:54.95, Y:5.11, Z:-0.12 [[ 9.81010741e-01 -1.93944955e-01 -1.81147174e-03 5.49463922e+01] [ 1.93944633e-01 9.81012413e-01 -3.53106096e-04 5.11039576e+00] [ 1.84555941e-03 -4.92434952e-06 9.99998297e-01 -1.24070440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935769231 meters 0.012754350571451516 Centerline is valid? [True, True] Translation: X:54.97, Y:5.11, Z:-0.12 [[ 9.81008209e-01 -1.93958530e-01 -1.72691650e-03 5.49739104e+01] [ 1.93958238e-01 9.81009729e-01 -3.36976926e-04 5.11499946e+00] [ 1.75948144e-03 -4.37255102e-06 9.99998452e-01 -1.22885566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965769231 meters 0.012516940129656847 Centerline is valid? [True, True] Translation: X:55.00, Y:5.12, Z:-0.12 [[ 9.81121279e-01 -1.93387880e-01 -1.47116503e-03 5.50007854e+01] [ 1.93387668e-01 9.81122382e-01 -2.87025240e-04 5.12018069e+00] [ 1.49890014e-03 -2.89860251e-06 9.99998877e-01 -1.22383458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995769231000004 meters 0.012059037512107334 Centerline is valid? [True, True] Translation: X:55.03, Y:5.13, Z:-0.12 [[ 9.81442840e-01 -1.91754378e-01 4.59104885e-04 5.50280363e+01] [ 1.91754357e-01 9.81442947e-01 8.94181470e-05 5.12740783e+00] [-4.67731572e-04 2.76561740e-07 9.99999891e-01 -1.20076677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025769231000005 meters 0.012067215609884146 Centerline is valid? [True, True] Translation: X:55.06, Y:5.13, Z:-0.12 [[ 9.81597505e-01 -1.90959074e-01 9.85427138e-04 5.50556176e+01] [ 1.90958978e-01 9.81597999e-01 1.91998477e-04 5.13479076e+00] [-1.00395716e-03 -2.89067653e-07 9.99999496e-01 -1.18784820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.055769231000006 meters 0.012291881609735242 Centerline is valid? [True, True] Translation: X:55.08, Y:5.14, Z:-0.12 [[ 9.81727117e-01 -1.90292016e-01 9.03611653e-04 5.50823419e+01] [ 1.90291934e-01 9.81727533e-01 1.76169065e-04 5.14200170e+00] [-9.20624006e-04 -9.99939120e-07 9.99999576e-01 -1.18964192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085769231 meters 0.012828328868653491 Centerline is valid? [True, True] Translation: X:55.11, Y:5.15, Z:-0.12 [[ 9.82021564e-01 -1.88768769e-01 -1.70372449e-06 5.51100670e+01] [ 1.88768769e-01 9.82021564e-01 -6.83723454e-07 5.15088537e+00] [ 1.80215982e-06 3.49821200e-07 1.00000000e+00 -1.20408677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115769231 meters 0.013121480773519984 Centerline is valid? [True, True] Translation: X:55.14, Y:5.16, Z:-0.12 [[ 9.82095736e-01 -1.88382314e-01 -2.63975020e-04 5.51365122e+01] [ 1.88382307e-01 9.82095771e-01 -5.19345912e-05 5.15764932e+00] [ 2.69032309e-04 1.27651732e-06 9.99999964e-01 -1.20900427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145769231 meters 0.013478980281604536 Centerline is valid? [True, True] Translation: X:55.16, Y:5.16, Z:-0.12 [[ 9.82184020e-01 -1.87921650e-01 -7.07486765e-05 5.51634963e+01] [ 1.87921649e-01 9.82184022e-01 -1.42574956e-05 5.16396644e+00] [ 7.21675117e-05 7.08276401e-07 9.99999997e-01 -1.21329881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175769231000004 meters 0.013216861963789345 Centerline is valid? [True, True] Translation: X:55.19, Y:5.17, Z:-0.12 [[ 9.82078332e-01 -1.88472937e-01 -3.18577381e-04 5.51913277e+01] [ 1.88472927e-01 9.82078384e-01 -6.28792535e-05 5.16827049e+00] [ 3.24718997e-04 1.70914094e-06 9.99999947e-01 -1.21448450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205769231000005 meters 0.012836749461533735 Centerline is valid? [True, True] Translation: X:55.22, Y:5.17, Z:-0.12 [[ 9.81713926e-01 -1.90358398e-01 -1.20337665e-03 5.52187288e+01] [ 1.90358252e-01 9.81714663e-01 -2.36246388e-04 5.17022969e+00] [ 1.22634399e-03 2.85369340e-06 9.99999248e-01 -1.23265230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.235769231000006 meters 0.012553666906691486 Centerline is valid? [True, True] Translation: X:55.25, Y:5.17, Z:-0.12 [[ 9.81508772e-01 -1.91414200e-01 -1.06551963e-03 5.52461496e+01] [ 1.91414085e-01 9.81509350e-01 -2.09622364e-04 5.17411567e+00] [ 1.08594217e-03 1.79072508e-06 9.99999410e-01 -1.22746017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265769231 meters 0.012361647582153062 Centerline is valid? [True, True] Translation: X:55.27, Y:5.18, Z:-0.12 [[ 9.81264964e-01 -1.92662581e-01 -4.47647103e-04 5.52731454e+01] [ 1.92662561e-01 9.81265066e-01 -8.82272580e-05 5.17762772e+00] [ 4.56258555e-04 3.29480051e-07 9.99999896e-01 -1.20816131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295769231 meters 0.012341482146308673 Centerline is valid? [True, True] Translation: X:55.30, Y:5.18, Z:-0.12 [[ 9.81287217e-01 -1.92549457e-01 -3.21818975e-04 5.53002784e+01] [ 1.92549446e-01 9.81287270e-01 -6.36801072e-05 5.18377189e+00] [ 3.28058433e-04 5.22409801e-07 9.99999946e-01 -1.20710357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325769231 meters 0.012492685947907088 Centerline is valid? [True, True] Translation: X:55.33, Y:5.19, Z:-0.12 [[ 9.81395681e-01 -1.91995690e-01 -4.14444387e-04 5.53271372e+01] [ 1.91995672e-01 9.81395769e-01 -8.19846582e-05 5.19122836e+00] [ 4.22474668e-04 8.87860980e-07 9.99999911e-01 -1.20683213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355769231000004 meters 0.014909500872635716 Centerline is valid? [True, True] Translation: X:55.35, Y:5.21, Z:-0.12 [[ 9.82368228e-01 -1.86956266e-01 1.41877988e-04 5.53518980e+01] [ 1.86956264e-01 9.82368238e-01 2.78152416e-05 5.20872575e+00] [-1.44576663e-04 -7.99830988e-07 9.99999990e-01 -1.19319950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385769231000005 meters 0.01730139865210356 Centerline is valid? [True, True] Translation: X:55.38, Y:5.22, Z:-0.12 [[ 9.83025276e-01 -1.83470178e-01 -4.15619472e-06 5.53784015e+01] [ 1.83470178e-01 9.83025276e-01 -1.17061739e-06 5.22188909e+00] [ 4.30041783e-06 3.88208694e-07 1.00000000e+00 -1.18837213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.415769231000006 meters 0.024423911692113883 Centerline is valid? [True, True] Translation: X:55.40, Y:5.25, Z:-0.12 [[ 9.84257472e-01 -1.76730339e-01 -1.90165086e-03 5.54027143e+01] [ 1.76729945e-01 9.84259308e-01 -3.74928826e-04 5.24596642e+00] [ 1.93797886e-03 3.29478470e-05 9.99998122e-01 -1.22486441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445769231 meters 0.027082614872679763 Centerline is valid? [True, True] Translation: X:55.43, Y:5.26, Z:-0.12 [[ 9.84697273e-01 -1.74253449e-01 -2.64876647e-03 5.54292831e+01] [ 1.74252673e-01 9.84700834e-01 -5.22916017e-04 5.25970985e+00] [ 2.69936248e-03 5.33593386e-05 9.99996355e-01 -1.24202812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475769231 meters 0.030920964282314233 Centerline is valid? [True, True] Translation: X:55.45, Y:5.28, Z:-0.12 [[ 9.85198402e-01 -1.71406849e-01 -1.94976452e-03 5.54544874e+01] [ 1.71406423e-01 9.85200330e-01 -3.84805585e-04 5.27860304e+00] [ 1.98686696e-03 4.49076851e-05 9.99998025e-01 -1.23554594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505769231 meters 0.029016942602794443 Centerline is valid? [True, True] Translation: X:55.48, Y:5.28, Z:-0.12 [[ 9.85157465e-01 -1.71652935e-01 -1.95374308e-04 5.54819495e+01] [ 1.71652931e-01 9.85157485e-01 -3.89970926e-05 5.28483372e+00] [ 1.99168427e-04 4.88170448e-06 9.99999980e-01 -1.20385247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535769231 meters 0.02609793886829049 Centerline is valid? [True, True] Translation: X:55.51, Y:5.29, Z:-0.12 [[ 9.84697539e-01 -1.74263176e-01 1.76141958e-03 5.55093639e+01] [ 1.74262833e-01 9.84699114e-01 3.47890417e-04 5.29330058e+00] [-1.79509279e-03 -3.56168717e-05 9.99998388e-01 -1.16075028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565769231000004 meters 0.024218051675649752 Centerline is valid? [True, True] Translation: X:55.54, Y:5.30, Z:-0.12 [[ 9.84369369e-01 -1.76107883e-01 1.72008540e-03 5.55379793e+01] [ 1.76107558e-01 9.84370871e-01 3.39765182e-04 5.30003102e+00] [-1.75303729e-03 -3.15343979e-05 9.99998463e-01 -1.16875918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595769231000006 meters 0.022736357560354935 Centerline is valid? [True, True] Translation: X:55.57, Y:5.31, Z:-0.12 [[ 9.84021611e-01 -1.78046703e-01 9.17292383e-04 5.55652596e+01] [ 1.78046611e-01 9.84022038e-01 1.81297357e-04 5.30665069e+00] [-9.34915317e-04 -1.50797169e-05 9.99999563e-01 -1.18421572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62576923100001 meters 0.020645955894512968 Centerline is valid? [True, True] Translation: X:55.59, Y:5.31, Z:-0.12 [[ 9.83373127e-01 -1.81595871e-01 -4.81503344e-04 5.55923125e+01] [ 1.81595846e-01 9.83373245e-01 -9.54617178e-05 5.31376989e+00] [ 4.90832960e-04 6.43548055e-06 9.99999880e-01 -1.22965065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655769231 meters 0.0200676071780934 Centerline is valid? [True, True] Translation: X:55.62, Y:5.32, Z:-0.12 [[ 9.83207234e-01 -1.82487485e-01 -1.36091566e-03 5.56194792e+01] [ 1.82487286e-01 9.83208176e-01 -2.69915991e-04 5.32073286e+00] [ 1.38731969e-03 1.70335500e-05 9.99999038e-01 -1.24424232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685769231 meters 0.019851313400206478 Centerline is valid? [True, True] Translation: X:55.65, Y:5.33, Z:-0.12 [[ 9.83463507e-01 -1.81091709e-01 -2.30708730e-03 5.56461944e+01] [ 1.81091134e-01 9.83466213e-01 -4.57195355e-04 5.33156779e+00] [ 2.35173669e-03 3.18418916e-05 9.99997234e-01 -1.23791410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715769231 meters 0.023725993001165575 Centerline is valid? [True, True] Translation: X:55.67, Y:5.35, Z:-0.13 [[ 9.83695509e-01 -1.79825491e-01 -2.43703661e-03 5.56718777e+01] [ 1.79824846e-01 9.83698527e-01 -4.83088110e-04 5.34595806e+00] [ 2.48418087e-03 3.69718727e-05 9.99996914e-01 -1.25223575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745769231000004 meters 0.023725993001165575 Centerline is valid? [True, True] Translation: X:55.70, Y:5.35, Z:-0.13 [[ 9.83664450e-01 -1.79995307e-01 -2.43690553e-03 5.56987799e+01] [ 1.79994660e-01 9.83667468e-01 -4.83749146e-04 5.35151426e+00] [ 2.48417727e-03 3.72168541e-05 9.99996914e-01 -1.25282600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775769231000005 meters 0.02437645680906042 Centerline is valid? [True, True] Translation: X:55.73, Y:5.36, Z:-0.12 [[ 9.84020298e-01 -1.78050536e-01 -1.43489856e-03 5.57254144e+01] [ 1.78050310e-01 9.84021344e-01 -2.85202268e-04 5.36477738e+00] [ 1.46275123e-03 2.51606865e-05 9.99998930e-01 -1.23208681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805769231000006 meters 0.024667369613120087 Centerline is valid? [True, True] Translation: X:55.75, Y:5.37, Z:-0.12 [[ 9.84200514e-01 -1.77057273e-01 -2.65235980e-04 5.57526131e+01] [ 1.77057265e-01 9.84200550e-01 -5.30564702e-05 5.37419172e+00] [ 2.70439431e-04 5.25624809e-06 9.99999963e-01 -1.20553497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835769231 meters 0.028840036031825035 Centerline is valid? [True, True] Translation: X:55.78, Y:5.39, Z:-0.12 [[ 9.84364582e-01 -1.76142198e-01 5.44187690e-04 5.57781073e+01] [ 1.76142165e-01 9.84364732e-01 1.08029829e-04 5.38999910e+00] [-5.54707781e-04 -1.04863397e-05 9.99999846e-01 -1.19468715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865769231 meters 0.028613602072307592 Centerline is valid? [True, True] Translation: X:55.80, Y:5.40, Z:-0.12 [[ 9.84574767e-01 -1.74964195e-01 -2.43457422e-04 5.58046474e+01] [ 1.74964188e-01 9.84574797e-01 -4.87683945e-05 5.40412375e+00] [ 2.48234765e-04 5.41980052e-06 9.99999969e-01 -1.21310391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.895769231 meters 0.024645803797663516 Centerline is valid? [True, True] Translation: X:55.83, Y:5.41, Z:-0.12 [[ 9.84271646e-01 -1.76659026e-01 -9.56410387e-04 5.58325116e+01] [ 1.76658924e-01 9.84272111e-01 -1.90769045e-04 5.41179199e+00] [ 9.75069144e-04 1.88101326e-05 9.99999524e-01 -1.23469013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925769231000004 meters 0.025233643450761817 Centerline is valid? [True, True] Translation: X:55.86, Y:5.42, Z:-0.12 [[ 9.83930461e-01 -1.78550821e-01 -6.73122818e-04 5.58589107e+01] [ 1.78550771e-01 9.83930691e-01 -1.34178011e-04 5.42140562e+00] [ 6.86263794e-04 1.18352337e-05 9.99999764e-01 -1.23331569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955769231000005 meters 0.020220200592796177 Centerline is valid? [True, True] Translation: X:55.89, Y:5.42, Z:-0.12 [[ 9.83418871e-01 -1.81348608e-01 -8.49898573e-05 5.58881226e+01] [ 1.81348607e-01 9.83418874e-01 -1.73010556e-05 5.42283255e+00] [ 8.67181521e-05 1.60139236e-06 9.99999996e-01 -1.22226434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985769231000006 meters 0.01848683302763777 Centerline is valid? [True, True] Translation: X:55.92, Y:5.43, Z:-0.12 [[ 9.82761178e-01 -1.84878143e-01 7.34523211e-04 5.59154359e+01] [ 1.84878085e-01 9.82761452e-01 1.46279787e-04 5.42788223e+00] [-7.48905033e-04 -7.96085153e-06 9.99999720e-01 -1.21373819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01576923100001 meters 0.012091669528145778 Centerline is valid? [True, True] Translation: X:55.95, Y:5.42, Z:-0.12 [[ 9.81011702e-01 -1.93934101e-01 2.36754603e-03 5.59464723e+01] [ 1.93933527e-01 9.81014559e-01 4.72115243e-04 5.42097982e+00] [-2.41415637e-03 -4.00402724e-06 9.99997086e-01 -1.18672408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04576923100001 meters 0.01713026366994688 Centerline is valid? [True, True] Translation: X:55.98, Y:5.41, Z:-0.12 [[ 9.78952643e-01 -2.04071145e-01 2.58678288e-03 5.59776151e+01] [ 2.04070494e-01 9.78956060e-01 5.15992311e-04 5.40882100e+00] [-2.63764592e-03 2.27540231e-05 9.99996521e-01 -1.17677488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07576923100001 meters 0.018466610362731378 Centerline is valid? [True, True] Translation: X:56.01, Y:5.41, Z:-0.12 [[ 9.78060776e-01 -2.08302413e-01 2.68774120e-03 5.60060279e+01] [ 2.08301725e-01 9.78064468e-01 5.36385531e-04 5.41087792e+00] [-2.74051456e-03 3.52434801e-05 9.99996244e-01 -1.18166856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105769231 meters 0.021626903567855967 Centerline is valid? [True, True] Translation: X:56.03, Y:5.41, Z:-0.12 [[ 9.77321721e-01 -2.11746351e-01 2.39519303e-03 5.60343209e+01] [ 2.11745815e-01 9.77324655e-01 4.78203778e-04 5.40927121e+00] [-2.44213910e-03 3.98131598e-05 9.99997017e-01 -1.18336772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.135769231 meters 0.023256751531070246 Centerline is valid? [True, True] Translation: X:56.06, Y:5.41, Z:-0.12 [[ 9.76708851e-01 -2.14554776e-01 2.46332553e-03 5.60634341e+01] [ 2.14554217e-01 9.76711956e-01 4.92096219e-04 5.40994776e+00] [-2.51154109e-03 4.78821482e-05 9.99996845e-01 -1.18275063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165769231 meters 0.03187221773396364 Centerline is valid? [True, True] Translation: X:56.10, Y:5.40, Z:-0.12 [[ 9.75725048e-01 -2.18990282e-01 1.97137881e-03 5.60954532e+01] [ 2.18989932e-01 9.75727039e-01 3.94105091e-04 5.39662694e+00] [-2.00983279e-03 4.71739034e-05 9.99997979e-01 -1.19719144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.195769231 meters 0.030529088931584444 Centerline is valid? [True, True] Translation: X:56.12, Y:5.40, Z:-0.12 [[ 9.75649392e-01 -2.19335943e-01 -8.83746960e-05 5.61249031e+01] [ 2.19335942e-01 9.75649396e-01 -1.80275174e-05 5.39727777e+00] [ 9.01768013e-05 -1.79521082e-06 9.99999996e-01 -1.21982166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225769231 meters 0.026487785965560128 Centerline is valid? [True, True] Translation: X:56.15, Y:5.41, Z:-0.12 [[ 9.76037220e-01 -2.17598080e-01 -1.55572823e-03 5.61525339e+01] [ 2.17597859e-01 9.76038459e-01 -3.11949884e-04 5.40612837e+00] [ 1.58633028e-03 -3.40484353e-05 9.99998741e-01 -1.23259063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.255769231 meters 0.024165251067096553 Centerline is valid? [True, True] Translation: X:56.18, Y:5.41, Z:-0.13 [[ 9.76650276e-01 -2.14813614e-01 -3.05764118e-03 5.61798449e+01] [ 2.14812749e-01 9.76655061e-01 -6.12652301e-04 5.41330490e+00] [ 3.11786679e-03 -5.84732682e-05 9.99995138e-01 -1.25712327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.285769231 meters 0.018004574452507877 Centerline is valid? [True, True] Translation: X:56.21, Y:5.43, Z:-0.13 [[ 9.78093677e-01 -2.08109440e-01 -4.81871524e-03 5.62078456e+01] [ 2.08107208e-01 9.78105545e-01 -9.65763475e-04 5.42807450e+00] [ 4.91419659e-03 -5.82022250e-05 9.99987924e-01 -1.28583787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.315769231 meters 0.015558492019875716 Centerline is valid? [True, True] Translation: X:56.23, Y:5.44, Z:-0.13 [[ 9.78853798e-01 -2.04521861e-01 -4.00634041e-03 5.62345693e+01] [ 2.04520284e-01 9.78861996e-01 -8.03890801e-04 5.43862267e+00] [ 4.08606761e-03 -3.24863147e-05 9.99991651e-01 -1.28185263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.345769231 meters 0.012326304687124725 Centerline is valid? [True, True] Translation: X:56.26, Y:5.46, Z:-0.12 [[ 9.80326378e-01 -1.97375984e-01 -1.70675573e-03 5.62609082e+01] [ 1.97375686e-01 9.80327864e-01 -3.42926399e-04 5.45598848e+00] [ 1.74086563e-03 -6.92287538e-07 9.99998485e-01 -1.23755063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.375769231 meters 0.012764784748975796 Centerline is valid? [True, True] Translation: X:56.29, Y:5.47, Z:-0.12 [[ 9.81014996e-01 -1.93928770e-01 -1.10026155e-03 5.62862755e+01] [ 1.93928644e-01 9.81015613e-01 -2.21125871e-04 5.46671107e+00] [ 1.12225643e-03 3.55556399e-06 9.99999370e-01 -1.22928044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40576923100001 meters 0.014072762174121537 Centerline is valid? [True, True] Translation: X:56.31, Y:5.48, Z:-0.12 [[ 9.81617463e-01 -1.90856737e-01 -9.28762461e-04 5.63133102e+01] [ 1.90856646e-01 9.81617902e-01 -1.87032304e-04 5.47723791e+00] [ 9.47386234e-04 6.33368787e-06 9.99999551e-01 -1.23153423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43576923100001 meters 0.01760258379397575 Centerline is valid? [True, True] Translation: X:56.34, Y:5.49, Z:-0.12 [[ 9.82442254e-01 -1.86563491e-01 -1.13197670e-03 5.63382626e+01] [ 1.86563352e-01 9.82442906e-01 -2.27860195e-04 5.49224855e+00] [ 1.15461287e-03 1.26741155e-05 9.99999333e-01 -1.24551058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46576923100001 meters 0.018556491275686336 Centerline is valid? [True, True] Translation: X:56.37, Y:5.50, Z:-0.12 [[ 9.82625059e-01 -1.85600802e-01 -5.78959633e-04 5.63663221e+01] [ 1.85600765e-01 9.82625230e-01 -1.16879227e-04 5.50115825e+00] [ 5.90593220e-04 7.39310678e-06 9.99999826e-01 -1.23884419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.495769231 meters 0.018681920345565425 Centerline is valid? [True, True] Translation: X:56.39, Y:5.51, Z:-0.12 [[ 9.82801652e-01 -1.84663848e-01 4.19251712e-04 5.63942360e+01] [ 1.84663829e-01 9.82801742e-01 8.40839870e-05 5.50879759e+00] [-4.27568586e-04 -5.21725483e-06 9.99999909e-01 -1.21406884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525769231 meters 0.0192118533025134 Centerline is valid? [True, True] Translation: X:56.42, Y:5.51, Z:-0.12 [[ 9.82729766e-01 -1.85046468e-01 -1.08660475e-04 5.64205948e+01] [ 1.85046467e-01 9.82729772e-01 -2.21896242e-05 5.51499671e+00] [ 1.10889995e-04 1.69916730e-06 9.99999994e-01 -1.22619415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.555769231 meters 0.018914793499300607 Centerline is valid? [True, True] Translation: X:56.45, Y:5.52, Z:-0.13 [[ 9.82604877e-01 -1.85705026e-01 -1.14011337e-03 5.64476879e+01] [ 1.85704884e-01 9.82605538e-01 -2.30011131e-04 5.51926095e+00] [ 1.16299594e-03 1.42854373e-05 9.99999324e-01 -1.25290538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585769231 meters 0.01828611657251221 Centerline is valid? [True, True] Translation: X:56.48, Y:5.52, Z:-0.13 [[ 9.82321992e-01 -1.87183442e-01 -2.42138722e-03 5.64759382e+01] [ 1.87182806e-01 9.82324976e-01 -4.88636333e-04 5.52174319e+00] [ 2.47005377e-03 2.67561610e-05 9.99996949e-01 -1.28968416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.615769231 meters 0.016742333973612966 Centerline is valid? [True, True] Translation: X:56.50, Y:5.52, Z:-0.13 [[ 9.82148729e-01 -1.88095377e-01 -2.00102651e-03 5.65049065e+01] [ 1.88094943e-01 9.82150767e-01 -4.04364797e-04 5.52367659e+00] [ 2.04136887e-03 2.07634035e-05 9.99997916e-01 -1.27348901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645769231 meters 0.015411726667731718 Centerline is valid? [True, True] Translation: X:56.53, Y:5.52, Z:-0.12 [[ 9.81818376e-01 -1.89818214e-01 -1.31209509e-03 5.65341021e+01] [ 1.89818029e-01 9.81819253e-01 -2.65497011e-04 5.52455137e+00] [ 1.33863639e-03 1.16105400e-05 9.99999104e-01 -1.24983725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.675769231 meters 0.014902487630009858 Centerline is valid? [True, True] Translation: X:56.56, Y:5.53, Z:-0.12 [[ 9.81654387e-01 -1.90662460e-01 -1.57824457e-03 5.65621307e+01] [ 1.90662193e-01 9.81655656e-01 -3.19648649e-04 5.52736690e+00] [ 1.61023770e-03 1.28729288e-05 9.99998703e-01 -1.24580124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.705769231 meters 0.015199528083787134 Centerline is valid? [True, True] Translation: X:56.59, Y:5.53, Z:-0.13 [[ 9.81589438e-01 -1.90985855e-01 -2.56469167e-03 5.65904382e+01] [ 1.90985151e-01 9.81592789e-01 -5.19044058e-04 5.52917636e+00] [ 2.61661292e-03 1.96701391e-05 9.99996576e-01 -1.27346508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.735769231 meters 0.015576333971526458 Centerline is valid? [True, True] Translation: X:56.62, Y:5.53, Z:-0.13 [[ 9.81663043e-01 -1.90600974e-01 -2.98983438e-03 5.66185031e+01] [ 1.90600015e-01 9.81667595e-01 -6.05239442e-04 5.53336743e+00] [ 3.05038275e-03 2.42787147e-05 9.99995347e-01 -1.28243653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76576923100001 meters 0.016356301017204755 Centerline is valid? [True, True] Translation: X:56.65, Y:5.54, Z:-0.13 [[ 9.81825670e-01 -1.89768409e-01 -2.51092071e-03 5.66454561e+01] [ 1.89767729e-01 9.81828881e-01 -5.08461424e-04 5.53867359e+00] [ 2.56178439e-03 2.27287575e-05 9.99996718e-01 -1.27427697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79576923100001 meters 0.018951185311483622 Centerline is valid? [True, True] Translation: X:56.67, Y:5.55, Z:-0.12 [[ 9.82349274e-01 -1.87055329e-01 -4.56095433e-04 5.66714295e+01] [ 1.87055306e-01 9.82349380e-01 -9.25179938e-05 5.54805871e+00] [ 4.65351049e-04 5.56991335e-06 9.99999892e-01 -1.22585058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82576923100001 meters 0.020305189450488155 Centerline is valid? [True, True] Translation: X:56.70, Y:5.56, Z:-0.12 [[ 9.82546473e-01 -1.86016737e-01 4.49817592e-04 5.66978092e+01] [ 1.86016715e-01 9.82546576e-01 9.10009456e-05 5.55633694e+00] [-4.58894433e-04 -5.73906734e-06 9.99999895e-01 -1.20557840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.855769231 meters 0.022036551312476726 Centerline is valid? [True, True] Translation: X:56.73, Y:5.56, Z:-0.12 [[ 9.82884597e-01 -1.84222187e-01 2.33307719e-04 5.67254468e+01] [ 1.84222181e-01 9.82884625e-01 4.69559605e-05 5.56469670e+00] [-2.37964899e-04 -3.17183359e-06 9.99999972e-01 -1.21658730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885769231 meters 0.02277249139834194 Centerline is valid? [True, True] Translation: X:56.75, Y:5.57, Z:-0.12 [[ 9.82949517e-01 -1.83875231e-01 -3.82423367e-04 5.67530322e+01] [ 1.83875215e-01 9.82949591e-01 -7.79411727e-05 5.57192474e+00] [ 3.90234343e-04 6.29405938e-06 9.99999924e-01 -1.23549606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.915769231 meters 0.02162613276628054 Centerline is valid? [True, True] Translation: X:56.78, Y:5.58, Z:-0.13 [[ 9.82982664e-01 -1.83693103e-01 -1.38803562e-03 5.67808999e+01] [ 1.83692888e-01 9.82983643e-01 -2.82243533e-04 5.57810226e+00] [ 1.41626251e-03 2.24682270e-05 9.99998997e-01 -1.25448953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945769231 meters 0.022521062161055882 Centerline is valid? [True, True] Translation: X:56.81, Y:5.59, Z:-0.13 [[ 9.82943413e-01 -1.83903187e-01 -1.36543514e-03 5.68069171e+01] [ 1.83902978e-01 9.82944361e-01 -2.77588023e-04 5.58605527e+00] [ 1.39319610e-03 2.17457292e-05 9.99999029e-01 -1.25493509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.975769231 meters 0.024566025633387646 Centerline is valid? [True, True] Translation: X:56.83, Y:5.60, Z:-0.12 [[ 9.83085377e-01 -1.83144823e-01 -1.05580879e-03 5.68331742e+01] [ 1.83144698e-01 9.83085944e-01 -2.14689547e-04 5.59857343e+00] [ 1.07727006e-03 1.76923723e-05 9.99999420e-01 -1.24487202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005769231 meters 0.025944047131305038 Centerline is valid? [True, True] Translation: X:56.86, Y:5.61, Z:-0.13 [[ 9.83258742e-01 -1.82206907e-01 -1.69986082e-03 5.68604181e+01] [ 1.82206581e-01 9.83260211e-01 -3.46062239e-04 5.61019237e+00] [ 1.73446044e-03 3.05428941e-05 9.99998495e-01 -1.25583814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.035769231 meters 0.02830960577016396 Centerline is valid? [True, True] Translation: X:56.89, Y:5.62, Z:-0.13 [[ 9.83559775e-01 -1.80561733e-01 -2.76198570e-03 5.68858822e+01] [ 1.80560867e-01 9.83563652e-01 -5.62021098e-04 5.62375325e+00] [ 2.81806824e-03 5.40748140e-05 9.99996028e-01 -1.28077315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.065769231 meters 0.03318653516050992 Centerline is valid? [True, True] Translation: X:56.91, Y:5.65, Z:-0.13 [[ 9.84259043e-01 -1.76708715e-01 -2.85778493e-03 5.69115610e+01] [ 1.76707771e-01 9.84263189e-01 -5.81503367e-04 5.64644421e+00] [ 2.91556922e-03 6.73571441e-05 9.99995747e-01 -1.29001404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.095769231 meters 0.03026716989409142 Centerline is valid? [True, True] Translation: X:56.94, Y:5.65, Z:-0.13 [[ 9.84537664e-01 -1.75158455e-01 -2.25930161e-03 5.69397474e+01] [ 1.75157859e-01 9.84540254e-01 -4.60453067e-04 5.65368603e+00] [ 2.30502563e-03 5.75989539e-05 9.99997342e-01 -1.26891427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.125769231 meters 0.03252591571789355 Centerline is valid? [True, True] Translation: X:56.96, Y:5.67, Z:-0.13 [[ 9.84819998e-01 -1.73560118e-01 -2.54112148e-03 5.69643440e+01] [ 1.73559359e-01 9.84823274e-01 -5.17763207e-04 5.67399465e+00] [ 2.59241862e-03 6.88681450e-05 9.99996637e-01 -1.27224991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15576923100001 meters 0.03777826603414367 Centerline is valid? [True, True] Translation: X:56.99, Y:5.69, Z:-0.13 [[ 9.84715506e-01 -1.74140675e-01 -3.22459085e-03 5.69887193e+01] [ 1.74139456e-01 9.84720782e-01 -6.57184729e-04 5.69174780e+00] [ 3.28976422e-03 8.56114955e-05 9.99994585e-01 -1.30474711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18576923100001 meters 0.03389554782759987 Centerline is valid? [True, True] Translation: X:57.02, Y:5.70, Z:-0.13 [[ 9.84386805e-01 -1.75982169e-01 -3.59073313e-03 5.70175284e+01] [ 1.75980667e-01 9.84393350e-01 -7.32515566e-04 5.69695317e+00] [ 3.66360350e-03 8.91790452e-05 9.99993285e-01 -1.30744522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21576923100001 meters 0.027584592258641908 Centerline is valid? [True, True] Translation: X:57.05, Y:5.70, Z:-0.13 [[ 9.83226624e-01 -1.82376325e-01 -2.06940774e-03 5.70463472e+01] [ 1.82375841e-01 9.83228801e-01 -4.22056425e-04 5.70131205e+00] [ 2.11167439e-03 3.75671370e-05 9.99997770e-01 -1.28217450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245769231 meters 0.020339771774874362 Centerline is valid? [True, True] Translation: X:57.08, Y:5.70, Z:-0.12 [[ 9.82537303e-01 -1.86064064e-01 -7.82635965e-04 5.70763834e+01] [ 1.86063995e-01 9.82537615e-01 -1.59743650e-04 5.69954303e+00] [ 7.98691827e-04 1.13337203e-05 9.99999681e-01 -1.24627099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.275769231 meters 0.014027954277360116 Centerline is valid? [True, True] Translation: X:57.11, Y:5.70, Z:-0.12 [[ 9.81107631e-01 -1.93461600e-01 6.52074460e-04 5.71065708e+01] [ 1.93461555e-01 9.81107848e-01 1.32975365e-04 5.69847447e+00] [-6.65480997e-04 -4.31180674e-06 9.99999779e-01 -1.21873329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305769231 meters 0.01233456352473513 Centerline is valid? [True, True] Translation: X:57.13, Y:5.70, Z:-0.12 [[ 9.80453914e-01 -1.96745677e-01 1.12329456e-03 5.71342386e+01] [ 1.96745543e-01 9.80454557e-01 2.29069646e-04 5.70051557e+00] [-1.14640773e-03 -3.58903288e-06 9.99999343e-01 -1.21447561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.335769231 meters 0.012147063029674934 Centerline is valid? [True, True] Translation: X:57.16, Y:5.70, Z:-0.12 [[ 9.79334217e-01 -2.02248453e-01 2.32366989e-04 5.71626439e+01] [ 2.02248448e-01 9.79334245e-01 4.72699977e-05 5.69790432e+00] [-2.37125234e-04 7.02736636e-07 9.99999972e-01 -1.23290961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365769231 meters 0.013099201109504474 Centerline is valid? [True, True] Translation: X:57.19, Y:5.70, Z:-0.12 [[ 9.78803995e-01 -2.04799259e-01 5.34829874e-05 5.71914896e+01] [ 2.04799258e-01 9.78803997e-01 1.05830545e-05 5.69914887e+00] [-5.45167635e-05 5.94540154e-07 9.99999999e-01 -1.23786262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.395769231 meters 0.014421200865836174 Centerline is valid? [True, True] Translation: X:57.22, Y:5.70, Z:-0.12 [[ 9.78414091e-01 -2.06653744e-01 -3.10735293e-04 5.72197396e+01] [ 2.06653734e-01 9.78414140e-01 -6.37066154e-05 5.70082039e+00] [ 3.17193015e-04 -1.88315839e-06 9.99999950e-01 -1.23652258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.425769231 meters 0.015460233773600594 Centerline is valid? [True, True] Translation: X:57.25, Y:5.70, Z:-0.12 [[ 9.78209665e-01 -2.07619239e-01 -3.21337336e-04 5.72480665e+01] [ 2.07619229e-01 9.78209718e-01 -6.58272389e-05 5.70329892e+00] [ 3.28002306e-04 -2.32296857e-06 9.99999946e-01 -1.23849040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.455769231 meters 0.016093619678360017 Centerline is valid? [True, True] Translation: X:57.28, Y:5.70, Z:-0.12 [[ 9.78131191e-01 -2.07988805e-01 -1.73149316e-04 5.72760387e+01] [ 2.07988802e-01 9.78131206e-01 -3.55298500e-05 5.70484947e+00] [ 1.76752560e-04 -1.26026427e-06 9.99999984e-01 -1.23514641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.485769231 meters 0.015909660563944925 Centerline is valid? [True, True] Translation: X:57.30, Y:5.71, Z:-0.12 [[ 9.77919325e-01 -2.08968019e-01 2.48222935e-03 5.73040557e+01] [ 2.08967403e-01 9.77922475e-01 5.07778191e-04 5.70558159e+00] [-2.53353727e-03 2.21389149e-05 9.99996790e-01 -1.18326280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51576923100001 meters 0.016374440653997558 Centerline is valid? [True, True] Translation: X:57.33, Y:5.71, Z:-0.12 [[ 9.77678970e-01 -2.10074386e-01 3.54728475e-03 5.73329615e+01] [ 2.10073133e-01 9.77685405e-01 7.26432911e-04 5.70814375e+00] [-3.62073347e-03 3.49710389e-05 9.99993445e-01 -1.16453038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54576923100001 meters 0.017529169554915198 Centerline is valid? [True, True] Translation: X:57.36, Y:5.71, Z:-0.12 [[ 9.77378363e-01 -2.11461555e-01 3.94287514e-03 5.73624663e+01] [ 2.11460015e-01 9.77386315e-01 8.08119378e-04 5.70969920e+00] [-4.02459839e-03 4.39220431e-05 9.99991900e-01 -1.16551913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57576923100001 meters 0.019261330664621712 Centerline is valid? [True, True] Translation: X:57.39, Y:5.71, Z:-0.12 [[ 9.77011686e-01 -2.13179475e-01 1.63597158e-03 5.73912703e+01] [ 2.13179212e-01 9.77013056e-01 3.35404139e-04 5.70782773e+00] [-1.66986687e-03 2.10613684e-05 9.99998606e-01 -1.20664791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605769231 meters 0.019261330664621712 Centerline is valid? [True, True] Translation: X:57.42, Y:5.71, Z:-0.12 [[ 9.76974210e-01 -2.13351160e-01 1.63595308e-03 5.74181369e+01] [ 2.13350897e-01 9.76975579e-01 3.35494350e-04 5.71354033e+00] [-1.66986432e-03 2.12627300e-05 9.99998606e-01 -1.20723817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.635769231 meters 0.019204767999289697 Centerline is valid? [True, True] Translation: X:57.44, Y:5.72, Z:-0.12 [[ 9.77018025e-01 -2.13156678e-01 -9.44088943e-05 5.74448468e+01] [ 2.13156678e-01 9.77018030e-01 -1.96577170e-05 5.71635389e+00] [ 9.64293656e-05 -9.17942411e-07 9.99999995e-01 -1.23955215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665769231 meters 0.018055493462246226 Centerline is valid? [True, True] Translation: X:57.47, Y:5.72, Z:-0.13 [[ 9.77265369e-01 -2.12014567e-01 -1.49035393e-03 5.74735824e+01] [ 2.12014345e-01 9.77266506e-01 -3.06745854e-04 5.72108277e+00] [ 1.52150756e-03 -1.62043117e-05 9.99998842e-01 -1.26679525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.695769231 meters 0.015566017227949858 Centerline is valid? [True, True] Translation: X:57.50, Y:5.73, Z:-0.13 [[ 9.77895936e-01 -2.09080614e-01 -2.19905350e-03 5.75009714e+01] [ 2.09080126e-01 9.77898408e-01 -4.52359030e-04 5.72636805e+00] [ 2.24503042e-03 -1.74183255e-05 9.99997480e-01 -1.27841011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725769231 meters 0.01420418487313264 Centerline is valid? [True, True] Translation: X:57.53, Y:5.73, Z:-0.13 [[ 9.78296749e-01 -2.07195140e-01 -2.37598805e-03 5.75274329e+01] [ 2.07194564e-01 9.78299634e-01 -4.88879439e-04 5.73356846e+00] [ 2.42572168e-03 -1.40226412e-05 9.99997058e-01 -1.28390828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.755769231 meters 0.012292413030164087 Centerline is valid? [True, True] Translation: X:57.55, Y:5.74, Z:-0.13 [[ 9.79239288e-01 -2.02689027e-01 -2.75237150e-03 5.75534268e+01] [ 2.02688235e-01 9.79243156e-01 -5.66592626e-04 5.74311692e+00] [ 2.81008307e-03 -3.04356351e-06 9.99996052e-01 -1.29355883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.785769231 meters 0.01216748342805973 Centerline is valid? [True, True] Translation: X:57.58, Y:5.75, Z:-0.13 [[ 9.79622584e-01 -2.00828957e-01 -2.70607584e-03 5.75800417e+01] [ 2.00828182e-01 9.79626322e-01 -5.57752850e-04 5.75084004e+00] [ 2.76295604e-03 2.93099627e-06 9.99996183e-01 -1.29514683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.815769231 meters 0.013523233910393046 Centerline is valid? [True, True] Translation: X:57.61, Y:5.76, Z:-0.13 [[ 9.80353524e-01 -1.97239903e-01 -1.84078583e-03 5.76065304e+01] [ 1.97239538e-01 9.80355252e-01 -3.79370578e-04 5.76014344e+00] [ 1.87945107e-03 8.84153554e-06 9.99998234e-01 -1.26983476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.845769231 meters 0.014673633456918066 Centerline is valid? [True, True] Translation: X:57.63, Y:5.77, Z:-0.13 [[ 9.80643765e-01 -1.95793046e-01 -1.69983735e-03 5.76341972e+01] [ 1.95792732e-01 9.80645238e-01 -3.50807691e-04 5.76818528e+00] [ 1.73562311e-03 1.12015767e-05 9.99998494e-01 -1.26626678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.875769231 meters 0.015871183970401086 Centerline is valid? [True, True] Translation: X:57.66, Y:5.78, Z:-0.13 [[ 9.80890802e-01 -1.94550648e-01 -1.81094798e-03 5.76613401e+01] [ 1.94550289e-01 9.80892474e-01 -3.73605958e-04 5.77511365e+00] [ 1.84903052e-03 1.41461945e-05 9.99998290e-01 -1.26966869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90576923100001 meters 0.016264791672387688 Centerline is valid? [True, True] Translation: X:57.69, Y:5.78, Z:-0.13 [[ 9.81146035e-01 -1.93256167e-01 -2.12401836e-03 5.76902640e+01] [ 1.93255670e-01 9.81148334e-01 -4.38759111e-04 5.77885715e+00] [ 2.16876998e-03 2.00081708e-05 9.99997648e-01 -1.27523282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93576923100001 meters 0.016463474571284144 Centerline is valid? [True, True] Translation: X:57.72, Y:5.78, Z:-0.13 [[ 9.81167568e-01 -1.93149734e-01 -1.83937694e-03 5.77182844e+01] [ 1.93149360e-01 9.81169292e-01 -3.80408980e-04 5.78385246e+00] [ 1.87821606e-03 1.79704746e-05 9.99998236e-01 -1.26936484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96576923100001 meters 0.01819993883625626 Centerline is valid? [True, True] Translation: X:57.74, Y:5.79, Z:-0.12 [[ 9.81240911e-01 -1.92785003e-01 -4.65446060e-04 5.77445068e+01] [ 1.92784979e-01 9.81241022e-01 -9.64931581e-05 5.79122730e+00] [ 4.75317201e-04 4.95202564e-06 9.99999887e-01 -1.24971906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.995769231 meters 0.018403086858865762 Centerline is valid? [True, True] Translation: X:57.77, Y:5.80, Z:-0.12 [[ 9.81253061e-01 -1.92723682e-01 1.10629098e-04 5.77719538e+01] [ 1.92723680e-01 9.81253068e-01 2.25227888e-05 5.79753485e+00] [-1.12895816e-04 -7.79708568e-07 9.99999994e-01 -1.23623304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025769231 meters 0.01928304083638749 Centerline is valid? [True, True] Translation: X:57.80, Y:5.80, Z:-0.12 [[ 9.81342662e-01 -1.92266420e-01 -4.50767128e-04 5.77999693e+01] [ 1.92266397e-01 9.81342766e-01 -9.36510854e-05 5.80407249e+00] [ 4.60363019e-04 5.23643372e-06 9.99999894e-01 -1.24944874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.055769231 meters 0.019281469022865972 Centerline is valid? [True, True] Translation: X:57.83, Y:5.81, Z:-0.13 [[ 9.81299747e-01 -1.92484132e-01 -8.16211253e-04 5.78270954e+01] [ 1.92484057e-01 9.81300086e-01 -1.69504378e-04 5.80879458e+00] [ 8.33575076e-04 9.22694915e-06 9.99999653e-01 -1.25737040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085769231 meters 0.01892140544388717 Centerline is valid? [True, True] Translation: X:57.86, Y:5.81, Z:-0.13 [[ 9.81188799e-01 -1.93050066e-01 -4.60704541e-04 5.78551905e+01] [ 1.93050042e-01 9.81188907e-01 -9.59149373e-05 5.81325011e+00] [ 4.70554570e-04 5.17163121e-06 9.99999889e-01 -1.25210010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.115769231 meters 0.016837299708821783 Centerline is valid? [True, True] Translation: X:57.88, Y:5.81, Z:-0.12 [[ 9.80817749e-01 -1.94923273e-01 1.20871151e-03 5.78849045e+01] [ 1.94923112e-01 9.80818494e-01 2.50612379e-04 5.81416551e+00] [-1.23437679e-03 -1.01992607e-05 9.99999238e-01 -1.21971867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145769231 meters 0.013047099142769131 Centerline is valid? [True, True] Translation: X:57.91, Y:5.81, Z:-0.12 [[ 9.80056200e-01 -1.98719377e-01 6.73340068e-04 5.79149581e+01] [ 1.98719328e-01 9.80056432e-01 1.39475064e-04 5.80931449e+00] [-6.87627662e-04 -2.88771608e-06 9.99999764e-01 -1.22976936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.175769231 meters 0.012278890570071517 Centerline is valid? [True, True] Translation: X:57.94, Y:5.81, Z:-0.12 [[ 9.79683189e-01 -2.00550615e-01 5.48437444e-04 5.79435901e+01] [ 2.00550582e-01 9.79683342e-01 1.13789758e-04 5.81058615e+00] [-5.60115634e-04 -1.48846365e-06 9.99999843e-01 -1.23555316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.205769231 meters 0.011739032629899879 Centerline is valid? [True, True] Translation: X:57.97, Y:5.81, Z:-0.12 [[ 9.79323632e-01 -2.02298966e-01 5.92860700e-04 5.79718322e+01] [ 2.02298929e-01 9.79323812e-01 1.22864672e-04 5.81249290e+00] [-6.05457997e-04 -3.89192471e-07 9.99999817e-01 -1.23168318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.235769231 meters 0.011797404285963722 Centerline is valid? [True, True] Translation: X:58.00, Y:5.81, Z:-0.12 [[ 9.78749877e-01 -2.05057625e-01 -2.19418401e-04 5.80011146e+01] [ 2.05057620e-01 9.78749902e-01 -4.60316070e-05 5.81110600e+00] [ 2.24194870e-04 6.00145410e-08 9.99999975e-01 -1.24698185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26576923100001 meters 0.012325282809545497 Centerline is valid? [True, True] Translation: X:58.03, Y:5.81, Z:-0.13 [[ 9.78486986e-01 -2.06306268e-01 -9.70804269e-04 5.80290295e+01] [ 2.06306169e-01 9.78487467e-01 -2.02156377e-04 5.81240027e+00] [ 9.91625939e-04 -2.47552553e-06 9.99999508e-01 -1.26516503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29576923100001 meters 0.013786890251435827 Centerline is valid? [True, True] Translation: X:58.06, Y:5.81, Z:-0.13 [[ 9.77915515e-01 -2.08995067e-01 -1.51923081e-03 5.80593814e+01] [ 2.08994827e-01 9.77916695e-01 -3.16738586e-04 5.80826172e+00] [ 1.55187798e-03 -7.76780350e-06 9.99998796e-01 -1.28601921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32576923100001 meters 0.013707703940301397 Centerline is valid? [True, True] Translation: X:58.09, Y:5.81, Z:-0.13 [[ 9.77605339e-01 -2.10442178e-01 -1.37500171e-03 5.80884714e+01] [ 2.10441983e-01 9.77606306e-01 -2.86982329e-04 5.81116911e+00] [ 1.40460353e-03 -8.80262923e-06 9.99999014e-01 -1.26595620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.355769231 meters 0.014274570485679237 Centerline is valid? [True, True] Translation: X:58.12, Y:5.81, Z:-0.13 [[ 9.77390274e-01 -2.11439909e-01 -1.19039600e-03 5.81171071e+01] [ 2.11439764e-01 9.77390999e-01 -2.48337965e-04 5.81237694e+00] [ 1.21599090e-03 -8.97393742e-06 9.99999261e-01 -1.26303366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385769231 meters 0.01455749011788303 Centerline is valid? [True, True] Translation: X:58.15, Y:5.81, Z:-0.13 [[ 9.77149324e-01 -2.12550554e-01 -1.20843051e-03 5.81457964e+01] [ 2.12550404e-01 9.77150071e-01 -2.52558696e-04 5.81428223e+00] [ 1.23449945e-03 -1.00648344e-05 9.99999238e-01 -1.25373418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.415769231 meters 0.017133960998004315 Centerline is valid? [True, True] Translation: X:58.18, Y:5.81, Z:-0.13 [[ 9.77025083e-01 -2.13119766e-01 -1.39712274e-03 5.81759007e+01] [ 2.13119566e-01 9.77026082e-01 -2.91782914e-04 5.80806568e+00] [ 1.42721007e-03 -1.26749679e-05 9.99998981e-01 -1.27098709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445769231 meters 0.016747782975201637 Centerline is valid? [True, True] Translation: X:58.20, Y:5.81, Z:-0.13 [[ 9.77118810e-01 -2.12692442e-01 -8.70054127e-04 5.82049769e+01] [ 2.12692364e-01 9.77119197e-01 -1.82073036e-04 5.80737312e+00] [ 8.88872148e-04 -7.14688036e-06 9.99999605e-01 -1.26972231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.475769231 meters 0.014197871890097129 Centerline is valid? [True, True] Translation: X:58.23, Y:5.82, Z:-0.12 [[ 9.77371601e-01 -2.11528975e-01 -4.95844927e-04 5.82332896e+01] [ 2.11528949e-01 9.77371727e-01 -1.03994706e-04 5.81504684e+00] [ 5.06622707e-04 -3.24408372e-06 9.99999872e-01 -1.24986789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505769231 meters 0.013288280113440895 Centerline is valid? [True, True] Translation: X:58.26, Y:5.82, Z:-0.12 [[ 9.77659737e-01 -2.10193604e-01 -2.93786203e-04 5.82618125e+01] [ 2.10193595e-01 9.77659782e-01 -6.18286706e-05 5.82039954e+00] [ 3.00218946e-04 -1.30457650e-06 9.99999955e-01 -1.24784911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.535769231 meters 0.012334492296865176 Centerline is valid? [True, True] Translation: X:58.29, Y:5.82, Z:-0.12 [[ 9.78169917e-01 -2.07806664e-01 -6.31443072e-05 5.82897354e+01] [ 2.07806663e-01 9.78169919e-01 -1.33432371e-05 5.82371846e+00] [ 6.45386755e-05 -6.98546925e-08 9.99999998e-01 -1.24278753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.565769231 meters 0.012204910696926601 Centerline is valid? [True, True] Translation: X:58.32, Y:5.83, Z:-0.13 [[ 9.78232469e-01 -2.07511959e-01 -1.54070165e-04 5.83166740e+01] [ 2.07511956e-01 9.78232481e-01 -3.25437644e-05 5.82660775e+00] [ 1.57469660e-04 -1.36034381e-07 9.99999988e-01 -1.25128862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.595769231 meters 0.01207906169895069 Centerline is valid? [True, True] Translation: X:58.34, Y:5.83, Z:-0.13 [[ 9.78392883e-01 -2.06748990e-01 -1.49058848e-03 5.83446086e+01] [ 2.06748753e-01 9.78394018e-01 -3.12857124e-04 5.82779157e+00] [ 1.52306575e-03 -2.08012491e-06 9.99998840e-01 -1.26814026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.625769231 meters 0.012024373855165445 Centerline is valid? [True, True] Translation: X:58.37, Y:5.83, Z:-0.13 [[ 9.78542463e-01 -2.06037654e-01 -1.77037998e-03 5.83719205e+01] [ 2.06037319e-01 9.78544064e-01 -3.71425275e-04 5.83107420e+00] [ 1.80892241e-03 -1.30894150e-06 9.99998364e-01 -1.27462783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65576923100001 meters 0.012046855940210608 Centerline is valid? [True, True] Translation: X:58.40, Y:5.84, Z:-0.13 [[ 9.78721738e-01 -2.05181976e-01 -2.02870173e-03 5.84000657e+01] [ 2.05181534e-01 9.78723841e-01 -4.26212093e-04 5.83537997e+00] [ 2.07298979e-03 8.90908822e-07 9.99997851e-01 -1.27772655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68576923100001 meters 0.012911539581898565 Centerline is valid? [True, True] Translation: X:58.43, Y:5.84, Z:-0.13 [[ 9.79444817e-01 -2.01710864e-01 -7.60000391e-04 5.84272006e+01] [ 2.01710800e-01 9.79445112e-01 -1.59688867e-04 5.84279489e+00] [ 7.76589647e-04 3.10614603e-06 9.99999698e-01 -1.25981962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71576923100001 meters 0.014017604915653134 Centerline is valid? [True, True] Translation: X:58.46, Y:5.85, Z:-0.12 [[ 9.79931922e-01 -1.99332414e-01 -1.31122046e-04 5.84552155e+01] [ 1.99332412e-01 9.79931931e-01 -2.79130895e-05 5.85152030e+00] [ 1.34054664e-04 1.21605363e-06 9.99999991e-01 -1.24348968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745769231 meters 0.018929130342518995 Centerline is valid? [True, True] Translation: X:58.48, Y:5.86, Z:-0.12 [[ 9.80971939e-01 -1.94148488e-01 -6.47045675e-04 5.84810194e+01] [ 1.94148440e-01 9.80972153e-01 -1.36127420e-04 5.86485338e+00] [ 6.61162721e-04 7.91427044e-06 9.99999781e-01 -1.24989706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.775769231 meters 0.021204338026977514 Centerline is valid? [True, True] Translation: X:58.51, Y:5.87, Z:-0.13 [[ 9.81366461e-01 -1.92137998e-01 -1.69084961e-03 5.85085398e+01] [ 1.92137670e-01 9.81367917e-01 -3.56018050e-04 5.87323165e+00] [ 1.72775015e-03 2.45082702e-05 9.99998507e-01 -1.27343250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805769231 meters 0.022261443776207285 Centerline is valid? [True, True] Translation: X:58.54, Y:5.88, Z:-0.13 [[ 9.81707550e-01 -1.90374735e-01 -2.78325925e-03 5.85369357e+01] [ 1.90373838e-01 9.81711494e-01 -5.86297327e-04 5.87979083e+00] [ 2.84397380e-03 4.57127666e-05 9.99995955e-01 -1.29556270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.835769231 meters 0.025371949217838925 Centerline is valid? [True, True] Translation: X:58.56, Y:5.89, Z:-0.13 [[ 9.82306246e-01 -1.87243567e-01 -3.77952758e-03 5.85649221e+01] [ 1.87241890e-01 9.82313515e-01 -7.95817519e-04 5.88958187e+00] [ 3.86169273e-03 7.40506314e-05 9.99992541e-01 -1.30826755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865769231 meters 0.026766922967489275 Centerline is valid? [True, True] Translation: X:58.59, Y:5.90, Z:-0.13 [[ 9.82504549e-01 -1.86206171e-01 -3.47461815e-03 5.85921981e+01] [ 1.86204744e-01 9.82510690e-01 -7.32525028e-04 5.89912151e+00] [ 3.55025016e-03 7.27187881e-05 9.99993695e-01 -1.30546526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.895769231 meters 0.030652164423125836 Centerline is valid? [True, True] Translation: X:58.62, Y:5.92, Z:-0.13 [[ 9.82850817e-01 -1.84373028e-01 -3.29510773e-03 5.86165354e+01] [ 1.84371734e-01 9.82856338e-01 -6.94732354e-04 5.91574233e+00] [ 3.36670742e-03 7.52935361e-05 9.99994330e-01 -1.30358157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.925769231 meters 0.029756791780909484 Centerline is valid? [True, True] Translation: X:58.64, Y:5.92, Z:-0.13 [[ 9.82961630e-01 -1.83790844e-01 -2.71287920e-03 5.86439257e+01] [ 1.83789964e-01 9.82965372e-01 -5.72285726e-04 5.92304045e+00] [ 2.77184719e-03 6.39349393e-05 9.99996156e-01 -1.28807556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.955769231 meters 0.030641561067828272 Centerline is valid? [True, True] Translation: X:58.67, Y:5.93, Z:-0.13 [[ 9.83050542e-01 -1.83332850e-01 -8.35117715e-04 5.86701852e+01] [ 1.83332767e-01 9.83050897e-01 -1.76287130e-04 5.93410236e+00] [ 8.53282440e-04 2.01947177e-05 9.99999636e-01 -1.25432683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.985769231 meters 0.030570331945788884 Centerline is valid? [True, True] Translation: X:58.70, Y:5.94, Z:-0.13 [[ 9.82976233e-01 -1.83731065e-01 -7.88054799e-04 5.86968404e+01] [ 1.83730990e-01 9.82976549e-01 -1.66404679e-04 5.94176002e+00] [ 8.05213096e-04 1.87817555e-05 9.99999676e-01 -1.25838809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01576923100001 meters 0.029190372871372775 Centerline is valid? [True, True] Translation: X:58.72, Y:5.95, Z:-0.13 [[ 9.82633870e-01 -1.85543930e-01 -2.03175279e-03 5.87246611e+01] [ 1.85543439e-01 9.82635969e-01 -4.29381641e-04 5.95028937e+00] [ 2.07614253e-03 4.49465438e-05 9.99997844e-01 -1.28667860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04576923100001 meters 0.02793087811428936 Centerline is valid? [True, True] Translation: X:58.75, Y:5.96, Z:-0.13 [[ 9.82369800e-01 -1.86936578e-01 -2.07189825e-03 5.87527697e+01] [ 1.86936070e-01 9.82371983e-01 -4.38201523e-04 5.95689508e+00] [ 2.11729069e-03 4.31634259e-05 9.99997758e-01 -1.29155490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07576923100001 meters 0.026381488641533998 Centerline is valid? [True, True] Translation: X:58.78, Y:5.96, Z:-0.13 [[ 9.82087420e-01 -1.88414705e-01 -2.04916070e-03 5.87814198e+01] [ 1.88414210e-01 9.82089557e-01 -4.33686967e-04 5.96286000e+00] [ 2.09417232e-03 3.98275204e-05 9.99997806e-01 -1.29418009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105769231 meters 0.022542629542465487 Centerline is valid? [True, True] Translation: X:58.81, Y:5.97, Z:-0.13 [[ 9.81332753e-01 -1.92308106e-01 -1.90273515e-03 5.88092482e+01] [ 1.92307687e-01 9.81334597e-01 -4.02633041e-04 5.96633700e+00] [ 1.94464943e-03 2.92063944e-05 9.99998109e-01 -1.28776679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.135769231 meters 0.019575778932628858 Centerline is valid? [True, True] Translation: X:58.84, Y:5.97, Z:-0.13 [[ 9.80780164e-01 -1.95111614e-01 -1.31442247e-03 5.88384138e+01] [ 1.95111416e-01 9.80781045e-01 -2.78617941e-04 5.96921066e+00] [ 1.34352224e-03 1.68041209e-05 9.99999097e-01 -1.27552007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165769231 meters 0.01388622818175081 Centerline is valid? [True, True] Translation: X:58.87, Y:5.97, Z:-0.12 [[ 9.79457292e-01 -2.01650318e-01 7.50482080e-04 5.88682735e+01] [ 2.01650255e-01 9.79457579e-01 1.58819367e-04 5.96525354e+00] [-7.67091337e-04 -4.22188363e-06 9.99999706e-01 -1.22943126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.195769231 meters 0.011856989729365235 Centerline is valid? [True, True] Translation: X:58.90, Y:5.96, Z:-0.12 [[ 9.78564119e-01 -2.05935091e-01 1.73277815e-03 5.88978702e+01] [ 2.05934764e-01 9.78565653e-01 3.66861865e-04 5.96306953e+00] [-1.77118692e-03 -2.15859700e-06 9.99998431e-01 -1.20974080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225769231 meters 0.012247187358625447 Centerline is valid? [True, True] Translation: X:58.93, Y:5.96, Z:-0.12 [[ 9.77547011e-01 -2.10702855e-01 2.47950246e-03 5.89275069e+01] [ 2.10702200e-01 9.77550156e-01 5.25521422e-04 5.96013866e+00] [-2.53456688e-03 8.71472771e-06 9.99996788e-01 -1.20507261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.255769231 meters 0.02026420315940075 Centerline is valid? [True, True] Translation: X:58.96, Y:5.94, Z:-0.12 [[ 9.75489298e-01 -2.20041703e-01 1.50957401e-03 5.89600785e+01] [ 2.20041471e-01 9.75490466e-01 3.20169872e-04 5.94468569e+00] [-1.54302578e-03 1.98466020e-05 9.99998809e-01 -1.22271920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.285769231 meters 0.025301266514617057 Centerline is valid? [True, True] Translation: X:58.99, Y:5.94, Z:-0.12 [[ 9.74483631e-01 -2.24456732e-01 9.10290534e-04 5.89908265e+01] [ 2.24456649e-01 9.74484056e-01 1.93092346e-04 5.94072658e+00] [-9.30404489e-04 1.61554321e-05 9.99999567e-01 -1.22985676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.315769231 meters 0.03376557693387834 Centerline is valid? [True, True] Translation: X:59.02, Y:5.93, Z:-0.12 [[ 9.72857545e-01 -2.31402484e-01 1.04293748e-03 5.90244478e+01] [ 2.31402380e-01 9.72858104e-01 2.21299622e-04 5.92753215e+00] [-1.06583947e-03 2.60452093e-05 9.99999432e-01 -1.22775659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.345769231 meters 0.036986838478785915 Centerline is valid? [True, True] Translation: X:59.06, Y:5.93, Z:-0.12 [[ 9.72284132e-01 -2.33797926e-01 1.44779314e-03 5.90550399e+01] [ 2.33797727e-01 9.72285209e-01 3.07221836e-04 5.92537152e+00] [-1.47949569e-03 3.97838298e-05 9.99998905e-01 -1.21378944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.375769231 meters 0.03915349005692664 Centerline is valid? [True, True] Translation: X:59.08, Y:5.92, Z:-0.12 [[ 9.71907947e-01 -2.35353170e-01 1.95658874e-03 5.90849663e+01] [ 2.35352810e-01 9.71909915e-01 4.15228964e-04 5.92492167e+00] [-1.99935344e-03 5.69243276e-05 9.99998000e-01 -1.20536547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40576923100001 meters 0.039570374806350755 Centerline is valid? [True, True] Translation: X:59.11, Y:5.92, Z:-0.13 [[ 9.71850581e-01 -2.35597944e-01 -2.39937635e-04 5.91144472e+01] [ 2.35597939e-01 9.71850610e-01 -5.13215283e-05 5.92446873e+00] [ 2.45274784e-04 -6.65195527e-06 9.99999970e-01 -1.25266204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43576923100001 meters 0.033119757220332495 Centerline is valid? [True, True] Translation: X:59.14, Y:5.94, Z:-0.13 [[ 9.71955057e-01 -2.35160924e-01 -1.64532178e-03 5.91412089e+01] [ 2.35160668e-01 9.71956448e-01 -3.50337369e-04 5.93628011e+00] [ 1.68156678e-03 -4.64027923e-05 9.99998585e-01 -1.27746884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46576923100001 meters 0.038489146008184344 Centerline is valid? [True, True] Translation: X:59.17, Y:5.93, Z:-0.13 [[ 9.72178871e-01 -2.34227268e-01 -2.41466876e-03 5.91715064e+01] [ 2.34226713e-01 9.72181867e-01 -5.13902518e-04 5.92869233e+00] [ 2.46786717e-03 -6.59747576e-05 9.99996953e-01 -1.30166591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.495769231 meters 0.032462831993019456 Centerline is valid? [True, True] Translation: X:59.20, Y:5.94, Z:-0.13 [[ 9.72250942e-01 -2.33936311e-01 -1.38128941e-03 5.91990702e+01] [ 2.33936129e-01 9.72251923e-01 -2.94444373e-04 5.93989622e+00] [ 1.41184251e-03 -3.68596777e-05 9.99999003e-01 -1.26481665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525769231 meters 0.032462831993019456 Centerline is valid? [True, True] Translation: X:59.23, Y:5.95, Z:-0.13 [[ 9.72207910e-01 -2.34115082e-01 -1.38121983e-03 5.92259284e+01] [ 2.34114900e-01 9.72208891e-01 -2.94770849e-04 5.94581127e+00] [ 1.41184450e-03 -3.67855901e-05 9.99999003e-01 -1.26540731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.555769231 meters 0.03715935858609221 Centerline is valid? [True, True] Translation: X:59.26, Y:5.94, Z:-0.13 [[ 9.72405128e-01 -2.33298206e-01 -4.62582516e-04 5.92550979e+01] [ 2.33298185e-01 9.72405238e-01 -9.87390983e-05 5.94259611e+00] [ 4.72853316e-04 -1.19052561e-05 9.99999888e-01 -1.25615862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585769231 meters 0.02730123082330786 Centerline is valid? [True, True] Translation: X:59.28, Y:5.96, Z:-0.13 [[ 9.72881036e-01 -2.31304979e-01 -7.04481963e-04 5.92824433e+01] [ 2.31304931e-01 9.72881291e-01 -1.50638133e-04 5.95540162e+00] [ 7.20220671e-04 -1.63971690e-05 9.99999741e-01 -1.25521507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.615769231 meters 0.0332536674013387 Centerline is valid? [True, True] Translation: X:59.31, Y:5.95, Z:-0.13 [[ 9.73151166e-01 -2.30163376e-01 -1.27567679e-03 5.93118655e+01] [ 2.30163217e-01 9.73152002e-01 -2.72366874e-04 5.94915588e+00] [ 1.30411630e-03 -2.85597332e-05 9.99999149e-01 -1.28681283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645769231 meters 0.0301534195281615 Centerline is valid? [True, True] Translation: X:59.34, Y:5.95, Z:-0.13 [[ 9.73792266e-01 -2.27421236e-01 -2.86420589e-03 5.93409775e+01] [ 2.27420420e-01 9.73796477e-01 -6.11596245e-04 5.95374026e+00] [ 2.92824358e-03 -5.58112155e-05 9.99995711e-01 -1.32536416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.675769231 meters 0.02258535869868929 Centerline is valid? [True, True] Translation: X:59.37, Y:5.97, Z:-0.13 [[ 9.74289988e-01 -2.25276805e-01 -3.06283186e-03 5.93672081e+01] [ 2.25275860e-01 9.74294801e-01 -6.54728019e-04 5.96716344e+00] [ 3.13159620e-03 -5.20871280e-05 9.99995095e-01 -1.30429920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.705769231 meters 0.020930858675875567 Centerline is valid? [True, True] Translation: X:59.40, Y:5.97, Z:-0.13 [[ 9.75434239e-01 -2.20273024e-01 -2.80011967e-03 5.93958349e+01] [ 2.20272212e-01 9.75438257e-01 -5.99016371e-04 5.96927704e+00] [ 2.86329100e-03 -3.24874767e-05 9.99995900e-01 -1.30975004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.735769231 meters 0.015355248340891652 Centerline is valid? [True, True] Translation: X:59.42, Y:5.98, Z:-0.13 [[ 9.76078751e-01 -2.17394644e-01 -3.13701902e-03 5.94232201e+01] [ 2.17393608e-01 9.76083792e-01 -6.71554269e-04 5.98162838e+00] [ 3.20798572e-03 -2.64780322e-05 9.99994854e-01 -1.29783570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76576923100001 meters 0.013384612175887788 Centerline is valid? [True, True] Translation: X:59.45, Y:5.99, Z:-0.13 [[ 9.76772964e-01 -2.14246945e-01 -3.58108684e-03 5.94511378e+01] [ 2.14245572e-01 9.76779528e-01 -7.67209688e-04 5.99033441e+00] [ 3.66230464e-03 -1.78423165e-05 9.99993294e-01 -1.30470710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79576923100001 meters 0.012148213284910527 Centerline is valid? [True, True] Translation: X:59.48, Y:6.00, Z:-0.13 [[ 9.78327419e-01 -2.07056541e-01 -1.74617961e-03 5.94772989e+01] [ 2.07056203e-01 9.78328978e-01 -3.74159619e-04 6.00275576e+00] [ 1.78581031e-03 4.49329550e-06 9.99998405e-01 -1.27657623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82576923100001 meters 0.013381969814667709 Centerline is valid? [True, True] Translation: X:59.51, Y:6.01, Z:-0.12 [[ 9.79018260e-01 -2.03772521e-01 -8.49979022e-05 5.95050964e+01] [ 2.03772520e-01 9.79018263e-01 -1.85880886e-05 6.01224263e+00] [ 8.70022403e-05 8.77841410e-07 9.99999996e-01 -1.23936267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.855769231 meters 0.017465614768948746 Centerline is valid? [True, True] Translation: X:59.53, Y:6.03, Z:-0.12 [[ 9.80196070e-01 -1.98017776e-01 2.15039378e-03 5.95310233e+01] [ 1.98017241e-01 9.80198429e-01 4.60992224e-04 6.02606709e+00] [-2.19909726e-03 -2.60477231e-05 9.99997582e-01 -1.19907211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885769231 meters 0.020931435677067144 Centerline is valid? [True, True] Translation: X:59.56, Y:6.04, Z:-0.12 [[ 9.80643871e-01 -1.95793014e-01 1.64152322e-03 5.95568414e+01] [ 1.95792699e-01 9.80645244e-01 3.51973925e-04 6.03892053e+00] [-1.67866597e-03 -2.37628110e-05 9.99998591e-01 -1.21175527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.915769231 meters 0.022852333832713463 Centerline is valid? [True, True] Translation: X:59.58, Y:6.05, Z:-0.12 [[ 9.80986979e-01 -1.94070904e-01 1.01508829e-03 5.95835943e+01] [ 1.94070783e-01 9.80987504e-01 2.17554967e-04 6.04989050e+00] [-1.03801002e-03 -1.64196100e-05 9.99999461e-01 -1.23208763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945769231 meters 0.02380518257492628 Centerline is valid? [True, True] Translation: X:59.61, Y:6.06, Z:-0.12 [[ 9.81138096e-01 -1.93306471e-01 8.02521520e-04 5.96108618e+01] [ 1.93306395e-01 9.81138424e-01 1.72056868e-04 6.06080922e+00] [-8.20644406e-04 -1.36790056e-05 9.99999663e-01 -1.24591132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.975769231 meters 0.022070564006621777 Centerline is valid? [True, True] Translation: X:59.64, Y:6.07, Z:-0.12 [[ 9.80953003e-01 -1.94242565e-01 1.01567696e-03 5.96388041e+01] [ 1.94242444e-01 9.80953529e-01 2.18011671e-04 6.06596295e+00] [-1.03867904e-03 -1.65716289e-05 9.99999460e-01 -1.23546236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005769231 meters 0.019449618889215134 Centerline is valid? [True, True] Translation: X:59.67, Y:6.07, Z:-0.12 [[ 9.80448138e-01 -1.96777473e-01 2.74597947e-04 5.96663473e+01] [ 1.96777464e-01 9.80448176e-01 5.87240196e-05 6.07320253e+00] [-2.80784620e-04 -3.54116797e-06 9.99999961e-01 -1.23946967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.035769231 meters 0.017887935062754313 Centerline is valid? [True, True] Translation: X:59.69, Y:6.08, Z:-0.12 [[ 9.80206635e-01 -1.97977149e-01 -4.47725685e-05 5.96943938e+01] [ 1.97977149e-01 9.80206636e-01 -1.00156836e-05 6.07936100e+00] [ 4.58692452e-05 9.53494076e-07 9.99999999e-01 -1.24711142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.065769231 meters 0.017664893276319666 Centerline is valid? [True, True] Translation: X:59.72, Y:6.09, Z:-0.13 [[ 9.79785170e-01 -2.00052306e-01 -3.10109774e-04 5.97208623e+01] [ 2.00052295e-01 9.79785219e-01 -6.69341365e-05 6.09014102e+00] [ 3.17231301e-04 3.54290216e-06 9.99999950e-01 -1.25557560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.095769231 meters 0.015334715053952033 Centerline is valid? [True, True] Translation: X:59.75, Y:6.09, Z:-0.12 [[ 9.79407419e-01 -2.01893778e-01 9.94650866e-05 5.97495526e+01] [ 2.01893777e-01 9.79407424e-01 2.10748552e-05 6.09442046e+00] [-1.01671726e-04 -5.59487573e-07 9.99999995e-01 -1.24861683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.125769231 meters 0.014089538146428774 Centerline is valid? [True, True] Translation: X:59.78, Y:6.10, Z:-0.13 [[ 9.78886068e-01 -2.04406561e-01 1.53794196e-04 5.97773314e+01] [ 2.04406558e-01 9.78886080e-01 3.30349848e-05 6.09927227e+00] [-1.57299566e-04 -9.00943992e-07 9.99999988e-01 -1.25012725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15576923100001 meters 0.011772076295111261 Centerline is valid? [True, True] Translation: X:59.81, Y:6.10, Z:-0.13 [[ 9.77587509e-01 -2.10523645e-01 -1.56725018e-03 5.98078454e+01] [ 2.10523373e-01 9.77588766e-01 -3.38609861e-04 6.09580407e+00] [ 1.60341155e-03 1.07797710e-06 9.99998715e-01 -1.27734039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18576923100001 meters 0.012465431829457582 Centerline is valid? [True, True] Translation: X:59.84, Y:6.10, Z:-0.13 [[ 9.76795309e-01 -2.14163889e-01 -2.18020631e-03 5.98368573e+01] [ 2.14163371e-01 9.76797742e-01 -4.71275262e-04 6.09590823e+00] [ 2.23055075e-03 -6.58086786e-06 9.99997512e-01 -1.29149328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21576923100001 meters 0.016107072893060695 Centerline is valid? [True, True] Translation: X:59.87, Y:6.09, Z:-0.13 [[ 9.75305857e-01 -2.20847103e-01 -2.24541288e-03 5.98671684e+01] [ 2.20846569e-01 9.75308442e-01 -4.85758464e-04 6.09146512e+00] [ 2.29724849e-03 -2.21286572e-05 9.99997361e-01 -1.29892723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245769231 meters 0.018063350192259155 Centerline is valid? [True, True] Translation: X:59.89, Y:6.09, Z:-0.13 [[ 9.74774933e-01 -2.23182342e-01 -1.86361529e-03 5.98949889e+01] [ 2.23181979e-01 9.74776714e-01 -4.03102653e-04 6.09293482e+00] [ 1.90657418e-03 -2.29909857e-05 9.99998182e-01 -1.28972694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.275769231 meters 0.019140414503760646 Centerline is valid? [True, True] Translation: X:59.92, Y:6.10, Z:-0.13 [[ 9.74488996e-01 -2.24431142e-01 -1.36360963e-03 5.99231854e+01] [ 2.24430949e-01 9.74489950e-01 -2.95068896e-04 6.09578867e+00] [ 1.39504653e-03 -1.84948113e-05 9.99999027e-01 -1.27731888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305769231 meters 0.019176685184136396 Centerline is valid? [True, True] Translation: X:59.95, Y:6.10, Z:-0.13 [[ 9.74512011e-01 -2.24334545e-01 -5.94190056e-04 5.99503169e+01] [ 2.24334508e-01 9.74512192e-01 -1.28684122e-04 6.10064878e+00] [ 6.07913748e-04 -7.89311160e-06 9.99999815e-01 -1.25915016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.335769231 meters 0.018562591324072154 Centerline is valid? [True, True] Translation: X:59.98, Y:6.11, Z:-0.13 [[ 9.74592166e-01 -2.23985523e-01 -7.71187743e-04 5.99773299e+01] [ 2.23985461e-01 9.74592471e-01 -1.67412025e-04 6.10791710e+00] [ 7.89091639e-04 -9.57639445e-06 9.99999689e-01 -1.26050105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365769231 meters 0.019298885645185265 Centerline is valid? [True, True] Translation: X:60.00, Y:6.11, Z:-0.13 [[ 9.74476371e-01 -2.24484399e-01 -1.59887405e-03 6.00046717e+01] [ 2.24484133e-01 9.74477683e-01 -3.46460656e-04 6.11278837e+00] [ 1.63584209e-03 -2.13041304e-05 9.99998662e-01 -1.28545591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.395769231 meters 0.02013605828381167 Centerline is valid? [True, True] Translation: X:60.03, Y:6.12, Z:-0.13 [[ 9.74289635e-01 -2.25294732e-01 -1.41087050e-03 6.00324903e+01] [ 2.25294525e-01 9.74290657e-01 -3.05821650e-04 6.11652222e+00] [ 1.44349795e-03 -1.99025343e-05 9.99998958e-01 -1.28608357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.425769231 meters 0.021275892245284107 Centerline is valid? [True, True] Translation: X:60.06, Y:6.12, Z:-0.13 [[ 9.73995566e-01 -2.26564917e-01 -9.87808315e-04 6.00611665e+01] [ 2.26564816e-01 9.73996067e-01 -2.14549705e-04 6.12002996e+00] [ 1.01073085e-03 -1.48321474e-05 9.99999489e-01 -1.27726465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.455769231 meters 0.022685931795933263 Centerline is valid? [True, True] Translation: X:60.09, Y:6.13, Z:-0.13 [[ 9.73387771e-01 -2.29162730e-01 -8.30719147e-04 6.00894480e+01] [ 2.29162660e-01 9.73388125e-01 -1.80640785e-04 6.12556562e+00] [ 8.50008289e-04 -1.45362779e-05 9.99999639e-01 -1.26929457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.485769231 meters 0.024927953819348907 Centerline is valid? [True, True] Translation: X:60.12, Y:6.13, Z:-0.13 [[ 9.73206584e-01 -2.29927679e-01 -1.48594931e-03 6.01172165e+01] [ 2.29927454e-01 9.73207718e-01 -3.22689860e-04 6.12976614e+00] [ 1.52033267e-03 -2.76166463e-05 9.99998844e-01 -1.28364060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51576923100001 meters 0.024354499816136625 Centerline is valid? [True, True] Translation: X:60.14, Y:6.14, Z:-0.13 [[ 9.73044206e-01 -2.30613682e-01 -1.51733467e-03 6.01445200e+01] [ 2.30613448e-01 9.73045389e-01 -3.29597066e-04 6.13762275e+00] [ 1.55244510e-03 -2.92052658e-05 9.99998795e-01 -1.28524921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54576923100001 meters 0.024772001055436685 Centerline is valid? [True, True] Translation: X:60.17, Y:6.14, Z:-0.13 [[ 9.72885791e-01 -2.31285593e-01 -4.61539752e-04 6.01725051e+01] [ 2.31285571e-01 9.72885900e-01 -1.00658534e-04 6.14317311e+00] [ 4.72306386e-04 -8.81822796e-06 9.99999888e-01 -1.26310431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57576923100001 meters 0.029512119831640843 Centerline is valid? [True, True] Translation: X:60.20, Y:6.14, Z:-0.12 [[ 9.72326213e-01 -2.33625242e-01 9.90755099e-04 6.02010488e+01] [ 2.33625144e-01 9.72326718e-01 2.15231490e-04 6.14153200e+00] [-1.01362116e-03 2.21900831e-05 9.99999486e-01 -1.23737156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605769231 meters 0.02878204924004167 Centerline is valid? [True, True] Translation: X:60.23, Y:6.15, Z:-0.12 [[ 9.71946650e-01 -2.35199907e-01 8.43920367e-04 6.02296833e+01] [ 2.35199837e-01 9.71947017e-01 1.83227644e-04 6.14690329e+00] [-8.63341008e-04 2.04024376e-05 9.99999627e-01 -1.23848976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.635769231 meters 0.0350107220626966 Centerline is valid? [True, True] Translation: X:60.26, Y:6.14, Z:-0.13 [[ 9.71221168e-01 -2.38178931e-01 -4.88563663e-04 6.02604444e+01] [ 2.38178908e-01 9.71221291e-01 -1.06428419e-04 6.13896826e+00] [ 4.99852439e-04 -1.30000267e-05 9.99999875e-01 -1.27448798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665769231 meters 0.03672306189262383 Centerline is valid? [True, True] Translation: X:60.29, Y:6.14, Z:-0.13 [[ 9.70900371e-01 -2.39482001e-01 -9.16619725e-04 6.02893619e+01] [ 2.39481919e-01 9.70900804e-01 -1.99935522e-04 6.14047627e+00] [ 9.37827787e-04 -2.53963785e-05 9.99999560e-01 -1.28217855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.695769231 meters 0.033292973686407074 Centerline is valid? [True, True] Translation: X:60.32, Y:6.15, Z:-0.13 [[ 9.70665964e-01 -2.40431144e-01 -6.71785310e-04 6.03172543e+01] [ 2.40431100e-01 9.70666196e-01 -1.46762111e-04 6.14919976e+00] [ 6.87365473e-04 -1.90610954e-05 9.99999764e-01 -1.27397429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725769231 meters 0.03837521689563369 Centerline is valid? [True, True] Translation: X:60.35, Y:6.14, Z:-0.13 [[ 9.70597847e-01 -2.40706525e-01 4.32946375e-04 6.03466938e+01] [ 2.40706507e-01 9.70597944e-01 9.42498287e-05 6.14292515e+00] [-4.42903410e-04 1.27343286e-05 9.99999902e-01 -1.25462034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.755769231 meters 0.03463090745228369 Centerline is valid? [True, True] Translation: X:60.37, Y:6.15, Z:-0.13 [[ 9.70638862e-01 -2.40540750e-01 5.88698022e-04 6.03747475e+01] [ 2.40540717e-01 9.70639041e-01 1.28074865e-04 6.15108304e+00] [-6.02220507e-04 1.72914033e-05 9.99999819e-01 -1.25019030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.785769231 meters 0.03172790865403254 Centerline is valid? [True, True] Translation: X:60.40, Y:6.16, Z:-0.13 [[ 9.71016133e-01 -2.39011038e-01 -1.17988567e-03 6.04030884e+01] [ 2.39010901e-01 9.71016850e-01 -2.57967349e-04 6.15536100e+00] [ 1.20734591e-03 -3.15150802e-05 9.99999271e-01 -1.28882055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.815769231 meters 0.031407529733116044 Centerline is valid? [True, True] Translation: X:60.43, Y:6.16, Z:-0.13 [[ 9.71337166e-01 -2.37694042e-01 -2.37734688e-03 6.04309132e+01] [ 2.37693482e-01 9.71340074e-01 -5.19322281e-04 6.15917947e+00] [ 2.43265210e-03 -6.06428243e-05 9.99997039e-01 -1.32505860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.845769231 meters 0.029039546961892065 Centerline is valid? [True, True] Translation: X:60.46, Y:6.17, Z:-0.13 [[ 9.71719247e-01 -2.36112568e-01 -3.54395038e-03 6.04589622e+01] [ 2.36111311e-01 9.71725706e-01 -7.74938290e-04 6.16583741e+00] [ 3.62672035e-03 -8.37443192e-05 9.99993420e-01 -1.34786671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.875769231 meters 0.026818906208381073 Centerline is valid? [True, True] Translation: X:60.49, Y:6.17, Z:-0.14 [[ 9.72523417e-01 -2.32768487e-01 -4.12735099e-03 6.04863300e+01] [ 2.32766752e-01 9.72532172e-01 -9.02468825e-04 6.16998766e+00] [ 4.22404792e-03 -8.30380187e-05 9.99991075e-01 -1.35477607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90576923100001 meters 0.02500856791871765 Centerline is valid? [True, True] Translation: X:60.51, Y:6.18, Z:-0.14 [[ 9.72932562e-01 -2.31056217e-01 -3.90579526e-03 6.05146945e+01] [ 2.31054646e-01 9.72940399e-01 -8.54903332e-04 6.17668462e+00] [ 3.99763673e-03 -7.06888537e-05 9.99992007e-01 -1.35001832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93576923100001 meters 0.02165315665099725 Centerline is valid? [True, True] Translation: X:60.54, Y:6.18, Z:-0.13 [[ 9.73690020e-01 -2.27857503e-01 -2.95026359e-03 6.05419772e+01] [ 2.27856592e-01 9.73694488e-01 -6.45790879e-04 6.18256584e+00] [ 3.01980370e-03 -4.34368751e-05 9.99995439e-01 -1.33632621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96576923100001 meters 0.020093602225353745 Centerline is valid? [True, True] Translation: X:60.57, Y:6.19, Z:-0.13 [[ 9.74008292e-01 -2.26506515e-01 -1.62650113e-03 6.05702089e+01] [ 2.26506236e-01 9.74009650e-01 -3.56574269e-04 6.18863890e+00] [ 1.66499419e-03 -2.11063539e-05 9.99998614e-01 -1.32165642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.995769231 meters 0.017124803337228878 Centerline is valid? [True, True] Translation: X:60.60, Y:6.20, Z:-0.13 [[ 9.74658599e-01 -2.23697593e-01 -3.35862073e-05 6.05975599e+01] [ 2.23697593e-01 9.74658600e-01 -7.70664908e-06 6.19626470e+00] [ 3.44590446e-05 -1.80193814e-09 9.99999999e-01 -1.28522317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025769231 meters 0.014869076189813847 Centerline is valid? [True, True] Translation: X:60.63, Y:6.21, Z:-0.13 [[ 9.75180427e-01 -2.21411494e-01 2.92521734e-04 6.06254669e+01] [ 2.21411485e-01 9.75180471e-01 6.38411482e-05 6.20578098e+00] [-2.99396646e-04 2.51103341e-06 9.99999955e-01 -1.27492157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.055769231 meters 0.012869809873913873 Centerline is valid? [True, True] Translation: X:60.65, Y:6.22, Z:-0.13 [[ 9.75827266e-01 -2.18543035e-01 2.99091593e-04 6.06517690e+01] [ 2.18543025e-01 9.75827311e-01 6.54956935e-05 6.21600056e+00] [-3.06175373e-04 1.45189817e-06 9.99999953e-01 -1.27540334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085769231 meters 0.011840294419103765 Centerline is valid? [True, True] Translation: X:60.68, Y:6.23, Z:-0.13 [[ 9.76999698e-01 -2.13240232e-01 -4.40824796e-04 6.06767656e+01] [ 2.13240210e-01 9.76999797e-01 -9.68586247e-05 6.23160057e+00] [ 4.51339892e-04 6.29275114e-07 9.99999898e-01 -1.29430576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.115769231 meters 0.01257047365481323 Centerline is valid? [True, True] Translation: X:60.70, Y:6.24, Z:-0.13 [[ 9.77458593e-01 -2.11124683e-01 -1.03271908e-03 6.07040442e+01] [ 2.11124561e-01 9.77459139e-01 -2.27134720e-04 6.24250493e+00] [ 1.05739445e-03 3.98242133e-06 9.99999441e-01 -1.30697699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145769231 meters 0.014755594021543868 Centerline is valid? [True, True] Translation: X:60.73, Y:6.26, Z:-0.13 [[ 9.78180911e-01 -2.07752346e-01 -1.03384827e-03 6.07303279e+01] [ 2.07752221e-01 9.78181457e-01 -2.27556417e-04 6.25616007e+00] [ 1.05856659e-03 7.80706792e-06 9.99999440e-01 -1.30388595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.175769231 meters 0.015189177153664342 Centerline is valid? [True, True] Translation: X:60.76, Y:6.27, Z:-0.13 [[ 9.78435596e-01 -2.06551448e-01 -5.33051472e-04 6.07577777e+01] [ 2.06551415e-01 9.78435741e-01 -1.17601994e-04 6.26502759e+00] [ 5.45847474e-04 4.96344131e-06 9.99999851e-01 -1.28671795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.205769231 meters 0.016109560810628018 Centerline is valid? [True, True] Translation: X:60.79, Y:6.28, Z:-0.13 [[ 9.78631467e-01 -2.05622106e-01 -3.86619145e-05 6.07853355e+01] [ 2.05622106e-01 9.78631468e-01 -8.86870894e-06 6.27519237e+00] [ 3.96593687e-05 7.29453365e-07 9.99999999e-01 -1.27910339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.235769231 meters 0.017783595029206074 Centerline is valid? [True, True] Translation: X:60.81, Y:6.29, Z:-0.13 [[ 9.79045380e-01 -2.03642057e-01 2.35975236e-04 6.08116315e+01] [ 2.03642051e-01 9.79045409e-01 5.16225263e-05 6.28959105e+00] [-2.41542988e-04 -2.48631495e-06 9.99999971e-01 -1.27507053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26576923100001 meters 0.01906814096258484 Centerline is valid? [True, True] Translation: X:60.84, Y:6.30, Z:-0.13 [[ 9.79259277e-01 -2.02610803e-01 3.61880231e-04 6.08386231e+01] [ 2.02610787e-01 9.79259344e-01 7.94222959e-05 6.30047138e+00] [-3.70466412e-04 -4.45418165e-06 9.99999931e-01 -1.27645971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29576923100001 meters 0.025456480602333742 Centerline is valid? [True, True] Translation: X:60.86, Y:6.32, Z:-0.12 [[ 9.79643856e-01 -2.00743229e-01 2.66175066e-04 6.08643436e+01] [ 2.00743221e-01 9.79643892e-01 5.83685659e-05 6.31692987e+00] [-2.72473872e-04 -3.74756692e-06 9.99999963e-01 -1.24194137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32576923100001 meters 0.022018754422423712 Centerline is valid? [True, True] Translation: X:60.89, Y:6.33, Z:-0.13 [[ 9.79780916e-01 -2.00073063e-01 3.54922931e-04 6.08913362e+01] [ 2.00073048e-01 9.79780980e-01 7.80113329e-05 6.32918919e+00] [-3.63354703e-04 -5.42350252e-06 9.99999934e-01 -1.27896293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35576923100001 meters 0.02277085493328632 Centerline is valid? [True, True] Translation: X:60.92, Y:6.34, Z:-0.13 [[ 9.79873557e-01 -1.99619166e-01 1.08978640e-05 6.09185464e+01] [ 1.99619166e-01 9.79873557e-01 2.05486490e-06 6.34118224e+00] [-1.10887192e-05 1.61914737e-07 1.00000000e+00 -1.28405027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385769231 meters 0.02243686653007963 Centerline is valid? [True, True] Translation: X:60.94, Y:6.36, Z:-0.13 [[ 9.80070144e-01 -1.98651114e-01 -4.98767309e-04 6.09444477e+01] [ 1.98651083e-01 9.80070270e-01 -1.10373026e-04 6.35520950e+00] [ 5.10752736e-04 9.09264080e-06 9.99999870e-01 -1.28141112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.415769231 meters 0.02243686653007963 Centerline is valid? [True, True] Translation: X:60.97, Y:6.36, Z:-0.13 [[ 9.80032061e-01 -1.98838907e-01 -4.98685054e-04 6.09712500e+01] [ 1.98838877e-01 9.80032188e-01 -1.10744948e-04 6.36132634e+00] [ 5.10747809e-04 9.37562406e-06 9.99999870e-01 -1.28200169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445769231 meters 0.024522652997050746 Centerline is valid? [True, True] Translation: X:61.00, Y:6.37, Z:-0.13 [[ 9.79943777e-01 -1.99274163e-01 -4.46018698e-05 6.09966524e+01] [ 1.99274163e-01 9.79943778e-01 -1.00008865e-05 6.37473687e+00] [ 4.57002431e-05 9.12306229e-07 9.99999999e-01 -1.28335903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.475769231 meters 0.020791462911100407 Centerline is valid? [True, True] Translation: X:61.02, Y:6.38, Z:-0.13 [[ 9.79539335e-01 -2.01247172e-01 1.50596694e-03 6.10243232e+01] [ 2.01246897e-01 9.79540492e-01 3.33153868e-04 6.38389275e+00] [-1.54220188e-03 -2.32661438e-05 9.99998811e-01 -1.25979502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505769231 meters 0.01914634384376448 Centerline is valid? [True, True] Translation: X:61.05, Y:6.39, Z:-0.13 [[ 9.79063397e-01 -2.03549995e-01 1.50447918e-03 6.10518393e+01] [ 2.03549723e-01 9.79064553e-01 3.33086518e-04 6.39059557e+00] [-1.54078199e-03 -1.98764975e-05 9.99998813e-01 -1.26126538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.535769231 meters 0.017288228221647894 Centerline is valid? [True, True] Translation: X:61.08, Y:6.40, Z:-0.13 [[ 9.78386961e-01 -2.06778207e-01 1.31400891e-03 6.10794467e+01] [ 2.06778003e-01 9.78387844e-01 2.91186121e-04 6.39569658e+00] [-1.34582129e-03 -1.31845664e-05 9.99999094e-01 -1.26948971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.565769231 meters 0.012158579352542227 Centerline is valid? [True, True] Translation: X:61.11, Y:6.39, Z:-0.13 [[ 9.76603383e-01 -2.15047736e-01 5.50299358e-04 6.11093128e+01] [ 2.15047702e-01 9.76603538e-01 1.21743398e-04 6.39266172e+00] [-5.63604942e-04 -5.54402227e-07 9.99999841e-01 -1.28792149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.595769231 meters 0.012629635812648487 Centerline is valid? [True, True] Translation: X:61.14, Y:6.39, Z:-0.13 [[ 9.75608300e-01 -2.19518665e-01 1.50907104e-05 6.11379689e+01] [ 2.19518665e-01 9.75608300e-01 3.16045045e-06 6.39323975e+00] [-1.54164002e-05 2.29330907e-07 1.00000000e+00 -1.29658204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.625769231 meters 0.01870460620835644 Centerline is valid? [True, True] Translation: X:61.17, Y:6.39, Z:-0.13 [[ 9.73495058e-01 -2.28707878e-01 -2.81925329e-04 6.11693767e+01] [ 2.28707869e-01 9.73495098e-01 -6.26332135e-05 6.38803731e+00] [ 2.88777635e-04 -3.50541739e-06 9.99999958e-01 -1.30426439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65576923100001 meters 0.022511530924251066 Centerline is valid? [True, True] Translation: X:61.20, Y:6.39, Z:-0.13 [[ 9.72552802e-01 -2.32682262e-01 1.12687028e-04 6.11990783e+01] [ 2.32682261e-01 9.72552808e-01 2.49423449e-05 6.38864678e+00] [-1.15397726e-04 1.96252496e-06 9.99999993e-01 -1.29884263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68576923100001 meters 0.027235591756250524 Centerline is valid? [True, True] Translation: X:61.23, Y:6.39, Z:-0.13 [[ 9.71006408e-01 -2.39047627e-01 1.66976364e-03 6.12299195e+01] [ 2.39047343e-01 9.71007843e-01 3.70711070e-04 6.38701152e+00] [-1.70997119e-03 3.91897368e-05 9.99998537e-01 -1.26745602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71576923100001 meters 0.03248411549742798 Centerline is valid? [True, True] Translation: X:61.26, Y:6.38, Z:-0.13 [[ 9.70362762e-01 -2.41645907e-01 1.83465906e-03 6.12598171e+01] [ 2.41645569e-01 9.70364495e-01 4.07335932e-04 6.38439066e+00] [-1.87871907e-03 4.80736123e-05 9.99998234e-01 -1.26612639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745769231 meters 0.03288577217432024 Centerline is valid? [True, True] Translation: X:61.29, Y:6.39, Z:-0.13 [[ 9.69761418e-01 -2.44048636e-01 1.74797537e-03 6.12894206e+01] [ 2.44048332e-01 9.69762992e-01 3.88182584e-04 6.38806054e+00] [-1.78985726e-03 5.01459821e-05 9.99998397e-01 -1.26793103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.775769231 meters 0.043885992238995065 Centerline is valid? [True, True] Translation: X:61.32, Y:6.37, Z:-0.13 [[ 9.68894907e-01 -2.47469146e-01 1.29639229e-03 6.13219463e+01] [ 2.47468982e-01 9.68895774e-01 2.87906200e-04 6.37485951e+00] [-1.32731692e-03 4.18660296e-05 9.99999118e-01 -1.27435537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805769231 meters 0.03766266791724555 Centerline is valid? [True, True] Translation: X:61.35, Y:6.39, Z:-0.13 [[ 9.68754198e-01 -2.48020062e-01 1.16283018e-03 6.13492331e+01] [ 2.48019931e-01 9.68754895e-01 2.58152801e-04 6.38707670e+00] [-1.19052450e-03 3.83184504e-05 9.99999291e-01 -1.27756746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.835769231 meters 0.033691691812618024 Centerline is valid? [True, True] Translation: X:61.38, Y:6.39, Z:-0.13 [[ 9.69660387e-01 -2.44455847e-01 -2.67626371e-04 6.13778089e+01] [ 2.44455840e-01 9.69660424e-01 -5.95546050e-05 6.39420587e+00] [ 2.74065172e-04 -7.67508818e-06 9.99999962e-01 -1.30218371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865769231 meters 0.03106066819070373 Centerline is valid? [True, True] Translation: X:61.41, Y:6.40, Z:-0.13 [[ 9.70438476e-01 -2.41342442e-01 -1.72921738e-03 6.14058671e+01] [ 2.41342140e-01 9.70440015e-01 -3.84562210e-04 6.40230802e+00] [ 1.77091292e-03 -4.41390579e-05 9.99998431e-01 -1.32570542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.895769231 meters 0.029169393901303287 Centerline is valid? [True, True] Translation: X:61.43, Y:6.41, Z:-0.13 [[ 9.71368812e-01 -2.37561441e-01 -2.68197976e-03 6.14338822e+01] [ 2.37560699e-01 9.71372513e-01 -5.96483935e-04 6.41014139e+00] [ 2.74690300e-03 -5.77270940e-05 9.99996226e-01 -1.34007697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.925769231 meters 0.01819040196912664 Centerline is valid? [True, True] Translation: X:61.46, Y:6.43, Z:-0.13 [[ 9.73666902e-01 -2.27967302e-01 -1.91643201e-03 6.14599394e+01] [ 2.27966905e-01 9.73668788e-01 -4.26234764e-04 6.43347197e+00] [ 1.96313762e-03 -2.18723897e-05 9.99998073e-01 -1.31250860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.955769231 meters 0.012171523510129062 Centerline is valid? [True, True] Translation: X:61.48, Y:6.46, Z:-0.13 [[ 9.75878300e-01 -2.18314900e-01 3.83675307e-04 6.14833606e+01] [ 2.18314883e-01 9.75878376e-01 8.52260059e-05 6.45553601e+00] [-3.93026542e-04 5.91820139e-07 9.99999923e-01 -1.28132505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.985769231 meters 0.012405439779590948 Centerline is valid? [True, True] Translation: X:61.51, Y:6.47, Z:-0.13 [[ 9.76660121e-01 -2.14790295e-01 3.71257484e-04 6.15093732e+01] [ 2.14790279e-01 9.76660191e-01 8.22567424e-05 6.46838227e+00] [-3.80260355e-04 -5.94381325e-07 9.99999928e-01 -1.28413885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01576923100001 meters 0.01442897369600234 Centerline is valid? [True, True] Translation: X:61.54, Y:6.48, Z:-0.13 [[ 9.77346273e-01 -2.11646267e-01 -3.47499513e-04 6.15350062e+01] [ 2.11646253e-01 9.77346335e-01 -7.75169265e-05 6.48163723e+00] [ 3.56033543e-04 2.21390958e-06 9.99999937e-01 -1.30376810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04576923100001 meters 0.01620661354467975 Centerline is valid? [True, True] Translation: X:61.56, Y:6.49, Z:-0.13 [[ 9.77905938e-01 -2.09043011e-01 -9.97741778e-04 6.15620659e+01] [ 2.09042893e-01 9.77906447e-01 -2.22724061e-04 6.49401970e+00] [ 1.02225703e-03 9.23235452e-06 9.99999477e-01 -1.31348857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07576923100001 meters 0.01939937710225606 Centerline is valid? [True, True] Translation: X:61.59, Y:6.51, Z:-0.13 [[ 9.78616739e-01 -2.05692189e-01 -4.86642341e-05 6.15883780e+01] [ 2.05692189e-01 9.78616740e-01 -1.12032806e-05 6.51036779e+00] [ 4.99280614e-05 9.53865070e-07 9.99999999e-01 -1.29783065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10576923100001 meters 0.019829480508521787 Centerline is valid? [True, True] Translation: X:61.61, Y:6.52, Z:-0.13 [[ 9.78677396e-01 -2.05397753e-01 1.52213114e-03 6.16145658e+01] [ 2.05397473e-01 9.78678580e-01 3.39467062e-04 6.51894805e+00] [-1.55940291e-03 -1.95868509e-05 9.99998784e-01 -1.26609946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.135769231 meters 0.018717057402762857 Centerline is valid? [True, True] Translation: X:61.64, Y:6.52, Z:-0.13 [[ 9.78410366e-01 -2.06668324e-01 1.16608067e-03 6.16427835e+01] [ 2.06668161e-01 9.78411061e-01 2.60002353e-04 6.52448744e+00] [-1.19464047e-03 -1.33972515e-05 9.99999286e-01 -1.27737706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165769231 meters 0.01745613356567201 Centerline is valid? [True, True] Translation: X:61.67, Y:6.53, Z:-0.13 [[ 9.78074789e-01 -2.08253178e-01 5.66804141e-04 6.16703097e+01] [ 2.08253140e-01 9.78074953e-01 1.26458938e-04 6.52840992e+00] [-5.80712410e-04 -5.64755722e-06 9.99999831e-01 -1.29949233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.195769231 meters 0.013841784934472983 Centerline is valid? [True, True] Translation: X:61.70, Y:6.52, Z:-0.13 [[ 9.76979145e-01 -2.13334779e-01 -1.48219683e-04 6.17002983e+01] [ 2.13334776e-01 9.76979156e-01 -3.34670473e-05 6.52375489e+00] [ 1.51947226e-04 1.07619439e-06 9.99999988e-01 -1.33025283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225769231 meters 0.012411024339783167 Centerline is valid? [True, True] Translation: X:61.73, Y:6.52, Z:-0.13 [[ 9.76385242e-01 -2.16036658e-01 1.49515203e-04 6.17301571e+01] [ 2.16036656e-01 9.76385253e-01 3.30787077e-05 6.52303203e+00] [-1.53130653e-04 3.20244477e-09 9.99999988e-01 -1.31953995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.255769231 meters 0.012114852360262197 Centerline is valid? [True, True] Translation: X:61.76, Y:6.52, Z:-0.13 [[ 9.75924798e-01 -2.18106603e-01 5.46204982e-04 6.17581863e+01] [ 2.18106569e-01 9.75924951e-01 1.22031642e-04 6.52347337e+00] [-5.59670977e-04 3.71892863e-08 9.99999843e-01 -1.30456807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.285769231 meters 0.012322176432637633 Centerline is valid? [True, True] Translation: X:61.79, Y:6.52, Z:-0.13 [[ 9.75444871e-01 -2.20243595e-01 2.49521067e-04 6.17873630e+01] [ 2.20243588e-01 9.75444903e-01 5.57222866e-05 6.52159630e+00] [-2.55666529e-04 6.01396415e-07 9.99999967e-01 -1.29503166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.315769231 meters 0.012278431876107583 Centerline is valid? [True, True] Translation: X:61.81, Y:6.53, Z:-0.13 [[ 9.75472467e-01 -2.20121239e-01 3.24756649e-04 6.18143692e+01] [ 2.20121228e-01 9.75472521e-01 7.25410959e-05 6.52579834e+00] [-3.32759023e-04 7.23990311e-07 9.99999945e-01 -1.29937662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.345769231 meters 0.012067923988313712 Centerline is valid? [True, True] Translation: X:61.84, Y:6.53, Z:-0.13 [[ 9.76047505e-01 -2.17556164e-01 7.63702655e-04 6.18419466e+01] [ 2.17556097e-01 9.76047804e-01 1.70711608e-04 6.53214566e+00] [-7.82549661e-04 -4.74469970e-07 9.99999694e-01 -1.28769840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.375769231 meters 0.012990403212369234 Centerline is valid? [True, True] Translation: X:61.87, Y:6.54, Z:-0.13 [[ 9.76591539e-01 -2.15097880e-01 1.36684379e-03 6.18684009e+01] [ 2.15097662e-01 9.76592495e-01 3.06245524e-04 6.54104396e+00] [-1.40072215e-03 -5.07188282e-06 9.99999019e-01 -1.28285638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40576923100001 meters 0.01827786366460231 Centerline is valid? [True, True] Translation: X:61.89, Y:6.56, Z:-0.13 [[ 9.77919622e-01 -2.08980278e-01 6.76178990e-04 6.18943739e+01] [ 2.08980223e-01 9.77919855e-01 1.51340784e-04 6.55613871e+00] [-6.92876099e-04 -6.69108589e-06 9.99999760e-01 -1.29246729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43576923100001 meters 0.019007564539135543 Centerline is valid? [True, True] Translation: X:61.92, Y:6.56, Z:-0.13 [[ 9.78495207e-01 -2.06268779e-01 -5.67102848e-04 6.19225461e+01] [ 2.06268740e-01 9.78495371e-01 -1.27670035e-04 6.56400404e+00] [ 5.81241854e-04 7.94892780e-06 9.99999831e-01 -1.30528715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46576923100001 meters 0.021831970779889447 Centerline is valid? [True, True] Translation: X:61.95, Y:6.57, Z:-0.13 [[ 9.79036069e-01 -2.03682135e-01 -1.40143236e-03 6.19487033e+01] [ 2.03681893e-01 9.79037071e-01 -3.14813092e-04 6.57496167e+00] [ 1.43617604e-03 2.27669747e-05 9.99998968e-01 -1.32351741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.495769231 meters 0.029165060936272576 Centerline is valid? [True, True] Translation: X:61.97, Y:6.59, Z:-0.13 [[ 9.79714223e-01 -2.00397071e-01 -1.02690296e-03 6.19738735e+01] [ 2.00396939e-01 9.79714761e-01 -2.30699074e-04 6.59334284e+00] [ 1.05230341e-03 2.02309535e-05 9.99999446e-01 -1.32527671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525769231 meters 0.03089366943722246 Centerline is valid? [True, True] Translation: X:62.00, Y:6.60, Z:-0.13 [[ 9.79880403e-01 -1.99585532e-01 1.01986056e-04 6.20001078e+01] [ 1.99585530e-01 9.79880409e-01 2.27946618e-05 6.60297282e+00] [-1.04483623e-04 -1.98110135e-06 9.99999995e-01 -1.30354977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.555769231 meters 0.02456122708849135 Centerline is valid? [True, True] Translation: X:62.03, Y:6.60, Z:-0.13 [[ 9.79896614e-01 -1.99497111e-01 1.87838874e-03 6.20284316e+01] [ 1.99496668e-01 9.79898414e-01 4.21908064e-04 6.60253766e+00] [-1.92479958e-03 -3.86939891e-05 9.99998147e-01 -1.27051453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585769231 meters 0.024574477291024882 Centerline is valid? [True, True] Translation: X:62.06, Y:6.61, Z:-0.13 [[ 9.79804783e-01 -1.99946127e-01 2.03294132e-03 6.20550718e+01] [ 1.99945609e-01 9.79806891e-01 4.57080179e-04 6.60947954e+00] [-2.08328133e-03 -4.13716554e-05 9.99997829e-01 -1.26980896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.615769231 meters 0.029772926399097382 Centerline is valid? [True, True] Translation: X:62.08, Y:6.62, Z:-0.13 [[ 9.79627155e-01 -2.00818120e-01 1.64933474e-03 6.20807949e+01] [ 2.00817780e-01 9.79628543e-01 3.70911046e-04 6.62393750e+00] [-1.69022104e-03 -3.21387918e-05 9.99998571e-01 -1.28098609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.645769231 meters 0.023752129470693984 Centerline is valid? [True, True] Translation: X:62.11, Y:6.62, Z:-0.13 [[ 9.79571550e-01 -2.01092964e-01 1.09476878e-03 6.21097865e+01] [ 2.01092815e-01 9.79572161e-01 2.46081128e-04 6.62228734e+00] [-1.12189020e-03 -2.09039374e-05 9.99999370e-01 -1.28487023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.675769231 meters 0.029971677297537653 Centerline is valid? [True, True] Translation: X:62.13, Y:6.64, Z:-0.13 [[ 9.79534127e-01 -2.01276748e-01 7.50903501e-04 6.21341793e+01] [ 2.01276678e-01 9.79534415e-01 1.68893429e-04 6.63789986e+00] [-7.69530142e-04 -1.42975158e-05 9.99999704e-01 -1.29786118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.705769231 meters 0.02640062318039255 Centerline is valid? [True, True] Translation: X:62.16, Y:6.64, Z:-0.13 [[ 9.79524369e-01 -2.01322225e-01 1.17171257e-03 6.21618081e+01] [ 2.01322053e-01 9.79525069e-01 2.63819897e-04 6.64087204e+00] [-1.20083464e-03 -2.25264378e-05 9.99999279e-01 -1.29102241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.735769231 meters 0.024912834516571745 Centerline is valid? [True, True] Translation: X:62.19, Y:6.65, Z:-0.13 [[ 9.79516464e-01 -2.01355928e-01 1.81298880e-03 6.21897356e+01] [ 2.01355516e-01 9.79518141e-01 4.08764068e-04 6.64631745e+00] [-1.85816249e-03 -3.53358393e-05 9.99998273e-01 -1.27689960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76576923100001 meters 0.025215603638285764 Centerline is valid? [True, True] Translation: X:62.22, Y:6.66, Z:-0.13 [[ 9.79560072e-01 -2.01134060e-01 2.67495519e-03 6.22174442e+01] [ 2.01133161e-01 9.79563723e-01 6.03817971e-04 6.65522984e+00] [-2.74173742e-03 -5.34537843e-05 9.99996240e-01 -1.26248479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79576923100001 meters 0.025159315892042903 Centerline is valid? [True, True] Translation: X:62.24, Y:6.66, Z:-0.13 [[ 9.79488603e-01 -2.01488097e-01 2.15015195e-03 6.22442865e+01] [ 2.01487516e-01 9.79490962e-01 4.85656557e-04 6.66210012e+00] [-2.20390841e-03 -4.24662879e-05 9.99997570e-01 -1.27671324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82576923100001 meters 0.02368874124892871 Centerline is valid? [True, True] Translation: X:62.27, Y:6.67, Z:-0.13 [[ 9.79082017e-01 -2.03465975e-01 2.35822304e-05 6.22715337e+01] [ 2.03465975e-01 9.79082018e-01 5.20449869e-06 6.66710080e+00] [-2.41478761e-05 -2.97449595e-07 1.00000000e+00 -1.31651982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85576923100001 meters 0.022023194316150997 Centerline is valid? [True, True] Translation: X:62.30, Y:6.67, Z:-0.13 [[ 9.78662617e-01 -2.05473673e-01 -2.29729216e-04 6.22998817e+01] [ 2.05473666e-01 9.78662643e-01 -5.23434348e-05 6.67135429e+00] [ 2.35582599e-04 4.02325868e-06 9.99999972e-01 -1.32531367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885769231 meters 0.019720049847390144 Centerline is valid? [True, True] Translation: X:62.33, Y:6.67, Z:-0.13 [[ 9.78222878e-01 -2.07557203e-01 8.93089916e-05 6.23292346e+01] [ 2.07557202e-01 9.78222882e-01 1.98611510e-05 6.67401820e+00] [-9.14864242e-05 -8.91907884e-07 9.99999996e-01 -1.31696960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.915769231 meters 0.016088843665110937 Centerline is valid? [True, True] Translation: X:62.36, Y:6.67, Z:-0.13 [[ 9.77323546e-01 -2.11748357e-01 1.14907183e-03 6.23586429e+01] [ 2.11748198e-01 9.77324221e-01 2.60065339e-04 6.67360925e+00] [-1.17808414e-03 -1.08540895e-05 9.99999306e-01 -1.29710598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945769231 meters 0.015051505978187751 Centerline is valid? [True, True] Translation: X:62.39, Y:6.68, Z:-0.13 [[ 9.76911937e-01 -2.13639341e-01 1.13993680e-03 6.23860368e+01] [ 2.13639185e-01 9.76912602e-01 2.58267893e-04 6.67777781e+00] [-1.16879481e-03 -8.76981797e-06 9.99999317e-01 -1.29076322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.975769231 meters 0.013423369379351445 Centerline is valid? [True, True] Translation: X:62.42, Y:6.68, Z:-0.13 [[ 9.76277947e-01 -2.16521004e-01 1.55873577e-04 6.24151095e+01] [ 2.16521001e-01 9.76277960e-01 3.50073274e-05 6.67980883e+00] [-1.59755760e-04 -4.26978755e-07 9.99999987e-01 -1.31050080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005769231 meters 0.012914361837193503 Centerline is valid? [True, True] Translation: X:62.44, Y:6.68, Z:-0.13 [[ 9.76003927e-01 -2.17752911e-01 5.86310114e-05 6.24432843e+01] [ 2.17752910e-01 9.76003929e-01 1.29003613e-05 6.68380857e+00] [-6.00331887e-05 1.76270129e-07 9.99999998e-01 -1.31609115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.035769231 meters 0.01209645053691884 Centerline is valid? [True, True] Translation: X:62.47, Y:6.68, Z:-0.13 [[ 9.75346385e-01 -2.20678589e-01 6.24516336e-04 6.24732350e+01] [ 2.20678544e-01 9.75346585e-01 1.41575815e-04 6.68412091e+00] [-6.40362627e-04 -2.68103650e-07 9.99999795e-01 -1.31377802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.065769231 meters 0.012107898847210556 Centerline is valid? [True, True] Translation: X:62.50, Y:6.69, Z:-0.13 [[ 9.74870154e-01 -2.22772542e-01 7.60080062e-04 6.25009723e+01] [ 2.22772476e-01 9.74870450e-01 1.72482072e-04 6.68630716e+00] [-7.79403862e-04 1.17729313e-06 9.99999696e-01 -1.30820319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.095769231 meters 0.012489488887102053 Centerline is valid? [True, True] Translation: X:62.53, Y:6.69, Z:-0.13 [[ 9.74419036e-01 -2.24737143e-01 8.71311472e-04 6.25287398e+01] [ 2.24737056e-01 9.74419425e-01 1.98125695e-04 6.68803737e+00] [-8.93549027e-04 2.75852672e-06 9.99999601e-01 -1.30316446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.125769231 meters 0.013593025595346739 Centerline is valid? [True, True] Translation: X:62.56, Y:6.69, Z:-0.13 [[ 9.73779247e-01 -2.27494908e-01 2.11415456e-04 6.25582482e+01] [ 2.27494903e-01 9.73779270e-01 4.77769901e-05 6.68793074e+00] [-2.16741010e-04 1.57169709e-06 9.99999977e-01 -1.30063326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15576923100001 meters 0.013774162613060314 Centerline is valid? [True, True] Translation: X:62.59, Y:6.69, Z:-0.13 [[ 9.73667888e-01 -2.27970844e-01 -3.71197544e-04 6.25856716e+01] [ 2.27970828e-01 9.73667959e-01 -8.50166132e-05 6.69323903e+00] [ 3.80804465e-04 -1.84426529e-06 9.99999927e-01 -1.30644521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18576923100001 meters 0.013272006792688262 Centerline is valid? [True, True] Translation: X:62.61, Y:6.70, Z:-0.13 [[ 9.73888281e-01 -2.27027740e-01 1.47786648e-04 6.26127619e+01] [ 2.27027737e-01 9.73888292e-01 3.35615561e-05 6.70119491e+00] [-1.51547090e-04 8.66462106e-07 9.99999989e-01 -1.30263317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21576923100001 meters 0.012796536320244618 Centerline is valid? [True, True] Translation: X:62.64, Y:6.71, Z:-0.13 [[ 9.74041511e-01 -2.26366782e-01 1.10218218e-03 6.26395458e+01] [ 2.26366643e-01 9.74042135e-01 2.51066259e-04 6.70959946e+00] [-1.13040495e-03 4.94832212e-06 9.99999361e-01 -1.28964977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245769231 meters 0.012135155808733809 Centerline is valid? [True, True] Translation: X:62.67, Y:6.72, Z:-0.13 [[ 9.74420393e-01 -2.24714416e-01 2.88604354e-03 6.26661431e+01] [ 2.24713451e-01 9.74424667e-01 6.58565416e-04 6.71924959e+00] [-2.96022116e-03 6.81323112e-06 9.99995619e-01 -1.26181680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.275769231 meters 0.012084736993310826 Centerline is valid? [True, True] Translation: X:62.69, Y:6.73, Z:-0.13 [[ 9.74486136e-01 -2.24429057e-01 2.89283455e-03 6.26931636e+01] [ 2.24428086e-01 9.74490430e-01 6.60403451e-04 6.72699992e+00] [-2.96725330e-03 5.67931205e-06 9.99995598e-01 -1.25717418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305769231 meters 0.012055568609717363 Centerline is valid? [True, True] Translation: X:62.72, Y:6.73, Z:-0.13 [[ 9.74496559e-01 -2.24379662e-01 3.19735306e-03 6.27191657e+01] [ 2.24378473e-01 9.74501805e-01 7.30472016e-04 6.73426728e+00] [-3.27972939e-03 5.57472872e-06 9.99994622e-01 -1.25209811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.335769231 meters 0.012055568609717363 Centerline is valid? [True, True] Translation: X:62.75, Y:6.74, Z:-0.13 [[ 9.74455086e-01 -2.24559708e-01 3.19726742e-03 6.27459203e+01] [ 2.24558519e-01 9.74460331e-01 7.30846679e-04 6.74059172e+00] [-3.27972899e-03 5.79637186e-06 9.99994622e-01 -1.25268863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365769231 meters 0.011982190749970312 Centerline is valid? [True, True] Translation: X:62.77, Y:6.75, Z:-0.13 [[ 9.74538600e-01 -2.24204602e-01 2.61024791e-03 6.27731824e+01] [ 2.24203807e-01 9.74542096e-01 5.97096955e-04 6.74864956e+00] [-2.67766836e-03 3.33348911e-06 9.99996415e-01 -1.26275929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.395769231 meters 0.012064431498649735 Centerline is valid? [True, True] Translation: X:62.80, Y:6.76, Z:-0.13 [[ 9.74551045e-01 -2.24157792e-01 1.88273471e-03 6.28001369e+01] [ 2.24157378e-01 9.74552864e-01 4.30933371e-04 6.75531490e+00] [-1.93142158e-03 2.06230881e-06 9.99998135e-01 -1.28495153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.425769231 meters 0.012162682036789928 Centerline is valid? [True, True] Translation: X:62.83, Y:6.76, Z:-0.13 [[ 9.74444051e-01 -2.24630029e-01 3.76384711e-04 6.28267629e+01] [ 2.24630013e-01 9.74444124e-01 8.60848487e-05 6.76141567e+00] [-3.86103112e-04 6.62433777e-07 9.99999925e-01 -1.31334171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.455769231 meters 0.012186978739101318 Centerline is valid? [True, True] Translation: X:62.85, Y:6.77, Z:-0.13 [[ 9.74333725e-01 -2.25108126e-01 3.53371578e-04 6.28540679e+01] [ 2.25108111e-01 9.74333789e-01 8.06516494e-05 6.76779815e+00] [-3.62457210e-04 9.65186590e-07 9.99999934e-01 -1.31240681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.485769231 meters 0.012225820650660763 Centerline is valid? [True, True] Translation: X:62.88, Y:6.77, Z:-0.13 [[ 9.74296091e-01 -2.25268833e-01 1.03891180e-03 6.28808920e+01] [ 2.25268707e-01 9.74296645e-01 2.38107023e-04 6.77408616e+00] [-1.06584637e-03 2.04757721e-06 9.99999432e-01 -1.30128513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51576923100001 meters 0.012042696935199333 Centerline is valid? [True, True] Translation: X:62.91, Y:6.78, Z:-0.13 [[ 9.74398279e-01 -2.24819172e-01 2.08185273e-03 6.29077315e+01] [ 2.24818664e-01 9.74400503e-01 4.77946629e-04 6.78110062e+00] [-2.13600991e-03 2.32897609e-06 9.99997719e-01 -1.28024452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54576923100001 meters 0.01191284262039062 Centerline is valid? [True, True] Translation: X:62.93, Y:6.79, Z:-0.13 [[ 9.74572941e-01 -2.24065369e-01 1.51402061e-03 6.29344635e+01] [ 2.24065099e-01 9.74574117e-01 3.47767521e-04 6.78922465e+00] [-1.55344796e-03 3.14363600e-07 9.99998793e-01 -1.29306069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57576923100001 meters 0.012634521955956232 Centerline is valid? [True, True] Translation: X:62.96, Y:6.80, Z:-0.13 [[ 9.75080841e-01 -2.21848703e-01 -7.11980733e-04 6.29604868e+01] [ 2.21848643e-01 9.75081101e-01 -1.64195937e-04 6.80166178e+00] [ 7.30665613e-04 2.15235246e-06 9.99999733e-01 -1.33851581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60576923100001 meters 0.0132775633690687 Centerline is valid? [True, True] Translation: X:62.99, Y:6.81, Z:-0.13 [[ 9.75372043e-01 -2.20564636e-01 -7.86326800e-04 6.29869985e+01] [ 2.20564562e-01 9.75372360e-01 -1.81504519e-04 6.81201564e+00] [ 8.06994905e-04 3.59860783e-06 9.99999674e-01 -1.34032642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.635769231 meters 0.01365028595901828 Centerline is valid? [True, True] Translation: X:63.01, Y:6.82, Z:-0.13 [[ 9.75518505e-01 -2.19917329e-01 1.25061966e-04 6.30136922e+01] [ 2.19917327e-01 9.75518513e-01 2.84304034e-05 6.82151173e+00] [-1.28252602e-04 -2.31091261e-07 9.99999992e-01 -1.32244115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665769231 meters 0.013557385877103707 Centerline is valid? [True, True] Translation: X:63.04, Y:6.83, Z:-0.13 [[ 9.75492414e-01 -2.20017106e-01 2.64997251e-03 6.30402076e+01] [ 2.20016258e-01 9.75496014e-01 6.10948941e-04 6.83073147e+00] [-2.71945683e-03 -1.29390229e-05 9.99996302e-01 -1.27088782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.695769231 meters 0.013281622299971914 Centerline is valid? [True, True] Translation: X:63.07, Y:6.84, Z:-0.13 [[ 9.75352266e-01 -2.20636177e-01 2.76310947e-03 6.30670649e+01] [ 2.20635256e-01 9.75356180e-01 6.37570195e-04 6.83741852e+00] [-2.83568694e-03 -1.22161706e-05 9.99995979e-01 -1.26921205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725769231 meters 0.012605349605058633 Centerline is valid? [True, True] Translation: X:63.09, Y:6.84, Z:-0.13 [[ 9.74932086e-01 -2.22496697e-01 1.62703531e-03 6.30941361e+01] [ 2.22496380e-01 9.74933444e-01 3.75573001e-04 6.84360164e+00] [-1.66981489e-03 -4.14870367e-06 9.99998606e-01 -1.30124212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.755769231 meters 0.012393696409037612 Centerline is valid? [True, True] Translation: X:63.12, Y:6.85, Z:-0.13 [[ 9.74612376e-01 -2.23896306e-01 1.07783045e-03 6.31212927e+01] [ 2.23896167e-01 9.74612972e-01 2.48868354e-04 6.84893707e+00] [-1.10618824e-03 -1.22807166e-06 9.99999388e-01 -1.31328257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.785769231 meters 0.012154476445208163 Centerline is valid? [True, True] Translation: X:63.15, Y:6.85, Z:-0.13 [[ 9.74319526e-01 -2.25168462e-01 7.90102016e-04 6.31481475e+01] [ 2.25168388e-01 9.74319847e-01 1.82613838e-04 6.85405377e+00] [-8.10930952e-04 -1.82306652e-08 9.99999671e-01 -1.31596206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.815769231 meters 0.012532575970998923 Centerline is valid? [True, True] Translation: X:63.18, Y:6.86, Z:-0.13 [[ 9.73726399e-01 -2.27719546e-01 8.41002580e-04 6.31760240e+01] [ 2.27719463e-01 9.73726763e-01 1.94327405e-04 6.85842995e+00] [-8.63158868e-04 2.29093146e-06 9.99999627e-01 -1.31222111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.845769231 meters 0.012762225655639226 Centerline is valid? [True, True] Translation: X:63.20, Y:6.87, Z:-0.13 [[ 9.73577438e-01 -2.28356105e-01 6.78761012e-04 6.32035253e+01] [ 2.28356051e-01 9.73577675e-01 1.56890735e-04 6.86504175e+00] [-6.96653525e-04 2.25390408e-06 9.99999757e-01 -1.31755250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.875769231 meters 0.01299672049128018 Centerline is valid? [True, True] Translation: X:63.23, Y:6.87, Z:-0.13 [[ 9.73448515e-01 -2.28904283e-01 9.04405265e-04 6.32293840e+01] [ 2.28904187e-01 9.73448935e-01 2.09465511e-04 6.87157355e+00] [-9.28339895e-04 3.11826106e-06 9.99999569e-01 -1.32635139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90576923100001 meters 0.013189215482519221 Centerline is valid? [True, True] Translation: X:63.26, Y:6.88, Z:-0.13 [[ 9.73315600e-01 -2.29467758e-01 1.13651627e-03 6.32566029e+01] [ 2.29467607e-01 9.73316263e-01 2.63260072e-04 6.87765263e+00] [-1.16659946e-03 4.55853256e-06 9.99999320e-01 -1.31983392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93576923100001 meters 0.0140115043024976 Centerline is valid? [True, True] Translation: X:63.29, Y:6.88, Z:-0.13 [[ 9.72926395e-01 -2.31109017e-01 1.68861324e-03 6.32856350e+01] [ 2.31108685e-01 9.72927861e-01 3.91647644e-04 6.88199245e+00] [-1.73341217e-03 9.20885519e-06 9.99998498e-01 -1.30665449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96576923100001 meters 0.01499262642748986 Centerline is valid? [True, True] Translation: X:63.31, Y:6.89, Z:-0.13 [[ 9.72606820e-01 -2.32445736e-01 2.22543065e-03 6.33144156e+01] [ 2.32445162e-01 9.72609366e-01 5.16612682e-04 6.88636865e+00] [-2.28455911e-03 1.48295716e-05 9.99997390e-01 -1.29891495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.995769231 meters 0.01615785581431873 Centerline is valid? [True, True] Translation: X:63.34, Y:6.89, Z:-0.13 [[ 9.72244388e-01 -2.33955112e-01 2.41992458e-03 6.33435398e+01] [ 2.33954438e-01 9.72247399e-01 5.62172813e-04 6.88947235e+00] [-2.48428859e-03 1.95827335e-05 9.99996914e-01 -1.29487791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025769231 meters 0.017701456392886113 Centerline is valid? [True, True] Translation: X:63.37, Y:6.89, Z:-0.13 [[ 9.71535594e-01 -2.36889772e-01 1.35131372e-03 6.33723769e+01] [ 2.36889565e-01 9.71536533e-01 3.14062760e-04 6.89028830e+00] [-1.38724891e-03 1.49889700e-05 9.99999038e-01 -1.31616463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.055769231 meters 0.01890680929021411 Centerline is valid? [True, True] Translation: X:63.40, Y:6.89, Z:-0.14 [[ 9.71288444e-01 -2.37903592e-01 -7.99375909e-04 6.34001389e+01] [ 2.37903519e-01 9.71288773e-01 -1.86032732e-04 6.89328371e+00] [ 8.20682701e-04 -9.48289924e-06 9.99999663e-01 -1.35698837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085769231 meters 0.019806667099060173 Centerline is valid? [True, True] Translation: X:63.43, Y:6.90, Z:-0.14 [[ 9.71495132e-01 -2.37055024e-01 -1.45733962e-03 6.34276732e+01] [ 2.37054782e-01 9.71496225e-01 -3.39137625e-04 6.89764569e+00] [ 1.49619422e-03 -1.59987735e-05 9.99998881e-01 -1.37934192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.115769231 meters 0.017953091085773233 Centerline is valid? [True, True] Translation: X:63.46, Y:6.91, Z:-0.14 [[ 9.71873760e-01 -2.35498090e-01 -1.43002658e-03 6.34554892e+01] [ 2.35497855e-01 9.71874812e-01 -3.33202223e-04 6.90689601e+00] [ 1.46827530e-03 -1.29376951e-05 9.99998922e-01 -1.36887166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.145769231 meters 0.013808163938766577 Centerline is valid? [True, True] Translation: X:63.48, Y:6.92, Z:-0.14 [[ 9.72979751e-01 -2.30888959e-01 -8.31944655e-04 6.34818563e+01] [ 2.30888877e-01 9.72980107e-01 -1.94108040e-04 6.92174021e+00] [ 8.54283003e-04 -3.22357473e-06 9.99999635e-01 -1.35639299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.175769231 meters 0.012437814190166704 Centerline is valid? [True, True] Translation: X:63.51, Y:6.93, Z:-0.14 [[ 9.73589698e-01 -2.28302937e-01 -9.32392367e-04 6.35084840e+01] [ 2.28302833e-01 9.73590144e-01 -2.17684090e-04 6.93373545e+00] [ 9.57465936e-04 -9.32831505e-07 9.99999542e-01 -1.35119865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.205769231 meters 0.013118677525720317 Centerline is valid? [True, True] Translation: X:63.53, Y:6.95, Z:-0.14 [[ 9.74644951e-01 -2.23754582e-01 -1.05159710e-03 6.35345736e+01] [ 2.23754447e-01 9.74645519e-01 -2.45649784e-04 6.94689826e+00] [ 1.07989967e-03 4.12179327e-06 9.99999417e-01 -1.36214178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.235769231 meters 0.013835516864906678 Centerline is valid? [True, True] Translation: X:63.56, Y:6.95, Z:-0.14 [[ 9.74877373e-01 -2.22739648e-01 -1.07572147e-03 6.35611016e+01] [ 2.22739507e-01 9.74877966e-01 -2.51115094e-04 6.95444692e+00] [ 1.10463045e-03 5.20075419e-06 9.99999390e-01 -1.37170119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26576923100001 meters 0.014261852898942544 Centerline is valid? [True, True] Translation: X:63.59, Y:6.96, Z:-0.14 [[ 9.75020683e-01 -2.22109725e-01 -1.39180907e-03 6.35887786e+01] [ 2.22109487e-01 9.75021677e-01 -3.25315778e-04 6.96100668e+00] [ 1.42929982e-03 8.05561342e-06 9.99998979e-01 -1.37722056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29576923100001 meters 0.015423150690591022 Centerline is valid? [True, True] Translation: X:63.62, Y:6.97, Z:-0.14 [[ 9.75417647e-01 -2.20356116e-01 -1.89620578e-03 6.36163012e+01] [ 2.20355670e-01 9.75419490e-01 -4.43417630e-04 6.96904546e+00] [ 1.94730586e-03 1.46776854e-05 9.99998104e-01 -1.38272139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32576923100001 meters 0.019886443196568623 Centerline is valid? [True, True] Translation: X:63.64, Y:6.98, Z:-0.14 [[ 9.76509083e-01 -2.15460107e-01 -2.63668218e-03 6.36408862e+01] [ 2.15459228e-01 9.76512643e-01 -6.16420067e-04 6.98469244e+00] [ 2.70756741e-03 3.38422871e-05 9.99996334e-01 -1.39207909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35576923100001 meters 0.02320121661382901 Centerline is valid? [True, True] Translation: X:63.67, Y:7.00, Z:-0.14 [[ 9.77175031e-01 -2.12420142e-01 -2.57707468e-03 6.36672135e+01] [ 2.12419290e-01 9.77178429e-01 -6.03115504e-04 6.99790943e+00] [ 2.64637567e-03 4.19290375e-05 9.99996497e-01 -1.39586487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385769231 meters 0.02697178743923023 Centerline is valid? [True, True] Translation: X:63.69, Y:7.01, Z:-0.14 [[ 9.77893638e-01 -2.09089960e-01 -2.32825134e-03 6.36938464e+01] [ 2.09089256e-01 9.77896409e-01 -5.44725150e-04 7.01203983e+00] [ 2.39068518e-03 4.58709184e-05 9.99997141e-01 -1.39333640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.415769231 meters 0.030373669590071754 Centerline is valid? [True, True] Translation: X:63.72, Y:7.03, Z:-0.14 [[ 9.78566485e-01 -2.05923164e-01 -1.81236693e-03 6.37206091e+01] [ 2.05922732e-01 9.78568162e-01 -4.24107852e-04 7.02578476e+00] [ 1.86085821e-03 4.18101804e-05 9.99998268e-01 -1.38425748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445769231 meters 0.03566106331809107 Centerline is valid? [True, True] Translation: X:63.75, Y:7.05, Z:-0.14 [[ 9.79503921e-01 -2.01425091e-01 -2.35124560e-05 6.37468486e+01] [ 2.01425091e-01 9.79503922e-01 -5.52762318e-06 7.04573964e+00] [ 2.41439449e-05 6.78329985e-07 1.00000000e+00 -1.35718764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.475769231 meters 0.03443427396711567 Centerline is valid? [True, True] Translation: X:63.77, Y:7.06, Z:-0.14 [[ 9.79670902e-01 -2.00611206e-01 2.60724049e-04 6.37744399e+01] [ 2.00611197e-01 9.79670937e-01 6.06910262e-05 7.05511859e+00] [-2.67599073e-04 -7.15306882e-06 9.99999964e-01 -1.35305397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505769231 meters 0.03383860424673334 Centerline is valid? [True, True] Translation: X:63.80, Y:7.06, Z:-0.14 [[ 9.79445915e-01 -2.01706950e-01 8.12435902e-05 6.38025401e+01] [ 2.01706949e-01 9.79445918e-01 1.86810167e-05 7.06308880e+00] [-8.33417937e-05 -1.90964877e-06 9.99999997e-01 -1.36226950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.535769231 meters 0.03192818881092109 Centerline is valid? [True, True] Translation: X:63.83, Y:7.07, Z:-0.14 [[ 9.79083390e-01 -2.03459218e-01 -2.48248948e-04 6.38311399e+01] [ 2.03459210e-01 9.79083422e-01 -5.85413073e-05 7.06927041e+00] [ 2.54967198e-04 6.80828677e-06 9.99999967e-01 -1.37325590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.565769231 meters 0.030050639910791783 Centerline is valid? [True, True] Translation: X:63.86, Y:7.08, Z:-0.14 [[ 9.78671576e-01 -2.05430349e-01 -5.63601998e-04 6.38592705e+01] [ 2.05430307e-01 9.78671738e-01 -1.32605288e-04 7.07536825e+00] [ 5.78822498e-04 1.39960950e-05 9.99999832e-01 -1.38066823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.595769231 meters 0.027674296935654003 Centerline is valid? [True, True] Translation: X:63.89, Y:7.08, Z:-0.14 [[ 9.77887374e-01 -2.09130746e-01 -7.83632514e-04 6.38877534e+01] [ 2.09130665e-01 9.77887688e-01 -1.83948625e-04 7.08060132e+00] [ 8.04773901e-04 1.59994493e-05 9.99999676e-01 -1.38735935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.625769231 meters 0.023632587542729164 Centerline is valid? [True, True] Translation: X:63.92, Y:7.08, Z:-0.14 [[ 9.77139401e-01 -2.12597160e-01 -1.01892522e-03 6.39170788e+01] [ 2.12597026e-01 9.77139932e-01 -2.39262692e-04 7.08235560e+00] [ 1.04649909e-03 1.71725307e-05 9.99999452e-01 -1.38337588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65576923100001 meters 0.022644418488683732 Centerline is valid? [True, True] Translation: X:63.94, Y:7.09, Z:-0.14 [[ 9.76919645e-01 -2.13606095e-01 -6.65850954e-04 6.39442539e+01] [ 2.13606038e-01 9.76919872e-01 -1.56452937e-04 7.08866220e+00] [ 6.83902330e-04 1.06121638e-05 9.99999766e-01 -1.37526083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68576923100001 meters 0.02239766851775821 Centerline is valid? [True, True] Translation: X:63.97, Y:7.10, Z:-0.14 [[ 9.76787498e-01 -2.14208698e-01 -9.04545482e-04 6.39710033e+01] [ 2.14208592e-01 9.76787916e-01 -2.12936168e-04 7.09644536e+00] [ 9.29161876e-04 1.42319718e-05 9.99999568e-01 -1.37611234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71576923100001 meters 0.022835208453473005 Centerline is valid? [True, True] Translation: X:64.00, Y:7.10, Z:-0.14 [[ 9.76829500e-01 -2.14013582e-01 -1.52114693e-03 6.39974537e+01] [ 2.14013284e-01 9.76830685e-01 -3.57635798e-04 7.10484298e+00] [ 1.56244192e-03 2.38035471e-05 9.99998779e-01 -1.38223176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745769231 meters 0.02556124254794092 Centerline is valid? [True, True] Translation: X:64.02, Y:7.12, Z:-0.14 [[ 9.77314948e-01 -2.11786854e-01 -1.34908032e-03 6.40231980e+01] [ 2.11786618e-01 9.77315879e-01 -3.17273897e-04 7.11907303e+00] [ 1.38567206e-03 2.43593645e-05 9.99999040e-01 -1.37578953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.775769231 meters 0.02715045037633502 Centerline is valid? [True, True] Translation: X:64.05, Y:7.13, Z:-0.14 [[ 9.77654205e-01 -2.10216113e-01 -1.20019409e-03 6.40496895e+01] [ 2.10215924e-01 9.77654942e-01 -2.82694734e-04 7.13081657e+00] [ 1.23280267e-03 2.40777869e-05 9.99999240e-01 -1.37759587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805769231 meters 0.028160625537158868 Centerline is valid? [True, True] Translation: X:64.08, Y:7.14, Z:-0.14 [[ 9.78138786e-01 -2.07942274e-01 -2.12752524e-03 6.40755847e+01] [ 2.07941676e-01 9.78141098e-01 -5.00764223e-04 7.14477792e+00] [ 2.18514992e-03 4.74157449e-05 9.99997611e-01 -1.39248080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.835769231 meters 0.030576208312252457 Centerline is valid? [True, True] Translation: X:64.10, Y:7.16, Z:-0.14 [[ 9.78142074e-01 -2.07913783e-01 -3.15306127e-03 6.41014212e+01] [ 2.07912469e-01 9.78147154e-01 -7.42439987e-04 7.15734663e+00] [ 3.23852141e-03 7.06510347e-05 9.99994753e-01 -1.42330352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865769231 meters 0.030136219757841143 Centerline is valid? [True, True] Translation: X:64.13, Y:7.17, Z:-0.14 [[ 9.77970058e-01 -2.08702206e-01 -4.23729427e-03 6.41288533e+01] [ 2.08699837e-01 9.77979233e-01 -9.98516041e-04 7.16644128e+00] [ 4.35237831e-03 9.21961653e-05 9.99990524e-01 -1.44785444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.895769231 meters 0.025792442218879066 Centerline is valid? [True, True] Translation: X:64.16, Y:7.17, Z:-0.14 [[ 9.77450023e-01 -2.11145103e-01 -3.03287847e-03 6.41571744e+01] [ 2.11143900e-01 9.77454726e-01 -7.15262082e-04 7.17408907e+00] [ 3.11552548e-03 5.87591506e-05 9.99995145e-01 -1.42432219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.925769231 meters 0.023725693653405558 Centerline is valid? [True, True] Translation: X:64.19, Y:7.18, Z:-0.14 [[ 9.77093811e-01 -2.12806198e-01 -1.09888200e-03 6.41854643e+01] [ 2.12806040e-01 9.77094428e-01 -2.59320222e-04 7.18185609e+00] [ 1.12889643e-03 1.95314573e-05 9.99999363e-01 -1.38771305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.955769231 meters 0.018501610573095826 Centerline is valid? [True, True] Translation: X:64.21, Y:7.19, Z:-0.14 [[ 9.76011752e-01 -2.17716513e-01 7.61426034e-04 6.42134836e+01] [ 2.17716439e-01 9.76012049e-01 1.79490173e-04 7.18735589e+00] [-7.82238958e-04 -9.40955404e-06 9.99999694e-01 -1.35473088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.985769231 meters 0.0161282564675579 Centerline is valid? [True, True] Translation: X:64.24, Y:7.19, Z:-0.14 [[ 9.75277499e-01 -2.20983640e-01 1.78444635e-04 6.42406630e+01] [ 2.20983636e-01 9.75277515e-01 4.19696617e-05 7.19250620e+00] [-1.83307649e-04 -1.49872239e-06 9.99999983e-01 -1.36595730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01576923100001 meters 0.01268731476873091 Centerline is valid? [True, True] Translation: X:64.27, Y:7.19, Z:-0.14 [[ 9.73653143e-01 -2.28033309e-01 -6.06716601e-04 6.42689318e+01] [ 2.28033264e-01 9.73653332e-01 -1.43308243e-04 7.19351457e+00] [ 6.23410693e-04 1.18095457e-06 9.99999806e-01 -1.38907049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04576923100001 meters 0.012642440488072228 Centerline is valid? [True, True] Translation: X:64.30, Y:7.20, Z:-0.14 [[ 9.72833389e-01 -2.31505667e-01 -5.67941949e-04 6.42968589e+01] [ 2.31505628e-01 9.72833555e-01 -1.34558046e-04 7.19664208e+00] [ 5.83663935e-04 -5.79197265e-07 9.99999830e-01 -1.38530476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07576923100001 meters 0.013720782927123332 Centerline is valid? [True, True] Translation: X:64.32, Y:7.20, Z:-0.14 [[ 9.72061516e-01 -2.34725749e-01 -4.82131840e-04 6.43245371e+01] [ 2.34725721e-01 9.72061635e-01 -1.14112158e-04 7.19969620e+00] [ 4.95446927e-04 -2.24470684e-06 9.99999877e-01 -1.38529985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10576923100001 meters 0.017294272716656074 Centerline is valid? [True, True] Translation: X:64.35, Y:7.20, Z:-0.14 [[ 9.70667801e-01 -2.40422743e-01 -9.61788340e-04 6.43548113e+01] [ 2.40422635e-01 9.70668277e-01 -2.27778051e-04 7.19788294e+00] [ 9.88340455e-04 -1.01388673e-05 9.99999512e-01 -1.39431848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.135769231 meters 0.019414704320330222 Centerline is valid? [True, True] Translation: X:64.38, Y:7.20, Z:-0.14 [[ 9.70019520e-01 -2.43023545e-01 -1.29920366e-03 6.43838112e+01] [ 2.43023350e-01 9.70020390e-01 -3.07784502e-04 7.19940976e+00] [ 1.33505292e-03 -1.71798500e-05 9.99999109e-01 -1.39430428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165769231 meters 0.022671183675768498 Centerline is valid? [True, True] Translation: X:64.41, Y:7.20, Z:-0.14 [[ 9.69075533e-01 -2.46760609e-01 -1.34647717e-03 6.44140771e+01] [ 2.46760403e-01 9.69076468e-01 -3.19204162e-04 7.19758011e+00] [ 1.38360635e-03 -2.29243047e-05 9.99999043e-01 -1.38072918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.195769231 meters 0.02453580478588953 Centerline is valid? [True, True] Translation: X:64.44, Y:7.20, Z:-0.14 [[ 9.68686776e-01 -2.48283157e-01 -1.18464192e-03 6.44420580e+01] [ 2.48283000e-01 9.68687500e-01 -2.80721127e-04 7.19926257e+00] [ 1.21724615e-03 -2.21956057e-05 9.99999259e-01 -1.38336686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225769231 meters 0.02453580478588953 Centerline is valid? [True, True] Translation: X:64.47, Y:7.21, Z:-0.14 [[ 9.68641208e-01 -2.48460875e-01 -1.18452817e-03 6.44687596e+01] [ 2.48460716e-01 9.68641932e-01 -2.81201100e-04 7.20578601e+00] [ 1.21725113e-03 -2.19257453e-05 9.99999259e-01 -1.38395736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.255769231 meters 0.025674360281677716 Centerline is valid? [True, True] Translation: X:64.50, Y:7.21, Z:-0.14 [[ 9.68382993e-01 -2.49464600e-01 -1.33846894e-03 6.44971911e+01] [ 2.49464399e-01 9.68383918e-01 -3.17495154e-04 7.20873376e+00] [ 1.37535560e-03 -2.64434430e-05 9.99999054e-01 -1.39481994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.285769231 meters 0.02321504665703018 Centerline is valid? [True, True] Translation: X:64.52, Y:7.21, Z:-0.14 [[ 9.68315218e-01 -2.49724065e-01 -1.87882577e-03 6.45244663e+01] [ 2.49723669e-01 9.68317040e-01 -4.46319304e-04 7.21380162e+00] [ 1.93075567e-03 -3.70094895e-05 9.99998135e-01 -1.39628842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.315769231 meters 0.02527328725544623 Centerline is valid? [True, True] Translation: X:64.55, Y:7.22, Z:-0.14 [[ 9.68559336e-01 -2.48773727e-01 -2.10844874e-03 6.45527739e+01] [ 2.48773227e-01 9.68561630e-01 -5.00650336e-04 7.21537198e+00] [ 2.16671120e-03 -3.96160402e-05 9.99997652e-01 -1.40506177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.345769231 meters 0.023551651107759728 Centerline is valid? [True, True] Translation: X:64.58, Y:7.22, Z:-0.14 [[ 9.69036080e-01 -2.46911487e-01 -1.94772487e-03 6.45797803e+01] [ 2.46911056e-01 9.69038037e-01 -4.62600617e-04 7.22312929e+00] [ 2.00164089e-03 -3.26381158e-05 9.99997996e-01 -1.39668236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.375769231 meters 0.018246289481076997 Centerline is valid? [True, True] Translation: X:64.61, Y:7.24, Z:-0.14 [[ 9.70438084e-01 -2.41342431e-01 -1.93798573e-03 6.46062519e+01] [ 2.41341993e-01 9.70440019e-01 -4.60259442e-04 7.23756297e+00] [ 1.99177905e-03 -2.10640471e-05 9.99998016e-01 -1.39440586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40576923100001 meters 0.013705280865808482 Centerline is valid? [True, True] Translation: X:64.63, Y:7.26, Z:-0.14 [[ 9.71791025e-01 -2.35837697e-01 -1.66867547e-03 6.46313379e+01] [ 2.35837363e-01 9.71792458e-01 -3.96907045e-04 7.25530476e+00] [ 1.71521188e-03 -7.82531882e-06 9.99998529e-01 -1.39096608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43576923100001 meters 0.012879212409505632 Centerline is valid? [True, True] Translation: X:64.66, Y:7.27, Z:-0.14 [[ 9.72405504e-01 -2.33291530e-01 -1.61189369e-03 6.46578726e+01] [ 2.33291214e-01 9.72406840e-01 -3.83701967e-04 7.26779814e+00] [ 1.65693086e-03 -2.92673057e-06 9.99998627e-01 -1.38891642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46576923100001 meters 0.012779904660881547 Centerline is valid? [True, True] Translation: X:64.68, Y:7.28, Z:-0.14 [[ 9.72855158e-01 -2.31409975e-01 -1.50485651e-03 6.46828803e+01] [ 2.31409698e-01 9.72856322e-01 -3.58193038e-04 7.27931427e+00] [ 1.54689861e-03 2.31554229e-07 9.99998804e-01 -1.38886336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.495769231 meters 0.012801788993742624 Centerline is valid? [True, True] Translation: X:64.71, Y:7.29, Z:-0.14 [[ 9.73099103e-01 -2.30380381e-01 -1.73657705e-03 6.47089220e+01] [ 2.30380010e-01 9.73100652e-01 -4.13908567e-04 7.29006804e+00] [ 1.78522067e-03 2.70141915e-06 9.99998406e-01 -1.38822141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525769231 meters 0.012627973418374166 Centerline is valid? [True, True] Translation: X:64.73, Y:7.30, Z:-0.14 [[ 9.72918859e-01 -2.31146729e-01 -2.88923834e-04 6.47344197e+01] [ 2.31146719e-01 9.72918902e-01 -6.91202446e-05 7.30061811e+00] [ 2.97076377e-04 4.64593276e-07 9.99999956e-01 -1.37556073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.555769231 meters 0.013040853458851137 Centerline is valid? [True, True] Translation: X:64.76, Y:7.30, Z:-0.13 [[ 9.71937114e-01 -2.35234273e-01 1.75608865e-03 6.47623032e+01] [ 2.35233901e-01 9.71938700e-01 4.18354380e-04 7.30451998e+00] [-1.80522181e-03 6.47743490e-06 9.99998371e-01 -1.34744256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585769231 meters 0.014136436867385254 Centerline is valid? [True, True] Translation: X:64.79, Y:7.31, Z:-0.14 [[ 9.71421014e-01 -2.37356203e-01 1.80167098e-03 6.47904322e+01] [ 2.37355815e-01 9.71422685e-01 4.29293529e-04 7.31004374e+00] [-1.85207955e-03 1.06123304e-05 9.99998285e-01 -1.35024183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.615769231 meters 0.015144601971564291 Centerline is valid? [True, True] Translation: X:64.82, Y:7.32, Z:-0.13 [[ 9.71002900e-01 -2.39061858e-01 1.67218222e-03 6.48181389e+01] [ 2.39061526e-01 9.71004340e-01 3.98691819e-04 7.31644981e+00] [-1.71900820e-03 1.26235203e-05 9.99998522e-01 -1.34746249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.645769231 meters 0.015121058770068441 Centerline is valid? [True, True] Translation: X:64.84, Y:7.33, Z:-0.14 [[ 9.70836666e-01 -2.39740380e-01 8.47298309e-04 6.48440537e+01] [ 2.39740295e-01 9.70837036e-01 2.01948361e-04 7.32742589e+00] [-8.71003755e-04 7.07267302e-06 9.99999621e-01 -1.35380266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.675769231 meters 0.01501523809939259 Centerline is valid? [True, True] Translation: X:64.87, Y:7.34, Z:-0.14 [[ 9.70847980e-01 -2.39695560e-01 4.88764785e-04 6.48704612e+01] [ 2.39695532e-01 9.70848103e-01 1.16418465e-04 7.33633200e+00] [-5.02421353e-04 4.13010350e-06 9.99999874e-01 -1.35393812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.705769231 meters 0.014876723205961244 Centerline is valid? [True, True] Translation: X:64.90, Y:7.34, Z:-0.14 [[ 9.70829266e-01 -2.39771648e-01 3.05389847e-04 6.48968868e+01] [ 2.39771637e-01 9.70829314e-01 7.26416416e-05 7.34465117e+00] [-3.13898822e-04 2.70119213e-06 9.99999951e-01 -1.35508309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.735769231 meters 0.01576797272705789 Centerline is valid? [True, True] Translation: X:64.92, Y:7.35, Z:-0.14 [[ 9.70539888e-01 -2.40940460e-01 -1.42113385e-04 6.49244162e+01] [ 2.40940458e-01 9.70539898e-01 -3.42050344e-05 7.35046133e+00] [ 1.46168086e-04 -1.04351372e-06 9.99999989e-01 -1.36756491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76576923100001 meters 0.01631282028661087 Centerline is valid? [True, True] Translation: X:64.95, Y:7.36, Z:-0.14 [[ 9.70314126e-01 -2.41847984e-01 -2.24120455e-04 6.49524815e+01] [ 2.41847978e-01 9.70314151e-01 -5.40351372e-05 7.35552144e+00] [ 2.30535538e-04 -1.77202210e-06 9.99999973e-01 -1.37959994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79576923100001 meters 0.01652344435281264 Centerline is valid? [True, True] Translation: X:64.98, Y:7.36, Z:-0.14 [[ 9.70164520e-01 -2.42447364e-01 2.82938667e-04 6.49800996e+01] [ 2.42447355e-01 9.70164561e-01 6.74061709e-05 7.35906666e+00] [-2.90839516e-04 3.20265597e-06 9.99999958e-01 -1.36212658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82576923100001 meters 0.016125677116166522 Centerline is valid? [True, True] Translation: X:65.01, Y:7.37, Z:-0.13 [[ 9.70271693e-01 -2.42016266e-01 9.84623139e-04 6.50070326e+01] [ 2.42016151e-01 9.70272192e-01 2.35786579e-04 7.36618210e+00] [-1.01241664e-03 9.51765971e-06 9.99999487e-01 -1.34154240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85576923100001 meters 0.015443925344228664 Centerline is valid? [True, True] Translation: X:65.03, Y:7.37, Z:-0.13 [[ 9.70535454e-01 -2.40954283e-01 1.40241643e-03 6.50337843e+01] [ 2.40954049e-01 9.70536467e-01 3.36377982e-04 7.37445606e+00] [-1.44214801e-03 1.14511604e-05 9.99998960e-01 -1.33383346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885769231 meters 0.013896301777620681 Centerline is valid? [True, True] Translation: X:65.06, Y:7.39, Z:-0.14 [[ 9.71149950e-01 -2.38468646e-01 6.91676037e-04 6.50606289e+01] [ 2.38468589e-01 9.71150197e-01 1.65727050e-04 7.38671705e+00] [-7.11242025e-04 3.99719253e-06 9.99999747e-01 -1.35662628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.915769231 meters 0.01320465799406933 Centerline is valid? [True, True] Translation: X:65.09, Y:7.40, Z:-0.14 [[ 9.71646283e-01 -2.36438523e-01 -5.70768987e-04 6.50864326e+01] [ 2.36438483e-01 9.71646450e-01 -1.37295494e-04 7.39728764e+00] [ 5.87047604e-04 -1.54909706e-06 9.99999828e-01 -1.38532704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945769231 meters 0.012963199080650923 Centerline is valid? [True, True] Translation: X:65.11, Y:7.41, Z:-0.14 [[ 9.72115867e-01 -2.34491595e-01 -2.10570713e-03 6.51122668e+01] [ 2.34491047e-01 9.72118147e-01 -5.06632643e-04 7.40876818e+00] [ 2.16579721e-03 -1.26383903e-06 9.99997655e-01 -1.40225408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.975769231 meters 0.013372628363752574 Centerline is valid? [True, True] Translation: X:65.14, Y:7.42, Z:-0.14 [[ 9.72730021e-01 -2.31915719e-01 -3.37729537e-03 6.51370588e+01] [ 2.31914297e-01 9.72735883e-01 -8.12252220e-04 7.42344435e+00] [ 3.47359045e-03 6.85903714e-06 9.99993967e-01 -1.42906294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005769231 meters 0.013449733334143793 Centerline is valid? [True, True] Translation: X:65.16, Y:7.43, Z:-0.14 [[ 9.72755007e-01 -2.31816733e-01 -2.94923159e-03 6.51623524e+01] [ 2.31815647e-01 9.72759478e-01 -7.09607190e-04 7.43268326e+00] [ 3.03339180e-03 6.59591676e-06 9.99995399e-01 -1.42593991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.035769231 meters 0.013142673691415007 Centerline is valid? [True, True] Translation: X:65.19, Y:7.44, Z:-0.14 [[ 9.72573602e-01 -2.32590323e-01 -1.52664915e-03 6.51892896e+01] [ 2.32590032e-01 9.72574800e-01 -3.67833929e-04 7.44242038e+00] [ 1.57033511e-03 2.66219458e-06 9.99998767e-01 -1.40360639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.065769231 meters 0.012977585477711256 Centerline is valid? [True, True] Translation: X:65.22, Y:7.45, Z:-0.14 [[ 9.72477317e-01 -2.32994938e-01 -1.10748506e-03 6.52163502e+01] [ 2.32994785e-01 9.72477948e-01 -2.67194048e-04 7.45097007e+00] [ 1.13925966e-03 1.80190753e-06 9.99999351e-01 -1.39190576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.095769231 meters 0.012828822712241676 Centerline is valid? [True, True] Translation: X:65.24, Y:7.46, Z:-0.14 [[ 9.72291331e-01 -2.33771448e-01 -6.91483454e-04 6.52418739e+01] [ 2.33771389e-01 9.72291577e-01 -1.66941419e-04 7.45884423e+00] [ 7.11349675e-04 6.66646766e-07 9.99999747e-01 -1.38674362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.125769231 meters 0.012837981142780829 Centerline is valid? [True, True] Translation: X:65.27, Y:7.47, Z:-0.14 [[ 9.71920028e-01 -2.35311203e-01 -3.11905879e-04 6.52681769e+01] [ 2.35311190e-01 9.71920078e-01 -7.56326357e-05 7.46777186e+00] [ 3.20944792e-04 1.13929821e-07 9.99999948e-01 -1.38239207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15576923100001 meters 0.012952481152138233 Centerline is valid? [True, True] Translation: X:65.29, Y:7.47, Z:-0.14 [[ 9.71678232e-01 -2.36307718e-01 -2.75112852e-04 6.52942928e+01] [ 2.36307709e-01 9.71678271e-01 -6.65571887e-05 7.47451982e+00] [ 2.83049157e-04 -3.39116306e-07 9.99999960e-01 -1.38825021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18576923100001 meters 0.013649189234564712 Centerline is valid? [True, True] Translation: X:65.32, Y:7.48, Z:-0.14 [[ 9.71220151e-01 -2.38182956e-01 -5.46064583e-04 6.53219781e+01] [ 2.38182919e-01 9.71220304e-01 -1.31920617e-04 7.47977663e+00] [ 5.61770253e-04 -1.93929438e-06 9.99999842e-01 -1.39951707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21576923100001 meters 0.014184534709275847 Centerline is valid? [True, True] Translation: X:65.35, Y:7.48, Z:-0.14 [[ 9.70904729e-01 -2.39466066e-01 -1.05401346e-04 6.53492874e+01] [ 2.39466065e-01 9.70904734e-01 -2.58415086e-05 7.48468028e+00] [ 1.08522830e-04 -1.50402656e-07 9.99999994e-01 -1.39494229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245769231 meters 0.01495905755510916 Centerline is valid? [True, True] Translation: X:65.38, Y:7.49, Z:-0.14 [[ 9.70557234e-01 -2.40870565e-01 1.60590424e-04 6.53782316e+01] [ 2.40870562e-01 9.70557248e-01 3.84823800e-05 7.48938932e+00] [-1.65131473e-04 1.33215343e-06 9.99999986e-01 -1.37939197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.275769231 meters 0.01614090909030089 Centerline is valid? [True, True] Translation: X:65.41, Y:7.49, Z:-0.14 [[ 9.69542603e-01 -2.44919800e-01 1.19688652e-03 6.54072675e+01] [ 2.44919630e-01 9.69543342e-01 2.89131060e-04 7.49325679e+00] [-1.23124727e-03 1.28161212e-05 9.99999242e-01 -1.35189229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305769231 meters 0.020505516940542333 Centerline is valid? [True, True] Translation: X:65.44, Y:7.49, Z:-0.13 [[ 9.68999776e-01 -2.47054718e-01 1.84434155e-03 6.54363076e+01] [ 2.47054316e-01 9.69001530e-01 4.46107352e-04 7.49193330e+00] [-1.89738271e-03 2.33746149e-05 9.99998200e-01 -1.34949561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.335769231 meters 0.02301188360856422 Centerline is valid? [True, True] Translation: X:65.46, Y:7.49, Z:-0.14 [[ 9.68470202e-01 -2.49126768e-01 1.14949314e-03 6.54637686e+01] [ 2.49126613e-01 9.68470884e-01 2.78029822e-04 7.49435120e+00] [-1.18251531e-03 1.71057346e-05 9.99999301e-01 -1.35816539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365769231 meters 0.022870373790791383 Centerline is valid? [True, True] Translation: X:65.49, Y:7.50, Z:-0.14 [[ 9.68428517e-01 -2.49291214e-01 3.12168847e-04 6.54910601e+01] [ 2.49291202e-01 9.68428568e-01 7.52612449e-05 7.50160954e+00] [-3.21075197e-04 4.93581146e-06 9.99999948e-01 -1.37526813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.395769231 meters 0.020094536262482643 Centerline is valid? [True, True] Translation: X:65.52, Y:7.51, Z:-0.14 [[ 9.68478650e-01 -2.49093976e-01 -1.13801020e-03 6.55168344e+01] [ 2.49093823e-01 9.68479319e-01 -2.76285019e-04 7.51395122e+00] [ 1.17096027e-03 -1.58951688e-05 9.99999314e-01 -1.39605303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.425769231 meters 0.020281480379540823 Centerline is valid? [True, True] Translation: X:65.54, Y:7.52, Z:-0.14 [[ 9.68503422e-01 -2.48997310e-01 -1.20881692e-03 6.55426258e+01] [ 2.48997137e-01 9.68504176e-01 -2.93683165e-04 7.52065682e+00] [ 1.24387055e-03 -1.65588019e-05 9.99999226e-01 -1.39592289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.455769231 meters 0.019714096311205583 Centerline is valid? [True, True] Translation: X:65.57, Y:7.53, Z:-0.14 [[ 9.68481933e-01 -2.49083259e-01 -5.25556099e-04 6.55698102e+01] [ 2.49083226e-01 9.68482075e-01 -1.28026608e-04 7.52828594e+00] [ 5.40880946e-04 -6.91575241e-06 9.99999854e-01 -1.39242287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.485769231 meters 0.02024456514676103 Centerline is valid? [True, True] Translation: X:65.60, Y:7.53, Z:-0.14 [[ 9.68193834e-01 -2.50201284e-01 -1.34869458e-04 6.55977750e+01] [ 2.50201282e-01 9.68193843e-01 -3.31375654e-05 7.53443089e+00] [ 1.38870841e-04 -1.66092487e-06 9.99999990e-01 -1.37416879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51576923100001 meters 0.02151673044657365 Centerline is valid? [True, True] Translation: X:65.63, Y:7.54, Z:-0.14 [[ 9.68025652e-01 -2.50850861e-01 -4.26739265e-04 6.56252986e+01] [ 2.50850840e-01 9.68025746e-01 -1.03848679e-04 7.53948853e+00] [ 4.39145126e-04 -6.51971820e-06 9.99999904e-01 -1.37325794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54576923100001 meters 0.02574044751369605 Centerline is valid? [True, True] Translation: X:65.65, Y:7.54, Z:-0.14 [[ 9.67881353e-01 -2.51403112e-01 -1.47034798e-03 6.56531580e+01] [ 2.51402859e-01 9.67882469e-01 -3.57581164e-04 7.54216313e+00] [ 1.51302105e-03 -2.35535451e-05 9.99998855e-01 -1.40403496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57576923100001 meters 0.023420527569584775 Centerline is valid? [True, True] Translation: X:65.68, Y:7.55, Z:-0.14 [[ 9.67844458e-01 -2.51545143e-01 -1.46490632e-03 6.56793268e+01] [ 2.51544891e-01 9.67845566e-01 -3.56793649e-04 7.55467274e+00] [ 1.50755280e-03 -2.31689445e-05 9.99998863e-01 -1.40469466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60576923100001 meters 0.021889326319634098 Centerline is valid? [True, True] Translation: X:65.71, Y:7.57, Z:-0.14 [[ 9.68008310e-01 -2.50913704e-01 -1.49146911e-03 6.57058401e+01] [ 2.50913441e-01 9.68009459e-01 -3.63466298e-04 7.56905730e+00] [ 1.53495488e-03 -2.23912500e-05 9.99998822e-01 -1.40908803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.635769231 meters 0.02113761842867512 Centerline is valid? [True, True] Translation: X:65.73, Y:7.58, Z:-0.14 [[ 9.67934212e-01 -2.51199501e-01 -1.47372995e-03 6.57324857e+01] [ 2.51199245e-01 9.67935334e-01 -3.59497016e-04 7.57878704e+00] [ 1.51678077e-03 -2.22303908e-05 9.99998849e-01 -1.40630107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665769231 meters 0.02301933699529613 Centerline is valid? [True, True] Translation: X:65.76, Y:7.58, Z:-0.14 [[ 9.67686005e-01 -2.52156434e-01 -9.63644031e-04 6.57596461e+01] [ 2.52156325e-01 9.67686485e-01 -2.35077363e-04 7.58325563e+00] [ 9.91781575e-04 -1.55078633e-05 9.99999508e-01 -1.39949745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.695769231 meters 0.026256134162462114 Centerline is valid? [True, True] Translation: X:65.79, Y:7.58, Z:-0.14 [[ 9.66608287e-01 -2.56258471e-01 1.21472226e-04 6.57894082e+01] [ 2.56258469e-01 9.66608295e-01 2.95373624e-05 7.58434527e+00] [-1.24985261e-04 2.57722745e-06 9.99999992e-01 -1.38060730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725769231 meters 0.028940216729954935 Centerline is valid? [True, True] Translation: X:65.82, Y:7.59, Z:-0.14 [[ 9.65909452e-01 -2.58879434e-01 6.08028521e-04 6.58188957e+01] [ 2.58879392e-01 9.65909643e-01 1.48155323e-04 7.58651537e+00] [-6.25654978e-04 1.43014264e-05 9.99999804e-01 -1.37484961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.755769231 meters 0.03318252686483785 Centerline is valid? [True, True] Translation: X:65.85, Y:7.59, Z:-0.14 [[ 9.64899674e-01 -2.62618353e-01 4.68122238e-04 6.58484056e+01] [ 2.62618328e-01 9.64899788e-01 1.14086739e-04 7.58660312e+00] [-4.81652320e-04 1.28552226e-05 9.99999884e-01 -1.38206428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.785769231 meters 0.03351603002938687 Centerline is valid? [True, True] Translation: X:65.88, Y:7.59, Z:-0.14 [[ 9.64641189e-01 -2.63566501e-01 2.74545987e-04 6.58762756e+01] [ 2.63566493e-01 9.64641228e-01 6.66479974e-05 7.59248214e+00] [-2.82404558e-04 8.06971960e-06 9.99999960e-01 -1.38856930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.815769231 meters 0.032712562537019485 Centerline is valid? [True, True] Translation: X:65.90, Y:7.60, Z:-0.14 [[ 9.64579854e-01 -2.63790995e-01 1.29277862e-04 6.59033827e+01] [ 2.63790993e-01 9.64579862e-01 3.11638104e-05 7.59971984e+00] [-1.32919555e-04 4.04235203e-06 9.99999991e-01 -1.38769832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.845769231 meters 0.03200286865445448 Centerline is valid? [True, True] Translation: X:65.93, Y:7.61, Z:-0.14 [[ 9.64833158e-01 -2.62862953e-01 -2.10633448e-04 6.59301903e+01] [ 2.62862948e-01 9.64833181e-01 -5.15848504e-05 7.60560116e+00] [ 2.16785886e-04 -5.59695493e-06 9.99999976e-01 -1.37866853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.875769231 meters 0.03074382328266201 Centerline is valid? [True, True] Translation: X:65.96, Y:7.61, Z:-0.14 [[ 9.64812064e-01 -2.62939425e-01 -7.35331524e-04 6.59571282e+01] [ 2.62939364e-01 9.64812344e-01 -1.80201998e-04 7.61305502e+00] [ 7.56839141e-04 -1.94865417e-05 9.99999713e-01 -1.38621338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90576923100001 meters 0.031211897903155355 Centerline is valid? [True, True] Translation: X:65.99, Y:7.61, Z:-0.14 [[ 9.64453698e-01 -2.64245949e-01 -1.77298581e-03 6.59867146e+01] [ 2.64245597e-01 9.64455326e-01 -4.34174573e-04 7.61498740e+00] [ 1.82469448e-03 -4.97624208e-05 9.99998334e-01 -1.40132057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93576923100001 meters 0.03212365329250831 Centerline is valid? [True, True] Translation: X:66.02, Y:7.62, Z:-0.14 [[ 9.64104733e-01 -2.65517034e-01 -1.66371368e-03 6.60157527e+01] [ 2.65516726e-01 9.64106167e-01 -4.07736224e-04 7.61746144e+00] [ 1.71225753e-03 -4.86433860e-05 9.99998533e-01 -1.40700648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96576923100001 meters 0.036032386397205164 Centerline is valid? [True, True] Translation: X:66.04, Y:7.62, Z:-0.14 [[ 9.63661520e-01 -2.67122742e-01 -1.38404638e-03 6.60443391e+01] [ 2.67122530e-01 9.63662513e-01 -3.39272160e-04 7.61554363e+00] [ 1.42438092e-03 -4.27664446e-05 9.99998985e-01 -1.40315215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.995769231 meters 0.041481413243226156 Centerline is valid? [True, True] Translation: X:66.08, Y:7.61, Z:-0.14 [[ 9.62825414e-01 -2.70124395e-01 -1.80031062e-04 6.60751828e+01] [ 2.70124392e-01 9.62825431e-01 -4.42314980e-05 7.60856866e+00] [ 1.85286492e-04 -6.04357074e-06 9.99999983e-01 -1.37618190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025769231 meters 0.042179243853649136 Centerline is valid? [True, True] Translation: X:66.10, Y:7.61, Z:-0.14 [[ 9.62540290e-01 -2.71138422e-01 -3.83240461e-04 6.61038936e+01] [ 2.71138406e-01 9.62540366e-01 -9.43091405e-05 7.61146701e+00] [ 3.94455245e-04 -1.31348601e-05 9.99999922e-01 -1.37826098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.055769231 meters 0.037386774268529425 Centerline is valid? [True, True] Translation: X:66.13, Y:7.62, Z:-0.14 [[ 9.62424907e-01 -2.71546448e-01 -9.08043580e-04 6.61308348e+01] [ 2.71546359e-01 9.62425335e-01 -2.23169395e-04 7.62124486e+00] [ 9.34525003e-04 -3.17921430e-05 9.99999563e-01 -1.37759447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085769231 meters 0.0422564840836413 Centerline is valid? [True, True] Translation: X:66.16, Y:7.62, Z:-0.14 [[ 9.62869138e-01 -2.69962884e-01 -1.75035236e-03 6.61615729e+01] [ 2.69962548e-01 9.62870727e-01 -4.30099065e-04 7.61511098e+00] [ 1.80147383e-03 -5.84004670e-05 9.99998376e-01 -1.39524903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.115769231 meters 0.03675249043956149 Centerline is valid? [True, True] Translation: X:66.19, Y:7.63, Z:-0.14 [[ 9.63298036e-01 -2.68427660e-01 -1.86709208e-03 6.61888578e+01] [ 2.68427275e-01 9.63299843e-01 -4.58614335e-04 7.62550577e+00] [ 1.92167428e-03 -5.93961522e-05 9.99998152e-01 -1.39019358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.145769231 meters 0.03675249043956149 Centerline is valid? [True, True] Translation: X:66.22, Y:7.63, Z:-0.14 [[ 9.63248416e-01 -2.68605664e-01 -1.86693630e-03 6.62155159e+01] [ 2.68605278e-01 9.63250224e-01 -4.59248393e-04 7.63224329e+00] [ 1.92168353e-03 -5.90986579e-05 9.99998152e-01 -1.39078427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.175769231 meters 0.03420934401449763 Centerline is valid? [True, True] Translation: X:66.24, Y:7.63, Z:-0.14 [[ 9.64290219e-01 -2.64843031e-01 -1.59441086e-03 6.62444833e+01] [ 2.64842745e-01 9.64291536e-01 -3.91994981e-04 7.63444440e+00] [ 1.64129404e-03 -4.42712227e-05 9.99998652e-01 -1.38796604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.205769231 meters 0.03360631731533019 Centerline is valid? [True, True] Translation: X:66.27, Y:7.64, Z:-0.14 [[ 9.64809654e-01 -2.62947746e-01 -9.02747569e-04 6.62723651e+01] [ 2.62947653e-01 9.64810076e-01 -2.22080353e-04 7.63865378e+00] [ 9.29375478e-04 -2.31100864e-05 9.99999568e-01 -1.38472366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.235769231 meters 0.03008435862690288 Centerline is valid? [True, True] Translation: X:66.30, Y:7.65, Z:-0.14 [[ 9.65316939e-01 -2.61080795e-01 -1.61625176e-04 6.63003715e+01] [ 2.61080792e-01 9.65316952e-01 -4.00850616e-05 7.64739356e+00] [ 1.66484962e-04 -3.50243995e-06 9.99999986e-01 -1.36894441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26576923100001 meters 0.02703590527267648 Centerline is valid? [True, True] Translation: X:66.33, Y:7.66, Z:-0.14 [[ 9.65759864e-01 -2.59436972e-01 5.85145724e-04 6.63281072e+01] [ 2.59436932e-01 9.65760041e-01 1.43702503e-04 7.65578345e+00] [-6.02392101e-04 1.30263013e-05 9.99999818e-01 -1.35160607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29576923100001 meters 0.022485021964489284 Centerline is valid? [True, True] Translation: X:66.36, Y:7.66, Z:-0.13 [[ 9.66837290e-01 -2.55388661e-01 1.51237304e-03 6.63566378e+01] [ 2.55388391e-01 9.66838472e-01 3.72320326e-04 7.66467053e+00] [-1.55730683e-03 2.62693419e-05 9.99998787e-01 -1.32795409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32576923100001 meters 0.018716318951839454 Centerline is valid? [True, True] Translation: X:66.38, Y:7.67, Z:-0.14 [[ 9.68024719e-01 -2.50854664e-01 2.85595465e-04 6.63834030e+01] [ 2.50854655e-01 9.68024761e-01 7.02296829e-05 7.67447525e+00] [-2.94080925e-04 3.65888272e-06 9.99999957e-01 -1.35756091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35576923100001 meters 0.01807360575578978 Centerline is valid? [True, True] Translation: X:66.41, Y:7.68, Z:-0.14 [[ 9.68649086e-01 -2.48432038e-01 -6.85607419e-04 6.64106301e+01] [ 2.48431981e-01 9.68649329e-01 -1.69012077e-04 7.68148804e+00] [ 7.06101181e-04 -6.61341532e-06 9.99999751e-01 -1.38209749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385769231 meters 0.01513784268110036 Centerline is valid? [True, True] Translation: X:66.44, Y:7.69, Z:-0.14 [[ 9.69265684e-01 -2.46013146e-01 -1.25093796e-03 6.64376195e+01] [ 2.46012953e-01 9.69266492e-01 -3.08712522e-04 7.69396413e+00] [ 1.28843959e-03 -8.52248762e-06 9.99999170e-01 -1.38513149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.415769231 meters 0.013691086983753153 Centerline is valid? [True, True] Translation: X:66.46, Y:7.71, Z:-0.14 [[ 9.69924812e-01 -2.43398662e-01 -1.71773435e-03 6.64644798e+01] [ 2.43398293e-01 9.69926333e-01 -4.24071067e-04 7.70516991e+00] [ 1.76929411e-03 -6.77655871e-06 9.99998435e-01 -1.39565870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445769231 meters 0.013321065423366347 Centerline is valid? [True, True] Translation: X:66.49, Y:7.72, Z:-0.14 [[ 9.71351362e-01 -2.37633631e-01 -2.60557825e-03 6.64880527e+01] [ 2.37632759e-01 9.71354857e-01 -6.43635088e-04 7.72314353e+00] [ 2.68389043e-03 6.02507058e-06 9.99996398e-01 -1.40250241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.475769231 meters 0.014462670972822417 Centerline is valid? [True, True] Translation: X:66.51, Y:7.74, Z:-0.14 [[ 9.71977441e-01 -2.35056040e-01 -2.91755451e-03 6.65137484e+01] [ 2.35054936e-01 9.71981820e-01 -7.20547478e-04 7.73655601e+00] [ 3.00517898e-03 1.45703061e-05 9.99995484e-01 -1.41623851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505769231 meters 0.01682226056683006 Centerline is valid? [True, True] Translation: X:66.54, Y:7.75, Z:-0.14 [[ 9.72894921e-01 -2.31236221e-01 -2.29863174e-03 6.65391763e+01] [ 2.31235524e-01 9.72897636e-01 -5.68350732e-04 7.75403950e+00] [ 2.36775666e-03 2.14202253e-05 9.99997197e-01 -1.40853147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.535769231 meters 0.017970503911158876 Centerline is valid? [True, True] Translation: X:66.56, Y:7.77, Z:-0.14 [[ 9.73108172e-01 -2.30341119e-01 -1.85844371e-03 6.65646255e+01] [ 2.30340662e-01 9.73109947e-01 -4.59510983e-04 7.76503817e+00] [ 1.91431434e-03 1.90787381e-05 9.99998168e-01 -1.39849455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.565769231 meters 0.016612396441583847 Centerline is valid? [True, True] Translation: X:66.59, Y:7.77, Z:-0.14 [[ 9.72920895e-01 -2.31135988e-01 -1.04311400e-03 6.65922257e+01] [ 2.31135844e-01 9.72921454e-01 -2.58386363e-04 7.77343152e+00] [ 1.07459037e-03 1.02884573e-05 9.99999423e-01 -1.38037879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.595769231 meters 0.015564478429539768 Centerline is valid? [True, True] Translation: X:66.62, Y:7.78, Z:-0.14 [[ 9.72432525e-01 -2.33180312e-01 -1.38772152e-03 6.66195951e+01] [ 2.33180059e-01 9.72433515e-01 -3.43473841e-04 7.77967626e+00] [ 1.42955826e-03 1.04161472e-05 9.99998978e-01 -1.38985147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.625769231 meters 0.014208558738973535 Centerline is valid? [True, True] Translation: X:66.65, Y:7.78, Z:-0.14 [[ 9.71780687e-01 -2.35879498e-01 -1.77715344e-03 6.66471106e+01] [ 2.35879088e-01 9.71782312e-01 -4.39927580e-04 7.78404671e+00] [ 1.83077618e-03 8.31979208e-06 9.99998324e-01 -1.41073198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65576923100001 meters 0.013590242019105622 Centerline is valid? [True, True] Translation: X:66.68, Y:7.78, Z:-0.14 [[ 9.69998302e-01 -2.43090942e-01 -3.17627927e-03 6.66767241e+01] [ 2.43089668e-01 9.70003502e-01 -7.87127812e-04 7.78127888e+00] [ 3.27234566e-03 -8.60803367e-06 9.99994646e-01 -1.43133203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68576923100001 meters 0.015569950280791715 Centerline is valid? [True, True] Translation: X:66.71, Y:7.78, Z:-0.14 [[ 9.69028154e-01 -2.46932021e-01 -3.00226251e-03 6.67054291e+01] [ 2.46930901e-01 9.69032805e-01 -7.43922793e-04 7.78103529e+00] [ 3.09298922e-03 -2.04692546e-05 9.99995216e-01 -1.44336398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71576923100001 meters 0.02193251975714899 Centerline is valid? [True, True] Translation: X:66.74, Y:7.77, Z:-0.14 [[ 9.67067332e-01 -2.54516592e-01 -1.44177726e-03 6.67365252e+01] [ 2.54516342e-01 9.67068407e-01 -3.57358150e-04 7.77273780e+00] [ 1.48525082e-03 -2.13664828e-05 9.99998897e-01 -1.39556203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745769231 meters 0.024938695775669234 Centerline is valid? [True, True] Translation: X:66.77, Y:7.77, Z:-0.14 [[ 9.66307971e-01 -2.57388484e-01 -2.70704271e-04 6.67654789e+01] [ 2.57388476e-01 9.66308009e-01 -6.72169536e-05 7.77368397e+00] [ 2.78884575e-04 -4.72388155e-06 9.99999961e-01 -1.36863474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.775769231 meters 0.02743046679208931 Centerline is valid? [True, True] Translation: X:66.79, Y:7.77, Z:-0.14 [[ 9.65728814e-01 -2.59553023e-01 2.93339697e-04 6.67935762e+01] [ 2.59553013e-01 9.65728858e-01 7.25779484e-05 7.77421570e+00] [-3.02124437e-04 6.04658630e-06 9.99999954e-01 -1.36429013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805769231 meters 0.027248544837445512 Centerline is valid? [True, True] Translation: X:66.82, Y:7.78, Z:-0.14 [[ 9.65808408e-01 -2.59256257e-01 -5.59611808e-04 6.68212391e+01] [ 2.59256220e-01 9.65808570e-01 -1.38892818e-04 7.78014186e+00] [ 5.76486712e-04 -1.09389907e-05 9.99999834e-01 -1.38085607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.835769231 meters 0.02674428435271857 Centerline is valid? [True, True] Translation: X:66.85, Y:7.79, Z:-0.14 [[ 9.65949249e-01 -2.58727176e-01 -1.51574600e-03 6.68494066e+01] [ 2.58726904e-01 9.65950437e-01 -3.76456602e-04 7.78683941e+00] [ 1.56153506e-03 -2.85262971e-05 9.99998780e-01 -1.40070783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865769231 meters 0.02594341764980206 Centerline is valid? [True, True] Translation: X:66.88, Y:7.79, Z:-0.14 [[ 9.66210689e-01 -2.57744700e-01 -2.13891059e-03 6.68768189e+01] [ 2.57744156e-01 9.66213055e-01 -5.30994388e-04 7.79234227e+00] [ 2.20350433e-03 -3.82392526e-05 9.99997572e-01 -1.40787516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.895769231 meters 0.02569664148313586 Centerline is valid? [True, True] Translation: X:66.90, Y:7.80, Z:-0.14 [[ 9.66240111e-01 -2.57635164e-01 -2.04193706e-03 6.69045045e+01] [ 2.57634666e-01 9.66242268e-01 -5.07565135e-04 7.79857700e+00] [ 2.10377253e-03 -3.56439814e-05 9.99997786e-01 -1.40431256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.925769231 meters 0.02271747478764767 Centerline is valid? [True, True] Translation: X:66.93, Y:7.81, Z:-0.14 [[ 9.66560612e-01 -2.56428162e-01 -2.27631828e-03 6.69322430e+01] [ 2.56427540e-01 9.66563291e-01 -5.65796279e-04 7.80867949e+00] [ 2.34529179e-03 -3.68342990e-05 9.99997249e-01 -1.39818704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.955769231 meters 0.023586753815475925 Centerline is valid? [True, True] Translation: X:66.96, Y:7.81, Z:-0.14 [[ 9.66786085e-01 -2.55573991e-01 -2.56927806e-03 6.69596570e+01] [ 2.55573196e-01 9.66789498e-01 -6.38679703e-04 7.81309931e+00] [ 2.64718097e-03 -3.91719553e-05 9.99996495e-01 -1.41358151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.985769231 meters 0.020917230142808167 Centerline is valid? [True, True] Translation: X:66.99, Y:7.82, Z:-0.14 [[ 9.66932076e-01 -2.55023169e-01 -2.35465039e-03 6.69870680e+01] [ 2.55022498e-01 9.66934942e-01 -5.85972767e-04 7.82345210e+00] [ 2.42623037e-03 -3.38929617e-05 9.99997056e-01 -1.40379570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01576923100001 meters 0.02062041511823566 Centerline is valid? [True, True] Translation: X:67.01, Y:7.83, Z:-0.14 [[ 9.67014450e-01 -2.54705125e-01 -2.89022643e-03 6.70131139e+01] [ 2.54704112e-01 9.67018768e-01 -7.19484278e-04 7.83046645e+00] [ 2.97815953e-03 -4.04008619e-05 9.99995564e-01 -1.41462174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04576923100001 meters 0.020988683042806554 Centerline is valid? [True, True] Translation: X:67.04, Y:7.84, Z:-0.14 [[ 9.66931675e-01 -2.55010747e-01 -3.55732859e-03 6.70415762e+01] [ 2.55009212e-01 9.66938217e-01 -8.86163805e-04 7.83692731e+00] [ 3.66569826e-03 -5.02917092e-05 9.99993280e-01 -1.42856114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07576923100001 meters 0.020311988068121095 Centerline is valid? [True, True] Translation: X:67.07, Y:7.84, Z:-0.14 [[ 9.67188144e-01 -2.54035147e-01 -3.63853388e-03 6.70693272e+01] [ 2.54033534e-01 9.67194986e-01 -9.06546399e-04 7.84225363e+00] [ 3.74946638e-03 -4.75086934e-05 9.99992970e-01 -1.43566505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10576923100001 meters 0.019636381663122714 Centerline is valid? [True, True] Translation: X:67.10, Y:7.85, Z:-0.14 [[ 9.67316752e-01 -2.53558248e-01 -2.55261563e-03 6.70977745e+01] [ 2.53557451e-01 9.67320120e-01 -6.36581509e-04 7.84939060e+00] [ 2.63060695e-03 -3.14587536e-05 9.99996539e-01 -1.41282828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.135769231 meters 0.018690132785068578 Centerline is valid? [True, True] Translation: X:67.13, Y:7.86, Z:-0.14 [[ 9.67537555e-01 -2.52722459e-01 -1.56174627e-03 6.71259223e+01] [ 2.52722159e-01 9.67538815e-01 -3.89608341e-04 7.85788000e+00] [ 1.60951291e-03 -1.77271877e-05 9.99998705e-01 -1.38747483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165769231 meters 0.01656828631177431 Centerline is valid? [True, True] Translation: X:67.15, Y:7.87, Z:-0.14 [[ 9.68192389e-01 -2.50202551e-01 -1.47685910e-03 6.71510459e+01] [ 2.50202280e-01 9.68193515e-01 -3.68464220e-04 7.87068750e+00] [ 1.52207609e-03 -1.27692606e-05 9.99998842e-01 -1.38430407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.195769231 meters 0.015376370326637434 Centerline is valid? [True, True] Translation: X:67.18, Y:7.88, Z:-0.14 [[ 9.68619884e-01 -2.48538878e-01 -1.98682388e-03 6.71781162e+01] [ 2.48538383e-01 9.68621921e-01 -4.96205614e-04 7.88119911e+00] [ 2.04780755e-03 -1.31673695e-05 9.99997903e-01 -1.40525000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225769231 meters 0.013836566222667093 Centerline is valid? [True, True] Translation: X:67.20, Y:7.89, Z:-0.14 [[ 9.69350647e-01 -2.45670872e-01 -2.26861931e-03 6.72041055e+01] [ 2.45670219e-01 9.69353301e-01 -5.66444740e-04 7.89311176e+00] [ 2.33825260e-03 -8.24862985e-06 9.99997266e-01 -1.41849611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.255769231 meters 0.01340549710677056 Centerline is valid? [True, True] Translation: X:67.23, Y:7.90, Z:-0.14 [[ 9.69620085e-01 -2.44603637e-01 -2.43938865e-03 6.72295359e+01] [ 2.44602878e-01 9.69623154e-01 -6.09322464e-04 7.90245704e+00] [ 2.51433021e-03 -5.87018565e-06 9.99996839e-01 -1.41915662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.285769231 meters 0.01326936077876167 Centerline is valid? [True, True] Translation: X:67.26, Y:7.92, Z:-0.14 [[ 9.70139231e-01 -2.42527481e-01 -3.20845080e-03 6.72555001e+01] [ 2.42526154e-01 9.70144536e-01 -8.02185628e-04 7.91567173e+00] [ 3.30721307e-03 9.85151566e-08 9.99994531e-01 -1.42449270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.315769231 meters 0.01342334717935119 Centerline is valid? [True, True] Translation: X:67.28, Y:7.93, Z:-0.14 [[ 9.70331251e-01 -2.41752450e-01 -3.60769427e-03 6.72816844e+01] [ 2.41750765e-01 9.70337958e-01 -9.02631068e-04 7.92509152e+00] [ 3.71889596e-03 3.68828358e-06 9.99993085e-01 -1.42921171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.345769231 meters 0.013636400790761354 Centerline is valid? [True, True] Translation: X:67.31, Y:7.93, Z:-0.14 [[ 9.70567270e-01 -2.40802839e-01 -3.62873772e-03 6.73071037e+01] [ 2.40801128e-01 9.70574053e-01 -9.07969843e-04 7.93464551e+00] [ 3.74060039e-03 7.44167618e-06 9.99993004e-01 -1.43478750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.375769231 meters 0.013839707502887717 Centerline is valid? [True, True] Translation: X:67.33, Y:7.94, Z:-0.14 [[ 9.70752945e-01 -2.40058935e-01 -3.22927877e-03 6.73335625e+01] [ 2.40057572e-01 9.70758316e-01 -8.08853981e-04 7.94461247e+00] [ 3.32902185e-03 9.98456159e-06 9.99994459e-01 -1.43264716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40576923100001 meters 0.013878270494013694 Centerline is valid? [True, True] Translation: X:67.36, Y:7.95, Z:-0.14 [[ 9.70962626e-01 -2.39223306e-01 -1.94672957e-03 6.73596679e+01] [ 2.39222808e-01 9.70964577e-01 -4.88182311e-04 7.95478564e+00] [ 2.00699004e-03 8.30466529e-06 9.99997986e-01 -1.40421430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43576923100001 meters 0.013987189139446164 Centerline is valid? [True, True] Translation: X:67.39, Y:7.96, Z:-0.14 [[ 9.70943022e-01 -2.39306452e-01 -1.43866742e-03 6.73854307e+01] [ 2.39306180e-01 9.70944088e-01 -3.60773687e-04 7.96302345e+00] [ 1.48320110e-03 6.00868906e-06 9.99998900e-01 -1.40464091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46576923100001 meters 0.013633751957025847 Centerline is valid? [True, True] Translation: X:67.41, Y:7.97, Z:-0.14 [[ 9.70571182e-01 -2.40806522e-01 -1.94930640e-03 6.74131627e+01] [ 2.40806025e-01 9.70573139e-01 -4.89316672e-04 7.96866468e+00] [ 2.00977508e-03 5.51193455e-06 9.99997980e-01 -1.41982902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49576923100001 meters 0.013579473173869335 Centerline is valid? [True, True] Translation: X:67.44, Y:7.97, Z:-0.14 [[ 9.70282337e-01 -2.41961109e-01 -2.64716564e-03 6.74408981e+01] [ 2.41960196e-01 9.70285948e-01 -6.64839797e-04 7.97456999e+00] [ 2.72937300e-03 4.57359558e-06 9.99996275e-01 -1.43609300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525769231 meters 0.013521881085878394 Centerline is valid? [True, True] Translation: X:67.47, Y:7.98, Z:-0.15 [[ 9.70078475e-01 -2.42768681e-01 -3.33455970e-03 6.74677335e+01] [ 2.42767235e-01 9.70084206e-01 -8.37982489e-04 7.98058532e+00] [ 3.43823960e-03 3.38693804e-06 9.99994089e-01 -1.45332056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.555769231 meters 0.013477123442326789 Centerline is valid? [True, True] Translation: X:67.49, Y:7.99, Z:-0.15 [[ 9.69955297e-01 -2.43255225e-01 -3.69012873e-03 6.74934500e+01] [ 2.43253458e-01 9.69962316e-01 -9.27375348e-04 7.98705372e+00] [ 3.80487471e-03 1.87605760e-06 9.99992761e-01 -1.45678239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585769231 meters 0.01335728691515016 Centerline is valid? [True, True] Translation: X:67.52, Y:7.99, Z:-0.14 [[ 9.69923467e-01 -2.43388972e-01 -3.20554052e-03 6.75201991e+01] [ 2.43387636e-01 9.69928764e-01 -8.06402447e-04 7.99496542e+00] [ 3.30541542e-03 1.95972702e-06 9.99994537e-01 -1.44332616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.615769231 meters 0.013089998975521416 Centerline is valid? [True, True] Translation: X:67.55, Y:8.00, Z:-0.14 [[ 9.69903440e-01 -2.43482692e-01 -1.86989502e-03 6.75464798e+01] [ 2.43482238e-01 9.69905242e-01 -4.70402696e-04 8.00316832e+00] [ 1.92815589e-03 9.58970056e-07 9.99998141e-01 -1.42427821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.645769231 meters 0.01311882034554529 Centerline is valid? [True, True] Translation: X:67.57, Y:8.01, Z:-0.14 [[ 9.69781216e-01 -2.43970596e-01 -1.65598062e-03 6.75733519e+01] [ 2.43970239e-01 9.69782629e-01 -4.17200507e-04 8.00906753e+00] [ 1.70772589e-03 5.83227436e-07 9.99998542e-01 -1.41264821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.675769231 meters 0.013101187318073174 Centerline is valid? [True, True] Translation: X:67.60, Y:8.01, Z:-0.14 [[ 9.69341936e-01 -2.45710678e-01 -1.57262010e-03 6.76021036e+01] [ 2.45710358e-01 9.69343212e-01 -3.96532898e-04 8.01106901e+00] [ 1.62184098e-03 -2.03308059e-06 9.99998685e-01 -1.40274369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.705769231 meters 0.013356731549314741 Centerline is valid? [True, True] Translation: X:67.63, Y:8.01, Z:-0.14 [[ 9.69013313e-01 -2.47002808e-01 -1.67693192e-03 6.76300434e+01] [ 2.47002446e-01 9.69014764e-01 -4.23142407e-04 8.01439184e+00] [ 1.72948916e-03 -4.17566094e-06 9.99998504e-01 -1.40305451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.735769231 meters 0.013686804294166292 Centerline is valid? [True, True] Translation: X:67.66, Y:8.02, Z:-0.14 [[ 9.68587957e-01 -2.48666370e-01 -1.55097216e-03 6.76585221e+01] [ 2.48666062e-01 9.68589199e-01 -3.91715358e-04 8.01708746e+00] [ 1.59966131e-03 -6.26336018e-06 9.99998721e-01 -1.39994180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76576923100001 meters 0.014553786094343909 Centerline is valid? [True, True] Translation: X:67.69, Y:8.02, Z:-0.14 [[ 9.68105874e-01 -2.50537395e-01 -1.42514900e-03 6.76870548e+01] [ 2.50537137e-01 9.68106923e-01 -3.59879385e-04 8.01865861e+00] [ 1.46985985e-03 -8.65140302e-06 9.99998920e-01 -1.39715622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79576923100001 meters 0.017253457123703797 Centerline is valid? [True, True] Translation: X:67.72, Y:8.01, Z:-0.14 [[ 9.67264647e-01 -2.53767208e-01 -1.14315692e-03 6.77163515e+01] [ 2.53767043e-01 9.67265323e-01 -2.88813504e-04 8.01471794e+00] [ 1.17902744e-03 -1.07364595e-05 9.99999305e-01 -1.40272046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82576923100001 meters 0.017454388225002542 Centerline is valid? [True, True] Translation: X:67.75, Y:8.02, Z:-0.14 [[ 9.66889003e-01 -2.55196212e-01 -7.41480363e-04 6.77463806e+01] [ 2.55196143e-01 9.66889287e-01 -1.87702564e-04 8.01537179e+00] [ 7.64830403e-04 -7.73538381e-06 9.99999707e-01 -1.38750050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85576923100001 meters 0.017073005041338123 Centerline is valid? [True, True] Translation: X:67.77, Y:8.02, Z:-0.14 [[ 9.67023299e-01 -2.54686807e-01 -7.54012080e-04 6.77741581e+01] [ 2.54686736e-01 9.67023593e-01 -1.90679591e-04 8.01998225e+00] [ 7.77711048e-04 -7.64526860e-06 9.99999698e-01 -1.38615466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885769231 meters 0.016240667392405584 Centerline is valid? [True, True] Translation: X:67.80, Y:8.03, Z:-0.14 [[ 9.67307458e-01 -2.53602720e-01 -1.39346713e-03 6.78026447e+01] [ 2.53602475e-01 9.67308462e-01 -3.52751679e-04 8.02661085e+00] [ 1.43737134e-03 -1.21673840e-05 9.99998967e-01 -1.39104388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.915769231 meters 0.01409617248651685 Centerline is valid? [True, True] Translation: X:67.83, Y:8.04, Z:-0.14 [[ 9.68359854e-01 -2.49542966e-01 -2.73890746e-03 6.78297397e+01] [ 2.49542003e-01 9.68363727e-01 -6.93473487e-04 8.03850121e+00] [ 2.82531006e-03 -1.19405674e-05 9.99996009e-01 -1.41760623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945769231 meters 0.013344464271462998 Centerline is valid? [True, True] Translation: X:67.86, Y:8.05, Z:-0.14 [[ 9.68998610e-01 -2.47048144e-01 -2.98472495e-03 6.78560529e+01] [ 2.47046989e-01 9.69003207e-01 -7.55632248e-04 8.04852944e+00] [ 3.07888559e-03 -5.16071332e-06 9.99995260e-01 -1.42774736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.975769231 meters 0.013724991233779899 Centerline is valid? [True, True] Translation: X:67.88, Y:8.06, Z:-0.14 [[ 9.70337313e-01 -2.41750152e-01 -1.53752841e-03 6.78815286e+01] [ 2.41749838e-01 9.70338531e-01 -3.89861337e-04 8.06210022e+00] [ 1.58617209e-03 6.59975899e-06 9.99998742e-01 -1.40077727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005769231 meters 0.0148714167329162 Centerline is valid? [True, True] Translation: X:67.91, Y:8.07, Z:-0.14 [[ 9.70902204e-01 -2.39474873e-01 -8.34497835e-04 6.79084690e+01] [ 2.39474779e-01 9.70902562e-01 -2.11896467e-04 8.07264982e+00] [ 8.60959966e-04 5.88956129e-06 9.99999629e-01 -1.38125924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.035769231 meters 0.01616385226988397 Centerline is valid? [True, True] Translation: X:67.94, Y:8.08, Z:-0.14 [[ 9.71368152e-01 -2.37578688e-01 -5.30179184e-04 6.79359598e+01] [ 2.37578650e-01 9.71368296e-01 -1.34851980e-04 8.08269624e+00] [ 5.47037207e-04 5.03166362e-06 9.99999850e-01 -1.37458033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.065769231 meters 0.01616385226988397 Centerline is valid? [True, True] Translation: X:67.96, Y:8.09, Z:-0.14 [[ 9.71323267e-01 -2.37762129e-01 -5.30141272e-04 6.79625484e+01] [ 2.37762090e-01 9.71323412e-01 -1.35001246e-04 8.08964678e+00] [ 5.47036812e-04 5.08235412e-06 9.99999850e-01 -1.37517077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.095769231 meters 0.017576337830707302 Centerline is valid? [True, True] Translation: X:67.99, Y:8.10, Z:-0.14 [[ 9.71695665e-01 -2.36234373e-01 -9.24644759e-04 6.79888424e+01] [ 2.36234257e-01 9.71696105e-01 -2.34919755e-04 8.09917231e+00] [ 9.53969832e-04 9.83774008e-06 9.99999545e-01 -1.38047753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.125769231 meters 0.020384994127384762 Centerline is valid? [True, True] Translation: X:68.02, Y:8.11, Z:-0.14 [[ 9.72230951e-01 -2.34017453e-01 -1.67619441e-03 6.80151650e+01] [ 2.34017067e-01 9.72232396e-01 -4.25858489e-04 8.11008615e+00] [ 1.72930882e-03 2.17747058e-05 9.99998505e-01 -1.40693697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15576923100001 meters 0.0214866374505407 Centerline is valid? [True, True] Translation: X:68.04, Y:8.12, Z:-0.14 [[ 9.72454149e-01 -2.33082722e-01 -2.31810557e-03 6.80428449e+01] [ 2.33081978e-01 9.72456911e-01 -5.89505876e-04 8.11904205e+00] [ 2.39166142e-03 3.29588013e-05 9.99997139e-01 -1.42514621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18576923100001 meters 0.01936731223068177 Centerline is valid? [True, True] Translation: X:68.07, Y:8.12, Z:-0.14 [[ 9.72353252e-01 -2.33503477e-01 -2.29758717e-03 6.80702386e+01] [ 2.33502747e-01 9.72355966e-01 -5.84859129e-04 8.12291902e+00] [ 2.37063923e-03 3.21967614e-05 9.99997190e-01 -1.41724920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21576923100001 meters 0.02043566896594334 Centerline is valid? [True, True] Translation: X:68.10, Y:8.13, Z:-0.14 [[ 9.72208968e-01 -2.34097904e-01 -2.80967770e-03 6.80969790e+01] [ 2.34096815e-01 9.72213027e-01 -7.14998508e-04 8.13197374e+00] [ 2.89898491e-03 3.73913603e-05 9.99995797e-01 -1.43844955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24576923100001 meters 0.019179484414887017 Centerline is valid? [True, True] Translation: X:68.12, Y:8.14, Z:-0.14 [[ 9.71733301e-01 -2.36058760e-01 -3.26412911e-03 6.81242083e+01] [ 2.36057300e-01 9.71738782e-01 -8.30970688e-04 8.13603758e+00] [ 3.36803875e-03 3.69603855e-05 9.99994327e-01 -1.44930723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.275769231 meters 0.01784040320665411 Centerline is valid? [True, True] Translation: X:68.15, Y:8.14, Z:-0.14 [[ 9.71375974e-01 -2.37527883e-01 -3.03687900e-03 6.81531119e+01] [ 2.37526624e-01 9.71380720e-01 -7.73808156e-04 8.14020797e+00] [ 3.13376672e-03 3.03190355e-05 9.99995089e-01 -1.44193354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305769231 meters 0.016437101435438254 Centerline is valid? [True, True] Translation: X:68.18, Y:8.14, Z:-0.14 [[ 9.70950739e-01 -2.39267906e-01 -2.35207856e-03 6.81817852e+01] [ 2.39267155e-01 9.70953587e-01 -5.99794492e-04 8.14442498e+00] [ 2.42727069e-03 1.95957606e-05 9.99997054e-01 -1.42946506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.335769231 meters 0.013792305731417742 Centerline is valid? [True, True] Translation: X:68.21, Y:8.14, Z:-0.14 [[ 9.69990775e-01 -2.43141666e-01 -1.64817037e-04 6.82120179e+01] [ 2.43141663e-01 9.69990789e-01 -4.23563641e-05 8.14447102e+00] [ 1.70169604e-04 1.01139403e-06 9.99999986e-01 -1.39616013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365769231 meters 0.012984348322007714 Centerline is valid? [True, True] Translation: X:68.24, Y:8.15, Z:-0.14 [[ 9.69449490e-01 -2.45290914e-01 -2.33402774e-04 6.82408063e+01] [ 2.45290906e-01 9.69449518e-01 -5.99704279e-05 8.14664010e+00] [ 2.40982408e-04 8.86722717e-07 9.99999971e-01 -1.39528232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.395769231 meters 0.013179146335714225 Centerline is valid? [True, True] Translation: X:68.27, Y:8.14, Z:-0.14 [[ 9.68251468e-01 -2.49974582e-01 -1.34319234e-03 6.82707440e+01] [ 2.49974346e-01 9.68252399e-01 -3.43481543e-04 8.14165558e+00] [ 1.38641086e-03 -3.18711705e-06 9.99999039e-01 -1.41693151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.425769231 meters 0.014013026395918336 Centerline is valid? [True, True] Translation: X:68.30, Y:8.14, Z:-0.14 [[ 9.67674083e-01 -2.52198106e-01 -1.72759047e-03 6.83003451e+01] [ 2.52197719e-01 9.67675625e-01 -4.41909318e-04 8.14297776e+00] [ 1.78319588e-03 -8.07018216e-06 9.99998410e-01 -1.42631126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.455769231 meters 0.015521828005185452 Centerline is valid? [True, True] Translation: X:68.33, Y:8.14, Z:-0.14 [[ 9.67226072e-01 -2.53910186e-01 -1.82862643e-03 6.83292150e+01] [ 2.53909756e-01 9.67227800e-01 -4.67609926e-04 8.14375799e+00] [ 1.88742924e-03 -1.20215780e-05 9.99998219e-01 -1.43432880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.485769231 meters 0.016608922535076814 Centerline is valid? [True, True] Translation: X:68.36, Y:8.14, Z:-0.14 [[ 9.66749198e-01 -2.55718453e-01 -2.01521939e-03 6.83589876e+01] [ 2.55717933e-01 9.66751298e-01 -5.15864622e-04 8.14257040e+00] [ 2.08013206e-03 -1.66160276e-05 9.99997836e-01 -1.44133125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51576923100001 meters 0.015878477339230423 Centerline is valid? [True, True] Translation: X:68.39, Y:8.15, Z:-0.14 [[ 9.66704800e-01 -2.55888035e-01 -1.77271767e-03 6.83868854e+01] [ 2.55887632e-01 9.66706426e-01 -4.54259371e-04 8.14815912e+00] [ 1.82993710e-03 -1.44818109e-05 9.99998326e-01 -1.42798469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54576923100001 meters 0.015567683329176081 Centerline is valid? [True, True] Translation: X:68.42, Y:8.15, Z:-0.14 [[ 9.67038896e-01 -2.54628505e-01 -3.13697097e-04 6.84153627e+01] [ 2.54628492e-01 9.67038947e-01 -8.04601190e-05 8.15042978e+00] [ 3.23844750e-04 -2.06815423e-06 9.99999948e-01 -1.40102344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57576923100001 meters 0.014791239821132332 Centerline is valid? [True, True] Translation: X:68.44, Y:8.16, Z:-0.14 [[ 9.67347170e-01 -2.53454917e-01 2.39706333e-04 6.84424427e+01] [ 2.53454910e-01 9.67347200e-01 6.12769532e-05 8.15688227e+00] [-2.47410195e-04 1.47865974e-06 9.99999969e-01 -1.39269935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60576923100001 meters 0.013599867918569935 Centerline is valid? [True, True] Translation: X:68.47, Y:8.17, Z:-0.14 [[ 9.67677281e-01 -2.52191677e-01 1.95462581e-04 6.84693159e+01] [ 2.52191672e-01 9.67677301e-01 4.96879849e-05 8.16569466e+00] [-2.01675599e-04 1.21210088e-06 9.99999980e-01 -1.38463552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.635769231 meters 0.013004516368711192 Centerline is valid? [True, True] Translation: X:68.50, Y:8.17, Z:-0.14 [[ 9.68097170e-01 -2.50575030e-01 1.52751575e-04 6.84961859e+01] [ 2.50575027e-01 9.68097182e-01 3.87726100e-05 8.17374626e+00] [-1.57593818e-04 7.40076040e-07 9.99999988e-01 -1.38820445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665769231 meters 0.012841134667937761 Centerline is valid? [True, True] Translation: X:68.52, Y:8.18, Z:-0.14 [[ 9.68747629e-01 -2.48047168e-01 -7.95698708e-04 6.85230086e+01] [ 2.48047084e-01 9.68747956e-01 -2.04693708e-04 8.18269812e+00] [ 8.21605192e-04 9.25800204e-07 9.99999662e-01 -1.40780243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.695769231 meters 0.01308736786581052 Centerline is valid? [True, True] Translation: X:68.55, Y:8.19, Z:-0.14 [[ 9.68897838e-01 -2.47457749e-01 -1.28149560e-03 6.85501824e+01] [ 2.47457530e-01 9.68898685e-01 -3.29666466e-04 8.19039059e+00] [ 1.32321793e-03 2.29738992e-06 9.99999125e-01 -1.41847684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725769231 meters 0.013435828933018007 Centerline is valid? [True, True] Translation: X:68.58, Y:8.20, Z:-0.14 [[ 9.69099421e-01 -2.46664863e-01 -1.66067768e-03 6.85764675e+01] [ 2.46664493e-01 9.69100844e-01 -4.27183768e-04 8.19770521e+00] [ 1.71473537e-03 4.35332359e-06 9.99998530e-01 -1.42351611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.755769231 meters 0.013487371902098928 Centerline is valid? [True, True] Translation: X:68.60, Y:8.21, Z:-0.14 [[ 9.69225891e-01 -2.46169005e-01 -1.41155189e-03 6.86030437e+01] [ 2.46168737e-01 9.69226919e-01 -3.63567656e-04 8.20510148e+00] [ 1.45761318e-03 4.89924096e-06 9.99998938e-01 -1.41345677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.785769231 meters 0.013429611366361326 Centerline is valid? [True, True] Translation: X:68.63, Y:8.21, Z:-0.14 [[ 9.69277114e-01 -2.45971149e-01 2.63989939e-04 6.86297563e+01] [ 2.45971139e-01 9.69277150e-01 6.78017920e-05 8.21118966e+00] [-2.72556700e-04 -7.84819236e-07 9.99999963e-01 -1.38946550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.815769231 meters 0.013318124447520027 Centerline is valid? [True, True] Translation: X:68.66, Y:8.22, Z:-0.14 [[ 9.69136943e-01 -2.46521340e-01 9.02259071e-04 6.86556020e+01] [ 2.46521231e-01 9.69137363e-01 2.32075666e-04 8.21719103e+00] [-9.31624581e-04 -2.48708468e-06 9.99999566e-01 -1.37739908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.845769231 meters 0.013128237042722935 Centerline is valid? [True, True] Translation: X:68.68, Y:8.22, Z:-0.14 [[ 9.69000820e-01 -2.47055432e-01 1.01235745e-03 6.86833339e+01] [ 2.47055294e-01 9.69001349e-01 2.60385834e-04 8.22331789e+00] [-1.04530547e-03 -2.20581838e-06 9.99999454e-01 -1.37913424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.875769231 meters 0.013064447362410664 Centerline is valid? [True, True] Translation: X:68.71, Y:8.23, Z:-0.14 [[ 9.68827124e-01 -2.47737183e-01 5.39746416e-04 6.87097610e+01] [ 2.47737144e-01 9.68827275e-01 1.38914107e-04 8.22948073e+00] [-5.57335239e-04 -8.68519011e-07 9.99999845e-01 -1.39089510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90576923100001 meters 0.012856128519888708 Centerline is valid? [True, True] Translation: X:68.74, Y:8.23, Z:-0.14 [[ 9.68551577e-01 -2.48812121e-01 6.08528458e-04 6.87375012e+01] [ 2.48812072e-01 9.68551769e-01 1.56524510e-04 8.23401064e+00] [-6.28336510e-04 -1.92834744e-07 9.99999803e-01 -1.39080045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93576923100001 meters 0.012751437166275819 Centerline is valid? [True, True] Translation: X:68.76, Y:8.24, Z:-0.14 [[ 9.68344696e-01 -2.49615214e-01 8.91306631e-04 6.87641807e+01] [ 2.49615108e-01 9.68345106e-01 2.29767588e-04 8.23940075e+00] [-9.20445900e-04 -1.06239647e-08 9.99999576e-01 -1.38650155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96576923100001 meters 0.013218877073837412 Centerline is valid? [True, True] Translation: X:68.79, Y:8.24, Z:-0.14 [[ 9.67557583e-01 -2.52649478e-01 7.51190645e-04 6.87929658e+01] [ 2.52649403e-01 9.67557875e-01 1.93555716e-04 8.24021244e+00] [-7.75722174e-04 2.51156781e-06 9.99999699e-01 -1.38486186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99576923100001 meters 0.014078885601343778 Centerline is valid? [True, True] Translation: X:68.82, Y:8.24, Z:-0.14 [[ 9.66883266e-01 -2.55219022e-01 1.90347332e-06 6.88216363e+01] [ 2.55219022e-01 9.66883266e-01 1.14610302e-07 8.24309619e+00] [-1.86968724e-06 3.74987816e-07 1.00000000e+00 -1.40002266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025769231 meters 0.015860802432120742 Centerline is valid? [True, True] Translation: X:68.85, Y:8.24, Z:-0.14 [[ 9.66166612e-01 -2.57918425e-01 -4.03734063e-04 6.88504230e+01] [ 2.57918404e-01 9.66166697e-01 -1.04466217e-04 8.24361324e+00] [ 4.17018168e-04 -3.19867435e-06 9.99999913e-01 -1.42228782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.055769231 meters 0.019443007571028497 Centerline is valid? [True, True] Translation: X:68.88, Y:8.24, Z:-0.14 [[ 9.64782103e-01 -2.63049384e-01 -7.18354547e-04 6.88816358e+01] [ 2.63049319e-01 9.64782370e-01 -1.85744893e-04 8.23914088e+00] [ 7.41915882e-04 -9.75932584e-06 9.99999725e-01 -1.42220311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085769231 meters 0.01976900615525116 Centerline is valid? [True, True] Translation: X:68.91, Y:8.24, Z:-0.14 [[ 9.64304733e-01 -2.64794336e-01 -5.84429989e-04 6.89102258e+01] [ 2.64794292e-01 9.64304910e-01 -1.51547155e-04 8.24336868e+00] [ 6.03697536e-04 -8.61608629e-06 9.99999818e-01 -1.42042892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.115769231 meters 0.022617837436913882 Centerline is valid? [True, True] Translation: X:68.94, Y:8.24, Z:-0.14 [[ 9.64286670e-01 -2.64855550e-01 -1.65986452e-03 6.89392150e+01] [ 2.64855203e-01 9.64288098e-01 -4.29562769e-04 8.24284071e+00] [ 1.71435968e-03 -2.54021012e-05 9.99998530e-01 -1.44486182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.145769231 meters 0.02171816674620571 Centerline is valid? [True, True] Translation: X:68.97, Y:8.25, Z:-0.14 [[ 9.64490912e-01 -2.64109803e-01 -1.81447102e-03 6.89665975e+01] [ 2.64109386e-01 9.64492619e-01 -4.70079648e-04 8.25076440e+00] [ 1.87419655e-03 -2.58312784e-05 9.99998243e-01 -1.44869802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.175769231 meters 0.020366226985733246 Centerline is valid? [True, True] Translation: X:68.99, Y:8.26, Z:-0.15 [[ 9.64887549e-01 -2.62657724e-01 -1.71418285e-03 6.89932426e+01] [ 2.62657350e-01 9.64889071e-01 -4.43994109e-04 8.25953892e+00] [ 1.77061478e-03 -2.18383368e-05 9.99998432e-01 -1.45355733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.205769231 meters 0.01671062624373202 Centerline is valid? [True, True] Translation: X:69.02, Y:8.27, Z:-0.15 [[ 9.66109479e-01 -2.58125998e-01 -1.85573071e-03 6.90179783e+01] [ 2.58125551e-01 9.66111261e-01 -4.80755255e-04 8.27464194e+00] [ 1.91693777e-03 -1.45493034e-05 9.99998163e-01 -1.45386370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.235769231 meters 0.014051476924320232 Centerline is valid? [True, True] Translation: X:69.04, Y:8.29, Z:-0.14 [[ 9.66898582e-01 -2.55155500e-01 -1.67423763e-03 6.90434121e+01] [ 2.55155130e-01 9.66900031e-01 -4.34283531e-04 8.29040908e+00] [ 1.72963025e-03 -7.28219105e-06 9.99998504e-01 -1.43888057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26576923100001 meters 0.01321663547783291 Centerline is valid? [True, True] Translation: X:69.07, Y:8.31, Z:-0.14 [[ 9.68443469e-01 -2.49229353e-01 -1.40575885e-03 6.90674679e+01] [ 2.49229086e-01 9.68444490e-01 -3.64968169e-04 8.31258109e+00] [ 1.45236020e-03 3.09504582e-06 9.99998945e-01 -1.42753335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29576923100001 meters 0.013894565188472728 Centerline is valid? [True, True] Translation: X:69.09, Y:8.33, Z:-0.14 [[ 9.68979686e-01 -2.47137747e-01 -1.14138567e-03 6.90931740e+01] [ 2.47137569e-01 9.68980358e-01 -2.96232090e-04 8.32576313e+00] [ 1.17919043e-03 4.96359720e-06 9.99999305e-01 -1.42590365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32576923100001 meters 0.015141435396910099 Centerline is valid? [True, True] Translation: X:69.12, Y:8.34, Z:-0.14 [[ 9.69663982e-01 -2.44440987e-01 -6.04183390e-04 6.91189183e+01] [ 2.44440937e-01 9.69664171e-01 -1.57220523e-04 8.34264545e+00] [ 6.24286126e-04 4.76392472e-06 9.99999805e-01 -1.41507620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35576923100001 meters 0.015395050538947411 Centerline is valid? [True, True] Translation: X:69.14, Y:8.35, Z:-0.14 [[ 9.69683237e-01 -2.44364597e-01 -6.03739680e-04 6.91438457e+01] [ 2.44364546e-01 9.69683425e-01 -1.56970347e-04 8.35370682e+00] [ 6.23794356e-04 4.67894102e-06 9.99999805e-01 -1.41845996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385769231 meters 0.01530435436938352 Centerline is valid? [True, True] Translation: X:69.17, Y:8.36, Z:-0.14 [[ 9.69602448e-01 -2.44684357e-01 -8.11186789e-04 6.91688652e+01] [ 2.44684266e-01 9.69602787e-01 -2.10909932e-04 8.36412698e+00] [ 8.38135333e-04 6.01414185e-06 9.99999649e-01 -1.41997251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.415769231 meters 0.015177034302024434 Centerline is valid? [True, True] Translation: X:69.19, Y:8.38, Z:-0.14 [[ 9.69402277e-01 -2.45476240e-01 -8.00468045e-04 6.91942577e+01] [ 2.45476152e-01 9.69402608e-01 -2.08121303e-04 8.37778135e+00] [ 8.27064645e-04 5.25744993e-06 9.99999658e-01 -1.41654165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445769231 meters 0.014674124417818903 Centerline is valid? [True, True] Translation: X:69.22, Y:8.39, Z:-0.14 [[ 9.69300736e-01 -2.45878160e-01 -1.14019650e-04 6.92203643e+01] [ 2.45878158e-01 9.69300743e-01 -3.00677985e-05 8.38696295e+00] [ 1.17912347e-04 1.10979764e-06 9.99999993e-01 -1.40281815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.475769231 meters 0.0148101760946412 Centerline is valid? [True, True] Translation: X:69.25, Y:8.40, Z:-0.14 [[ 9.69210399e-01 -2.46233688e-01 4.15987802e-04 6.92455655e+01] [ 2.46233664e-01 9.69210489e-01 1.08027856e-04 8.39748857e+00] [-4.29779838e-04 -2.27152057e-06 9.99999908e-01 -1.39208146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505769231 meters 0.014453287460966868 Centerline is valid? [True, True] Translation: X:69.27, Y:8.41, Z:-0.14 [[ 9.69072000e-01 -2.46775764e-01 1.08707978e-03 6.92710319e+01] [ 2.46775602e-01 9.69072609e-01 2.82588830e-04 8.40966416e+00] [-1.12319531e-03 -5.58415565e-06 9.99999369e-01 -1.38774157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.535769231 meters 0.014537580702369523 Centerline is valid? [True, True] Translation: X:69.30, Y:8.42, Z:-0.14 [[ 9.69063256e-01 -2.46811155e-01 8.12222998e-04 6.92960309e+01] [ 2.46811065e-01 9.69063596e-01 2.11331709e-04 8.41944919e+00] [-8.39254763e-04 -4.32817154e-06 9.99999648e-01 -1.39391820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.565769231 meters 0.014892911794929171 Centerline is valid? [True, True] Translation: X:69.32, Y:8.43, Z:-0.14 [[ 9.69241173e-01 -2.46112642e-01 3.39203436e-04 6.93221621e+01] [ 2.46112626e-01 9.69241233e-01 8.80266399e-05 8.43387904e+00] [-3.50434425e-04 -1.83679525e-06 9.99999939e-01 -1.40631966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.595769231 meters 0.015624200362699153 Centerline is valid? [True, True] Translation: X:69.35, Y:8.45, Z:-0.14 [[ 9.69363931e-01 -2.45628733e-01 3.06062277e-04 6.93472254e+01] [ 2.45628720e-01 9.69363980e-01 7.95855389e-05 8.44679015e+00] [-3.16234242e-04 -1.96966537e-06 9.99999950e-01 -1.40902928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.625769231 meters 0.015648626251767526 Centerline is valid? [True, True] Translation: X:69.37, Y:8.46, Z:-0.14 [[ 9.69320284e-01 -2.45800474e-01 5.60019882e-04 6.93718331e+01] [ 2.45800430e-01 9.69320446e-01 1.45855447e-04 8.45875799e+00] [-5.78690060e-04 -3.72751549e-06 9.99999833e-01 -1.40479944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65576923100001 meters 0.0134923483733503 Centerline is valid? [True, True] Translation: X:69.40, Y:8.47, Z:-0.14 [[ 9.68489996e-01 -2.49050739e-01 9.25366963e-04 6.93989755e+01] [ 2.49050622e-01 9.68490439e-01 2.41095254e-04 8.46738302e+00] [-9.56254007e-04 -3.03512378e-06 9.99999543e-01 -1.40057188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68576923100001 meters 0.01288575683798579 Centerline is valid? [True, True] Translation: X:69.43, Y:8.47, Z:-0.14 [[ 9.67663372e-01 -2.52243899e-01 7.83942208e-04 6.94269734e+01] [ 2.52243816e-01 9.67663689e-01 2.04471549e-04 8.47189653e+00] [-8.10169110e-04 -1.15054295e-07 9.99999672e-01 -1.40741509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71576923100001 meters 0.013351852626660235 Centerline is valid? [True, True] Translation: X:69.46, Y:8.48, Z:-0.14 [[ 9.66763269e-01 -2.55673171e-01 1.05613563e-04 6.94554242e+01] [ 2.55673169e-01 9.66763275e-01 2.72252151e-05 8.47560725e+00] [-1.09064071e-04 6.82216415e-07 9.99999994e-01 -1.41859859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74576923100001 meters 0.017363648682869333 Centerline is valid? [True, True] Translation: X:69.48, Y:8.48, Z:-0.14 [[ 9.65080343e-01 -2.61952847e-01 -7.98262772e-04 6.94841991e+01] [ 2.61952764e-01 9.65080673e-01 -2.08647725e-04 8.47634935e+00] [ 8.25043839e-04 -7.74532119e-06 9.99999660e-01 -1.44735307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.775769231 meters 0.019371077835171682 Centerline is valid? [True, True] Translation: X:69.51, Y:8.48, Z:-0.15 [[ 9.64278910e-01 -2.64888488e-01 -5.22374201e-04 6.95127882e+01] [ 2.64888453e-01 9.64279051e-01 -1.36904441e-04 8.48133963e+00] [ 5.39978909e-04 -6.35682891e-06 9.99999854e-01 -1.45048835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805769231 meters 0.025869835136820597 Centerline is valid? [True, True] Translation: X:69.54, Y:8.48, Z:-0.14 [[ 9.62696718e-01 -2.70582760e-01 -1.80440774e-05 6.95424257e+01] [ 2.70582760e-01 9.62696718e-01 -4.83805369e-06 8.47931502e+00] [ 1.86800680e-05 -2.24837855e-07 1.00000000e+00 -1.43636306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.835769231 meters 0.029138462130011197 Centerline is valid? [True, True] Translation: X:69.57, Y:8.48, Z:-0.14 [[ 9.61883860e-01 -2.73458255e-01 -1.50538578e-04 6.95718207e+01] [ 2.73458252e-01 9.61883872e-01 -3.94373460e-05 8.48232371e+00] [ 1.55585098e-04 -3.23186984e-06 9.99999988e-01 -1.43293765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865769231 meters 0.03306002780489502 Centerline is valid? [True, True] Translation: X:69.60, Y:8.48, Z:-0.14 [[ 9.60975437e-01 -2.76631473e-01 1.11259432e-03 6.96007684e+01] [ 2.76631322e-01 9.60976080e-01 2.90892893e-04 8.48487587e+00] [-1.14964665e-03 2.82375112e-05 9.99999339e-01 -1.40813178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.895769231 meters 0.03338405722503424 Centerline is valid? [True, True] Translation: X:69.63, Y:8.49, Z:-0.14 [[ 9.60869730e-01 -2.76990606e-01 2.35939194e-03 6.96279813e+01] [ 2.76989926e-01 9.60872624e-01 6.17082192e-04 8.49270003e+00] [-2.43800109e-03 6.05921984e-05 9.99997026e-01 -1.38711086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.925769231 meters 0.03209381121887955 Centerline is valid? [True, True] Translation: X:69.65, Y:8.50, Z:-0.14 [[ 9.60951920e-01 -2.76704781e-01 2.42309606e-03 6.96547360e+01] [ 2.76704061e-01 9.60954973e-01 6.34199598e-04 8.50251555e+00] [-2.50397227e-03 6.10451993e-05 9.99996863e-01 -1.38932624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.955769231 meters 0.028717643757154875 Centerline is valid? [True, True] Translation: X:69.68, Y:8.52, Z:-0.15 [[ 9.61247696e-01 -2.75684795e-01 -8.72779123e-04 6.96810222e+01] [ 2.75684700e-01 9.61248092e-01 -2.29070699e-04 8.51727128e+00] [ 9.02108575e-04 -2.04181697e-05 9.99999593e-01 -1.45257811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.985769231 meters 0.028717643757154875 Centerline is valid? [True, True] Translation: X:69.71, Y:8.52, Z:-0.15 [[ 9.61196227e-01 -2.75864190e-01 -8.72723395e-04 6.97075687e+01] [ 2.75864096e-01 9.61196623e-01 -2.29283152e-04 8.52442227e+00] [ 9.02109791e-04 -2.03669496e-05 9.99999593e-01 -1.45316870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01576923100001 meters 0.028250554547768515 Centerline is valid? [True, True] Translation: X:69.73, Y:8.53, Z:-0.15 [[ 9.61353099e-01 -2.75310087e-01 -2.13881842e-03 6.97349822e+01] [ 2.75309518e-01 9.61355477e-01 -5.61631307e-04 8.53386982e+00] [ 2.21078756e-03 -4.89110703e-05 9.99997555e-01 -1.47657782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04576923100001 meters 0.027554124669447247 Centerline is valid? [True, True] Translation: X:69.76, Y:8.54, Z:-0.15 [[ 9.61577010e-01 -2.74526729e-01 -2.17449814e-03 6.97625400e+01] [ 2.74526138e-01 9.61579468e-01 -5.71319354e-04 8.54415665e+00] [ 2.24779520e-03 -4.75890214e-05 9.99997473e-01 -1.48190517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07576923100001 meters 0.02690800692003545 Centerline is valid? [True, True] Translation: X:69.79, Y:8.55, Z:-0.15 [[ 9.61403808e-01 -2.75135347e-01 -1.80514829e-03 6.97899071e+01] [ 2.75134941e-01 9.61405502e-01 -4.74692242e-04 8.55245199e+00] [ 1.86608411e-03 -4.02884387e-05 9.99998258e-01 -1.47513029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10576923100001 meters 0.029146708531034276 Centerline is valid? [True, True] Translation: X:69.82, Y:8.56, Z:-0.15 [[ 9.61100080e-01 -2.76195429e-01 -1.64973068e-03 6.98176495e+01] [ 2.76195092e-01 9.61101495e-01 -4.33719210e-04 8.55601475e+00] [ 1.70534989e-03 -3.87999500e-05 9.99998545e-01 -1.48123913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.135769231 meters 0.029061698292157045 Centerline is valid? [True, True] Translation: X:69.85, Y:8.56, Z:-0.15 [[ 9.60745560e-01 -2.77426502e-01 -1.58286147e-03 6.98458503e+01] [ 2.77426192e-01 9.60746863e-01 -4.16659284e-04 8.56290779e+00] [ 1.63632152e-03 -3.88236729e-05 9.99998660e-01 -1.48022293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165769231 meters 0.03083764421093839 Centerline is valid? [True, True] Translation: X:69.87, Y:8.57, Z:-0.15 [[ 9.60362188e-01 -2.78750269e-01 -1.66014555e-03 6.98735827e+01] [ 2.78749930e-01 9.60363621e-01 -4.36852654e-04 8.56570890e+00] [ 1.71611619e-03 -4.32286874e-05 9.99998527e-01 -1.47537947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.195769231 meters 0.031032114247245262 Centerline is valid? [True, True] Translation: X:69.90, Y:8.57, Z:-0.15 [[ 9.60328114e-01 -2.78869584e-01 -1.29177825e-03 6.99008384e+01] [ 2.78869378e-01 9.60328982e-01 -3.40488090e-04 8.57161717e+00] [ 1.33548386e-03 -3.32571102e-05 9.99999108e-01 -1.46928969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225769231 meters 0.029184894068643056 Centerline is valid? [True, True] Translation: X:69.93, Y:8.58, Z:-0.15 [[ 9.60904934e-01 -2.76875592e-01 -1.27049487e-03 6.99282812e+01] [ 2.76875392e-01 9.60905773e-01 -3.34637854e-04 8.57829277e+00] [ 1.31347891e-03 -3.02135993e-05 9.99999137e-01 -1.46830172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.255769231 meters 0.027721019536503078 Centerline is valid? [True, True] Translation: X:69.95, Y:8.59, Z:-0.15 [[ 9.61404882e-01 -2.75135773e-01 -9.79280610e-04 6.99549467e+01] [ 2.75135652e-01 9.61405381e-01 -2.58043180e-04 8.58644405e+00] [ 1.01248256e-03 -2.13510362e-05 9.99999487e-01 -1.46841715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.285769231 meters 0.025967579007688615 Centerline is valid? [True, True] Translation: X:69.98, Y:8.60, Z:-0.15 [[ 9.61863713e-01 -2.73527003e-01 -1.08464395e-03 6.99819663e+01] [ 2.73526854e-01 9.61864324e-01 -2.86209403e-04 8.59546465e+00] [ 1.12156632e-03 -2.13848097e-05 9.99999371e-01 -1.47314028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.315769231 meters 0.023053592102999898 Centerline is valid? [True, True] Translation: X:70.01, Y:8.61, Z:-0.15 [[ 9.62803551e-01 -2.70189631e-01 -2.62415924e-03 7.00083744e+01] [ 2.70188748e-01 9.62807126e-01 -6.91812141e-04 8.60578522e+00] [ 2.71347969e-03 -4.29391157e-05 9.99996318e-01 -1.50107128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.345769231 meters 0.021886733186486467 Centerline is valid? [True, True] Translation: X:70.04, Y:8.61, Z:-0.15 [[ 9.63119051e-01 -2.69052977e-01 -3.49137378e-03 7.00359273e+01] [ 2.69051405e-01 9.63125377e-01 -9.21253557e-04 8.61402906e+00] [ 3.61049670e-03 -5.20821695e-05 9.99993481e-01 -1.51844133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.375769231 meters 0.020918570252697572 Centerline is valid? [True, True] Translation: X:70.06, Y:8.62, Z:-0.15 [[ 9.63375318e-01 -2.68147789e-01 -2.18158452e-03 7.00633409e+01] [ 2.68147171e-01 9.63377788e-01 -5.76146647e-04 8.62123108e+00] [ 2.25618252e-03 -2.99402599e-05 9.99997454e-01 -1.49419533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40576923100001 meters 0.020807994511908873 Centerline is valid? [True, True] Translation: X:70.09, Y:8.63, Z:-0.15 [[ 9.63355739e-01 -2.68226962e-01 -1.29800773e-04 7.00911432e+01] [ 2.68226960e-01 9.63355748e-01 -3.46307813e-05 8.62883002e+00] [ 1.34333230e-04 -1.45430468e-06 9.99999991e-01 -1.45115855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43576923100001 meters 0.019979740342304413 Centerline is valid? [True, True] Translation: X:70.12, Y:8.64, Z:-0.14 [[ 9.63544459e-01 -2.67535067e-01 2.65778729e-03 7.01178944e+01] [ 2.67534148e-01 9.63548124e-01 7.01962690e-04 8.63695922e+00] [-2.74870559e-03 3.46765979e-05 9.99996222e-01 -1.39427370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46576923100001 meters 0.019917024674147802 Centerline is valid? [True, True] Translation: X:70.15, Y:8.64, Z:-0.14 [[ 9.63611289e-01 -2.67291096e-01 2.95852553e-03 7.01452209e+01] [ 2.67289956e-01 9.63615830e-01 7.81583120e-04 8.64400481e+00] [-3.05979224e-03 3.76418395e-05 9.99995318e-01 -1.39162527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49576923100001 meters 0.01979687409374086 Centerline is valid? [True, True] Translation: X:70.17, Y:8.65, Z:-0.14 [[ 9.63616431e-01 -2.67278703e-01 2.33836600e-03 7.01719530e+01] [ 2.67277991e-01 9.63619268e-01 6.17896398e-04 8.65082857e+00] [-2.41844508e-03 2.95786446e-05 9.99997075e-01 -1.40426125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525769231 meters 0.019077961892964956 Centerline is valid? [True, True] Translation: X:70.20, Y:8.66, Z:-0.14 [[ 9.63840195e-01 -2.66475936e-01 1.62937774e-03 7.01989194e+01] [ 2.66475589e-01 9.63841572e-01 4.30756702e-04 8.65998832e+00] [-1.68524830e-03 1.90087686e-05 9.99998580e-01 -1.41265464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.555769231 meters 0.017685017478796524 Centerline is valid? [True, True] Translation: X:70.23, Y:8.67, Z:-0.14 [[ 9.64046350e-01 -2.65728592e-01 1.71739831e-03 7.02258399e+01] [ 2.65728204e-01 9.64047880e-01 4.54301676e-04 8.67053515e+00] [-1.77637514e-03 1.83932962e-05 9.99998422e-01 -1.41375946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585769231 meters 0.015751974350688966 Centerline is valid? [True, True] Translation: X:70.25, Y:8.68, Z:-0.14 [[ 9.64695128e-01 -2.63365959e-01 1.29660621e-03 7.02528954e+01] [ 2.63365736e-01 9.64695999e-01 3.43135026e-04 8.68309487e+00] [-1.34120091e-03 1.04609614e-05 9.99999101e-01 -1.41820929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.615769231 meters 0.015443596061108395 Centerline is valid? [True, True] Translation: X:70.28, Y:8.69, Z:-0.14 [[ 9.64975976e-01 -2.62337039e-01 8.01973879e-04 7.02798309e+01] [ 2.62336953e-01 9.64976310e-01 2.12360869e-04 8.69115289e+00] [-8.29595916e-04 5.46424665e-06 9.99999656e-01 -1.43557631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.645769231 meters 0.015479459866122508 Centerline is valid? [True, True] Translation: X:70.31, Y:8.70, Z:-0.15 [[ 9.64981760e-01 -2.62316855e-01 -2.66999551e-04 7.03059292e+01] [ 2.62316845e-01 9.64981797e-01 -7.09322262e-05 8.69637144e+00] [ 2.76256425e-04 -1.59017548e-06 9.99999962e-01 -1.46041942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.675769231 meters 0.016217052906986308 Centerline is valid? [True, True] Translation: X:70.33, Y:8.70, Z:-0.15 [[ 9.64725771e-01 -2.63256030e-01 -6.69895233e-04 7.03338941e+01] [ 2.63255970e-01 9.64726004e-01 -1.77990005e-04 8.70173315e+00] [ 6.93122293e-04 -4.64237476e-06 9.99999760e-01 -1.46762589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.705769231 meters 0.017016726452727577 Centerline is valid? [True, True] Translation: X:70.36, Y:8.71, Z:-0.15 [[ 9.64457017e-01 -2.64238224e-01 -9.07392310e-04 7.03612936e+01] [ 2.64238114e-01 9.64457444e-01 -2.40894863e-04 8.70700665e+00] [ 9.38794899e-04 -7.43489190e-06 9.99999559e-01 -1.47136389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.735769231 meters 0.01690391322676806 Centerline is valid? [True, True] Translation: X:70.39, Y:8.71, Z:-0.15 [[ 9.64307189e-01 -2.64785315e-01 -6.17702824e-04 7.03882885e+01] [ 2.64785264e-01 9.64307387e-01 -1.64375949e-04 8.71433196e+00] [ 6.39179734e-04 -5.04969589e-06 9.99999796e-01 -1.46098293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76576923100001 meters 0.01662475149982833 Centerline is valid? [True, True] Translation: X:70.42, Y:8.72, Z:-0.15 [[ 9.64356380e-01 -2.64606475e-01 -4.29990738e-04 7.04154142e+01] [ 2.64606450e-01 9.64356476e-01 -1.14624666e-04 8.72233670e+00] [ 4.44994782e-04 -3.23929520e-06 9.99999901e-01 -1.46205095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79576923100001 meters 0.015993335341341078 Centerline is valid? [True, True] Translation: X:70.44, Y:8.73, Z:-0.15 [[ 9.64426585e-01 -2.64350630e-01 -3.26630068e-04 7.04415728e+01] [ 2.64350616e-01 9.64426640e-01 -8.72415600e-05 8.73127120e+00] [ 3.38073101e-04 -2.20677990e-06 9.99999943e-01 -1.45863844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82576923100001 meters 0.015516249653685206 Centerline is valid? [True, True] Translation: X:70.47, Y:8.74, Z:-0.15 [[ 9.64417429e-01 -2.64384148e-01 2.14005110e-04 7.04678107e+01] [ 2.64384142e-01 9.64417452e-01 5.65199726e-05 8.74000273e+00] [-2.21333248e-04 2.07071077e-06 9.99999976e-01 -1.45177231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85576923100001 meters 0.01490664902900961 Centerline is valid? [True, True] Translation: X:70.49, Y:8.75, Z:-0.14 [[ 9.64685612e-01 -2.63403920e-01 2.11508537e-04 7.04948185e+01] [ 2.63403914e-01 9.64685635e-01 5.59474870e-05 8.74859300e+00] [-2.18776035e-04 1.74044074e-06 9.99999976e-01 -1.44966663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885769231 meters 0.01391402019402763 Centerline is valid? [True, True] Translation: X:70.52, Y:8.76, Z:-0.14 [[ 9.65032920e-01 -2.62128434e-01 3.83704736e-04 7.05222156e+01] [ 2.62128414e-01 9.65032996e-01 1.01849686e-04 8.75937014e+00] [-3.96985430e-04 2.29161417e-06 9.99999921e-01 -1.44261140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.915769231 meters 0.013461529461492117 Centerline is valid? [True, True] Translation: X:70.55, Y:8.77, Z:-0.15 [[ 9.65436968e-01 -2.60636622e-01 1.08506762e-04 7.05481558e+01] [ 2.60636620e-01 9.65436974e-01 2.87822243e-05 8.77007953e+00] [-1.12258141e-04 4.93412301e-07 9.99999994e-01 -1.45145207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945769231 meters 0.01322214515777551 Centerline is valid? [True, True] Translation: X:70.57, Y:8.78, Z:-0.15 [[ 9.65724037e-01 -2.59570838e-01 -2.55812544e-04 7.05745480e+01] [ 2.59570829e-01 9.65724070e-01 -6.86420660e-05 8.78139124e+00] [ 2.64861809e-04 -1.12180873e-07 9.99999965e-01 -1.46129619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.975769231 meters 0.013119979500814453 Centerline is valid? [True, True] Translation: X:70.60, Y:8.79, Z:-0.15 [[ 9.65782413e-01 -2.59353593e-01 2.11143422e-04 7.06002771e+01] [ 2.59353587e-01 9.65782436e-01 5.61431119e-05 8.79064299e+00] [-2.18479526e-04 5.38773710e-07 9.99999976e-01 -1.47289221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005769231 meters 0.013359995518805224 Centerline is valid? [True, True] Translation: X:70.63, Y:8.80, Z:-0.15 [[ 9.65447296e-01 -2.60596976e-01 8.57083218e-04 7.06274950e+01] [ 2.60596876e-01 9.65447676e-01 2.28396846e-04 8.79654103e+00] [-8.86988528e-04 2.84809205e-06 9.99999607e-01 -1.45873682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.035769231 meters 0.01487001424335769 Centerline is valid? [True, True] Translation: X:70.66, Y:8.80, Z:-0.14 [[ 9.64510434e-01 -2.64041028e-01 1.39908136e-03 7.06555619e+01] [ 2.64040764e-01 9.64511449e-01 3.73461253e-04 8.79737876e+00] [-1.44803908e-03 9.20723542e-06 9.99998952e-01 -1.44690991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.065769231 meters 0.016266328664073466 Centerline is valid? [True, True] Translation: X:70.68, Y:8.80, Z:-0.15 [[ 9.63986281e-01 -2.65949387e-01 1.17181680e-03 7.06837457e+01] [ 2.65949203e-01 9.63986993e-01 3.12873036e-04 8.80035057e+00] [-1.21282454e-03 1.00384291e-05 9.99999264e-01 -1.45100679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.095769231 meters 0.01809410176734373 Centerline is valid? [True, True] Translation: X:70.71, Y:8.80, Z:-0.15 [[ 9.63395317e-01 -2.68082311e-01 1.15691620e-03 7.07117780e+01] [ 2.68082133e-01 9.63396011e-01 3.08963237e-04 8.80230666e+00] [-1.19739603e-03 1.24948282e-05 9.99999283e-01 -1.45576476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.125769231 meters 0.019850445351752784 Centerline is valid? [True, True] Translation: X:70.74, Y:8.80, Z:-0.15 [[ 9.62854693e-01 -2.70017757e-01 1.11856122e-03 7.07409205e+01] [ 2.70017592e-01 9.62855343e-01 2.98680431e-04 8.80478865e+00] [-1.15766167e-03 1.44453540e-05 9.99999330e-01 -1.45673603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15576923100001 meters 0.020590291569943284 Centerline is valid? [True, True] Translation: X:70.77, Y:8.81, Z:-0.14 [[ 9.62319533e-01 -2.71916353e-01 1.61649476e-03 7.07700046e+01] [ 2.71916011e-01 9.62320891e-01 4.32060884e-04 8.80739170e+00] [-1.67307110e-03 2.37701790e-05 9.99998600e-01 -1.43756111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18576923100001 meters 0.019404004474989835 Centerline is valid? [True, True] Translation: X:70.80, Y:8.81, Z:-0.14 [[ 9.62456310e-01 -2.71429884e-01 1.91572330e-03 7.07976811e+01] [ 2.71429401e-01 9.62458216e-01 5.12435727e-04 8.81380209e+00] [-1.98289400e-03 2.67866288e-05 9.99998034e-01 -1.43139242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21576923100001 meters 0.019144212498105967 Centerline is valid? [True, True] Translation: X:70.82, Y:8.82, Z:-0.15 [[ 9.62658935e-01 -2.70714616e-01 1.17082087e-03 7.08249221e+01] [ 2.70714435e-01 9.62659647e-01 3.13349611e-04 8.81990981e+00] [-1.21193033e-03 1.53093090e-05 9.99999265e-01 -1.45003757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24576923100001 meters 0.018581362077916788 Centerline is valid? [True, True] Translation: X:70.85, Y:8.83, Z:-0.15 [[ 9.62819422e-01 -2.70145776e-01 -1.44470370e-04 7.08522189e+01] [ 2.70145773e-01 9.62819433e-01 -3.91251280e-05 8.82684074e+00] [ 1.49668368e-04 -1.35762660e-06 9.99999989e-01 -1.47995104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.275769231 meters 0.018406077762717254 Centerline is valid? [True, True] Translation: X:70.88, Y:8.83, Z:-0.15 [[ 9.63135290e-01 -2.69015881e-01 -9.32679302e-04 7.08802616e+01] [ 2.69015765e-01 9.63135741e-01 -2.50092512e-04 8.83123350e+00] [ 9.65575629e-04 -1.00325115e-05 9.99999534e-01 -1.50787402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305769231 meters 0.019172443854642215 Centerline is valid? [True, True] Translation: X:70.91, Y:8.83, Z:-0.15 [[ 9.63161903e-01 -2.68921548e-01 -5.91259492e-04 7.09075625e+01] [ 2.68921501e-01 9.63162084e-01 -1.58682884e-04 8.83494606e+00] [ 6.12151971e-04 -6.16508133e-06 9.99999813e-01 -1.49967195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.335769231 meters 0.017591104709304757 Centerline is valid? [True, True] Translation: X:70.93, Y:8.84, Z:-0.15 [[ 9.63098482e-01 -2.69149101e-01 -2.73056532e-04 7.09343212e+01] [ 2.69149091e-01 9.63098521e-01 -7.36718504e-05 8.84269431e+00] [ 2.82809054e-04 -2.53966995e-06 9.99999960e-01 -1.48311540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365769231 meters 0.016943806840531754 Centerline is valid? [True, True] Translation: X:70.96, Y:8.85, Z:-0.15 [[ 9.63120262e-01 -2.69071292e-01 8.21048043e-06 7.09618609e+01] [ 2.69071292e-01 9.63120262e-01 1.80455498e-06 8.84832223e+00] [-8.39323402e-06 4.71201112e-07 1.00000000e+00 -1.47252051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.395769231 meters 0.016509263500408634 Centerline is valid? [True, True] Translation: X:70.99, Y:8.86, Z:-0.15 [[ 9.63361099e-01 -2.68207237e-01 5.20648016e-04 7.09888107e+01] [ 2.68207201e-01 9.63361240e-01 1.39684571e-04 8.85588878e+00] [-5.39036531e-04 5.07486516e-06 9.99999855e-01 -1.46601265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.425769231 meters 0.014358219455317602 Centerline is valid? [True, True] Translation: X:71.02, Y:8.87, Z:-0.14 [[ 9.64212448e-01 -2.65123511e-01 1.96960926e-03 7.10154777e+01] [ 2.65122984e-01 9.64214459e-01 5.28911305e-04 8.86732876e+00] [-2.03935255e-03 1.22058214e-05 9.99997920e-01 -1.44200095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.455769231 meters 0.013451292850941427 Centerline is valid? [True, True] Translation: X:71.04, Y:8.88, Z:-0.14 [[ 9.64658677e-01 -2.63486912e-01 2.87837622e-03 7.10428704e+01] [ 2.63485776e-01 9.64662971e-01 7.73618351e-04 8.87729166e+00] [-2.98050126e-03 1.21335371e-05 9.99995558e-01 -1.42468724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.485769231 meters 0.012843917236128063 Centerline is valid? [True, True] Translation: X:71.07, Y:8.89, Z:-0.14 [[ 9.65162638e-01 -2.61623972e-01 3.73889236e-03 7.10687261e+01] [ 2.61622040e-01 9.65169880e-01 1.00547209e-03 8.88777225e+00] [-3.87172189e-03 7.73254599e-06 9.99992505e-01 -1.41257466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51576923100001 meters 0.0128160508473179 Centerline is valid? [True, True] Translation: X:71.09, Y:8.90, Z:-0.14 [[ 9.65996481e-01 -2.58538567e-01 2.93394780e-03 7.10937048e+01] [ 2.58537362e-01 9.66000937e-01 7.89280622e-04 8.90335000e+00] [-3.03825580e-03 -3.90717949e-06 9.99995384e-01 -1.42332688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54576923100001 meters 0.013371625881133819 Centerline is valid? [True, True] Translation: X:71.12, Y:8.92, Z:-0.15 [[ 9.66398317e-01 -2.57046903e-01 1.08781594e-03 7.11194393e+01] [ 2.57046737e-01 9.66398929e-01 2.92734751e-04 8.91500256e+00] [-1.12651072e-03 -3.27883277e-06 9.99999365e-01 -1.45569881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57576923100001 meters 0.01488532888021555 Centerline is valid? [True, True] Translation: X:71.15, Y:8.93, Z:-0.15 [[ 9.67075083e-01 -2.54480011e-01 -2.38907292e-03 7.11456713e+01] [ 2.54479197e-01 9.67078034e-01 -6.43988064e-04 8.92971540e+00] [ 2.47430204e-03 1.48154509e-05 9.99996939e-01 -1.50956683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60576923100001 meters 0.015386628560356882 Centerline is valid? [True, True] Translation: X:71.17, Y:8.94, Z:-0.15 [[ 9.67280698e-01 -2.53700216e-01 -2.06214260e-03 7.11716315e+01] [ 2.53699607e-01 9.67282896e-01 -5.56380595e-04 8.93992526e+00] [ 2.13582914e-03 1.50114434e-05 9.99997719e-01 -1.50763724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.635769231 meters 0.01576773017474674 Centerline is valid? [True, True] Translation: X:71.20, Y:8.95, Z:-0.15 [[ 9.67459502e-01 -2.53025177e-01 -6.09295805e-04 7.11974069e+01] [ 2.53025124e-01 9.67459694e-01 -1.64807117e-04 8.95021362e+00] [ 6.31169483e-04 5.27706450e-06 9.99999801e-01 -1.48276959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665769231 meters 0.017289439327605998 Centerline is valid? [True, True] Translation: X:71.22, Y:8.96, Z:-0.14 [[ 9.67860551e-01 -2.51484614e-01 1.20075196e-03 7.12226891e+01] [ 2.51484406e-01 9.67861296e-01 3.23913803e-04 8.96473257e+00] [-1.24362068e-03 -1.15329995e-05 9.99999227e-01 -1.44586545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.695769231 meters 0.01755435324138205 Centerline is valid? [True, True] Translation: X:71.25, Y:8.98, Z:-0.15 [[ 9.67982810e-01 -2.51014176e-01 1.07832469e-03 7.12492925e+01] [ 2.51014008e-01 9.67983411e-01 2.90830708e-04 8.97529117e+00] [-1.11680304e-03 -1.08445239e-05 9.99999376e-01 -1.45189378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725769231 meters 0.017925821595873047 Centerline is valid? [True, True] Translation: X:71.28, Y:8.99, Z:-0.15 [[ 9.67994632e-01 -2.50969857e-01 -7.22978889e-04 7.12751123e+01] [ 2.50969781e-01 9.67994902e-01 -1.95406126e-04 8.98738361e+00] [ 7.48880927e-04 7.70622792e-06 9.99999720e-01 -1.49390495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.755769231 meters 0.01705769446370856 Centerline is valid? [True, True] Translation: X:71.30, Y:8.99, Z:-0.15 [[ 9.67676723e-01 -2.52189990e-01 -1.40316057e-03 7.13027486e+01] [ 2.52189705e-01 9.67677740e-01 -3.79596585e-04 8.99479147e+00] [ 1.45353771e-03 1.34641298e-05 9.99998944e-01 -1.51526485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.785769231 meters 0.015678362294752262 Centerline is valid? [True, True] Translation: X:71.33, Y:9.00, Z:-0.15 [[ 9.67180574e-01 -2.54086572e-01 -1.32343362e-03 7.13313315e+01] [ 2.54086319e-01 9.67181479e-01 -3.58288144e-04 9.00062195e+00] [ 1.37103669e-03 1.02629569e-05 9.99999060e-01 -1.51796982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.815769231 meters 0.013168296806487872 Centerline is valid? [True, True] Translation: X:71.36, Y:9.00, Z:-0.15 [[ 9.65813028e-01 -2.59239547e-01 -2.27361305e-04 7.13611415e+01] [ 2.59239540e-01 9.65813055e-01 -6.18651742e-05 9.00284836e+00] [ 2.35626416e-04 8.09151236e-07 9.99999972e-01 -1.49906559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.845769231 meters 0.012857761951892116 Centerline is valid? [True, True] Translation: X:71.39, Y:9.01, Z:-0.15 [[ 9.65020910e-01 -2.62171791e-01 7.71046580e-04 7.13892779e+01] [ 2.62171708e-01 9.65021218e-01 2.08393273e-04 9.00702154e+00] [-7.98711148e-04 1.04273343e-06 9.99999681e-01 -1.47931432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.875769231 meters 0.012857761951892116 Centerline is valid? [True, True] Translation: X:71.42, Y:9.01, Z:-0.15 [[ 9.64971684e-01 -2.62352919e-01 7.71007390e-04 7.14157507e+01] [ 2.62352836e-01 9.64971992e-01 2.08538076e-04 9.01439699e+00] [-7.98711110e-04 1.04263723e-06 9.99999681e-01 -1.47990474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90576923100001 meters 0.01490467821946599 Centerline is valid? [True, True] Translation: X:71.45, Y:9.01, Z:-0.15 [[ 9.63395969e-01 -2.68074553e-01 2.05920901e-03 7.14453218e+01] [ 2.68073972e-01 9.63398170e-01 5.58078629e-04 9.01248864e+00] [-2.13344487e-03 1.43696381e-05 9.99997724e-01 -1.45401871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93576923100001 meters 0.017275513419569927 Centerline is valid? [True, True] Translation: X:71.47, Y:9.01, Z:-0.14 [[ 9.62623257e-01 -2.70831289e-01 2.62246326e-03 7.14736239e+01] [ 2.70830357e-01 9.62626829e-01 7.11009745e-04 9.01418690e+00] [-2.71701717e-03 2.58081423e-05 9.99996309e-01 -1.44886835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96576923100001 meters 0.01809583302047076 Centerline is valid? [True, True] Translation: X:71.50, Y:9.02, Z:-0.14 [[ 9.61968636e-01 -2.73142124e-01 3.11835942e-03 7.15017365e+01] [ 2.73140817e-01 9.61973689e-01 8.45792232e-04 9.01952860e+00] [-3.23080121e-03 3.81256414e-05 9.99994780e-01 -1.44102884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99576923100001 meters 0.020695368372850926 Centerline is valid? [True, True] Translation: X:71.53, Y:9.02, Z:-0.14 [[ 9.61154587e-01 -2.75976926e-01 4.31235887e-03 7.15301773e+01] [ 2.75974452e-01 9.61164259e-01 1.17028942e-03 9.02038496e+00] [-4.46785809e-03 6.52718318e-05 9.99990017e-01 -1.42592078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025769231 meters 0.02063590075313032 Centerline is valid? [True, True] Translation: X:71.56, Y:9.03, Z:-0.14 [[ 9.60880183e-01 -2.76934009e-01 4.10226657e-03 7.15582099e+01] [ 2.76931777e-01 9.60888937e-01 1.11376380e-03 9.02671650e+00] [-4.25026165e-03 6.58544059e-05 9.99990965e-01 -1.42863583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.055769231 meters 0.021566274762994376 Centerline is valid? [True, True] Translation: X:71.59, Y:9.03, Z:-0.14 [[ 9.60749664e-01 -2.77398570e-01 3.18057601e-03 7.15857533e+01] [ 2.77397230e-01 9.60754927e-01 8.63885426e-04 9.03129739e+00] [-3.29539465e-03 5.23053411e-05 9.99994569e-01 -1.44201164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085769231 meters 0.024799216044768195 Centerline is valid? [True, True] Translation: X:71.61, Y:9.03, Z:-0.15 [[ 9.60362311e-01 -2.78751154e-01 1.42326654e-03 7.16148382e+01] [ 2.78750887e-01 9.60363365e-01 3.86596039e-04 9.03113594e+00] [-1.47461714e-03 2.54645454e-05 9.99998912e-01 -1.47348548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.115769231 meters 0.023655434380544495 Centerline is valid? [True, True] Translation: X:71.64, Y:9.04, Z:-0.15 [[ 9.60144282e-01 -2.79503221e-01 9.53063368e-04 7.16426940e+01] [ 2.79503101e-01 9.60144754e-01 2.58767904e-04 9.03858840e+00] [-9.87405256e-04 1.79296434e-05 9.99999512e-01 -1.48508431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.145769231 meters 0.02561052586756164 Centerline is valid? [True, True] Translation: X:71.67, Y:9.04, Z:-0.15 [[ 9.59722049e-01 -2.80951149e-01 -2.02788186e-04 7.16718692e+01] [ 2.80951144e-01 9.59722070e-01 -5.52773503e-05 9.03790126e+00] [ 2.10150533e-04 -3.92268106e-06 9.99999978e-01 -1.51226912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.175769231 meters 0.02597509359362186 Centerline is valid? [True, True] Translation: X:71.70, Y:9.04, Z:-0.15 [[ 9.59435983e-01 -2.81925471e-01 -7.89913229e-04 7.17010186e+01] [ 2.81925390e-01 9.59436308e-01 -2.15321795e-04 9.04199105e+00] [ 8.18576130e-04 -1.61091170e-05 9.99999665e-01 -1.51859681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.205769231 meters 0.026284868379584492 Centerline is valid? [True, True] Translation: X:71.73, Y:9.05, Z:-0.15 [[ 9.59202766e-01 -2.82716856e-01 -1.11012371e-03 7.17299901e+01] [ 2.82716695e-01 9.59203408e-01 -3.02661417e-04 9.04622900e+00] [ 1.15040193e-03 -2.35368373e-05 9.99999338e-01 -1.51989683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.235769231 meters 0.0277615910252217 Centerline is valid? [True, True] Translation: X:71.76, Y:9.05, Z:-0.15 [[ 9.59021306e-01 -2.83333957e-01 -5.51920366e-05 7.17594968e+01] [ 2.83333957e-01 9.59021308e-01 -1.51632653e-05 9.04509519e+00] [ 5.72266070e-05 -1.09588361e-06 9.99999998e-01 -1.49976665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26576923100001 meters 0.026826275018290997 Centerline is valid? [True, True] Translation: X:71.79, Y:9.05, Z:-0.15 [[ 9.59071661e-01 -2.83162936e-01 5.48987692e-04 7.17879032e+01] [ 2.83162897e-01 9.59071818e-01 1.49260504e-04 9.05092108e+00] [-5.68783666e-04 1.23014264e-05 9.99999838e-01 -1.49206937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29576923100001 meters 0.026222682189206245 Centerline is valid? [True, True] Translation: X:71.82, Y:9.05, Z:-0.15 [[ 9.59433865e-01 -2.81933782e-01 -4.00763793e-05 7.18164941e+01] [ 2.81933782e-01 9.59433866e-01 -1.12911614e-05 9.05368540e+00] [ 4.16339953e-05 -4.65762577e-07 9.99999999e-01 -1.51224233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32576923100001 meters 0.02493119719244145 Centerline is valid? [True, True] Translation: X:71.84, Y:9.06, Z:-0.15 [[ 9.59679526e-01 -2.81094984e-01 -9.04166228e-04 7.18442374e+01] [ 2.81094876e-01 9.59679952e-01 -2.47102189e-04 9.06025119e+00] [ 9.37169387e-04 -1.70175824e-05 9.99999561e-01 -1.52329912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35576923100001 meters 0.023501645536335096 Centerline is valid? [True, True] Translation: X:71.87, Y:9.07, Z:-0.15 [[ 9.60098404e-01 -2.79656391e-01 -1.83238294e-03 7.18728722e+01] [ 2.79655945e-01 9.60100152e-01 -5.00406902e-04 9.06670804e+00] [ 1.89921312e-03 -3.19969143e-05 9.99998196e-01 -1.53307153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385769231 meters 0.020594484808576587 Centerline is valid? [True, True] Translation: X:71.90, Y:9.07, Z:-0.16 [[ 9.61049601e-01 -2.76361955e-01 -2.78091186e-03 7.19003666e+01] [ 2.76360915e-01 9.61053624e-01 -7.59449590e-04 9.07184106e+00] [ 2.88248839e-03 -3.86666186e-05 9.99995845e-01 -1.55708389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.415769231 meters 0.01921970101927768 Centerline is valid? [True, True] Translation: X:71.93, Y:9.08, Z:-0.16 [[ 9.61541921e-01 -2.74645408e-01 -2.65201088e-03 7.19271170e+01] [ 2.74644455e-01 9.61545578e-01 -7.24415348e-04 9.07900224e+00] [ 2.74898668e-03 -3.18043563e-05 9.99996221e-01 -1.55288982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445769231 meters 0.015277662694273131 Centerline is valid? [True, True] Translation: X:71.95, Y:9.09, Z:-0.15 [[ 9.62766465e-01 -2.70334485e-01 -3.01053914e-05 7.19538448e+01] [ 2.70334485e-01 9.62766465e-01 -8.32443987e-06 9.08951945e+00] [ 3.12348444e-05 -1.24033929e-07 1.00000000e+00 -1.50102025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.475769231 meters 0.013827841233176779 Centerline is valid? [True, True] Translation: X:71.98, Y:9.10, Z:-0.15 [[ 9.63321973e-01 -2.68347347e-01 6.90800924e-04 7.19806669e+01] [ 2.68347281e-01 9.63322221e-01 1.88459609e-04 9.09995479e+00] [-7.16036516e-04 3.82726702e-06 9.99999744e-01 -1.48221203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505769231 meters 0.012631721831830802 Centerline is valid? [True, True] Translation: X:72.01, Y:9.12, Z:-0.15 [[ 9.64736901e-01 -2.63215806e-01 3.87837860e-04 7.20050127e+01] [ 2.63215785e-01 9.64736979e-01 1.05904841e-04 9.11640512e+00] [-4.02037353e-04 -8.52614053e-08 9.99999919e-01 -1.48124838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.535769231 meters 0.013465475198894294 Centerline is valid? [True, True] Translation: X:72.03, Y:9.13, Z:-0.15 [[ 9.65471357e-01 -2.60508531e-01 -6.03964894e-04 7.20308878e+01] [ 2.60508479e-01 9.65471545e-01 -1.65572692e-04 9.13015469e+00] [ 6.26244019e-04 2.51771572e-06 9.99999804e-01 -1.50242990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.565769231 meters 0.015205251160703159 Centerline is valid? [True, True] Translation: X:72.06, Y:9.14, Z:-0.15 [[ 9.66190193e-01 -2.57826168e-01 -1.47605084e-03 7.20568329e+01] [ 2.57825851e-01 9.66191320e-01 -4.04392282e-04 9.14352401e+00] [ 1.53041042e-03 1.01557930e-05 9.99998829e-01 -1.53141921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.595769231 meters 0.016769494190925303 Centerline is valid? [True, True] Translation: X:72.08, Y:9.16, Z:-0.15 [[ 9.66660728e-01 -2.56052438e-01 -2.04577690e-03 7.20833378e+01] [ 2.56051824e-01 9.66662893e-01 -5.60691468e-04 9.15597052e+00] [ 2.12114303e-03 1.81735162e-05 9.99997750e-01 -1.54926479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.625769231 meters 0.017845049510528867 Centerline is valid? [True, True] Translation: X:72.11, Y:9.17, Z:-0.15 [[ 9.66981251e-01 -2.54847077e-01 -4.77940504e-04 7.21080807e+01] [ 2.54847043e-01 9.66981369e-01 -1.31061582e-04 9.17018880e+00] [ 4.95560224e-04 4.93236828e-06 9.99999877e-01 -1.52096721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65576923100001 meters 0.017360875687854497 Centerline is valid? [True, True] Translation: X:72.13, Y:9.18, Z:-0.15 [[ 9.66826475e-01 -2.55433916e-01 2.86035149e-04 7.21349452e+01] [ 2.55433904e-01 9.66826517e-01 7.80217125e-05 9.17969801e+00] [-2.96475759e-04 -2.37038233e-06 9.99999956e-01 -1.49876510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68576923100001 meters 0.01655333949332383 Centerline is valid? [True, True] Translation: X:72.16, Y:9.19, Z:-0.15 [[ 9.66491697e-01 -2.56697140e-01 -6.14258626e-04 7.21610719e+01] [ 2.56697085e-01 9.66491892e-01 -1.68559314e-04 9.18921940e+00] [ 6.36944676e-04 5.23277852e-06 9.99999797e-01 -1.51870288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71576923100001 meters 0.016111133477619357 Centerline is valid? [True, True] Translation: X:72.19, Y:9.20, Z:-0.15 [[ 9.66264300e-01 -2.57548455e-01 -1.44761422e-03 7.21883764e+01] [ 2.57548148e-01 9.66265385e-01 -3.97616828e-04 9.19731106e+00] [ 1.50118511e-03 1.13725853e-05 9.99998873e-01 -1.53347503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74576923100001 meters 0.015908075103346 Centerline is valid? [True, True] Translation: X:72.21, Y:9.21, Z:-0.15 [[ 9.66172970e-01 -2.57890289e-01 -1.54590968e-03 7.22146454e+01] [ 2.57889939e-01 9.66174207e-01 -4.24886231e-04 9.20586383e+00] [ 1.60319209e-03 1.18390390e-05 9.99998715e-01 -1.53916637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.775769231 meters 0.01596000362573778 Centerline is valid? [True, True] Translation: X:72.24, Y:9.22, Z:-0.15 [[ 9.66167746e-01 -2.57913553e-01 -6.97586453e-04 7.22396789e+01] [ 2.57913482e-01 9.66167997e-01 -1.91779371e-04 9.21713452e+00] [ 7.23448205e-04 5.37409158e-06 9.99999738e-01 -1.51757778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805769231 meters 0.015995461878038218 Centerline is valid? [True, True] Translation: X:72.27, Y:9.23, Z:-0.15 [[ 9.66165148e-01 -2.57924216e-01 -7.40048242e-05 7.22651365e+01] [ 2.57924215e-01 9.66165151e-01 -2.05019443e-05 9.22670745e+00] [ 7.67888301e-05 7.20627848e-07 9.99999997e-01 -1.50594110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.835769231 meters 0.0161166652911199 Centerline is valid? [True, True] Translation: X:72.29, Y:9.24, Z:-0.15 [[ 9.66127188e-01 -2.58066378e-01 2.84908007e-05 7.22908475e+01] [ 2.58066378e-01 9.66127189e-01 7.45069653e-06 9.23754980e+00] [-2.94485115e-05 1.54197265e-07 1.00000000e+00 -1.50459345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865769231 meters 0.015958372367166976 Centerline is valid? [True, True] Translation: X:72.32, Y:9.25, Z:-0.15 [[ 9.65975484e-01 -2.58632351e-01 -8.19068173e-04 7.23175151e+01] [ 2.58632253e-01 9.65975831e-01 -2.25724983e-04 9.24565774e+00] [ 8.49579842e-04 6.20735297e-06 9.99999639e-01 -1.52982266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.895769231 meters 0.01557048873376276 Centerline is valid? [True, True] Translation: X:72.34, Y:9.25, Z:-0.16 [[ 9.65745955e-01 -2.59482058e-01 -1.95219275e-03 7.23448372e+01] [ 2.59481501e-01 9.65747928e-01 -5.37831590e-04 9.25291178e+00] [ 2.02488375e-03 1.28507788e-05 9.99997950e-01 -1.55514707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.925769231 meters 0.014355869616336015 Centerline is valid? [True, True] Translation: X:72.37, Y:9.26, Z:-0.16 [[ 9.65212401e-01 -2.61457418e-01 -2.24508264e-03 7.23728120e+01] [ 2.61456686e-01 9.65215012e-01 -6.18776781e-04 9.25879862e+00] [ 2.32877125e-03 1.02591552e-05 9.99997288e-01 -1.55384177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.955769231 meters 0.01397427094144437 Centerline is valid? [True, True] Translation: X:72.40, Y:9.27, Z:-0.15 [[ 9.65102806e-01 -2.61868595e-01 -1.18862759e-03 7.23992774e+01] [ 2.61868390e-01 9.65103538e-01 -3.27612987e-04 9.26594084e+00] [ 1.23294024e-03 4.91622008e-06 9.99999240e-01 -1.53191341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.985769231 meters 0.013255195716546065 Centerline is valid? [True, True] Translation: X:72.43, Y:9.27, Z:-0.15 [[ 9.65058707e-01 -2.62033102e-01 5.87837954e-04 7.24265683e+01] [ 2.62033052e-01 9.65058886e-01 1.61656321e-04 9.27380974e+00] [-6.09657548e-04 -1.97486720e-06 9.99999814e-01 -1.48093495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01576923100001 meters 0.013818255281674371 Centerline is valid? [True, True] Translation: X:72.45, Y:9.28, Z:-0.15 [[ 9.65068467e-01 -2.61997268e-01 5.33667564e-04 7.24517749e+01] [ 2.61997227e-01 9.65068615e-01 1.47009980e-04 9.28334953e+00] [-5.53542030e-04 -2.05527361e-06 9.99999847e-01 -1.49171259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04576923100001 meters 0.013368891612999896 Centerline is valid? [True, True] Translation: X:72.48, Y:9.29, Z:-0.15 [[ 9.64733398e-01 -2.63228925e-01 6.43192055e-05 7.24797954e+01] [ 2.63228925e-01 9.64733400e-01 1.73802446e-05 9.28826919e+00] [-6.66258689e-05 1.63372875e-07 9.99999998e-01 -1.50878846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07576923100001 meters 0.012856084751339075 Centerline is valid? [True, True] Translation: X:72.51, Y:9.29, Z:-0.15 [[ 9.64405731e-01 -2.64426808e-01 -2.21400383e-04 7.25077365e+01] [ 2.64426801e-01 9.64405757e-01 -6.15188107e-05 9.29214062e+00] [ 2.29787027e-04 7.84898490e-07 9.99999974e-01 -1.51078102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10576923100001 meters 0.012613708055640918 Centerline is valid? [True, True] Translation: X:72.54, Y:9.30, Z:-0.15 [[ 9.64039387e-01 -2.65759397e-01 -5.36519669e-05 7.25354198e+01] [ 2.65759397e-01 9.64039389e-01 -1.52005953e-05 9.29559703e+00] [ 5.57623104e-05 3.95458249e-07 9.99999998e-01 -1.50828918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.135769231 meters 0.012874182782886328 Centerline is valid? [True, True] Translation: X:72.56, Y:9.30, Z:-0.15 [[ 9.63264846e-01 -2.68552167e-01 7.54616153e-04 7.25646521e+01] [ 2.68552086e-01 9.63265142e-01 2.08309498e-04 9.29535367e+00] [-7.82837403e-04 1.99652542e-06 9.99999694e-01 -1.49015994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165769231 meters 0.012966769366887277 Centerline is valid? [True, True] Translation: X:72.59, Y:9.30, Z:-0.15 [[ 9.62938672e-01 -2.69719321e-01 7.75340613e-04 7.25918464e+01] [ 2.69719236e-01 9.62938985e-01 2.14150999e-04 9.30127832e+00] [-8.04366365e-04 2.90999866e-06 9.99999676e-01 -1.48104342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.195769231 meters 0.013283911203632945 Centerline is valid? [True, True] Translation: X:72.62, Y:9.31, Z:-0.15 [[ 9.62739089e-01 -2.70431814e-01 -2.83704746e-04 7.26194938e+01] [ 2.70431803e-01 9.62739131e-01 -7.89879491e-05 9.30585466e+00] [ 2.94494515e-04 -6.77999816e-07 9.99999957e-01 -1.49188052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225769231 meters 0.013108481863184689 Centerline is valid? [True, True] Translation: X:72.65, Y:9.31, Z:-0.15 [[ 9.62840993e-01 -2.70068899e-01 1.09463776e-04 7.26460684e+01] [ 2.70068898e-01 9.62840999e-01 3.01434759e-05 9.31225466e+00] [-1.13537026e-04 5.39386899e-07 9.99999994e-01 -1.48988545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.255769231 meters 0.012740793512568845 Centerline is valid? [True, True] Translation: X:72.67, Y:9.32, Z:-0.15 [[ 9.62952788e-01 -2.69667439e-01 1.18339354e-03 7.26734308e+01] [ 2.69667240e-01 9.62953515e-01 3.27654769e-04 9.31970683e+00] [-1.22791079e-03 3.60639648e-06 9.99999246e-01 -1.47337630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.285769231 meters 0.01244026777830229 Centerline is valid? [True, True] Translation: X:72.70, Y:9.33, Z:-0.15 [[ 9.63190036e-01 -2.68811979e-01 2.25279948e-03 7.26990889e+01] [ 2.68811254e-01 9.63192670e-01 6.24574375e-04 9.32650548e+00] [-2.33777302e-03 3.99403801e-06 9.99997267e-01 -1.45226787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.315769231 meters 0.012424190639383091 Centerline is valid? [True, True] Translation: X:72.73, Y:9.33, Z:-0.15 [[ 9.63536327e-01 -2.67566556e-01 2.42564832e-03 7.27259252e+01] [ 2.67565711e-01 9.63539381e-01 6.72725952e-04 9.33212669e+00] [-2.51720664e-03 8.24422575e-07 9.99996832e-01 -1.45669050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.345769231 meters 0.01250119477003297 Centerline is valid? [True, True] Translation: X:72.75, Y:9.34, Z:-0.15 [[ 9.63335506e-01 -2.68294108e-01 1.72486684e-03 7.27540576e+01] [ 2.68293681e-01 9.63337050e-01 4.78433575e-04 9.33695442e+00] [-1.78998905e-03 1.87882591e-06 9.99998398e-01 -1.47381214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.375769231 meters 0.013209624887736653 Centerline is valid? [True, True] Translation: X:72.78, Y:9.34, Z:-0.15 [[ 9.62472907e-01 -2.71377104e-01 6.09300451e-04 7.27844226e+01] [ 2.71377051e-01 9.62473100e-01 1.68884234e-04 9.33520583e+00] [-6.32266608e-04 2.80366017e-06 9.99999800e-01 -1.49799945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40576923100001 meters 0.013768539776107879 Centerline is valid? [True, True] Translation: X:72.81, Y:9.34, Z:-0.15 [[ 9.62036286e-01 -2.72921497e-01 2.02395961e-04 7.28132060e+01] [ 2.72921491e-01 9.62036307e-01 5.61017946e-05 9.33742390e+00] [-2.10023649e-04 1.26624543e-06 9.99999978e-01 -1.49823117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43576923100001 meters 0.014359418044393895 Centerline is valid? [True, True] Translation: X:72.84, Y:9.34, Z:-0.15 [[ 9.61799037e-01 -2.73756470e-01 -8.24908773e-05 7.28412273e+01] [ 2.73756469e-01 9.61799041e-01 -2.31310039e-05 9.33980620e+00] [ 8.56719086e-05 -3.35034011e-07 9.99999996e-01 -1.50083974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46576923100001 meters 0.014380772241432522 Centerline is valid? [True, True] Translation: X:72.87, Y:9.34, Z:-0.15 [[ 9.61803880e-01 -2.73736791e-01 -1.21023824e-03 7.28696387e+01] [ 2.73736584e-01 9.61804642e-01 -3.37050143e-04 9.34145631e+00] [ 1.25627578e-03 -7.11034533e-06 9.99999211e-01 -1.52677643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49576923100001 meters 0.013838379077503784 Centerline is valid? [True, True] Translation: X:72.90, Y:9.35, Z:-0.15 [[ 9.62031517e-01 -2.72933345e-01 -1.65826364e-03 7.28970604e+01] [ 2.72932954e-01 9.62032946e-01 -4.62009005e-04 9.34839301e+00] [ 1.72140192e-03 -8.12756965e-06 9.99998518e-01 -1.53864748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525769231 meters 0.012758120033444138 Centerline is valid? [True, True] Translation: X:72.92, Y:9.36, Z:-0.15 [[ 9.62929833e-01 -2.69749800e-01 -1.08771612e-03 7.29240713e+01] [ 2.69749630e-01 9.62930447e-01 -3.02972095e-04 9.35668873e+00] [ 1.12912163e-03 -1.67015261e-06 9.99999363e-01 -1.52165381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.555769231 meters 0.012548001598473671 Centerline is valid? [True, True] Translation: X:72.95, Y:9.37, Z:-0.15 [[ 9.63544185e-01 -2.67548202e-01 -7.50649126e-04 7.29508613e+01] [ 2.67548120e-01 9.63544477e-01 -2.09535461e-04 9.36671682e+00] [ 7.79344656e-04 1.06191268e-06 9.99999696e-01 -1.51361784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585769231 meters 0.013635695018944871 Centerline is valid? [True, True] Translation: X:72.98, Y:9.38, Z:-0.15 [[ 9.64320627e-01 -2.64735994e-01 -7.62486413e-04 7.29761646e+01] [ 2.64735909e-01 9.64320929e-01 -2.12616955e-04 9.37828975e+00] [ 7.91568967e-04 3.17338162e-06 9.99999687e-01 -1.51742435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.615769231 meters 0.017306548028405633 Centerline is valid? [True, True] Translation: X:73.00, Y:9.39, Z:-0.15 [[ 9.66089044e-01 -2.58205913e-01 -1.29080961e-03 7.30010419e+01] [ 2.58205663e-01 9.66089906e-01 -3.59933059e-04 9.39419172e+00] [ 1.33997498e-03 1.44330341e-05 9.99999102e-01 -1.52795495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.645769231 meters 0.020790161742831974 Centerline is valid? [True, True] Translation: X:73.03, Y:9.41, Z:-0.15 [[ 9.66963250e-01 -2.54909074e-01 -1.85419264e-03 7.30261208e+01] [ 2.54908551e-01 9.66965027e-01 -5.17088054e-04 9.40859460e+00] [ 1.92474988e-03 2.73555848e-05 9.99998147e-01 -1.54560621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.675769231 meters 0.028378613475288698 Centerline is valid? [True, True] Translation: X:73.05, Y:9.43, Z:-0.15 [[ 9.68617796e-01 -2.48550746e-01 -1.44623411e-03 7.30492712e+01] [ 2.48550421e-01 9.68618875e-01 -4.03324800e-04 9.43229219e+00] [ 1.50109634e-03 3.12054811e-05 9.99998873e-01 -1.53053575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.705769231 meters 0.033462664563160584 Centerline is valid? [True, True] Translation: X:73.07, Y:9.45, Z:-0.15 [[ 9.69423453e-01 -2.45393378e-01 -5.09204899e-04 7.30737181e+01] [ 2.45393337e-01 9.69423586e-01 -1.42116658e-04 9.45051565e+00] [ 5.28509726e-04 1.28157323e-05 9.99999860e-01 -1.51182835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.735769231 meters 0.03292261013641124 Centerline is valid? [True, True] Translation: X:73.10, Y:9.46, Z:-0.15 [[ 9.70122358e-01 -2.42616158e-01 -1.03487026e-04 7.31009829e+01] [ 2.42616156e-01 9.70122363e-01 -2.89158253e-05 9.46222386e+00] [ 1.07410525e-04 2.94426412e-06 9.99999994e-01 -1.49339194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76576923100001 meters 0.040574949681864016 Centerline is valid? [True, True] Translation: X:73.12, Y:9.48, Z:-0.15 [[ 9.70731132e-01 -2.40168795e-01 1.37522185e-04 7.31239719e+01] [ 2.40168792e-01 9.70731142e-01 3.82448012e-05 9.48491909e+00] [-1.42682276e-04 -4.09688206e-06 9.99999990e-01 -1.50154449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79576923100001 meters 0.040574949681864016 Centerline is valid? [True, True] Translation: X:73.15, Y:9.49, Z:-0.15 [[ 9.70689753e-01 -2.40335983e-01 1.37584065e-04 7.31503981e+01] [ 2.40335980e-01 9.70689763e-01 3.80230953e-05 9.49250945e+00] [-1.42689762e-04 -3.84222777e-06 9.99999990e-01 -1.50213515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82576923100001 meters 0.04149500202354646 Centerline is valid? [True, True] Translation: X:73.18, Y:9.51, Z:-0.15 [[ 9.71307102e-01 -2.37827824e-01 -6.63141100e-04 7.31756113e+01] [ 2.37827753e-01 9.71307328e-01 -1.85184460e-04 9.51205411e+00] [ 6.88155827e-04 2.21576230e-05 9.99999763e-01 -1.52168367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85576923100001 meters 0.03958334725390504 Centerline is valid? [True, True] Translation: X:73.20, Y:9.52, Z:-0.15 [[ 9.71321702e-01 -2.37767068e-01 -9.86516707e-04 7.32025389e+01] [ 2.37766910e-01 9.71322202e-01 -2.75943805e-04 9.52181932e+00] [ 1.02383593e-03 3.34691777e-05 9.99999475e-01 -1.52806045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885769231 meters 0.037921611003653745 Centerline is valid? [True, True] Translation: X:73.23, Y:9.54, Z:-0.15 [[ 9.70939523e-01 -2.39319946e-01 -1.55108095e-03 7.32283033e+01] [ 2.39319558e-01 9.70940761e-01 -4.33927327e-04 9.53601686e+00] [ 1.60985518e-03 5.01131847e-05 9.99998703e-01 -1.54023456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.915769231 meters 0.036121882740423834 Centerline is valid? [True, True] Translation: X:73.26, Y:9.55, Z:-0.15 [[ 9.70568724e-01 -2.40817491e-01 -1.81309294e-03 7.32551721e+01] [ 2.40816963e-01 9.70570416e-01 -5.07486844e-04 9.54544709e+00] [ 1.88194607e-03 5.59273242e-05 9.99998228e-01 -1.54309920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945769231 meters 0.0330355246580051 Centerline is valid? [True, True] Translation: X:73.28, Y:9.56, Z:-0.15 [[ 9.69720420e-01 -2.44213851e-01 -1.37897508e-03 7.32817616e+01] [ 2.44213549e-01 9.69721400e-01 -3.85829474e-04 9.55632575e+00] [ 1.43144655e-03 3.73823212e-05 9.99998975e-01 -1.53306054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.975769231 meters 0.03322727948833438 Centerline is valid? [True, True] Translation: X:73.31, Y:9.57, Z:-0.15 [[ 9.69400998e-01 -2.45482003e-01 -5.40391069e-04 7.33074784e+01] [ 2.45481957e-01 9.69401148e-01 -1.51329957e-04 9.56748603e+00] [ 5.61004504e-04 1.40431540e-05 9.99999843e-01 -1.51832286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005769231 meters 0.03255085096498123 Centerline is valid? [True, True] Translation: X:73.33, Y:9.58, Z:-0.15 [[ 9.69225435e-01 -2.46172138e-01 1.15534022e-03 7.33320682e+01] [ 2.46171928e-01 9.69226123e-01 3.23209652e-04 9.58124754e+00] [-1.19935113e-03 -2.88506858e-05 9.99999280e-01 -1.48885969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.035769231 meters 0.033081594553221495 Centerline is valid? [True, True] Translation: X:73.36, Y:9.59, Z:-0.15 [[ 9.69267862e-01 -2.46003444e-01 1.45494817e-03 7.33583111e+01] [ 2.46003110e-01 9.69268953e-01 4.07146214e-04 9.59261840e+00] [-1.51039546e-03 -3.67119655e-05 9.99998859e-01 -1.48362876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.065769231 meters 0.03219643308156556 Centerline is valid? [True, True] Translation: X:73.39, Y:9.60, Z:-0.15 [[ 9.69308348e-01 -2.45844364e-01 1.36942896e-03 7.33852588e+01] [ 2.45844068e-01 9.69309315e-01 3.83288447e-04 9.60140801e+00] [-1.42162955e-03 -3.48587046e-05 9.99998989e-01 -1.48720751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.095769231 meters 0.029456666459655594 Centerline is valid? [True, True] Translation: X:73.41, Y:9.61, Z:-0.15 [[ 9.69000562e-01 -2.47055326e-01 1.25554625e-03 7.34125895e+01] [ 2.47055078e-01 9.69001375e-01 3.51385642e-04 9.60912852e+00] [-1.30343774e-03 -3.03038075e-05 9.99999150e-01 -1.48719164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.125769231 meters 0.03066525003674897 Centerline is valid? [True, True] Translation: X:73.44, Y:9.62, Z:-0.15 [[ 9.68729840e-01 -2.48114844e-01 1.23333393e-03 7.34379827e+01] [ 2.48114605e-01 9.68730625e-01 3.45477345e-04 9.62018735e+00] [-1.28048641e-03 -2.86660515e-05 9.99999180e-01 -1.49011114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15576923100001 meters 0.02910273255881302 Centerline is valid? [True, True] Translation: X:73.47, Y:9.63, Z:-0.15 [[ 9.68373638e-01 -2.49501024e-01 1.31789834e-03 7.34655437e+01] [ 2.49500752e-01 9.68374534e-01 3.69177538e-04 9.62788503e+00] [-1.36832937e-03 -2.86851678e-05 9.99999063e-01 -1.48807661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18576923100001 meters 0.02623833405099982 Centerline is valid? [True, True] Translation: X:73.49, Y:9.63, Z:-0.15 [[ 9.67607960e-01 -2.52456857e-01 6.09346433e-04 7.34926631e+01] [ 2.52456800e-01 9.67608152e-01 1.70768424e-04 9.63481446e+00] [-6.32720236e-04 -1.14032356e-05 9.99999800e-01 -1.50804069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21576923100001 meters 0.02424699955323021 Centerline is valid? [True, True] Translation: X:73.52, Y:9.64, Z:-0.15 [[ 9.67088421e-01 -2.54440130e-01 4.54945376e-04 7.35205378e+01] [ 2.54440098e-01 9.67088528e-01 1.27319667e-04 9.64057433e+00] [-4.72367686e-04 -7.37302945e-06 9.99999888e-01 -1.51377913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24576923100001 meters 0.018978247877528463 Centerline is valid? [True, True] Translation: X:73.55, Y:9.64, Z:-0.15 [[ 9.66005081e-01 -2.58522488e-01 5.52840154e-04 7.35500375e+01] [ 2.58522442e-01 9.66005240e-01 1.55062287e-04 9.64145910e+00] [-5.74133574e-04 -6.86937021e-06 9.99999835e-01 -1.50757591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.275769231 meters 0.017565165955172903 Centerline is valid? [True, True] Translation: X:73.58, Y:9.65, Z:-0.15 [[ 9.65514918e-01 -2.60346737e-01 7.21369875e-04 7.35771722e+01] [ 2.60346658e-01 9.65515187e-01 2.02383160e-04 9.64710806e+00] [-7.49183365e-04 -7.59772388e-06 9.99999719e-01 -1.50107040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305769231 meters 0.01583679324868579 Centerline is valid? [True, True] Translation: X:73.61, Y:9.65, Z:-0.15 [[ 9.64935408e-01 -2.62484694e-01 1.20190067e-03 7.36052063e+01] [ 2.62484478e-01 9.64936156e-01 3.37358835e-04 9.65171996e+00] [-1.24830895e-03 -1.00492152e-05 9.99999221e-01 -1.49088941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.335769231 meters 0.015337316041865222 Centerline is valid? [True, True] Translation: X:73.63, Y:9.66, Z:-0.15 [[ 9.64688864e-01 -2.63389842e-01 1.08947553e-03 7.36319377e+01] [ 2.63389665e-01 9.64689479e-01 3.05725345e-04 9.65864650e+00] [-1.13153053e-03 -7.97324029e-06 9.99999360e-01 -1.49570971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365769231 meters 0.013966009710794676 Centerline is valid? [True, True] Translation: X:73.66, Y:9.66, Z:-0.15 [[ 9.64058029e-01 -2.65691760e-01 7.35935144e-05 7.36595702e+01] [ 2.65691759e-01 9.64058032e-01 2.04966252e-05 9.66276855e+00] [-7.63942031e-05 -2.06745720e-07 9.99999997e-01 -1.52094300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.395769231 meters 0.013346877334509745 Centerline is valid? [True, True] Translation: X:73.69, Y:9.67, Z:-0.15 [[ 9.63571374e-01 -2.67450078e-01 -8.14357593e-04 7.36876040e+01] [ 2.67449979e-01 9.63571718e-01 -2.29466119e-04 9.66757921e+00] [ 8.46062677e-04 3.30706214e-06 9.99999642e-01 -1.54333939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.425769231 meters 0.012786738666449526 Centerline is valid? [True, True] Translation: X:73.72, Y:9.67, Z:-0.16 [[ 9.62990761e-01 -2.69528612e-01 -1.76660536e-03 7.37153426e+01] [ 2.69528152e-01 9.62992382e-01 -4.97720414e-04 9.67053588e+00] [ 1.83537740e-03 3.15028143e-06 9.99998316e-01 -1.55450416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.455769231 meters 0.012899547086389003 Centerline is valid? [True, True] Translation: X:73.74, Y:9.67, Z:-0.16 [[ 9.62420950e-01 -2.71546880e-01 -2.86489982e-03 7.37433101e+01] [ 2.71545682e-01 9.62425214e-01 -8.06765501e-04 9.67378869e+00] [ 2.97632648e-03 -1.50315612e-06 9.99995571e-01 -1.58456546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.485769231 meters 0.014162807601022008 Centerline is valid? [True, True] Translation: X:73.77, Y:9.67, Z:-0.16 [[ 9.61249506e-01 -2.75660954e-01 -3.22888374e-03 7.37729242e+01] [ 2.75659454e-01 9.61254929e-01 -9.09447631e-04 9.67044560e+00] [ 3.35447961e-03 -1.58662413e-05 9.99994374e-01 -1.59574824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51576923100001 meters 0.015526567673188137 Centerline is valid? [True, True] Translation: X:73.80, Y:9.67, Z:-0.15 [[ 9.60433416e-01 -2.78508478e-01 -8.25158262e-04 7.38027350e+01] [ 2.78508381e-01 9.60433770e-01 -2.32558949e-04 9.66910370e+00] [ 8.57279500e-04 -6.45610634e-06 9.99999633e-01 -1.54117692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54576923100001 meters 0.015791183094781905 Centerline is valid? [True, True] Translation: X:73.83, Y:9.67, Z:-0.15 [[ 9.60170415e-01 -2.79415032e-01 -1.16522682e-04 7.38301858e+01] [ 2.79415030e-01 9.60170422e-01 -3.32642503e-05 9.67425540e+00] [ 1.21176164e-04 -6.18839541e-07 9.99999993e-01 -1.52213252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57576923100001 meters 0.01587765933686211 Centerline is valid? [True, True] Translation: X:73.86, Y:9.68, Z:-0.15 [[ 9.60009434e-01 -2.79967637e-01 -9.60613161e-05 7.38572131e+01] [ 2.79967635e-01 9.60009439e-01 -2.75168498e-05 9.68004577e+00] [ 9.99235975e-05 -4.77624165e-07 9.99999995e-01 -1.52597650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60576923100001 meters 0.015575075096165788 Centerline is valid? [True, True] Translation: X:73.88, Y:9.69, Z:-0.15 [[ 9.60119999e-01 -2.79587969e-01 -3.94308353e-04 7.38846325e+01] [ 2.79587946e-01 9.60120080e-01 -1.11724420e-04 9.68754384e+00] [ 4.09820171e-04 -2.97501291e-06 9.99999916e-01 -1.53027036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63576923100001 meters 0.013776194508703736 Centerline is valid? [True, True] Translation: X:73.91, Y:9.70, Z:-0.15 [[ 9.60828746e-01 -2.77142649e-01 2.70714635e-04 7.39109854e+01] [ 2.77142638e-01 9.60828784e-01 7.60947984e-05 9.69871998e+00] [-2.81199527e-04 1.91249843e-06 9.99999960e-01 -1.51889946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665769231 meters 0.012577433497259835 Centerline is valid? [True, True] Translation: X:73.94, Y:9.71, Z:-0.15 [[ 9.61796164e-01 -2.73766503e-01 2.01907032e-04 7.39367145e+01] [ 2.73766497e-01 9.61796185e-01 5.66875896e-05 9.71311132e+00] [-2.09712577e-04 7.53474703e-07 9.99999978e-01 -1.52277579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.695769231 meters 0.012568512076633368 Centerline is valid? [True, True] Translation: X:73.96, Y:9.72, Z:-0.15 [[ 9.62096985e-01 -2.72707461e-01 -1.80509676e-04 7.39616073e+01] [ 2.72707456e-01 9.62097002e-01 -5.13457046e-05 9.72322133e+00] [ 1.87670175e-04 1.73212963e-07 9.99999982e-01 -1.53336019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725769231 meters 0.012597671705385519 Centerline is valid? [True, True] Translation: X:73.99, Y:9.73, Z:-0.15 [[ 9.62163937e-01 -2.72471204e-01 3.29593495e-05 7.39870079e+01] [ 2.72471204e-01 9.62163938e-01 9.14229988e-06 9.73217354e+00] [-3.42033110e-05 1.84082409e-07 9.99999999e-01 -1.53777713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.755769231 meters 0.012902378375840106 Centerline is valid? [True, True] Translation: X:74.01, Y:9.74, Z:-0.15 [[ 9.61443143e-01 -2.75003548e-01 3.61577093e-04 7.40145335e+01] [ 2.75003529e-01 9.61443211e-01 1.01940448e-04 9.73774158e+00] [-3.75669826e-04 1.42503194e-06 9.99999929e-01 -1.53023248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.785769231 meters 0.01383857334597814 Centerline is valid? [True, True] Translation: X:74.04, Y:9.74, Z:-0.15 [[ 9.60841813e-01 -2.77097329e-01 2.84940267e-04 7.40418661e+01] [ 2.77097318e-01 9.60841855e-01 8.05513043e-05 9.74171620e+00] [-2.96103086e-04 1.55912243e-06 9.99999956e-01 -1.53550926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.815769231 meters 0.015845267329901054 Centerline is valid? [True, True] Translation: X:74.07, Y:9.75, Z:-0.15 [[ 9.59838938e-01 -2.80551564e-01 1.81213312e-04 7.40700544e+01] [ 2.80551560e-01 9.59838955e-01 5.11324916e-05 9.74636389e+00] [-1.88280896e-04 1.76072075e-06 9.99999982e-01 -1.53831635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.845769231 meters 0.016737553105502293 Centerline is valid? [True, True] Translation: X:74.10, Y:9.75, Z:-0.15 [[ 9.59428250e-01 -2.81952878e-01 -8.87751698e-05 7.40979463e+01] [ 2.81952877e-01 9.59428254e-01 -2.55260661e-05 9.75370792e+00] [ 9.23705540e-05 -5.39985566e-07 9.99999996e-01 -1.54014541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.875769231 meters 0.017443188274457816 Centerline is valid? [True, True] Translation: X:74.13, Y:9.76, Z:-0.15 [[ 9.59112385e-01 -2.83025471e-01 -1.29366195e-04 7.41258404e+01] [ 2.83025468e-01 9.59112393e-01 -3.70515494e-05 9.76141263e+00] [ 1.34563253e-04 -1.07732800e-06 9.99999991e-01 -1.54712753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90576923100001 meters 0.01877944219263979 Centerline is valid? [True, True] Translation: X:74.15, Y:9.77, Z:-0.16 [[ 9.58650015e-01 -2.84587088e-01 -5.81120784e-04 7.41541057e+01] [ 2.84587040e-01 9.58650191e-01 -1.65267532e-04 9.76827118e+00] [ 6.04124557e-04 -6.94572172e-06 9.99999817e-01 -1.55474430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93576923100001 meters 0.01952345653015336 Centerline is valid? [True, True] Translation: X:74.18, Y:9.77, Z:-0.15 [[ 9.58430221e-01 -2.85326414e-01 -5.90047653e-04 7.41807615e+01] [ 2.85326365e-01 9.58430403e-01 -1.67637404e-04 9.77448825e+00] [ 6.13350989e-04 -7.68739776e-06 9.99999812e-01 -1.54988889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96576923100001 meters 0.02074894885068682 Centerline is valid? [True, True] Translation: X:74.21, Y:9.78, Z:-0.15 [[ 9.57957298e-01 -2.86910799e-01 9.68036062e-05 7.42088952e+01] [ 2.86910798e-01 9.57957303e-01 2.71342855e-05 9.78027174e+00] [-1.00518841e-04 1.78051303e-06 9.99999995e-01 -1.54290498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99576923100001 meters 0.02164060190613274 Centerline is valid? [True, True] Translation: X:74.24, Y:9.79, Z:-0.15 [[ 9.57619012e-01 -2.88037889e-01 -5.24188397e-05 7.42374937e+01] [ 2.88037889e-01 9.57619013e-01 -1.52585517e-05 9.78675869e+00] [ 5.45923186e-05 -4.86732668e-07 9.99999999e-01 -1.54688394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025769231 meters 0.022753229156477702 Centerline is valid? [True, True] Translation: X:74.27, Y:9.79, Z:-0.16 [[ 9.57213171e-01 -2.89383656e-01 -2.11651975e-04 7.42652700e+01] [ 2.89383650e-01 9.57213194e-01 -6.05508365e-05 9.79312719e+00] [ 2.20118485e-04 -3.28856273e-06 9.99999976e-01 -1.55251514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.055769231 meters 0.023376915503328648 Centerline is valid? [True, True] Translation: X:74.29, Y:9.80, Z:-0.16 [[ 9.56853956e-01 -2.90567869e-01 -9.05918529e-04 7.42931406e+01] [ 2.90567755e-01 9.56854385e-01 -2.58144990e-04 9.80117934e+00] [ 9.41840756e-04 -1.62236584e-05 9.99999556e-01 -1.56571692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085769231 meters 0.023073116871192227 Centerline is valid? [True, True] Translation: X:74.32, Y:9.81, Z:-0.16 [[ 9.56999713e-01 -2.90085808e-01 -1.33173146e-03 7.43192715e+01] [ 2.90085561e-01 9.57000639e-01 -3.79155541e-04 9.80947579e+00] [ 1.38445550e-03 -2.34643231e-05 9.99999041e-01 -1.56837416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.115769231 meters 0.0213280775641504 Centerline is valid? [True, True] Translation: X:74.35, Y:9.82, Z:-0.16 [[ 9.57793244e-01 -2.87455939e-01 -1.08862113e-03 7.43455324e+01] [ 2.87455772e-01 9.57793862e-01 -3.10030565e-04 9.81965052e+00] [ 1.13179476e-03 -1.59852466e-05 9.99999359e-01 -1.56266177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.145769231 meters 0.020342946338302973 Centerline is valid? [True, True] Translation: X:74.37, Y:9.83, Z:-0.16 [[ 9.58121726e-01 -2.86359532e-01 -9.88808607e-04 7.43714374e+01] [ 2.86359393e-01 9.58122236e-01 -2.81673711e-04 9.82961958e+00] [ 1.02805946e-03 -1.32769303e-05 9.99999471e-01 -1.55992540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.175769231 meters 0.01942132400358729 Centerline is valid? [True, True] Translation: X:74.40, Y:9.84, Z:-0.16 [[ 9.58356987e-01 -2.85571001e-01 -1.04337670e-03 7.43980265e+01] [ 2.85570846e-01 9.58357555e-01 -2.97612666e-04 9.84010525e+00] [ 1.08491749e-03 -1.27387883e-05 9.99999411e-01 -1.56048138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.205769231 meters 0.017590801997894253 Centerline is valid? [True, True] Translation: X:74.42, Y:9.85, Z:-0.16 [[ 9.58710066e-01 -2.84384539e-01 -6.66288172e-04 7.44240719e+01] [ 2.84384475e-01 9.58710297e-01 -1.90307102e-04 9.85232756e+00] [ 6.92897729e-04 -7.03267804e-06 9.99999760e-01 -1.55595954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.235769231 meters 0.017049276181711433 Centerline is valid? [True, True] Translation: X:74.45, Y:9.86, Z:-0.15 [[ 9.58623988e-01 -2.84675338e-01 4.59706636e-05 7.44511865e+01] [ 2.84675338e-01 9.58623989e-01 1.26837958e-05 9.86102684e+00] [-4.76793448e-05 9.27723323e-07 9.99999999e-01 -1.54589077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26576923100001 meters 0.01882568508431715 Centerline is valid? [True, True] Translation: X:74.48, Y:9.86, Z:-0.15 [[ 9.58121104e-01 -2.86359621e-01 1.45488715e-03 7.44791362e+01] [ 2.86359321e-01 9.58122209e-01 4.15002600e-04 9.86460163e+00] [-1.51279967e-03 1.89977452e-05 9.99998856e-01 -1.52042280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29576923100001 meters 0.021200350405564655 Centerline is valid? [True, True] Translation: X:74.51, Y:9.87, Z:-0.15 [[ 9.57673751e-01 -2.87849149e-01 1.96326915e-03 7.45070022e+01] [ 2.87848605e-01 9.57675763e-01 5.60281320e-04 9.86771309e+00] [-2.04145179e-03 2.85575737e-05 9.99997916e-01 -1.51429651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32576923100001 meters 0.023156339336642306 Centerline is valid? [True, True] Translation: X:74.54, Y:9.87, Z:-0.15 [[ 9.56700698e-01 -2.91070039e-01 1.41663240e-03 7.45363572e+01] [ 2.91069760e-01 9.56701746e-01 4.04260337e-04 9.86865977e+00] [-1.47296277e-03 2.55827068e-05 9.99998915e-01 -1.52484753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35576923100001 meters 0.024421506101833735 Centerline is valid? [True, True] Translation: X:74.57, Y:9.87, Z:-0.15 [[ 9.56192719e-01 -2.92737229e-01 6.32408646e-04 7.45651590e+01] [ 2.92737173e-01 9.56192928e-01 1.80378204e-04 9.87184523e+00] [-6.57508090e-04 1.26531939e-05 9.99999784e-01 -1.54574206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38576923100001 meters 0.02374132119223715 Centerline is valid? [True, True] Translation: X:74.59, Y:9.88, Z:-0.16 [[ 9.55791605e-01 -2.94044680e-01 -3.64895112e-04 7.45938599e+01] [ 2.94044662e-01 9.55791675e-01 -1.04734452e-04 9.87770209e+00] [ 3.79560319e-04 -7.19114984e-06 9.99999928e-01 -1.55381538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.415769231 meters 0.03082448497449597 Centerline is valid? [True, True] Translation: X:74.62, Y:9.87, Z:-0.16 [[ 9.55331913e-01 -2.95534167e-01 -7.01654566e-04 7.46248771e+01] [ 2.95534100e-01 9.55332170e-01 -2.00841984e-04 9.86906021e+00] [ 7.29668847e-04 -1.54920937e-05 9.99999734e-01 -1.56875652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445769231 meters 0.027507170692135458 Centerline is valid? [True, True] Translation: X:74.65, Y:9.88, Z:-0.15 [[ 9.55197542e-01 -2.95968288e-01 6.54617123e-04 7.46516626e+01] [ 2.95968229e-01 9.55197766e-01 1.86967715e-04 9.87746943e+00] [-6.80625328e-04 1.51547693e-05 9.99999768e-01 -1.53550568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.475769231 meters 0.031042492450726197 Centerline is valid? [True, True] Translation: X:74.68, Y:9.87, Z:-0.15 [[ 9.55187638e-01 -2.95978822e-01 3.62129270e-03 7.46809637e+01] [ 2.95977018e-01 9.55194499e-01 1.03672989e-03 9.87153933e+00] [-3.76588895e-03 8.15478362e-05 9.99992906e-01 -1.47783737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.505769231 meters 0.026095981537739163 Centerline is valid? [True, True] Translation: X:74.71, Y:9.88, Z:-0.15 [[ 9.55285512e-01 -2.95663072e-01 3.59699183e-03 7.47076333e+01] [ 2.95661288e-01 9.55292281e-01 1.03022622e-03 9.88302510e+00] [-3.74077837e-03 7.93310541e-05 9.99993000e-01 -1.48424525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.535769231 meters 0.024929220416999708 Centerline is valid? [True, True] Translation: X:74.74, Y:9.89, Z:-0.15 [[ 9.55503882e-01 -2.94967732e-01 2.52354642e-03 7.47354820e+01] [ 2.94966850e-01 9.55507213e-01 7.23119100e-04 9.89057717e+00] [-2.62456361e-03 5.34194316e-05 9.99996554e-01 -1.50833754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.565769231 meters 0.023467468877131824 Centerline is valid? [True, True] Translation: X:74.76, Y:9.90, Z:-0.16 [[ 9.56275763e-01 -2.92466520e-01 -8.07377979e-06 7.47631032e+01] [ 2.92466520e-01 9.56275763e-01 -2.68332324e-06 9.89678300e+00] [ 8.50554212e-06 2.04686696e-07 1.00000000e+00 -1.55661400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.595769231 meters 0.024827575413182902 Centerline is valid? [True, True] Translation: X:74.79, Y:9.90, Z:-0.16 [[ 9.56826094e-01 -2.90660672e-01 -4.47739257e-04 7.47914530e+01] [ 2.90660643e-01 9.56826198e-01 -1.28888786e-04 9.90094506e+00] [ 4.65871552e-04 -6.81602702e-06 9.99999891e-01 -1.56558287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.625769231 meters 0.01879439877735561 Centerline is valid? [True, True] Translation: X:74.82, Y:9.92, Z:-0.15 [[ 9.57992197e-01 -2.86793159e-01 -7.96698685e-04 7.48170529e+01] [ 2.86793068e-01 9.57992528e-01 -2.28833301e-04 9.91721295e+00] [ 8.28859212e-04 -9.26714254e-06 9.99999656e-01 -1.54950367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65576923100001 meters 0.016451787671109493 Centerline is valid? [True, True] Translation: X:74.84, Y:9.93, Z:-0.16 [[ 9.58561907e-01 -2.84881836e-01 -1.18760338e-03 7.48433636e+01] [ 2.84881632e-01 9.58562642e-01 -3.41542141e-04 9.92968339e+00] [ 1.23569139e-03 -1.09371034e-05 9.99999236e-01 -1.55684168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68576923100001 meters 0.016451787671109493 Centerline is valid? [True, True] Translation: X:74.87, Y:9.94, Z:-0.16 [[ 9.58507983e-01 -2.85063214e-01 -1.18752438e-03 7.48697322e+01] [ 2.85063010e-01 9.58508719e-01 -3.41816920e-04 9.93746547e+00] [ 1.23569190e-03 -1.08850274e-05 9.99999236e-01 -1.55743216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71576923100001 meters 0.015266001175453743 Centerline is valid? [True, True] Translation: X:74.90, Y:9.95, Z:-0.16 [[ 9.59079086e-01 -2.83134668e-01 -1.43770899e-03 7.48951261e+01] [ 2.83134366e-01 9.59080163e-01 -4.13649917e-04 9.94861561e+00] [ 1.49599680e-03 -1.03418386e-05 9.99998881e-01 -1.57205679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74576923100001 meters 0.013510023882530519 Centerline is valid? [True, True] Translation: X:74.92, Y:9.96, Z:-0.16 [[ 9.60025651e-01 -2.79909680e-01 -1.14917356e-03 7.49210271e+01] [ 2.79909485e-01 9.60026339e-01 -3.31046012e-04 9.96247378e+00] [ 1.19589986e-03 -3.85191507e-06 9.99999285e-01 -1.58233432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.775769231 meters 0.013103112153683875 Centerline is valid? [True, True] Translation: X:74.95, Y:9.97, Z:-0.16 [[ 9.60367041e-01 -2.78736100e-01 -1.15421842e-03 7.49470352e+01] [ 2.78735902e-01 9.60367735e-01 -3.32782948e-04 9.97274301e+00] [ 1.20123275e-03 -2.12833558e-06 9.99999279e-01 -1.58140599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805769231 meters 0.012973953467917439 Centerline is valid? [True, True] Translation: X:74.97, Y:9.99, Z:-0.16 [[ 9.60742518e-01 -2.77432400e-01 -2.25326046e-03 7.49723697e+01] [ 2.77431639e-01 9.60745161e-01 -6.49712559e-04 9.98542332e+00] [ 2.34506040e-03 -9.19262499e-07 9.99997250e-01 -1.59348203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.835769231 meters 0.013156488298109104 Centerline is valid? [True, True] Translation: X:75.00, Y:10.00, Z:-0.16 [[ 9.60971915e-01 -2.76632939e-01 -2.68238260e-03 7.49978901e+01] [ 2.76631857e-01 9.60975659e-01 -7.73902052e-04 9.99676764e+00] [ 2.79179119e-03 1.66565889e-06 9.99996103e-01 -1.59853904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865769231 meters 0.013280632891101419 Centerline is valid? [True, True] Translation: X:75.02, Y:10.01, Z:-0.16 [[ 9.61144779e-01 -2.76033346e-01 -2.51124439e-03 7.50235100e+01] [ 2.76032394e-01 9.61148059e-01 -7.25065011e-04 1.00075667e+01] [ 2.61381979e-03 3.70765091e-06 9.99996584e-01 -1.59689243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.895769231 meters 0.013018604965451897 Centerline is valid? [True, True] Translation: X:75.05, Y:10.02, Z:-0.16 [[ 9.61136578e-01 -2.76071435e-01 -1.02033510e-03 7.50492347e+01] [ 2.76071278e-01 9.61137120e-01 -2.94722803e-04 1.00181057e+01] [ 1.06204648e-03 1.58365203e-06 9.99999436e-01 -1.57834263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.925769231 meters 0.012877923373711641 Centerline is valid? [True, True] Translation: X:75.08, Y:10.03, Z:-0.16 [[ 9.60804681e-01 -2.77225772e-01 -4.85365327e-04 7.50757854e+01] [ 2.77225736e-01 9.60804804e-01 -1.40605931e-04 1.00256634e+01] [ 5.05320926e-04 5.39076176e-07 9.99999872e-01 -1.57426259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.955769231 meters 0.013246720288291023 Centerline is valid? [True, True] Translation: X:75.10, Y:10.03, Z:-0.16 [[ 9.60010394e-01 -2.79964308e-01 -1.70075929e-04 7.51023641e+01] [ 2.79964304e-01 9.60010409e-01 -4.94278651e-05 1.00304714e+01] [ 1.77112701e-04 -1.63924844e-07 9.99999984e-01 -1.57600768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.985769231 meters 0.0139751357943653 Centerline is valid? [True, True] Translation: X:75.13, Y:10.04, Z:-0.16 [[ 9.59336285e-01 -2.82265622e-01 -1.08543837e-04 7.51309476e+01] [ 2.82265620e-01 9.59336291e-01 -3.17558763e-05 1.00355745e+01] [ 1.13093635e-04 -1.73629235e-07 9.99999994e-01 -1.57260840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01576923100001 meters 0.0159668906480476 Centerline is valid? [True, True] Translation: X:75.16, Y:10.04, Z:-0.16 [[ 9.58511106e-01 -2.85055186e-01 -3.72343060e-05 7.51594330e+01] [ 2.85055185e-01 9.58511106e-01 -1.08994717e-05 1.00373236e+01] [ 3.87964468e-05 -1.66567317e-07 9.99999999e-01 -1.57473502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04576923100001 meters 0.021198525577938464 Centerline is valid? [True, True] Translation: X:75.19, Y:10.03, Z:-0.16 [[ 9.56452039e-01 -2.91889029e-01 5.40643105e-04 7.51918570e+01] [ 2.91888988e-01 9.56452191e-01 1.56331619e-04 1.00322602e+01] [-5.62730767e-04 8.28407266e-06 9.99999842e-01 -1.56615751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07576923100001 meters 0.026447428734480898 Centerline is valid? [True, True] Translation: X:75.22, Y:10.03, Z:-0.16 [[ 9.55317505e-01 -2.95580845e-01 6.54386486e-04 7.52218333e+01] [ 2.95580785e-01 9.55317729e-01 1.89213588e-04 1.00297363e+01] [-6.81074924e-04 1.26650187e-05 9.99999768e-01 -1.56759368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10576923100001 meters 0.03192484956898652 Centerline is valid? [True, True] Translation: X:75.26, Y:10.02, Z:-0.16 [[ 9.53297511e-01 -3.02031951e-01 7.45318451e-04 7.52551182e+01] [ 3.02031874e-01 9.53297803e-01 2.15597727e-04 1.00230979e+01] [-7.75627844e-04 1.95811517e-05 9.99999699e-01 -1.56828847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13576923100001 meters 0.03238586282772418 Centerline is valid? [True, True] Translation: X:75.28, Y:10.03, Z:-0.16 [[ 9.52597875e-01 -3.04232274e-01 1.04437895e-04 7.52845830e+01] [ 3.04232273e-01 9.52597881e-01 3.01411812e-05 1.00259448e+01] [-1.08657237e-04 3.06095298e-06 9.99999994e-01 -1.57674615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165769231 meters 0.03429236100951948 Centerline is valid? [True, True] Translation: X:75.31, Y:10.03, Z:-0.16 [[ 9.52139657e-01 -3.05662359e-01 -7.71642878e-04 7.53132415e+01] [ 3.05662278e-01 9.52139970e-01 -2.23466930e-04 1.00264705e+01] [ 8.03017456e-04 -2.30903935e-05 9.99999677e-01 -1.59121970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.195769231 meters 0.04109793816663496 Centerline is valid? [True, True] Translation: X:75.34, Y:10.02, Z:-0.16 [[ 9.51876861e-01 -3.06478662e-01 -1.12767721e-03 7.53449908e+01] [ 3.06478490e-01 9.51877528e-01 -3.26583120e-04 1.00155717e+01] [ 1.17350135e-03 -3.47418927e-05 9.99999311e-01 -1.60064982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225769231 meters 0.03492589206869147 Centerline is valid? [True, True] Translation: X:75.37, Y:10.03, Z:-0.16 [[ 9.51761896e-01 -3.06836117e-01 -9.43283758e-04 7.53719446e+01] [ 3.06835996e-01 9.51762363e-01 -2.73612169e-04 1.00268542e+01] [ 9.81736074e-04 -2.90197752e-05 9.99999518e-01 -1.58582810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.255769231 meters 0.03657757345772934 Centerline is valid? [True, True] Translation: X:75.40, Y:10.02, Z:-0.16 [[ 9.51696660e-01 -3.07039829e-01 -1.08338414e-04 7.54017120e+01] [ 3.07039827e-01 9.51696666e-01 -3.15206353e-05 1.00229130e+01] [ 1.12783398e-04 -3.26612462e-06 9.99999994e-01 -1.57478168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.285769231 meters 0.03877921208685328 Centerline is valid? [True, True] Translation: X:75.43, Y:10.02, Z:-0.16 [[ 9.51627316e-01 -3.07254566e-01 2.86316498e-04 7.54308451e+01] [ 3.07254555e-01 9.51627359e-01 8.28446649e-05 1.00237034e+01] [-2.97921015e-04 9.13480217e-06 9.99999956e-01 -1.57183621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.315769231 meters 0.03733499980242772 Centerline is valid? [True, True] Translation: X:75.46, Y:10.03, Z:-0.16 [[ 9.51341174e-01 -3.08137853e-01 1.01716711e-03 7.54596556e+01] [ 3.08137713e-01 9.51341717e-01 2.94587418e-04 1.00271247e+01] [-1.05844704e-03 3.31744065e-05 9.99999439e-01 -1.56267495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.345769231 meters 0.037868554844824404 Centerline is valid? [True, True] Translation: X:75.49, Y:10.03, Z:-0.16 [[ 9.51173371e-01 -3.08655463e-01 1.01169839e-03 7.54885649e+01] [ 3.08655325e-01 9.51173908e-01 2.93179981e-04 1.00312554e+01] [-1.05279272e-03 3.34011062e-05 9.99999445e-01 -1.56157273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.375769231 meters 0.03829019595323206 Centerline is valid? [True, True] Translation: X:75.52, Y:10.04, Z:-0.16 [[ 9.51005480e-01 -3.09173507e-01 5.65769921e-04 7.55175224e+01] [ 3.09173464e-01 9.51005648e-01 1.63894166e-04 1.00355327e+01] [-5.88722124e-04 1.90567967e-05 9.99999827e-01 -1.56351458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40576923100001 meters 0.03785481496061468 Centerline is valid? [True, True] Translation: X:75.55, Y:10.04, Z:-0.16 [[ 9.51335343e-01 -3.08157532e-01 1.65546208e-05 7.55455887e+01] [ 3.08157532e-01 9.51335343e-01 4.67854185e-06 1.00380333e+01] [-1.71907237e-05 6.50568857e-07 1.00000000e+00 -1.56720549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43576923100001 meters 0.03648828331347489 Centerline is valid? [True, True] Translation: X:75.57, Y:10.05, Z:-0.16 [[ 9.51747287e-01 -3.06882675e-01 3.54830367e-04 7.55728231e+01] [ 3.06882658e-01 9.51747353e-01 1.02761393e-04 1.00466729e+01] [-3.69244553e-04 1.10884091e-05 9.99999932e-01 -1.56234041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46576923100001 meters 0.030228226481878145 Centerline is valid? [True, True] Translation: X:75.60, Y:10.06, Z:-0.15 [[ 9.53613725e-01 -3.01030898e-01 1.12332356e-03 7.55989114e+01] [ 3.01030722e-01 9.53614386e-01 3.26350169e-04 1.00608454e+01] [-1.16945899e-03 2.69429012e-05 9.99999316e-01 -1.54751968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49576923100001 meters 0.024793067021087616 Centerline is valid? [True, True] Translation: X:75.62, Y:10.08, Z:-0.15 [[ 9.54684625e-01 -2.97616738e-01 1.24290254e-03 7.56246457e+01] [ 2.97616519e-01 9.54685433e-01 3.61125082e-04 1.00752554e+01] [-1.29405782e-03 2.51477637e-05 9.99999162e-01 -1.54030755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525769231 meters 0.02318182937897741 Centerline is valid? [True, True] Translation: X:75.65, Y:10.08, Z:-0.15 [[ 9.55665622e-01 -2.94452541e-01 9.59038008e-04 7.56514244e+01] [ 2.94452410e-01 9.55666103e-01 2.78673136e-04 1.00848845e+01] [-9.98576129e-04 1.60727165e-05 9.99999501e-01 -1.54409537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.555769231 meters 0.01850451537768042 Centerline is valid? [True, True] Translation: X:75.68, Y:10.10, Z:-0.16 [[ 9.57164881e-01 -2.89542991e-01 4.97485599e-04 7.56762069e+01] [ 2.89542955e-01 9.57165010e-01 1.44535901e-04 1.01016503e+01] [-5.18025165e-04 5.69876171e-06 9.99999866e-01 -1.55894580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585769231 meters 0.01624793299260151 Centerline is valid? [True, True] Translation: X:75.70, Y:10.11, Z:-0.16 [[ 9.57723152e-01 -2.87691397e-01 1.55117749e-04 7.57025844e+01] [ 2.87691393e-01 9.57723165e-01 4.47587250e-05 1.01142260e+01] [-1.61436562e-04 1.75957419e-06 9.99999987e-01 -1.56926188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.615769231 meters 0.0154671392529839 Centerline is valid? [True, True] Translation: X:75.73, Y:10.12, Z:-0.16 [[ 9.58213774e-01 -2.86053032e-01 -1.60227935e-04 7.57292051e+01] [ 2.86053028e-01 9.58213788e-01 -4.67524311e-05 1.01236956e+01] [ 1.66906291e-04 -1.03486238e-06 9.99999986e-01 -1.58051459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.645769231 meters 0.013735615614998956 Centerline is valid? [True, True] Translation: X:75.75, Y:10.14, Z:-0.16 [[ 9.58851025e-01 -2.83907805e-01 -1.03411671e-03 7.57549506e+01] [ 2.83907645e-01 9.58851583e-01 -3.01482417e-04 1.01370876e+01] [ 1.07715765e-03 -4.51691387e-06 9.99999420e-01 -1.59240304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.675769231 meters 0.013976486200285127 Centerline is valid? [True, True] Translation: X:75.78, Y:10.15, Z:-0.16 [[ 9.58901374e-01 -2.83735404e-01 -1.54105962e-03 7.57805905e+01] [ 2.83735048e-01 9.58902613e-01 -4.49223855e-04 1.01456382e+01] [ 1.60518681e-03 -6.49125403e-06 9.99998712e-01 -1.60830510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.705769231 meters 0.01410169735118599 Centerline is valid? [True, True] Translation: X:75.81, Y:10.15, Z:-0.16 [[ 9.58867104e-01 -2.83847849e-01 -2.06798060e-03 7.58077447e+01] [ 2.83847208e-01 9.58869334e-01 -6.03266345e-04 1.01538882e+01] [ 2.15415903e-03 -8.53826435e-06 9.99997680e-01 -1.61792272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.735769231 meters 0.01370876628037179 Centerline is valid? [True, True] Translation: X:75.84, Y:10.16, Z:-0.16 [[ 9.58814129e-01 -2.84027445e-01 -1.96898867e-03 7.58352260e+01] [ 2.84026864e-01 9.58816150e-01 -5.74840301e-04 1.01613035e+01] [ 2.05116855e-03 -8.08067332e-06 9.99997896e-01 -1.60782636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76576923100001 meters 0.013913151673275807 Centerline is valid? [True, True] Translation: X:75.86, Y:10.17, Z:-0.16 [[ 9.58702942e-01 -2.84405605e-01 -1.45652123e-03 7.58618743e+01] [ 2.84405287e-01 9.58704048e-01 -4.25227511e-04 1.01672877e+01] [ 1.51730989e-03 -6.57547203e-06 9.99998849e-01 -1.60245127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79576923100001 meters 0.014660318466093576 Centerline is valid? [True, True] Translation: X:75.89, Y:10.17, Z:-0.16 [[ 9.58464298e-01 -2.85212475e-01 -1.81610666e-04 7.58888538e+01] [ 2.85212470e-01 9.58464316e-01 -5.31964264e-05 1.01718592e+01] [ 1.89239627e-04 -8.10751094e-07 9.99999982e-01 -1.58406973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82576923100001 meters 0.014435750308424061 Centerline is valid? [True, True] Translation: X:75.92, Y:10.18, Z:-0.16 [[ 9.58141482e-01 -2.86293578e-01 9.41999135e-04 7.59161260e+01] [ 2.86293446e-01 9.58141945e-01 2.74742829e-04 1.01775649e+01] [-9.81225991e-04 6.44567663e-06 9.99999519e-01 -1.55757738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85576923100001 meters 0.014203598671695758 Centerline is valid? [True, True] Translation: X:75.94, Y:10.18, Z:-0.15 [[ 9.58146278e-01 -2.86274798e-01 1.56487847e-03 7.59432170e+01] [ 2.86274434e-01 9.58147556e-01 4.57018590e-04 1.01849266e+01] [-1.63021739e-03 1.00940373e-05 9.99998671e-01 -1.54547503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88576923100001 meters 0.013707611682432112 Centerline is valid? [True, True] Translation: X:75.97, Y:10.19, Z:-0.15 [[ 9.58366821e-01 -2.85533756e-01 1.87338587e-03 7.59695457e+01] [ 2.85533231e-01 9.58368652e-01 5.47591099e-04 1.01944928e+01] [-1.95175003e-03 1.01207784e-05 9.99998095e-01 -1.53241612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.915769231 meters 0.013223251982795626 Centerline is valid? [True, True] Translation: X:76.00, Y:10.20, Z:-0.15 [[ 9.58684347e-01 -2.84463581e-01 2.18948548e-03 7.59956186e+01] [ 2.84462860e-01 9.58686847e-01 6.40501288e-04 1.02049616e+01] [-2.28123022e-03 8.78874151e-06 9.99997398e-01 -1.53006448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945769231 meters 0.012901209080691499 Centerline is valid? [True, True] Translation: X:76.02, Y:10.22, Z:-0.15 [[ 9.59052731e-01 -2.83224870e-01 1.23805645e-03 7.60209779e+01] [ 2.83224639e-01 9.59053530e-01 3.62197576e-04 1.02162963e+01] [-1.28994577e-03 3.28151623e-06 9.99999168e-01 -1.54547303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.975769231 meters 0.013031790654862874 Centerline is valid? [True, True] Translation: X:76.05, Y:10.22, Z:-0.16 [[ 9.58904496e-01 -2.83727052e-01 1.06194847e-03 7.60479297e+01] [ 2.83726882e-01 9.58905084e-01 3.10587680e-04 1.02243675e+01] [-1.10642991e-03 3.47940369e-06 9.99999388e-01 -1.55460406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.005769231 meters 0.013273186152689775 Centerline is valid? [True, True] Translation: X:76.08, Y:10.23, Z:-0.16 [[ 9.58534302e-01 -2.84976279e-01 7.15792633e-04 7.60753405e+01] [ 2.84976202e-01 9.58534569e-01 2.09351348e-04 1.02313873e+01] [-7.45772151e-04 3.31341723e-06 9.99999722e-01 -1.55527377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.035769231 meters 0.014229916397796898 Centerline is valid? [True, True] Translation: X:76.10, Y:10.24, Z:-0.16 [[ 9.58033704e-01 -2.86654957e-01 5.98687879e-04 7.61027010e+01] [ 2.86654903e-01 9.58033891e-01 1.75363874e-04 1.02373907e+01] [-6.23832202e-04 3.61231438e-06 9.99999805e-01 -1.56900441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.065769231 meters 0.015946561128987027 Centerline is valid? [True, True] Translation: X:76.13, Y:10.24, Z:-0.16 [[ 9.57222692e-01 -2.89352162e-01 2.08934766e-04 7.61302132e+01] [ 2.89352156e-01 9.57222715e-01 6.11045070e-05 1.02408346e+01] [-2.17677825e-04 1.96510422e-06 9.99999976e-01 -1.57439140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.095769231 meters 0.016208992284629912 Centerline is valid? [True, True] Translation: X:76.16, Y:10.25, Z:-0.16 [[ 9.56963168e-01 -2.90209261e-01 2.83053498e-04 7.61582882e+01] [ 2.90209249e-01 9.56963210e-01 8.26731398e-05 1.02483186e+01] [-2.94864295e-04 3.02959351e-06 9.99999957e-01 -1.57508467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.125769231 meters 0.01631793721060811 Centerline is valid? [True, True] Translation: X:76.19, Y:10.26, Z:-0.16 [[ 9.57097492e-01 -2.89766080e-01 -1.02797847e-04 7.61852874e+01] [ 2.89766078e-01 9.57097497e-01 -3.02995696e-05 1.02562238e+01] [ 1.07167349e-04 -7.87686788e-07 9.99999994e-01 -1.57629309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15576923100001 meters 0.014739954900353267 Centerline is valid? [True, True] Translation: X:76.21, Y:10.27, Z:-0.16 [[ 9.57711383e-01 -2.87730419e-01 -3.36756658e-04 7.62116216e+01] [ 2.87730402e-01 9.57711442e-01 -9.92464472e-05 1.02696820e+01] [ 3.51071926e-04 -1.84567616e-06 9.99999938e-01 -1.57546864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18576923100001 meters 0.013701594537986524 Centerline is valid? [True, True] Translation: X:76.24, Y:10.28, Z:-0.16 [[ 9.58261929e-01 -2.85890928e-01 -6.72120602e-04 7.62375236e+01] [ 2.85890860e-01 9.58262165e-01 -1.97614040e-04 1.02815031e+01] [ 7.00563805e-04 -2.78712525e-06 9.99999755e-01 -1.58118826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21576923100001 meters 0.012822154622085582 Centerline is valid? [True, True] Translation: X:76.26, Y:10.30, Z:-0.16 [[ 9.59195119e-01 -2.82742720e-01 -1.13011153e-03 7.62620029e+01] [ 2.82742525e-01 9.59195785e-01 -3.32587238e-04 1.02978455e+01] [ 1.17803484e-03 -5.14532350e-07 9.99999306e-01 -1.58535670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24576923100001 meters 0.012644786674665925 Centerline is valid? [True, True] Translation: X:76.29, Y:10.31, Z:-0.16 [[ 9.59443074e-01 -2.81901385e-01 -7.72894187e-04 7.62863405e+01] [ 2.81901293e-01 9.59443385e-01 -2.27423767e-04 1.03090702e+01] [ 8.05659290e-04 3.20287624e-07 9.99999675e-01 -1.58099226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.275769231 meters 0.012643359878437992 Centerline is valid? [True, True] Translation: X:76.31, Y:10.32, Z:-0.16 [[ 9.59523609e-01 -2.81628200e-01 -2.17125814e-05 7.63119597e+01] [ 2.81628199e-01 9.59523610e-01 -6.79807077e-06 1.03199086e+01] [ 2.27482629e-05 4.08034195e-07 1.00000000e+00 -1.57056509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305769231 meters 0.012554635006577655 Centerline is valid? [True, True] Translation: X:76.34, Y:10.33, Z:-0.16 [[ 9.59395023e-01 -2.82065519e-01 4.82519050e-04 7.63385679e+01] [ 2.82065483e-01 9.59395144e-01 1.41644496e-04 1.03304034e+01] [-5.02879462e-04 2.08944327e-07 9.99999874e-01 -1.56512585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.335769231 meters 0.012609084420661528 Centerline is valid? [True, True] Translation: X:76.36, Y:10.34, Z:-0.16 [[ 9.59175330e-01 -2.82812100e-01 -4.95298042e-05 7.63643330e+01] [ 2.82812100e-01 9.59175331e-01 -1.48741628e-05 1.03388017e+01] [ 5.17143596e-05 2.59302091e-07 9.99999999e-01 -1.57662023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365769231 meters 0.012752956364648693 Centerline is valid? [True, True] Translation: X:76.39, Y:10.35, Z:-0.16 [[ 9.58934194e-01 -2.83628568e-01 -2.19137208e-04 7.63895850e+01] [ 2.83628560e-01 9.58934219e-01 -6.50008855e-05 1.03508373e+01] [ 2.28574275e-04 1.78001073e-07 9.99999974e-01 -1.57395686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.395769231 meters 0.012576840203848675 Centerline is valid? [True, True] Translation: X:76.42, Y:10.36, Z:-0.15 [[ 9.58988634e-01 -2.83442027e-01 1.19079520e-03 7.64154013e+01] [ 2.83441810e-01 9.58989373e-01 3.50813976e-04 1.03620148e+01] [-1.24139537e-03 1.09453266e-06 9.99999229e-01 -1.54450201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.425769231 meters 0.012433435706626325 Centerline is valid? [True, True] Translation: X:76.44, Y:10.38, Z:-0.15 [[ 9.59215924e-01 -2.82650447e-01 3.67901694e-03 7.64399053e+01] [ 2.82648363e-01 9.59222980e-01 1.08550591e-03 1.03767539e+01] [-3.83581633e-03 -1.36644309e-06 9.99992643e-01 -1.49204648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.455769231 meters 0.012335792087558462 Centerline is valid? [True, True] Translation: X:76.46, Y:10.39, Z:-0.15 [[ 9.59303907e-01 -2.82355449e-01 3.37863061e-03 7.64647616e+01] [ 2.82353688e-01 9.59309856e-01 9.97400361e-04 1.03878445e+01] [-3.52277507e-03 -2.84125084e-06 9.99993795e-01 -1.49883157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.485769231 meters 0.012684429711300956 Centerline is valid? [True, True] Translation: X:76.49, Y:10.40, Z:-0.16 [[ 9.59250170e-01 -2.82557911e-01 3.73039824e-04 7.64898223e+01] [ 2.82557890e-01 9.59250242e-01 1.09910761e-04 1.03995569e+01] [-3.88894697e-04 -2.65701951e-08 9.99999924e-01 -1.57359385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51576923100001 meters 0.012795385096201204 Centerline is valid? [True, True] Translation: X:76.52, Y:10.41, Z:-0.16 [[ 9.59003067e-01 -2.83393771e-01 -1.04338912e-03 7.65167770e+01] [ 2.83393603e-01 9.59003634e-01 -3.08855974e-04 1.04080443e+01] [ 1.08814182e-03 5.04024406e-07 9.99999408e-01 -1.59990097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54576923100001 meters 0.012910383236483488 Centerline is valid? [True, True] Translation: X:76.54, Y:10.42, Z:-0.16 [[ 9.58782299e-01 -2.84136637e-01 -1.69540756e-03 7.65426076e+01] [ 2.84136194e-01 9.58783798e-01 -5.01701152e-04 1.04165722e+01] [ 1.76808097e-03 -7.04466749e-07 9.99998437e-01 -1.61474561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57576923100001 meters 0.012801273315093478 Centerline is valid? [True, True] Translation: X:76.57, Y:10.43, Z:-0.16 [[ 9.58571195e-01 -2.84851136e-01 -1.04600870e-03 7.65682716e+01] [ 2.84850968e-01 9.58571766e-01 -3.10002530e-04 1.04287118e+01] [ 1.09097898e-03 -7.97094766e-07 9.99999405e-01 -1.60122241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60576923100001 meters 0.012801273315093478 Centerline is valid? [True, True] Translation: X:76.59, Y:10.44, Z:-0.16 [[ 9.58516794e-01 -2.85034139e-01 -1.04594998e-03 7.65945793e+01] [ 2.85033971e-01 9.58517365e-01 -3.10200732e-04 1.04367021e+01] [ 1.09097902e-03 -7.98665016e-07 9.99999405e-01 -1.60181284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63576923100001 meters 0.012663201349487414 Centerline is valid? [True, True] Translation: X:76.62, Y:10.45, Z:-0.16 [[ 9.58535422e-01 -2.84973330e-01 -2.12712229e-04 7.66201518e+01] [ 2.84973323e-01 9.58535446e-01 -6.32028999e-05 1.04471278e+01] [ 2.21903352e-04 -3.50922609e-08 9.99999975e-01 -1.57607069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665769231 meters 0.0126346629911638 Centerline is valid? [True, True] Translation: X:76.65, Y:10.46, Z:-0.15 [[ 9.58460076e-01 -2.85222487e-01 1.55398590e-03 7.66452466e+01] [ 2.85222116e-01 9.58461336e-01 4.60330907e-04 1.04583969e+01] [-1.62073213e-03 2.02234922e-06 9.99998687e-01 -1.54080019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.695769231 meters 0.012623204985870032 Centerline is valid? [True, True] Translation: X:76.67, Y:10.47, Z:-0.15 [[ 9.58312762e-01 -2.85716855e-01 1.59030288e-03 7.66718465e+01] [ 2.85716467e-01 9.58314081e-01 4.71178411e-04 1.04671818e+01] [-1.65863326e-03 2.83943704e-06 9.99998624e-01 -1.54604052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725769231 meters 0.012880596826409439 Centerline is valid? [True, True] Translation: X:76.70, Y:10.47, Z:-0.16 [[ 9.58060081e-01 -2.86565957e-01 9.12682470e-04 7.66984258e+01] [ 2.86565829e-01 9.58060516e-01 2.70579840e-04 1.04742338e+01] [-9.51944009e-04 2.31186497e-06 9.99999547e-01 -1.56078060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.755769231 meters 0.013722992750007733 Centerline is valid? [True, True] Translation: X:76.73, Y:10.48, Z:-0.16 [[ 9.57401783e-01 -2.88758549e-01 -5.70652208e-04 7.67268876e+01] [ 2.88758499e-01 9.57401953e-01 -1.69728502e-04 1.04792161e+01] [ 5.95354095e-04 -2.28230434e-06 9.99999823e-01 -1.58885506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.785769231 meters 0.01405157823586797 Centerline is valid? [True, True] Translation: X:76.75, Y:10.48, Z:-0.16 [[ 9.57105273e-01 -2.89739611e-01 -6.74427961e-04 7.67540814e+01] [ 2.89739541e-01 9.57105510e-01 -2.00715326e-04 1.04849248e+01] [ 7.03653898e-04 -3.30275105e-06 9.99999752e-01 -1.58517598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.815769231 meters 0.014370978700614583 Centerline is valid? [True, True] Translation: X:76.78, Y:10.49, Z:-0.16 [[ 9.56870819e-01 -2.90513604e-01 2.87131038e-04 7.67811360e+01] [ 2.90513591e-01 9.56870862e-01 8.51187120e-05 1.04890435e+01] [-2.99475468e-04 1.96785750e-06 9.99999955e-01 -1.56665948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.845769231 meters 0.014365683200576447 Centerline is valid? [True, True] Translation: X:76.81, Y:10.50, Z:-0.16 [[ 9.56814919e-01 -2.90696754e-01 7.79608791e-04 7.68082715e+01] [ 2.90696662e-01 9.56815237e-01 2.31348636e-04 1.04959439e+01] [-8.13193867e-04 5.27184679e-06 9.99999669e-01 -1.56397209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.875769231 meters 0.01437339197154941 Centerline is valid? [True, True] Translation: X:76.83, Y:10.50, Z:-0.16 [[ 9.56819387e-01 -2.90680434e-01 1.24368454e-03 7.68348444e+01] [ 2.90680199e-01 9.56820195e-01 3.69648668e-04 1.05014257e+01] [-1.29743212e-03 7.82745858e-06 9.99999158e-01 -1.56570019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90576923100001 meters 0.014342185730593333 Centerline is valid? [True, True] Translation: X:76.86, Y:10.51, Z:-0.16 [[ 9.56782613e-01 -2.90802179e-01 1.05996315e-03 7.68620835e+01] [ 2.90802009e-01 9.56783200e-01 3.14997339e-04 1.05084202e+01] [-1.10575684e-03 6.85543512e-06 9.99999389e-01 -1.57186071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93576923100001 meters 0.014433472719367891 Centerline is valid? [True, True] Translation: X:76.89, Y:10.51, Z:-0.16 [[ 9.56762677e-01 -2.90868805e-01 7.19363149e-04 7.68886600e+01] [ 2.90868726e-01 9.56762948e-01 2.13940416e-04 1.05146212e+01] [-7.50488600e-04 4.55003751e-06 9.99999718e-01 -1.58362636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96576923100001 meters 0.01503912817869181 Centerline is valid? [True, True] Translation: X:76.92, Y:10.52, Z:-0.16 [[ 9.56532147e-01 -2.91626525e-01 -4.70076828e-04 7.69168657e+01] [ 2.91626492e-01 9.56532263e-01 -1.40073284e-04 1.05161205e+01] [ 4.90492737e-04 -3.10225734e-06 9.99999880e-01 -1.60477392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99576923100001 meters 0.015858061285210185 Centerline is valid? [True, True] Translation: X:76.95, Y:10.52, Z:-0.16 [[ 9.56188443e-01 -2.92750695e-01 -8.32401703e-04 7.69459693e+01] [ 2.92750590e-01 9.56188805e-01 -2.48307030e-04 1.05198100e+01] [ 8.68625245e-04 -6.25777689e-06 9.99999623e-01 -1.61124787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025769231 meters 0.017090215915548938 Centerline is valid? [True, True] Translation: X:76.98, Y:10.52, Z:-0.16 [[ 9.55391405e-01 -2.95342265e-01 -4.58869640e-04 7.69757131e+01] [ 2.95342233e-01 9.55391515e-01 -1.37141282e-04 1.05198308e+01] [ 4.78903777e-04 -4.49998191e-06 9.99999885e-01 -1.60144405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.055769231 meters 0.018852278968792036 Centerline is valid? [True, True] Translation: X:77.00, Y:10.52, Z:-0.16 [[ 9.55091315e-01 -2.96311410e-01 3.58439152e-04 7.70043961e+01] [ 2.96311391e-01 9.55091382e-01 1.06728422e-04 1.05220968e+01] [-3.73966995e-04 4.27421469e-06 9.99999930e-01 -1.59357879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085769231 meters 0.0188507157799735 Centerline is valid? [True, True] Translation: X:77.03, Y:10.53, Z:-0.16 [[ 9.54880618e-01 -2.96987870e-01 1.09996590e-03 7.70332616e+01] [ 2.96987689e-01 9.54881252e-01 3.27761333e-04 1.05274207e+01] [-1.14767796e-03 1.37033861e-05 9.99999341e-01 -1.57532784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.115769231 meters 0.018328899567390474 Centerline is valid? [True, True] Translation: X:77.06, Y:10.53, Z:-0.16 [[ 9.54770931e-01 -2.97335670e-01 1.99212990e-03 7.70617291e+01] [ 2.97335077e-01 9.54773009e-01 5.94233420e-04 1.05301609e+01] [-2.07871865e-03 2.49733024e-05 9.99997839e-01 -1.55770609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.145769231 meters 0.01898292370337832 Centerline is valid? [True, True] Translation: X:77.09, Y:10.53, Z:-0.16 [[ 9.54962286e-01 -2.96720914e-01 1.93189061e-03 7.70893779e+01] [ 2.96720355e-01 9.54964239e-01 5.76662705e-04 1.05344338e+01] [-2.01599433e-03 2.25401321e-05 9.99997968e-01 -1.55118253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.175769231 meters 0.014578716400808468 Centerline is valid? [True, True] Translation: X:77.12, Y:10.55, Z:-0.16 [[ 9.56164160e-01 -2.92824010e-01 2.04883984e-03 7.71158604e+01] [ 2.92823372e-01 9.56166355e-01 6.11707382e-04 1.05464306e+01] [-2.13815433e-03 1.50555142e-05 9.99997714e-01 -1.55217126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.205769231 meters 0.013586026515956797 Centerline is valid? [True, True] Translation: X:77.14, Y:10.55, Z:-0.16 [[ 9.56836761e-01 -2.90622281e-01 1.44987762e-03 7.71423705e+01] [ 2.90621958e-01 9.56837860e-01 4.33082335e-04 1.05547450e+01] [-1.51316118e-03 6.97717559e-06 9.99998855e-01 -1.56399703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.235769231 meters 0.012435105691250493 Centerline is valid? [True, True] Translation: X:77.17, Y:10.56, Z:-0.16 [[ 9.57444944e-01 -2.88615017e-01 7.42734489e-04 7.71688512e+01] [ 2.88614932e-01 9.57445232e-01 2.21687880e-04 1.05647254e+01] [-7.75110046e-04 2.11032444e-06 9.99999700e-01 -1.57807824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26576923100001 meters 0.012219045477795515 Centerline is valid? [True, True] Translation: X:77.20, Y:10.57, Z:-0.16 [[ 9.58151648e-01 -2.86260606e-01 5.34705569e-04 7.71961679e+01] [ 2.86260561e-01 9.58151797e-01 1.59586233e-04 1.05713054e+01] [-5.58012353e-04 1.57304294e-07 9.99999844e-01 -1.58898910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29576923100001 meters 0.012305122437701566 Centerline is valid? [True, True] Translation: X:77.22, Y:10.58, Z:-0.16 [[ 9.58260387e-01 -2.85896185e-01 6.33357332e-04 7.72221406e+01] [ 2.85896122e-01 9.58260597e-01 1.89404066e-04 1.05778136e+01] [-6.61071275e-04 -4.24008475e-07 9.99999781e-01 -1.58795276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32576923100001 meters 0.01244312354455592 Centerline is valid? [True, True] Translation: X:77.25, Y:10.59, Z:-0.16 [[ 9.58383673e-01 -2.85482004e-01 8.71741987e-04 7.72476160e+01] [ 2.85481885e-01 9.58384070e-01 2.60844091e-04 1.05854521e+01] [-9.09929928e-04 -1.12217280e-06 9.99999586e-01 -1.58912587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35576923100001 meters 0.013395182734229245 Centerline is valid? [True, True] Translation: X:77.27, Y:10.60, Z:-0.16 [[ 9.59253271e-01 -2.82547575e-01 1.71321371e-04 7.72747544e+01] [ 2.82547570e-01 9.59253287e-01 5.09578521e-05 1.05968978e+01] [-1.78738605e-04 -4.75049389e-07 9.99999984e-01 -1.59814755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38576923100001 meters 0.014365385963743564 Centerline is valid? [True, True] Translation: X:77.30, Y:10.61, Z:-0.16 [[ 9.59798193e-01 -2.80690901e-01 -2.17045388e-04 7.73014832e+01] [ 2.80690893e-01 9.59798217e-01 -6.54416680e-05 1.06081778e+01] [ 2.26688657e-04 1.88813093e-06 9.99999974e-01 -1.60540728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.415769231 meters 0.017568587886657352 Centerline is valid? [True, True] Translation: X:77.32, Y:10.62, Z:-0.16 [[ 9.61003573e-01 -2.76535847e-01 -2.39256941e-04 7.73249841e+01] [ 2.76535838e-01 9.61003603e-01 -7.19037807e-05 1.06249727e+01] [ 2.49810755e-04 2.93667149e-06 9.99999969e-01 -1.60652718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445769231 meters 0.018995147345567287 Centerline is valid? [True, True] Translation: X:77.35, Y:10.64, Z:-0.16 [[ 9.61522459e-01 -2.74726302e-01 -1.43061158e-04 7.73511190e+01] [ 2.74726299e-01 9.61522469e-01 -4.32990716e-05 1.06375300e+01] [ 1.49451912e-04 2.33036727e-06 9.99999989e-01 -1.59840195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.475769231 meters 0.022556920330286875 Centerline is valid? [True, True] Translation: X:77.38, Y:10.65, Z:-0.16 [[ 9.62435103e-01 -2.71511485e-01 4.31829871e-04 7.73753493e+01] [ 2.71511454e-01 9.62435200e-01 1.29463135e-04 1.06539123e+01] [-4.50758996e-04 -7.35310960e-06 9.99999898e-01 -1.58744663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.505769231 meters 0.022519141953301597 Centerline is valid? [True, True] Translation: X:77.40, Y:10.66, Z:-0.16 [[ 9.62538980e-01 -2.71139561e-01 1.43172235e-03 7.74027425e+01] [ 2.71139222e-01 9.62540045e-01 4.29560871e-04 1.06639199e+01] [-1.49456104e-03 -2.52729984e-05 9.99998883e-01 -1.57397544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.535769231 meters 0.023854184290526433 Centerline is valid? [True, True] Translation: X:77.43, Y:10.68, Z:-0.16 [[ 9.62465577e-01 -2.71396019e-01 2.05293818e-03 7.74270386e+01] [ 2.71395321e-01 9.62467765e-01 6.16475328e-04 1.06751962e+01] [-2.14319577e-03 -3.61784660e-05 9.99997703e-01 -1.56708692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.565769231 meters 0.0204007731846065 Centerline is valid? [True, True] Translation: X:77.46, Y:10.68, Z:-0.16 [[ 9.61708023e-01 -2.74065849e-01 2.36424267e-03 7.74550064e+01] [ 2.74064931e-01 9.61710928e-01 7.10223340e-04 1.06813712e+01] [-2.46836597e-03 -3.50714796e-05 9.99996953e-01 -1.56538898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.595769231 meters 0.020061282897780825 Centerline is valid? [True, True] Translation: X:77.48, Y:10.69, Z:-0.16 [[ 9.61319491e-01 -2.75429727e-01 1.81717010e-03 7.74816710e+01] [ 2.75429187e-01 9.61321208e-01 5.46147206e-04 1.06903283e+01] [-1.89730933e-03 -2.45202706e-05 9.99998200e-01 -1.57189639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.625769231 meters 0.017452309702211958 Centerline is valid? [True, True] Translation: X:77.51, Y:10.70, Z:-0.16 [[ 9.60641707e-01 -2.77790146e-01 3.80698624e-04 7.75102569e+01] [ 2.77790122e-01 9.60641783e-01 1.14146290e-04 1.06961425e+01] [-3.97423719e-04 -3.89936946e-06 9.99999921e-01 -1.59286538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65576923100001 meters 0.016951006446115916 Centerline is valid? [True, True] Translation: X:77.54, Y:10.70, Z:-0.16 [[ 9.60442658e-01 -2.78477793e-01 -1.41656059e-04 7.75365675e+01] [ 2.78477789e-01 9.60442668e-01 -4.27495727e-05 1.07037925e+01] [ 1.47957330e-04 1.61044704e-06 9.99999989e-01 -1.60841333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68576923100001 meters 0.016262281625888105 Centerline is valid? [True, True] Translation: X:77.56, Y:10.71, Z:-0.16 [[ 9.60133034e-01 -2.79543341e-01 -2.79178147e-04 7.75648195e+01] [ 2.79543328e-01 9.60133075e-01 -8.44072440e-05 1.07114282e+01] [ 2.91643655e-04 2.99979502e-06 9.99999957e-01 -1.61241918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71576923100001 meters 0.01474827408049068 Centerline is valid? [True, True] Translation: X:77.59, Y:10.72, Z:-0.16 [[ 9.59328649e-01 -2.82291591e-01 2.09449423e-05 7.75929693e+01] [ 2.82291591e-01 9.59328649e-01 5.94764176e-06 1.07162151e+01] [-2.17720524e-05 2.06837938e-07 1.00000000e+00 -1.61765516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74576923100001 meters 0.013408477528625262 Centerline is valid? [True, True] Translation: X:77.62, Y:10.72, Z:-0.16 [[ 9.58787830e-01 -2.84122389e-01 6.04441049e-04 7.76224512e+01] [ 2.84122331e-01 9.58788020e-01 1.81925732e-04 1.07201327e+01] [-6.31220010e-04 -2.69297833e-06 9.99999801e-01 -1.61154955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.775769231 meters 0.012162652092269624 Centerline is valid? [True, True] Translation: X:77.65, Y:10.72, Z:-0.16 [[ 9.57545047e-01 -2.88281206e-01 1.19523991e-03 7.76522639e+01] [ 2.88280981e-01 9.57545793e-01 3.60084610e-04 1.07189538e+01] [-1.24830258e-03 -2.32300357e-07 9.99999221e-01 -1.61193255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805769231 meters 0.012465317378490087 Centerline is valid? [True, True] Translation: X:77.68, Y:10.72, Z:-0.16 [[ 9.56934946e-01 -2.90301421e-01 7.70913485e-04 7.76806384e+01] [ 2.90301328e-01 9.56935256e-01 2.32082432e-04 1.07225630e+01] [-8.05088153e-04 1.70941954e-06 9.99999676e-01 -1.62066380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.835769231 meters 0.013013423121641773 Centerline is valid? [True, True] Translation: X:77.71, Y:10.73, Z:-0.16 [[ 9.56369931e-01 -2.92158432e-01 -7.20038441e-05 7.77094470e+01] [ 2.92158432e-01 9.56369934e-01 -2.20882882e-05 1.07272110e+01] [ 7.53155913e-05 8.80444725e-08 9.99999997e-01 -1.63447613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865769231 meters 0.014242708080324587 Centerline is valid? [True, True] Translation: X:77.74, Y:10.73, Z:-0.16 [[ 9.55701018e-01 -2.94337926e-01 -8.65978137e-04 7.77382735e+01] [ 2.94337810e-01 9.55701410e-01 -2.61487017e-04 1.07289016e+01] [ 9.04582073e-04 -4.98669970e-06 9.99999591e-01 -1.64498543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.895769231 meters 0.014324990998825216 Centerline is valid? [True, True] Translation: X:77.77, Y:10.74, Z:-0.16 [[ 9.55639745e-01 -2.94536884e-01 -8.37283478e-04 7.77656173e+01] [ 2.94536776e-01 9.55640112e-01 -2.53268914e-04 1.07357944e+01] [ 8.74738713e-04 -4.57693561e-06 9.99999617e-01 -1.64089477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.925769231 meters 0.013499585909746705 Centerline is valid? [True, True] Translation: X:77.79, Y:10.74, Z:-0.16 [[ 9.55800660e-01 -2.94015408e-01 1.97461006e-04 7.77927577e+01] [ 2.94015402e-01 9.55800680e-01 5.92538575e-05 1.07434818e+01] [-2.06154911e-04 1.42170112e-06 9.99999979e-01 -1.62001947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.955769231 meters 0.013388449890942889 Centerline is valid? [True, True] Translation: X:77.82, Y:10.75, Z:-0.16 [[ 9.55883672e-01 -2.93745160e-01 4.32676767e-04 7.78190355e+01] [ 2.93745131e-01 9.55883770e-01 1.30532579e-04 1.07508209e+01] [-4.51932013e-04 2.32273291e-06 9.99999898e-01 -1.62369399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.985769231 meters 0.01308231748534229 Centerline is valid? [True, True] Translation: X:77.85, Y:10.76, Z:-0.16 [[ 9.55925784e-01 -2.93608014e-01 4.79116059e-04 7.78458965e+01] [ 2.93607978e-01 9.55925904e-01 1.44530634e-04 1.07587788e+01] [-5.00434805e-04 2.51173754e-06 9.99999875e-01 -1.62680069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01576923100001 meters 0.01321917103701433 Centerline is valid? [True, True] Translation: X:77.87, Y:10.76, Z:-0.16 [[ 9.55969515e-01 -2.93465919e-01 2.03461493e-04 7.78717960e+01] [ 2.93465913e-01 9.55969536e-01 6.13906389e-05 1.07647579e+01] [-2.12519050e-04 1.02143361e-06 9.99999977e-01 -1.63404127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04576923100001 meters 0.01252528557616503 Centerline is valid? [True, True] Translation: X:77.90, Y:10.77, Z:-0.16 [[ 9.56353148e-01 -2.92213321e-01 -1.75743042e-04 7.78994559e+01] [ 2.92213316e-01 9.56353164e-01 -5.36321504e-05 1.07716900e+01] [ 1.83744443e-04 -6.31811925e-08 9.99999983e-01 -1.62616012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07576923100001 meters 0.01235011500879068 Centerline is valid? [True, True] Translation: X:77.93, Y:10.78, Z:-0.16 [[ 9.56535561e-01 -2.91615702e-01 -5.94142099e-05 7.79263617e+01] [ 2.91615702e-01 9.56535562e-01 -1.84123451e-05 1.07807723e+01] [ 6.22011336e-05 2.85946296e-07 9.99999998e-01 -1.61850768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10576923100001 meters 0.012284325095386494 Centerline is valid? [True, True] Translation: X:77.95, Y:10.79, Z:-0.16 [[ 9.57394051e-01 -2.88784598e-01 2.96008999e-04 7.79519975e+01] [ 2.88784584e-01 9.57394097e-01 8.93459630e-05 1.07932593e+01] [-3.09199006e-04 -5.64578215e-08 9.99999952e-01 -1.61119037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13576923100001 meters 0.012919351495622103 Centerline is valid? [True, True] Translation: X:77.98, Y:10.80, Z:-0.16 [[ 9.58065831e-01 -2.86546526e-01 9.75369813e-04 7.79788352e+01] [ 2.86546374e-01 9.58066328e-01 2.95585113e-04 1.08045780e+01] [-1.01916786e-03 -3.70131353e-06 9.99999481e-01 -1.60433073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165769231 meters 0.014542731429943934 Centerline is valid? [True, True] Translation: X:78.00, Y:10.82, Z:-0.16 [[ 9.58897507e-01 -2.83745512e-01 2.01393556e-03 7.80040740e+01] [ 2.83744854e-01 9.58899622e-01 6.11079500e-04 1.08162792e+01] [-2.10455311e-03 -1.45187586e-05 9.99997785e-01 -1.58572355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.195769231 meters 0.01826675126250711 Centerline is valid? [True, True] Translation: X:78.03, Y:10.83, Z:-0.15 [[ 9.60380223e-01 -2.78662360e-01 4.13720946e-03 7.80295053e+01] [ 2.78659535e-01 9.60389133e-01 1.25598092e-03 1.08317194e+01] [-4.32332562e-03 -5.33463714e-05 9.99990653e-01 -1.54331986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225769231 meters 0.01991890042141463 Centerline is valid? [True, True] Translation: X:78.06, Y:10.84, Z:-0.15 [[ 9.60913371e-01 -2.76824712e-01 3.68399939e-03 7.80562110e+01] [ 2.76822455e-01 9.60920432e-01 1.11902235e-03 1.08437849e+01] [-3.84980332e-03 -5.54697863e-05 9.99992588e-01 -1.54943005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.255769231 meters 0.02430138055124092 Centerline is valid? [True, True] Translation: X:78.08, Y:10.86, Z:-0.16 [[ 9.61741509e-01 -2.73955072e-01 1.37404308e-03 7.80803011e+01] [ 2.73954755e-01 9.61742490e-01 4.17441331e-04 1.08600333e+01] [-1.43583578e-03 -2.50450202e-05 9.99998969e-01 -1.59830505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.285769231 meters 0.02422633902135212 Centerline is valid? [True, True] Translation: X:78.11, Y:10.87, Z:-0.16 [[ 9.62024829e-01 -2.72961672e-01 3.93844613e-04 7.81074732e+01] [ 2.72961646e-01 9.62024909e-01 1.19410072e-04 1.08683423e+01] [-4.11482700e-04 -7.37098001e-06 9.99999915e-01 -1.61713364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.315769231 meters 0.0256420369345381 Centerline is valid? [True, True] Translation: X:78.13, Y:10.88, Z:-0.16 [[ 9.62345529e-01 -2.71828834e-01 4.09716813e-04 7.81332916e+01] [ 2.71828805e-01 9.62345616e-01 1.24502027e-04 1.08782841e+01] [-4.28132420e-04 -8.44113694e-06 9.99999908e-01 -1.61983815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.345769231 meters 0.02817099648285646 Centerline is valid? [True, True] Translation: X:78.16, Y:10.89, Z:-0.16 [[ 9.62980129e-01 -2.69570090e-01 1.11215266e-03 7.81594987e+01] [ 2.69569880e-01 9.62980771e-01 3.38141871e-04 1.08916150e+01] [-1.16213456e-03 -2.58210446e-05 9.99999324e-01 -1.60928990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.375769231 meters 0.03262747625869142 Centerline is valid? [True, True] Translation: X:78.18, Y:10.91, Z:-0.16 [[ 9.63234628e-01 -2.68659000e-01 1.18013950e-03 7.81835463e+01] [ 2.68658761e-01 9.63235351e-01 3.59145373e-04 1.09073528e+01] [-1.23323972e-03 -2.88864426e-05 9.99999239e-01 -1.61572321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40576923100001 meters 0.030984574000733043 Centerline is valid? [True, True] Translation: X:78.21, Y:10.92, Z:-0.16 [[ 9.63581477e-01 -2.67414642e-01 3.81606498e-04 7.82107863e+01] [ 2.67414617e-01 9.63581553e-01 1.15879000e-04 1.09161795e+01] [-3.98696723e-04 -9.61170263e-06 9.99999920e-01 -1.63320102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43576923100001 meters 0.031288826384896246 Centerline is valid? [True, True] Translation: X:78.24, Y:10.93, Z:-0.16 [[ 9.63635573e-01 -2.67219884e-01 1.24910019e-04 7.82382673e+01] [ 2.67219881e-01 9.63635581e-01 3.77072392e-05 1.09259235e+01] [-1.30443863e-04 -2.95759656e-06 9.99999991e-01 -1.63775685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46576923100001 meters 0.030611940704233037 Centerline is valid? [True, True] Translation: X:78.26, Y:10.93, Z:-0.16 [[ 9.63644366e-01 -2.67187641e-01 5.47698412e-04 7.82649278e+01] [ 2.67187589e-01 9.63644522e-01 1.66622460e-04 1.09338946e+01] [-5.72306036e-04 -1.42265768e-05 9.99999836e-01 -1.62785539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49576923100001 meters 0.030611940704233037 Centerline is valid? [True, True] Translation: X:78.29, Y:10.94, Z:-0.16 [[ 9.63594439e-01 -2.67367645e-01 5.47666717e-04 7.82911823e+01] [ 2.67367593e-01 9.63594594e-01 1.66726476e-04 1.09420948e+01] [-5.72305953e-04 -1.42283730e-05 9.99999836e-01 -1.62844600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525769231 meters 0.03164675569420743 Centerline is valid? [True, True] Translation: X:78.32, Y:10.95, Z:-0.16 [[ 9.63670186e-01 -2.67089404e-01 1.73836092e-03 7.83163609e+01] [ 2.67088881e-01 9.63671753e-01 5.30521880e-04 1.09537763e+01] [-1.81690609e-03 -4.69512453e-05 9.99998348e-01 -1.59992485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.555769231 meters 0.03202064828064822 Centerline is valid? [True, True] Translation: X:78.34, Y:10.96, Z:-0.16 [[ 9.63772930e-01 -2.66717150e-01 1.92393394e-03 7.83430877e+01] [ 2.66716509e-01 9.63774849e-01 5.87276913e-04 1.09638361e+01] [-2.01087597e-03 -5.28566470e-05 9.99997977e-01 -1.60422619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585769231 meters 0.033791434157080746 Centerline is valid? [True, True] Translation: X:78.37, Y:10.98, Z:-0.16 [[ 9.64009531e-01 -2.65863199e-01 1.54380108e-03 7.83689334e+01] [ 2.65862785e-01 9.64010766e-01 4.71487380e-04 1.09752926e+01] [-1.61359200e-03 -4.40790753e-05 9.99998697e-01 -1.61440093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.615769231 meters 0.03627828436774491 Centerline is valid? [True, True] Translation: X:78.40, Y:10.99, Z:-0.16 [[ 9.64707390e-01 -2.63324189e-01 1.52138389e-04 7.83954631e+01] [ 2.63324185e-01 9.64707402e-01 4.64354657e-05 1.09901892e+01] [-1.58996611e-04 -4.73491968e-06 9.99999987e-01 -1.64507974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.645769231 meters 0.03807343754530355 Centerline is valid? [True, True] Translation: X:78.42, Y:11.00, Z:-0.17 [[ 9.65003359e-01 -2.62237274e-01 -3.57961187e-04 7.84203106e+01] [ 2.62237252e-01 9.65003426e-01 -1.09528146e-04 1.10034860e+01] [ 3.74156135e-04 1.18242707e-05 9.99999930e-01 -1.65301931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.675769231 meters 0.03901659761859235 Centerline is valid? [True, True] Translation: X:78.45, Y:11.02, Z:-0.16 [[ 9.65535071e-01 -2.60272937e-01 -1.60955045e-04 7.84466117e+01] [ 2.60272932e-01 9.65535084e-01 -4.92472188e-05 1.10198937e+01] [ 1.68225461e-04 5.65767540e-06 9.99999986e-01 -1.64631013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.705769231 meters 0.042372886249328126 Centerline is valid? [True, True] Translation: X:78.47, Y:11.03, Z:-0.16 [[ 9.65708497e-01 -2.59628548e-01 3.41395152e-04 7.84715435e+01] [ 2.59628527e-01 9.65708557e-01 1.04237757e-04 1.10347585e+01] [-3.56751317e-04 -1.20273668e-05 9.99999936e-01 -1.63983270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.735769231 meters 0.04001437711038432 Centerline is valid? [True, True] Translation: X:78.50, Y:11.04, Z:-0.16 [[ 9.65663573e-01 -2.59795132e-01 5.93755732e-04 7.84985397e+01] [ 2.59795070e-01 9.65663756e-01 1.81220260e-04 1.10425820e+01] [-6.20448532e-04 -2.07429924e-05 9.99999807e-01 -1.63100429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76576923100001 meters 0.038803023228209825 Centerline is valid? [True, True] Translation: X:78.52, Y:11.05, Z:-0.16 [[ 9.65176080e-01 -2.61597486e-01 1.37493509e-03 7.85238704e+01] [ 2.61597152e-01 9.65177058e-01 4.20564782e-04 1.10547891e+01] [-1.43707449e-03 -4.62399649e-05 9.99998966e-01 -1.62474829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79576923100001 meters 0.03674079781290579 Centerline is valid? [True, True] Translation: X:78.55, Y:11.06, Z:-0.16 [[ 9.64563584e-01 -2.63844988e-01 1.70736452e-03 7.85516866e+01] [ 2.63844476e-01 9.64565094e-01 5.22391126e-04 1.10630824e+01] [-1.78469450e-03 -5.34007594e-05 9.99998406e-01 -1.62692049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82576923100001 meters 0.03377218405645772 Centerline is valid? [True, True] Translation: X:78.58, Y:11.07, Z:-0.16 [[ 9.63862035e-01 -2.66394949e-01 1.92576964e-03 7.85797947e+01] [ 2.66394303e-01 9.63863957e-01 5.89324426e-04 1.10692055e+01] [-2.01317300e-03 -5.50133801e-05 9.99997972e-01 -1.62323362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85576923100001 meters 0.02878088919770045 Centerline is valid? [True, True] Translation: X:78.61, Y:11.07, Z:-0.16 [[ 9.62360304e-01 -2.71769125e-01 2.04633912e-03 7.86085074e+01] [ 2.71768407e-01 9.62362479e-01 6.26329677e-04 1.10731517e+01] [-2.13953706e-03 -4.66244954e-05 9.99997710e-01 -1.61379824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88576923100001 meters 0.026400216890637013 Centerline is valid? [True, True] Translation: X:78.64, Y:11.08, Z:-0.16 [[ 9.61674424e-01 -2.74188086e-01 1.78746340e-03 7.86372791e+01] [ 2.74187542e-01 9.61676085e-01 5.47139185e-04 1.10797726e+01] [-1.86897985e-03 -3.60695646e-05 9.99998253e-01 -1.61854968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.915769231 meters 0.023765982920192764 Centerline is valid? [True, True] Translation: X:78.67, Y:11.09, Z:-0.16 [[ 9.60928034e-01 -2.76794513e-01 1.45270145e-03 7.86658066e+01] [ 2.76794157e-01 9.60929132e-01 4.44709254e-04 1.10858018e+01] [-1.51903623e-03 -2.52343158e-05 9.99998846e-01 -1.62781672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945769231 meters 0.020081351274030212 Centerline is valid? [True, True] Translation: X:78.69, Y:11.09, Z:-0.16 [[ 9.59829918e-01 -2.80579816e-01 1.22291381e-03 7.86934376e+01] [ 2.80579567e-01 9.59830697e-01 3.74612669e-04 1.10905477e+01] [-1.27889897e-03 -1.64398193e-05 9.99999182e-01 -1.62926619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.975769231 meters 0.01979033955060757 Centerline is valid? [True, True] Translation: X:78.72, Y:11.10, Z:-0.16 [[ 9.59652416e-01 -2.81185825e-01 1.33102218e-03 7.87203841e+01] [ 2.81185530e-01 9.59653339e-01 4.07733554e-04 1.10998562e+01] [-1.39196877e-03 -1.70183136e-05 9.99999031e-01 -1.62159716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.005769231 meters 0.01975792965857729 Centerline is valid? [True, True] Translation: X:78.75, Y:11.11, Z:-0.16 [[ 9.59946501e-01 -2.80179401e-01 1.48927639e-03 7.87465626e+01] [ 2.80179029e-01 9.59947656e-01 4.56531445e-04 1.11114346e+01] [-1.55753808e-03 -2.09817509e-05 9.99998787e-01 -1.62104428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.035769231 meters 0.019867690959246852 Centerline is valid? [True, True] Translation: X:78.77, Y:11.12, Z:-0.16 [[ 9.60173553e-01 -2.79402723e-01 9.31187102e-04 7.87732704e+01] [ 2.79402577e-01 9.60174004e-01 2.85607857e-04 1.11210273e+01] [-9.73901261e-04 -1.40570345e-05 9.99999526e-01 -1.63920201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.065769231 meters 0.022147104421248592 Centerline is valid? [True, True] Translation: X:78.80, Y:11.13, Z:-0.17 [[ 9.60350911e-01 -2.78794042e-01 -9.64460129e-05 7.87983810e+01] [ 2.78794041e-01 9.60350916e-01 -2.97362989e-05 1.11337576e+01] [ 1.00912320e-04 1.66870810e-06 9.99999995e-01 -1.66194913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.095769231 meters 0.02213759948759944 Centerline is valid? [True, True] Translation: X:78.82, Y:11.14, Z:-0.17 [[ 9.60264570e-01 -2.79090524e-01 -6.59718699e-04 7.88238322e+01] [ 2.79090451e-01 9.60264796e-01 -2.02719327e-04 1.11434501e+01] [ 6.90081685e-04 1.05429981e-05 9.99999762e-01 -1.68233016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.125769231 meters 0.0202148763383705 Centerline is valid? [True, True] Translation: X:78.85, Y:11.15, Z:-0.17 [[ 9.59890974e-01 -2.80372152e-01 -8.79776380e-04 7.88524860e+01] [ 2.80372021e-01 9.59891377e-01 -2.70625392e-04 1.11494024e+01] [ 9.20365585e-04 1.31061889e-05 9.99999576e-01 -1.68089680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15576923100001 meters 0.017789949245726706 Centerline is valid? [True, True] Translation: X:78.88, Y:11.15, Z:-0.17 [[ 9.58779589e-01 -2.84148375e-01 -1.18358398e-03 7.88809260e+01] [ 2.84148142e-01 9.58780319e-01 -3.64158999e-04 1.11529620e+01] [ 1.23827221e-03 1.28350284e-05 9.99999233e-01 -1.69956982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18576923100001 meters 0.015753240264730402 Centerline is valid? [True, True] Translation: X:78.91, Y:11.16, Z:-0.17 [[ 9.58231241e-01 -2.85992579e-01 -1.06520330e-03 7.89103526e+01] [ 2.85992391e-01 9.58231833e-01 -3.27965413e-04 1.11567861e+01] [ 1.11450738e-03 9.62666722e-06 9.99999379e-01 -1.69359858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21576923100001 meters 0.014929540439644099 Centerline is valid? [True, True] Translation: X:78.94, Y:11.16, Z:-0.17 [[ 9.57846835e-01 -2.87279192e-01 -3.26194015e-04 7.89375022e+01] [ 2.87279175e-01 9.57846891e-01 -1.00470464e-04 1.11625211e+01] [ 3.41306996e-04 2.52656846e-06 9.99999942e-01 -1.68291242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24576923100001 meters 0.014128617923798365 Centerline is valid? [True, True] Translation: X:78.97, Y:11.17, Z:-0.17 [[ 9.57590438e-01 -2.88132744e-01 2.73128361e-04 7.89651100e+01] [ 2.88132732e-01 9.57590477e-01 8.36494364e-05 1.11688485e+01] [-2.85647259e-04 -1.40467968e-06 9.99999959e-01 -1.66961821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.275769231 meters 0.015371603046106694 Centerline is valid? [True, True] Translation: X:78.99, Y:11.18, Z:-0.17 [[ 9.58115397e-01 -2.86382191e-01 3.56435571e-04 7.89908036e+01] [ 2.86382170e-01 9.58115463e-01 1.09524920e-04 1.11782808e+01] [-3.72872419e-04 -2.86071958e-06 9.99999930e-01 -1.66128454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305769231 meters 0.017261763999537286 Centerline is valid? [True, True] Translation: X:79.02, Y:11.19, Z:-0.17 [[ 9.58792218e-01 -2.84107971e-01 3.78627682e-04 7.90174198e+01] [ 2.84107947e-01 9.58792293e-01 1.16287028e-04 1.11897004e+01] [-3.96063375e-04 -3.92396436e-06 9.99999922e-01 -1.65763154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.335769231 meters 0.02273772965564352 Centerline is valid? [True, True] Translation: X:79.04, Y:11.21, Z:-0.16 [[ 9.60426043e-01 -2.78533689e-01 8.94153515e-04 7.90415194e+01] [ 2.78533554e-01 9.60426459e-01 2.75437687e-04 1.12077489e+01] [-9.35487370e-04 -1.54857715e-05 9.99999562e-01 -1.64500875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365769231 meters 0.02554449943096251 Centerline is valid? [True, True] Translation: X:79.07, Y:11.22, Z:-0.16 [[ 9.61125402e-01 -2.76109745e-01 1.17108668e-03 7.90668841e+01] [ 2.76109510e-01 9.61126115e-01 3.60799611e-04 1.12220328e+01] [-1.22518228e-03 -2.34255022e-05 9.99999249e-01 -1.64230228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.395769231 meters 0.029255923183802796 Centerline is valid? [True, True] Translation: X:79.09, Y:11.24, Z:-0.17 [[ 9.62092499e-01 -2.72723266e-01 2.06907075e-04 7.90926600e+01] [ 2.72723258e-01 9.62092522e-01 6.37340165e-05 1.12394965e+01] [-2.16445499e-04 -4.88964751e-06 9.99999977e-01 -1.66762016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.425769231 meters 0.03104606353906069 Centerline is valid? [True, True] Translation: X:79.12, Y:11.25, Z:-0.17 [[ 9.62400135e-01 -2.71634910e-01 -6.74953595e-04 7.91180941e+01] [ 2.71634831e-01 9.62400372e-01 -2.08244657e-04 1.12519116e+01] [ 7.06142109e-04 1.70737807e-05 9.99999751e-01 -1.67980495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.455769231 meters 0.03194267813707871 Centerline is valid? [True, True] Translation: X:79.14, Y:11.26, Z:-0.17 [[ 9.62546773e-01 -2.71114687e-01 -7.32562207e-04 7.91444245e+01] [ 2.71114593e-01 9.62547051e-01 -2.26363450e-04 1.12641163e+01] [ 7.66496048e-04 1.92771034e-05 9.99999706e-01 -1.68713993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.485769231 meters 0.032991186657170525 Centerline is valid? [True, True] Translation: X:79.17, Y:11.28, Z:-0.17 [[ 9.62688017e-01 -2.70613603e-01 -2.45223991e-04 7.91702404e+01] [ 2.70613593e-01 9.62688048e-01 -7.60529966e-05 1.12768374e+01] [ 2.56655180e-04 6.85436329e-06 9.99999967e-01 -1.67703201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51576923100001 meters 0.034336543177232254 Centerline is valid? [True, True] Translation: X:79.20, Y:11.29, Z:-0.16 [[ 9.62966649e-01 -2.69614692e-01 1.77519442e-03 7.91953577e+01] [ 2.69614140e-01 9.62968284e-01 5.47935394e-04 1.12942179e+01] [-1.85718735e-03 -4.90259951e-05 9.99998274e-01 -1.64016365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54576923100001 meters 0.035585659745123614 Centerline is valid? [True, True] Translation: X:79.22, Y:11.31, Z:-0.16 [[ 9.63137695e-01 -2.68996242e-01 2.60795410e-03 7.92202761e+01] [ 2.68995046e-01 9.63141223e-01 8.05531265e-04 1.13079468e+01] [-2.72851299e-03 -7.43107923e-05 9.99996275e-01 -1.62152608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57576923100001 meters 0.03518993333597049 Centerline is valid? [True, True] Translation: X:79.25, Y:11.32, Z:-0.16 [[ 9.63496013e-01 -2.67716693e-01 1.79054162e-03 7.92450906e+01] [ 2.67716127e-01 9.63497675e-01 5.53092782e-04 1.13242994e+01] [-1.87325485e-03 -5.35458240e-05 9.99998244e-01 -1.64870004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60576923100001 meters 0.03679714789311028 Centerline is valid? [True, True] Translation: X:79.27, Y:11.34, Z:-0.17 [[ 9.63570258e-01 -2.67454385e-01 7.14309271e-04 7.92693495e+01] [ 2.67454295e-01 9.63570522e-01 2.20708936e-04 1.13394864e+01] [-7.47316930e-04 -2.16234847e-05 9.99999721e-01 -1.66814724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63576923100001 meters 0.036191712356288146 Centerline is valid? [True, True] Translation: X:79.30, Y:11.35, Z:-0.17 [[ 9.63494085e-01 -2.67729601e-01 9.07351402e-05 7.92951211e+01] [ 2.67729600e-01 9.63494090e-01 2.76570195e-05 1.13524640e+01] [-9.48273741e-05 -2.35489196e-06 9.99999995e-01 -1.67707022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665769231 meters 0.03542984071985357 Centerline is valid? [True, True] Translation: X:79.32, Y:11.37, Z:-0.17 [[ 9.63074565e-01 -2.69234802e-01 -6.71307290e-05 7.93184840e+01] [ 2.69234801e-01 9.63074567e-01 -2.09002027e-05 1.13713549e+01] [ 7.02789597e-05 2.05452516e-06 9.99999998e-01 -1.68329369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.695769231 meters 0.032102445776735954 Centerline is valid? [True, True] Translation: X:79.35, Y:11.38, Z:-0.17 [[ 9.62572874e-01 -2.71022975e-01 -9.42208896e-05 7.93453199e+01] [ 2.71022974e-01 9.62572879e-01 -2.95377574e-05 1.13811049e+01] [ 9.86998839e-05 2.89621833e-06 9.99999995e-01 -1.68415671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725769231 meters 0.029495663057138213 Centerline is valid? [True, True] Translation: X:79.37, Y:11.39, Z:-0.17 [[ 9.61824787e-01 -2.73665968e-01 -1.28758026e-04 7.93727980e+01] [ 2.73665965e-01 9.61824796e-01 -4.02256986e-05 1.13917532e+01] [ 1.34851066e-04 3.45338469e-06 9.99999991e-01 -1.68788180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.755769231 meters 0.024746560397138528 Centerline is valid? [True, True] Translation: X:79.40, Y:11.40, Z:-0.17 [[ 9.59856559e-01 -2.80491232e-01 2.35549499e-04 7.93998012e+01] [ 2.80491223e-01 9.59856588e-01 7.29434044e-05 1.14036467e+01] [-2.46553724e-04 -3.94563814e-06 9.99999970e-01 -1.68873892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.785769231 meters 0.01897467552262092 Centerline is valid? [True, True] Translation: X:79.43, Y:11.41, Z:-0.17 [[ 9.58518347e-01 -2.85030028e-01 6.80078946e-04 7.94286213e+01] [ 2.85029950e-01 9.58518588e-01 2.10610251e-04 1.14082735e+01] [-7.11898556e-04 -8.03092147e-06 9.99999747e-01 -1.67586978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.815769231 meters 0.01233560411388535 Centerline is valid? [True, True] Translation: X:79.46, Y:11.41, Z:-0.16 [[ 9.55811973e-01 -2.93970148e-01 2.24165783e-03 7.94579914e+01] [ 2.93969327e-01 9.55814601e-01 6.94548489e-04 1.14104316e+01] [-2.34678580e-03 -4.87911785e-06 9.99997246e-01 -1.64051785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.845769231 meters 0.012201552909299052 Centerline is valid? [True, True] Translation: X:79.49, Y:11.42, Z:-0.16 [[ 9.54533324e-01 -2.98086497e-01 3.25179617e-03 7.94857995e+01] [ 2.98084793e-01 9.54538863e-01 1.00792036e-03 1.14162818e+01] [-3.40441327e-03 7.21741905e-06 9.99994205e-01 -1.62516559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.875769231 meters 0.013664564091716097 Centerline is valid? [True, True] Translation: X:79.51, Y:11.42, Z:-0.16 [[ 9.53353427e-01 -3.01835916e-01 3.51044877e-03 7.95138626e+01] [ 3.01833953e-01 9.53359890e-01 1.08880757e-03 1.14225463e+01] [-3.67536229e-03 2.15542017e-05 9.99993246e-01 -1.62340976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90576923100001 meters 0.018120446302020306 Centerline is valid? [True, True] Translation: X:79.54, Y:11.43, Z:-0.17 [[ 9.51336311e-01 -3.08152374e-01 1.15640027e-03 7.95430112e+01] [ 3.08152166e-01 9.51337014e-01 3.58630935e-04 1.14267196e+01] [-1.21063935e-03 1.51686163e-05 9.99999267e-01 -1.67414043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93576923100001 meters 0.021055399548738866 Centerline is valid? [True, True] Translation: X:79.57, Y:11.43, Z:-0.17 [[ 9.50400786e-01 -3.11026926e-01 -7.72652419e-04 7.95711180e+01] [ 3.11026834e-01 9.50401100e-01 -2.40049443e-04 1.14312286e+01] [ 8.08991549e-04 -1.21724558e-05 9.99999673e-01 -1.71037657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96576923100001 meters 0.023947986018496938 Centerline is valid? [True, True] Translation: X:79.60, Y:11.44, Z:-0.17 [[ 9.49423259e-01 -3.13995011e-01 -1.61477687e-03 7.95997244e+01] [ 3.13994611e-01 9.49424632e-01 -5.02059452e-04 1.14358245e+01] [ 1.69075310e-03 -3.03643130e-05 9.99998570e-01 -1.72313157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99576923100001 meters 0.02794100385056369 Centerline is valid? [True, True] Translation: X:79.63, Y:11.44, Z:-0.17 [[ 9.47947150e-01 -3.18427677e-01 -1.25776765e-04 7.96296896e+01] [ 3.18427675e-01 9.47947158e-01 -3.91333638e-05 1.14389306e+01] [ 1.31690873e-04 -2.95444222e-06 9.99999991e-01 -1.69011993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025769231 meters 0.029245984868445103 Centerline is valid? [True, True] Translation: X:79.66, Y:11.45, Z:-0.17 [[ 9.47471511e-01 -3.19838370e-01 1.07382719e-03 7.96575542e+01] [ 3.19838197e-01 9.47472119e-01 3.33480400e-04 1.14454693e+01] [-1.12408115e-03 2.74877726e-05 9.99999368e-01 -1.66796625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.055769231 meters 0.040481899654249996 Centerline is valid? [True, True] Translation: X:79.69, Y:11.45, Z:-0.16 [[ 9.46964654e-01 -3.21336899e-01 7.36107387e-04 7.96857899e+01] [ 3.21336818e-01 9.46964940e-01 2.28768138e-04 1.14489377e+01] [-7.70579531e-04 1.99030648e-05 9.99999703e-01 -1.63126968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085769231 meters 0.032948243565026444 Centerline is valid? [True, True] Translation: X:79.71, Y:11.45, Z:-0.17 [[ 9.46502340e-01 -3.22696884e-01 2.01916261e-04 7.97144296e+01] [ 3.22696878e-01 9.46502362e-01 6.24608500e-05 1.14547412e+01] [-2.11270140e-04 6.03840649e-06 9.99999978e-01 -1.70351646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.115769231 meters 0.03284463866178103 Centerline is valid? [True, True] Translation: X:79.74, Y:11.46, Z:-0.17 [[ 9.45940341e-01 -3.24340267e-01 -5.12918764e-04 7.97422453e+01] [ 3.24340228e-01 9.45940480e-01 -1.60051916e-04 1.14622461e+01] [ 5.37101903e-04 -1.49606252e-05 9.99999856e-01 -1.71461120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.145769231 meters 0.037471127278205 Centerline is valid? [True, True] Translation: X:79.77, Y:11.46, Z:-0.17 [[ 9.44526005e-01 -3.28436260e-01 -4.99152660e-04 7.97723734e+01] [ 3.28436224e-01 9.44526136e-01 -1.55480571e-04 1.14616079e+01] [ 5.22528191e-04 -1.70843728e-05 9.99999863e-01 -1.71547155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.175769231 meters 0.041650837976503985 Centerline is valid? [True, True] Translation: X:79.80, Y:11.46, Z:-0.17 [[ 9.43650433e-01 -3.30942266e-01 -1.03747762e-03 7.98019515e+01] [ 3.30942110e-01 9.43651003e-01 -3.23136205e-04 1.14624198e+01] [ 1.08595623e-03 -3.84174142e-05 9.99999410e-01 -1.72080032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.205769231 meters 0.044600385732871554 Centerline is valid? [True, True] Translation: X:79.83, Y:11.46, Z:-0.17 [[ 9.42762302e-01 -3.33464425e-01 -8.47584653e-04 7.98317070e+01] [ 3.33464322e-01 9.42762683e-01 -2.64036310e-04 1.14643586e+01] [ 8.87117898e-04 -3.37157620e-05 9.99999606e-01 -1.72266683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.235769231 meters 0.05254671758632002 Centerline is valid? [True, True] Translation: X:79.86, Y:11.46, Z:-0.17 [[ 9.41265021e-01 -3.37668633e-01 -2.34990352e-04 7.98642290e+01] [ 3.37668625e-01 9.41265050e-01 -7.32565030e-05 1.14574274e+01] [ 2.45924629e-04 -1.03950853e-05 9.99999970e-01 -1.71490396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26576923100001 meters 0.054612495152740005 Centerline is valid? [True, True] Translation: X:79.89, Y:11.46, Z:-0.17 [[ 9.40835846e-01 -3.38862548e-01 2.90766433e-04 7.98922461e+01] [ 3.38862536e-01 9.40835891e-01 9.04559482e-05 1.14608911e+01] [-3.04215629e-04 1.34256523e-05 9.99999954e-01 -1.70633391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29576923100001 meters 0.05043915003496159 Centerline is valid? [True, True] Translation: X:79.92, Y:11.47, Z:-0.17 [[ 9.40584990e-01 -3.39558356e-01 -1.18357672e-05 7.99193389e+01] [ 3.39558356e-01 9.40584990e-01 -4.05115493e-06 1.14698876e+01] [ 1.25081484e-05 -2.08478130e-07 1.00000000e+00 -1.70950783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32576923100001 meters 0.052658410849540684 Centerline is valid? [True, True] Translation: X:79.95, Y:11.47, Z:-0.17 [[ 9.40592290e-01 -3.39537551e-01 -6.28020930e-04 7.99461244e+01] [ 3.39537496e-01 9.40592500e-01 -1.95985134e-04 1.14731330e+01] [ 6.57256088e-04 -2.88945478e-05 9.99999784e-01 -1.72003905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35576923100001 meters 0.051019482986632815 Centerline is valid? [True, True] Translation: X:79.97, Y:11.48, Z:-0.17 [[ 9.40738304e-01 -3.39131674e-01 -1.07295424e-03 7.99738467e+01] [ 3.39131512e-01 9.40738914e-01 -3.35072806e-04 1.14823162e+01] [ 1.12300361e-03 -4.86567720e-05 9.99999368e-01 -1.72250923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38576923100001 meters 0.04755434278466034 Centerline is valid? [True, True] Translation: X:80.00, Y:11.49, Z:-0.17 [[ 9.41173214e-01 -3.37922855e-01 -1.06026878e-03 8.00002709e+01] [ 3.37922697e-01 9.41173811e-01 -3.30916271e-04 1.14939305e+01] [ 1.10972138e-03 -4.68393559e-05 9.99999383e-01 -1.72063602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.415769231 meters 0.04755434278466034 Centerline is valid? [True, True] Translation: X:80.03, Y:11.50, Z:-0.17 [[ 9.41110177e-01 -3.38098375e-01 -1.06011745e-03 8.00264851e+01] [ 3.38098216e-01 9.41110773e-01 -3.31401111e-04 1.15023004e+01] [ 1.10973413e-03 -4.65388604e-05 9.99999383e-01 -1.72122712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445769231 meters 0.04561588986266401 Centerline is valid? [True, True] Translation: X:80.05, Y:11.51, Z:-0.17 [[ 9.42093568e-01 -3.35350126e-01 -3.19820393e-05 8.00544311e+01] [ 3.35350126e-01 9.42093569e-01 -1.00414685e-05 1.15108545e+01] [ 3.34974813e-05 -1.26517802e-06 9.99999999e-01 -1.71844541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.475769231 meters 0.047964995369292156 Centerline is valid? [True, True] Translation: X:80.08, Y:11.51, Z:-0.17 [[ 9.42514080e-01 -3.34166426e-01 -9.05082876e-05 8.00829426e+01] [ 3.34166424e-01 9.42514085e-01 -2.83672297e-05 1.15147618e+01] [ 9.47847116e-05 -3.50831741e-06 9.99999995e-01 -1.71984597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.505769231 meters 0.04258027219553722 Centerline is valid? [True, True] Translation: X:80.11, Y:11.53, Z:-0.17 [[ 9.43402871e-01 -3.31648674e-01 -4.24066453e-04 8.01083078e+01] [ 3.31648648e-01 9.43402966e-01 -1.32496438e-04 1.15335062e+01] [ 4.44007818e-04 -1.56435458e-05 9.99999901e-01 -1.66350482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.535769231 meters 0.04057914112956768 Centerline is valid? [True, True] Translation: X:80.14, Y:11.54, Z:-0.17 [[ 9.43862684e-01 -3.30337835e-01 -3.86731743e-04 8.01360523e+01] [ 3.30337813e-01 9.43862763e-01 -1.20941836e-04 1.15391052e+01] [ 4.04973356e-04 -1.35996324e-05 9.99999918e-01 -1.71733576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.565769231 meters 0.03674759735070342 Centerline is valid? [True, True] Translation: X:80.16, Y:11.55, Z:-0.17 [[ 9.44431982e-01 -3.28706907e-01 1.13754205e-05 8.01625511e+01] [ 3.28706907e-01 9.44431982e-01 3.21221983e-06 1.15523707e+01] [-1.17991898e-05 7.05456156e-07 1.00000000e+00 -1.70367069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.595769231 meters 0.03210504337595359 Centerline is valid? [True, True] Translation: X:80.19, Y:11.57, Z:-0.17 [[ 9.46023899e-01 -3.24094591e-01 1.21621995e-03 8.01894409e+01] [ 3.24094370e-01 9.46024680e-01 3.80099537e-04 1.15672805e+01] [-1.27376230e-03 3.45867936e-05 9.99999188e-01 -1.68375444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.625769231 meters 0.030744309134648942 Centerline is valid? [True, True] Translation: X:80.22, Y:11.58, Z:-0.17 [[ 9.46870091e-01 -3.21610113e-01 1.99148677e-03 8.02152978e+01] [ 3.21609515e-01 9.46872184e-01 6.22497986e-04 1.15773998e+01] [-2.08588507e-03 5.10563676e-05 9.99997823e-01 -1.67076003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65576923100001 meters 0.02859289600853972 Centerline is valid? [True, True] Translation: X:80.24, Y:11.59, Z:-0.16 [[ 9.48254562e-01 -3.17496379e-01 3.05517664e-03 8.02421093e+01] [ 3.17494949e-01 9.48259482e-01 9.55211853e-04 1.15899526e+01] [-3.20037652e-03 6.42191514e-05 9.99994877e-01 -1.64515269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68576923100001 meters 0.023528206771638496 Centerline is valid? [True, True] Translation: X:80.27, Y:11.61, Z:-0.17 [[ 9.48782049e-01 -3.15920335e-01 2.63929843e-03 8.02675830e+01] [ 3.15919261e-01 9.48785718e-01 8.25336301e-04 1.16056021e+01] [-2.76486918e-03 5.07409415e-05 9.99996176e-01 -1.65591206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71576923100001 meters 0.022566878526744903 Centerline is valid? [True, True] Translation: X:80.29, Y:11.62, Z:-0.17 [[ 9.49198134e-01 -3.14674866e-01 1.62232510e-03 8.02939042e+01] [ 3.14674458e-01 9.49199519e-01 5.07517425e-04 1.16151348e+01] [-1.69961318e-03 2.87696785e-05 9.99998555e-01 -1.67227930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74576923100001 meters 0.022441104609275103 Centerline is valid? [True, True] Translation: X:80.32, Y:11.62, Z:-0.17 [[ 9.49194510e-01 -3.14687659e-01 1.20834340e-03 8.03213728e+01] [ 3.14687432e-01 9.49195279e-01 3.77944594e-04 1.16209674e+01] [-1.26588835e-03 2.15075483e-05 9.99999199e-01 -1.69639263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77576923100001 meters 0.024492477788901127 Centerline is valid? [True, True] Translation: X:80.35, Y:11.62, Z:-0.17 [[ 9.48758069e-01 -3.15997470e-01 1.93002946e-03 8.03493504e+01] [ 3.15996894e-01 9.48760032e-01 6.04299366e-04 1.16238270e+01] [-2.02209188e-03 3.65494145e-05 9.99997955e-01 -1.68770698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805769231 meters 0.026249131345933402 Centerline is valid? [True, True] Translation: X:80.38, Y:11.63, Z:-0.17 [[ 9.48048247e-01 -3.18111163e-01 3.13203688e-03 8.03778922e+01] [ 3.18109657e-01 9.48053418e-01 9.80935269e-04 1.16273126e+01] [-3.28138473e-03 6.63572165e-05 9.99994614e-01 -1.66915129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.835769231 meters 0.030253020411352936 Centerline is valid? [True, True] Translation: X:80.41, Y:11.62, Z:-0.17 [[ 9.47246467e-01 -3.20491029e-01 3.10353271e-03 8.04082742e+01] [ 3.20489562e-01 9.47251548e-01 9.72236065e-04 1.16237218e+01] [-3.25141910e-03 7.37026615e-05 9.99994711e-01 -1.65929611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865769231 meters 0.028495802899476754 Centerline is valid? [True, True] Translation: X:80.44, Y:11.63, Z:-0.17 [[ 9.47189080e-01 -3.20670713e-01 1.77207211e-03 8.04356669e+01] [ 3.20670235e-01 9.47190737e-01 5.55187011e-04 1.16312118e+01] [-1.85652251e-03 4.23837069e-05 9.99998276e-01 -1.68104994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.895769231 meters 0.02692282826874121 Centerline is valid? [True, True] Translation: X:80.46, Y:11.64, Z:-0.17 [[ 9.47835161e-01 -3.18759763e-01 -8.49238908e-04 8.04635410e+01] [ 3.18759652e-01 9.47835541e-01 -2.66447849e-04 1.16360731e+01] [ 8.89871673e-04 -1.81544587e-05 9.99999604e-01 -1.73018692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.925769231 meters 0.02459718314616354 Centerline is valid? [True, True] Translation: X:80.49, Y:11.65, Z:-0.17 [[ 9.48443592e-01 -3.16942628e-01 -1.45755519e-03 8.04911761e+01] [ 3.16942298e-01 9.48444711e-01 -4.57664488e-04 1.16457024e+01] [ 1.52746389e-03 -2.78919410e-05 9.99998833e-01 -1.74671615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.955769231 meters 0.02037274806963423 Centerline is valid? [True, True] Translation: X:80.52, Y:11.66, Z:-0.17 [[ 9.49174167e-01 -3.14748706e-01 -1.28542512e-03 8.05175019e+01] [ 3.14748448e-01 9.49175037e-01 -4.03954621e-04 1.16583353e+01] [ 1.34723763e-03 -2.11622696e-05 9.99999092e-01 -1.73994111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.985769231 meters 0.017755633506673342 Centerline is valid? [True, True] Translation: X:80.54, Y:11.67, Z:-0.17 [[ 9.50891688e-01 -3.09523349e-01 -5.42785755e-04 8.05442346e+01] [ 3.09523302e-01 9.50891843e-01 -1.70585759e-04 1.16661432e+01] [ 5.68930822e-04 -5.79625873e-06 9.99999838e-01 -1.72642591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01576923100001 meters 0.014933993287774821 Centerline is valid? [True, True] Translation: X:80.57, Y:11.68, Z:-0.17 [[ 9.51710445e-01 -3.06996979e-01 -2.88622625e-04 8.05705509e+01] [ 3.06996965e-01 9.51710489e-01 -9.10639413e-05 1.16787570e+01] [ 3.02641534e-04 -1.93976577e-06 9.99999954e-01 -1.70731535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04576923100001 meters 0.013641539829630013 Centerline is valid? [True, True] Translation: X:80.60, Y:11.69, Z:-0.17 [[ 9.52598544e-01 -3.04230198e-01 2.31842727e-05 8.05965369e+01] [ 3.04230198e-01 9.52598544e-01 7.15251556e-06 1.16902425e+01] [-2.42613156e-05 2.39879945e-07 1.00000000e+00 -1.70735194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07576923100001 meters 0.012450610096772627 Centerline is valid? [True, True] Translation: X:80.62, Y:11.71, Z:-0.17 [[ 9.54298917e-01 -2.98853771e-01 -1.84664189e-06 8.06206672e+01] [ 2.98853771e-01 9.54298917e-01 -9.51607633e-07 1.17085116e+01] [ 2.04663988e-06 3.56242241e-07 1.00000000e+00 -1.70917174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10576923100001 meters 0.01310241032790312 Centerline is valid? [True, True] Translation: X:80.65, Y:11.72, Z:-0.17 [[ 9.54900548e-01 -2.96925558e-01 -3.96057180e-04 8.06463955e+01] [ 2.96925532e-01 9.54900630e-01 -1.24698429e-04 1.17207346e+01] [ 4.15221401e-04 1.47510947e-06 9.99999914e-01 -1.72844592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13576923100001 meters 0.014451689394863378 Centerline is valid? [True, True] Translation: X:80.67, Y:11.73, Z:-0.17 [[ 9.55616256e-01 -2.94614072e-01 -3.45050511e-04 8.06718538e+01] [ 2.94614052e-01 9.55616319e-01 -1.08939686e-04 1.17343875e+01] [ 3.61831063e-04 2.44780538e-06 9.99999935e-01 -1.72463304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165769231 meters 0.01488570295861187 Centerline is valid? [True, True] Translation: X:80.70, Y:11.75, Z:-0.17 [[ 9.55778606e-01 -2.94087003e-01 3.02148066e-04 8.06976827e+01] [ 2.94086988e-01 9.55778653e-01 9.49750469e-05 1.17454407e+01] [-3.16717599e-04 -1.91730324e-06 9.99999950e-01 -1.71056492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.195769231 meters 0.015460138816320284 Centerline is valid? [True, True] Translation: X:80.72, Y:11.76, Z:-0.17 [[ 9.55963674e-01 -2.93483721e-01 8.71940312e-04 8.07235095e+01] [ 2.93483592e-01 9.55964071e-01 2.74214381e-04 1.17564632e+01] [-9.14021068e-04 -6.23881203e-06 9.99999582e-01 -1.70227532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225769231 meters 0.015304197501549962 Centerline is valid? [True, True] Translation: X:80.75, Y:11.77, Z:-0.17 [[ 9.55903271e-01 -2.93681588e-01 2.49214518e-04 8.07496519e+01] [ 2.93681578e-01 9.55903303e-01 7.81321185e-05 1.17662536e+01] [-2.61170946e-04 -1.49703479e-06 9.99999966e-01 -1.71727825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.255769231 meters 0.014485668959109887 Centerline is valid? [True, True] Translation: X:80.78, Y:11.77, Z:-0.17 [[ 9.55651506e-01 -2.94499449e-01 -5.23178083e-04 8.07763763e+01] [ 2.94499403e-01 9.55651649e-01 -1.65415263e-04 1.17741965e+01] [ 5.48690702e-04 4.00371200e-06 9.99999849e-01 -1.72869094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.285769231 meters 0.014291302991754634 Centerline is valid? [True, True] Translation: X:80.80, Y:11.78, Z:-0.17 [[ 9.55380555e-01 -2.95375364e-01 -1.17870431e-03 8.08023418e+01] [ 2.95375130e-01 9.55381282e-01 -3.72383619e-04 1.17842190e+01] [ 1.23610498e-03 7.60812968e-06 9.99999236e-01 -1.74375879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.315769231 meters 0.013403995790884828 Centerline is valid? [True, True] Translation: X:80.83, Y:11.80, Z:-0.17 [[ 9.54815555e-01 -2.97197832e-01 -8.39048163e-04 8.08279120e+01] [ 2.97197714e-01 9.54815924e-01 -2.65054135e-04 1.17950418e+01] [ 8.79910062e-04 3.71461556e-06 9.99999613e-01 -1.74011936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.345769231 meters 0.012808603633095042 Centerline is valid? [True, True] Translation: X:80.85, Y:11.80, Z:-0.17 [[ 9.54307899e-01 -2.98825067e-01 -1.17203760e-04 8.08546338e+01] [ 2.98825065e-01 9.54307906e-01 -3.71361883e-05 1.18030711e+01] [ 1.22945698e-04 4.15936665e-07 9.99999992e-01 -1.73027622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.375769231 meters 0.012639028614030325 Centerline is valid? [True, True] Translation: X:80.88, Y:11.81, Z:-0.17 [[ 9.52926011e-01 -3.03202806e-01 -2.77329647e-04 8.08819589e+01] [ 3.03202793e-01 9.52926051e-01 -8.80410047e-05 1.18079320e+01] [ 2.90968925e-04 -1.90560055e-07 9.99999958e-01 -1.73030920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40576923100001 meters 0.013634836387622046 Centerline is valid? [True, True] Translation: X:80.91, Y:11.81, Z:-0.17 [[ 9.52171257e-01 -3.05563648e-01 -8.68167940e-04 8.09089164e+01] [ 3.05563525e-01 9.52171653e-01 -2.74468503e-04 1.18149013e+01] [ 9.10512500e-04 -3.93943647e-06 9.99999585e-01 -1.74199754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43576923100001 meters 0.014682678707708244 Centerline is valid? [True, True] Translation: X:80.94, Y:11.82, Z:-0.17 [[ 9.51479447e-01 -3.07711727e-01 -5.95149950e-04 8.09360576e+01] [ 3.07711669e-01 9.51479634e-01 -1.88534755e-04 1.18235790e+01] [ 6.24287411e-04 -3.74764014e-06 9.99999805e-01 -1.73842954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46576923100001 meters 0.01701418042483532 Centerline is valid? [True, True] Translation: X:80.96, Y:11.83, Z:-0.17 [[ 9.50448250e-01 -3.10880104e-01 1.29828383e-03 8.09628141e+01] [ 3.10879833e-01 9.50449136e-01 4.10412302e-04 1.18314491e+01] [-1.36154177e-03 1.35346071e-05 9.99999073e-01 -1.70036954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49576923100001 meters 0.018027146774842365 Centerline is valid? [True, True] Translation: X:80.99, Y:11.84, Z:-0.17 [[ 9.50025904e-01 -3.12167873e-01 1.41462196e-03 8.09901399e+01] [ 3.12167553e-01 9.50026957e-01 4.47288891e-04 1.18396391e+01] [-1.48355821e-03 1.66630418e-05 9.99998899e-01 -1.70320421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52576923100001 meters 0.019153573534629837 Centerline is valid? [True, True] Translation: X:81.02, Y:11.85, Z:-0.17 [[ 9.49612929e-01 -3.13423186e-01 1.09155443e-03 8.10175712e+01] [ 3.13422996e-01 9.49613556e-01 3.45247806e-04 1.18477030e+01] [-1.14476355e-03 1.42664803e-05 9.99999345e-01 -1.70959266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.555769231 meters 0.021242218879954578 Centerline is valid? [True, True] Translation: X:81.04, Y:11.86, Z:-0.17 [[ 9.48938570e-01 -3.15460910e-01 6.27762564e-05 8.10437630e+01] [ 3.15460909e-01 9.48938572e-01 1.97532583e-05 1.18565300e+01] [-6.58021919e-05 1.05882619e-06 9.99999998e-01 -1.72289421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585769231 meters 0.022665702393435946 Centerline is valid? [True, True] Translation: X:81.07, Y:11.86, Z:-0.17 [[ 9.48462324e-01 -3.16889806e-01 -2.68156029e-04 8.10710053e+01] [ 3.16889794e-01 9.48462361e-01 -8.53175979e-05 1.18649100e+01] [ 2.81372177e-04 -4.05538161e-06 9.99999960e-01 -1.73021155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.615769231 meters 0.02475819439001297 Centerline is valid? [True, True] Translation: X:81.10, Y:11.87, Z:-0.17 [[ 9.47884512e-01 -3.18614071e-01 -1.60167934e-04 8.10980926e+01] [ 3.18614067e-01 9.47884526e-01 -5.08840700e-05 1.18712603e+01] [ 1.68033086e-04 -2.79953481e-06 9.99999986e-01 -1.73131588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.645769231 meters 0.029319699507223015 Centerline is valid? [True, True] Translation: X:81.13, Y:11.87, Z:-0.17 [[ 9.46551395e-01 -3.22550501e-01 1.27726294e-03 8.11266128e+01] [ 3.22550248e-01 9.46552256e-01 4.04735010e-04 1.18741370e+01] [-1.33954360e-03 2.88789894e-05 9.99999102e-01 -1.70365859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.675769231 meters 0.03146302009782271 Centerline is valid? [True, True] Translation: X:81.15, Y:11.88, Z:-0.17 [[ 9.46021984e-01 -3.24098708e-01 1.55995402e-03 8.11543211e+01] [ 3.24098333e-01 9.46023269e-01 4.94425422e-04 1.18803702e+01] [-1.63599544e-03 3.78411792e-05 9.99998661e-01 -1.69972882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.705769231 meters 0.03426880700009133 Centerline is valid? [True, True] Translation: X:81.18, Y:11.89, Z:-0.17 [[ 9.45286497e-01 -3.26241342e-01 1.57350738e-04 8.11824869e+01] [ 3.26241338e-01 9.45286511e-01 4.97933925e-05 1.18851754e+01] [-1.64986193e-04 4.26529369e-06 9.99999986e-01 -1.73300437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.735769231 meters 0.03487801870775999 Centerline is valid? [True, True] Translation: X:81.21, Y:11.89, Z:-0.17 [[ 9.45210594e-01 -3.26460289e-01 -7.83084757e-04 8.12098395e+01] [ 3.26460195e-01 9.45210918e-01 -2.48466386e-04 1.18925669e+01] [ 8.21294670e-04 -2.07929429e-05 9.99999663e-01 -1.74676738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76576923100001 meters 0.03399406213470183 Centerline is valid? [True, True] Translation: X:81.24, Y:11.90, Z:-0.18 [[ 9.45384627e-01 -3.25954509e-01 -1.25083922e-03 8.12366360e+01] [ 3.25954268e-01 9.45385454e-01 -3.97237956e-04 1.19026361e+01] [ 1.31200671e-03 -3.21737260e-05 9.99999139e-01 -1.75527715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79576923100001 meters 0.030317596793455498 Centerline is valid? [True, True] Translation: X:81.26, Y:11.92, Z:-0.18 [[ 9.46552178e-01 -3.22546486e-01 -1.65520633e-03 8.12616527e+01] [ 3.22546060e-01 9.46553624e-01 -5.25345859e-04 1.19179877e+01] [ 1.73619001e-03 -3.66130120e-05 9.99998492e-01 -1.76200760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82576923100001 meters 0.024685268617943713 Centerline is valid? [True, True] Translation: X:81.29, Y:11.94, Z:-0.18 [[ 9.47224235e-01 -3.20567497e-01 -1.65209092e-03 8.12861885e+01] [ 3.20567069e-01 9.47225675e-01 -5.24939916e-04 1.19356483e+01] [ 1.73318161e-03 -3.23701340e-05 9.99998498e-01 -1.75326394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85576923100001 meters 0.024343381375793224 Centerline is valid? [True, True] Translation: X:81.31, Y:11.95, Z:-0.18 [[ 9.47812209e-01 -3.18823683e-01 -1.86418523e-03 8.13118135e+01] [ 3.18823135e-01 9.47814042e-01 -5.92166404e-04 1.19456451e+01] [ 1.95569761e-03 -3.30828310e-05 9.99998087e-01 -1.76219481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88576923100001 meters 0.023323904452762147 Centerline is valid? [True, True] Translation: X:81.34, Y:11.96, Z:-0.18 [[ 9.48528899e-01 -3.16688953e-01 -1.01695197e-03 8.13369636e+01] [ 3.16688789e-01 9.48529444e-01 -3.23243550e-04 1.19577258e+01] [ 1.06697654e-03 -1.54514371e-05 9.99999431e-01 -1.75945079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.915769231 meters 0.022736209534027968 Centerline is valid? [True, True] Translation: X:81.36, Y:11.97, Z:-0.17 [[ 9.48662968e-01 -3.16288629e-01 -2.77425273e-04 8.13635063e+01] [ 3.16288616e-01 9.48663008e-01 -8.85107747e-05 1.19680843e+01] [ 2.91178046e-04 -3.77956148e-06 9.99999958e-01 -1.74937498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945769231 meters 0.02244821027584382 Centerline is valid? [True, True] Translation: X:81.39, Y:11.98, Z:-0.17 [[ 9.48757105e-01 -3.16006237e-01 1.20508241e-04 8.13896326e+01] [ 3.16006235e-01 9.48757112e-01 3.81901572e-05 1.19786984e+01] [-1.26401378e-04 1.84817251e-06 9.99999992e-01 -1.73623945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.975769231 meters 0.019250861884496307 Centerline is valid? [True, True] Translation: X:81.41, Y:11.99, Z:-0.17 [[ 9.48710744e-01 -3.16144946e-01 5.44827481e-04 8.14148835e+01] [ 3.16144899e-01 9.48710901e-01 1.72884105e-04 1.19931406e+01] [-5.71540207e-04 8.22742121e-06 9.99999837e-01 -1.71946640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.005769231 meters 0.02076605152532835 Centerline is valid? [True, True] Translation: X:81.44, Y:12.00, Z:-0.17 [[ 9.48799329e-01 -3.15878854e-01 6.18886668e-04 8.14418476e+01] [ 3.15878793e-01 9.48799531e-01 1.96778280e-04 1.20014864e+01] [-6.49357478e-04 8.79007344e-06 9.99999789e-01 -1.71639544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.035769231 meters 0.020455937915542996 Centerline is valid? [True, True] Translation: X:81.47, Y:12.01, Z:-0.17 [[ 9.48651359e-01 -3.16322789e-01 7.02225715e-04 8.14680015e+01] [ 3.16322710e-01 9.48651618e-01 2.23158555e-04 1.20119089e+01] [-7.36757698e-04 1.04302751e-05 9.99999729e-01 -1.71936605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.065769231 meters 0.02023333323944846 Centerline is valid? [True, True] Translation: X:81.50, Y:12.02, Z:-0.17 [[ 9.48454932e-01 -3.16910644e-01 9.40895500e-04 8.14954338e+01] [ 3.16910503e-01 9.48455399e-01 2.99355027e-04 1.20217477e+01] [-9.87266211e-04 1.42549143e-05 9.99999513e-01 -1.71795375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.095769231 meters 0.02227996504785525 Centerline is valid? [True, True] Translation: X:81.52, Y:12.03, Z:-0.17 [[ 9.47865735e-01 -3.18666371e-01 1.51430979e-03 8.15235003e+01] [ 3.18666007e-01 9.47866944e-01 4.82346549e-04 1.20263369e+01] [-1.58907181e-03 2.53592871e-05 9.99998737e-01 -1.70682675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.125769231 meters 0.02241801558735651 Centerline is valid? [True, True] Translation: X:81.55, Y:12.03, Z:-0.17 [[ 9.47437361e-01 -3.19940950e-01 4.84673706e-04 8.15510326e+01] [ 3.19940913e-01 9.47437485e-01 1.54139410e-04 1.20342434e+01] [-5.08513547e-04 9.02951249e-06 9.99999871e-01 -1.71930192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15576923100001 meters 0.023300314955240407 Centerline is valid? [True, True] Translation: X:81.58, Y:12.04, Z:-0.18 [[ 9.47197404e-01 -3.20647997e-01 -1.39255445e-03 8.15789188e+01] [ 3.20647690e-01 9.47198428e-01 -4.44558225e-04 1.20406644e+01] [ 1.46157209e-03 -2.54349692e-05 9.99998932e-01 -1.75025505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18576923100001 meters 0.02303211689369282 Centerline is valid? [True, True] Translation: X:81.61, Y:12.05, Z:-0.18 [[ 9.47377531e-01 -3.20113738e-01 -1.73443539e-03 8.16057738e+01] [ 3.20113261e-01 9.47379118e-01 -5.53482150e-04 1.20492168e+01] [ 1.82034511e-03 -3.08592167e-05 9.99998343e-01 -1.75725071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21576923100001 meters 0.024535058644527104 Centerline is valid? [True, True] Translation: X:81.63, Y:12.05, Z:-0.18 [[ 9.47807772e-01 -3.18838633e-01 -1.53446913e-03 8.16329245e+01] [ 3.18838257e-01 9.47809013e-01 -4.89782451e-04 1.20548553e+01] [ 1.61054524e-03 -2.50278501e-05 9.99998703e-01 -1.76622876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24576923100001 meters 0.020235556331048753 Centerline is valid? [True, True] Translation: X:81.66, Y:12.07, Z:-0.17 [[ 9.48273398e-01 -3.17452755e-01 -1.14465983e-03 8.16585447e+01] [ 3.17452545e-01 9.48274089e-01 -3.65837152e-04 1.20694894e+01] [ 1.20158727e-03 -1.64615376e-05 9.99999278e-01 -1.74755466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27576923100001 meters 0.018108181287369303 Centerline is valid? [True, True] Translation: X:81.68, Y:12.08, Z:-0.17 [[ 9.49161711e-01 -3.14787646e-01 -8.86286658e-04 8.16840772e+01] [ 3.14787518e-01 9.49162124e-01 -2.83250183e-04 1.20810229e+01] [ 9.30393386e-04 -1.01417498e-05 9.99999567e-01 -1.74198369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305769231 meters 0.018108181287369303 Centerline is valid? [True, True] Translation: X:81.71, Y:12.09, Z:-0.17 [[ 9.49103678e-01 -3.14962574e-01 -8.86169620e-04 8.17101994e+01] [ 3.14962446e-01 9.49104092e-01 -2.83616471e-04 1.20895749e+01] [ 9.30395786e-04 -9.92871593e-06 9.99999567e-01 -1.74257416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.335769231 meters 0.01722783291180537 Centerline is valid? [True, True] Translation: X:81.74, Y:12.10, Z:-0.17 [[ 9.49367206e-01 -3.14167189e-01 -9.41456987e-04 8.17376384e+01] [ 3.14167044e-01 9.49367672e-01 -3.01402372e-04 1.20998883e+01] [ 9.88479564e-04 -9.63323169e-06 9.99999511e-01 -1.74347337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365769231 meters 0.016318741540782427 Centerline is valid? [True, True] Translation: X:81.76, Y:12.11, Z:-0.17 [[ 9.49568068e-01 -3.13558898e-01 -1.14106008e-03 8.17640193e+01] [ 3.13558685e-01 9.49568753e-01 -3.65526479e-04 1.21096218e+01] [ 1.19812907e-03 -1.06970249e-05 9.99999282e-01 -1.74387246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.395769231 meters 0.015957740534681453 Centerline is valid? [True, True] Translation: X:81.79, Y:12.12, Z:-0.18 [[ 9.49936667e-01 -3.12437412e-01 -1.78664923e-03 8.17909859e+01] [ 3.12436889e-01 9.49938347e-01 -5.72039249e-04 1.21178350e+01] [ 1.87593308e-03 -1.48140679e-05 9.99998240e-01 -1.76095831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.425769231 meters 0.015385475615772182 Centerline is valid? [True, True] Translation: X:81.82, Y:12.13, Z:-0.18 [[ 9.50253865e-01 -3.11469497e-01 -2.08425494e-03 8.18174376e+01] [ 3.11468782e-01 9.50256151e-01 -6.67764074e-04 1.21281167e+01] [ 2.18856422e-03 -1.46349563e-05 9.99997605e-01 -1.76107757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.455769231 meters 0.01300128652390477 Centerline is valid? [True, True] Translation: X:81.84, Y:12.15, Z:-0.17 [[ 9.51392799e-01 -3.07978974e-01 -8.32329954e-04 8.18420624e+01] [ 3.07978858e-01 9.51393164e-01 -2.67059319e-04 1.21464875e+01] [ 8.74121683e-04 -2.26171545e-06 9.99999618e-01 -1.72690568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.485769231 meters 0.01248069696954442 Centerline is valid? [True, True] Translation: X:81.87, Y:12.16, Z:-0.17 [[ 9.52236906e-01 -3.05360195e-01 1.61932223e-04 8.18669341e+01] [ 3.05360190e-01 9.52236920e-01 5.17625571e-05 1.21604121e+01] [-1.70004066e-04 1.57437344e-07 9.99999986e-01 -1.71484847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51576923100001 meters 0.012661802000170844 Centerline is valid? [True, True] Translation: X:81.89, Y:12.17, Z:-0.17 [[ 9.52888778e-01 -3.03318958e-01 7.66403919e-04 8.18922254e+01] [ 3.03318858e-01 9.52889086e-01 2.45340921e-04 1.21735861e+01] [-8.04714483e-04 -1.31784869e-06 9.99999676e-01 -1.70954748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54576923100001 meters 0.013286295421529946 Centerline is valid? [True, True] Translation: X:81.92, Y:12.19, Z:-0.17 [[ 9.53479515e-01 -3.01455234e-01 1.24745666e-03 8.19174400e+01] [ 3.01454969e-01 9.53480331e-01 3.99987575e-04 1.21866942e+01] [-1.31000374e-03 -5.32795118e-06 9.99999142e-01 -1.70492462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57576923100001 meters 0.015808204501488437 Centerline is valid? [True, True] Translation: X:81.94, Y:12.21, Z:-0.17 [[ 9.54667271e-01 -2.97674208e-01 6.83266791e-04 8.19402219e+01] [ 2.97674127e-01 9.54667516e-01 2.19070572e-04 1.22056743e+01] [-7.17504269e-04 -5.74865920e-06 9.99999743e-01 -1.71244240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60576923100001 meters 0.01609552299280313 Centerline is valid? [True, True] Translation: X:81.97, Y:12.22, Z:-0.17 [[ 9.54842668e-01 -2.97111760e-01 -2.84405652e-04 8.19663163e+01] [ 2.97111746e-01 9.54842711e-01 -9.16349911e-05 1.22176904e+01] [ 2.98788498e-04 2.99673952e-06 9.99999955e-01 -1.73125873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63576923100001 meters 0.01635000515218001 Centerline is valid? [True, True] Translation: X:81.99, Y:12.23, Z:-0.18 [[ 9.54792371e-01 -2.97270276e-01 -1.38227842e-03 8.19917265e+01] [ 2.97269945e-01 9.54793372e-01 -4.43910802e-04 1.22298002e+01] [ 1.45175176e-03 1.29328190e-05 9.99998946e-01 -1.76282040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665769231 meters 0.01565911329676479 Centerline is valid? [True, True] Translation: X:82.02, Y:12.24, Z:-0.18 [[ 9.54415496e-01 -2.98478739e-01 -1.22597827e-03 8.20193206e+01] [ 2.98478479e-01 9.54416284e-01 -3.94187683e-04 1.22392670e+01] [ 1.28775027e-03 1.02907041e-05 9.99999171e-01 -1.76535173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.695769231 meters 0.01423628094124901 Centerline is valid? [True, True] Translation: X:82.05, Y:12.25, Z:-0.18 [[ 9.53638257e-01 -3.00953755e-01 -9.55658019e-04 8.20457954e+01] [ 3.00953597e-01 9.53638735e-01 -3.07521246e-04 1.22492926e+01] [ 1.00390218e-03 5.65530660e-06 9.99999496e-01 -1.76222511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725769231 meters 0.013487167876534147 Centerline is valid? [True, True] Translation: X:82.07, Y:12.26, Z:-0.18 [[ 9.53135945e-01 -3.02539106e-01 -1.40013551e-03 8.20721316e+01] [ 3.02538770e-01 9.53136973e-01 -4.50712134e-04 1.22578783e+01] [ 1.47087896e-03 5.99466131e-06 9.99998918e-01 -1.77041256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.755769231 meters 0.013104768688966076 Centerline is valid? [True, True] Translation: X:82.10, Y:12.27, Z:-0.18 [[ 9.52628257e-01 -3.04131402e-01 -1.86905253e-03 8.20983360e+01] [ 3.04130807e-01 9.52630091e-01 -6.01899780e-04 1.22662059e+01] [ 1.96357231e-03 4.95028334e-06 9.99998072e-01 -1.77851389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.785769231 meters 0.012947730229555981 Centerline is valid? [True, True] Translation: X:82.12, Y:12.27, Z:-0.18 [[ 9.52142488e-01 -3.05649477e-01 -1.75494390e-03 8.21242615e+01] [ 3.05648954e-01 9.52144105e-01 -5.65098770e-04 1.22741344e+01] [ 1.84368163e-03 1.65778139e-06 9.99998300e-01 -1.78853352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.815769231 meters 0.013005434447556698 Centerline is valid? [True, True] Translation: X:82.15, Y:12.28, Z:-0.18 [[ 9.51073292e-01 -3.08961930e-01 -1.45553047e-03 8.21514478e+01] [ 3.08961574e-01 9.51074406e-01 -4.69234921e-04 1.22805648e+01] [ 1.52929350e-03 -3.42618379e-06 9.99998831e-01 -1.78203685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.845769231 meters 0.013616128758525503 Centerline is valid? [True, True] Translation: X:82.18, Y:12.29, Z:-0.18 [[ 9.50621391e-01 -3.10348849e-01 -1.60104491e-03 8.21783643e+01] [ 3.10348420e-01 9.50622739e-01 -5.15923144e-04 1.22876423e+01] [ 1.68210585e-03 -6.43418058e-06 9.99998585e-01 -1.78626152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.875769231 meters 0.01465703632860793 Centerline is valid? [True, True] Translation: X:82.21, Y:12.30, Z:-0.18 [[ 9.49999032e-01 -3.12242647e-01 -2.52348651e-03 8.22060965e+01] [ 3.12241587e-01 9.50002384e-01 -8.13760490e-04 1.22962111e+01] [ 2.65140893e-03 -1.48657545e-05 9.99996485e-01 -1.79370720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90576923100001 meters 0.014827334186599346 Centerline is valid? [True, True] Translation: X:82.23, Y:12.31, Z:-0.18 [[ 9.49893318e-01 -3.12561757e-01 -2.79849663e-03 8.22316245e+01] [ 3.12560454e-01 9.49897441e-01 -9.02702442e-04 1.23055743e+01] [ 2.94043504e-03 -1.72283582e-05 9.99995677e-01 -1.79617341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93576923100001 meters 0.015180196865969388 Centerline is valid? [True, True] Translation: X:82.26, Y:12.32, Z:-0.18 [[ 9.49733337e-01 -3.13046384e-01 -2.92392911e-03 8.22582248e+01] [ 3.13044962e-01 9.49737838e-01 -9.43848894e-04 1.23155114e+01] [ 3.07243459e-03 -1.89165155e-05 9.99995280e-01 -1.80411258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96576923100001 meters 0.0156700196136783 Centerline is valid? [True, True] Translation: X:82.28, Y:12.33, Z:-0.18 [[ 9.49450975e-01 -3.13905416e-01 -2.49721225e-03 8.22843916e+01] [ 3.13904382e-01 9.49454259e-01 -8.06038635e-04 1.23264758e+01] [ 2.62400870e-03 -1.85917014e-05 9.99996557e-01 -1.80042547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99576923100001 meters 0.015511808537502485 Centerline is valid? [True, True] Translation: X:82.31, Y:12.34, Z:-0.18 [[ 9.49411704e-01 -3.14026713e-01 -2.15406988e-03 8.23102472e+01] [ 3.14025943e-01 9.49414147e-01 -6.95988088e-04 1.23364608e+01] [ 2.26366327e-03 -1.56545871e-05 9.99997438e-01 -1.79583187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02576923100001 meters 0.014982058546503417 Centerline is valid? [True, True] Translation: X:82.34, Y:12.35, Z:-0.18 [[ 9.49646985e-01 -3.13318871e-01 -1.37444779e-03 8.23363718e+01] [ 3.13318556e-01 9.49647980e-01 -4.44042889e-04 1.23475879e+01] [ 1.44436858e-03 -8.95600627e-06 9.99998957e-01 -1.77456618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.055769231 meters 0.014809486133052416 Centerline is valid? [True, True] Translation: X:82.36, Y:12.36, Z:-0.18 [[ 9.49616060e-01 -3.13415276e-01 -4.51284801e-04 8.23625355e+01] [ 3.13415242e-01 9.49616167e-01 -1.46234406e-04 1.23568223e+01] [ 4.74379440e-04 -2.57299505e-06 9.99999887e-01 -1.75527759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085769231 meters 0.014553168832180826 Centerline is valid? [True, True] Translation: X:82.39, Y:12.37, Z:-0.17 [[ 9.49689173e-01 -3.13193008e-01 7.83287914e-04 8.23881977e+01] [ 3.13192906e-01 9.49689496e-01 2.53061539e-04 1.23669246e+01] [-8.23137409e-04 4.99041444e-06 9.99999661e-01 -1.73144207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.115769231 meters 0.013356853684488445 Centerline is valid? [True, True] Translation: X:82.41, Y:12.38, Z:-0.17 [[ 9.50264033e-01 -3.11442661e-01 1.31762171e-03 8.24128543e+01] [ 3.11442370e-01 9.50264947e-01 4.25853638e-04 1.23821565e+01] [-1.38471871e-03 5.68983224e-06 9.99999041e-01 -1.72184875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.145769231 meters 0.012901977136973842 Centerline is valid? [True, True] Translation: X:82.44, Y:12.39, Z:-0.17 [[ 9.50521304e-01 -3.10658496e-01 7.40899933e-04 8.24382289e+01] [ 3.10658404e-01 9.50521593e-01 2.39279287e-04 1.23938514e+01] [-7.78575528e-04 2.72673140e-06 9.99999697e-01 -1.73961181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.175769231 meters 0.01292677843586942 Centerline is valid? [True, True] Translation: X:82.46, Y:12.40, Z:-0.18 [[ 9.50594513e-01 -3.10434863e-01 -5.16686440e-04 8.24632318e+01] [ 3.10434818e-01 9.50594654e-01 -1.67467786e-04 1.24046517e+01] [ 5.43147207e-04 -1.20350217e-06 9.99999852e-01 -1.77017047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.205769231 meters 0.01272641776955033 Centerline is valid? [True, True] Translation: X:82.49, Y:12.42, Z:-0.18 [[ 9.50491909e-01 -3.10747707e-01 -9.96660743e-04 8.24889869e+01] [ 3.10747539e-01 9.50492431e-01 -3.23187586e-04 1.24152168e+01] [ 1.04774829e-03 -2.52268814e-06 9.99999451e-01 -1.76080154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.235769231 meters 0.013119424206939467 Centerline is valid? [True, True] Translation: X:82.51, Y:12.42, Z:-0.18 [[ 9.50517462e-01 -3.10668524e-01 -1.27357940e-03 8.25145935e+01] [ 3.10668250e-01 9.50518315e-01 -4.12730672e-04 1.24235780e+01] [ 1.33878298e-03 -3.35297321e-06 9.99999104e-01 -1.77791817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26576923100001 meters 0.013091765628056282 Centerline is valid? [True, True] Translation: X:82.54, Y:12.43, Z:-0.18 [[ 9.50548042e-01 -3.10571593e-01 -1.92502086e-03 8.25405753e+01] [ 3.10570965e-01 9.50549991e-01 -6.24289880e-04 1.24327885e+01] [ 2.02371526e-03 -4.43806336e-06 9.99997952e-01 -1.79176243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29576923100001 meters 0.012996235797295523 Centerline is valid? [True, True] Translation: X:82.57, Y:12.44, Z:-0.18 [[ 9.50439434e-01 -3.10901370e-01 -2.28496265e-03 8.25673219e+01] [ 3.10900486e-01 9.50442180e-01 -7.41461951e-04 1.24422192e+01] [ 2.40224642e-03 -5.68132124e-06 9.99997115e-01 -1.78654251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32576923100001 meters 0.01344111603245804 Centerline is valid? [True, True] Translation: X:82.59, Y:12.45, Z:-0.18 [[ 9.49989368e-01 -3.12276575e-01 -1.88160829e-03 8.25941030e+01] [ 3.12275979e-01 9.49991232e-01 -6.10478935e-04 1.24488519e+01] [ 1.97814965e-03 -7.63257244e-06 9.99998043e-01 -1.78984948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35576923100001 meters 0.013608079089227038 Centerline is valid? [True, True] Translation: X:82.62, Y:12.46, Z:-0.18 [[ 9.49725562e-01 -3.13081555e-01 -1.13838095e-03 8.26214737e+01] [ 3.13081337e-01 9.49726245e-01 -3.69913147e-04 1.24562541e+01] [ 1.19696325e-03 -5.08985726e-06 9.99999284e-01 -1.77685971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38576923100001 meters 0.013636250755015325 Centerline is valid? [True, True] Translation: X:82.65, Y:12.46, Z:-0.18 [[ 9.49493383e-01 -3.13786895e-01 -3.15015844e-04 8.26480461e+01] [ 3.13786879e-01 9.49493436e-01 -1.02744967e-04 1.24638930e+01] [ 3.31345500e-04 -1.29217189e-06 9.99999945e-01 -1.76078819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.415769231 meters 0.013776493568340683 Centerline is valid? [True, True] Translation: X:82.67, Y:12.47, Z:-0.18 [[ 9.49389415e-01 -3.14101155e-01 -4.51732148e-04 8.26743540e+01] [ 3.14101121e-01 9.49389522e-01 -1.46946832e-04 1.24715228e+01] [ 4.75025938e-04 -2.37980704e-06 9.99999887e-01 -1.76014305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445769231 meters 0.014048883442219252 Centerline is valid? [True, True] Translation: X:82.70, Y:12.48, Z:-0.18 [[ 9.49533713e-01 -3.13656376e-01 -2.32513930e-03 8.27007219e+01] [ 3.13655466e-01 9.49536559e-01 -7.55681115e-04 1.24795648e+01] [ 2.44482897e-03 -1.17479547e-05 9.99997011e-01 -1.80227136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.475769231 meters 0.013797390581612355 Centerline is valid? [True, True] Translation: X:82.73, Y:12.49, Z:-0.18 [[ 9.49726878e-01 -3.13060947e-01 -3.42046756e-03 8.27271068e+01] [ 3.13058971e-01 9.49733038e-01 -1.11255751e-03 1.24888680e+01] [ 3.59682935e-03 -1.41822873e-05 9.99993531e-01 -1.82726803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.505769231 meters 0.01328672855259597 Centerline is valid? [True, True] Translation: X:82.75, Y:12.50, Z:-0.18 [[ 9.50212552e-01 -3.11576931e-01 -3.99038712e-03 8.27520406e+01] [ 3.11574227e-01 9.50220930e-01 -1.29798095e-03 1.24983804e+01] [ 4.19617028e-03 -9.94398872e-06 9.99991196e-01 -1.83870262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.535769231 meters 0.013072133291351143 Centerline is valid? [True, True] Translation: X:82.78, Y:12.51, Z:-0.18 [[ 9.50436554e-01 -3.10894809e-01 -3.84362642e-03 8.27781944e+01] [ 3.10892292e-01 9.50444326e-01 -1.25123468e-03 1.25088007e+01] [ 4.04215529e-03 -5.73464200e-06 9.99991830e-01 -1.83079951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.565769231 meters 0.01289249214208019 Centerline is valid? [True, True] Translation: X:82.80, Y:12.52, Z:-0.18 [[ 9.50767163e-01 -3.09889926e-01 -3.16785223e-03 8.28041100e+01] [ 3.09888208e-01 9.50772441e-01 -1.03194094e-03 1.25197402e+01] [ 3.33169470e-03 -5.44489750e-07 9.99994450e-01 -1.81953999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.595769231 meters 0.012892424142299403 Centerline is valid? [True, True] Translation: X:82.83, Y:12.53, Z:-0.18 [[ 9.51524030e-01 -3.07569761e-01 -1.69204474e-03 8.28297234e+01] [ 3.07569266e-01 9.51525534e-01 -5.51757702e-04 1.25306907e+01] [ 1.77972776e-03 4.58975170e-06 9.99998416e-01 -1.78715895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.625769231 meters 0.012955910837542524 Centerline is valid? [True, True] Translation: X:82.86, Y:12.54, Z:-0.18 [[ 9.51812796e-01 -3.06678123e-01 -9.64866304e-04 8.28561012e+01] [ 3.06677961e-01 9.51813285e-01 -3.15033226e-04 1.25403424e+01] [ 1.01498636e-03 3.94942433e-06 9.99999485e-01 -1.76917052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65576923100001 meters 0.013348649425472715 Centerline is valid? [True, True] Translation: X:82.88, Y:12.55, Z:-0.18 [[ 9.52162293e-01 -3.05592706e-01 -2.57450383e-04 8.28814326e+01] [ 3.05592694e-01 9.52162328e-01 -8.44353598e-05 1.25513574e+01] [ 2.70937386e-04 1.72120973e-06 9.99999963e-01 -1.75756622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68576923100001 meters 0.01535537107616019 Centerline is valid? [True, True] Translation: X:82.91, Y:12.57, Z:-0.18 [[ 9.53072613e-01 -3.02741466e-01 -4.46154048e-04 8.29050901e+01] [ 3.02741431e-01 9.53072717e-01 -1.45763978e-04 1.25669719e+01] [ 4.69346051e-04 3.85434019e-06 9.99999890e-01 -1.76342337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71576923100001 meters 0.01666435876564181 Centerline is valid? [True, True] Translation: X:82.93, Y:12.58, Z:-0.18 [[ 9.53606826e-01 -3.01052880e-01 -1.08882900e-03 8.29311460e+01] [ 3.01052670e-01 9.53607447e-01 -3.55539124e-04 1.25785950e+01] [ 1.14535152e-03 1.12496581e-05 9.99999344e-01 -1.77347081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74576923100001 meters 0.022074132347842564 Centerline is valid? [True, True] Translation: X:82.95, Y:12.60, Z:-0.18 [[ 9.54699353e-01 -2.97567155e-01 -1.71292693e-03 8.29538779e+01] [ 2.97566630e-01 9.54700889e-01 -5.59485894e-04 1.25976285e+01] [ 1.80181749e-03 2.44309249e-05 9.99998376e-01 -1.78700002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77576923100001 meters 0.021440490662697893 Centerline is valid? [True, True] Translation: X:82.98, Y:12.61, Z:-0.18 [[ 9.55172797e-01 -2.96044017e-01 -1.69367813e-03 8.29810928e+01] [ 2.96043501e-01 9.55174298e-01 -5.53685343e-04 1.26078028e+01] [ 1.78167305e-03 2.74627749e-05 9.99998412e-01 -1.77416542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805769231 meters 0.02455693012727673 Centerline is valid? [True, True] Translation: X:83.00, Y:12.62, Z:-0.18 [[ 9.55639435e-01 -2.94534907e-01 -1.56833688e-03 8.30048747e+01] [ 2.94534462e-01 9.55640721e-01 -5.12645137e-04 1.26229652e+01] [ 1.64975847e-03 2.79746505e-05 9.99998639e-01 -1.77832559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.835769231 meters 0.024754635933176096 Centerline is valid? [True, True] Translation: X:83.03, Y:12.64, Z:-0.18 [[ 9.56106053e-01 -2.93019738e-01 -8.04964664e-04 8.30306532e+01] [ 2.93019620e-01 9.56106392e-01 -2.63558854e-04 1.26358534e+01] [ 8.46859807e-04 1.61197753e-05 9.99999641e-01 -1.77100491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865769231 meters 0.02527067939067285 Centerline is valid? [True, True] Translation: X:83.06, Y:12.65, Z:-0.18 [[ 9.56119109e-01 -2.92978232e-01 6.36102292e-05 8.30550314e+01] [ 2.92978232e-01 9.56119111e-01 2.06177608e-05 1.26468188e+01] [-6.68595109e-05 -1.07662261e-06 9.99999998e-01 -1.75330977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.895769231 meters 0.024729585058055593 Centerline is valid? [True, True] Translation: X:83.08, Y:12.66, Z:-0.17 [[ 9.56102686e-01 -2.93030107e-01 1.00522201e-03 8.30809022e+01] [ 2.93029923e-01 9.56103214e-01 3.28533623e-04 1.26570584e+01] [-1.05736624e-03 -1.95517516e-05 9.99999441e-01 -1.73195268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.925769231 meters 0.02494211183944662 Centerline is valid? [True, True] Translation: X:83.11, Y:12.67, Z:-0.17 [[ 9.56123069e-01 -2.92962451e-01 1.29564670e-03 8.31063461e+01] [ 2.92962145e-01 9.56123947e-01 4.23849194e-04 1.26701370e+01] [-1.36297074e-03 -2.56765545e-05 9.99999071e-01 -1.73600509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.955769231 meters 0.025299935748846387 Centerline is valid? [True, True] Translation: X:83.13, Y:12.68, Z:-0.18 [[ 9.56106388e-01 -2.93019271e-01 5.30083989e-04 8.31323583e+01] [ 2.93019220e-01 9.56106535e-01 1.73267673e-04 1.26808958e+01] [-5.57587533e-04 -1.03375323e-05 9.99999844e-01 -1.75475966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.985769231 meters 0.0243368673786284 Centerline is valid? [True, True] Translation: X:83.16, Y:12.69, Z:-0.18 [[ 9.55668394e-01 -2.94442269e-01 -1.29283725e-03 8.31580647e+01] [ 2.94441964e-01 9.55669268e-01 -4.23949226e-04 1.26904838e+01] [ 1.36035340e-03 2.44893375e-05 9.99999074e-01 -1.79305578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01576923100001 meters 0.023213897497309857 Centerline is valid? [True, True] Translation: X:83.19, Y:12.70, Z:-0.18 [[ 9.55164689e-01 -2.96064537e-01 -2.49116076e-03 8.31852272e+01] [ 2.96063412e-01 9.55167937e-01 -8.17344893e-04 1.26985674e+01] [ 2.62146372e-03 4.31574253e-05 9.99996563e-01 -1.81467206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04576923100001 meters 0.021425407110292262 Centerline is valid? [True, True] Translation: X:83.21, Y:12.71, Z:-0.18 [[ 9.54448119e-01 -2.98359350e-01 -3.23832332e-03 8.32119979e+01] [ 2.98357462e-01 9.54453611e-01 -1.06234650e-03 1.27050132e+01] [ 3.40779040e-03 4.77766911e-05 9.99994192e-01 -1.83118889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07576923100001 meters 0.018677511283439592 Centerline is valid? [True, True] Translation: X:83.24, Y:12.71, Z:-0.18 [[ 9.53592758e-01 -3.01081115e-01 -3.31878565e-03 8.32410749e+01] [ 3.01079146e-01 9.53598532e-01 -1.08956805e-03 1.27096081e+01] [ 3.49283748e-03 3.97870566e-05 9.99993899e-01 -1.83417484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10576923100001 meters 0.014762641820659941 Centerline is valid? [True, True] Translation: X:83.27, Y:12.71, Z:-0.18 [[ 9.52130365e-01 -3.05685570e-01 -2.02480227e-03 8.32711013e+01] [ 3.05684846e-01 9.52132518e-01 -6.65248587e-04 1.27094218e+01] [ 2.13123698e-03 1.44520098e-05 9.99997729e-01 -1.80559897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13576923100001 meters 0.013542160663759116 Centerline is valid? [True, True] Translation: X:83.30, Y:12.72, Z:-0.18 [[ 9.51445610e-01 -3.07814823e-01 -1.13374238e-03 8.32997942e+01] [ 3.07814598e-01 9.51446286e-01 -3.72859513e-04 1.27150370e+01] [ 1.19346666e-03 5.77309365e-06 9.99999288e-01 -1.78665599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165769231 meters 0.012488608578558309 Centerline is valid? [True, True] Translation: X:83.33, Y:12.72, Z:-0.18 [[ 9.50497196e-01 -3.10733029e-01 -2.54687854e-04 8.33289135e+01] [ 3.10733018e-01 9.50497230e-01 -8.40995812e-05 1.27188266e+01] [ 2.68212617e-04 7.96490648e-07 9.99999964e-01 -1.77443558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.195769231 meters 0.012488608578558309 Centerline is valid? [True, True] Translation: X:83.35, Y:12.73, Z:-0.18 [[ 9.50438153e-01 -3.10913577e-01 -2.54655681e-04 8.33549468e+01] [ 3.10913565e-01 9.50438187e-01 -8.41973124e-05 1.27275869e+01] [ 2.68212571e-04 8.48432515e-07 9.99999964e-01 -1.77502596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225769231 meters 0.012391598479160227 Centerline is valid? [True, True] Translation: X:83.38, Y:12.73, Z:-0.18 [[ 9.50155861e-01 -3.11774941e-01 -4.76289539e-04 8.33823987e+01] [ 3.11774901e-01 9.50155980e-01 -1.57204016e-04 1.27346673e+01] [ 5.01561627e-04 8.73193364e-07 9.99999874e-01 -1.78383701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.255769231 meters 0.012573756192749499 Centerline is valid? [True, True] Translation: X:83.41, Y:12.74, Z:-0.18 [[ 9.50014418e-01 -3.12203135e-01 -1.34459519e-03 8.34092027e+01] [ 3.12202821e-01 9.50015370e-01 -4.42802748e-04 1.27412581e+01] [ 1.41563050e-03 8.82582682e-07 9.99998998e-01 -1.80417818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.285769231 meters 0.012609991925322942 Centerline is valid? [True, True] Translation: X:83.44, Y:12.75, Z:-0.18 [[ 9.49877017e-01 -3.12618455e-01 -1.83144118e-03 8.34358370e+01] [ 3.12617872e-01 9.49878783e-01 -6.03727054e-04 1.27493978e+01] [ 1.92838334e-03 9.25208219e-07 9.99998141e-01 -1.80919464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.315769231 meters 0.01266774388713191 Centerline is valid? [True, True] Translation: X:83.46, Y:12.76, Z:-0.18 [[ 9.49704292e-01 -3.13140235e-01 -2.22504259e-03 8.34614620e+01] [ 3.13139375e-01 9.49706899e-01 -7.33559651e-04 1.27573647e+01] [ 2.34284534e-03 -8.36977839e-08 9.99997256e-01 -1.81809097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.345769231 meters 0.012643151270026643 Centerline is valid? [True, True] Translation: X:83.49, Y:12.77, Z:-0.18 [[ 9.49500711e-01 -3.13755839e-01 -2.38175172e-03 8.34879180e+01] [ 3.13754855e-01 9.49503699e-01 -7.85842850e-04 1.27654947e+01] [ 2.50804485e-03 -1.12782087e-06 9.99996855e-01 -1.80972429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.375769231 meters 0.012874631769713608 Centerline is valid? [True, True] Translation: X:83.51, Y:12.77, Z:-0.18 [[ 9.49034559e-01 -3.15167407e-01 -1.70646075e-03 8.35145586e+01] [ 3.15166904e-01 9.49036093e-01 -5.63070217e-04 1.27717343e+01] [ 1.79695422e-03 -3.44685738e-06 9.99998385e-01 -1.80541079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40576923100001 meters 0.012883158221889538 Centerline is valid? [True, True] Translation: X:83.54, Y:12.78, Z:-0.18 [[ 9.48685437e-01 -3.16220259e-01 -8.30656055e-04 8.35409368e+01] [ 3.16220139e-01 9.48685801e-01 -2.74594219e-04 1.27796243e+01] [ 8.74863859e-04 -2.16663726e-06 9.99999617e-01 -1.78418523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43576923100001 meters 0.014004956359193261 Centerline is valid? [True, True] Translation: X:83.57, Y:12.78, Z:-0.18 [[ 9.47754312e-01 -3.19000935e-01 4.09501525e-04 8.35687791e+01] [ 3.19000906e-01 9.47754400e-01 1.35056342e-04 1.27826521e+01] [-4.31189971e-04 2.63112732e-06 9.99999907e-01 -1.76454513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46576923100001 meters 0.015133134564833358 Centerline is valid? [True, True] Translation: X:83.60, Y:12.79, Z:-0.18 [[ 9.47009659e-01 -3.21203781e-01 9.14744186e-04 8.35974431e+01] [ 3.21203639e-01 9.47010101e-01 3.01780243e-04 1.27874606e+01] [-9.63204939e-04 8.03035680e-06 9.99999536e-01 -1.76234121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49576923100001 meters 0.016777199635359598 Centerline is valid? [True, True] Translation: X:83.63, Y:12.79, Z:-0.18 [[ 9.46255969e-01 -3.23415555e-01 1.42131328e-03 8.36263382e+01] [ 3.23415215e-01 9.46257036e-01 4.69361299e-04 1.27922209e+01] [-1.49672644e-03 1.55384102e-05 9.99998880e-01 -1.75788299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52576923100001 meters 0.019389553421360204 Centerline is valid? [True, True] Translation: X:83.66, Y:12.79, Z:-0.17 [[ 9.45233272e-01 -3.26390684e-01 1.78400309e-03 8.36550593e+01] [ 3.26390153e-01 9.45234955e-01 5.89577030e-04 1.27935382e+01] [-1.87873453e-03 2.49932158e-05 9.99998235e-01 -1.74440412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.555769231 meters 0.02986953272041843 Centerline is valid? [True, True] Translation: X:83.68, Y:12.80, Z:-0.17 [[ 9.44889252e-01 -3.27388809e-01 9.32099978e-04 8.36830215e+01] [ 3.27388665e-01 9.44889712e-01 3.07903699e-04 1.28002755e+01] [-9.81535905e-04 1.42240709e-05 9.99999518e-01 -1.70974131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585769231 meters 0.022533714111819435 Centerline is valid? [True, True] Translation: X:83.71, Y:12.80, Z:-0.18 [[ 9.44521801e-01 -3.28447406e-01 -9.32476521e-04 8.37132986e+01] [ 3.28447261e-01 9.44522261e-01 -3.08600114e-04 1.27981259e+01] [ 9.82103739e-04 -1.47898236e-05 9.99999518e-01 -1.80123143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.615769231 meters 0.02089086129364221 Centerline is valid? [True, True] Translation: X:83.74, Y:12.81, Z:-0.18 [[ 9.44416583e-01 -3.28750690e-01 -5.49288539e-04 8.37400036e+01] [ 3.28750639e-01 9.44416743e-01 -1.82245118e-04 1.28061550e+01] [ 5.78670501e-04 -8.46364687e-06 9.99999833e-01 -1.78955930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.645769231 meters 0.021067806738755235 Centerline is valid? [True, True] Translation: X:83.77, Y:12.81, Z:-0.18 [[ 9.44496052e-01 -3.28522238e-01 5.89460404e-04 8.37678499e+01] [ 3.28522180e-01 9.44496236e-01 1.94976628e-04 1.28117750e+01] [-6.20797291e-04 9.49616200e-06 9.99999807e-01 -1.77252955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.675769231 meters 0.02034753075973565 Centerline is valid? [True, True] Translation: X:83.80, Y:12.81, Z:-0.17 [[ 9.45095686e-01 -3.26787033e-01 2.09283576e-03 8.37959301e+01] [ 3.26786299e-01 9.45098003e-01 6.92959475e-04 1.28145172e+01] [-2.20438507e-03 2.89970441e-05 9.99997570e-01 -1.74457619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.705769231 meters 0.018809288926886984 Centerline is valid? [True, True] Translation: X:83.82, Y:12.82, Z:-0.18 [[ 9.45486073e-01 -3.25659530e-01 1.39878083e-03 8.38239340e+01] [ 3.25659201e-01 9.45487107e-01 4.63125678e-04 1.28219643e+01] [-1.47335053e-03 1.76469676e-05 9.99998914e-01 -1.75558832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.735769231 meters 0.01798175030417069 Centerline is valid? [True, True] Translation: X:83.85, Y:12.83, Z:-0.18 [[ 9.45867729e-01 -3.24551782e-01 6.16548124e-04 8.38508511e+01] [ 3.24551718e-01 9.45867930e-01 2.04203234e-04 1.28282544e+01] [-6.49447621e-04 6.95250398e-06 9.99999789e-01 -1.77971888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76576923100001 meters 0.015341683378586882 Centerline is valid? [True, True] Translation: X:83.88, Y:12.84, Z:-0.18 [[ 9.46724226e-01 -3.22045207e-01 -3.52000324e-04 8.38783972e+01] [ 3.22045185e-01 9.46724292e-01 -1.17083120e-04 1.28358741e+01] [ 3.70953315e-04 -2.51458303e-06 9.99999931e-01 -1.79217582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79576923100001 meters 0.014000097162012783 Centerline is valid? [True, True] Translation: X:83.91, Y:12.84, Z:-0.18 [[ 9.47563706e-01 -3.19566655e-01 4.19060717e-04 8.39053125e+01] [ 3.19566625e-01 9.47563799e-01 1.38852075e-04 1.28424327e+01] [-4.41459258e-04 2.34663203e-06 9.99999903e-01 -1.77085443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82576923100001 meters 0.013338386715962219 Centerline is valid? [True, True] Translation: X:83.93, Y:12.85, Z:-0.18 [[ 9.47858474e-01 -3.18690597e-01 7.84821075e-04 8.39318008e+01] [ 3.18690491e-01 9.47858799e-01 2.60027331e-04 1.28508272e+01] [-8.26767827e-04 3.64590474e-06 9.99999658e-01 -1.76694493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85576923100001 meters 0.012994827178004494 Centerline is valid? [True, True] Translation: X:83.96, Y:12.86, Z:-0.18 [[ 9.48232408e-01 -3.17576483e-01 6.91591766e-04 8.39588797e+01] [ 3.17576400e-01 9.48232660e-01 2.29423400e-04 1.28588363e+01] [-7.28649376e-04 2.08651962e-06 9.99999735e-01 -1.76827615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88576923100001 meters 0.01282651960642677 Centerline is valid? [True, True] Translation: X:83.99, Y:12.87, Z:-0.18 [[ 9.48481765e-01 -3.16831391e-01 4.60106782e-04 8.39856533e+01] [ 3.16831355e-01 9.48481876e-01 1.52399837e-04 1.28674131e+01] [-4.84687996e-04 1.22778908e-06 9.99999883e-01 -1.77412448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.915769231 meters 0.012679910935637268 Centerline is valid? [True, True] Translation: X:84.01, Y:12.88, Z:-0.18 [[ 9.49155322e-01 -3.14804895e-01 1.43242688e-03 8.40122069e+01] [ 3.14804536e-01 9.49156403e-01 4.75617078e-04 1.28773334e+01] [-1.50932373e-03 -5.00001153e-07 9.99998861e-01 -1.75997181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945769231 meters 0.01275798546453077 Centerline is valid? [True, True] Translation: X:84.04, Y:12.89, Z:-0.18 [[ 9.49195857e-01 -3.14681133e-01 1.73515028e-03 8.40382374e+01] [ 3.14680604e-01 9.49197442e-01 5.76618936e-04 1.28855833e+01] [-1.82845130e-03 -1.30616759e-06 9.99998328e-01 -1.75454339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.975769231 meters 0.012706608363942867 Centerline is valid? [True, True] Translation: X:84.06, Y:12.89, Z:-0.17 [[ 9.49118136e-01 -3.14909813e-01 2.56405795e-03 8.40647430e+01] [ 3.14908660e-01 9.49121599e-01 8.52398309e-04 1.28919741e+01] [-2.70203138e-03 -1.58264049e-06 9.99996350e-01 -1.73969376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.005769231 meters 0.012819635087038752 Centerline is valid? [True, True] Translation: X:84.09, Y:12.90, Z:-0.17 [[ 9.48954179e-01 -3.15403401e-01 2.58096984e-03 8.40914904e+01] [ 3.15402233e-01 9.48957689e-01 8.58305628e-04 1.28993837e+01] [-2.71994369e-03 -4.49062093e-07 9.99996301e-01 -1.73989350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.035769231 meters 0.012856383851583272 Centerline is valid? [True, True] Translation: X:84.12, Y:12.91, Z:-0.17 [[ 9.48827171e-01 -3.15787148e-01 2.34037891e-03 8.41187583e+01] [ 3.15786188e-01 9.48830057e-01 7.78721789e-04 1.29069684e+01] [-2.46653219e-03 1.86943524e-07 9.99996958e-01 -1.74240959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.065769231 meters 0.012836976274091154 Centerline is valid? [True, True] Translation: X:84.15, Y:12.91, Z:-0.18 [[ 9.48477630e-01 -3.16836174e-01 2.24143389e-03 8.41464229e+01] [ 3.16835295e-01 9.48480279e-01 7.46230559e-04 1.29118509e+01] [-2.36238867e-03 2.38237466e-06 9.99997210e-01 -1.75612497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.095769231 meters 0.013020043315192202 Centerline is valid? [True, True] Translation: X:84.17, Y:12.92, Z:-0.18 [[ 9.48196651e-01 -3.17680398e-01 1.50849912e-03 8.41731261e+01] [ 3.17680001e-01 9.48197851e-01 5.02465553e-04 1.29168007e+01] [-1.58997908e-03 2.78384588e-06 9.99998736e-01 -1.76860137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.125769231 meters 0.013260846678613087 Centerline is valid? [True, True] Translation: X:84.20, Y:12.92, Z:-0.18 [[ 9.47911667e-01 -3.18531568e-01 1.05429169e-03 8.42018092e+01] [ 3.18531375e-01 9.47912253e-01 3.51102619e-04 1.29206944e+01] [-1.11121328e-03 3.01071221e-06 9.99999383e-01 -1.77842472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15576923100001 meters 0.013215865592418248 Centerline is valid? [True, True] Translation: X:84.23, Y:12.93, Z:-0.18 [[ 9.48107932e-01 -3.17947654e-01 7.99116397e-04 8.42279210e+01] [ 3.17947543e-01 9.48108269e-01 2.66269297e-04 1.29281842e+01] [-8.42308562e-04 1.62506234e-06 9.99999645e-01 -1.78253682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18576923100001 meters 0.012947447015028686 Centerline is valid? [True, True] Translation: X:84.25, Y:12.94, Z:-0.18 [[ 9.48409360e-01 -3.17046736e-01 1.02584983e-03 8.42540721e+01] [ 3.17046551e-01 9.48409915e-01 3.41973032e-04 1.29371565e+01] [-1.08134759e-03 9.11727497e-07 9.99999415e-01 -1.77166257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21576923100001 meters 0.013492329166607737 Centerline is valid? [True, True] Translation: X:84.28, Y:12.95, Z:-0.18 [[ 9.49493924e-01 -3.13781411e-01 1.58535262e-03 8.42796568e+01] [ 3.13780965e-01 9.49495248e-01 5.29135423e-04 1.29473381e+01] [-1.67131764e-03 -4.95739273e-06 9.99998603e-01 -1.75537893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24576923100001 meters 0.014082404044866763 Centerline is valid? [True, True] Translation: X:84.31, Y:12.96, Z:-0.18 [[ 9.49912097e-01 -3.12513734e-01 1.47448770e-03 8.43066569e+01] [ 3.12513347e-01 9.49913241e-01 4.92155792e-04 1.29575924e+01] [-1.55444083e-03 -6.70765467e-06 9.99998792e-01 -1.75557808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27576923100001 meters 0.015024685134710527 Centerline is valid? [True, True] Translation: X:84.33, Y:12.97, Z:-0.18 [[ 9.50416087e-01 -3.10978152e-01 1.36052037e-03 8.43324307e+01] [ 3.10977821e-01 9.50417060e-01 4.54396275e-04 1.29682363e+01] [-1.43436909e-03 -8.77386899e-06 9.99998971e-01 -1.76619355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305769231 meters 0.018147826159848654 Centerline is valid? [True, True] Translation: X:84.36, Y:12.98, Z:-0.18 [[ 9.51660870e-01 -3.07150756e-01 4.78952714e-05 8.43573614e+01] [ 3.07150755e-01 9.51660871e-01 1.58745811e-05 1.29825891e+01] [-5.04559453e-05 -3.96148846e-07 9.99999999e-01 -1.80111656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.335769231 meters 0.020364505238336588 Centerline is valid? [True, True] Translation: X:84.38, Y:13.00, Z:-0.18 [[ 9.52312738e-01 -3.05122913e-01 -6.76253405e-04 8.43817436e+01] [ 3.05122829e-01 9.52312978e-01 -2.26309201e-04 1.29957934e+01] [ 7.13057016e-04 9.17678255e-06 9.99999746e-01 -1.81929025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365769231 meters 0.02400093078046937 Centerline is valid? [True, True] Translation: X:84.41, Y:13.01, Z:-0.18 [[ 9.53675545e-01 -3.00831214e-01 -1.88012830e-03 8.44070556e+01] [ 3.00830559e-01 9.53677398e-01 -6.28651945e-04 1.30130803e+01] [ 1.98215399e-03 3.39299400e-05 9.99998035e-01 -1.83230136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.395769231 meters 0.02752420205365822 Centerline is valid? [True, True] Translation: X:84.43, Y:13.03, Z:-0.18 [[ 9.54325166e-01 -2.98762753e-01 -2.07251199e-03 8.44309399e+01] [ 2.98761952e-01 9.54327415e-01 -6.93239785e-04 1.30276345e+01] [ 2.18496924e-03 4.23884456e-05 9.99997612e-01 -1.84075362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.425769231 meters 0.027416633405044806 Centerline is valid? [True, True] Translation: X:84.46, Y:13.04, Z:-0.18 [[ 9.54861296e-01 -2.97046242e-01 -1.85330250e-03 8.44580556e+01] [ 2.97045597e-01 9.54863094e-01 -6.20491956e-04 1.30377946e+01] [ 1.95396496e-03 4.19684070e-05 9.99998090e-01 -1.83130600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.455769231 meters 0.032637412115551115 Centerline is valid? [True, True] Translation: X:84.48, Y:13.06, Z:-0.18 [[ 9.55519434e-01 -2.94926139e-01 -1.08776389e-03 8.44806833e+01] [ 2.94925915e-01 9.55520053e-01 -3.64274671e-04 1.30569390e+01] [ 1.14681433e-03 2.72617661e-05 9.99999342e-01 -1.83152686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.485769231 meters 0.03149010747708442 Centerline is valid? [True, True] Translation: X:84.51, Y:13.07, Z:-0.18 [[ 9.55553008e-01 -2.94819254e-01 -2.37400794e-04 8.45069813e+01] [ 2.94819244e-01 9.55553037e-01 -7.99225822e-05 1.30663119e+01] [ 2.50411766e-04 6.37994129e-06 9.99999969e-01 -1.82030903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51576923100001 meters 0.03129915827048444 Centerline is valid? [True, True] Translation: X:84.53, Y:13.08, Z:-0.18 [[ 9.55379713e-01 -2.95380061e-01 4.73544221e-04 8.45324533e+01] [ 2.95380019e-01 9.55379830e-01 1.58443009e-04 1.30764854e+01] [-4.99215503e-04 -1.14977354e-05 9.99999875e-01 -1.80794424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54576923100001 meters 0.029219665687798605 Centerline is valid? [True, True] Translation: X:84.56, Y:13.08, Z:-0.18 [[ 9.54858567e-01 -2.97054490e-01 1.93577467e-03 8.45601338e+01] [ 2.97053785e-01 9.54860528e-01 6.48463704e-04 1.30846828e+01] [-2.04102388e-03 -4.41619310e-05 9.99997916e-01 -1.77047803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57576923100001 meters 0.029039006266889298 Centerline is valid? [True, True] Translation: X:84.59, Y:13.09, Z:-0.18 [[ 9.54622413e-01 -2.97813222e-01 1.82575736e-03 8.45867550e+01] [ 2.97812596e-01 9.54624158e-01 6.11914020e-04 1.30942531e+01] [-1.92514817e-03 -4.04132985e-05 9.99998146e-01 -1.76866728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60576923100001 meters 0.027890317611337798 Centerline is valid? [True, True] Translation: X:84.61, Y:13.10, Z:-0.18 [[ 9.54357656e-01 -2.98664234e-01 1.06810783e-03 8.46135998e+01] [ 2.98664020e-01 9.54358253e-01 3.58021161e-04 1.31046779e+01] [-1.12628564e-03 -2.26748559e-05 9.99999365e-01 -1.78719407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63576923100001 meters 0.028207791145207693 Centerline is valid? [True, True] Translation: X:84.64, Y:13.12, Z:-0.18 [[ 9.54352707e-01 -2.98679893e-01 1.10978113e-03 8.46381392e+01] [ 2.98679662e-01 9.54353352e-01 3.72285203e-04 1.31150388e+01] [-1.17031745e-03 -2.38223385e-05 9.99999315e-01 -1.79312147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665769231 meters 0.02816098717900365 Centerline is valid? [True, True] Translation: X:84.66, Y:13.12, Z:-0.18 [[ 9.54288040e-01 -2.98885297e-01 1.38430862e-03 8.46640568e+01] [ 2.98884937e-01 9.54289044e-01 4.64471572e-04 1.31247549e+01] [-1.45985427e-03 -2.94906713e-05 9.99998934e-01 -1.78930878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.695769231 meters 0.027698819319599114 Centerline is valid? [True, True] Translation: X:84.69, Y:13.13, Z:-0.18 [[ 9.54021838e-01 -2.99728407e-01 2.28343539e-03 8.46901887e+01] [ 2.99727430e-01 9.54024570e-01 7.66847972e-04 1.31339340e+01] [-2.40829959e-03 -4.71814900e-05 9.99997099e-01 -1.76361571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725769231 meters 0.02713465689122283 Centerline is valid? [True, True] Translation: X:84.72, Y:13.14, Z:-0.17 [[ 9.53751750e-01 -3.00580175e-01 3.02622842e-03 8.47160026e+01] [ 3.00578461e-01 9.53756549e-01 1.01656256e-03 1.31432920e+01] [-3.19184372e-03 -5.99292356e-05 9.99994904e-01 -1.74758657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.755769231 meters 0.023769209488929886 Centerline is valid? [True, True] Translation: X:84.74, Y:13.15, Z:-0.17 [[ 9.53085114e-01 -3.02684273e-01 3.31615136e-03 8.47433968e+01] [ 3.02682228e-01 9.53090881e-01 1.11439338e-03 1.31512295e+01] [-3.49790297e-03 -5.83716626e-05 9.99993881e-01 -1.74429581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.785769231 meters 0.024397021873246032 Centerline is valid? [True, True] Translation: X:84.77, Y:13.16, Z:-0.18 [[ 9.52835352e-01 -3.03478792e-01 2.32706506e-03 8.47693059e+01] [ 3.03477786e-01 9.52838193e-01 7.82323400e-04 1.31629246e+01] [-2.45473503e-03 -3.92128394e-05 9.99996986e-01 -1.76625898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.815769231 meters 0.023758493798276683 Centerline is valid? [True, True] Translation: X:84.80, Y:13.17, Z:-0.18 [[ 9.52571682e-01 -3.04312181e-01 1.13473379e-03 8.47964676e+01] [ 3.04311942e-01 9.52572357e-01 3.81503236e-04 1.31729571e+01] [-1.19701212e-03 -1.80961352e-05 9.99999283e-01 -1.79365717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.845769231 meters 0.020359219906849142 Centerline is valid? [True, True] Translation: X:84.82, Y:13.18, Z:-0.18 [[ 9.51660186e-01 -3.07152186e-01 6.51637020e-04 8.48241477e+01] [ 3.07152108e-01 9.51660409e-01 2.19038601e-04 1.31815909e+01] [-6.87415338e-04 -8.29863139e-06 9.99999764e-01 -1.79522889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.875769231 meters 0.019464091057051613 Centerline is valid? [True, True] Translation: X:84.85, Y:13.19, Z:-0.18 [[ 9.51051302e-01 -3.09028115e-01 1.74494812e-03 8.48504267e+01] [ 3.09027557e-01 9.51052903e-01 5.87502114e-04 1.31920201e+01] [-1.84109265e-03 -1.95075947e-05 9.99998305e-01 -1.77095307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90576923100001 meters 0.015676950935426648 Centerline is valid? [True, True] Translation: X:84.88, Y:13.20, Z:-0.17 [[ 9.49656037e-01 -3.13268574e-01 4.02649398e-03 8.48784423e+01] [ 3.13265639e-01 9.49664572e-01 1.35632306e-03 1.31979643e+01] [-4.24871208e-03 -2.66781733e-05 9.99990974e-01 -1.72804393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93576923100001 meters 0.014327758048096863 Centerline is valid? [True, True] Translation: X:84.91, Y:13.20, Z:-0.17 [[ 9.48729982e-01 -3.16054409e-01 4.58605688e-03 8.49063247e+01] [ 3.16050630e-01 9.48741066e-01 1.54567199e-03 1.32047186e+01] [-4.83949694e-03 -1.69991916e-05 9.99988289e-01 -1.72656759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96576923100001 meters 0.013737448808380098 Centerline is valid? [True, True] Translation: X:84.93, Y:13.21, Z:-0.17 [[ 9.47691377e-01 -3.19156980e-01 4.45822967e-03 8.49336145e+01] [ 3.19153441e-01 9.47701863e-01 1.50308894e-03 1.32101007e+01] [-4.70479389e-03 -1.60509400e-06 9.99988932e-01 -1.73174550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99576923100001 meters 0.01581120777265054 Centerline is valid? [True, True] Translation: X:84.96, Y:13.21, Z:-0.18 [[ 9.45554434e-01 -3.25453941e-01 2.55814795e-03 8.49631440e+01] [ 3.25452798e-01 9.45557895e-01 8.62583206e-04 1.32111040e+01] [-2.69960809e-03 1.69370331e-05 9.99996356e-01 -1.77627071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02576923100001 meters 0.018557708051618896 Centerline is valid? [True, True] Translation: X:84.99, Y:13.21, Z:-0.18 [[ 9.44534042e-01 -3.28405620e-01 2.27882688e-03 8.49908389e+01] [ 3.28404722e-01 9.44536790e-01 7.68530287e-04 1.32143265e+01] [-2.40482549e-03 2.24744890e-05 9.99997108e-01 -1.78452193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.055769231 meters 0.021078105382238043 Centerline is valid? [True, True] Translation: X:85.02, Y:13.22, Z:-0.18 [[ 9.43663442e-01 -3.30898141e-01 2.39358778e-03 8.50192041e+01] [ 3.30897158e-01 9.43666477e-01 8.07413556e-04 1.32187726e+01] [-2.52592019e-03 3.01047384e-05 9.99996809e-01 -1.77508357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085769231 meters 0.021078105382238043 Centerline is valid? [True, True] Translation: X:85.05, Y:13.23, Z:-0.18 [[ 9.43607177e-01 -3.31058556e-01 2.39353083e-03 8.50451758e+01] [ 3.31057572e-01 9.43610212e-01 8.07582367e-04 1.32277613e+01] [-2.52591718e-03 3.03559871e-05 9.99996809e-01 -1.77567400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.115769231 meters 0.02573764251504824 Centerline is valid? [True, True] Translation: X:85.07, Y:13.23, Z:-0.18 [[ 9.42227131e-01 -3.34961461e-01 2.97546956e-03 8.50743295e+01] [ 3.34959959e-01 9.42231828e-01 1.00445438e-03 1.32296186e+01] [-3.14003562e-03 5.02389941e-05 9.99995069e-01 -1.75607739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.145769231 meters 0.023777848096961405 Centerline is valid? [True, True] Translation: X:85.10, Y:13.24, Z:-0.18 [[ 9.41643691e-01 -3.36597862e-01 3.00641832e-03 8.51010890e+01] [ 3.36596336e-01 9.41648489e-01 1.01517984e-03 1.32417525e+01] [-3.17269663e-03 5.60117026e-05 9.99994965e-01 -1.76039199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.175769231 meters 0.026310990457498767 Centerline is valid? [True, True] Translation: X:85.13, Y:13.25, Z:-0.18 [[ 9.40564217e-01 -3.39609454e-01 2.09096361e-03 8.51301476e+01] [ 3.39608722e-01 9.40566540e-01 7.06327645e-04 1.32452953e+01] [-2.20656595e-03 4.57629714e-05 9.99997564e-01 -1.78666724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.205769231 meters 0.0331944928990667 Centerline is valid? [True, True] Translation: X:85.16, Y:13.24, Z:-0.18 [[ 9.40101242e-01 -3.40890649e-01 1.79462515e-03 8.51604664e+01] [ 3.40890112e-01 9.40102954e-01 6.06529672e-04 1.32429616e+01] [-1.89389270e-03 4.15706702e-05 9.99998206e-01 -1.79099856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.235769231 meters 0.03270569144827129 Centerline is valid? [True, True] Translation: X:85.19, Y:13.25, Z:-0.18 [[ 9.39688655e-01 -3.42026639e-01 1.73520988e-03 8.51884671e+01] [ 3.42026138e-01 9.39690256e-01 5.86527165e-04 1.32514149e+01] [-1.83116773e-03 4.23342122e-05 9.99998323e-01 -1.78983528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26576923100001 meters 0.035958698665118874 Centerline is valid? [True, True] Translation: X:85.22, Y:13.25, Z:-0.18 [[ 9.39384491e-01 -3.42860606e-01 1.83949092e-03 8.52171266e+01] [ 3.42860044e-01 9.39386291e-01 6.22126449e-04 1.32548023e+01] [-1.94129520e-03 4.62720010e-05 9.99998115e-01 -1.78619633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29576923100001 meters 0.03612150940598867 Centerline is valid? [True, True] Translation: X:85.25, Y:13.26, Z:-0.18 [[ 9.38767867e-01 -3.44547558e-01 1.36814078e-03 8.52457848e+01] [ 3.44547249e-01 9.38768863e-01 4.62692161e-04 1.32594034e+01] [-1.44378742e-03 3.70286098e-05 9.99998957e-01 -1.79532330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32576923100001 meters 0.040583195318485234 Centerline is valid? [True, True] Translation: X:85.27, Y:13.26, Z:-0.18 [[ 9.38243418e-01 -3.45974732e-01 8.79322313e-04 8.52749020e+01] [ 3.45974605e-01 9.38243830e-01 2.97493505e-04 1.32595669e+01] [-9.27943970e-04 2.51018673e-05 9.99999569e-01 -1.80992345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35576923100001 meters 0.041697371566820365 Centerline is valid? [True, True] Translation: X:85.31, Y:13.26, Z:-0.18 [[ 9.37282831e-01 -3.48565634e-01 1.70080908e-03 8.53052805e+01] [ 3.48565163e-01 9.37284373e-01 5.75759300e-04 1.32606506e+01] [-1.79483168e-03 5.31934870e-05 9.99998388e-01 -1.79308697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38576923100001 meters 0.03650854935828046 Centerline is valid? [True, True] Translation: X:85.33, Y:13.27, Z:-0.18 [[ 9.36858338e-01 -3.49699579e-01 2.58052210e-03 8.53314665e+01] [ 3.49698497e-01 9.36861888e-01 8.73768509e-04 1.32729455e+01] [-2.72314928e-03 8.38073862e-05 9.99996289e-01 -1.77534493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.415769231 meters 0.037438070234189394 Centerline is valid? [True, True] Translation: X:85.36, Y:13.28, Z:-0.18 [[ 9.36439784e-01 -3.50814160e-01 3.15527813e-03 8.53598311e+01] [ 3.50812548e-01 9.36445094e-01 1.06894263e-03 1.32772818e+01] [-3.32974494e-03 1.05910757e-04 9.99994451e-01 -1.76455024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445769231 meters 0.039087129273477475 Centerline is valid? [True, True] Translation: X:85.39, Y:13.28, Z:-0.18 [[ 9.36190577e-01 -3.51485792e-01 2.22313028e-03 8.53892193e+01] [ 3.51484993e-01 9.36193213e-01 7.53302444e-04 1.32762625e+01] [-2.34605458e-03 7.61622808e-05 9.99997245e-01 -1.77481102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.475769231 meters 0.03855676054695509 Centerline is valid? [True, True] Translation: X:85.42, Y:13.28, Z:-0.18 [[ 9.36233730e-01 -3.51374871e-01 1.44977267e-03 8.54179491e+01] [ 3.51374531e-01 9.36234852e-01 4.91240333e-04 1.32827937e+01] [-1.52993721e-03 4.94974218e-05 9.99998828e-01 -1.78946214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.505769231 meters 0.0408854494783675 Centerline is valid? [True, True] Translation: X:85.45, Y:13.28, Z:-0.18 [[ 9.36409591e-01 -3.50907720e-01 9.21522856e-04 8.54465695e+01] [ 3.50907582e-01 9.36410044e-01 3.12393277e-04 1.32847841e+01] [-9.72544472e-04 3.08412962e-05 9.99999527e-01 -1.80328505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.535769231 meters 0.0369771724962165 Centerline is valid? [True, True] Translation: X:85.48, Y:13.29, Z:-0.18 [[ 9.36694056e-01 -3.50143641e-01 1.91754211e-03 8.54753807e+01] [ 3.50143042e-01 9.36696016e-01 6.50290102e-04 1.32895472e+01] [-2.02384900e-03 6.22911560e-05 9.99997950e-01 -1.79448998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.565769231 meters 0.037496552895319994 Centerline is valid? [True, True] Translation: X:85.50, Y:13.29, Z:-0.18 [[ 9.36884651e-01 -3.49628977e-01 2.59385682e-03 8.55036794e+01] [ 3.49627879e-01 9.36888238e-01 8.80178516e-04 1.32940504e+01] [-2.73788986e-03 8.22589166e-05 9.99996249e-01 -1.77440989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.595769231 meters 0.03241285354119053 Centerline is valid? [True, True] Translation: X:85.53, Y:13.30, Z:-0.18 [[ 9.37963321e-01 -3.46720106e-01 3.15871650e-03 8.55314262e+01] [ 3.46718460e-01 9.37968635e-01 1.07204191e-03 1.33047840e+01] [-3.33447549e-03 8.96493276e-05 9.99994437e-01 -1.76280892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.625769231 meters 0.03241425939562761 Centerline is valid? [True, True] Translation: X:85.56, Y:13.31, Z:-0.18 [[ 9.38838548e-01 -3.44350286e-01 2.24974833e-03 8.55587415e+01] [ 3.44349444e-01 9.38841242e-01 7.63595038e-04 1.33118245e+01] [-2.37510069e-03 5.78071311e-05 9.99997178e-01 -1.77783932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65576923100001 meters 0.029414736445349435 Centerline is valid? [True, True] Translation: X:85.59, Y:13.32, Z:-0.18 [[ 9.39727518e-01 -3.41921025e-01 1.48479952e-03 8.55857694e+01] [ 3.41920655e-01 9.39728690e-01 5.03941577e-04 1.33229519e+01] [-1.56761693e-03 3.41158598e-05 9.99998771e-01 -1.79748826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68576923100001 meters 0.023792524264124867 Centerline is valid? [True, True] Translation: X:85.61, Y:13.34, Z:-0.18 [[ 9.41034022e-01 -3.38308509e-01 1.52374751e-03 8.56122747e+01] [ 3.38308114e-01 9.41035256e-01 5.17453537e-04 1.33353534e+01] [-1.60895906e-03 2.85547624e-05 9.99998705e-01 -1.81515592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71576923100001 meters 0.022674779031112847 Centerline is valid? [True, True] Translation: X:85.64, Y:13.34, Z:-0.18 [[ 9.41362935e-01 -3.37391185e-01 1.73579533e-03 8.56395261e+01] [ 3.37390671e-01 9.41364535e-01 5.89622389e-04 1.33448436e+01] [-1.83294956e-03 3.05924872e-05 9.99998320e-01 -1.81439799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74576923100001 meters 0.021678555575679135 Centerline is valid? [True, True] Translation: X:85.67, Y:13.35, Z:-0.18 [[ 9.42011565e-01 -3.35577451e-01 1.40958306e-03 8.56661528e+01] [ 3.35577109e-01 9.42012619e-01 4.79081393e-04 1.33522414e+01] [-1.48861394e-03 2.17235951e-05 9.99998892e-01 -1.82225867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77576923100001 meters 0.02000764771973765 Centerline is valid? [True, True] Translation: X:85.69, Y:13.36, Z:-0.18 [[ 9.42272417e-01 -3.34845570e-01 1.06601373e-03 8.56932744e+01] [ 3.34845374e-01 9.42273020e-01 3.62228831e-04 1.33618904e+01] [-1.12576669e-03 1.56315284e-05 9.99999366e-01 -1.82379952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805769231 meters 0.020517654397261838 Centerline is valid? [True, True] Translation: X:85.72, Y:13.37, Z:-0.18 [[ 9.42508906e-01 -3.34179409e-01 1.04135591e-03 8.57210693e+01] [ 3.34179222e-01 9.42509481e-01 3.54161200e-04 1.33670565e+01] [-1.09984120e-03 1.41994232e-05 9.99999395e-01 -1.83413679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.835769231 meters 0.019653427333039993 Centerline is valid? [True, True] Translation: X:85.75, Y:13.37, Z:-0.18 [[ 9.42940686e-01 -3.32959831e-01 7.83093692e-04 8.57482275e+01] [ 3.32959724e-01 9.42941012e-01 2.66350568e-04 1.33743186e+01] [-8.27095198e-04 9.58587231e-06 9.99999658e-01 -1.83969851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865769231 meters 0.0181795887492379 Centerline is valid? [True, True] Translation: X:85.77, Y:13.39, Z:-0.18 [[ 9.43269031e-01 -3.32028344e-01 8.44989900e-04 8.57746959e+01] [ 3.32028219e-01 9.43269410e-01 2.87322175e-04 1.33850950e+01] [-8.92452230e-04 9.53838279e-06 9.99999602e-01 -1.83867977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.895769231 meters 0.015759637135918703 Centerline is valid? [True, True] Translation: X:85.80, Y:13.40, Z:-0.18 [[ 9.44464978e-01 -3.28610681e-01 9.61745450e-04 8.58011135e+01] [ 3.28610518e-01 9.44465468e-01 3.27255160e-04 1.33958076e+01] [-1.01587491e-03 6.95863276e-06 9.99999484e-01 -1.83874088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.925769231 meters 0.014828939635599597 Centerline is valid? [True, True] Translation: X:85.83, Y:13.41, Z:-0.18 [[ 9.45132378e-01 -3.26687227e-01 4.92929079e-04 8.58274225e+01] [ 3.26687184e-01 9.45132507e-01 1.67822120e-04 1.34062178e+01] [-5.20708639e-04 2.41949326e-06 9.99999864e-01 -1.84396465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.955769231 meters 0.01432543352314644 Centerline is valid? [True, True] Translation: X:85.85, Y:13.42, Z:-0.19 [[ 9.45687784e-01 -3.25076298e-01 1.23148166e-04 8.58532728e+01] [ 3.25076296e-01 9.45687792e-01 4.15551933e-05 1.34176938e+01] [-1.29968325e-04 7.34310911e-07 9.99999992e-01 -1.85634983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.985769231 meters 0.014311157064578172 Centerline is valid? [True, True] Translation: X:85.88, Y:13.43, Z:-0.19 [[ 9.46329843e-01 -3.23201426e-01 -8.16842939e-04 8.58787537e+01] [ 3.23201305e-01 9.46330195e-01 -2.79102090e-04 1.34301227e+01] [ 8.63209331e-04 1.17932574e-07 9.99999627e-01 -1.88227068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01576923100001 meters 0.01434497485838565 Centerline is valid? [True, True] Translation: X:85.90, Y:13.44, Z:-0.19 [[ 9.46447902e-01 -3.22854344e-01 -1.20061093e-03 8.59040809e+01] [ 3.22854083e-01 9.46448664e-01 -4.10062166e-04 1.34385645e+01] [ 1.26870696e-03 4.80336341e-07 9.99999195e-01 -1.88814071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04576923100001 meters 0.014125998134534056 Centerline is valid? [True, True] Translation: X:85.93, Y:13.45, Z:-0.19 [[ 9.46209807e-01 -3.23553407e-01 -4.41375696e-04 8.59316789e+01] [ 3.23553372e-01 9.46209910e-01 -1.51158173e-04 1.34451591e+01] [ 4.66541799e-04 2.18751000e-07 9.99999891e-01 -1.86663958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07576923100001 meters 0.014148535427701546 Centerline is valid? [True, True] Translation: X:85.96, Y:13.45, Z:-0.18 [[ 9.45883901e-01 -3.24504745e-01 5.61394192e-04 8.59587227e+01] [ 3.24504689e-01 9.45884068e-01 1.91412270e-04 1.34537510e+01] [-5.93128012e-04 1.12126313e-06 9.99999824e-01 -1.84487087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10576923100001 meters 0.014170663935770178 Centerline is valid? [True, True] Translation: X:85.98, Y:13.46, Z:-0.18 [[ 9.45609470e-01 -3.25300968e-01 1.41789165e-03 8.59845018e+01] [ 3.25300607e-01 9.45610533e-01 4.84463578e-04 1.34631055e+01] [-1.49836975e-03 3.12766674e-06 9.99998877e-01 -1.83283453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13576923100001 meters 0.014388377041841044 Centerline is valid? [True, True] Translation: X:86.01, Y:13.47, Z:-0.18 [[ 9.45469357e-01 -3.25709247e-01 1.08688699e-03 8.60105918e+01] [ 3.25709035e-01 9.45469982e-01 3.71308609e-04 1.34743105e+01] [-1.14855767e-03 2.94800041e-06 9.99999340e-01 -1.84723627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165769231 meters 0.014507995246684086 Centerline is valid? [True, True] Translation: X:86.04, Y:13.48, Z:-0.19 [[ 9.45396594e-01 -3.25922081e-01 2.77325102e-04 8.60355627e+01] [ 3.25922067e-01 9.45396635e-01 9.46894736e-05 1.34832286e+01] [-2.93043609e-04 8.67264839e-07 9.99999957e-01 -1.86354574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.195769231 meters 0.01461069334137826 Centerline is valid? [True, True] Translation: X:86.06, Y:13.49, Z:-0.19 [[ 9.45102425e-01 -3.26774021e-01 3.80288520e-04 8.60621536e+01] [ 3.26773995e-01 9.45102502e-01 1.29745014e-04 1.34928537e+01] [-4.01808931e-04 1.64607171e-06 9.99999919e-01 -1.85733552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225769231 meters 0.014949935830726978 Centerline is valid? [True, True] Translation: X:86.09, Y:13.50, Z:-0.18 [[ 9.44790858e-01 -3.27673176e-01 7.24208752e-04 8.60879312e+01] [ 3.27673083e-01 9.44791135e-01 2.47725029e-04 1.35002479e+01] [-7.65398856e-04 3.25537173e-06 9.99999707e-01 -1.84674887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.255769231 meters 0.015418259332040359 Centerline is valid? [True, True] Translation: X:86.11, Y:13.51, Z:-0.19 [[ 9.44459358e-01 -3.28627621e-01 6.38359745e-04 8.61145365e+01] [ 3.28627548e-01 9.44459574e-01 2.18534605e-04 1.35073072e+01] [-6.74721480e-04 3.38554502e-06 9.99999772e-01 -1.85038176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.285769231 meters 0.01647067144234819 Centerline is valid? [True, True] Translation: X:86.14, Y:13.51, Z:-0.19 [[ 9.43789388e-01 -3.30547404e-01 -6.49434103e-05 8.61435711e+01] [ 3.30547403e-01 9.43789391e-01 -2.26164215e-05 1.35118731e+01] [ 6.87687011e-05 -1.21736977e-07 9.99999998e-01 -1.86107158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.315769231 meters 0.01688916370106631 Centerline is valid? [True, True] Translation: X:86.17, Y:13.52, Z:-0.19 [[ 9.43388024e-01 -3.31691177e-01 5.52702129e-07 8.61713460e+01] [ 3.31691177e-01 9.43388024e-01 -1.78162330e-07 1.35198950e+01] [-4.62317709e-07 3.51402628e-07 1.00000000e+00 -1.85947318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.345769231 meters 0.017845149219420858 Centerline is valid? [True, True] Translation: X:86.20, Y:13.53, Z:-0.18 [[ 9.42756650e-01 -3.33480627e-01 7.55379906e-04 8.61996164e+01] [ 3.33480527e-01 9.42756952e-01 2.58780653e-04 1.35261296e+01] [-7.98437993e-04 7.93730746e-06 9.99999681e-01 -1.84986586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.375769231 meters 0.01738940951650589 Centerline is valid? [True, True] Translation: X:86.23, Y:13.53, Z:-0.18 [[ 9.42683207e-01 -3.33687552e-01 9.94051499e-04 8.62263860e+01] [ 3.33687378e-01 9.42683731e-01 3.40812039e-04 1.35343216e+01] [-1.05080091e-03 1.04246531e-05 9.99999448e-01 -1.84504413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40576923100001 meters 0.016885171595227778 Centerline is valid? [True, True] Translation: X:86.25, Y:13.54, Z:-0.18 [[ 9.42794114e-01 -3.33372791e-01 1.35645513e-03 8.62537273e+01] [ 3.33372466e-01 9.42795090e-01 4.65522068e-04 1.35417060e+01] [-1.43405163e-03 1.33133259e-05 9.99998972e-01 -1.84015284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43576923100001 meters 0.016970550113004843 Centerline is valid? [True, True] Translation: X:86.28, Y:13.55, Z:-0.18 [[ 9.43017341e-01 -3.32740065e-01 1.53088154e-03 8.62804523e+01] [ 3.32739650e-01 9.43018583e-01 5.25836473e-04 1.35482115e+01] [-1.61861660e-03 1.35120746e-05 9.99998690e-01 -1.83939258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46576923100001 meters 0.01577507854543744 Centerline is valid? [True, True] Translation: X:86.31, Y:13.56, Z:-0.19 [[ 9.43528810e-01 -3.31289829e-01 6.58239784e-04 8.63075879e+01] [ 3.31289752e-01 9.43529040e-01 2.25925537e-04 1.35575249e+01] [-6.95915184e-04 4.90084233e-06 9.99999758e-01 -1.85151263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49576923100001 meters 0.01559234116691722 Centerline is valid? [True, True] Translation: X:86.33, Y:13.57, Z:-0.19 [[ 9.43681083e-01 -3.30856394e-01 -2.46580902e-04 8.63340881e+01] [ 3.30856383e-01 9.43681115e-01 -8.52722392e-05 1.35655424e+01] [ 2.60906606e-04 -1.11306652e-06 9.99999966e-01 -1.86629805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52576923100001 meters 0.015231072455479697 Centerline is valid? [True, True] Translation: X:86.36, Y:13.57, Z:-0.19 [[ 9.43991377e-01 -3.29966312e-01 -1.58529545e-03 8.63608490e+01] [ 3.29965861e-01 9.43992708e-01 -5.45730689e-04 1.35695687e+01] [ 1.67658008e-03 -7.92831127e-06 9.99998595e-01 -1.89356053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.555769231 meters 0.01513221268040686 Centerline is valid? [True, True] Translation: X:86.39, Y:13.58, Z:-0.19 [[ 9.44192864e-01 -3.29390115e-01 -1.40954653e-03 8.63884864e+01] [ 3.29389758e-01 9.44193916e-01 -4.85289919e-04 1.35756873e+01] [ 1.49073496e-03 -6.08291295e-06 9.99998889e-01 -1.90121370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585769231 meters 0.014766033656730026 Centerline is valid? [True, True] Translation: X:86.42, Y:13.58, Z:-0.19 [[ 9.44247273e-01 -3.29235960e-01 -8.77507036e-04 8.64159244e+01] [ 3.29235821e-01 9.44247681e-01 -3.02655394e-04 1.35833499e+01] [ 9.28229023e-04 -3.12521910e-06 9.99999569e-01 -1.88057788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.615769231 meters 0.014348140780707995 Centerline is valid? [True, True] Translation: X:86.44, Y:13.59, Z:-0.19 [[ 9.44663813e-01 -3.28039924e-01 -2.97094161e-04 8.64431172e+01] [ 3.28039908e-01 9.44663860e-01 -1.02476150e-04 1.35895557e+01] [ 3.14270385e-04 -6.53230206e-07 9.99999951e-01 -1.87090060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.645769231 meters 0.01417130520718761 Centerline is valid? [True, True] Translation: X:86.47, Y:13.60, Z:-0.19 [[ 9.45056253e-01 -3.26906317e-01 -9.68980674e-04 8.64685514e+01] [ 3.26906146e-01 9.45056750e-01 -3.34065713e-04 1.35979807e+01] [ 1.02494992e-03 -1.05484702e-06 9.99999475e-01 -1.88053937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.675769231 meters 0.014070829114705145 Centerline is valid? [True, True] Translation: X:86.50, Y:13.61, Z:-0.19 [[ 9.45843992e-01 -3.24620935e-01 -6.25200991e-04 8.64951205e+01] [ 3.24620863e-01 9.45844199e-01 -2.15978581e-04 1.36069324e+01] [ 6.61453899e-04 1.32875827e-06 9.99999781e-01 -1.87265698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.705769231 meters 0.014171085814412782 Centerline is valid? [True, True] Translation: X:86.52, Y:13.62, Z:-0.19 [[ 9.46095846e-01 -3.23886457e-01 4.62539556e-04 8.65211472e+01] [ 3.23886418e-01 9.46095959e-01 1.59144525e-04 1.36160227e+01] [-4.89151561e-04 -7.55694403e-07 9.99999880e-01 -1.85328307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.735769231 meters 0.014123601159099374 Centerline is valid? [True, True] Translation: X:86.55, Y:13.62, Z:-0.19 [[ 9.46070860e-01 -3.23958663e-01 8.43557807e-04 8.65480307e+01] [ 3.23958533e-01 9.46071237e-01 2.90765862e-04 1.36238105e+01] [-8.92261898e-04 -1.80735962e-06 9.99999602e-01 -1.85717645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76576923100001 meters 0.013968208308000595 Centerline is valid? [True, True] Translation: X:86.58, Y:13.63, Z:-0.19 [[ 9.45262648e-01 -3.26309957e-01 -5.82289873e-04 8.65757149e+01] [ 3.26309895e-01 9.45262827e-01 -2.01541581e-04 1.36251134e+01] [ 6.16181996e-04 5.02781232e-07 9.99999810e-01 -1.89022597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79576923100001 meters 0.014304255800529301 Centerline is valid? [True, True] Translation: X:86.60, Y:13.63, Z:-0.19 [[ 9.44828230e-01 -3.27561324e-01 -1.78713143e-03 8.66038619e+01] [ 3.27560742e-01 9.44829921e-01 -6.17517957e-04 1.36298398e+01] [ 1.89081025e-03 -1.94570061e-06 9.99998212e-01 -1.90967124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82576923100001 meters 0.014691346239633042 Centerline is valid? [True, True] Translation: X:86.63, Y:13.63, Z:-0.19 [[ 9.44416392e-01 -3.28735173e-01 -3.29609052e-03 8.66326393e+01] [ 3.28733198e-01 9.44422144e-01 -1.13962913e-03 1.36337086e+01] [ 3.48753706e-03 -7.24994711e-06 9.99993918e-01 -1.92884638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85576923100001 meters 0.014590241214965653 Centerline is valid? [True, True] Translation: X:86.66, Y:13.64, Z:-0.19 [[ 9.44632561e-01 -3.28109417e-01 -3.67900987e-03 8.66590292e+01] [ 3.28106949e-01 9.44639725e-01 -1.27278629e-03 1.36429711e+01] [ 3.89295204e-03 -4.79333379e-06 9.99992422e-01 -1.93614685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88576923100001 meters 0.014545940007918087 Centerline is valid? [True, True] Translation: X:86.68, Y:13.65, Z:-0.19 [[ 9.44936877e-01 -3.27234744e-01 -3.42366521e-03 8.66849561e+01] [ 3.27232597e-01 9.44943079e-01 -1.18516973e-03 1.36529676e+01] [ 3.62299746e-03 -4.24275509e-07 9.99993437e-01 -1.93202048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91576923100001 meters 0.014464690874930334 Centerline is valid? [True, True] Translation: X:86.71, Y:13.67, Z:-0.19 [[ 9.45937376e-01 -3.24348474e-01 -7.40445891e-04 8.67113151e+01] [ 3.24348373e-01 9.45937666e-01 -2.56721762e-04 1.36658615e+01] [ 7.83682969e-04 2.68029039e-06 9.99999693e-01 -1.87288348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945769231 meters 0.015268609833318774 Centerline is valid? [True, True] Translation: X:86.74, Y:13.68, Z:-0.19 [[ 9.46598477e-01 -3.22414813e-01 1.09119177e-04 8.67370848e+01] [ 3.22414811e-01 9.46598483e-01 3.74418664e-05 1.36789468e+01] [-1.15363859e-04 -2.60775030e-07 9.99999993e-01 -1.85261517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.975769231 meters 0.019125767090050868 Centerline is valid? [True, True] Translation: X:86.76, Y:13.70, Z:-0.18 [[ 9.48291501e-01 -3.17400621e-01 -2.74172163e-04 8.67597543e+01] [ 3.17400607e-01 9.48291540e-01 -9.52264487e-05 1.36970337e+01] [ 2.90220076e-04 3.28002117e-06 9.99999958e-01 -1.84750921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.005769231 meters 0.019125767090050868 Centerline is valid? [True, True] Translation: X:86.79, Y:13.71, Z:-0.18 [[ 9.48235025e-01 -3.17569303e-01 -2.74098926e-04 8.67856736e+01] [ 3.17569288e-01 9.48235065e-01 -9.54376858e-05 1.37062340e+01] [ 2.90218292e-04 3.45195565e-06 9.99999958e-01 -1.84809984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.035769231 meters 0.02164916036366761 Centerline is valid? [True, True] Translation: X:86.81, Y:13.72, Z:-0.19 [[ 9.49095366e-01 -3.14988831e-01 -1.48469671e-04 8.68108704e+01] [ 3.14988827e-01 9.49095378e-01 -5.16793636e-05 1.37201098e+01] [ 1.57190301e-04 2.28235692e-06 9.99999988e-01 -1.85298071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.065769231 meters 0.025515692181245622 Centerline is valid? [True, True] Translation: X:86.84, Y:13.74, Z:-0.18 [[ 9.50698765e-01 -3.10115415e-01 5.36272187e-04 8.68362200e+01] [ 3.10115360e-01 9.50698916e-01 1.85943509e-04 1.37384634e+01] [-5.67497335e-04 -1.04700220e-05 9.99999839e-01 -1.83008860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.095769231 meters 0.027184413438862916 Centerline is valid? [True, True] Translation: X:86.86, Y:13.75, Z:-0.18 [[ 9.51388664e-01 -3.07991481e-01 9.25559023e-04 8.68616090e+01] [ 3.07991315e-01 9.51389114e-01 3.20811093e-04 1.37533650e+01] [-9.79373863e-04 -2.01518971e-05 9.99999520e-01 -1.82030322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.125769231 meters 0.03277952710092529 Centerline is valid? [True, True] Translation: X:86.89, Y:13.77, Z:-0.18 [[ 9.52199121e-01 -3.05476234e-01 1.05118225e-03 8.68850384e+01] [ 3.05476018e-01 9.52199700e-01 3.64721518e-04 1.37730358e+01] [-1.11234918e-03 -2.61765410e-05 9.99999381e-01 -1.81722653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15576923100001 meters 0.03404171029671019 Centerline is valid? [True, True] Translation: X:86.91, Y:13.79, Z:-0.18 [[ 9.53542277e-01 -3.01259214e-01 -1.08720263e-04 8.69103527e+01] [ 3.01259212e-01 9.53542283e-01 -3.77948623e-05 1.37909923e+01] [ 1.15055418e-04 3.28601831e-06 9.99999993e-01 -1.82527366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18576923100001 meters 0.040939828801681344 Centerline is valid? [True, True] Translation: X:86.93, Y:13.81, Z:-0.18 [[ 9.54047201e-01 -2.99654534e-01 -1.04787142e-03 8.69323281e+01] [ 2.99654315e-01 9.54047776e-01 -3.63909961e-04 1.38133186e+01] [ 1.10876666e-03 3.31880887e-05 9.99999385e-01 -1.84844791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21576923100001 meters 0.037881889730833423 Centerline is valid? [True, True] Translation: X:86.96, Y:13.83, Z:-0.19 [[ 9.54624557e-01 -2.97801112e-01 -2.54038609e-03 8.69587201e+01] [ 2.97799818e-01 9.54627933e-01 -8.82036673e-04 1.38269713e+01] [ 2.68779502e-03 8.54873517e-05 9.99996384e-01 -1.87851751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24576923100001 meters 0.0439006295411807 Centerline is valid? [True, True] Translation: X:86.98, Y:13.85, Z:-0.19 [[ 9.54589877e-01 -2.97908319e-01 -2.96638759e-03 8.69805459e+01] [ 2.97906553e-01 9.54594481e-01 -1.03059595e-03 1.38465503e+01] [ 3.13872033e-03 1.00090155e-04 9.99995069e-01 -1.89917288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27576923100001 meters 0.03577916449337651 Centerline is valid? [True, True] Translation: X:87.01, Y:13.85, Z:-0.19 [[ 9.54300571e-01 -2.98833155e-01 -3.02745930e-03 8.70107298e+01] [ 2.98831319e-01 9.54305368e-01 -1.05246150e-03 1.38487162e+01] [ 3.20363105e-03 9.96649528e-05 9.99994863e-01 -1.88095943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305769231 meters 0.04241304736654123 Centerline is valid? [True, True] Translation: X:87.03, Y:13.87, Z:-0.19 [[ 9.53985871e-01 -2.99838982e-01 -2.74630674e-03 8.70332685e+01] [ 2.99837475e-01 9.53989820e-01 -9.54695739e-04 1.38693602e+01] [ 2.90620367e-03 8.73205684e-05 9.99995773e-01 -1.88914400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.335769231 meters 0.0306962606423094 Centerline is valid? [True, True] Translation: X:87.06, Y:13.87, Z:-0.18 [[ 9.52837344e-01 -3.03474608e-01 -2.03935608e-03 8.70640847e+01] [ 3.03473785e-01 9.52839524e-01 -7.08949332e-04 1.38710301e+01] [ 2.15832719e-03 5.66222912e-05 9.99997669e-01 -1.84856217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365769231 meters 0.028324641964442038 Centerline is valid? [True, True] Translation: X:87.09, Y:13.88, Z:-0.19 [[ 9.51436640e-01 -3.07838839e-01 -1.88946121e-03 8.70899817e+01] [ 3.07838141e-01 9.51438515e-01 -6.56894606e-04 1.38831411e+01] [ 1.99992384e-03 4.33453693e-05 9.99997999e-01 -1.85579207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.395769231 meters 0.025708467741995873 Centerline is valid? [True, True] Translation: X:87.12, Y:13.89, Z:-0.19 [[ 9.50567989e-01 -3.10509951e-01 -2.01691473e-03 8.71180711e+01] [ 3.10509161e-01 9.50570128e-01 -7.01834337e-04 1.38914922e+01] [ 2.13514544e-03 4.08707543e-05 9.99997720e-01 -1.86498970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.425769231 meters 0.023374776089783004 Centerline is valid? [True, True] Translation: X:87.15, Y:13.90, Z:-0.19 [[ 9.49694750e-01 -3.13171905e-01 -1.79970221e-03 8.71463059e+01] [ 3.13171280e-01 9.49696455e-01 -6.26593771e-04 1.38996944e+01] [ 1.90540237e-03 3.14577717e-05 9.99998184e-01 -1.86828853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.455769231 meters 0.02090010964949762 Centerline is valid? [True, True] Translation: X:87.17, Y:13.91, Z:-0.19 [[ 9.48808051e-01 -3.15850664e-01 -1.28069182e-03 8.71740793e+01] [ 3.15850349e-01 9.48808915e-01 -4.46256820e-04 1.39070805e+01] [ 1.35608232e-03 1.89051063e-05 9.99999080e-01 -1.85598072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.485769231 meters 0.016753491401535543 Centerline is valid? [True, True] Translation: X:87.20, Y:13.91, Z:-0.19 [[ 9.46973040e-01 -3.21309241e-01 -1.55977836e-03 8.72018104e+01] [ 3.21308782e-01 9.46974324e-01 -5.43284557e-04 1.39109997e+01] [ 1.65163241e-03 1.33053420e-05 9.99998636e-01 -1.85370826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51576923100001 meters 0.015124624343297883 Centerline is valid? [True, True] Translation: X:87.23, Y:13.92, Z:-0.19 [[ 9.45929477e-01 -3.24363246e-01 -2.43090520e-03 8.72298727e+01] [ 3.24362140e-01 9.45932600e-01 -8.47327967e-04 1.39167148e+01] [ 2.57431453e-03 1.30188868e-05 9.99996686e-01 -1.86520055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54576923100001 meters 0.01426939753260444 Centerline is valid? [True, True] Translation: X:87.26, Y:13.92, Z:-0.19 [[ 9.44046070e-01 -3.29795994e-01 -3.40874925e-03 8.72582228e+01] [ 3.29793854e-01 9.44052225e-01 -1.18800080e-03 1.39190459e+01] [ 3.60983522e-03 -2.65707102e-06 9.99993485e-01 -1.89578054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57576923100001 meters 0.014507640767205314 Centerline is valid? [True, True] Translation: X:87.29, Y:13.93, Z:-0.19 [[ 9.43279792e-01 -3.31984635e-01 -3.07173469e-03 8.72851688e+01] [ 3.31982906e-01 9.43284794e-01 -1.07152899e-03 1.39259594e+01] [ 3.25325179e-03 -9.01176429e-06 9.99994708e-01 -1.88224748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60576923100001 meters 0.01462785582250782 Centerline is valid? [True, True] Translation: X:87.31, Y:13.93, Z:-0.19 [[ 9.42740693e-01 -3.33520025e-01 -2.09245138e-03 8.73123789e+01] [ 3.33519225e-01 9.42743015e-01 -7.30530299e-04 1.39338290e+01] [ 2.21629040e-03 -9.17212032e-06 9.99997544e-01 -1.85719554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63576923100001 meters 0.015267242086702694 Centerline is valid? [True, True] Translation: X:87.34, Y:13.94, Z:-0.18 [[ 9.42346374e-01 -3.34638665e-01 -5.24100246e-04 8.73389274e+01] [ 3.34638615e-01 9.42346520e-01 -1.83110668e-04 1.39404783e+01] [ 5.55159953e-04 -2.83050707e-06 9.99999846e-01 -1.83012359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66576923100001 meters 0.015024784234510518 Centerline is valid? [True, True] Translation: X:87.37, Y:13.95, Z:-0.18 [[ 9.42303000e-01 -3.34760457e-01 -7.02201234e-04 8.73650987e+01] [ 3.34760367e-01 9.42303261e-01 -2.45652787e-04 1.39505183e+01] [ 7.43921352e-04 -3.58978453e-06 9.99999723e-01 -1.83324526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.695769231 meters 0.014913039797436795 Centerline is valid? [True, True] Translation: X:87.39, Y:13.96, Z:-0.19 [[ 9.42778388e-01 -3.33397312e-01 -3.89144997e-03 8.73912337e+01] [ 3.33394540e-01 9.42786419e-01 -1.35957520e-03 1.39616507e+01] [ 4.12208490e-03 -1.56100558e-05 9.99991504e-01 -1.89362945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725769231 meters 0.01502388559069831 Centerline is valid? [True, True] Translation: X:87.42, Y:13.97, Z:-0.19 [[ 9.43167447e-01 -3.32273185e-01 -5.44951386e-03 8.74173509e+01] [ 3.32267729e-01 9.43183190e-01 -1.90414031e-03 1.39716024e+01] [ 5.77258463e-03 -1.47744354e-05 9.99983338e-01 -1.94256268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.755769231 meters 0.014614529005090245 Centerline is valid? [True, True] Translation: X:87.44, Y:13.98, Z:-0.19 [[ 9.43408607e-01 -3.31588061e-01 -5.43672002e-03 8.74437456e+01] [ 3.31582611e-01 9.43424272e-01 -1.90110400e-03 1.39811687e+01] [ 5.75951702e-03 -9.20394459e-06 9.99983414e-01 -1.92603288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.785769231 meters 0.014468892260442534 Centerline is valid? [True, True] Translation: X:87.47, Y:13.99, Z:-0.19 [[ 9.43360127e-01 -3.31745265e-01 -4.09257987e-03 8.74703829e+01] [ 3.31742178e-01 9.43369005e-01 -1.43116429e-03 1.39888944e+01] [ 4.33559497e-03 -7.57803264e-06 9.99990601e-01 -1.90358717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.815769231 meters 0.014123227290463511 Centerline is valid? [True, True] Translation: X:87.50, Y:14.00, Z:-0.19 [[ 9.43148212e-01 -3.32360393e-01 -2.83189931e-03 8.74979153e+01] [ 3.32358915e-01 9.43152463e-01 -9.91249932e-04 1.39964383e+01] [ 3.00036503e-03 -6.31137957e-06 9.99995499e-01 -1.87401885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.845769231 meters 0.014262415410174444 Centerline is valid? [True, True] Translation: X:87.53, Y:14.00, Z:-0.19 [[ 9.42912157e-01 -3.33028046e-01 -2.99747182e-03 8.75259607e+01] [ 3.33026391e-01 9.42916921e-01 -1.04981561e-03 1.40002351e+01] [ 3.17598494e-03 -8.35332723e-06 9.99994957e-01 -1.89190278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.875769231 meters 0.014437632173066215 Centerline is valid? [True, True] Translation: X:87.55, Y:14.01, Z:-0.19 [[ 9.42830661e-01 -3.33249587e-01 -3.88050628e-03 8.75535300e+01] [ 3.33246814e-01 9.42838646e-01 -1.35963681e-03 1.40073831e+01] [ 4.11178970e-03 -1.12590815e-05 9.99991546e-01 -1.90023938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90576923100001 meters 0.014099353575697006 Centerline is valid? [True, True] Translation: X:87.58, Y:14.02, Z:-0.19 [[ 9.43382833e-01 -3.31686538e-01 -3.58763154e-03 8.75801328e+01] [ 3.31684156e-01 9.43389655e-01 -1.25704321e-03 1.40157982e+01] [ 3.80147879e-03 -4.08755215e-06 9.99992774e-01 -1.89260861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93576923100001 meters 0.013876612763296835 Centerline is valid? [True, True] Translation: X:87.61, Y:14.03, Z:-0.19 [[ 9.43947377e-01 -3.30081622e-01 -3.07779449e-03 8.76062051e+01] [ 3.30079857e-01 9.43952394e-01 -1.07935875e-03 1.40269290e+01] [ 3.26156796e-03 2.93989894e-06 9.99994681e-01 -1.87441216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96576923100001 meters 0.014519412818794476 Centerline is valid? [True, True] Translation: X:87.63, Y:14.04, Z:-0.19 [[ 9.44834185e-01 -3.27539775e-01 -2.46136697e-03 8.76302582e+01] [ 3.27538637e-01 9.44837391e-01 -8.63483794e-04 1.40391374e+01] [ 2.60841683e-03 9.65622610e-06 9.99996598e-01 -1.86762020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99576923100001 meters 0.018780778933285905 Centerline is valid? [True, True] Translation: X:87.65, Y:14.06, Z:-0.19 [[ 9.47046885e-01 -3.21084739e-01 -2.60533957e-03 8.76537418e+01] [ 3.21083439e-01 9.47050468e-01 -9.13980120e-04 1.40582376e+01] [ 2.76085312e-03 2.90506380e-05 9.99996188e-01 -1.86196901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02576923100001 meters 0.021209221403964685 Centerline is valid? [True, True] Translation: X:87.68, Y:14.07, Z:-0.19 [[ 9.48155246e-01 -3.17796766e-01 -2.61640742e-03 8.76796442e+01] [ 3.17795441e-01 9.48158855e-01 -9.18585250e-04 1.40725838e+01] [ 2.77269328e-03 3.94790744e-05 9.99996155e-01 -1.86184750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.055769231 meters 0.02628641254299791 Centerline is valid? [True, True] Translation: X:87.70, Y:14.09, Z:-0.19 [[ 9.49552523e-01 -3.13603415e-01 -1.70434102e-03 8.77038153e+01] [ 3.13602846e-01 9.49554052e-01 -5.98335002e-04 1.40903232e+01] [ 1.80600382e-03 3.36643174e-05 9.99998369e-01 -1.85163790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085769231 meters 0.025881632635999175 Centerline is valid? [True, True] Translation: X:87.73, Y:14.10, Z:-0.18 [[ 9.49432609e-01 -3.13969965e-01 -7.63137043e-04 8.77312866e+01] [ 3.13969851e-01 9.49432915e-01 -2.68356426e-04 1.40995459e+01] [ 8.08803285e-04 1.51843179e-05 9.99999673e-01 -1.83510274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.115769231 meters 0.021927881356121722 Centerline is valid? [True, True] Translation: X:87.76, Y:14.10, Z:-0.18 [[ 9.48109188e-01 -3.17944758e-01 -3.14386438e-04 8.77595911e+01] [ 3.17944739e-01 9.48109240e-01 -1.10552849e-04 1.41019969e+01] [ 3.33222385e-04 4.85865814e-06 9.99999944e-01 -1.83318208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.145769231 meters 0.019409085315830223 Centerline is valid? [True, True] Translation: X:87.79, Y:14.11, Z:-0.18 [[ 9.47141077e-01 -3.20817072e-01 -4.31727598e-04 8.77888278e+01] [ 3.20817036e-01 9.47141176e-01 -1.52072556e-04 1.41067091e+01] [ 4.57694456e-04 5.52859606e-06 9.99999895e-01 -1.84255053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.175769231 meters 0.015482430329724794 Centerline is valid? [True, True] Translation: X:87.82, Y:14.11, Z:-0.19 [[ 9.45449044e-01 -3.25768680e-01 -9.33864038e-04 8.78198662e+01] [ 3.25768514e-01 9.45449505e-01 -3.28695542e-04 1.41057961e+01] [ 9.90000005e-04 6.54138540e-06 9.99999510e-01 -1.85104334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.205769231 meters 0.01456944664540276 Centerline is valid? [True, True] Translation: X:87.85, Y:14.11, Z:-0.18 [[ 9.44950962e-01 -3.27209711e-01 -1.21787141e-03 8.78478520e+01] [ 3.27209431e-01 9.44951747e-01 -4.28858152e-04 1.41114701e+01] [ 1.29115627e-03 6.75091399e-06 9.99999166e-01 -1.84928185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.235769231 meters 0.014934445059472954 Centerline is valid? [True, True] Translation: X:87.87, Y:14.12, Z:-0.19 [[ 9.44959828e-01 -3.27183322e-01 -1.41296567e-03 8.78729428e+01] [ 3.27182944e-01 9.44960885e-01 -4.97555658e-04 1.41204573e+01] [ 1.49798921e-03 7.87184097e-06 9.99998878e-01 -1.85462355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26576923100001 meters 0.017315356141775283 Centerline is valid? [True, True] Translation: X:87.90, Y:14.14, Z:-0.19 [[ 9.46086905e-01 -3.23905921e-01 -2.12650721e-03 8.78974513e+01] [ 3.23905055e-01 9.46089295e-01 -7.49128559e-04 1.41365115e+01] [ 2.25451288e-03 1.99542853e-05 9.99997458e-01 -1.86030487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29576923100001 meters 0.01993689302013868 Centerline is valid? [True, True] Translation: X:87.92, Y:14.15, Z:-0.19 [[ 9.46842893e-01 -3.21688392e-01 -2.26150498e-03 8.79211864e+01] [ 3.21687407e-01 9.46845593e-01 -7.96573731e-04 1.41521313e+01] [ 2.39754455e-03 2.67325037e-05 9.99997126e-01 -1.86964371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32576923100001 meters 0.021860798392143166 Centerline is valid? [True, True] Translation: X:87.95, Y:14.17, Z:-0.19 [[ 9.48093532e-01 -3.17977524e-01 -2.99156572e-03 8.79466034e+01] [ 3.17975782e-01 9.48098250e-01 -1.05375558e-03 1.41681512e+01] [ 3.17136881e-03 4.78133977e-05 9.99994970e-01 -1.86985988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35576923100001 meters 0.025313408211276932 Centerline is valid? [True, True] Translation: X:87.97, Y:14.18, Z:-0.19 [[ 9.48425996e-01 -3.16983418e-01 -3.10536083e-03 8.79703857e+01] [ 3.16981534e-01 9.48431078e-01 -1.09409245e-03 1.41838439e+01] [ 3.29202988e-03 5.33236791e-05 9.99994580e-01 -1.88436897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38576923100001 meters 0.024960270705560245 Centerline is valid? [True, True] Translation: X:88.00, Y:14.19, Z:-0.19 [[ 9.48477365e-01 -3.16832366e-01 -2.81780222e-03 8.79964718e+01] [ 3.16830812e-01 9.48481549e-01 -9.93618104e-04 1.41943787e+01] [ 2.98744379e-03 4.96577160e-05 9.99995536e-01 -1.87448850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41576923100001 meters 0.024801955979778228 Centerline is valid? [True, True] Translation: X:88.02, Y:14.21, Z:-0.18 [[ 9.48187404e-01 -3.17709026e-01 -1.27320486e-03 8.80212809e+01] [ 3.17708710e-01 9.48188259e-01 -4.48980949e-04 1.42070923e+01] [ 1.34988320e-03 2.12098063e-05 9.99999089e-01 -1.84392154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445769231 meters 0.021705796646492734 Centerline is valid? [True, True] Translation: X:88.05, Y:14.21, Z:-0.18 [[ 9.47933107e-01 -3.18469231e-01 -4.17254594e-04 8.80495326e+01] [ 3.18469197e-01 9.47933198e-01 -1.47546509e-04 1.42138602e+01] [ 4.42518505e-04 6.98148555e-06 9.99999902e-01 -1.81861752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.475769231 meters 0.023506802222866514 Centerline is valid? [True, True] Translation: X:88.07, Y:14.23, Z:-0.18 [[ 9.47746567e-01 -3.19024071e-01 -2.95030439e-04 8.80742357e+01] [ 3.19024054e-01 9.47746613e-01 -1.04215414e-04 1.42270638e+01] [ 3.12861325e-04 4.64799357e-06 9.99999951e-01 -1.82613856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.505769231 meters 0.0231006965922935 Centerline is valid? [True, True] Translation: X:88.10, Y:14.24, Z:-0.19 [[ 9.47586932e-01 -3.19492320e-01 -1.91419420e-03 8.80997336e+01] [ 3.19491606e-01 9.47588865e-01 -6.76072990e-04 1.42386983e+01] [ 2.02986923e-03 2.90689525e-05 9.99997939e-01 -1.86442558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.535769231 meters 0.02104523509141189 Centerline is valid? [True, True] Translation: X:88.13, Y:14.25, Z:-0.19 [[ 9.47663515e-01 -3.19257211e-01 -2.94879286e-03 8.81272350e+01] [ 3.19255514e-01 9.47668102e-01 -1.04181118e-03 1.42465661e+01] [ 3.12708267e-03 4.58680649e-05 9.99995110e-01 -1.86729825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.565769231 meters 0.02114136767914728 Centerline is valid? [True, True] Translation: X:88.15, Y:14.26, Z:-0.19 [[ 9.47692135e-01 -3.19168727e-01 -3.30774061e-03 8.81539588e+01] [ 3.19166589e-01 9.47697906e-01 -1.16920457e-03 1.42578337e+01] [ 3.50791238e-03 5.23256885e-05 9.99993846e-01 -1.86364830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.595769231 meters 0.02381529575245202 Centerline is valid? [True, True] Translation: X:88.18, Y:14.27, Z:-0.19 [[ 9.47558405e-01 -3.19569015e-01 -2.95185715e-03 8.81790638e+01] [ 3.19567314e-01 9.47563002e-01 -1.04356929e-03 1.42712456e+01] [ 3.13056304e-03 4.55257921e-05 9.99995099e-01 -1.88028716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.625769231 meters 0.02079704185579028 Centerline is valid? [True, True] Translation: X:88.21, Y:14.28, Z:-0.19 [[ 9.47319477e-01 -3.20277384e-01 -2.86462357e-03 8.82076773e+01] [ 3.20275784e-01 9.47323807e-01 -1.01343593e-03 1.42767291e+01] [ 3.03830671e-03 4.25780369e-05 9.99995383e-01 -1.86453948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65576923100001 meters 0.02373745252221415 Centerline is valid? [True, True] Translation: X:88.23, Y:14.29, Z:-0.19 [[ 9.47381998e-01 -3.20097233e-01 -2.26096704e-03 8.82305529e+01] [ 3.20096235e-01 9.47384695e-01 -7.99975581e-04 1.42916003e+01] [ 2.39807554e-03 3.41554280e-05 9.99997124e-01 -1.86743149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68576923100001 meters 0.021281032334663375 Centerline is valid? [True, True] Translation: X:88.26, Y:14.30, Z:-0.18 [[ 9.47450621e-01 -3.19897483e-01 -1.70910549e-03 8.82581295e+01] [ 3.19896911e-01 9.47452162e-01 -6.05363101e-04 1.42985855e+01] [ 1.81294982e-03 2.68140783e-05 9.99998356e-01 -1.84227751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71576923100001 meters 0.02158979988562195 Centerline is valid? [True, True] Translation: X:88.28, Y:14.31, Z:-0.18 [[ 9.47571184e-01 -3.19542802e-01 -1.11732962e-03 8.82849993e+01] [ 3.19542557e-01 9.47571843e-01 -3.96059834e-04 1.43104917e+01] [ 1.18530816e-03 1.82605206e-05 9.99999297e-01 -1.82753561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74576923100001 meters 0.024727082517716634 Centerline is valid? [True, True] Translation: X:88.31, Y:14.33, Z:-0.18 [[ 9.47436770e-01 -3.19940576e-01 -1.26290121e-03 8.83084394e+01] [ 3.19940264e-01 9.47437611e-01 -4.47712727e-04 1.43252217e+01] [ 1.33976157e-03 2.01265544e-05 9.99999102e-01 -1.84508795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77576923100001 meters 0.021341894269462335 Centerline is valid? [True, True] Translation: X:88.34, Y:14.33, Z:-0.19 [[ 9.47195385e-01 -3.20652100e-01 -1.77029065e-03 8.83363623e+01] [ 3.20651487e-01 9.47197039e-01 -6.27967370e-04 1.43306639e+01] [ 1.87817312e-03 2.71614649e-05 9.99998236e-01 -1.85100789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805769231 meters 0.020996520669745417 Centerline is valid? [True, True] Translation: X:88.36, Y:14.34, Z:-0.19 [[ 9.46847927e-01 -3.21672222e-01 -2.44629373e-03 8.83628113e+01] [ 3.21671054e-01 9.46851087e-01 -8.67469853e-04 1.43400769e+01] [ 2.59531683e-03 3.44601490e-05 9.99996632e-01 -1.87316627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.835769231 meters 0.02259233679054186 Centerline is valid? [True, True] Translation: X:88.39, Y:14.35, Z:-0.19 [[ 9.46609853e-01 -3.22371646e-01 -2.51140483e-03 8.83884483e+01] [ 3.22370418e-01 9.46613184e-01 -8.90710067e-04 1.43518313e+01] [ 2.66446860e-03 3.35523007e-05 9.99996450e-01 -1.88906869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865769231 meters 0.018012892302756375 Centerline is valid? [True, True] Translation: X:88.42, Y:14.35, Z:-0.19 [[ 9.45954021e-01 -3.24287919e-01 -2.88701753e-03 8.84182823e+01] [ 3.24286302e-01 9.45958426e-01 -1.02469438e-03 1.43538766e+01] [ 3.06329457e-03 3.30935300e-05 9.99995308e-01 -1.87862769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.895769231 meters 0.018012892302756375 Centerline is valid? [True, True] Translation: X:88.44, Y:14.36, Z:-0.19 [[ 9.45892707e-01 -3.24466720e-01 -2.88680678e-03 8.84441266e+01] [ 3.24465102e-01 9.45897112e-01 -1.02528810e-03 1.43632555e+01] [ 3.06329406e-03 3.31444791e-05 9.99995308e-01 -1.87921818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.925769231 meters 0.01804051978791598 Centerline is valid? [True, True] Translation: X:88.47, Y:14.37, Z:-0.19 [[ 9.45693049e-01 -3.25041477e-01 -3.56311074e-03 8.84695766e+01] [ 3.25039016e-01 9.45699760e-01 -1.26547168e-03 1.43712929e+01] [ 3.78096376e-03 3.85977596e-05 9.99992851e-01 -1.89900844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.955769231 meters 0.01815283812964253 Centerline is valid? [True, True] Translation: X:88.50, Y:14.38, Z:-0.19 [[ 9.45733293e-01 -3.24913709e-01 -4.42941706e-03 8.84971858e+01] [ 3.24909900e-01 9.45743665e-01 -1.57410408e-03 1.43800267e+01] [ 4.70054112e-03 4.95211807e-05 9.99988951e-01 -1.92358523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.985769231 meters 0.01909282615354225 Centerline is valid? [True, True] Translation: X:88.52, Y:14.39, Z:-0.19 [[ 9.45992599e-01 -3.24156299e-01 -4.54926001e-03 8.85242372e+01] [ 3.24152268e-01 9.46003536e-01 -1.61751753e-03 1.43909940e+01] [ 4.82794455e-03 5.55066665e-05 9.99988344e-01 -1.92682915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01576923100001 meters 0.02059363814528489 Centerline is valid? [True, True] Translation: X:88.55, Y:14.40, Z:-0.19 [[ 9.46471802e-01 -3.22758707e-01 -4.23626559e-03 8.85497559e+01] [ 3.22755197e-01 9.46481280e-01 -1.50629351e-03 1.44019310e+01] [ 4.49571542e-03 5.83875930e-05 9.99989893e-01 -1.91325274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04576923100001 meters 0.022128210812028967 Centerline is valid? [True, True] Translation: X:88.58, Y:14.41, Z:-0.19 [[ 9.47462019e-01 -3.19850811e-01 -3.34388879e-03 8.85764755e+01] [ 3.19848603e-01 9.47467918e-01 -1.18990551e-03 1.44122200e+01] [ 3.54881959e-03 5.78521225e-05 9.99993701e-01 -1.87323069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07576923100001 meters 0.023717843630954936 Centerline is valid? [True, True] Translation: X:88.60, Y:14.42, Z:-0.19 [[ 9.47960234e-01 -3.18370297e-01 -3.42774950e-03 8.86020729e+01] [ 3.18367966e-01 9.47966429e-01 -1.21990152e-03 1.44235649e+01] [ 3.63777186e-03 6.51324936e-05 9.99993381e-01 -1.87476372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10576923100001 meters 0.0287570660530119 Centerline is valid? [True, True] Translation: X:88.63, Y:14.44, Z:-0.19 [[ 9.48938359e-01 -3.15444832e-01 -3.24788249e-03 8.86259662e+01] [ 3.15442722e-01 9.48943915e-01 -1.15597719e-03 1.44405050e+01] [ 3.44670536e-03 7.24301995e-05 9.99994057e-01 -1.88477977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13576923100001 meters 0.029629114541143593 Centerline is valid? [True, True] Translation: X:88.65, Y:14.45, Z:-0.19 [[ 9.49223076e-01 -3.14598897e-01 -1.75642019e-03 8.86521352e+01] [ 3.14598278e-01 9.49224701e-01 -6.25757807e-04 1.44518999e+01] [ 1.86410015e-03 4.14169827e-05 9.99998262e-01 -1.86257382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16576923100001 meters 0.031774548887319835 Centerline is valid? [True, True] Translation: X:88.68, Y:14.47, Z:-0.18 [[ 9.49700552e-01 -3.13158830e-01 6.39794381e-04 8.86771666e+01] [ 3.13158748e-01 9.49700767e-01 2.27719115e-04 1.44655990e+01] [-6.78925466e-04 -1.59077622e-05 9.99999769e-01 -1.81072145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.195769231 meters 0.03191231991212137 Centerline is valid? [True, True] Translation: X:88.70, Y:14.48, Z:-0.18 [[ 9.49696375e-01 -3.13170976e-01 8.56858628e-04 8.87033192e+01] [ 3.13170829e-01 9.49696762e-01 3.04914995e-04 1.44766742e+01] [-9.09246391e-04 -2.12335389e-05 9.99999586e-01 -1.81194463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225769231 meters 0.031875895383586005 Centerline is valid? [True, True] Translation: X:88.73, Y:14.49, Z:-0.18 [[ 9.49628981e-01 -3.13376447e-01 -2.28452941e-05 8.87288292e+01] [ 3.13376446e-01 9.49628982e-01 -8.55392128e-06 1.44870871e+01] [ 2.43751508e-05 9.63874485e-07 1.00000000e+00 -1.82954772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.255769231 meters 0.032361515620289896 Centerline is valid? [True, True] Translation: X:88.75, Y:14.50, Z:-0.19 [[ 9.49513962e-01 -3.13703410e-01 -3.66163071e-03 8.87541681e+01] [ 3.13700705e-01 9.49521017e-01 -1.30583631e-03 1.44987575e+01] [ 3.88644062e-03 9.12536689e-05 9.99992444e-01 -1.91204036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.285769231 meters 0.029777497395444434 Centerline is valid? [True, True] Translation: X:88.78, Y:14.51, Z:-0.19 [[ 9.49336729e-01 -3.14221412e-01 -4.96774025e-03 8.87813997e+01] [ 3.14216434e-01 9.49349719e-01 -1.77292557e-03 1.45058559e+01] [ 5.27321399e-03 1.22157738e-04 9.99986089e-01 -1.92626689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.315769231 meters 0.03213723846144043 Centerline is valid? [True, True] Translation: X:88.81, Y:14.52, Z:-0.19 [[ 9.49167914e-01 -3.14733887e-01 -4.78030142e-03 8.88057195e+01] [ 3.14729284e-01 9.49179945e-01 -1.70606676e-03 1.45216208e+01] [ 5.07432326e-03 1.14842992e-04 9.99987119e-01 -1.92937561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.345769231 meters 0.02799794904795793 Centerline is valid? [True, True] Translation: X:88.83, Y:14.53, Z:-0.19 [[ 9.49252629e-01 -3.14494871e-01 -3.52442863e-03 8.88332729e+01] [ 3.14492363e-01 9.49259168e-01 -1.25896884e-03 1.45271673e+01] [ 3.74153543e-03 8.66735924e-05 9.99992997e-01 -1.89009359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.375769231 meters 0.035247781623636926 Centerline is valid? [True, True] Translation: X:88.85, Y:14.55, Z:-0.19 [[ 9.49904545e-01 -3.12538154e-01 -1.12112605e-03 8.88545461e+01] [ 3.12537899e-01 9.49905207e-01 -4.00661044e-04 1.45495955e+01] [ 1.19018534e-03 3.01953663e-05 9.99999291e-01 -1.85804520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40576923100001 meters 0.03753669679020115 Centerline is valid? [True, True] Translation: X:88.88, Y:14.56, Z:-0.19 [[ 9.50335752e-01 -3.11224789e-01 -1.04395460e-03 8.88788294e+01] [ 3.11224567e-01 9.50336325e-01 -3.73074538e-04 1.45648381e+01] [ 1.10821803e-03 2.96417523e-05 9.99999385e-01 -1.86032866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43576923100001 meters 0.039442412877123474 Centerline is valid? [True, True] Translation: X:88.90, Y:14.58, Z:-0.19 [[ 9.50779424e-01 -3.09859560e-01 -2.35384775e-03 8.89035097e+01] [ 3.09858426e-01 9.50782335e-01 -8.41174413e-04 1.45801673e+01] [ 2.49864279e-03 7.04117654e-05 9.99996876e-01 -1.88868359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46576923100001 meters 0.03605582031838298 Centerline is valid? [True, True] Translation: X:88.93, Y:14.59, Z:-0.19 [[ 9.51359342e-01 -3.08065748e-01 -3.30108486e-03 8.89308772e+01] [ 3.08063507e-01 9.51365063e-01 -1.17992709e-03 1.45914302e+01] [ 3.50403193e-03 1.05590884e-04 9.99993855e-01 -1.90503225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49576923100001 meters 0.04285437583888298 Centerline is valid? [True, True] Translation: X:88.95, Y:14.61, Z:-0.19 [[ 9.51298113e-01 -3.08257432e-01 -3.04241464e-03 8.89525594e+01] [ 3.08255526e-01 9.51302973e-01 -1.08840083e-03 1.46124091e+01] [ 3.22976574e-03 9.75525315e-05 9.99994780e-01 -1.91087534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52576923100001 meters 0.04141230033440431 Centerline is valid? [True, True] Translation: X:88.98, Y:14.63, Z:-0.19 [[ 9.50801786e-01 -3.09788675e-01 -2.63431929e-03 8.89777910e+01] [ 3.09787251e-01 9.50805432e-01 -9.42786851e-04 1.46276527e+01] [ 2.79678979e-03 8.03248893e-05 9.99996086e-01 -1.89941759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.555769231 meters 0.04484351688003792 Centerline is valid? [True, True] Translation: X:89.01, Y:14.63, Z:-0.18 [[ 9.50603847e-01 -3.10387629e-01 -3.44184010e-03 8.90068595e+01] [ 3.10385200e-01 9.50610072e-01 -1.23237602e-03 1.46319520e+01] [ 3.65436213e-03 1.03205160e-04 9.99993317e-01 -1.84433479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585769231 meters 0.03401932824032996 Centerline is valid? [True, True] Translation: X:89.03, Y:14.65, Z:-0.19 [[ 9.50392282e-01 -3.11023227e-01 -4.36614894e-03 8.90317745e+01] [ 3.11019320e-01 9.50402302e-01 -1.56420665e-03 1.46451375e+01] [ 4.63610260e-03 1.28653257e-04 9.99989245e-01 -1.91644586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.615769231 meters 0.040440690950013285 Centerline is valid? [True, True] Translation: X:89.05, Y:14.67, Z:-0.20 [[ 9.50062357e-01 -3.12015638e-01 -5.26874562e-03 8.90519443e+01] [ 3.12009965e-01 9.50076954e-01 -1.88753105e-03 1.46704563e+01] [ 5.59465300e-03 1.49371068e-04 9.99984339e-01 -1.96419543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.645769231 meters 0.03544472776502728 Centerline is valid? [True, True] Translation: X:89.08, Y:14.68, Z:-0.19 [[ 9.49646929e-01 -3.13285674e-01 -4.77460742e-03 8.90796780e+01] [ 3.13281025e-01 9.49658923e-01 -1.71156946e-03 1.46785768e+01] [ 5.07045873e-03 1.29592775e-04 9.99987137e-01 -1.94111519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.675769231 meters 0.033892136435898196 Centerline is valid? [True, True] Translation: X:89.10, Y:14.69, Z:-0.19 [[ 9.48400313e-01 -3.17066042e-01 -2.44364241e-03 8.91044393e+01] [ 3.17064837e-01 9.48403459e-01 -8.75966636e-04 1.46938342e+01] [ 2.59529819e-03 5.59739494e-05 9.99996631e-01 -1.90579763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.705769231 meters 0.026315804674449744 Centerline is valid? [True, True] Translation: X:89.13, Y:14.70, Z:-0.19 [[ 9.47530551e-01 -3.19662115e-01 -1.40967191e-03 8.91343064e+01] [ 3.19661717e-01 9.47531599e-01 -5.05454788e-04 1.46959011e+01] [ 1.49728342e-03 2.83157129e-05 9.99998879e-01 -1.87283384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.735769231 meters 0.021844553071535155 Centerline is valid? [True, True] Translation: X:89.16, Y:14.70, Z:-0.19 [[ 9.45647668e-01 -3.25187535e-01 -1.88537972e-03 8.91623081e+01] [ 3.25186833e-01 9.45649547e-01 -6.76036385e-04 1.47019152e+01] [ 2.00274708e-03 2.61915712e-05 9.99997994e-01 -1.89224647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76576923100001 meters 0.018573230924853336 Centerline is valid? [True, True] Translation: X:89.19, Y:14.71, Z:-0.19 [[ 9.44686217e-01 -3.27964904e-01 -2.64069239e-03 8.91905681e+01] [ 3.27963537e-01 9.44689907e-01 -9.47591687e-04 1.47078478e+01] [ 2.80541226e-03 2.91259920e-05 9.99996064e-01 -1.90512649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79576923100001 meters 0.01611317565178887 Centerline is valid? [True, True] Translation: X:89.22, Y:14.71, Z:-0.19 [[ 9.43771535e-01 -3.30585105e-01 -2.96260159e-03 8.92190951e+01] [ 3.30583395e-01 9.43776185e-01 -1.06363276e-03 1.47140579e+01] [ 3.14765398e-03 2.44394336e-05 9.99995046e-01 -1.90471786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82576923100001 meters 0.013536336548108817 Centerline is valid? [True, True] Translation: X:89.25, Y:14.72, Z:-0.19 [[ 9.42012488e-01 -3.35576541e-01 -9.26086911e-04 8.92477807e+01] [ 3.35576376e-01 9.42012943e-01 -3.32560619e-04 1.47156076e+01] [ 9.83985399e-04 2.50336587e-06 9.99999516e-01 -1.87418883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85576923100001 meters 0.013194493089181896 Centerline is valid? [True, True] Translation: X:89.28, Y:14.72, Z:-0.19 [[ 9.40906129e-01 -3.38667400e-01 -2.21085940e-04 8.92758624e+01] [ 3.38667390e-01 9.40906155e-01 -7.98252493e-05 1.47190045e+01] [ 2.35055331e-04 2.33468009e-07 9.99999972e-01 -1.86122586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88576923100001 meters 0.0155887297424257 Centerline is valid? [True, True] Translation: X:89.31, Y:14.72, Z:-0.19 [[ 9.38890979e-01 -3.44209452e-01 -1.89253543e-03 8.93060873e+01] [ 3.44208781e-01 9.38892887e-01 -6.80172925e-04 1.47156892e+01] [ 2.01101000e-03 -1.28190880e-05 9.99997978e-01 -1.88904062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91576923100001 meters 0.016672547169855202 Centerline is valid? [True, True] Translation: X:89.33, Y:14.72, Z:-0.19 [[ 9.38128872e-01 -3.46272046e-01 -3.14478867e-03 8.93348683e+01] [ 3.46270201e-01 9.38134142e-01 -1.13080897e-03 1.47212224e+01] [ 3.34180115e-03 -2.81020622e-05 9.99994416e-01 -1.90755247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945769231 meters 0.017515177006257387 Centerline is valid? [True, True] Translation: X:89.36, Y:14.73, Z:-0.19 [[ 9.37591648e-01 -3.47716199e-01 -3.91737720e-03 8.93637305e+01] [ 3.47713345e-01 9.37599831e-01 -1.40926104e-03 1.47266919e+01] [ 4.16295509e-03 -4.08129444e-05 9.99991334e-01 -1.91567284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.975769231 meters 0.017655535623181683 Centerline is valid? [True, True] Translation: X:89.39, Y:14.73, Z:-0.19 [[ 9.37082212e-01 -3.49101050e-01 -2.32056160e-03 8.93926728e+01] [ 3.49100051e-01 9.37085085e-01 -8.35546435e-04 1.47293186e+01] [ 2.46625380e-03 -2.71324704e-05 9.99996958e-01 -1.87837321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.005769231 meters 0.018009803025441484 Centerline is valid? [True, True] Translation: X:89.42, Y:14.74, Z:-0.19 [[ 9.36999751e-01 -3.49328033e-01 -1.17998908e-03 8.94193184e+01] [ 3.49327775e-01 9.37000494e-01 -4.24948360e-04 1.47351385e+01] [ 1.25409672e-03 -1.40264517e-05 9.99999214e-01 -1.85904737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.035769231 meters 0.017954220542218034 Centerline is valid? [True, True] Translation: X:89.45, Y:14.74, Z:-0.19 [[ 9.36976409e-01 -3.49391172e-01 -1.00847521e-03 8.94469320e+01] [ 3.49390983e-01 9.36976952e-01 -3.63669679e-04 1.47397665e+01] [ 1.07198101e-03 -1.16022355e-05 9.99999425e-01 -1.85852433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.065769231 meters 0.017126570686458238 Centerline is valid? [True, True] Translation: X:89.47, Y:14.75, Z:-0.19 [[ 9.37150682e-01 -3.48921806e-01 -1.47383881e-03 8.94740133e+01] [ 3.48921402e-01 9.37151841e-01 -5.31623841e-04 1.47482205e+01] [ 1.56670590e-03 -1.60422579e-05 9.99998773e-01 -1.86803276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.095769231 meters 0.017887900194913143 Centerline is valid? [True, True] Translation: X:89.50, Y:14.75, Z:-0.19 [[ 9.37442396e-01 -3.48133009e-01 -2.27201989e-03 8.95012203e+01] [ 3.48132046e-01 9.37445149e-01 -8.19138018e-04 1.47538849e+01] [ 2.41506300e-03 -2.30682262e-05 9.99997083e-01 -1.88957572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.125769231 meters 0.01577521886856201 Centerline is valid? [True, True] Translation: X:89.53, Y:14.76, Z:-0.19 [[ 9.38413549e-01 -3.45500817e-01 -3.03240490e-03 8.95277011e+01] [ 3.45499086e-01 9.38418449e-01 -1.09399220e-03 1.47644154e+01] [ 3.22363990e-03 -2.10760184e-05 9.99994804e-01 -1.90488581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15576923100001 meters 0.014521494425557733 Centerline is valid? [True, True] Translation: X:89.55, Y:14.78, Z:-0.19 [[ 9.38870326e-01 -3.44259312e-01 -2.83505108e-03 8.95539546e+01] [ 3.44257791e-01 9.38874606e-01 -1.02336489e-03 1.47757363e+01] [ 3.01406036e-03 -1.51814932e-05 9.99995458e-01 -1.89713118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18576923100001 meters 0.013703494730511879 Centerline is valid? [True, True] Translation: X:89.58, Y:14.79, Z:-0.19 [[ 9.39499225e-01 -3.42543771e-01 -2.22973063e-03 8.95808510e+01] [ 3.42542824e-01 9.39501871e-01 -8.05358785e-04 1.47855597e+01] [ 2.37070673e-03 -7.14427270e-06 9.99997190e-01 -1.88718575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21576923100001 meters 0.013726896455635879 Centerline is valid? [True, True] Translation: X:89.61, Y:14.79, Z:-0.19 [[ 9.39537707e-01 -3.42438807e-01 -2.13538955e-03 8.96065217e+01] [ 3.42437938e-01 9.39540134e-01 -7.71307638e-04 1.47948711e+01] [ 2.27040985e-03 -6.56578574e-06 9.99997423e-01 -1.89181151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24576923100001 meters 0.013513155496048104 Centerline is valid? [True, True] Translation: X:89.63, Y:14.80, Z:-0.19 [[ 9.39601336e-01 -3.42263311e-01 -2.27076784e-03 8.96332254e+01] [ 3.42262326e-01 9.39604079e-01 -8.20901759e-04 1.48046961e+01] [ 2.41458728e-03 -5.87789448e-06 9.99997085e-01 -1.89634598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27576923100001 meters 0.01332947180423749 Centerline is valid? [True, True] Translation: X:89.66, Y:14.82, Z:-0.19 [[ 9.39968256e-01 -3.41254776e-01 -2.20343321e-03 8.96592810e+01] [ 3.41253846e-01 9.39970839e-01 -7.97049566e-04 1.48151310e+01] [ 2.34315993e-03 -2.72876497e-06 9.99997255e-01 -1.89796200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305769231 meters 0.013164003894266054 Centerline is valid? [True, True] Translation: X:89.68, Y:14.83, Z:-0.19 [[ 9.40248481e-01 -3.40484882e-01 -1.68503866e-03 8.96849192e+01] [ 3.40484336e-01 9.40249991e-01 -6.09989164e-04 1.48256678e+01] [ 1.79204967e-03 -1.87885023e-07 9.99998394e-01 -1.88549839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.335769231 meters 0.013197320798286859 Centerline is valid? [True, True] Translation: X:89.71, Y:14.84, Z:-0.19 [[ 9.40985146e-01 -3.38445830e-01 -1.17284383e-03 8.97094893e+01] [ 3.38445563e-01 9.40985877e-01 -4.24958143e-04 1.48391520e+01] [ 1.24745479e-03 2.93550819e-06 9.99999222e-01 -1.86674774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.365769231 meters 0.013428803942345567 Centerline is valid? [True, True] Translation: X:89.73, Y:14.85, Z:-0.19 [[ 9.41126586e-01 -3.38052074e-01 -1.24265392e-03 8.97343447e+01] [ 3.38051774e-01 9.41127406e-01 -4.50269950e-04 1.48501270e+01] [ 1.32171035e-03 3.67965750e-06 9.99999127e-01 -1.86989061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.395769231 meters 0.013448338759319693 Centerline is valid? [True, True] Translation: X:89.76, Y:14.86, Z:-0.19 [[ 9.41100741e-01 -3.38122477e-01 -1.60777622e-03 8.97606995e+01] [ 3.38121975e-01 9.41102115e-01 -5.82940405e-04 1.48597812e+01] [ 1.71018685e-03 4.98117677e-06 9.99998538e-01 -1.87571707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.425769231 meters 0.013243133847925246 Centerline is valid? [True, True] Translation: X:89.79, Y:14.87, Z:-0.19 [[ 9.40889776e-01 -3.38708443e-01 -1.73754785e-03 8.97872808e+01] [ 3.38707857e-01 9.40891381e-01 -6.30355363e-04 1.48672190e+01] [ 1.84835048e-03 4.57380885e-06 9.99998292e-01 -1.87787619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.455769231 meters 0.026841270981627943 Centerline is valid? [True, True] Translation: X:89.81, Y:14.88, Z:-0.18 [[ 9.40523696e-01 -3.39725114e-01 -1.42293162e-03 8.98142216e+01] [ 3.39724721e-01 9.40524772e-01 -5.16636009e-04 1.48751712e+01] [ 1.51381667e-03 2.50336015e-06 9.99998854e-01 -1.82098893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.485769231 meters 0.013130103957425431 Centerline is valid? [True, True] Translation: X:89.84, Y:14.88, Z:-0.19 [[ 9.40437224e-01 -3.39964642e-01 -1.36711947e-03 8.98394248e+01] [ 3.39964280e-01 9.40438218e-01 -4.96265985e-04 1.48839163e+01] [ 1.45440429e-03 1.93521782e-06 9.99998942e-01 -1.87687303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51576923100001 meters 0.01300641864957084 Centerline is valid? [True, True] Translation: X:89.87, Y:14.89, Z:-0.19 [[ 9.40400524e-01 -3.40066446e-01 -1.29114342e-03 8.98658167e+01] [ 3.40066123e-01 9.40401410e-01 -4.69221096e-04 1.48936092e+01] [ 1.37375945e-03 2.18162673e-06 9.99999056e-01 -1.87019073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54576923100001 meters 0.01295366155993054 Centerline is valid? [True, True] Translation: X:89.89, Y:14.90, Z:-0.19 [[ 9.40212149e-01 -3.40587603e-01 -1.09510918e-03 8.98918948e+01] [ 3.40587370e-01 9.40212787e-01 -3.97900772e-04 1.49014962e+01] [ 1.16515572e-03 1.13078450e-06 9.99999321e-01 -1.87051152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57576923100001 meters 0.012905649942043174 Centerline is valid? [True, True] Translation: X:89.92, Y:14.91, Z:-0.19 [[ 9.40079250e-01 -3.40953255e-01 -1.37200337e-03 8.99171192e+01] [ 3.40952890e-01 9.40080251e-01 -4.98632376e-04 1.49096583e+01] [ 1.45980360e-03 9.65436936e-07 9.99998934e-01 -1.87751605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60576923100001 meters 0.012997821051071721 Centerline is valid? [True, True] Translation: X:89.94, Y:14.92, Z:-0.19 [[ 9.39888784e-01 -3.41476426e-01 -1.71002050e-03 8.99432759e+01] [ 3.41475859e-01 9.39890340e-01 -6.22002934e-04 1.49184256e+01] [ 1.81963109e-03 6.82861933e-07 9.99998344e-01 -1.88191807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63576923100001 meters 0.0130606984316008 Centerline is valid? [True, True] Translation: X:89.97, Y:14.93, Z:-0.19 [[ 9.39773933e-01 -3.41791940e-01 -1.79557819e-03 8.99699670e+01] [ 3.41791316e-01 9.39775648e-01 -6.53489707e-04 1.49264306e+01] [ 1.91079817e-03 4.19560907e-07 9.99998174e-01 -1.88698501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66576923100001 meters 0.012878009940997573 Centerline is valid? [True, True] Translation: X:90.00, Y:14.93, Z:-0.19 [[ 9.39655589e-01 -3.42119354e-01 -1.31179965e-03 8.99972810e+01] [ 3.42119021e-01 9.39656505e-01 -4.77817004e-04 1.49343783e+01] [ 1.39611152e-03 1.91808165e-07 9.99999025e-01 -1.88216059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.695769231 meters 0.01284860220636917 Centerline is valid? [True, True] Translation: X:90.03, Y:14.94, Z:-0.19 [[ 9.39073729e-01 -3.43713973e-01 -1.11193447e-03 9.00252261e+01] [ 3.43713734e-01 9.39074387e-01 -4.05329611e-04 1.49391622e+01] [ 1.18350664e-03 -1.55276058e-06 9.99999300e-01 -1.87600428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725769231 meters 0.01300930594070455 Centerline is valid? [True, True] Translation: X:90.05, Y:14.95, Z:-0.19 [[ 9.38651806e-01 -3.44864834e-01 -1.01637570e-03 9.00519417e+01] [ 3.44864635e-01 9.38652356e-01 -3.70753975e-04 1.49469445e+01] [ 1.08188346e-03 -2.50314758e-06 9.99999415e-01 -1.87855132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.755769231 meters 0.013481641587761961 Centerline is valid? [True, True] Translation: X:90.08, Y:14.95, Z:-0.19 [[ 9.38226282e-01 -3.46020760e-01 -1.03814159e-03 9.00787232e+01] [ 3.46020553e-01 9.38226856e-01 -3.78452506e-04 1.49542052e+01] [ 1.10496474e-03 -4.14423999e-06 9.99999390e-01 -1.87889749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.785769231 meters 0.014663900447281022 Centerline is valid? [True, True] Translation: X:90.11, Y:14.96, Z:-0.19 [[ 9.37474352e-01 -3.48053181e-01 -9.06973668e-04 9.01072180e+01] [ 3.48053024e-01 9.37474791e-01 -3.30711605e-04 1.49577176e+01] [ 9.65370176e-04 -5.64127955e-06 9.99999534e-01 -1.87933998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.815769231 meters 0.015232788178336277 Centerline is valid? [True, True] Translation: X:90.13, Y:14.96, Z:-0.19 [[ 9.37116803e-01 -3.49014303e-01 -1.05512884e-03 9.01346371e+01] [ 3.49014091e-01 9.37117397e-01 -3.84776594e-04 1.49638278e+01] [ 1.12307213e-03 -7.67422128e-06 9.99999369e-01 -1.88205272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.845769231 meters 0.015232788178336277 Centerline is valid? [True, True] Translation: X:90.16, Y:14.97, Z:-0.19 [[ 9.37053115e-01 -3.49185261e-01 -1.05496647e-03 9.01603976e+01] [ 3.49185049e-01 9.37053709e-01 -3.85221831e-04 1.49734388e+01] [ 1.12307403e-03 -7.40520164e-06 9.99999369e-01 -1.88264330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.875769231 meters 0.016590635688449946 Centerline is valid? [True, True] Translation: X:90.19, Y:14.98, Z:-0.19 [[ 9.36138619e-01 -3.51625985e-01 -1.91088287e-03 9.01901403e+01] [ 3.51625294e-01 9.36140570e-01 -6.97743345e-04 1.49767144e+01] [ 2.03419967e-03 -1.87302588e-05 9.99997931e-01 -1.90392307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90576923100001 meters 0.0178687722798928 Centerline is valid? [True, True] Translation: X:90.22, Y:14.98, Z:-0.19 [[ 9.35563398e-01 -3.53151491e-01 -2.26986285e-03 9.02185260e+01] [ 3.53150519e-01 9.35566151e-01 -8.29174564e-04 1.49826326e+01] [ 2.41643109e-03 -2.58578706e-05 9.99997080e-01 -1.90722846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93576923100001 meters 0.019218448950176638 Centerline is valid? [True, True] Translation: X:90.25, Y:14.99, Z:-0.19 [[ 9.35179640e-01 -3.54165047e-01 -2.48214694e-03 9.02464727e+01] [ 3.54163888e-01 9.35182933e-01 -9.06607031e-04 1.49881111e+01] [ 2.64234998e-03 -3.12463746e-05 9.99996508e-01 -1.91232188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96576923100001 meters 0.0194552409279382 Centerline is valid? [True, True] Translation: X:90.27, Y:14.99, Z:-0.19 [[ 9.35055785e-01 -3.54490846e-01 -2.63029070e-03 9.02745180e+01] [ 3.54489544e-01 9.35059484e-01 -9.61541799e-04 1.49940711e+01] [ 2.80033603e-03 -3.33153294e-05 9.99996078e-01 -1.90671117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99576923100001 meters 0.01833436290183103 Centerline is valid? [True, True] Translation: X:90.30, Y:15.00, Z:-0.19 [[ 9.35443230e-01 -3.53473301e-01 -1.60894452e-03 9.03012801e+01] [ 3.53472811e-01 9.35444614e-01 -5.88572634e-04 1.50036751e+01] [ 1.71312320e-03 -1.81418575e-05 9.99998532e-01 -1.89238535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02576923100001 meters 0.017517385906499892 Centerline is valid? [True, True] Translation: X:90.33, Y:15.01, Z:-0.19 [[ 9.35782018e-01 -3.52577785e-01 -9.59360768e-04 9.03271600e+01] [ 3.52577611e-01 9.35782510e-01 -3.50920380e-04 1.50132151e+01] [ 1.02147976e-03 -9.86414644e-06 9.99999478e-01 -1.88212979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.055769231 meters 0.016485514752271346 Centerline is valid? [True, True] Translation: X:90.35, Y:15.02, Z:-0.19 [[ 9.36113897e-01 -3.51696921e-01 -2.19501711e-04 9.03541215e+01] [ 3.51696911e-01 9.36113923e-01 -8.06636309e-05 1.50236119e+01] [ 2.33847759e-04 -1.68772806e-06 9.99999973e-01 -1.87480158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085769231 meters 0.015528046571258572 Centerline is valid? [True, True] Translation: X:90.38, Y:15.03, Z:-0.19 [[ 9.36373524e-01 -3.51005131e-01 -1.46310968e-04 9.03808934e+01] [ 3.51005127e-01 9.36373536e-01 -5.39255878e-05 1.50347078e+01] [ 1.55929877e-04 -8.61407199e-07 9.99999988e-01 -1.86912400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.115769231 meters 0.013815697608555236 Centerline is valid? [True, True] Translation: X:90.41, Y:15.05, Z:-0.19 [[ 9.37251817e-01 -3.48653121e-01 -1.82834238e-04 9.04060999e+01] [ 3.48653114e-01 9.37251835e-01 -6.73318873e-05 1.50484594e+01] [ 1.94837197e-04 -6.38792615e-07 9.99999981e-01 -1.87166021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.145769231 meters 0.013208139944319958 Centerline is valid? [True, True] Translation: X:90.43, Y:15.06, Z:-0.19 [[ 9.37766881e-01 -3.47264877e-01 -6.18969943e-04 9.04309474e+01] [ 3.47264802e-01 9.37767085e-01 -2.27240416e-04 1.50618458e+01] [ 6.59362254e-04 -1.84793819e-06 9.99999783e-01 -1.87477590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.175769231 meters 0.013080324193034785 Centerline is valid? [True, True] Translation: X:90.46, Y:15.07, Z:-0.19 [[ 9.37870022e-01 -3.46985721e-01 -8.55656362e-04 9.04564116e+01] [ 3.46985579e-01 9.37870412e-01 -3.13800124e-04 1.50718777e+01] [ 9.11378946e-04 -2.59668942e-06 9.99999585e-01 -1.88260467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.205769231 meters 0.013243410690213465 Centerline is valid? [True, True] Translation: X:90.48, Y:15.08, Z:-0.19 [[ 9.37788343e-01 -3.47204361e-01 -1.46831595e-03 9.04822944e+01] [ 3.47203943e-01 9.37789492e-01 -5.38881420e-04 1.50819103e+01] [ 1.56407324e-03 -4.44837282e-06 9.99998777e-01 -1.89036749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.235769231 meters 0.013439637788603057 Centerline is valid? [True, True] Translation: X:90.51, Y:15.09, Z:-0.19 [[ 9.37479743e-01 -3.48036409e-01 -1.54586244e-03 9.05084733e+01] [ 3.48035946e-01 9.37481017e-01 -5.67656349e-04 1.50906571e+01] [ 1.64678177e-03 -5.84936845e-06 9.99998644e-01 -1.89634373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26576923100001 meters 0.01356998340976578 Centerline is valid? [True, True] Translation: X:90.53, Y:15.10, Z:-0.19 [[ 9.37281105e-01 -3.48572897e-01 -1.03255859e-03 9.05347120e+01] [ 3.48572690e-01 9.37281674e-01 -3.79533748e-04 1.50996658e+01] [ 1.10009342e-03 -4.19191322e-06 9.99999395e-01 -1.88956685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29576923100001 meters 0.013689669052974552 Centerline is valid? [True, True] Translation: X:90.56, Y:15.11, Z:-0.19 [[ 9.37008373e-01 -3.49303605e-01 -1.51673522e-03 9.05615441e+01] [ 3.49303160e-01 9.37009601e-01 -5.57638411e-04 1.51092323e+01] [ 1.61598057e-03 -7.28854610e-06 9.99998694e-01 -1.89047289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32576923100001 meters 0.013821462768477868 Centerline is valid? [True, True] Translation: X:90.59, Y:15.12, Z:-0.19 [[ 9.36862351e-01 -3.49695578e-01 -1.39171864e-03 9.05875975e+01] [ 3.49695204e-01 9.36863385e-01 -5.12012878e-04 1.51191941e+01] [ 1.48289887e-03 -6.99174328e-06 9.99998900e-01 -1.89293778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35576923100001 meters 0.013600366263243879 Centerline is valid? [True, True] Translation: X:90.61, Y:15.13, Z:-0.19 [[ 9.36962530e-01 -3.49427982e-01 -1.14100364e-03 9.06124175e+01] [ 3.49427730e-01 9.36963225e-01 -4.19714574e-04 1.51293647e+01] [ 1.21573846e-03 -5.44148103e-06 9.99999261e-01 -1.88266541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38576923100001 meters 0.013174867038234821 Centerline is valid? [True, True] Translation: X:90.64, Y:15.14, Z:-0.19 [[ 9.37243494e-01 -3.48675533e-01 7.20550029e-05 9.06381231e+01] [ 3.48675532e-01 9.37243497e-01 2.63629481e-05 1.51412448e+01] [-7.67251979e-05 4.15314819e-07 9.99999997e-01 -1.86324446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41576923100001 meters 0.013091242602848666 Centerline is valid? [True, True] Translation: X:90.66, Y:15.15, Z:-0.19 [[ 9.37272592e-01 -3.48597186e-01 2.99182777e-04 9.06638929e+01] [ 3.48597169e-01 9.37272640e-01 1.09664507e-04 1.51521923e+01] [-3.18644570e-04 1.50873239e-06 9.99999949e-01 -1.85457778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445769231 meters 0.013599778623030086 Centerline is valid? [True, True] Translation: X:90.69, Y:15.16, Z:-0.19 [[ 9.36962431e-01 -3.49430043e-01 -2.17455590e-04 9.06900280e+01] [ 3.49430034e-01 9.36962456e-01 -8.01588594e-05 1.51616912e+01] [ 2.31757637e-04 -8.79674403e-07 9.99999973e-01 -1.87202477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.475769231 meters 0.01411547003885011 Centerline is valid? [True, True] Translation: X:90.72, Y:15.17, Z:-0.19 [[ 9.36509394e-01 -3.50642413e-01 -2.29855621e-04 9.07172649e+01] [ 3.50642403e-01 9.36509422e-01 -8.49967457e-05 1.51703427e+01] [ 2.45065419e-04 -9.96876483e-07 9.99999970e-01 -1.87492240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.505769231 meters 0.014449923155466986 Centerline is valid? [True, True] Translation: X:90.74, Y:15.18, Z:-0.19 [[ 9.35841189e-01 -3.52422000e-01 5.05516419e-05 9.07445320e+01] [ 3.52421999e-01 9.35841191e-01 1.82264355e-05 1.51793526e+01] [-5.37317056e-05 7.58461618e-07 9.99999999e-01 -1.87215145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.535769231 meters 0.018313350277184514 Centerline is valid? [True, True] Translation: X:90.77, Y:15.18, Z:-0.19 [[ 9.34622348e-01 -3.55641733e-01 -1.55185853e-04 9.07733115e+01] [ 3.55641728e-01 9.34622361e-01 -5.73965301e-05 1.51807349e+01] [ 1.65452770e-04 -1.54648542e-06 9.99999986e-01 -1.88239450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.565769231 meters 0.017923610516611125 Centerline is valid? [True, True] Translation: X:90.80, Y:15.19, Z:-0.19 [[ 9.34176601e-01 -3.56810863e-01 -2.94240100e-04 9.08007306e+01] [ 3.56810846e-01 9.34176647e-01 -1.08866050e-04 1.51904874e+01] [ 3.13716819e-04 -3.28794290e-06 9.99999951e-01 -1.88144025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.595769231 meters 0.019539816669392692 Centerline is valid? [True, True] Translation: X:90.83, Y:15.20, Z:-0.19 [[ 9.33931040e-01 -3.57453139e-01 2.59161345e-04 9.08280842e+01] [ 3.57453126e-01 9.33931075e-01 9.53720891e-05 1.51959849e+01] [-2.76129887e-04 3.56707872e-06 9.99999962e-01 -1.87340972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.625769231 meters 0.018885529597044655 Centerline is valid? [True, True] Translation: X:90.86, Y:15.21, Z:-0.19 [[ 9.34106112e-01 -3.56995463e-01 1.05196075e-04 9.08554397e+01] [ 3.56995461e-01 9.34106118e-01 3.84761070e-05 1.52065063e+01] [-1.12000093e-04 1.61375466e-06 9.99999994e-01 -1.88226428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65576923100001 meters 0.016950562328201465 Centerline is valid? [True, True] Translation: X:90.88, Y:15.22, Z:-0.19 [[ 9.34671738e-01 -3.55511089e-01 -7.79169285e-04 9.08814632e+01] [ 3.55510973e-01 9.34672063e-01 -2.88002791e-04 1.52187512e+01] [ 8.30655949e-04 -7.81516159e-06 9.99999655e-01 -1.90785825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68576923100001 meters 0.016712400066790277 Centerline is valid? [True, True] Translation: X:90.91, Y:15.23, Z:-0.19 [[ 9.35000028e-01 -3.54646408e-01 -9.33976439e-04 9.09073286e+01] [ 3.54646240e-01 9.35000495e-01 -3.44969819e-04 1.52284562e+01] [ 9.95610739e-04 -8.68444191e-06 9.99999504e-01 -1.91142614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71576923100001 meters 0.015319020461333323 Centerline is valid? [True, True] Translation: X:90.93, Y:15.24, Z:-0.19 [[ 9.35316640e-01 -3.53810359e-01 -1.00618992e-03 9.09339680e+01] [ 3.53810163e-01 9.35317182e-01 -3.72067572e-04 1.52409080e+01] [ 1.07274808e-03 -7.99922725e-06 9.99999425e-01 -1.90604562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74576923100001 meters 0.013733131178741042 Centerline is valid? [True, True] Translation: X:90.96, Y:15.25, Z:-0.19 [[ 9.36215696e-01 -3.51421778e-01 -1.70417740e-03 9.09599886e+01] [ 3.51421213e-01 9.36217247e-01 -6.30234584e-04 1.52535838e+01] [ 1.81695843e-03 -8.84858042e-06 9.99998349e-01 -1.90954218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77576923100001 meters 0.013564778325516601 Centerline is valid? [True, True] Translation: X:90.98, Y:15.27, Z:-0.19 [[ 9.36620713e-01 -3.50338229e-01 -2.18293651e-03 9.09847274e+01] [ 3.50337299e-01 9.36623257e-01 -8.07194650e-04 1.52650356e+01] [ 2.32738025e-03 -8.72885533e-06 9.99997292e-01 -1.91822868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805769231 meters 0.012733169852187512 Centerline is valid? [True, True] Translation: X:91.01, Y:15.28, Z:-0.19 [[ 9.37575466e-01 -3.47774016e-01 -2.34078119e-03 9.10074174e+01] [ 3.47772937e-01 9.37578388e-01 -8.66292698e-04 1.52845082e+01] [ 2.49593995e-03 -1.84557013e-06 9.99996885e-01 -1.91693591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.835769231 meters 0.012765120517592399 Centerline is valid? [True, True] Translation: X:91.03, Y:15.30, Z:-0.19 [[ 9.38048609e-01 -3.46497420e-01 -2.08446134e-03 9.10312170e+01] [ 3.46496561e-01 9.38050925e-01 -7.71430279e-04 1.52985115e+01] [ 2.22262949e-03 1.38041548e-06 9.99997530e-01 -1.92515314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.865769231 meters 0.01259494919129969 Centerline is valid? [True, True] Translation: X:91.06, Y:15.31, Z:-0.19 [[ 9.38536665e-01 -3.45179062e-01 -5.86734599e-04 9.10550757e+01] [ 3.45178993e-01 9.38536848e-01 -2.17649434e-04 1.53141616e+01] [ 6.25800069e-04 1.74351547e-06 9.99999804e-01 -1.88903414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.895769231 meters 0.01259837275191397 Centerline is valid? [True, True] Translation: X:91.08, Y:15.33, Z:-0.19 [[ 9.38445663e-01 -3.45426648e-01 -4.09776171e-04 9.10794044e+01] [ 3.45426615e-01 9.38445753e-01 -1.51930495e-04 1.53262165e+01] [ 4.37033549e-04 1.03091842e-06 9.99999904e-01 -1.88987775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.925769231 meters 0.012381147430168002 Centerline is valid? [True, True] Translation: X:91.11, Y:15.34, Z:-0.19 [[ 9.38027425e-01 -3.46560751e-01 -4.42451617e-04 9.11057839e+01] [ 3.46560712e-01 9.38027529e-01 -1.64375867e-04 1.53365646e+01] [ 4.71998022e-04 8.52724185e-07 9.99999889e-01 -1.88478066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.955769231 meters 0.012807242651655445 Centerline is valid? [True, True] Translation: X:91.13, Y:15.34, Z:-0.19 [[ 9.36794372e-01 -3.49877627e-01 -1.39643203e-03 9.11321892e+01] [ 3.49877244e-01 9.36795413e-01 -5.17639471e-04 1.53440311e+01] [ 1.48928159e-03 -3.65804775e-06 9.99998891e-01 -1.91385626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.985769231 meters 0.013407613632953928 Centerline is valid? [True, True] Translation: X:91.16, Y:15.35, Z:-0.19 [[ 9.36110148e-01 -3.51702843e-01 -1.70317934e-03 9.11591356e+01] [ 3.51702276e-01 9.36111698e-01 -6.31431807e-04 1.53528334e+01] [ 1.81644246e-03 -7.92232756e-06 9.99998350e-01 -1.91434464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01576923100001 meters 0.014620738488773965 Centerline is valid? [True, True] Translation: X:91.19, Y:15.36, Z:-0.19 [[ 9.35313655e-01 -3.53818119e-01 -1.05098308e-03 9.11855920e+01] [ 3.53817905e-01 9.35314246e-01 -3.89760156e-04 1.53619362e+01] [ 1.12090365e-03 -7.30863381e-06 9.99999372e-01 -1.89578934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04576923100001 meters 0.013959130563815484 Centerline is valid? [True, True] Translation: X:91.21, Y:15.37, Z:-0.19 [[ 9.35350130e-01 -3.53723186e-01 -2.04788826e-04 9.12110318e+01] [ 3.53723178e-01 9.35350152e-01 -7.64091705e-05 1.53744552e+01] [ 2.18576955e-04 -9.69226841e-07 9.99999976e-01 -1.87595997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07576923100001 meters 0.013099649989037915 Centerline is valid? [True, True] Translation: X:91.24, Y:15.39, Z:-0.18 [[ 9.36140170e-01 -3.51623067e-01 1.67344366e-03 9.12352077e+01] [ 3.51622519e-01 9.36141666e-01 6.20731695e-04 1.53887756e+01] [-1.78484392e-03 7.32860097e-06 9.99998407e-01 -1.83594907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10576923100001 meters 0.012321466507155297 Centerline is valid? [True, True] Translation: X:91.26, Y:15.40, Z:-0.18 [[ 9.36687292e-01 -3.50159651e-01 2.26618379e-03 9.12596054e+01] [ 3.50158641e-01 9.36690034e-01 8.40837248e-04 1.54031328e+01] [-2.41713904e-03 5.92226979e-06 9.99997079e-01 -1.82895292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13576923100001 meters 0.012043071819318308 Centerline is valid? [True, True] Translation: X:91.28, Y:15.42, Z:-0.18 [[ 9.37230370e-01 -3.48702903e-01 2.34909644e-03 9.12839350e+01] [ 3.48701812e-01 9.37233314e-01 8.72119762e-04 1.54173580e+01] [-2.50576214e-03 1.75705925e-06 9.99996861e-01 -1.82772574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16576923100001 meters 0.012180070565643207 Centerline is valid? [True, True] Translation: X:91.31, Y:15.44, Z:-0.18 [[ 9.37952975e-01 -3.46753487e-01 2.49737653e-03 9.13059910e+01] [ 3.46752246e-01 9.37956299e-01 9.27704048e-04 1.54357168e+01] [-2.66411466e-03 -4.17185281e-06 9.99996451e-01 -1.83155206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.195769231 meters 0.012291400053317731 Centerline is valid? [True, True] Translation: X:91.33, Y:15.45, Z:-0.18 [[ 9.37910622e-01 -3.46868556e-01 2.42278190e-03 9.13308423e+01] [ 3.46867387e-01 9.37913751e-01 9.00370282e-04 1.54483499e+01] [-2.58467060e-03 -4.08282607e-06 9.99996660e-01 -1.83606894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225769231 meters 0.012244502430856558 Centerline is valid? [True, True] Translation: X:91.36, Y:15.46, Z:-0.19 [[ 9.37043949e-01 -3.49210600e-01 7.70629649e-04 9.13566761e+01] [ 3.49210483e-01 9.37044266e-01 2.86244044e-04 1.54586926e+01] [-8.22073549e-04 8.88702108e-07 9.99999662e-01 -1.86713514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.255769231 meters 0.012826508988492072 Centerline is valid? [True, True] Translation: X:91.38, Y:15.47, Z:-0.19 [[ 9.36098156e-01 -3.51738802e-01 -2.41658051e-04 9.13839299e+01] [ 3.51738790e-01 9.36098187e-01 -9.00618888e-05 1.54662993e+01] [ 2.57893924e-04 -6.93742535e-07 9.99999967e-01 -1.88888045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.285769231 meters 0.013974254684190557 Centerline is valid? [True, True] Translation: X:91.41, Y:15.47, Z:-0.19 [[ 9.35010420e-01 -3.54619548e-01 -7.00716172e-04 9.14115765e+01] [ 3.54619452e-01 9.35010682e-01 -2.61259034e-04 1.54747543e+01] [ 7.47824667e-04 -4.20766536e-06 9.99999720e-01 -1.89475609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.315769231 meters 0.018449419708411123 Centerline is valid? [True, True] Translation: X:91.44, Y:15.48, Z:-0.19 [[ 9.32956707e-01 -3.59988083e-01 -6.02994880e-04 9.14401338e+01] [ 3.59988013e-01 9.32956902e-01 -2.24669348e-04 1.54787824e+01] [ 6.43446522e-04 -7.46415302e-06 9.99999793e-01 -1.89224084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.345769231 meters 0.019414365994154192 Centerline is valid? [True, True] Translation: X:91.47, Y:15.49, Z:-0.19 [[ 9.32226542e-01 -3.61875187e-01 1.53911974e-04 9.14674857e+01] [ 3.61875182e-01 9.32226555e-01 5.69582522e-05 1.54873075e+01] [-1.64092607e-04 2.59892900e-06 9.99999987e-01 -1.88000329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.375769231 meters 0.02242390494895757 Centerline is valid? [True, True] Translation: X:91.50, Y:15.49, Z:-0.19 [[ 9.31078396e-01 -3.64817001e-01 1.25581457e-03 9.14954165e+01] [ 3.64816702e-01 9.31079242e-01 4.67803797e-04 1.54910542e+01] [-1.33992565e-03 2.25801199e-05 9.99999102e-01 -1.86598216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40576923100001 meters 0.023708755807211 Centerline is valid? [True, True] Translation: X:91.52, Y:15.50, Z:-0.19 [[ 9.30513542e-01 -3.66255862e-01 1.09177859e-03 9.15235753e+01] [ 3.66255637e-01 9.30514182e-01 4.06643457e-04 1.54990482e+01] [-1.16485101e-03 2.14828189e-05 9.99999321e-01 -1.86849231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43576923100001 meters 0.024841076065451533 Centerline is valid? [True, True] Translation: X:91.55, Y:15.51, Z:-0.19 [[ 9.30206774e-01 -3.67035675e-01 -4.12612086e-04 9.15513100e+01] [ 3.67035642e-01 9.30206866e-01 -1.53985387e-04 1.55054886e+01] [ 4.40332726e-04 -8.20509167e-06 9.99999903e-01 -1.90467763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46576923100001 meters 0.025453830198986324 Centerline is valid? [True, True] Translation: X:91.58, Y:15.51, Z:-0.19 [[ 9.30369594e-01 -3.66622444e-01 -6.33947298e-04 9.15783603e+01] [ 3.66622368e-01 9.30369810e-01 -2.36555735e-04 1.55122951e+01] [ 6.76532069e-04 -1.23349964e-05 9.99999771e-01 -1.90934415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49576923100001 meters 0.023038087736206244 Centerline is valid? [True, True] Translation: X:91.60, Y:15.52, Z:-0.19 [[ 9.30793886e-01 -3.65544407e-01 -1.68018001e-04 9.16044604e+01] [ 3.65544401e-01 9.30793901e-01 -6.30660610e-05 1.55238730e+01] [ 1.79443576e-04 -2.71653539e-06 9.99999984e-01 -1.89946964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52576923100001 meters 0.01939996650405062 Centerline is valid? [True, True] Translation: X:91.63, Y:15.54, Z:-0.19 [[ 9.32327785e-01 -3.61614077e-01 -4.01227826e-04 9.16291902e+01] [ 3.61614046e-01 9.32327871e-01 -1.49867275e-04 1.55371875e+01] [ 4.28270001e-04 -5.36419279e-06 9.99999908e-01 -1.89657650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.555769231 meters 0.017005530134116303 Centerline is valid? [True, True] Translation: X:91.65, Y:15.55, Z:-0.19 [[ 9.33231227e-01 -3.59274067e-01 -1.27344263e-03 9.16546208e+01] [ 3.59273752e-01 9.33232096e-01 -4.75849309e-04 1.55509891e+01] [ 1.35937785e-03 -1.34370771e-05 9.99999076e-01 -1.91318037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585769231 meters 0.013372215915344312 Centerline is valid? [True, True] Translation: X:91.68, Y:15.57, Z:-0.19 [[ 9.35310466e-01 -3.53826187e-01 -1.16676702e-03 9.16788833e+01] [ 3.53825919e-01 9.35311194e-01 -4.35947811e-04 1.55678313e+01] [ 1.24554001e-03 -5.08586233e-06 9.99999224e-01 -1.91543330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.615769231 meters 0.021925546223807442 Centerline is valid? [True, True] Translation: X:91.70, Y:15.58, Z:-0.19 [[ 9.36254881e-01 -3.51321500e-01 -3.81293014e-05 9.17046641e+01] [ 3.51321500e-01 9.36254882e-01 -1.46332062e-05 1.55816971e+01] [ 4.08397045e-05 3.04767413e-07 9.99999999e-01 -1.85741269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.645769231 meters 0.013059611719316563 Centerline is valid? [True, True] Translation: X:91.73, Y:15.60, Z:-0.19 [[ 9.37993566e-01 -3.46647119e-01 1.96079434e-03 9.17274837e+01] [ 3.46646345e-01 9.37995615e-01 7.32674863e-04 1.55994488e+01] [-2.09319613e-03 -7.54211398e-06 9.99997809e-01 -1.86776111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.675769231 meters 0.014272206661194676 Centerline is valid? [True, True] Translation: X:91.75, Y:15.61, Z:-0.19 [[ 9.38666099e-01 -3.44819656e-01 2.31490963e-03 9.17519719e+01] [ 3.44818570e-01 9.38668954e-01 8.65176378e-04 1.56123968e+01] [-2.47126363e-03 -1.38879049e-05 9.99996946e-01 -1.86303684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.705769231 meters 0.014675970310913325 Centerline is valid? [True, True] Translation: X:91.78, Y:15.62, Z:-0.19 [[ 9.39175938e-01 -3.43430559e-01 2.00242018e-03 9.17787923e+01] [ 3.43429743e-01 9.39178072e-01 7.48501292e-04 1.56233555e+01] [-2.13768734e-03 -1.52837538e-05 9.99997715e-01 -1.86793412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.735769231 meters 0.014675970310913325 Centerline is valid? [True, True] Translation: X:91.80, Y:15.63, Z:-0.19 [[ 9.39108647e-01 -3.43614523e-01 2.00229197e-03 9.18044714e+01] [ 3.43613707e-01 9.39110781e-01 7.48844108e-04 1.56331620e+01] [-2.13768769e-03 -1.52310094e-05 9.99997715e-01 -1.86852456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76576923100001 meters 0.016251015549671555 Centerline is valid? [True, True] Translation: X:91.83, Y:15.65, Z:-0.19 [[ 9.39706491e-01 -3.41980495e-01 1.02565168e-03 9.18285008e+01] [ 3.41980280e-01 9.39707051e-01 3.83748810e-04 1.56479899e+01] [-1.09504673e-03 -9.85859868e-06 9.99999400e-01 -1.88953658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79576923100001 meters 0.016378956824380373 Centerline is valid? [True, True] Translation: X:91.85, Y:15.66, Z:-0.19 [[ 9.39720295e-01 -3.41939040e-01 1.86023931e-03 9.18539553e+01] [ 3.41938332e-01 9.39722136e-01 6.96230944e-04 1.56600954e+01] [-1.98617660e-03 -1.81752221e-05 9.99998027e-01 -1.88280491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82576923100001 meters 0.01690641656277398 Centerline is valid? [True, True] Translation: X:91.88, Y:15.67, Z:-0.19 [[ 9.39686022e-01 -3.42027320e-01 2.73711797e-03 9.18786495e+01] [ 3.42025785e-01 9.39690008e-01 1.02512771e-03 1.56711795e+01] [-2.92266409e-03 -2.71332621e-05 9.99995729e-01 -1.86182828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85576923100001 meters 0.01667802351270481 Centerline is valid? [True, True] Translation: X:91.90, Y:15.68, Z:-0.19 [[ 9.39792518e-01 -3.41730432e-01 3.21477991e-03 9.19048858e+01] [ 3.41728311e-01 9.39798016e-01 1.20432892e-03 1.56818764e+01] [-3.43279962e-03 -3.32380007e-05 9.99994107e-01 -1.85301495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88576923100001 meters 0.017317437689895354 Centerline is valid? [True, True] Translation: X:91.93, Y:15.69, Z:-0.19 [[ 9.40006608e-01 -3.41145535e-01 2.70212080e-03 9.19303870e+01] [ 3.41144034e-01 9.40010491e-01 1.01245941e-03 1.56945778e+01] [-2.88541791e-03 -2.99061448e-05 9.99995837e-01 -1.86136677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91576923100001 meters 0.019027412133574475 Centerline is valid? [True, True] Translation: X:91.96, Y:15.71, Z:-0.19 [[ 9.40662926e-01 -3.39339519e-01 1.39628288e-03 9.19550795e+01] [ 3.39339117e-01 9.40663962e-01 5.23162529e-04 1.57115392e+01] [-1.49096271e-03 -1.83061972e-05 9.99998888e-01 -1.89693897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945769231 meters 0.01987327856998925 Centerline is valid? [True, True] Translation: X:91.98, Y:15.73, Z:-0.19 [[ 9.40906515e-01 -3.38655504e-01 2.71638929e-03 9.19789756e+01] [ 3.38653975e-01 9.40910436e-01 1.01857234e-03 1.57276186e+01] [-2.90082416e-03 -3.84653173e-05 9.99995792e-01 -1.86972674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.975769231 meters 0.020090407120940443 Centerline is valid? [True, True] Translation: X:92.00, Y:15.74, Z:-0.19 [[ 9.40927511e-01 -3.38592695e-01 3.22593812e-03 9.20043507e+01] [ 3.38590536e-01 9.40933039e-01 1.21006113e-03 1.57408315e+01] [-3.44510962e-03 -4.63076892e-05 9.99994065e-01 -1.86122863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.005769231 meters 0.02068327085892944 Centerline is valid? [True, True] Translation: X:92.03, Y:15.75, Z:-0.19 [[ 9.41044525e-01 -3.38268931e-01 3.05497321e-03 9.20301358e+01] [ 3.38266991e-01 9.41049482e-01 1.14653731e-03 1.57549066e+01] [-3.26271891e-03 -4.55460589e-05 9.99994676e-01 -1.86441250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.035769231 meters 0.021018991178702977 Centerline is valid? [True, True] Translation: X:92.06, Y:15.77, Z:-0.19 [[ 9.41296815e-01 -3.37574225e-01 1.98729706e-03 9.20551825e+01] [ 3.37573402e-01 9.41298912e-01 7.46077687e-04 1.57695561e+01] [-2.12249716e-03 -3.14219207e-05 9.99997747e-01 -1.88481578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.065769231 meters 0.02124193991031365 Centerline is valid? [True, True] Translation: X:92.08, Y:15.78, Z:-0.19 [[ 9.41180796e-01 -3.37898825e-01 1.75875034e-03 9.20795241e+01] [ 3.37898180e-01 9.41182439e-01 6.60579210e-04 1.57807724e+01] [-1.87851388e-03 -2.74459267e-05 9.99998235e-01 -1.88897587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.095769231 meters 0.01991233257740586 Centerline is valid? [True, True] Translation: X:92.11, Y:15.79, Z:-0.19 [[ 9.40602727e-01 -3.39497974e-01 2.76307468e-03 9.21065652e+01] [ 3.39496388e-01 9.40606785e-01 1.03840920e-03 1.57912407e+01] [-2.95150461e-03 -3.86766476e-05 9.99995644e-01 -1.87004391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.125769231 meters 0.01882686064264645 Centerline is valid? [True, True] Translation: X:92.13, Y:15.80, Z:-0.19 [[ 9.40166709e-01 -3.40694303e-01 3.73520695e-03 9.21335825e+01] [ 3.40691411e-01 9.40174127e-01 1.40458531e-03 1.58004049e+01] [-3.99027914e-03 -4.79914201e-05 9.99992038e-01 -1.85746750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15576923100001 meters 0.017703795024514704 Centerline is valid? [True, True] Translation: X:92.16, Y:15.81, Z:-0.19 [[ 9.39656911e-01 -3.42101319e-01 3.40264460e-03 9.21608054e+01] [ 3.42098926e-01 9.39663070e-01 1.28013657e-03 1.58099127e+01] [-3.63527589e-03 -3.88481097e-05 9.99993392e-01 -1.86251152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18576923100001 meters 0.01768945364518747 Centerline is valid? [True, True] Translation: X:92.19, Y:15.82, Z:-0.19 [[ 9.39599879e-01 -3.42267868e-01 2.18483830e-03 9.21866069e+01] [ 3.42266882e-01 9.39602419e-01 8.22257358e-04 1.58207677e+01] [-2.33431163e-03 -2.47951209e-05 9.99997275e-01 -1.88344537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21576923100001 meters 0.01839669471547457 Centerline is valid? [True, True] Translation: X:92.21, Y:15.83, Z:-0.19 [[ 9.39722834e-01 -3.41935707e-01 9.83622220e-04 9.22122094e+01] [ 3.41935507e-01 9.39723349e-01 3.70311287e-04 1.58329383e+01] [-1.05095542e-03 -1.16546099e-05 9.99999448e-01 -1.90852187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24576923100001 meters 0.019099980505141494 Centerline is valid? [True, True] Translation: X:92.24, Y:15.85, Z:-0.19 [[ 9.39957995e-01 -3.41289169e-01 8.18943099e-04 9.22382331e+01] [ 3.41289030e-01 9.39958352e-01 3.08202724e-04 1.58455180e+01] [-8.74958657e-04 -1.02013193e-05 9.99999617e-01 -1.90832624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27576923100001 meters 0.01970026876107027 Centerline is valid? [True, True] Translation: X:92.26, Y:15.86, Z:-0.19 [[ 9.39939257e-01 -3.41337679e-01 1.66802525e-03 9.22626969e+01] [ 3.41337101e-01 9.39940737e-01 6.28466791e-04 1.58569440e+01] [-1.78236428e-03 -2.13617042e-05 9.99998411e-01 -1.89535671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305769231 meters 0.01827727174709826 Centerline is valid? [True, True] Translation: X:92.29, Y:15.87, Z:-0.19 [[ 9.39569360e-01 -3.42347359e-01 2.77549684e-03 9.22899941e+01] [ 3.42345761e-01 9.39573459e-01 1.04636737e-03 1.58667382e+01] [-2.96600427e-03 -3.29551425e-05 9.99995601e-01 -1.88549036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.335769231 meters 0.017530647357759305 Centerline is valid? [True, True] Translation: X:92.32, Y:15.88, Z:-0.19 [[ 9.39177256e-01 -3.43422246e-01 2.69132240e-03 9.23173984e+01] [ 3.43420747e-01 9.39181111e-01 1.01513157e-03 1.58763223e+01] [-2.87625792e-03 -2.91325295e-05 9.99995863e-01 -1.88789173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.365769231 meters 0.016510662154534346 Centerline is valid? [True, True] Translation: X:92.34, Y:15.89, Z:-0.19 [[ 9.38581406e-01 -3.45049145e-01 2.45585073e-03 9.23441887e+01] [ 3.45047902e-01 9.38584619e-01 9.26691346e-04 1.58852489e+01] [-2.62477778e-03 -2.23891239e-05 9.99996555e-01 -1.88998064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.395769231 meters 0.013586883653015623 Centerline is valid? [True, True] Translation: X:92.37, Y:15.89, Z:-0.19 [[ 9.36828966e-01 -3.49775158e-01 2.97110863e-03 9.23731441e+01] [ 3.49773360e-01 9.36833677e-01 1.12146274e-03 1.58898456e+01] [-3.17569443e-03 -1.14041257e-05 9.99994957e-01 -1.88207268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.425769231 meters 0.012919183526710138 Centerline is valid? [True, True] Translation: X:92.40, Y:15.89, Z:-0.19 [[ 9.35392213e-01 -3.53594515e-01 3.51105305e-03 9.24012645e+01] [ 3.53592029e-01 9.35398802e-01 1.32586576e-03 1.58941305e+01] [-3.75305367e-03 1.27586593e-06 9.99992957e-01 -1.86899593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.455769231 meters 0.013005787097503689 Centerline is valid? [True, True] Translation: X:92.43, Y:15.90, Z:-0.19 [[ 9.34943365e-01 -3.54780271e-01 3.44440217e-03 9.24270643e+01] [ 3.54777886e-01 9.34949709e-01 1.30102708e-03 1.59015183e+01] [-3.68192155e-03 5.61108156e-06 9.99993222e-01 -1.86802300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.485769231 meters 0.012926348884459878 Centerline is valid? [True, True] Translation: X:92.45, Y:15.91, Z:-0.19 [[ 9.34705676e-01 -3.55408493e-01 3.17852702e-03 9.24536273e+01] [ 3.55406463e-01 9.34711080e-01 1.20101864e-03 1.59110916e+01] [-3.39785665e-03 7.07011103e-06 9.99994227e-01 -1.87271961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51576923100001 meters 0.012907724870367296 Centerline is valid? [True, True] Translation: X:92.48, Y:15.92, Z:-0.19 [[ 9.34713717e-01 -3.55388352e-01 3.06378518e-03 9.24792969e+01] [ 3.55386465e-01 9.34718738e-01 1.15831308e-03 1.59225411e+01] [-3.27542839e-03 6.13666000e-06 9.99994636e-01 -1.87446440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54576923100001 meters 0.012924429089721239 Centerline is valid? [True, True] Translation: X:92.50, Y:15.94, Z:-0.18 [[ 9.35378783e-01 -3.53616135e-01 4.70757498e-03 9.25032506e+01] [ 3.53611651e-01 9.35390629e-01 1.78073501e-03 1.59366878e+01] [-5.03311815e-03 -1.00838929e-06 9.99987334e-01 -1.83496317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57576923100001 meters 0.013051612680264443 Centerline is valid? [True, True] Translation: X:92.53, Y:15.95, Z:-0.18 [[ 9.35637690e-01 -3.52922053e-01 5.30444411e-03 9.25280331e+01] [ 3.52916344e-01 9.35652726e-01 2.00741208e-03 1.59494394e+01] [-5.67157758e-03 -6.18538274e-06 9.99983916e-01 -1.82646416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60576923100001 meters 0.013009281052383964 Centerline is valid? [True, True] Translation: X:92.55, Y:15.96, Z:-0.19 [[ 9.35426614e-01 -3.53494176e-01 4.34936578e-03 9.25542649e+01] [ 3.53490340e-01 9.35436725e-01 1.64681059e-03 1.59593405e+01] [-4.65069444e-03 -3.01166674e-06 9.99989185e-01 -1.85269740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63576923100001 meters 0.012980278460935017 Centerline is valid? [True, True] Translation: X:92.58, Y:15.97, Z:-0.19 [[ 9.35007189e-01 -3.54613927e-01 3.24333979e-03 9.25811383e+01] [ 3.54611799e-01 9.35012814e-01 1.22861844e-03 1.59686105e+01] [-3.46824948e-03 1.35948194e-06 9.99993986e-01 -1.87869704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66576923100001 meters 0.01330091281735871 Centerline is valid? [True, True] Translation: X:92.61, Y:15.98, Z:-0.19 [[ 9.34156279e-01 -3.56851838e-01 2.96858712e-03 9.26072738e+01] [ 3.56850064e-01 9.34160996e-01 1.12513940e-03 1.59781912e+01] [-3.17464636e-03 8.28447384e-06 9.99994961e-01 -1.89024491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.695769231 meters 0.013493520687836418 Centerline is valid? [True, True] Translation: X:92.63, Y:15.99, Z:-0.19 [[ 9.33934110e-01 -3.57428715e-01 3.43389553e-03 9.26330009e+01] [ 3.57426342e-01 9.33940423e-01 1.30230644e-03 1.59898203e+01] [-3.67253557e-03 1.10963146e-05 9.99993256e-01 -1.87931368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725769231 meters 0.013215134977128014 Centerline is valid? [True, True] Translation: X:92.66, Y:16.01, Z:-0.19 [[ 9.34341509e-01 -3.56362847e-01 3.38607936e-03 9.26560635e+01] [ 3.56360532e-01 9.34347645e-01 1.28473455e-03 1.60057554e+01] [-3.62160694e-03 6.28421844e-06 9.99993442e-01 -1.87609818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.755769231 meters 0.013051638194657607 Centerline is valid? [True, True] Translation: X:92.68, Y:16.02, Z:-0.19 [[ 9.34727382e-01 -3.55351451e-01 3.17305230e-03 9.26798160e+01] [ 3.55349410e-01 9.34732767e-01 1.20419519e-03 1.60198816e+01] [-3.39386847e-03 1.94805176e-06 9.99994241e-01 -1.88440266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.785769231 meters 0.01313715897297682 Centerline is valid? [True, True] Translation: X:92.70, Y:16.03, Z:-0.19 [[ 9.35069476e-01 -3.54452464e-01 2.91984399e-03 9.27040892e+01] [ 3.54450730e-01 9.35074035e-01 1.10847570e-03 1.60337547e+01] [-3.12317224e-03 -1.56095433e-06 9.99995123e-01 -1.90020924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.815769231 meters 0.013367015065071833 Centerline is valid? [True, True] Translation: X:92.73, Y:16.05, Z:-0.19 [[ 9.35536287e-01 -3.53220529e-01 2.66709039e-03 9.27271084e+01] [ 3.53219076e-01 9.35540089e-01 1.01299167e-03 1.60494916e+01] [-2.85297943e-03 -5.62326425e-06 9.99995930e-01 -1.90956600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.845769231 meters 0.013493531592693404 Centerline is valid? [True, True] Translation: X:92.75, Y:16.06, Z:-0.19 [[ 9.35566780e-01 -3.53140210e-01 2.60614117e-03 9.27515388e+01] [ 3.53138823e-01 9.35570410e-01 9.90120753e-04 1.60619204e+01] [-2.78788001e-03 -5.99446191e-06 9.99996114e-01 -1.91337899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.875769231 meters 0.013231646510746316 Centerline is valid? [True, True] Translation: X:92.78, Y:16.07, Z:-0.19 [[ 9.34951625e-01 -3.54760985e-01 3.17835553e-03 9.27768469e+01] [ 3.54758927e-01 9.34957028e-01 1.20814575e-03 1.60738597e+01] [-3.40022882e-03 -2.00783142e-06 9.99994219e-01 -1.91339419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90576923100001 meters 0.013236868062312347 Centerline is valid? [True, True] Translation: X:92.80, Y:16.08, Z:-0.19 [[ 9.34365455e-01 -3.56297788e-01 3.61693609e-03 9.28019551e+01] [ 3.56295133e-01 9.34372456e-01 1.37562436e-03 1.60836681e+01] [-3.86969737e-03 3.36084786e-06 9.99992513e-01 -1.90957405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93576923100001 meters 0.014383684331690499 Centerline is valid? [True, True] Translation: X:92.83, Y:16.09, Z:-0.19 [[ 9.32834476e-01 -3.60283630e-01 3.94292734e-03 9.28288568e+01] [ 3.60280508e-01 9.32842808e-01 1.50010299e-03 1.60898006e+01] [-4.21859396e-03 2.12120774e-05 9.99991101e-01 -1.91042854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96576923100001 meters 0.015527871118930035 Centerline is valid? [True, True] Translation: X:92.86, Y:16.10, Z:-0.19 [[ 9.31893169e-01 -3.62712270e-01 3.86411326e-03 9.28574281e+01] [ 3.62709290e-01 9.31901179e-01 1.47062763e-03 1.60969191e+01] [-4.13438639e-03 3.10819338e-05 9.99991453e-01 -1.91236922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99576923100001 meters 0.01720075380378199 Centerline is valid? [True, True] Translation: X:92.88, Y:16.10, Z:-0.19 [[ 9.31032311e-01 -3.64916937e-01 3.80326802e-03 9.28845346e+01] [ 3.64914066e-01 9.31040078e-01 1.44796361e-03 1.61028892e+01] [-4.06938140e-03 3.97650924e-05 9.99991719e-01 -1.91571261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02576923100001 meters 0.019615333985497828 Centerline is valid? [True, True] Translation: X:92.91, Y:16.11, Z:-0.19 [[ 9.29824957e-01 -3.67982146e-01 3.83271359e-03 9.29138018e+01] [ 3.67979255e-01 9.29832854e-01 1.45964940e-03 1.61080576e+01] [-4.10090794e-03 5.31406535e-05 9.99991590e-01 -1.90961827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05576923100001 meters 0.019810161148452396 Centerline is valid? [True, True] Translation: X:92.94, Y:16.12, Z:-0.19 [[ 9.29385378e-01 -3.69084057e-01 4.44731190e-03 9.29413170e+01] [ 3.69080172e-01 9.29396016e-01 1.69461478e-03 1.61176628e+01] [-4.75876926e-03 6.64644456e-05 9.99988675e-01 -1.90666734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085769231 meters 0.022003285433045135 Centerline is valid? [True, True] Translation: X:92.97, Y:16.12, Z:-0.19 [[ 9.29086992e-01 -3.69817617e-01 5.68250938e-03 9.29694425e+01] [ 3.69811284e-01 9.29104366e-01 2.16602025e-03 1.61225671e+01] [-6.08067672e-03 8.90348528e-05 9.99981509e-01 -1.87446911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.115769231 meters 0.02072899459044206 Centerline is valid? [True, True] Translation: X:93.00, Y:16.13, Z:-0.19 [[ 9.29057917e-01 -3.69890096e-01 5.71871134e-03 9.29951150e+01] [ 3.69883679e-01 9.29075513e-01 2.18075788e-03 1.61339746e+01] [-6.11975542e-03 8.92076141e-05 9.99981270e-01 -1.87903884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.145769231 meters 0.0207104603499578 Centerline is valid? [True, True] Translation: X:93.02, Y:16.14, Z:-0.19 [[ 9.29127245e-01 -3.69721270e-01 5.36149751e-03 9.30208853e+01] [ 3.69715622e-01 9.29142710e-01 2.04517017e-03 1.61436821e+01] [-5.73773924e-03 8.20060652e-05 9.99983536e-01 -1.88306550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.175769231 meters 0.02056618461826077 Centerline is valid? [True, True] Translation: X:93.05, Y:16.15, Z:-0.19 [[ 9.29289483e-01 -3.69324064e-01 4.55989485e-03 9.30473017e+01] [ 3.69319973e-01 9.29300668e-01 1.73967990e-03 1.61531029e+01] [-4.88001898e-03 6.73940016e-05 9.99988090e-01 -1.89919393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.205769231 meters 0.021665384273340298 Centerline is valid? [True, True] Translation: X:93.08, Y:16.16, Z:-0.19 [[ 9.28684156e-01 -3.70818950e-01 6.24855171e-03 9.30762063e+01] [ 3.70811294e-01 9.28705172e-01 2.38491175e-03 1.61594174e+01] [-6.68743276e-03 1.02203788e-04 9.99977634e-01 -1.87086827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.235769231 meters 0.0229433689455975 Centerline is valid? [True, True] Translation: X:93.10, Y:16.17, Z:-0.19 [[ 9.28127415e-01 -3.72196370e-01 7.02593777e-03 9.31033521e+01] [ 3.72186725e-01 9.28154000e-01 2.68237849e-03 1.61661773e+01] [-7.51952378e-03 1.25371755e-04 9.99971720e-01 -1.85687112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26576923100001 meters 0.02407441956594192 Centerline is valid? [True, True] Translation: X:93.13, Y:16.17, Z:-0.19 [[ 9.27438352e-01 -3.73909095e-01 7.07757662e-03 9.31312648e+01] [ 3.73899349e-01 9.27465347e-01 2.70318148e-03 1.61737068e+01] [-7.57495120e-03 1.39267120e-04 9.99971300e-01 -1.85844767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29576923100001 meters 0.02967901026687582 Centerline is valid? [True, True] Translation: X:93.16, Y:16.17, Z:-0.19 [[ 9.26134601e-01 -3.77153189e-01 5.49305216e-03 9.31617476e+01] [ 3.77147373e-01 9.26150882e-01 2.09847585e-03 1.61743898e+01] [-5.87884196e-03 1.28219093e-04 9.99982711e-01 -1.89186820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32576923100001 meters 0.028945750642366937 Centerline is valid? [True, True] Translation: X:93.19, Y:16.18, Z:-0.19 [[ 9.25560666e-01 -3.78564922e-01 5.10426197e-03 9.31889358e+01] [ 3.78559917e-01 9.25574732e-01 1.95062766e-03 1.61842957e+01] [-5.46281511e-03 1.26844753e-04 9.99985071e-01 -1.90896909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35576923100001 meters 0.030632383868913256 Centerline is valid? [True, True] Translation: X:93.22, Y:16.19, Z:-0.19 [[ 9.24370433e-01 -3.81453609e-01 5.69624786e-03 9.32184148e+01] [ 3.81447428e-01 9.24387970e-01 2.17742720e-03 1.61895317e+01] [-6.09613046e-03 1.60069774e-04 9.99981406e-01 -1.90079761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38576923100001 meters 0.03297923897645099 Centerline is valid? [True, True] Translation: X:93.25, Y:16.19, Z:-0.19 [[ 9.23816114e-01 -3.82797990e-01 5.43019862e-03 9.32464871e+01] [ 3.82792394e-01 9.23832059e-01 2.07603714e-03 1.61948153e+01] [-5.81129441e-03 1.60762162e-04 9.99983101e-01 -1.90375574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41576923100001 meters 0.035343998915123666 Centerline is valid? [True, True] Translation: X:93.27, Y:16.20, Z:-0.19 [[ 9.23574465e-01 -3.83392020e-01 4.55701760e-03 9.32741396e+01] [ 3.83388085e-01 9.23585697e-01 1.74249139e-03 1.61992455e+01] [-4.87685358e-03 1.37785695e-04 9.99988099e-01 -1.92241378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445769231 meters 0.032965585188731335 Centerline is valid? [True, True] Translation: X:93.30, Y:16.21, Z:-0.20 [[ 9.23750600e-01 -3.82986874e-01 2.42541867e-03 9.33015702e+01] [ 3.82985757e-01 9.23753782e-01 9.27570110e-04 1.62080212e+01] [-2.59573684e-03 7.20573584e-05 9.99996628e-01 -1.96601858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.475769231 meters 0.03244560213956961 Centerline is valid? [True, True] Translation: X:93.33, Y:16.22, Z:-0.19 [[ 9.24734225e-01 -3.80598789e-01 3.34279017e-03 9.33282714e+01] [ 3.80596650e-01 9.24740263e-01 1.27901635e-03 1.62160609e+01] [-3.57800473e-03 8.95045508e-05 9.99993595e-01 -1.94225062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.505769231 meters 0.028963854149161347 Centerline is valid? [True, True] Translation: X:93.35, Y:16.23, Z:-0.19 [[ 9.25485359e-01 -3.78760173e-01 4.19313348e-03 9.33543165e+01] [ 3.78756786e-01 9.25494852e-01 1.60491815e-03 1.62303259e+01] [-4.48860252e-03 1.02849516e-04 9.99989921e-01 -1.92761259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.535769231 meters 0.02808626495226273 Centerline is valid? [True, True] Translation: X:93.38, Y:16.24, Z:-0.19 [[ 9.26277451e-01 -3.76813617e-01 4.64560284e-03 9.33803071e+01] [ 3.76809431e-01 9.26289095e-01 1.77896445e-03 1.62413777e+01] [-4.97350928e-03 1.02692309e-04 9.99987627e-01 -1.91831010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.565769231 meters 0.02494829908808072 Centerline is valid? [True, True] Translation: X:93.40, Y:16.26, Z:-0.19 [[ 9.27933029e-01 -3.72711261e-01 5.15848411e-03 9.34048512e+01] [ 3.72706034e-01 9.27947363e-01 1.97592378e-03 1.62566620e+01] [-5.52325077e-03 8.90732160e-05 9.99984743e-01 -1.91249818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.595769231 meters 0.022448491343995073 Centerline is valid? [True, True] Translation: X:93.43, Y:16.27, Z:-0.19 [[ 9.28506427e-01 -3.71277435e-01 5.37406220e-03 9.34297080e+01] [ 3.71271734e-01 9.28521976e-01 2.05919807e-03 1.62713005e+01] [-5.75446863e-03 8.32587466e-05 9.99983439e-01 -1.91588549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.625769231 meters 0.021845781683374806 Centerline is valid? [True, True] Translation: X:93.46, Y:16.28, Z:-0.19 [[ 9.28798466e-01 -3.70546722e-01 5.34193653e-03 9.34557139e+01] [ 3.70541073e-01 9.28813825e-01 2.04745262e-03 1.62822444e+01] [-5.72034136e-03 7.77360359e-05 9.99983636e-01 -1.91240441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65576923100001 meters 0.021845781683374806 Centerline is valid? [True, True] Translation: X:93.48, Y:16.29, Z:-0.19 [[ 9.28733158e-01 -3.70710383e-01 5.34166884e-03 9.34813066e+01] [ 3.70704733e-01 9.28748516e-01 2.04815084e-03 1.62922721e+01] [-5.72033779e-03 7.79963240e-05 9.99983636e-01 -1.91299489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68576923100001 meters 0.023160860396130106 Centerline is valid? [True, True] Translation: X:93.51, Y:16.30, Z:-0.19 [[ 9.28231149e-01 -3.71959342e-01 5.76042006e-03 9.35092729e+01] [ 3.71952789e-01 9.28249018e-01 2.20981098e-03 1.63001926e+01] [-6.16906410e-03 9.13889235e-05 9.99980967e-01 -1.90868809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71576923100001 meters 0.022154361571081714 Centerline is valid? [True, True] Translation: X:93.54, Y:16.31, Z:-0.19 [[ 9.27473542e-01 -3.73838332e-01 6.14257445e-03 9.35359582e+01] [ 3.73830914e-01 9.27493876e-01 2.35759398e-03 1.63119956e+01] [-6.57855918e-03 1.09678184e-04 9.99978355e-01 -1.91737106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74576923100001 meters 0.027400944103048754 Centerline is valid? [True, True] Translation: X:93.57, Y:16.31, Z:-0.19 [[ 9.26310166e-01 -3.76691155e-01 7.29726627e-03 9.35651327e+01] [ 3.76680769e-01 9.26338896e-01 2.80153392e-03 1.63144184e+01] [-7.81505462e-03 1.53650519e-04 9.99969450e-01 -1.89468470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77576923100001 meters 0.028293035847269433 Centerline is valid? [True, True] Translation: X:93.59, Y:16.32, Z:-0.19 [[ 9.26041050e-01 -3.77352031e-01 7.30882872e-03 9.35912452e+01] [ 3.77341626e-01 9.26069878e-01 2.80668288e-03 1.63226962e+01] [-7.82759361e-03 1.58821750e-04 9.99969351e-01 -1.89238926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80576923100001 meters 0.03102837044680429 Centerline is valid? [True, True] Translation: X:93.62, Y:16.33, Z:-0.19 [[ 9.25625505e-01 -3.78375485e-01 7.02976689e-03 9.36190910e+01] [ 3.78365885e-01 9.25652185e-01 2.70005654e-03 1.63276819e+01] [-7.52875428e-03 1.60582776e-04 9.99971646e-01 -1.89314013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.835769231 meters 0.028554337600135635 Centerline is valid? [True, True] Translation: X:93.65, Y:16.34, Z:-0.19 [[ 9.25204314e-01 -3.79404816e-01 6.99733727e-03 9.36451468e+01] [ 3.79395326e-01 9.25230759e-01 2.68865422e-03 1.63414554e+01] [-7.49424003e-03 1.67202571e-04 9.99971904e-01 -1.90724726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.865769231 meters 0.028327552389856306 Centerline is valid? [True, True] Translation: X:93.67, Y:16.35, Z:-0.19 [[ 9.24900008e-01 -3.80147387e-01 6.92380372e-03 9.36719186e+01] [ 3.80138107e-01 9.24925908e-01 2.66170314e-03 1.63518586e+01] [-7.41584494e-03 1.70192382e-04 9.99972488e-01 -1.91026146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.895769231 meters 0.028988482654701678 Centerline is valid? [True, True] Translation: X:93.70, Y:16.36, Z:-0.19 [[ 9.24868136e-01 -3.80244513e-01 5.74816777e-03 9.36986596e+01] [ 3.80238115e-01 9.24885988e-01 2.21032510e-03 1.63593018e+01] [-6.15686382e-03 1.41413227e-04 9.99981036e-01 -1.92887835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.925769231 meters 0.028759063052993653 Centerline is valid? [True, True] Translation: X:93.73, Y:16.37, Z:-0.19 [[ 9.24909918e-01 -3.80154275e-01 4.93661632e-03 9.37256507e+01] [ 3.80149552e-01 9.24923085e-01 1.89892540e-03 1.63693826e+01] [-5.28787501e-03 1.20317547e-04 9.99986012e-01 -1.94541175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.955769231 meters 0.028346400789649243 Centerline is valid? [True, True] Translation: X:93.75, Y:16.38, Z:-0.19 [[ 9.25178944e-01 -3.79495348e-01 5.21550036e-03 9.37534676e+01] [ 3.79490060e-01 9.25193637e-01 2.00719380e-03 1.63776883e+01] [-5.58706846e-03 1.22217107e-04 9.99984385e-01 -1.94979543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.985769231 meters 0.03160287568618348 Centerline is valid? [True, True] Translation: X:93.78, Y:16.38, Z:-0.19 [[ 9.25269630e-01 -3.79268504e-01 5.61368118e-03 9.37817874e+01] [ 3.79262369e-01 9.25286650e-01 2.16107484e-03 1.63817716e+01] [-6.01389188e-03 1.29481105e-04 9.99981908e-01 -1.93781061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01576923100001 meters 0.027855485303243024 Centerline is valid? [True, True] Translation: X:93.81, Y:16.40, Z:-0.19 [[ 9.25282667e-01 -3.79220613e-01 6.61160511e-03 9.38067623e+01] [ 3.79212094e-01 9.25306276e-01 2.54637978e-03 1.63952981e+01] [-7.08339940e-03 1.51079546e-04 9.99974901e-01 -1.93388865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04576923100001 meters 0.02908415100101023 Centerline is valid? [True, True] Translation: X:93.83, Y:16.40, Z:-0.19 [[ 9.25295456e-01 -3.79154155e-01 8.39319154e-03 9.38345941e+01] [ 3.79140414e-01 9.25333502e-01 3.23349914e-03 1.64000191e+01] [-8.99249596e-03 1.90256056e-04 9.99959549e-01 -1.89577337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07576923100001 meters 0.02852748217126185 Centerline is valid? [True, True] Translation: X:93.86, Y:16.41, Z:-0.19 [[ 9.25148679e-01 -3.79501788e-01 8.84953323e-03 9.38616236e+01] [ 3.79486515e-01 9.25190981e-01 3.41069663e-03 1.64087508e+01] [-9.48187380e-03 2.02877039e-04 9.99955025e-01 -1.89406469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10576923100001 meters 0.027990508006978637 Centerline is valid? [True, True] Translation: X:93.89, Y:16.41, Z:-0.19 [[ 9.24974265e-01 -3.79935028e-01 8.48430503e-03 9.38904121e+01] [ 3.79920999e-01 9.25013154e-01 3.27096997e-03 1.64143524e+01] [-9.09084983e-03 1.97802594e-04 9.99958658e-01 -1.90831466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13576923100001 meters 0.030337080648404163 Centerline is valid? [True, True] Translation: X:93.92, Y:16.42, Z:-0.19 [[ 9.24861451e-01 -3.80223429e-01 7.83839596e-03 9.39175914e+01] [ 3.80211456e-01 9.24894648e-01 3.02300635e-03 1.64178204e+01] [-8.39910832e-03 1.84385900e-04 9.99964710e-01 -1.91080734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16576923100001 meters 0.0304344377568089 Centerline is valid? [True, True] Translation: X:93.94, Y:16.42, Z:-0.19 [[ 9.24723726e-01 -3.80565946e-01 7.45596716e-03 9.39446216e+01] [ 3.80555113e-01 9.24753767e-01 2.87691591e-03 1.64249426e+01] [-7.98978994e-03 1.77054023e-04 9.99968065e-01 -1.92168652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.195769231 meters 0.02763094355022361 Centerline is valid? [True, True] Translation: X:93.97, Y:16.43, Z:-0.19 [[ 9.24842843e-01 -3.80273884e-01 7.58218439e-03 9.39716615e+01] [ 3.80262659e-01 9.24873906e-01 2.92709300e-03 1.64338356e+01] [-8.12566152e-03 1.76120585e-04 9.99966971e-01 -1.92643497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225769231 meters 0.027736164395460745 Centerline is valid? [True, True] Translation: X:94.00, Y:16.44, Z:-0.19 [[ 9.25759714e-01 -3.78027659e-01 8.00255594e-03 9.40000502e+01] [ 3.78015058e-01 9.25794287e-01 3.09091177e-03 1.64389068e+01] [-8.57717071e-03 1.63645056e-04 9.99963202e-01 -1.90793761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.255769231 meters 0.02517942361809085 Centerline is valid? [True, True] Translation: X:94.03, Y:16.45, Z:-0.19 [[ 9.26625332e-01 -3.75895087e-01 8.26912905e-03 9.40266923e+01] [ 3.75881534e-01 9.26662216e-01 3.19537767e-03 1.64507793e+01] [-8.86381622e-03 1.47295018e-04 9.99960705e-01 -1.90412250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.285769231 meters 0.022509987076039642 Centerline is valid? [True, True] Translation: X:94.05, Y:16.46, Z:-0.19 [[ 9.27682063e-01 -3.73264780e-01 8.91034966e-03 9.40525497e+01] [ 3.73248907e-01 9.27724844e-01 3.44476120e-03 1.64630262e+01] [-9.55216078e-03 1.30135093e-04 9.99954369e-01 -1.88895510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.315769231 meters 0.017230698939879066 Centerline is valid? [True, True] Translation: X:94.08, Y:16.48, Z:-0.19 [[ 9.29800045e-01 -3.67921453e-01 1.02801275e-02 9.40774484e+01] [ 3.67899988e-01 9.29856869e-01 3.97516646e-03 1.64793918e+01] [-1.10215962e-02 8.59488237e-05 9.99939257e-01 -1.87593560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.345769231 meters 0.01647410130815093 Centerline is valid? [True, True] Translation: X:94.10, Y:16.49, Z:-0.19 [[ 9.30446970e-01 -3.66270948e-01 1.06784535e-02 9.41030160e+01] [ 3.66247671e-01 9.30508242e-01 4.12987470e-03 1.64896330e+01] [-1.14490421e-02 6.83293123e-05 9.99934455e-01 -1.85937603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.375769231 meters 0.015280143209978147 Centerline is valid? [True, True] Translation: X:94.13, Y:16.50, Z:-0.19 [[ 9.31002112e-01 -3.64883652e-01 9.74616262e-03 9.41296973e+01] [ 3.64864169e-01 9.31053123e-01 3.77090572e-03 1.65004147e+01] [-1.04501370e-02 4.53043338e-05 9.99945395e-01 -1.90358162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40576923100001 meters 0.015095730331685627 Centerline is valid? [True, True] Translation: X:94.16, Y:16.51, Z:-0.19 [[ 9.31091183e-01 -3.64670086e-01 9.21608924e-03 9.41555031e+01] [ 3.64652635e-01 9.31136793e-01 3.56774831e-03 1.65101217e+01] [-9.88249085e-03 3.87722362e-05 9.99951166e-01 -1.92055039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43576923100001 meters 0.014947116377434953 Centerline is valid? [True, True] Translation: X:94.18, Y:16.52, Z:-0.19 [[ 9.31194111e-01 -3.64412499e-01 9.00327375e-03 9.41806860e+01] [ 3.64395818e-01 9.31237633e-01 3.48683389e-03 1.65198204e+01] [-9.65483319e-03 3.38361194e-05 9.99953390e-01 -1.92348450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46576923100001 meters 0.014751920138816158 Centerline is valid? [True, True] Translation: X:94.21, Y:16.53, Z:-0.19 [[ 9.31641142e-01 -3.63247614e-01 9.79555965e-03 9.42067913e+01] [ 3.63227783e-01 9.31692638e-01 3.79567631e-03 1.65307061e+01] [-1.05052212e-02 2.18111953e-05 9.99944818e-01 -1.90581404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49576923100001 meters 0.014619953836549878 Centerline is valid? [True, True] Translation: X:94.23, Y:16.54, Z:-0.19 [[ 9.31652479e-01 -3.63216440e-01 9.87305473e-03 9.42330580e+01] [ 3.63196269e-01 9.31704791e-01 3.82786163e-03 1.65404438e+01] [-1.05891147e-02 1.96198732e-05 9.99943934e-01 -1.90644096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52576923100001 meters 0.014624449677096477 Centerline is valid? [True, True] Translation: X:94.26, Y:16.55, Z:-0.19 [[ 9.31784880e-01 -3.62884644e-01 9.57456347e-03 9.42586706e+01] [ 3.62865641e-01 9.31834071e-01 3.71368993e-03 1.65499754e+01] [-1.02695455e-02 1.39199906e-05 9.99947267e-01 -1.91525415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55576923100001 meters 0.014596233644695377 Centerline is valid? [True, True] Translation: X:94.28, Y:16.56, Z:-0.19 [[ 9.31986378e-01 -3.62379830e-01 9.06915457e-03 9.42833217e+01] [ 3.62362744e-01 9.32030503e-01 3.51897665e-03 1.65598627e+01] [-9.72793486e-03 6.68543788e-06 9.99952682e-01 -1.92209780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585769231 meters 0.01451274050349157 Centerline is valid? [True, True] Translation: X:94.31, Y:16.57, Z:-0.19 [[ 9.32253645e-01 -3.61693990e-01 8.97766715e-03 9.43095141e+01] [ 3.61677198e-01 9.32296872e-01 3.48524137e-03 1.65703365e+01] [-9.63044186e-03 -2.11148019e-06 9.99953626e-01 -1.93512117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.615769231 meters 0.01460270633328674 Centerline is valid? [True, True] Translation: X:94.34, Y:16.58, Z:-0.19 [[ 9.32637811e-01 -3.60697620e-01 9.16186180e-03 9.43357962e+01] [ 3.60680064e-01 9.32682811e-01 3.55873240e-03 1.65805441e+01] [-9.82873733e-03 -1.45074882e-05 9.99951697e-01 -1.93832910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.645769231 meters 0.014559948597045156 Centerline is valid? [True, True] Translation: X:94.36, Y:16.59, Z:-0.20 [[ 9.32385337e-01 -3.61345595e-01 9.32442987e-03 9.43640739e+01] [ 3.61327422e-01 9.32431961e-01 3.62393523e-03 1.65860679e+01] [-1.00038895e-02 -9.73185728e-06 9.99949960e-01 -1.95372468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.675769231 meters 0.014461672461074418 Centerline is valid? [True, True] Translation: X:94.39, Y:16.59, Z:-0.20 [[ 9.31380311e-01 -3.63975308e-01 7.25881004e-03 9.43936831e+01] [ 3.63964370e-01 9.31408597e-01 2.82183691e-03 1.65879224e+01] [-7.78799704e-03 1.37448831e-05 9.99969673e-01 -1.99886722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.705769231 meters 0.014502311151789366 Centerline is valid? [True, True] Translation: X:94.42, Y:16.60, Z:-0.20 [[ 9.31141676e-01 -3.64608604e-01 5.97878232e-03 9.44207717e+01] [ 3.64601190e-01 9.31160870e-01 2.32521557e-03 1.65957367e+01] [-6.41500175e-03 1.47660243e-05 9.99979424e-01 -2.02606016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.735769231 meters 0.014381913150012188 Centerline is valid? [True, True] Translation: X:94.45, Y:16.61, Z:-0.20 [[ 9.31366990e-01 -3.64045519e-01 5.13702389e-03 9.44475299e+01] [ 3.64040034e-01 9.31381157e-01 1.99843689e-03 1.66050264e+01] [-5.51204925e-03 8.80419750e-06 9.99984809e-01 -2.04154860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76576923100001 meters 0.01468939528656348 Centerline is valid? [True, True] Translation: X:94.47, Y:16.62, Z:-0.21 [[ 9.32682831e-01 -3.60675624e-01 3.97877665e-03 9.44711990e+01] [ 3.60672302e-01 9.32691318e-01 1.54813896e-03 1.66188152e+01] [-4.26934642e-03 -8.88809163e-06 9.99990886e-01 -2.06446588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79576923100001 meters 0.015557915589397715 Centerline is valid? [True, True] Translation: X:94.50, Y:16.63, Z:-0.21 [[ 9.33553667e-01 -3.58415188e-01 4.01288090e-03 9.44968006e+01] [ 3.58411785e-01 9.33562292e-01 1.56196400e-03 1.66334726e+01] [-4.30610591e-03 -1.99134148e-05 9.99990728e-01 -2.06187568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82576923100001 meters 0.018198857668847268 Centerline is valid? [True, True] Translation: X:94.52, Y:16.65, Z:-0.20 [[ 9.35158617e-01 -3.54196828e-01 4.79250148e-03 9.45213151e+01] [ 3.54191914e-01 9.35170896e-01 1.86638015e-03 1.66506380e+01] [-5.14287383e-03 -4.78962075e-05 9.99986774e-01 -2.04950303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85576923100001 meters 0.019020714427313793 Centerline is valid? [True, True] Translation: X:94.55, Y:16.66, Z:-0.20 [[ 9.35330384e-01 -3.53734496e-01 5.38323111e-03 9.45470896e+01] [ 3.53728285e-01 9.35345873e-01 2.09707885e-03 1.66622397e+01] [-5.77699213e-03 -5.72604542e-05 9.99983311e-01 -2.03873936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88576923100001 meters 0.017580000149012613 Centerline is valid? [True, True] Translation: X:94.57, Y:16.67, Z:-0.20 [[ 9.34938782e-01 -3.54761730e-01 5.79555456e-03 9.45741543e+01] [ 3.54754544e-01 9.34956743e-01 2.25867698e-03 1.66694663e+01] [-6.21988497e-03 -5.57253881e-05 9.99980655e-01 -2.04126164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91576923100001 meters 0.015271132866985808 Centerline is valid? [True, True] Translation: X:94.60, Y:16.67, Z:-0.20 [[ 9.32992021e-01 -3.59832293e-01 6.82705493e-03 9.46039412e+01] [ 3.59822451e-01 9.33016999e-01 2.66152347e-03 1.66705738e+01] [-7.32746039e-03 -2.66525268e-05 9.99973153e-01 -2.02473883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945769231 meters 0.014590539837802197 Centerline is valid? [True, True] Translation: X:94.63, Y:16.67, Z:-0.20 [[ 9.31729330e-01 -3.63082956e-01 7.15695015e-03 9.46322934e+01] [ 3.63072225e-01 9.31756818e-01 2.79140794e-03 1.66747555e+01] [-7.68204974e-03 -2.34683792e-06 9.99970493e-01 -2.02195971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.975769231 meters 0.014853723808989392 Centerline is valid? [True, True] Translation: X:94.66, Y:16.68, Z:-0.20 [[ 9.30561440e-01 -3.66057324e-01 7.57907202e-03 9.46607489e+01] [ 3.66045382e-01 9.30592303e-01 2.95689300e-03 1.66783893e+01] [-8.13541842e-03 2.27137060e-05 9.99966907e-01 -2.01477303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.005769231 meters 0.017187799043513197 Centerline is valid? [True, True] Translation: X:94.69, Y:16.68, Z:-0.20 [[ 9.28571732e-01 -3.71070844e-01 7.80822097e-03 9.46930132e+01] [ 3.71058335e-01 9.28604558e-01 3.04753618e-03 1.66758919e+01] [-8.38160140e-03 6.74495301e-05 9.99964871e-01 -2.01288870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.035769231 meters 0.025918812491753217 Centerline is valid? [True, True] Translation: X:94.72, Y:16.68, Z:-0.20 [[ 9.27999940e-01 -3.72494440e-01 8.00028941e-03 9.47216727e+01] [ 3.72481354e-01 9.28034421e-01 3.12329874e-03 1.66804862e+01] [-8.58795536e-03 8.15375911e-05 9.99963120e-01 -1.96240926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.065769231 meters 0.017466806511219606 Centerline is valid? [True, True] Translation: X:94.75, Y:16.69, Z:-0.20 [[ 9.28482948e-01 -3.71279552e-01 8.42075782e-03 9.47496351e+01] [ 3.71264999e-01 9.28521130e-01 3.28802780e-03 1.66856155e+01] [-9.03962905e-03 7.34548994e-05 9.99959139e-01 -2.00948908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.095769231 meters 0.016469169558231682 Centerline is valid? [True, True] Translation: X:94.78, Y:16.69, Z:-0.20 [[ 9.29225270e-01 -3.69420307e-01 8.30865690e-03 9.47756180e+01] [ 3.69406060e-01 9.29262414e-01 3.24481074e-03 1.66946072e+01] [-8.91962155e-03 5.41080795e-05 9.99960218e-01 -2.00297758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.125769231 meters 0.015271804412974654 Centerline is valid? [True, True] Translation: X:94.80, Y:16.71, Z:-0.20 [[ 9.29990294e-01 -3.67503824e-01 7.68070988e-03 9.48022697e+01] [ 3.67491574e-01 9.30022010e-01 3.00075964e-03 1.67061918e+01] [-8.24601988e-03 3.19188208e-05 9.99966000e-01 -2.01944491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15576923100001 meters 0.014658509079734977 Centerline is valid? [True, True] Translation: X:94.83, Y:16.72, Z:-0.20 [[ 9.31851353e-01 -3.62776510e-01 6.80141811e-03 9.48274580e+01] [ 3.62766774e-01 9.31876174e-01 2.65787971e-03 1.67184705e+01] [-7.30229581e-03 -9.42029939e-06 9.99973338e-01 -2.04384942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18576923100001 meters 0.015095001358631387 Centerline is valid? [True, True] Translation: X:94.85, Y:16.73, Z:-0.20 [[ 9.32719833e-01 -3.60535964e-01 6.89430910e-03 9.48534200e+01] [ 3.60525894e-01 9.32745312e-01 2.69480319e-03 1.67299380e+01] [-7.40220796e-03 -2.79194242e-05 9.99972603e-01 -2.04198164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21576923100001 meters 0.01820798326084523 Centerline is valid? [True, True] Translation: X:94.88, Y:16.74, Z:-0.20 [[ 9.34489528e-01 -3.55886636e-01 8.60376929e-03 9.48776898e+01] [ 3.55870749e-01 9.34529130e-01 3.36367132e-03 1.67445069e+01] [-9.23755870e-03 -8.14857965e-05 9.99957330e-01 -2.00675968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24576923100001 meters 0.020105011022422573 Centerline is valid? [True, True] Translation: X:94.90, Y:16.76, Z:-0.20 [[ 9.35281979e-01 -3.53779628e-01 9.35923535e-03 9.49020363e+01] [ 3.53760717e-01 9.35328799e-01 3.65964113e-03 1.67576683e+01] [-1.00486688e-02 -1.11866590e-04 9.99949505e-01 -1.98952569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27576923100001 meters 0.022281939033995026 Centerline is valid? [True, True] Translation: X:94.93, Y:16.77, Z:-0.20 [[ 9.36124679e-01 -3.51539173e-01 9.52865771e-03 9.49278072e+01] [ 3.51519439e-01 9.36173163e-01 3.72737859e-03 1.67716868e+01] [-1.02307932e-02 -1.39782672e-04 9.99947654e-01 -1.98837510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30576923100001 meters 0.022687325819106957 Centerline is valid? [True, True] Translation: X:94.95, Y:16.78, Z:-0.20 [[ 9.36954765e-01 -3.49334969e-01 8.99152908e-03 9.49538024e+01] [ 3.49317280e-01 9.36997895e-01 3.51895470e-03 1.67834323e+01] [-9.65433775e-03 -1.56204896e-04 9.99953384e-01 -2.02276497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.335769231 meters 0.030239305811948936 Centerline is valid? [True, True] Translation: X:94.97, Y:16.81, Z:-0.21 [[ 9.38689756e-01 -3.44685003e-01 7.33419608e-03 9.49747346e+01] [ 3.44673087e-01 9.38718393e-01 2.87094182e-03 1.68077311e+01] [-7.87431535e-03 -1.67023667e-04 9.99968983e-01 -2.05460601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.365769231 meters 0.030085330295443052 Centerline is valid? [True, True] Translation: X:95.00, Y:16.82, Z:-0.21 [[ 9.39505048e-01 -3.42459131e-01 7.21172242e-03 9.50003563e+01] [ 3.42447540e-01 9.39532708e-01 2.82345646e-03 1.68197535e+01] [-7.74256754e-03 -1.83014993e-04 9.99970009e-01 -2.06921548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.395769231 meters 0.03651624113313104 Centerline is valid? [True, True] Translation: X:95.02, Y:16.84, Z:-0.20 [[ 9.40735706e-01 -3.39041886e-01 8.18116068e-03 9.50217404e+01] [ 3.39026836e-01 9.40771248e-01 3.20354796e-03 1.68433056e+01] [-8.78273769e-03 -2.40058932e-04 9.99961402e-01 -2.04219237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.425769231 meters 0.03722036325042941 Centerline is valid? [True, True] Translation: X:95.05, Y:16.86, Z:-0.20 [[ 9.40961990e-01 -3.38406332e-01 8.46680405e-03 9.50472234e+01] [ 3.38390175e-01 9.41000047e-01 3.31669524e-03 1.68568556e+01] [-9.08965368e-03 -2.55800847e-04 9.99958656e-01 -2.03981610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.455769231 meters 0.03447036996124614 Centerline is valid? [True, True] Translation: X:95.07, Y:16.87, Z:-0.21 [[ 9.40694701e-01 -3.39162979e-01 7.87101518e-03 9.50739919e+01] [ 3.39149031e-01 9.40727601e-01 3.08473111e-03 1.68677384e+01] [-8.45070782e-03 -2.32343044e-04 9.99964265e-01 -2.06224840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.485769231 meters 0.03367024650177428 Centerline is valid? [True, True] Translation: X:95.10, Y:16.88, Z:-0.21 [[ 9.40331178e-01 -3.40179313e-01 7.43718514e-03 9.51008866e+01] [ 3.40166881e-01 9.40360564e-01 2.91599333e-03 1.68793987e+01] [-7.98559622e-03 -2.12115372e-04 9.99968092e-01 -2.07421730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51576923100001 meters 0.03327958310425432 Centerline is valid? [True, True] Translation: X:95.13, Y:16.89, Z:-0.21 [[ 9.39943972e-01 -3.41256477e-01 7.02477315e-03 9.51267012e+01] [ 3.41245406e-01 9.39970202e-01 2.75554399e-03 1.68913073e+01] [-7.54342466e-03 -1.92885394e-04 9.99971529e-01 -2.08495030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54576923100001 meters 0.03327958310425432 Centerline is valid? [True, True] Translation: X:95.15, Y:16.90, Z:-0.21 [[ 9.39882014e-01 -3.41427091e-01 7.02428996e-03 9.51522332e+01] [ 3.41416016e-01 9.39908243e-01 2.75677539e-03 1.69015292e+01] [-7.54342583e-03 -1.92838513e-04 9.99971529e-01 -2.08554095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57576923100001 meters 0.030763430969111077 Centerline is valid? [True, True] Translation: X:95.18, Y:16.91, Z:-0.21 [[ 9.39246203e-01 -3.43165130e-01 7.36644860e-03 9.51794771e+01] [ 3.43152992e-01 9.39275070e-01 2.89243073e-03 1.69124193e+01] [-7.91170289e-03 -1.88885699e-04 9.99968684e-01 -2.08578121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60576923100001 meters 0.033864202255602015 Centerline is valid? [True, True] Translation: X:95.20, Y:16.93, Z:-0.21 [[ 9.38988351e-01 -3.43873474e-01 7.20490883e-03 9.52035108e+01] [ 3.43861878e-01 9.39015975e-01 2.82968840e-03 1.69281438e+01] [-7.73857927e-03 -1.79550963e-04 9.99970041e-01 -2.08294470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63576923100001 meters 0.030170981008165502 Centerline is valid? [True, True] Translation: X:95.23, Y:16.94, Z:-0.21 [[ 9.38635241e-01 -3.44837038e-01 7.16250423e-03 9.52319904e+01] [ 3.44825601e-01 9.38662553e-01 2.81367358e-03 1.69357058e+01] [-7.69343337e-03 -1.71198347e-04 9.99970390e-01 -2.09875187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66576923100001 meters 0.028845515734528634 Centerline is valid? [True, True] Translation: X:95.26, Y:16.95, Z:-0.21 [[ 9.37984536e-01 -3.46608809e-01 6.88069204e-03 9.52569672e+01] [ 3.46598298e-01 9.38009761e-01 2.70347400e-03 1.69472398e+01] [-7.39120420e-03 -1.50980660e-04 9.99972673e-01 -2.10547954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.695769231 meters 0.026224392073580096 Centerline is valid? [True, True] Translation: X:95.29, Y:16.96, Z:-0.21 [[ 9.37651158e-01 -3.47518376e-01 6.42520239e-03 9.52850875e+01] [ 3.47509226e-01 9.37673163e-01 2.52541826e-03 1.69558085e+01] [-6.90236910e-03 -1.35144248e-04 9.99976169e-01 -2.12318643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725769231 meters 0.02655805356213235 Centerline is valid? [True, True] Translation: X:95.31, Y:16.97, Z:-0.21 [[ 9.37052249e-01 -3.49153856e-01 4.96675520e-03 9.53097680e+01] [ 3.49148408e-01 9.37065406e-01 1.95274990e-03 1.69689907e+01] [-5.33598464e-03 -9.56940126e-05 9.99985759e-01 -2.14920335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.755769231 meters 0.02371136292142472 Centerline is valid? [True, True] Translation: X:95.34, Y:16.98, Z:-0.22 [[ 9.36606740e-01 -3.50345141e-01 5.10853906e-03 9.53378350e+01] [ 3.50339391e-01 9.36620667e-01 2.00929754e-03 1.69773068e+01] [-5.48871089e-03 -9.21991612e-05 9.99984933e-01 -2.15585654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.785769231 meters 0.02333333869457501 Centerline is valid? [True, True] Translation: X:95.36, Y:16.99, Z:-0.21 [[ 9.36222676e-01 -3.51359592e-01 5.79112744e-03 9.53632945e+01] [ 3.51352218e-01 9.36240582e-01 2.27846875e-03 1.69888032e+01] [-6.22245038e-03 -9.84286365e-05 9.99980636e-01 -2.14468889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.815769231 meters 0.02079903552364841 Centerline is valid? [True, True] Translation: X:95.39, Y:17.00, Z:-0.21 [[ 9.35008985e-01 -3.54554007e-01 7.04652472e-03 9.53916256e+01] [ 3.54543172e-01 9.35035532e-01 2.77351392e-03 1.69964514e+01] [-7.57211147e-03 -9.49632076e-05 9.99971327e-01 -2.12881950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.845769231 meters 0.01971808553734856 Centerline is valid? [True, True] Translation: X:95.42, Y:17.00, Z:-0.21 [[ 9.34033635e-01 -3.57112551e-01 7.19685541e-03 9.54183652e+01] [ 3.57101317e-01 9.34061358e-01 2.83358526e-03 1.70044293e+01] [-7.73421340e-03 -7.66573945e-05 9.99970088e-01 -2.11914377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.875769231 meters 0.01570444160749513 Centerline is valid? [True, True] Translation: X:95.45, Y:17.00, Z:-0.21 [[ 9.31898586e-01 -3.62649867e-01 7.07808297e-03 9.54487418e+01] [ 3.62639151e-01 9.31925466e-01 2.78800777e-03 1.70048723e+01] [-7.60731641e-03 -3.13504998e-05 9.99971063e-01 -2.14539313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90576923100001 meters 0.015191101648757904 Centerline is valid? [True, True] Translation: X:95.48, Y:17.01, Z:-0.22 [[ 9.30836806e-01 -3.65368831e-01 6.96112131e-03 9.54760840e+01] [ 3.65358537e-01 9.30862835e-01 2.74266492e-03 1.70115595e+01] [-7.48193339e-03 -9.66835587e-06 9.99972010e-01 -2.15260560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93576923100001 meters 0.015284592214972345 Centerline is valid? [True, True] Translation: X:95.50, Y:17.02, Z:-0.22 [[ 9.29768531e-01 -3.68081850e-01 6.79933897e-03 9.55036090e+01] [ 3.68072093e-01 9.29793392e-01 2.68010168e-03 1.70168864e+01] [-7.30847723e-03 1.07727239e-05 9.99973293e-01 -2.16688468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96576923100001 meters 0.016568335691882312 Centerline is valid? [True, True] Translation: X:95.53, Y:17.02, Z:-0.22 [[ 9.28043415e-01 -3.72425785e-01 5.86972302e-03 9.55337643e+01] [ 3.72418596e-01 9.28061977e-01 2.31430984e-03 1.70161104e+01] [-6.30937541e-03 3.82139997e-05 9.99980095e-01 -2.18454788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99576923100001 meters 0.017106696990751298 Centerline is valid? [True, True] Translation: X:95.56, Y:17.02, Z:-0.22 [[ 9.27429400e-01 -3.73956167e-01 5.61183876e-03 9.55619235e+01] [ 3.73949619e-01 9.27446377e-01 2.21346217e-03 1.70226500e+01] [-6.03241736e-03 4.57150778e-05 9.99981804e-01 -2.19892572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02576923100001 meters 0.017583979893968676 Centerline is valid? [True, True] Translation: X:95.59, Y:17.03, Z:-0.22 [[ 9.27072813e-01 -3.74836230e-01 5.81376594e-03 9.55904557e+01] [ 3.74829213e-01 9.27091041e-01 2.29425839e-03 1.70281212e+01] [-6.24986148e-03 5.22247348e-05 9.99980468e-01 -2.20943583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05576923100001 meters 0.017272715761783054 Centerline is valid? [True, True] Translation: X:95.62, Y:17.04, Z:-0.22 [[ 9.27224368e-01 -3.74459197e-01 5.93984540e-03 9.56163790e+01] [ 3.74451856e-01 9.27243392e-01 2.34529324e-03 1.70373328e+01] [-6.38589902e-03 4.95730934e-05 9.99979609e-01 -2.20377121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085769231 meters 0.016518560628107765 Centerline is valid? [True, True] Translation: X:95.64, Y:17.05, Z:-0.22 [[ 9.27707344e-01 -3.73256162e-01 6.23872865e-03 9.56427111e+01] [ 3.73248028e-01 9.27728320e-01 2.46459362e-03 1.70482049e+01] [-6.70777001e-03 4.21715673e-05 9.99977502e-01 -2.19212027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.115769231 meters 0.01506897578929733 Centerline is valid? [True, True] Translation: X:95.67, Y:17.06, Z:-0.22 [[ 9.29388080e-01 -3.69048622e-01 6.39620364e-03 9.56665990e+01] [ 3.69039963e-01 9.29410089e-01 2.52804903e-03 1.70648915e+01] [-6.87766921e-03 1.09161177e-05 9.99976348e-01 -2.17959107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.145769231 meters 0.015076107405445335 Centerline is valid? [True, True] Translation: X:95.69, Y:17.08, Z:-0.22 [[ 9.30431216e-01 -3.66417192e-01 6.01613036e-03 9.56902977e+01] [ 3.66409472e-01 9.30450666e-01 2.37857082e-03 1.70796207e+01] [-6.46926174e-03 -8.72938956e-06 9.99979074e-01 -2.18428906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.175769231 meters 0.015828670800784466 Centerline is valid? [True, True] Translation: X:95.72, Y:17.09, Z:-0.22 [[ 9.31380974e-01 -3.63999732e-01 5.80314816e-03 9.57151746e+01] [ 3.63992496e-01 9.31399052e-01 2.29526602e-03 1.70947522e+01] [-6.24052291e-03 -2.54647146e-05 9.99980527e-01 -2.19439776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.205769231 meters 0.017393404658744015 Centerline is valid? [True, True] Translation: X:95.74, Y:17.11, Z:-0.22 [[ 9.32491323e-01 -3.61153301e-01 5.31282337e-03 9.57401653e+01] [ 3.61147184e-01 9.32506457e-01 2.10230197e-03 1.71108432e+01] [-5.71349539e-03 -4.16671453e-05 9.99983677e-01 -2.21229152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.235769231 meters 0.017831674429379385 Centerline is valid? [True, True] Translation: X:95.77, Y:17.12, Z:-0.22 [[ 9.32702695e-01 -3.60611823e-01 4.97956989e-03 9.57651681e+01] [ 3.60606440e-01 9.32715986e-01 1.97098425e-03 1.71229025e+01] [-5.35528467e-03 -4.26773554e-05 9.99985659e-01 -2.22515282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26576923100001 meters 0.0177194241948557 Centerline is valid? [True, True] Translation: X:95.79, Y:17.13, Z:-0.22 [[ 9.32723829e-01 -3.60558373e-01 4.89071310e-03 9.57906869e+01] [ 3.60553175e-01 9.32736650e-01 1.93658356e-03 1.71346475e+01] [-5.25999877e-03 -4.29354970e-05 9.99986165e-01 -2.23328938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29576923100001 meters 0.017721096855557436 Centerline is valid? [True, True] Translation: X:95.82, Y:17.14, Z:-0.22 [[ 9.32597255e-01 -3.60880204e-01 5.27631098e-03 9.58154482e+01] [ 3.60874154e-01 9.32612179e-01 2.09005928e-03 1.71449193e+01] [-5.67501290e-03 -4.50992872e-05 9.99983896e-01 -2.22758746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32576923100001 meters 0.01706559520637581 Centerline is valid? [True, True] Translation: X:95.84, Y:17.15, Z:-0.22 [[ 9.32209374e-01 -3.61885349e-01 4.96756612e-03 9.58428735e+01] [ 3.61879997e-01 9.32222609e-01 1.96849745e-03 1.71541046e+01] [-5.34324784e-03 -3.73889689e-05 9.99985724e-01 -2.22817591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35576923100001 meters 0.016142959079665644 Centerline is valid? [True, True] Translation: X:95.87, Y:17.16, Z:-0.23 [[ 9.31444335e-01 -3.63867961e-01 3.39964737e-03 9.58712392e+01] [ 3.63865466e-01 9.31450539e-01 1.34770071e-03 1.71619007e+01] [-3.65698849e-03 -1.82939181e-05 9.99993313e-01 -2.26830111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38576923100001 meters 0.01598506772060606 Centerline is valid? [True, True] Translation: X:95.90, Y:17.17, Z:-0.23 [[ 9.31055776e-01 -3.64868503e-01 2.47350608e-03 9.58970972e+01] [ 3.64867184e-01 9.31059061e-01 9.80933613e-04 1.71712199e+01] [-2.66089202e-03 -1.08027088e-05 9.99996460e-01 -2.28544139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41576923100001 meters 0.015508657812457862 Centerline is valid? [True, True] Translation: X:95.92, Y:17.18, Z:-0.23 [[ 9.30675305e-01 -3.65836190e-01 2.71261713e-03 9.59238901e+01] [ 3.65834606e-01 9.30679259e-01 1.07638827e-03 1.71788525e+01] [-2.91835828e-03 -9.39875975e-06 9.99995742e-01 -2.29324890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445769231 meters 0.015372668299107866 Centerline is valid? [True, True] Translation: X:95.95, Y:17.19, Z:-0.23 [[ 9.30366254e-01 -3.66615045e-01 3.47021157e-03 9.59498333e+01] [ 3.66612456e-01 9.30372726e-01 1.37771705e-03 1.71864977e+01] [-3.73368200e-03 -9.55865847e-06 9.99993030e-01 -2.28277820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.475769231 meters 0.015239258809893377 Centerline is valid? [True, True] Translation: X:95.98, Y:17.19, Z:-0.23 [[ 9.30096724e-01 -3.67293498e-01 3.94600885e-03 9.59770947e+01] [ 3.67290156e-01 9.30105094e-01 1.56701936e-03 1.71922325e+01] [-4.24575896e-03 -8.14936629e-06 9.99990987e-01 -2.27750088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.505769231 meters 0.015443760577525023 Centerline is valid? [True, True] Translation: X:96.00, Y:17.20, Z:-0.23 [[ 9.30246200e-01 -3.66923576e-01 3.01603690e-03 9.60033791e+01] [ 3.66921621e-01 9.30251089e-01 1.19808560e-03 1.72008248e+01] [-3.24527747e-03 -7.86542776e-06 9.99994734e-01 -2.30084189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.535769231 meters 0.015938804012233625 Centerline is valid? [True, True] Translation: X:96.03, Y:17.21, Z:-0.23 [[ 9.30804191e-01 -3.65514970e-01 1.53742647e-03 9.60311011e+01] [ 3.65514460e-01 9.30805461e-01 6.10903062e-04 1.72073288e+01] [-1.65433917e-03 -6.67952335e-06 9.99998632e-01 -2.33805356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.565769231 meters 0.01644673053566472 Centerline is valid? [True, True] Translation: X:96.06, Y:17.22, Z:-0.23 [[ 9.31246715e-01 -3.64385841e-01 1.58557502e-03 9.60580642e+01] [ 3.64385296e-01 9.31248065e-01 6.30172002e-04 1.72175833e+01] [-1.70618943e-03 -9.08538323e-06 9.99998544e-01 -2.33069349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.595769231 meters 0.01755218228102839 Centerline is valid? [True, True] Translation: X:96.08, Y:17.23, Z:-0.23 [[ 9.31961108e-01 -3.62551956e-01 2.13824906e-03 9.60829398e+01] [ 3.62550959e-01 9.31963561e-01 8.50350107e-04 1.72296428e+01] [-2.30106630e-03 -1.72689818e-05 9.99997352e-01 -2.32050899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.625769231 meters 0.021779891646978685 Centerline is valid? [True, True] Translation: X:96.11, Y:17.25, Z:-0.23 [[ 9.34207179e-01 -3.56710404e-01 3.82544039e-03 9.61073991e+01] [ 3.56707163e-01 9.34215010e-01 1.52163650e-03 1.72467739e+01] [-4.11656740e-03 -5.69617477e-05 9.99991525e-01 -2.29356233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65576923100001 meters 0.02529099270892449 Centerline is valid? [True, True] Translation: X:96.13, Y:17.26, Z:-0.23 [[ 9.35501395e-01 -3.53299284e-01 4.09346129e-03 9.61317511e+01] [ 3.53295539e-01 9.35510347e-01 1.62844577e-03 1.72618190e+01] [-4.40480412e-03 -7.72116789e-05 9.99990296e-01 -2.29776742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68576923100001 meters 0.03216261609782934 Centerline is valid? [True, True] Translation: X:96.16, Y:17.28, Z:-0.23 [[ 9.38166348e-01 -3.46171965e-01 2.97884310e-03 9.61559315e+01] [ 3.46169946e-01 9.38171074e-01 1.18513709e-03 1.72822937e+01] [-3.20492567e-03 -8.06697817e-05 9.99994861e-01 -2.32317463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71576923100001 meters 0.03738596243913768 Centerline is valid? [True, True] Translation: X:96.18, Y:17.30, Z:-0.23 [[ 9.39457562e-01 -3.42655584e-01 2.57681272e-03 9.61793608e+01] [ 3.42654060e-01 9.39461092e-01 1.02525879e-03 1.73010567e+01] [-2.77212594e-03 -8.02317817e-05 9.99996154e-01 -2.33702261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74576923100001 meters 0.04187757186959785 Centerline is valid? [True, True] Translation: X:96.20, Y:17.32, Z:-0.23 [[ 9.40628852e-01 -3.39426441e-01 2.65594334e-03 9.62027503e+01] [ 3.39424808e-01 9.40632597e-01 1.05685701e-03 1.73187388e+01] [-2.85699210e-03 -9.26171346e-05 9.99995914e-01 -2.34377600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77576923100001 meters 0.04545178268689729 Centerline is valid? [True, True] Translation: X:96.23, Y:17.34, Z:-0.23 [[ 9.41874487e-01 -3.35952427e-01 2.90134321e-03 9.62270264e+01] [ 3.35950461e-01 9.41878949e-01 1.15463666e-03 1.73372292e+01] [-3.12061708e-03 -1.12815223e-04 9.99995124e-01 -2.33946840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80576923100001 meters 0.0413661289296559 Centerline is valid? [True, True] Translation: X:96.25, Y:17.35, Z:-0.24 [[ 9.41853532e-01 -3.36016679e-01 2.17158801e-03 9.62537856e+01] [ 3.36015578e-01 9.41856031e-01 8.64298149e-04 1.73450276e+01] [-2.33574186e-03 -8.43548630e-05 9.99997269e-01 -2.35331547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.835769231 meters 0.045127679574434955 Centerline is valid? [True, True] Translation: X:96.28, Y:17.36, Z:-0.24 [[ 9.41646682e-01 -3.36600895e-01 1.16755896e-03 9.62770048e+01] [ 3.36600577e-01 9.41647405e-01 4.64768592e-04 1.73631286e+01] [-1.25587039e-03 -4.46467814e-05 9.99999210e-01 -2.37454849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.865769231 meters 0.039813660227179706 Centerline is valid? [True, True] Translation: X:96.30, Y:17.37, Z:-0.24 [[ 9.40878286e-01 -3.38741731e-01 1.44598153e-03 9.63047102e+01] [ 3.38741246e-01 9.40879395e-01 5.75972880e-04 1.73725621e+01] [-1.55560028e-03 -5.21067926e-05 9.99998789e-01 -2.37524794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.895769231 meters 0.03920504178358826 Centerline is valid? [True, True] Translation: X:96.33, Y:17.38, Z:-0.24 [[ 9.40284188e-01 -3.40381122e-01 2.51733454e-03 9.63305271e+01] [ 3.40379654e-01 9.40287554e-01 1.00336601e-03 1.73832637e+01] [-2.70854519e-03 -8.65997375e-05 9.99996328e-01 -2.36031228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.925769231 meters 0.032963667561583414 Centerline is valid? [True, True] Translation: X:96.36, Y:17.39, Z:-0.23 [[ 9.38470386e-01 -3.45336056e-01 4.04261095e-03 9.63607007e+01] [ 3.45332315e-01 9.38479086e-01 1.61156925e-03 1.73885983e+01] [-4.35043879e-03 -1.16365822e-04 9.99990530e-01 -2.32519507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.955769231 meters 0.029519720673015403 Centerline is valid? [True, True] Translation: X:96.39, Y:17.40, Z:-0.23 [[ 9.37432892e-01 -3.48142713e-01 4.02802110e-03 9.63890943e+01] [ 3.48139023e-01 9.37441540e-01 1.60615745e-03 1.73968105e+01] [-4.33520632e-03 -1.03353491e-04 9.99990598e-01 -2.32810123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.985769231 meters 0.027158279092056762 Centerline is valid? [True, True] Translation: X:96.42, Y:17.41, Z:-0.23 [[ 9.36394941e-01 -3.50934538e-01 3.07652688e-03 9.64163451e+01] [ 3.50932399e-01 9.36399992e-01 1.22708762e-03 1.74055382e+01] [-3.31148717e-03 -6.93856766e-05 9.99994515e-01 -2.34182947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01576923100001 meters 0.02417032842816271 Centerline is valid? [True, True] Translation: X:96.44, Y:17.41, Z:-0.24 [[ 9.34627373e-01 -3.55628310e-01 4.22312720e-04 9.64442806e+01] [ 3.55628270e-01 9.34627469e-01 1.68393587e-04 1.74130039e+01] [-4.54590595e-04 -7.19891438e-06 9.99999897e-01 -2.39156330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04576923100001 meters 0.022079010539601863 Centerline is valid? [True, True] Translation: X:96.47, Y:17.42, Z:-0.24 [[ 9.33921522e-01 -3.57478068e-01 -1.45586381e-04 9.64728098e+01] [ 3.57478063e-01 9.33921534e-01 -5.84607505e-05 1.74207600e+01] [ 1.56864693e-04 2.55381545e-06 9.99999988e-01 -2.41269187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07576923100001 meters 0.020088188836600507 Centerline is valid? [True, True] Translation: X:96.50, Y:17.43, Z:-0.24 [[ 9.32662736e-01 -3.60745720e-01 -1.65728365e-03 9.65006885e+01] [ 3.60745113e-01 9.32664208e-01 -6.62135441e-04 1.74274291e+01] [ 1.78455167e-03 1.96920736e-05 9.99998407e-01 -2.43556889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10576923100001 meters 0.018899048102505544 Centerline is valid? [True, True] Translation: X:96.53, Y:17.44, Z:-0.24 [[ 9.32068100e-01 -3.62276843e-01 -2.13198328e-03 9.65289501e+01] [ 3.62275841e-01 9.32070538e-01 -8.52091533e-04 1.74351375e+01] [ 2.29585183e-03 2.18413002e-05 9.99997364e-01 -2.44283110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13576923100001 meters 0.01808221555562486 Centerline is valid? [True, True] Translation: X:96.56, Y:17.44, Z:-0.25 [[ 9.31449673e-01 -3.63857487e-01 -3.03889822e-03 9.65556343e+01] [ 3.63855462e-01 9.31454630e-01 -1.21435691e-03 1.74424489e+01] [ 3.27244868e-03 2.53926331e-05 9.99994645e-01 -2.46306563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16576923100001 meters 0.0164773397180521 Centerline is valid? [True, True] Translation: X:96.59, Y:17.45, Z:-0.25 [[ 9.30044169e-01 -3.67434999e-01 -3.06032597e-03 9.65856116e+01] [ 3.67432961e-01 9.30049204e-01 -1.22374175e-03 1.74450173e+01] [ 3.29589927e-03 1.36692447e-05 9.99994568e-01 -2.47931573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.195769231 meters 0.015948639355194125 Centerline is valid? [True, True] Translation: X:96.61, Y:17.45, Z:-0.25 [[ 9.29440779e-01 -3.68960868e-01 -2.77764461e-03 9.66132862e+01] [ 3.68959197e-01 9.29444930e-01 -1.11068389e-03 1.74512452e+01] [ 2.99146659e-03 7.47737260e-06 9.99995526e-01 -2.48226526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.225769231 meters 0.015776289438588945 Centerline is valid? [True, True] Translation: X:96.64, Y:17.46, Z:-0.25 [[ 9.29056830e-01 -3.69925093e-01 -2.97182691e-03 9.66408201e+01] [ 3.69923181e-01 9.29061583e-01 -1.18926237e-03 1.74587951e+01] [ 3.20094821e-03 5.54466166e-06 9.99994877e-01 -2.48450500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.255769231 meters 0.016103886429122426 Centerline is valid? [True, True] Translation: X:96.67, Y:17.47, Z:-0.25 [[ 9.29274648e-01 -3.69369569e-01 -3.84051233e-03 9.66673393e+01] [ 3.69366372e-01 9.29282584e-01 -1.53672721e-03 1.74666525e+01] [ 4.13654149e-03 9.48552673e-06 9.99991444e-01 -2.50170566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.285769231 meters 0.01659629672470832 Centerline is valid? [True, True] Translation: X:96.69, Y:17.48, Z:-0.25 [[ 9.29804250e-01 -3.68026400e-01 -4.54157100e-03 9.66930467e+01] [ 3.68021913e-01 9.29815341e-01 -1.81752193e-03 1.74780911e+01] [ 4.89171844e-03 1.85419658e-05 9.99988035e-01 -2.51152709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.315769231 meters 0.01846238073773261 Centerline is valid? [True, True] Translation: X:96.72, Y:17.49, Z:-0.25 [[ 9.31166073e-01 -3.64569776e-01 -4.31544310e-03 9.67180295e+01] [ 3.64565682e-01 9.31176072e-01 -1.72806731e-03 1.74938610e+01] [ 4.64843847e-03 3.58551916e-05 9.99989195e-01 -2.50679561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.345769231 meters 0.02007500796483047 Centerline is valid? [True, True] Translation: X:96.74, Y:17.51, Z:-0.25 [[ 9.31986320e-01 -3.62470088e-01 -4.11506771e-03 9.67419641e+01] [ 3.62466344e-01 9.31995404e-01 -1.64817957e-03 1.75075240e+01] [ 4.43263999e-03 4.45072618e-05 9.99990175e-01 -2.50150982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.375769231 meters 0.022004060629408153 Centerline is valid? [True, True] Translation: X:96.77, Y:17.52, Z:-0.25 [[ 9.32835091e-01 -3.60286095e-01 -3.55280563e-03 9.67678529e+01] [ 3.60283285e-01 9.32841855e-01 -1.42379585e-03 1.75212631e+01] [ 3.82717964e-03 4.81502462e-05 9.99992675e-01 -2.49703360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40576923100001 meters 0.023999608359677915 Centerline is valid? [True, True] Translation: X:96.79, Y:17.53, Z:-0.25 [[ 9.33785058e-01 -3.57822022e-01 -2.97749082e-03 9.67931907e+01] [ 3.57820034e-01 9.33789804e-01 -1.19385248e-03 1.75349060e+01] [ 3.20753728e-03 4.93957430e-05 9.99994855e-01 -2.48759990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43576923100001 meters 0.029366360986705815 Centerline is valid? [True, True] Translation: X:96.82, Y:17.55, Z:-0.25 [[ 9.35432264e-01 -3.53495287e-01 -2.74976597e-03 9.68162224e+01] [ 3.53493573e-01 9.35436304e-01 -1.10245247e-03 1.75538506e+01] [ 2.96194267e-03 5.92450162e-05 9.99995612e-01 -2.49652286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46576923100001 meters 0.029366360986705815 Centerline is valid? [True, True] Translation: X:96.84, Y:17.56, Z:-0.25 [[ 9.35369412e-01 -3.53661566e-01 -2.74946406e-03 9.68416718e+01] [ 3.53659850e-01 9.35373451e-01 -1.10320538e-03 1.75642735e+01] [ 2.96193702e-03 5.95295186e-05 9.99995612e-01 -2.49711359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49576923100001 meters 0.030543433352411994 Centerline is valid? [True, True] Translation: X:96.87, Y:17.58, Z:-0.25 [[ 9.35818664e-01 -3.52471184e-01 -2.73721844e-03 9.68673374e+01] [ 3.52469477e-01 9.35822665e-01 -1.09874287e-03 1.75781812e+01] [ 2.94882625e-03 6.34381312e-05 9.99995650e-01 -2.50277429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52576923100001 meters 0.03168562369607664 Centerline is valid? [True, True] Translation: X:96.89, Y:17.59, Z:-0.25 [[ 9.35957775e-01 -3.52104102e-01 -2.39704361e-03 9.68921391e+01] [ 3.52102791e-01 9.35960842e-01 -9.62300781e-04 1.75914897e+01] [ 2.58236901e-03 5.66671524e-05 9.99996664e-01 -2.50344889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55576923100001 meters 0.029001765487889627 Centerline is valid? [True, True] Translation: X:96.92, Y:17.60, Z:-0.25 [[ 9.35173192e-01 -3.54186052e-01 -1.82776011e-03 9.69200014e+01] [ 3.54185293e-01 9.35174978e-01 -7.34301420e-04 1.75996589e+01] [ 1.96935484e-03 3.93332531e-05 9.99998060e-01 -2.49006689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.585769231 meters 0.028084986194791623 Centerline is valid? [True, True] Translation: X:96.95, Y:17.61, Z:-0.25 [[ 9.34582761e-01 -3.55738697e-01 -2.24551179e-03 9.69462740e+01] [ 3.55737556e-01 9.34585457e-01 -9.02098941e-04 1.76086641e+01] [ 2.41953417e-03 4.42732418e-05 9.99997072e-01 -2.50155820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.615769231 meters 0.024788664980939918 Centerline is valid? [True, True] Translation: X:96.97, Y:17.62, Z:-0.25 [[ 9.33493399e-01 -3.58579197e-01 -3.32167728e-03 9.69747922e+01] [ 3.58576715e-01 9.33499307e-01 -1.33510283e-03 1.76155708e+01] [ 3.57952354e-03 5.52335562e-05 9.99993592e-01 -2.51995257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.645769231 meters 0.022937205023874165 Centerline is valid? [True, True] Translation: X:97.00, Y:17.62, Z:-0.25 [[ 9.32872723e-01 -3.60186374e-01 -3.77609116e-03 9.70022880e+01] [ 3.60183178e-01 9.32880364e-01 -1.51840290e-03 1.76243838e+01] [ 4.06954933e-03 5.63921346e-05 9.99991718e-01 -2.52920198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.675769231 meters 0.02272219315626452 Centerline is valid? [True, True] Translation: X:97.03, Y:17.64, Z:-0.25 [[ 9.32272112e-01 -3.61736353e-01 -3.93944080e-03 9.70283178e+01] [ 3.61732888e-01 9.32280434e-01 -1.58409350e-03 1.76352463e+01] [ 4.24568778e-03 5.17808914e-05 9.99990986e-01 -2.54256614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.705769231 meters 0.01956756267775949 Centerline is valid? [True, True] Translation: X:97.06, Y:17.64, Z:-0.26 [[ 9.30962191e-01 -3.65090170e-01 -4.30886927e-03 9.70573448e+01] [ 3.65086056e-01 9.30972162e-01 -1.73360614e-03 1.76401869e+01] [ 4.64435990e-03 4.08136836e-05 9.99989214e-01 -2.55266045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.735769231 meters 0.018195229313008147 Centerline is valid? [True, True] Translation: X:97.08, Y:17.65, Z:-0.26 [[ 9.30162998e-01 -3.67119586e-01 -4.47291611e-03 9.70848639e+01] [ 3.67115177e-01 9.30173752e-01 -1.79964708e-03 1.76470371e+01] [ 4.82127486e-03 3.18897378e-05 9.99988377e-01 -2.56396875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76576923100001 meters 0.01703635439664896 Centerline is valid? [True, True] Translation: X:97.11, Y:17.65, Z:-0.26 [[ 9.29329325e-01 -3.69222975e-01 -4.62611359e-03 9.71130526e+01] [ 3.69218279e-01 9.29340839e-01 -1.86222630e-03 1.76544445e+01] [ 4.98681302e-03 2.25758134e-05 9.99987566e-01 -2.57019301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79576923100001 meters 0.015609089564976609 Centerline is valid? [True, True] Translation: X:97.14, Y:17.66, Z:-0.25 [[ 9.27908888e-01 -3.72794880e-01 -3.01204260e-03 9.71433617e+01] [ 3.72792906e-01 9.27913777e-01 -1.21318463e-03 1.76571403e+01] [ 3.24718484e-03 2.85668392e-06 9.99994728e-01 -2.53735502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82576923100001 meters 0.015490134576965164 Centerline is valid? [True, True] Translation: X:97.17, Y:17.66, Z:-0.25 [[ 9.27087049e-01 -3.74840180e-01 -2.10777006e-03 9.71712873e+01] [ 3.74839218e-01 9.27089445e-01 -8.49559314e-04 1.76614817e+01] [ 2.27254034e-03 -2.45944190e-06 9.99997418e-01 -2.51896547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85576923100001 meters 0.01701106747845429 Centerline is valid? [True, True] Translation: X:97.20, Y:17.66, Z:-0.25 [[ 9.25267213e-01 -3.79309628e-01 -2.18882821e-03 9.72029592e+01] [ 3.79308601e-01 9.25269802e-01 -8.82524177e-04 1.76589261e+01] [ 2.36000656e-03 -1.36706804e-05 9.99997215e-01 -2.51005163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88576923100001 meters 0.01780799589428526 Centerline is valid? [True, True] Translation: X:97.23, Y:17.67, Z:-0.25 [[ 9.24530196e-01 -3.81098678e-01 -2.77744424e-03 9.72315079e+01] [ 3.81097032e-01 9.24534368e-01 -1.12033647e-03 1.76653719e+01] [ 2.99480141e-03 -2.26908598e-05 9.99995515e-01 -2.51430073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91576923100001 meters 0.0185328105554524 Centerline is valid? [True, True] Translation: X:97.26, Y:17.67, Z:-0.25 [[ 9.24301513e-01 -3.81650826e-01 -3.05940835e-03 9.72588413e+01] [ 3.81648832e-01 9.24306576e-01 -1.23399406e-03 1.76717920e+01] [ 3.29878611e-03 -2.70370522e-05 9.99994559e-01 -2.52249476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.945769231 meters 0.017136809884718367 Centerline is valid? [True, True] Translation: X:97.29, Y:17.68, Z:-0.25 [[ 9.25085212e-01 -3.79745512e-01 -3.27065009e-03 9.72860211e+01] [ 3.79743218e-01 9.25090993e-01 -1.32005530e-03 1.76803110e+01] [ 3.52693402e-03 -2.08435569e-05 9.99993780e-01 -2.51952969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.975769231 meters 0.01630436414826833 Centerline is valid? [True, True] Translation: X:97.31, Y:17.69, Z:-0.25 [[ 9.26056306e-01 -3.77370297e-01 -3.37289191e-03 9.73117108e+01] [ 3.77367842e-01 9.26062449e-01 -1.36129169e-03 1.76913737e+01] [ 3.63721959e-03 -1.21881833e-05 9.99993385e-01 -2.53193240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.005769231 meters 0.01546014981074543 Centerline is valid? [True, True] Translation: X:97.34, Y:17.70, Z:-0.25 [[ 9.27099620e-01 -3.74795706e-01 -3.80435253e-03 9.73369581e+01] [ 3.74792556e-01 9.27107426e-01 -1.53663461e-03 1.77049563e+01] [ 4.10296754e-03 -1.22964849e-06 9.99991583e-01 -2.51240690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.035769231 meters 0.017314031073278616 Centerline is valid? [True, True] Translation: X:97.36, Y:17.72, Z:-0.25 [[ 9.29542018e-01 -3.68692921e-01 -4.14338816e-03 9.73604726e+01] [ 3.68689124e-01 9.29551252e-01 -1.67351273e-03 1.77216403e+01] [ 4.46850395e-03 2.79782518e-05 9.99990016e-01 -2.53360939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.065769231 meters 0.02029964998860089 Centerline is valid? [True, True] Translation: X:97.38, Y:17.74, Z:-0.25 [[ 9.30633897e-01 -3.65929810e-01 -3.99040216e-03 9.73843554e+01] [ 3.65926262e-01 9.30642451e-01 -1.61198032e-03 1.77364081e+01] [ 4.30350930e-03 3.99705758e-05 9.99990739e-01 -2.54944817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.095769231 meters 0.02474588158743383 Centerline is valid? [True, True] Translation: X:97.41, Y:17.75, Z:-0.25 [[ 9.32338866e-01 -3.61577108e-01 -2.49663284e-03 9.74079859e+01] [ 3.61575703e-01 9.32342208e-01 -1.00874363e-03 1.77514072e+01] [ 2.69245478e-03 3.77691200e-05 9.99996375e-01 -2.52612320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.125769231 meters 0.026446534886338968 Centerline is valid? [True, True] Translation: X:97.43, Y:17.76, Z:-0.25 [[ 9.32896009e-01 -3.60139267e-01 -2.17817128e-03 9.74338138e+01] [ 3.60138193e-01 9.32898551e-01 -8.80679867e-04 1.77643411e+01] [ 2.34918024e-03 3.71400641e-05 9.99997240e-01 -2.52659771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15576923100001 meters 0.028521043537162404 Centerline is valid? [True, True] Translation: X:97.46, Y:17.78, Z:-0.25 [[ 9.33475077e-01 -3.58634937e-01 -2.29398623e-03 9.74598122e+01] [ 3.58633739e-01 9.33477895e-01 -9.27879092e-04 1.77779128e+01] [ 2.47415529e-03 4.34511486e-05 9.99996938e-01 -2.53473869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18576923100001 meters 0.027934534753995474 Centerline is valid? [True, True] Translation: X:97.49, Y:17.79, Z:-0.25 [[ 9.33980261e-01 -3.57312448e-01 -2.94730614e-03 9.74872436e+01] [ 3.57310463e-01 9.33984909e-01 -1.19259906e-03 1.77874920e+01] [ 3.17886994e-03 6.07606601e-05 9.99994946e-01 -2.54314241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21576923100001 meters 0.027154836414970095 Centerline is valid? [True, True] Translation: X:97.52, Y:17.80, Z:-0.26 [[ 9.34458955e-01 -3.56033403e-01 -5.16498160e-03 9.75153019e+01] [ 3.56027283e-01 9.34473222e-01 -2.09071414e-03 1.77959578e+01] [ 5.57090107e-03 1.14812185e-04 9.99984476e-01 -2.56497748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24576923100001 meters 0.028091868074246306 Centerline is valid? [True, True] Translation: X:97.54, Y:17.81, Z:-0.26 [[ 9.34494474e-01 -3.55929356e-01 -5.86270854e-03 9.75406159e+01] [ 3.55921466e-01 9.34512855e-01 -2.37351720e-03 1.78078108e+01] [ 6.32358094e-03 1.31374890e-04 9.99979997e-01 -2.58258245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27576923100001 meters 0.029117964835238756 Centerline is valid? [True, True] Translation: X:97.57, Y:17.82, Z:-0.26 [[ 9.34456994e-01 -3.56041511e-01 -4.95666358e-03 9.75660412e+01] [ 3.56035871e-01 9.34470134e-01 -2.00700427e-03 1.78202992e+01] [ 5.34643091e-03 1.10709147e-04 9.99985702e-01 -2.57761116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30576923100001 meters 0.0341258806349344 Centerline is valid? [True, True] Translation: X:97.59, Y:17.84, Z:-0.26 [[ 9.34388562e-01 -3.56224008e-01 -4.74038863e-03 9.75894244e+01] [ 3.56218850e-01 9.34400581e-01 -1.91974809e-03 1.78377168e+01] [ 5.11328225e-03 1.05174865e-04 9.99986922e-01 -2.59769130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.335769231 meters 0.028087325035003465 Centerline is valid? [True, True] Translation: X:97.62, Y:17.84, Z:-0.26 [[ 9.34366269e-01 -3.56275415e-01 -5.24448085e-03 9.76190842e+01] [ 3.56269096e-01 9.34380980e-01 -2.12513036e-03 1.78402298e+01] [ 5.65747486e-03 1.17203672e-04 9.99983989e-01 -2.56981862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.365769231 meters 0.02796229580935753 Centerline is valid? [True, True] Translation: X:97.64, Y:17.85, Z:-0.26 [[ 9.34171737e-01 -3.56771089e-01 -6.12829137e-03 9.76449090e+01] [ 3.56762463e-01 9.34191828e-01 -2.48458159e-03 1.78522796e+01] [ 6.61142660e-03 1.34681577e-04 9.99978135e-01 -2.59455813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.395769231 meters 0.027550993295990586 Centerline is valid? [True, True] Translation: X:97.67, Y:17.86, Z:-0.26 [[ 9.34000793e-01 -3.57220196e-01 -6.02085036e-03 9.76702675e+01] [ 3.57211870e-01 9.34020190e-01 -2.44234419e-03 1.78636229e+01] [ 6.49605047e-03 1.30432190e-04 9.99978892e-01 -2.59180016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.425769231 meters 0.028019604798397397 Centerline is valid? [True, True] Translation: X:97.69, Y:17.88, Z:-0.26 [[ 9.33874054e-01 -3.57550875e-01 -6.05165514e-03 9.76941843e+01] [ 3.57542466e-01 9.33893653e-01 -2.45560070e-03 1.78753152e+01] [ 6.52960450e-03 1.29498078e-04 9.99978674e-01 -2.59854397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.455769231 meters 0.026527023025513227 Centerline is valid? [True, True] Translation: X:97.72, Y:17.88, Z:-0.26 [[ 9.33213159e-01 -3.59256024e-01 -6.95050169e-03 9.77220887e+01] [ 3.59244968e-01 9.33239032e-01 -2.82167509e-03 1.78839008e+01] [ 7.50018324e-03 1.36291564e-04 9.99971864e-01 -2.61796268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.485769231 meters 0.025749090272048917 Centerline is valid? [True, True] Translation: X:97.75, Y:17.89, Z:-0.26 [[ 9.32818290e-01 -3.60273854e-01 -7.26549816e-03 9.77486565e+01] [ 3.60261803e-01 9.32846575e-01 -2.94978332e-03 1.78927115e+01] [ 7.84032488e-03 1.34130360e-04 9.99969255e-01 -2.62575310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51576923100001 meters 0.024146782974861367 Centerline is valid? [True, True] Translation: X:97.78, Y:17.90, Z:-0.26 [[ 9.31993092e-01 -3.62421855e-01 -6.26701350e-03 9.77760526e+01] [ 3.62412935e-01 9.32014157e-01 -2.54483437e-03 1.78992011e+01] [ 6.76324889e-03 1.00521298e-04 9.99977124e-01 -2.62633164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54576923100001 meters 0.022791545766835865 Centerline is valid? [True, True] Translation: X:97.80, Y:17.91, Z:-0.26 [[ 9.31298472e-01 -3.64202767e-01 -6.28502050e-03 9.78043120e+01] [ 3.64193826e-01 9.31319675e-01 -2.55353808e-03 1.79062996e+01] [ 6.78336889e-03 8.91404480e-05 9.99976989e-01 -2.62708703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57576923100001 meters 0.019260540547880244 Centerline is valid? [True, True] Translation: X:97.84, Y:17.91, Z:-0.26 [[ 9.29575755e-01 -3.68570611e-01 -6.67982783e-03 9.78356857e+01] [ 3.68560615e-01 9.29599753e-01 -2.71519008e-03 1.79062476e+01] [ 7.21030557e-03 6.20534190e-05 9.99974003e-01 -2.62615047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60576923100001 meters 0.0179861833516632 Centerline is valid? [True, True] Translation: X:97.86, Y:17.91, Z:-0.26 [[ 9.28580070e-01 -3.71051867e-01 -7.71788465e-03 9.78633226e+01] [ 3.71038595e-01 9.28612141e-01 -3.13881654e-03 1.79116796e+01] [ 8.33158513e-03 5.10094096e-05 9.99965290e-01 -2.63614698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63576923100001 meters 0.017543898922467577 Centerline is valid? [True, True] Translation: X:97.89, Y:17.92, Z:-0.27 [[ 9.27755775e-01 -3.73092650e-01 -8.43190963e-03 9.78898951e+01] [ 3.73076887e-01 9.27794090e-01 -3.42972165e-03 1.79177442e+01] [ 9.10267986e-03 3.61934716e-05 9.99958569e-01 -2.65396163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66576923100001 meters 0.01721281091949268 Centerline is valid? [True, True] Translation: X:97.92, Y:17.92, Z:-0.27 [[ 9.27130260e-01 -3.74649130e-01 -8.21648151e-03 9.79168953e+01] [ 3.74634219e-01 9.27166667e-01 -3.34259498e-03 1.79240854e+01] [ 8.87034808e-03 2.08458184e-05 9.99960657e-01 -2.65102384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.695769231 meters 0.01633235852953488 Centerline is valid? [True, True] Translation: X:97.95, Y:17.93, Z:-0.26 [[ 9.26813323e-01 -3.75483496e-01 -5.40444611e-03 9.79452985e+01] [ 3.75477057e-01 9.26829080e-01 -2.19901885e-03 1.79288129e+01] [ 5.83469310e-03 8.83445056e-06 9.99982978e-01 -2.59446342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.725769231 meters 0.016125258488681276 Centerline is valid? [True, True] Translation: X:97.97, Y:17.94, Z:-0.26 [[ 9.26817086e-01 -3.75487211e-01 -4.40938378e-03 9.79727154e+01] [ 3.75482920e-01 9.26827575e-01 -1.79523696e-03 1.79371408e+01] [ 4.76082699e-03 8.20799362e-06 9.99988667e-01 -2.57295209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.755769231 meters 0.01626544044768946 Centerline is valid? [True, True] Translation: X:98.00, Y:17.95, Z:-0.26 [[ 9.27290299e-01 -3.74316966e-01 -4.41707426e-03 9.79997458e+01] [ 3.74312641e-01 9.27300819e-01 -1.79943466e-03 1.79462284e+01] [ 4.76951550e-03 1.52315732e-05 9.99988626e-01 -2.55683547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.785769231 meters 0.017362891873150973 Centerline is valid? [True, True] Translation: X:98.02, Y:17.96, Z:-0.26 [[ 9.28091320e-01 -3.72329855e-01 -4.12085086e-03 9.80244199e+01] [ 3.72326071e-01 9.28100468e-01 -1.67876842e-03 1.79594660e+01] [ 4.44961922e-03 2.37501886e-05 9.99990100e-01 -2.56349649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.815769231 meters 0.018683186920957676 Centerline is valid? [True, True] Translation: X:98.05, Y:17.97, Z:-0.25 [[ 9.29007080e-01 -3.70043187e-01 -3.72639915e-03 9.80498074e+01] [ 3.70040070e-01 9.29014553e-01 -1.51899449e-03 1.79736940e+01] [ 4.02397260e-03 3.22396334e-05 9.99991903e-01 -2.54798468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.845769231 meters 0.023596112746184738 Centerline is valid? [True, True] Translation: X:98.07, Y:18.00, Z:-0.25 [[ 9.31458735e-01 -3.63833355e-01 -3.14883817e-03 9.80728620e+01] [ 3.63831093e-01 9.31464056e-01 -1.28396339e-03 1.79963605e+01] [ 3.40017828e-03 5.03136833e-05 9.99994218e-01 -2.52957605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.875769231 meters 0.02744906253115673 Centerline is valid? [True, True] Translation: X:98.10, Y:18.02, Z:-0.25 [[ 9.32924608e-01 -3.60053109e-01 -3.66532175e-03 9.80972463e+01] [ 3.60050015e-01 9.32931805e-01 -1.49443255e-03 1.80153739e+01] [ 3.95757032e-03 7.44937466e-05 9.99992166e-01 -2.54484682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90576923100001 meters 0.032000575479574085 Centerline is valid? [True, True] Translation: X:98.12, Y:18.04, Z:-0.26 [[ 9.34472089e-01 -3.56009159e-01 -4.40380518e-03 9.81206416e+01] [ 3.56004647e-01 9.34482459e-01 -1.79569959e-03 1.80355517e+01] [ 4.75456419e-03 1.10256037e-04 9.99988691e-01 -2.56002407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93576923100001 meters 0.04150694365549152 Centerline is valid? [True, True] Translation: X:98.14, Y:18.06, Z:-0.26 [[ 9.37371195e-01 -3.48286874e-01 -5.61213510e-03 9.81403477e+01] [ 3.48279407e-01 9.37387976e-01 -2.28858249e-03 1.80640171e+01] [ 6.05783120e-03 1.90660214e-04 9.99981633e-01 -2.59209530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96576923100001 meters 0.044620541079017965 Centerline is valid? [True, True] Translation: X:98.17, Y:18.08, Z:-0.26 [[ 9.38315361e-01 -3.45724524e-01 -6.23184629e-03 9.81651634e+01] [ 3.45715257e-01 9.38336027e-01 -2.54179967e-03 1.80813277e+01] [ 6.72632837e-03 2.30565336e-04 9.99977351e-01 -2.60061452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99576923100001 meters 0.04791263624618941 Centerline is valid? [True, True] Translation: X:98.19, Y:18.10, Z:-0.26 [[ 9.39175764e-01 -3.43369172e-01 -6.81880816e-03 9.81884037e+01] [ 3.43358013e-01 9.39200478e-01 -2.78150444e-03 1.80991476e+01] [ 7.35931076e-03 2.71029137e-04 9.99972883e-01 -2.61729742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02576923100001 meters 0.04067345312807125 Centerline is valid? [True, True] Translation: X:98.22, Y:18.10, Z:-0.26 [[ 9.39155907e-01 -3.43426594e-01 -6.66006178e-03 9.82178082e+01] [ 3.43415936e-01 9.39179484e-01 -2.71861008e-03 1.81024895e+01] [ 7.18863639e-03 2.66027369e-04 9.99974126e-01 -2.59244272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05576923100001 meters 0.04860814964131471 Centerline is valid? [True, True] Translation: X:98.24, Y:18.12, Z:-0.26 [[ 9.39071299e-01 -3.43674541e-01 -5.73627780e-03 9.82384664e+01] [ 3.43666639e-01 9.39088791e-01 -2.34168208e-03 1.81245434e+01] [ 6.19165070e-03 2.27639119e-04 9.99980806e-01 -2.60298920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.085769231 meters 0.045083704065805266 Centerline is valid? [True, True] Translation: X:98.27, Y:18.13, Z:-0.26 [[ 9.38886750e-01 -3.44197067e-01 -4.47769410e-03 9.82665539e+01] [ 3.44192255e-01 9.38897411e-01 -1.82841977e-03 1.81332578e+01] [ 4.83343212e-03 1.75491470e-04 9.99988303e-01 -2.56745636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.115769231 meters 0.04220520063401517 Centerline is valid? [True, True] Translation: X:98.29, Y:18.14, Z:-0.25 [[ 9.38859539e-01 -3.44294776e-01 -1.96818253e-03 9.82937969e+01] [ 3.44293845e-01 9.38861599e-01 -8.04356441e-04 1.81439417e+01] [ 2.12478672e-03 7.75445853e-05 9.99997740e-01 -2.50489409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.145769231 meters 0.043909020100123604 Centerline is valid? [True, True] Translation: X:98.32, Y:18.16, Z:-0.25 [[ 9.38990884e-01 -3.43935223e-01 -2.16366387e-03 9.83179386e+01] [ 3.43934097e-01 9.38993373e-01 -8.84108286e-04 1.81592235e+01] [ 2.33574201e-03 8.60118431e-05 9.99997268e-01 -2.50737123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.175769231 meters 0.04963721741089523 Centerline is valid? [True, True] Translation: X:98.34, Y:18.18, Z:-0.26 [[ 9.39706800e-01 -3.41955346e-01 -4.20381399e-03 9.83385210e+01] [ 3.41951077e-01 9.39716186e-01 -1.71781686e-03 1.81833340e+01] [ 4.53780871e-03 1.76745467e-04 9.99989688e-01 -2.56098901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.205769231 meters 0.04669040654627509 Centerline is valid? [True, True] Translation: X:98.37, Y:18.19, Z:-0.26 [[ 9.40078820e-01 -3.40917937e-01 -5.17419420e-03 9.83655358e+01] [ 3.40911447e-01 9.40093032e-01 -2.11557293e-03 1.81938065e+01] [ 5.58546068e-03 2.24863271e-04 9.99984376e-01 -2.57466806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.235769231 meters 0.04794878163849655 Centerline is valid? [True, True] Translation: X:98.39, Y:18.21, Z:-0.26 [[ 9.40222962e-01 -3.40502341e-01 -6.24001971e-03 9.83885128e+01] [ 3.40492891e-01 9.40243628e-01 -2.55173695e-03 1.82107882e+01] [ 6.73601118e-03 2.74519326e-04 9.99977275e-01 -2.59113241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26576923100001 meters 0.04763994280362529 Centerline is valid? [True, True] Translation: X:98.41, Y:18.22, Z:-0.26 [[ 9.39879280e-01 -3.41448180e-01 -6.33082452e-03 9.84143762e+01] [ 3.41438464e-01 9.39900562e-01 -2.59022618e-03 1.82236481e+01] [ 6.83477353e-03 2.72912916e-04 9.99976605e-01 -2.59504038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29576923100001 meters 0.045815388036990784 Centerline is valid? [True, True] Translation: X:98.44, Y:18.24, Z:-0.26 [[ 9.39182308e-01 -3.43361496e-01 -6.28295385e-03 9.84410601e+01] [ 3.43351969e-01 9.39203288e-01 -2.57061646e-03 1.82351969e+01] [ 6.78362163e-03 2.57012918e-04 9.99976958e-01 -2.59953273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32576923100001 meters 0.04357802176199475 Centerline is valid? [True, True] Translation: X:98.47, Y:18.25, Z:-0.26 [[ 9.38354645e-01 -3.45611617e-01 -6.57049067e-03 9.84681666e+01] [ 3.45601243e-01 9.38377614e-01 -2.68966210e-03 1.82468445e+01] [ 7.09517982e-03 2.53087181e-04 9.99974797e-01 -2.60274402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35576923100001 meters 0.04357802176199475 Centerline is valid? [True, True] Translation: X:98.49, Y:18.26, Z:-0.26 [[ 9.38291167e-01 -3.45783923e-01 -6.56996856e-03 9.84935563e+01] [ 3.45773545e-01 9.38314134e-01 -2.69093728e-03 1.82574391e+01] [ 7.09517721e-03 2.53161362e-04 9.99974797e-01 -2.60333488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38576923100001 meters 0.04105149818040591 Centerline is valid? [True, True] Translation: X:98.52, Y:18.27, Z:-0.26 [[ 9.36702928e-01 -3.50074359e-01 -5.96386723e-03 9.85186519e+01] [ 3.50065894e-01 9.36721892e-01 -2.44259200e-03 1.82709614e+01] [ 6.44157382e-03 2.00236566e-04 9.99979233e-01 -2.60222146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41576923100001 meters 0.03335247964371801 Centerline is valid? [True, True] Translation: X:98.55, Y:18.28, Z:-0.26 [[ 9.35335911e-01 -3.53698457e-01 -6.64347491e-03 9.85479795e+01] [ 3.53688043e-01 9.35359484e-01 -2.72117963e-03 1.82763929e+01] [ 7.17651430e-03 1.95499390e-04 9.99974229e-01 -2.59005777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.445769231 meters 0.035120398707171055 Centerline is valid? [True, True] Translation: X:98.57, Y:18.29, Z:-0.26 [[ 9.34595770e-01 -3.55628693e-01 -7.67984972e-03 9.85721447e+01] [ 3.55614827e-01 9.34627299e-01 -3.14746707e-03 1.82919153e+01] [ 8.29712680e-03 2.10540981e-04 9.99965556e-01 -2.62293911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.475769231 meters 0.03399982937648842 Centerline is valid? [True, True] Translation: X:98.60, Y:18.30, Z:-0.27 [[ 9.33895539e-01 -3.57432245e-01 -9.01740355e-03 9.85979605e+01] [ 3.57413209e-01 9.33939044e-01 -3.69590727e-03 1.83031542e+01] [ 9.74274169e-03 2.28652174e-04 9.99952512e-01 -2.65691268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.505769231 meters 0.03353464163859078 Centerline is valid? [True, True] Translation: X:98.62, Y:18.31, Z:-0.27 [[ 9.33179436e-01 -3.59283836e-01 -9.55334205e-03 9.86234689e+01] [ 3.59262561e-01 9.33228309e-01 -3.91617264e-03 1.83143620e+01] [ 1.03224668e-02 2.22333646e-04 9.99946697e-01 -2.68520494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.535769231 meters 0.026668623151691842 Centerline is valid? [True, True] Translation: X:98.65, Y:18.32, Z:-0.26 [[ 9.31674596e-01 -3.63192245e-01 -8.59303812e-03 9.86538799e+01] [ 3.63175184e-01 9.31714209e-01 -3.52414441e-03 1.83179184e+01] [ 9.28619764e-03 1.62577621e-04 9.99956869e-01 -2.64529781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.565769231 meters 0.024534554010003668 Centerline is valid? [True, True] Translation: X:98.68, Y:18.33, Z:-0.26 [[ 9.30746104e-01 -3.65572905e-01 -8.25476111e-03 9.86808426e+01] [ 3.65557250e-01 9.30782699e-01 -3.38578358e-03 1.83262219e+01] [ 8.92113957e-03 1.33717101e-04 9.99960197e-01 -2.63881782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.595769231 meters 0.0209682458839877 Centerline is valid? [True, True] Translation: X:98.71, Y:18.33, Z:-0.26 [[ 9.29252048e-01 -3.69353463e-01 -8.28553026e-03 9.87099570e+01] [ 3.69337826e-01 9.29288981e-01 -3.40009886e-03 1.83323524e+01] [ 8.95549026e-03 9.93890988e-05 9.99959894e-01 -2.63265780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.625769231 meters 0.019483321954735303 Centerline is valid? [True, True] Translation: X:98.74, Y:18.34, Z:-0.26 [[ 9.28340263e-01 -3.71656770e-01 -7.45655925e-03 9.87372186e+01] [ 3.71644168e-01 9.28370206e-01 -3.06140309e-03 1.83405642e+01] [ 8.06023864e-03 7.08369930e-05 9.99967513e-01 -2.61785121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65576923100001 meters 0.017685979686783426 Centerline is valid? [True, True] Translation: X:98.77, Y:18.35, Z:-0.26 [[ 9.27212756e-01 -3.74480659e-01 -6.38290799e-03 9.87658327e+01] [ 3.74471483e-01 9.27234725e-01 -2.62187922e-03 1.83472529e+01] [ 6.90029698e-03 4.08228362e-05 9.99976192e-01 -2.59670214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68576923100001 meters 0.01609386557357105 Centerline is valid? [True, True] Translation: X:98.80, Y:18.35, Z:-0.26 [[ 9.25046838e-01 -3.79817580e-01 -5.19173347e-03 9.87965058e+01] [ 3.79811587e-01 9.25061407e-01 -2.13366001e-03 1.83484147e+01] [ 5.61307385e-03 1.85492236e-06 9.99984247e-01 -2.57734923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71576923100001 meters 0.01638454354713126 Centerline is valid? [True, True] Translation: X:98.82, Y:18.35, Z:-0.26 [[ 9.24001267e-01 -3.82351648e-01 -5.37355278e-03 9.88241570e+01] [ 3.82345264e-01 9.24016892e-01 -2.20961962e-03 1.83536082e+01] [ 5.81010524e-03 -1.28611290e-05 9.99983121e-01 -2.58393021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74576923100001 meters 0.01697832974225103 Centerline is valid? [True, True] Translation: X:98.85, Y:18.36, Z:-0.26 [[ 9.23194926e-01 -3.84293291e-01 -5.45843704e-03 9.88530326e+01] [ 3.84286732e-01 9.23211062e-01 -2.24551132e-03 1.83604156e+01] [ 5.90222440e-03 -2.45602772e-05 9.99982581e-01 -2.58869360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77576923100001 meters 0.01793961124682228 Centerline is valid? [True, True] Translation: X:98.88, Y:18.36, Z:-0.26 [[ 9.22212205e-01 -3.86657762e-01 -4.51922846e-03 9.88816913e+01] [ 3.86653293e-01 9.22223278e-01 -1.85926642e-03 1.83631075e+01] [ 4.88663748e-03 -3.27363789e-05 9.99988060e-01 -2.57122699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80576923100001 meters 0.017563659926921108 Centerline is valid? [True, True] Translation: X:98.91, Y:18.37, Z:-0.26 [[ 9.22262502e-01 -3.86544207e-01 -3.93107711e-03 9.89078455e+01] [ 3.86540820e-01 9.22270879e-01 -1.61847195e-03 1.83727017e+01] [ 4.25112890e-03 -2.68657791e-05 9.99990964e-01 -2.55131176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.835769231 meters 0.015823948880485682 Centerline is valid? [True, True] Translation: X:98.93, Y:18.39, Z:-0.25 [[ 9.24343193e-01 -3.81538364e-01 -4.25889264e-03 9.89315408e+01] [ 3.81534332e-01 9.24353004e-01 -1.75419596e-03 1.83902893e+01] [ 4.60601326e-03 -3.43466151e-06 9.99989392e-01 -2.53265806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.865769231 meters 0.016697709756167137 Centerline is valid? [True, True] Translation: X:98.95, Y:18.41, Z:-0.25 [[ 9.26161250e-01 -3.77101151e-01 -4.47902656e-03 9.89543412e+01] [ 3.77096639e-01 9.26172080e-01 -1.84490697e-03 1.84083086e+01] [ 4.84406589e-03 1.96554823e-05 9.99988267e-01 -2.54703312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.895769231 meters 0.019473948937230017 Centerline is valid? [True, True] Translation: X:98.98, Y:18.43, Z:-0.25 [[ 9.28051820e-01 -3.72422466e-01 -4.61802155e-03 9.89778369e+01] [ 3.72417606e-01 9.28063308e-01 -1.90324732e-03 1.84280203e+01] [ 4.99462841e-03 4.64796093e-05 9.99987526e-01 -2.54602129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.925769231 meters 0.027670989526032558 Centerline is valid? [True, True] Translation: X:99.00, Y:18.46, Z:-0.25 [[ 9.31513022e-01 -3.63685617e-01 -4.03250420e-03 9.89980508e+01] [ 3.63681829e-01 9.31521747e-01 -1.66181081e-03 1.84556552e+01] [ 4.36074205e-03 8.14499088e-05 9.99990489e-01 -2.54398918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.955769231 meters 0.029972950492507422 Centerline is valid? [True, True] Translation: X:99.02, Y:18.47, Z:-0.25 [[ 9.32793364e-01 -3.60391792e-01 -3.78104104e-03 9.90230395e+01] [ 3.60388434e-01 9.32801023e-01 -1.55835548e-03 1.84720090e+01] [ 4.08857748e-03 9.09801912e-05 9.99991638e-01 -2.52740817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.985769231 meters 0.034610063795013545 Centerline is valid? [True, True] Translation: X:99.05, Y:18.49, Z:-0.25 [[ 9.33949807e-01 -3.57390462e-01 -3.13281711e-03 9.90460109e+01] [ 3.57388140e-01 9.33955058e-01 -1.29141761e-03 1.84911883e+01] [ 3.38745072e-03 8.64875505e-05 9.99994259e-01 -2.51707974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01576923100001 meters 0.0408905077836353 Centerline is valid? [True, True] Translation: X:99.07, Y:18.52, Z:-0.25 [[ 9.35874173e-01 -3.52323717e-01 -2.74406522e-03 9.90672807e+01] [ 3.52321913e-01 9.35878192e-01 -1.13128408e-03 1.85158427e+01] [ 2.96668901e-03 9.19452487e-05 9.99995595e-01 -2.51179566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04576923100001 meters 0.039240651724663095 Centerline is valid? [True, True] Translation: X:99.09, Y:18.53, Z:-0.25 [[ 9.36593908e-01 -3.50404605e-01 -2.90938528e-03 9.90940825e+01] [ 3.50402568e-01 9.36598421e-01 -1.19947734e-03 1.85280599e+01] [ 3.14522804e-03 1.03967096e-04 9.99995048e-01 -2.50541674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07576923100001 meters 0.049434623814129594 Centerline is valid? [True, True] Translation: X:99.11, Y:18.56, Z:-0.26 [[ 9.37534380e-01 -3.47866824e-01 -4.23777624e-03 9.91126685e+01] [ 3.47862474e-01 9.37543944e-01 -1.74732093e-03 1.85583299e+01] [ 4.58093643e-03 1.64010121e-04 9.99989494e-01 -2.55053371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10576923100001 meters 0.04289649466903906 Centerline is valid? [True, True] Translation: X:99.14, Y:18.56, Z:-0.26 [[ 9.37747805e-01 -3.47277907e-01 -5.20660307e-03 9.91411183e+01] [ 3.47271325e-01 9.37762237e-01 -2.14807238e-03 1.85649060e+01] [ 5.62853382e-03 2.06246210e-04 9.99984138e-01 -2.55169337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13576923100001 meters 0.04388688398579647 Centerline is valid? [True, True] Translation: X:99.17, Y:18.58, Z:-0.26 [[ 9.38093875e-01 -3.46326026e-01 -6.17786772e-03 9.91653094e+01] [ 3.46316738e-01 9.38114183e-01 -2.54889455e-03 1.85809458e+01] [ 6.67829385e-03 2.51603372e-04 9.99977668e-01 -2.57462461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16576923100001 meters 0.04280850035771169 Centerline is valid? [True, True] Translation: X:99.19, Y:18.60, Z:-0.26 [[ 9.38259343e-01 -3.45863724e-01 -6.90583095e-03 9.91905040e+01] [ 3.45852093e-01 9.38284713e-01 -2.85085516e-03 1.85955142e+01] [ 7.46564299e-03 2.86445398e-04 9.99972091e-01 -2.57963842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19576923100001 meters 0.04616967721464778 Centerline is valid? [True, True] Translation: X:99.21, Y:18.61, Z:-0.26 [[ 9.37937206e-01 -3.46725478e-01 -7.43238598e-03 9.92138475e+01] [ 3.46712031e-01 9.37966605e-01 -3.06846624e-03 1.86116752e+01] [ 8.03524527e-03 3.01131017e-04 9.99967672e-01 -2.59642018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.225769231 meters 0.04596865236514771 Centerline is valid? [True, True] Translation: X:99.24, Y:18.62, Z:-0.26 [[ 9.37289076e-01 -3.48465563e-01 -7.80636859e-03 9.92385985e+01] [ 3.48450785e-01 9.37321535e-01 -3.22337153e-03 1.86237134e+01] [ 8.44031136e-03 3.01095664e-04 9.99964335e-01 -2.61290274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.255769231 meters 0.03953472467129755 Centerline is valid? [True, True] Translation: X:99.27, Y:18.63, Z:-0.26 [[ 9.35841055e-01 -3.52334152e-01 -7.88450826e-03 9.92685778e+01] [ 3.52319211e-01 9.35874229e-01 -3.25595711e-03 1.86297123e+01] [ 8.52609297e-03 2.69194606e-04 9.99963616e-01 -2.61120734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.285769231 meters 0.037986722529501804 Centerline is valid? [True, True] Translation: X:99.29, Y:18.64, Z:-0.26 [[ 9.35149352e-01 -3.54176853e-01 -7.37878931e-03 9.92947602e+01] [ 3.54163817e-01 9.35178433e-01 -3.04792555e-03 1.86388258e+01] [ 7.97998930e-03 2.36965410e-04 9.99968131e-01 -2.60331687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.315769231 meters 0.03600346498470656 Centerline is valid? [True, True] Translation: X:99.32, Y:18.65, Z:-0.26 [[ 9.34214370e-01 -3.56680624e-01 -4.73738665e-03 9.93218946e+01] [ 3.56675282e-01 9.34226372e-01 -1.95702297e-03 1.86477253e+01] [ 5.12382372e-03 1.38570265e-04 9.99986864e-01 -2.55745218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.345769231 meters 0.03531632773354155 Centerline is valid? [True, True] Translation: X:99.35, Y:18.66, Z:-0.25 [[ 9.33892677e-01 -3.57527910e-01 -4.27328125e-03 9.93489637e+01] [ 3.57523567e-01 9.33902446e-01 -1.76638097e-03 1.86587346e+01] [ 4.62235831e-03 1.21811499e-04 9.99989309e-01 -2.54618012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.375769231 meters 0.03326913708369879 Centerline is valid? [True, True] Translation: X:99.38, Y:18.67, Z:-0.26 [[ 9.33738010e-01 -3.57922751e-01 -4.96315731e-03 9.93755096e+01] [ 3.57916892e-01 9.33751190e-01 -2.05264780e-03 1.86674609e+01] [ 5.36904339e-03 1.40237437e-04 9.99985577e-01 -2.55561803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40576923100001 meters 0.03392511215390316 Centerline is valid? [True, True] Translation: X:99.40, Y:18.68, Z:-0.26 [[ 9.33531022e-01 -3.58417396e-01 -7.53662419e-03 9.94005921e+01] [ 3.58403901e-01 9.33561421e-01 -3.11728915e-03 1.86789479e+01] [ 8.15319225e-03 2.08930616e-04 9.99966740e-01 -2.60586647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43576923100001 meters 0.03563085438653283 Centerline is valid? [True, True] Translation: X:99.43, Y:18.69, Z:-0.26 [[ 9.33318031e-01 -3.58957944e-01 -8.16373074e-03 9.94254956e+01] [ 3.58942123e-01 9.33353708e-01 -3.37744894e-03 1.86910559e+01] [ 8.83201049e-03 2.21927154e-04 9.99960972e-01 -2.63098947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46576923100001 meters 0.03398369576274531 Centerline is valid? [True, True] Translation: X:99.45, Y:18.70, Z:-0.26 [[ 9.32856905e-01 -3.60147775e-01 -8.46020092e-03 9.94529011e+01] [ 3.60130817e-01 9.32895241e-01 -3.50182309e-03 1.86992617e+01] [ 9.15365497e-03 2.19920777e-04 9.99958080e-01 -2.63206078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49576923100001 meters 0.02886117701504749 Centerline is valid? [True, True] Translation: X:99.48, Y:18.70, Z:-0.26 [[ 9.31437589e-01 -3.63806309e-01 -8.30584410e-03 9.94828484e+01] [ 3.63790109e-01 9.31474603e-01 -3.43795570e-03 1.87032576e+01] [ 8.98743281e-03 1.80657233e-04 9.99959596e-01 -2.61812230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52576923100001 meters 0.0281108344517964 Centerline is valid? [True, True] Translation: X:99.51, Y:18.71, Z:-0.26 [[ 9.30560695e-01 -3.66053515e-01 -7.84966909e-03 9.95092502e+01] [ 3.66039111e-01 9.30593789e-01 -3.25090879e-03 1.87131962e+01] [ 8.49485989e-03 1.51882054e-04 9.99963906e-01 -2.62322612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55576923100001 meters 0.025562899788529 Centerline is valid? [True, True] Translation: X:99.54, Y:18.72, Z:-0.26 [[ 9.29884971e-01 -3.67767748e-01 -7.79896795e-03 9.95375319e+01] [ 3.67753577e-01 9.29917666e-01 -3.23138481e-03 1.87200166e+01] [ 8.44079719e-03 1.36717812e-04 9.99964366e-01 -2.61495204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.585769231 meters 0.023843961705609838 Centerline is valid? [True, True] Translation: X:99.57, Y:18.73, Z:-0.26 [[ 9.28985951e-01 -3.70021540e-01 -8.31644804e-03 9.95654566e+01] [ 3.70005502e-01 9.29023167e-01 -3.44733030e-03 1.87268774e+01] [ 9.00175936e-03 1.25389883e-04 9.99959475e-01 -2.62261178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.615769231 meters 0.02461147867858917 Centerline is valid? [True, True] Translation: X:99.59, Y:18.74, Z:-0.26 [[ 9.28645718e-01 -3.70874915e-01 -8.30234036e-03 9.95903618e+01] [ 3.70858962e-01 9.28682822e-01 -3.44179818e-03 1.87389439e+01] [ 8.98671748e-03 1.17213812e-04 9.99959612e-01 -2.64118685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.645769231 meters 0.022588299904951654 Centerline is valid? [True, True] Translation: X:99.62, Y:18.75, Z:-0.26 [[ 9.28293246e-01 -3.71760913e-01 -8.09148287e-03 9.96182085e+01] [ 3.71745779e-01 9.28328504e-01 -3.35614191e-03 1.87480165e+01] [ 8.75923658e-03 1.07509261e-04 9.99961631e-01 -2.61301918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.675769231 meters 0.021440905697143655 Centerline is valid? [True, True] Translation: X:99.64, Y:18.76, Z:-0.26 [[ 9.27799090e-01 -3.73017606e-01 -6.83480153e-03 9.96447395e+01] [ 3.73006840e-01 9.27824261e-01 -2.83517365e-03 1.87570828e+01] [ 7.39906436e-03 8.10438047e-05 9.99972623e-01 -2.58751025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.705769231 meters 0.020609188566922062 Centerline is valid? [True, True] Translation: X:99.67, Y:18.77, Z:-0.26 [[ 9.27501492e-01 -3.73776188e-01 -5.68710105e-03 9.96722483e+01] [ 3.73768740e-01 9.27518926e-01 -2.36040932e-03 1.87660640e+01] [ 6.15715865e-03 6.36225697e-05 9.99981042e-01 -2.56222219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.735769231 meters 0.01928210801452397 Centerline is valid? [True, True] Translation: X:99.70, Y:18.77, Z:-0.25 [[ 9.26845461e-01 -3.75409936e-01 -4.98710896e-03 9.96996291e+01] [ 3.75404231e-01 9.26858877e-01 -2.07001722e-03 1.87737389e+01] [ 5.39945124e-03 4.64042622e-05 9.99985422e-01 -2.54253262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76576923100001 meters 0.018860172053804764 Centerline is valid? [True, True] Translation: X:99.73, Y:18.78, Z:-0.25 [[ 9.26525520e-01 -3.76198448e-01 -5.01884633e-03 9.97255323e+01] [ 3.76192676e-01 9.26539112e-01 -2.08452524e-03 1.87837061e+01] [ 5.43435259e-03 4.33126015e-05 9.99985233e-01 -2.54559123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79576923100001 meters 0.018569295251846932 Centerline is valid? [True, True] Translation: X:99.75, Y:18.80, Z:-0.25 [[ 9.26699470e-01 -3.75789651e-01 -3.19847629e-03 9.97519153e+01] [ 3.75787301e-01 9.26704989e-01 -1.32917943e-03 1.87963213e+01] [ 3.46353581e-03 2.98030989e-05 9.99994001e-01 -2.49975560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82576923100001 meters 0.019293827403526444 Centerline is valid? [True, True] Translation: X:99.78, Y:18.81, Z:-0.25 [[ 9.27114025e-01 -3.74777048e-01 -1.32237329e-03 9.97755055e+01] [ 3.74776645e-01 9.27114968e-01 -5.49692380e-04 1.88092542e+01] [ 1.43200415e-03 1.40328910e-05 9.99998975e-01 -2.45799208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85576923100001 meters 0.020797861953396484 Centerline is valid? [True, True] Translation: X:99.80, Y:18.82, Z:-0.24 [[ 9.27807567e-01 -3.73059109e-01 -1.39030867e-04 9.97997625e+01] [ 3.73059105e-01 9.27807578e-01 -5.79842614e-05 1.88238911e+01] [ 1.50625449e-04 1.93150559e-06 9.99999989e-01 -2.43274916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88576923100001 meters 0.023815374674782782 Centerline is valid? [True, True] Translation: X:99.82, Y:18.84, Z:-0.24 [[ 9.29598775e-01 -3.68572287e-01 -7.65984457e-04 9.98241154e+01] [ 3.68572150e-01 9.29599091e-01 -3.18451915e-04 1.88426828e+01] [ 8.29431005e-04 1.37119726e-05 9.99999656e-01 -2.44735394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91576923100001 meters 0.026430793480148002 Centerline is valid? [True, True] Translation: X:99.85, Y:18.86, Z:-0.25 [[ 9.30633662e-01 -3.65946587e-01 -2.02057604e-03 9.98490924e+01] [ 3.65945625e-01 9.30635855e-01 -8.40059618e-04 1.88589432e+01] [ 2.18783746e-03 4.23667956e-05 9.99997606e-01 -2.48026933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94576923100001 meters 0.03509193202562856 Centerline is valid? [True, True] Translation: X:99.87, Y:18.88, Z:-0.25 [[ 9.32089059e-01 -3.62208196e-01 -3.89983927e-03 9.98690737e+01] [ 3.62204580e-01 9.32097212e-01 -1.62153180e-03 1.88846702e+01] [ 4.22236142e-03 9.88724059e-05 9.99991081e-01 -2.54645187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.975769231 meters 0.033466016774914946 Centerline is valid? [True, True] Translation: X:99.90, Y:18.90, Z:-0.25 [[ 9.32398797e-01 -3.61403297e-01 -4.48784380e-03 9.98959656e+01] [ 3.61398494e-01 9.32409590e-01 -1.86709941e-03 1.88956916e+01] [ 4.85928448e-03 1.18981253e-04 9.99988187e-01 -2.54390792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.005769231 meters 0.031180956094434442 Centerline is valid? [True, True] Translation: X:99.92, Y:18.91, Z:-0.25 [[ 9.32600935e-01 -3.60875019e-01 -4.97162462e-03 9.99226217e+01] [ 3.60869111e-01 9.32614177e-01 -2.06933744e-03 1.89060152e+01] [ 5.38337979e-03 1.35760273e-04 9.99985500e-01 -2.53763801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.035769231 meters 0.03347697176269584 Centerline is valid? [True, True] Translation: X:99.95, Y:18.92, Z:-0.25 [[ 9.32903101e-01 -3.60087719e-01 -5.35148406e-03 9.99456351e+01] [ 3.60080858e-01 9.32918438e-01 -2.22792567e-03 1.89219788e+01] [ 5.79474683e-03 1.51471796e-04 9.99983199e-01 -2.54443663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.065769231 meters 0.034973562246035456 Centerline is valid? [True, True] Translation: X:99.97, Y:18.94, Z:-0.26 [[ 9.33606325e-01 -3.58245531e-01 -6.27452485e-03 9.99698186e+01] [ 3.58236059e-01 9.33627390e-01 -2.61214871e-03 1.89408459e+01] [ 6.79385886e-03 1.90957505e-04 9.99976903e-01 -2.55837588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.095769231 meters 0.036757238643726826 Centerline is valid? [True, True] Translation: X:99.99, Y:18.96, Z:-0.26 [[ 9.33726540e-01 -3.57916042e-01 -7.13129892e-03 9.99934836e+01] [ 3.57903790e-01 9.33753746e-01 -2.96971457e-03 1.89570743e+01] [ 7.72178557e-03 2.20582401e-04 9.99970162e-01 -2.58781030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.125769231 meters 0.03558807583157914 Centerline is valid? [True, True] Translation: X:100.02, Y:18.97, Z:-0.26 [[ 9.33310597e-01 -3.58999236e-01 -7.13292118e-03 1.00018153e+02] [ 3.58986998e-01 9.33337829e-01 -2.97192746e-03 1.89718101e+01] [ 7.72434486e-03 2.13105428e-04 9.99970144e-01 -2.59781057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15576923100001 meters 0.03646435913545926 Centerline is valid? [True, True] Translation: X:100.04, Y:18.99, Z:-0.26 [[ 9.32812133e-01 -3.60298135e-01 -6.83952791e-03 1.00042475e+02] [ 3.60286915e-01 9.32837187e-01 -2.84991963e-03 1.89856795e+01] [ 7.40698670e-03 1.94247195e-04 9.99972549e-01 -2.60358038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18576923100001 meters 0.03131439443908207 Centerline is valid? [True, True] Translation: X:100.07, Y:18.99, Z:-0.26 [[ 9.32033659e-01 -3.62316428e-01 -6.32972192e-03 1.00071417e+02] [ 3.62306861e-01 9.32055137e-01 -2.63814128e-03 1.89921342e+01] [ 6.85549176e-03 1.65534788e-04 9.99976487e-01 -2.57989261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21576923100001 meters 0.02683741365080451 Centerline is valid? [True, True] Translation: X:100.10, Y:19.00, Z:-0.26 [[ 9.29990209e-01 -3.67503948e-01 -7.68503183e-03 1.00100020e+02] [ 3.67490011e-01 9.30021948e-01 -3.20431128e-03 1.89995123e+01] [ 8.32484532e-03 1.55805687e-04 9.99965336e-01 -2.60767247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24576923100001 meters 0.02401986983528154 Centerline is valid? [True, True] Translation: X:100.13, Y:19.01, Z:-0.26 [[ 9.28889154e-01 -3.70268406e-01 -8.13928431e-03 1.00128405e+02] [ 3.70252873e-01 9.28924802e-01 -3.39439949e-03 1.90077419e+01] [ 8.81762196e-03 1.39427475e-04 9.99961114e-01 -2.61347516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27576923100001 meters 0.02401986983528154 Centerline is valid? [True, True] Translation: X:100.15, Y:19.02, Z:-0.26 [[ 9.28817853e-01 -3.70447244e-01 -8.13854212e-03 1.00153699e+02] [ 3.70431702e-01 9.28853498e-01 -3.39617875e-03 1.90185010e+01] [ 8.81761837e-03 1.39657446e-04 9.99961114e-01 -2.61406567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30576923100001 meters 0.021178249273813832 Centerline is valid? [True, True] Translation: X:100.18, Y:19.03, Z:-0.26 [[ 9.27627906e-01 -3.73419544e-01 -8.01954878e-03 1.00182100e+02] [ 3.73404550e-01 9.27662564e-01 -3.34811387e-03 1.90257367e+01] [ 8.68968634e-03 1.11267853e-04 9.99962238e-01 -2.60319174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.335769231 meters 0.01798020688439649 Centerline is valid? [True, True] Translation: X:100.21, Y:19.03, Z:-0.26 [[ 9.25328856e-01 -3.79119286e-01 -5.92236891e-03 1.00210718e+02] [ 3.79111224e-01 9.25347808e-01 -2.47282199e-03 1.90298253e+01] [ 6.41774559e-03 4.29370182e-05 9.99979405e-01 -2.58463392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.365769231 meters 0.016159124053655754 Centerline is valid? [True, True] Translation: X:100.24, Y:19.04, Z:-0.26 [[ 9.24075626e-01 -3.82182973e-01 -4.51811801e-03 1.00240051e+02] [ 3.82178311e-01 9.24086671e-01 -1.88766091e-03 1.90354307e+01] [ 4.89656449e-03 1.76147259e-05 9.99988012e-01 -2.55519919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.395769231 meters 0.015617391772576959 Centerline is valid? [True, True] Translation: X:100.27, Y:19.04, Z:-0.25 [[ 9.22976506e-01 -3.84833010e-01 -4.23354173e-03 1.00268341e+02] [ 3.84828941e-01 9.22986216e-01 -1.76961804e-03 1.90416055e+01] [ 4.58850809e-03 4.12649212e-06 9.99989473e-01 -2.54626407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.425769231 meters 0.016494427880039176 Centerline is valid? [True, True] Translation: X:100.30, Y:19.04, Z:-0.26 [[ 9.21543032e-01 -3.88217064e-01 -6.77869628e-03 1.00297596e+02] [ 3.88206724e-01 9.21567963e-01 -2.83347589e-03 1.90432249e+01] [ 7.34703301e-03 -2.03655128e-05 9.99973010e-01 -2.58778013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.455769231 meters 0.017324735829713795 Centerline is valid? [True, True] Translation: X:100.32, Y:19.05, Z:-0.26 [[ 9.21037519e-01 -3.89398564e-01 -7.65814078e-03 1.00324715e+02] [ 3.89385404e-01 9.21069355e-01 -3.20158497e-03 1.90497654e+01] [ 8.30037138e-03 -3.31883645e-05 9.99965551e-01 -2.62290436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.485769231 meters 0.016700155011131427 Centerline is valid? [True, True] Translation: X:100.35, Y:19.06, Z:-0.26 [[ 9.21014380e-01 -3.89478858e-01 -6.22337156e-03 1.00352581e+02] [ 3.89470159e-01 9.21035406e-01 -2.60312754e-03 1.90578237e+01] [ 6.74580869e-03 -2.62996123e-05 9.99977246e-01 -2.57600263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51576923100001 meters 0.015984120376580948 Centerline is valid? [True, True] Translation: X:100.38, Y:19.07, Z:-0.26 [[ 9.21618689e-01 -3.88061620e-01 -5.21269105e-03 1.00378236e+02] [ 3.88055493e-01 9.21633430e-01 -2.18057647e-03 1.90690327e+01] [ 5.65038837e-03 -1.31533717e-05 9.99984036e-01 -2.55577410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54576923100001 meters 0.015593523830645838 Centerline is valid? [True, True] Translation: X:100.40, Y:19.08, Z:-0.25 [[ 9.22513384e-01 -3.85934241e-01 -4.88046852e-03 1.00403019e+02] [ 3.85928833e-01 9.22526293e-01 -2.04297860e-03 1.90815528e+01] [ 5.29081593e-03 1.16157997e-06 9.99986004e-01 -2.54405515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57576923100001 meters 0.016251914499740894 Centerline is valid? [True, True] Translation: X:100.43, Y:19.10, Z:-0.25 [[ 9.23848450e-01 -3.82724718e-01 -5.08245266e-03 1.00426825e+02] [ 3.82718805e-01 9.23862430e-01 -2.12755661e-03 1.90962506e+01] [ 5.50975557e-03 2.03896634e-05 9.99984821e-01 -2.54653709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60576923100001 meters 0.021264639864939684 Centerline is valid? [True, True] Translation: X:100.45, Y:19.12, Z:-0.25 [[ 9.26935498e-01 -3.75194159e-01 -4.46379241e-03 1.00449155e+02] [ 3.75189507e-01 9.26946244e-01 -1.86935802e-03 1.91200432e+01] [ 4.83906782e-03 5.80062313e-05 9.99988290e-01 -2.53794652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63576923100001 meters 0.024166137367251053 Centerline is valid? [True, True] Translation: X:100.47, Y:19.14, Z:-0.25 [[ 9.28188005e-01 -3.72097273e-01 -3.26282121e-03 1.00473245e+02] [ 3.72094765e-01 9.28193739e-01 -1.36719606e-03 1.91378149e+01] [ 3.53726015e-03 5.49362935e-05 9.99993742e-01 -2.51860309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66576923100001 meters 0.025017134100517223 Centerline is valid? [True, True] Translation: X:100.50, Y:19.15, Z:-0.25 [[ 9.29225140e-01 -3.69508562e-01 -2.01521025e-03 1.00499067e+02] [ 3.69507598e-01 9.29227325e-01 -8.44982504e-04 1.91513370e+01] [ 2.18481670e-03 4.05434848e-05 9.99997612e-01 -2.49109604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69576923100001 meters 0.03029622133020109 Centerline is valid? [True, True] Translation: X:100.52, Y:19.17, Z:-0.25 [[ 9.30206752e-01 -3.67029003e-01 -2.26036096e-03 1.00521384e+02] [ 3.67027783e-01 9.30209497e-01 -9.47859166e-04 1.91690318e+01] [ 2.45050104e-03 5.20897255e-05 9.99996996e-01 -2.51306037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.725769231 meters 0.030236448206921694 Centerline is valid? [True, True] Translation: X:100.55, Y:19.18, Z:-0.25 [[ 9.30085791e-01 -3.67322504e-01 -3.82098431e-03 1.00547800e+02] [ 3.67319017e-01 9.30093635e-01 -1.60287111e-03 1.91800049e+01] [ 4.14264382e-03 8.72874412e-05 9.99991415e-01 -2.54678931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.755769231 meters 0.029172445448983876 Centerline is valid? [True, True] Translation: X:100.57, Y:19.19, Z:-0.26 [[ 9.29443187e-01 -3.68913870e-01 -6.15785442e-03 1.00573794e+02] [ 3.68904849e-01 9.29463576e-01 -2.58315764e-03 1.91892320e+01] [ 6.67646407e-03 1.29235912e-04 9.99977704e-01 -2.60016184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.785769231 meters 0.027576816456951495 Centerline is valid? [True, True] Translation: X:100.60, Y:19.20, Z:-0.26 [[ 9.29213375e-01 -3.69487445e-01 -6.44450722e-03 1.00600274e+02] [ 3.69477566e-01 9.29235713e-01 -2.70510564e-03 1.91985009e+01] [ 6.98796883e-03 1.32519498e-04 9.99975575e-01 -2.59946053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.815769231 meters 0.028524652416333663 Centerline is valid? [True, True] Translation: X:100.62, Y:19.21, Z:-0.26 [[ 9.29440481e-01 -3.68921333e-01 -6.11897225e-03 1.00623797e+02] [ 3.68912412e-01 9.29460614e-01 -2.56887389e-03 1.92139306e+01] [ 6.63505609e-03 1.30250573e-04 9.99977979e-01 -2.59361268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.845769231 meters 0.028930966830048307 Centerline is valid? [True, True] Translation: X:100.65, Y:19.23, Z:-0.26 [[ 9.29564977e-01 -3.68614257e-01 -5.69934860e-03 1.00648632e+02] [ 3.68606510e-01 9.29582441e-01 -2.39303414e-03 1.92279663e+01] [ 6.18012088e-03 1.23663731e-04 9.99980895e-01 -2.59504129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.875769231 meters 0.030102438895748623 Centerline is valid? [True, True] Translation: X:100.67, Y:19.24, Z:-0.26 [[ 9.29746425e-01 -3.68157782e-01 -5.60648685e-03 1.00672602e+02] [ 3.68150275e-01 9.29763320e-01 -2.35441878e-03 1.92432232e+01] [ 6.07950342e-03 1.24982771e-04 9.99981512e-01 -2.59502144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90576923100001 meters 0.03202736235407026 Centerline is valid? [True, True] Translation: X:100.70, Y:19.26, Z:-0.26 [[ 9.29966095e-01 -3.67598072e-01 -5.89233266e-03 1.00695538e+02] [ 3.67589765e-01 9.29984752e-01 -2.47494150e-03 1.92592190e+01] [ 6.38956325e-03 1.35650501e-04 9.99979577e-01 -2.61071898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93576923100001 meters 0.02938650374673573 Centerline is valid? [True, True] Translation: X:100.72, Y:19.27, Z:-0.26 [[ 9.29712796e-01 -3.68206591e-01 -7.61734131e-03 1.00721302e+02] [ 3.68192716e-01 9.29743985e-01 -3.20111540e-03 1.92722487e+01] [ 8.26084906e-03 1.71468368e-04 9.99965864e-01 -2.63583193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96576923100001 meters 0.027730928109085933 Centerline is valid? [True, True] Translation: X:100.75, Y:19.28, Z:-0.27 [[ 9.29145948e-01 -3.69619354e-01 -8.32706858e-03 1.00747497e+02] [ 3.69602815e-01 9.29183245e-01 -3.50095062e-03 1.92833949e+01] [ 9.03139171e-03 1.75186093e-04 9.99959201e-01 -2.65093832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99576923100001 meters 0.02418625149163317 Centerline is valid? [True, True] Translation: X:100.77, Y:19.29, Z:-0.27 [[ 9.27160714e-01 -3.74558208e-01 -8.89717934e-03 1.00774470e+02] [ 3.74539553e-01 9.27203392e-01 -3.74064549e-03 1.92934291e+01] [ 9.65058434e-03 1.35833968e-04 9.99953423e-01 -2.67551139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02576923100001 meters 0.021011639306932953 Centerline is valid? [True, True] Translation: X:100.80, Y:19.30, Z:-0.27 [[ 9.25768445e-01 -3.77999075e-01 -8.33577628e-03 1.00802383e+02] [ 3.77982825e-01 9.25805968e-01 -3.50634356e-03 1.93025348e+01] [ 9.04270605e-03 9.52819592e-05 9.99959109e-01 -2.66629186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05576923100001 meters 0.018751019934748734 Centerline is valid? [True, True] Translation: X:100.83, Y:19.31, Z:-0.27 [[ 9.24376336e-01 -3.81396617e-01 -8.06282353e-03 1.00829294e+02] [ 3.81381529e-01 9.24411497e-01 -3.39307213e-03 1.93117180e+01] [ 8.74747300e-03 6.14636268e-05 9.99961738e-01 -2.65891422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.085769231 meters 0.01744818375440568 Centerline is valid? [True, True] Translation: X:100.86, Y:19.32, Z:-0.27 [[ 9.23204663e-01 -3.84219593e-01 -8.27373446e-03 1.00855596e+02] [ 3.84203815e-01 9.23241736e-01 -3.48213137e-03 1.93204048e+01] [ 8.97656006e-03 3.59195724e-05 9.99959709e-01 -2.67725583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.115769231 meters 0.01691864377275723 Centerline is valid? [True, True] Translation: X:100.88, Y:19.33, Z:-0.27 [[ 9.21260647e-01 -3.88843158e-01 -8.93419214e-03 1.00881272e+02] [ 3.88824969e-01 9.21303967e-01 -3.76096253e-03 1.93277336e+01] [ 9.69353120e-03 -9.01021067e-06 9.99953017e-01 -2.70491208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.145769231 meters 0.017200441024658765 Centerline is valid? [True, True] Translation: X:100.91, Y:19.34, Z:-0.27 [[ 9.20675611e-01 -3.90234808e-01 -8.55644784e-03 1.00905781e+02] [ 3.90218178e-01 9.20715371e-01 -3.60273559e-03 1.93384859e+01] [ 9.28396588e-03 -2.19306941e-05 9.99956903e-01 -2.70258427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.175769231 meters 0.017360123622929526 Centerline is valid? [True, True] Translation: X:100.93, Y:19.35, Z:-0.27 [[ 9.20111178e-01 -3.91575093e-01 -8.02290292e-03 1.00931477e+02] [ 3.91560506e-01 9.20146155e-01 -3.38000875e-03 1.93500389e+01] [ 8.70577050e-03 -3.14680939e-05 9.99962104e-01 -2.68647662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.205769231 meters 0.018471934939002455 Centerline is valid? [True, True] Translation: X:100.96, Y:19.36, Z:-0.26 [[ 9.18913852e-01 -3.94388533e-01 -7.41736099e-03 1.00957716e+02] [ 3.94376155e-01 9.18943786e-01 -3.12512211e-03 1.93591979e+01] [ 8.04865012e-03 -5.35123144e-05 9.99967608e-01 -2.64934819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.235769231 meters 0.01816800902560108 Centerline is valid? [True, True] Translation: X:100.98, Y:19.37, Z:-0.26 [[ 9.18361634e-01 -3.95676650e-01 -7.20404960e-03 1.00983948e+02] [ 3.95665000e-01 9.18389887e-01 -3.03691262e-03 1.93707253e+01] [ 7.81776171e-03 -6.14062487e-05 9.99969439e-01 -2.61614960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26576923100001 meters 0.020015448200090533 Centerline is valid? [True, True] Translation: X:101.01, Y:19.38, Z:-0.26 [[ 9.17230563e-01 -3.98290150e-01 -7.28354088e-03 1.01010402e+02] [ 3.98278321e-01 9.17259478e-01 -3.07079944e-03 1.93784739e+01] [ 7.90396607e-03 -8.42453360e-05 9.99968760e-01 -2.62521775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29576923100001 meters 0.02004147968027895 Centerline is valid? [True, True] Translation: X:101.04, Y:19.39, Z:-0.26 [[ 9.16615200e-01 -3.99714062e-01 -6.72635869e-03 1.01036987e+02] [ 3.99704000e-01 9.16639875e-01 -2.83749359e-03 1.93894827e+01] [ 7.29983468e-03 -8.76627217e-05 9.99973352e-01 -2.60845337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32576923100001 meters 0.020907573397688377 Centerline is valid? [True, True] Translation: X:101.06, Y:19.40, Z:-0.26 [[ 9.16051709e-01 -4.01014646e-01 -6.04325151e-03 1.01063467e+02] [ 4.01006551e-01 9.16071638e-01 -2.54954048e-03 1.93979612e+01] [ 6.55845438e-03 -8.78725323e-05 9.99978489e-01 -2.59166003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35576923100001 meters 0.02354657608015348 Centerline is valid? [True, True] Translation: X:101.09, Y:19.40, Z:-0.26 [[ 9.15381536e-01 -4.02557283e-01 -4.92727596e-03 1.01090454e+02] [ 4.02551920e-01 9.15394793e-01 -2.07947610e-03 1.94042482e+01] [ 5.34751101e-03 -7.99703671e-05 9.99985699e-01 -2.57044890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38576923100001 meters 0.023828106697947313 Centerline is valid? [True, True] Translation: X:101.12, Y:19.41, Z:-0.26 [[ 9.15169627e-01 -4.03040021e-01 -4.82650924e-03 1.01116215e+02] [ 4.03034875e-01 9.15182351e-01 -2.03816414e-03 1.94147644e+01] [ 5.23859779e-03 -7.99856340e-05 9.99986275e-01 -2.56778223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41576923100001 meters 0.022909437003178722 Centerline is valid? [True, True] Translation: X:101.14, Y:19.43, Z:-0.26 [[ 9.14822215e-01 -4.03834177e-01 -4.27472938e-03 1.01142120e+02] [ 4.03830145e-01 9.14832199e-01 -1.80601600e-03 1.94267589e+01] [ 4.63999106e-03 -7.40810334e-05 9.99989232e-01 -2.55374775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44576923100001 meters 0.025474013552128076 Centerline is valid? [True, True] Translation: X:101.17, Y:19.43, Z:-0.26 [[ 9.13701283e-01 -4.06370924e-01 -3.55495771e-03 1.01170212e+02] [ 4.06368154e-01 9.13708196e-01 -1.50198630e-03 1.94309935e+01] [ 3.85855756e-03 -7.22547981e-05 9.99992553e-01 -2.55298376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.475769231 meters 0.026675782610250567 Centerline is valid? [True, True] Translation: X:101.20, Y:19.44, Z:-0.26 [[ 9.13027020e-01 -4.07879663e-01 -3.98011364e-03 1.01197911e+02] [ 4.07876202e-01 9.13035691e-01 -1.68262680e-03 1.94393502e+01] [ 4.32029506e-03 -8.71099032e-05 9.99990664e-01 -2.55985489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.505769231 meters 0.028047403437725854 Centerline is valid? [True, True] Translation: X:101.22, Y:19.45, Z:-0.26 [[ 9.12522334e-01 -4.09001653e-01 -4.54282118e-03 1.01224605e+02] [ 4.08997158e-01 9.12533636e-01 -1.92052822e-03 1.94466900e+01] [ 4.93097635e-03 -1.05476057e-04 9.99987837e-01 -2.57734965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.535769231 meters 0.02965509027882571 Centerline is valid? [True, True] Translation: X:101.25, Y:19.45, Z:-0.26 [[ 9.11911729e-01 -4.10334884e-01 -6.50248673e-03 1.01254139e+02] [ 4.10325704e-01 9.11934898e-01 -2.74939298e-03 1.94497771e+01] [ 7.05801642e-03 -1.60933740e-04 9.99975079e-01 -2.61535349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.565769231 meters 0.030752282360948017 Centerline is valid? [True, True] Translation: X:101.28, Y:19.46, Z:-0.26 [[ 9.11676085e-01 -4.10841485e-01 -7.48272449e-03 1.01281988e+02] [ 4.10829342e-01 9.11706772e-01 -3.16435644e-03 1.94561279e+01] [ 8.12209949e-03 -1.89254689e-04 9.99966997e-01 -2.62825277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.595769231 meters 0.029736384549014297 Centerline is valid? [True, True] Translation: X:101.31, Y:19.46, Z:-0.26 [[ 9.12110448e-01 -4.09853539e-01 -8.63752743e-03 1.01309559e+02] [ 4.09837297e-01 9.12151322e-01 -3.65459546e-03 1.94643097e+01] [ 9.37658095e-03 -2.06586186e-04 9.99956018e-01 -2.63622271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.625769231 meters 0.02843456823074542 Centerline is valid? [True, True] Translation: X:101.33, Y:19.48, Z:-0.26 [[ 9.13240839e-01 -4.07344786e-01 -7.83549607e-03 1.01334955e+02] [ 4.07331323e-01 9.13274438e-01 -3.31585418e-03 1.94751257e+01] [ 8.50665418e-03 -1.63469527e-04 9.99963804e-01 -2.62831023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65576923100001 meters 0.021888567475570324 Centerline is valid? [True, True] Translation: X:101.36, Y:19.49, Z:-0.26 [[ 9.14913654e-01 -4.03602762e-01 -6.14943711e-03 1.01358539e+02] [ 4.03594377e-01 9.14934315e-01 -2.60359395e-03 1.94940504e+01] [ 6.67714873e-03 -9.98145805e-05 9.99977703e-01 -2.57482703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68576923100001 meters 0.01888413859740112 Centerline is valid? [True, True] Translation: X:101.38, Y:19.51, Z:-0.26 [[ 9.17057352e-01 -3.98726958e-01 -4.75663228e-03 1.01382698e+02] [ 3.98721874e-01 9.17069687e-01 -2.01411802e-03 1.95089545e+01] [ 5.16524643e-03 -4.95116009e-05 9.99986659e-01 -2.56429493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71576923100001 meters 0.015350922304908664 Centerline is valid? [True, True] Translation: X:101.40, Y:19.54, Z:-0.26 [[ 9.21292088e-01 -3.88838267e-01 -5.06864054e-03 1.01403517e+02] [ 3.88832341e-01 9.21306031e-01 -2.14678415e-03 1.95351695e+01] [ 5.50452093e-03 6.96388384e-06 9.99984850e-01 -2.56654454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74576923100001 meters 0.017091833048998566 Centerline is valid? [True, True] Translation: X:101.43, Y:19.55, Z:-0.26 [[ 9.23135701e-01 -3.84425348e-01 -6.13435891e-03 1.01425746e+02] [ 3.84416567e-01 9.23156081e-01 -2.59850093e-03 1.95538984e+01] [ 6.66190036e-03 4.06197817e-05 9.99977808e-01 -2.59174987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77576923100001 meters 0.01999593538837753 Centerline is valid? [True, True] Translation: X:101.45, Y:19.57, Z:-0.26 [[ 9.24551595e-01 -3.80987363e-01 -7.27849576e-03 1.01448111e+02] [ 3.80974889e-01 9.24580242e-01 -3.08396409e-03 1.95726090e+01] [ 7.90450472e-03 7.83598033e-05 9.99968756e-01 -2.62977211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80576923100001 meters 0.022525878245646915 Centerline is valid? [True, True] Translation: X:101.47, Y:19.59, Z:-0.27 [[ 9.25944011e-01 -3.77561012e-01 -8.68165529e-03 1.01472236e+02] [ 3.77543112e-01 9.25984701e-01 -3.67869470e-03 1.95908761e+01] [ 9.42801166e-03 1.28566166e-04 9.99955547e-01 -2.65532464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.835769231 meters 0.022756058085260975 Centerline is valid? [True, True] Translation: X:101.50, Y:19.60, Z:-0.27 [[ 9.25556412e-01 -3.78509808e-01 -8.69792181e-03 1.01497814e+02] [ 3.78491877e-01 9.25597272e-01 -3.68624602e-03 1.96029338e+01] [ 9.44605298e-03 1.19735892e-04 9.99955378e-01 -2.66891419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.865769231 meters 0.019926315122484897 Centerline is valid? [True, True] Translation: X:101.53, Y:19.61, Z:-0.27 [[ 9.24605016e-01 -3.80828422e-01 -8.67629312e-03 1.01526192e+02] [ 3.80810663e-01 9.24645718e-01 -3.67904223e-03 1.96099991e+01] [ 9.42358113e-03 9.76359642e-05 9.99955592e-01 -2.65466849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.895769231 meters 0.016541050957258732 Centerline is valid? [True, True] Translation: X:101.56, Y:19.61, Z:-0.27 [[ 9.21805201e-01 -3.87547614e-01 -9.05636329e-03 1.01556653e+02] [ 3.87528571e-01 9.21849687e-01 -3.84197258e-03 1.96124730e+01] [ 9.83755297e-03 3.19507806e-05 9.99951610e-01 -2.66533793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.925769231 meters 0.016145165573397673 Centerline is valid? [True, True] Translation: X:101.58, Y:19.62, Z:-0.27 [[ 9.20339997e-01 -3.91014471e-01 -9.05386656e-03 1.01583227e+02] [ 3.90995593e-01 9.20384530e-01 -3.84222451e-03 1.96182197e+01] [ 9.83540410e-03 -3.86903101e-06 9.99951631e-01 -2.66340902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.955769231 meters 0.018250497076592324 Centerline is valid? [True, True] Translation: X:101.61, Y:19.62, Z:-0.27 [[ 9.18050352e-01 -3.96370503e-01 -8.60094714e-03 1.01612745e+02] [ 3.96353697e-01 9.18090639e-01 -3.65046235e-03 1.96196619e+01] [ 9.34338466e-03 -5.77089482e-05 9.99956348e-01 -2.67533691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.985769231 meters 0.018513601312928077 Centerline is valid? [True, True] Translation: X:101.64, Y:19.63, Z:-0.26 [[ 9.17071039e-01 -3.98643478e-01 -8.00542897e-03 1.01640430e+02] [ 3.98628989e-01 9.17105977e-01 -3.39953778e-03 1.96285510e+01] [ 8.69703032e-03 -7.35784112e-05 9.99962177e-01 -2.63955105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01576923100001 meters 0.019470660555986657 Centerline is valid? [True, True] Translation: X:101.67, Y:19.64, Z:-0.26 [[ 9.16279686e-01 -4.00475852e-01 -7.11533610e-03 1.01668666e+02] [ 4.00464451e-01 9.16307309e-01 -3.02299806e-03 1.96365940e+01] [ 7.73047220e-03 -7.95274469e-05 9.99970116e-01 -2.62104446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04576923100001 meters 0.02197562723150452 Centerline is valid? [True, True] Translation: X:101.70, Y:19.64, Z:-0.26 [[ 9.14787515e-01 -4.03890367e-01 -6.03112950e-03 1.01696481e+02] [ 4.03882245e-01 9.14807391e-01 -2.56301450e-03 1.96412441e+01] [ 6.55249871e-03 -9.12524533e-05 9.99978528e-01 -2.59808615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07576923100001 meters 0.02392395694285281 Centerline is valid? [True, True] Translation: X:101.72, Y:19.65, Z:-0.26 [[ 9.13758864e-01 -4.06206929e-01 -6.37730007e-03 1.01724709e+02] [ 4.06197895e-01 9.13781111e-01 -2.71149367e-03 1.96480907e+01] [ 6.92888386e-03 -1.12794489e-04 9.99975989e-01 -2.61197572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10576923100001 meters 0.027001449610951415 Centerline is valid? [True, True] Translation: X:101.75, Y:19.65, Z:-0.26 [[ 9.12452295e-01 -4.09127114e-01 -6.76855689e-03 1.01754111e+02] [ 4.09117018e-01 9.12477388e-01 -2.87780141e-03 1.96528400e+01] [ 7.35354170e-03 -1.43275310e-04 9.99972952e-01 -2.62291446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13576923100001 meters 0.029321159090743818 Centerline is valid? [True, True] Translation: X:101.78, Y:19.66, Z:-0.26 [[ 9.11045574e-01 -4.12254013e-01 -6.52612663e-03 1.01783524e+02] [ 4.12244705e-01 9.11068934e-01 -2.77500545e-03 1.96583590e+01] [ 7.08975837e-03 -1.62204715e-04 9.99974854e-01 -2.62500790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16576923100001 meters 0.029321159090743818 Centerline is valid? [True, True] Translation: X:101.81, Y:19.67, Z:-0.26 [[ 9.10967340e-01 -4.12426870e-01 -6.52547040e-03 1.01808758e+02] [ 4.12417555e-01 9.10990697e-01 -2.77654837e-03 1.96692904e+01] [ 7.08976598e-03 -1.61873669e-04 9.99974854e-01 -2.62559863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19576923100001 meters 0.035638475727073196 Centerline is valid? [True, True] Translation: X:101.84, Y:19.67, Z:-0.26 [[ 9.08235514e-01 -4.18429120e-01 -5.03212252e-03 1.01841337e+02] [ 4.18423672e-01 9.08249440e-01 -2.14126129e-03 1.96652889e+01] [ 5.46638854e-03 -1.60789633e-04 9.99985046e-01 -2.59436130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.225769231 meters 0.041475152686164495 Centerline is valid? [True, True] Translation: X:101.87, Y:19.67, Z:-0.26 [[ 9.07154949e-01 -4.20782340e-01 -3.48153563e-03 1.01871879e+02] [ 4.20779749e-01 9.07161621e-01 -1.48159285e-03 1.96663303e+01] [ 3.78174361e-03 -1.20925402e-04 9.99992842e-01 -2.57542612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.255769231 meters 0.045050741790312536 Centerline is valid? [True, True] Translation: X:101.90, Y:19.67, Z:-0.26 [[ 9.05982589e-01 -4.23300843e-01 -3.45622386e-03 1.01902587e+02] [ 4.23298307e-01 9.05989172e-01 -1.47095386e-03 1.96671685e+01] [ 3.75395740e-03 -1.30355126e-04 9.99992945e-01 -2.57302346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.285769231 meters 0.04465608766833982 Centerline is valid? [True, True] Translation: X:101.93, Y:19.68, Z:-0.26 [[ 9.05576795e-01 -4.24153911e-01 -4.91202666e-03 1.01929821e+02] [ 4.24148795e-01 9.05590097e-01 -2.09171239e-03 1.96758476e+01] [ 5.33549069e-03 -1.89223992e-04 9.99985748e-01 -2.59900001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.315769231 meters 0.04351180599569287 Centerline is valid? [True, True] Translation: X:101.96, Y:19.69, Z:-0.26 [[ 9.05240961e-01 -4.24847926e-01 -6.56069867e-03 1.01956534e+02] [ 4.24838818e-01 9.05264698e-01 -2.79386580e-03 1.96853468e+01] [ 7.12613699e-03 -2.58117709e-04 9.99974575e-01 -2.61941208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.345769231 meters 0.043831887548086874 Centerline is valid? [True, True] Translation: X:101.98, Y:19.69, Z:-0.26 [[ 9.05335552e-01 -4.24625307e-01 -7.80306180e-03 1.01983003e+02] [ 4.24612403e-01 9.05369127e-01 -3.32422398e-03 1.96909472e+01] [ 8.47620088e-03 -3.03738670e-04 9.99964030e-01 -2.62797976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.375769231 meters 0.045190751166009194 Centerline is valid? [True, True] Translation: X:102.01, Y:19.70, Z:-0.26 [[ 9.06060316e-01 -4.23085876e-01 -7.28320259e-03 1.02009128e+02] [ 4.23074574e-01 9.06089548e-01 -3.10413144e-03 1.97044203e+01] [ 7.91254792e-03 -2.68807524e-04 9.99968659e-01 -2.55004462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40576923100001 meters 0.03854267050768814 Centerline is valid? [True, True] Translation: X:102.04, Y:19.72, Z:-0.26 [[ 9.07313379e-01 -4.20411863e-01 -6.02476327e-03 1.02035145e+02] [ 4.20404069e-01 9.07333359e-01 -2.56804855e-03 1.97190546e+01] [ 6.54610677e-03 -2.02810185e-04 9.99978553e-01 -2.58787814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43576923100001 meters 0.029759141401055098 Centerline is valid? [True, True] Translation: X:102.06, Y:19.74, Z:-0.26 [[ 9.10691338e-01 -4.13051262e-01 -5.47194668e-03 1.02058639e+02] [ 4.13044693e-01 9.10707767e-01 -2.33348750e-03 1.97400767e+01] [ 5.94719430e-03 -1.35071683e-04 9.99982306e-01 -2.57736468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46576923100001 meters 0.027421017023954462 Centerline is valid? [True, True] Translation: X:102.08, Y:19.75, Z:-0.26 [[ 9.12446521e-01 -4.09150914e-01 -6.07256809e-03 1.02083232e+02] [ 4.09142736e-01 9.12466720e-01 -2.58966555e-03 1.97543760e+01] [ 6.60058032e-03 -1.21615801e-04 9.99978209e-01 -2.59909396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49576923100001 meters 0.02012698596378912 Centerline is valid? [True, True] Translation: X:102.10, Y:19.78, Z:-0.26 [[ 9.15048171e-01 -4.03266312e-01 -7.94523186e-03 1.02104721e+02] [ 4.03252076e-01 9.15082658e-01 -3.38998830e-03 1.97791813e+01] [ 8.63761197e-03 -1.01928643e-04 9.99962690e-01 -2.61083173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52576923100001 meters 0.019620567915218337 Centerline is valid? [True, True] Translation: X:102.13, Y:19.79, Z:-0.26 [[ 9.16060891e-01 -4.00950609e-01 -8.42934836e-03 1.02129082e+02] [ 4.00934484e-01 9.16099668e-01 -3.59690023e-03 1.97922644e+01] [ 9.16430258e-03 -8.46368121e-05 9.99958003e-01 -2.64048564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55576923100001 meters 0.018570278895580963 Centerline is valid? [True, True] Translation: X:102.15, Y:19.81, Z:-0.26 [[ 9.16663683e-01 -3.99570704e-01 -8.42288700e-03 1.02154857e+02] [ 3.99554529e-01 9.16702377e-01 -3.59598496e-03 1.98056325e+01] [ 9.15813077e-03 -6.90938229e-05 9.99958061e-01 -2.64675361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.585769231 meters 0.017883410992336885 Centerline is valid? [True, True] Translation: X:102.18, Y:19.82, Z:-0.26 [[ 9.17050333e-01 -3.98688274e-01 -8.14537276e-03 1.02181397e+02] [ 3.98673100e-01 9.17086504e-01 -3.47893091e-03 1.98181919e+01] [ 8.85702040e-03 -5.69862635e-05 9.99960774e-01 -2.63899258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.615769231 meters 0.016716499146788393 Centerline is valid? [True, True] Translation: X:102.21, Y:19.83, Z:-0.26 [[ 9.17764865e-01 -3.97067881e-01 -6.68956416e-03 1.02205455e+02] [ 3.97057600e-01 9.17789244e-01 -2.85744522e-03 1.98318170e+01] [ 7.27420975e-03 -3.36794692e-05 9.99973542e-01 -2.61298643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.645769231 meters 0.016250507195241057 Centerline is valid? [True, True] Translation: X:102.23, Y:19.85, Z:-0.26 [[ 9.18204677e-01 -3.96056468e-01 -6.28046270e-03 1.02229911e+02] [ 3.96047380e-01 9.18226156e-01 -2.68312441e-03 1.98451167e+01] [ 6.82955390e-03 -2.37034208e-05 9.99976678e-01 -2.60943107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.675769231 meters 0.015378418351773048 Centerline is valid? [True, True] Translation: X:102.26, Y:19.86, Z:-0.26 [[ 9.19220528e-01 -3.93700794e-01 -5.77111981e-03 1.02255330e+02] [ 3.93693065e-01 9.19238644e-01 -2.46684701e-03 1.98601177e+01] [ 6.27623597e-03 -4.47343469e-06 9.99980304e-01 -2.59697670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.705769231 meters 0.01544943895880888 Centerline is valid? [True, True] Translation: X:102.28, Y:19.87, Z:-0.26 [[ 9.19814729e-01 -3.92310522e-01 -5.77223388e-03 1.02280002e+02] [ 3.92302755e-01 9.19832840e-01 -2.46861242e-03 1.98724375e+01] [ 6.27795291e-03 6.20280820e-06 9.99980293e-01 -2.58967597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.735769231 meters 0.01590739919968206 Centerline is valid? [True, True] Translation: X:102.30, Y:19.89, Z:-0.26 [[ 9.20763635e-01 -3.90090013e-01 -4.91028546e-03 1.02304159e+02] [ 3.90084355e-01 9.20776727e-01 -2.10109234e-03 1.98858657e+01] [ 5.34089171e-03 1.91838811e-05 9.99985737e-01 -2.58162613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76576923100001 meters 0.015919400863632905 Centerline is valid? [True, True] Translation: X:102.33, Y:19.90, Z:-0.26 [[ 9.20948889e-01 -3.89656223e-01 -4.60130562e-03 1.02329813e+02] [ 3.89651244e-01 9.20960383e-01 -1.96994085e-03 1.98970325e+01] [ 5.00521990e-03 2.13103803e-05 9.99987474e-01 -2.57175893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79576923100001 meters 0.016338767193736663 Centerline is valid? [True, True] Translation: X:102.35, Y:19.91, Z:-0.26 [[ 9.21008179e-01 -3.89515026e-01 -4.68817360e-03 1.02354391e+02] [ 3.89509855e-01 9.21020110e-01 -2.00732775e-03 1.99085621e+01] [ 5.09978649e-03 2.26754537e-05 9.99986996e-01 -2.58970991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82576923100001 meters 0.016607367464873655 Centerline is valid? [True, True] Translation: X:102.38, Y:19.92, Z:-0.26 [[ 9.20988741e-01 -3.89554656e-01 -5.18742438e-03 1.02380096e+02] [ 3.89548318e-01 9.21003349e-01 -2.22237850e-03 1.99194518e+01] [ 5.64337312e-03 2.60331365e-05 9.99984076e-01 -2.60402364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85576923100001 meters 0.016637546544877053 Centerline is valid? [True, True] Translation: X:102.41, Y:19.93, Z:-0.26 [[ 9.20576831e-01 -3.90501006e-01 -6.87471125e-03 1.02406720e+02] [ 3.90489900e-01 9.20602500e-01 -2.94526593e-03 1.99278329e+01] [ 7.47900567e-03 2.68382745e-05 9.99972031e-01 -2.63519149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88576923100001 meters 0.016441295129568934 Centerline is valid? [True, True] Translation: X:102.43, Y:19.94, Z:-0.26 [[ 9.20070421e-01 -3.91688184e-01 -7.12653337e-03 1.02432777e+02] [ 3.91676271e-01 9.20098020e-01 -3.05490201e-03 1.99369493e+01] [ 7.75367826e-03 1.94309625e-05 9.99969940e-01 -2.63549886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91576923100001 meters 0.015923566192478242 Centerline is valid? [True, True] Translation: X:102.46, Y:19.95, Z:-0.26 [[ 9.19490163e-01 -3.93059703e-01 -6.47377073e-03 1.02460449e+02] [ 3.93049898e-01 9.19512953e-01 -2.77623524e-03 1.99459605e+01] [ 7.04394224e-03 8.20607019e-06 9.99975191e-01 -2.62657945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94576923100001 meters 0.01567173530610989 Centerline is valid? [True, True] Translation: X:102.49, Y:19.95, Z:-0.26 [[ 9.18160811e-01 -3.96182991e-01 -4.44552452e-03 1.02489281e+02] [ 3.96178404e-01 9.18171573e-01 -1.90660138e-03 1.99487007e+01] [ 4.83711728e-03 -1.06541420e-05 9.99988301e-01 -2.58414999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.975769231 meters 0.016056954931339622 Centerline is valid? [True, True] Translation: X:102.52, Y:19.96, Z:-0.26 [[ 9.17309864e-01 -3.98154457e-01 -3.95488621e-03 1.02516432e+02] [ 3.98150840e-01 9.17318390e-01 -1.69734628e-03 1.99554820e+01] [ 4.30369584e-03 -1.76487784e-05 9.99990739e-01 -2.56470537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.005769231 meters 0.018490724461887702 Centerline is valid? [True, True] Translation: X:102.55, Y:19.96, Z:-0.26 [[ 9.15180932e-01 -4.03009090e-01 -5.24739561e-03 1.02547392e+02] [ 4.03002796e-01 9.15195974e-01 -2.25293030e-03 1.99559854e+01] [ 5.71034672e-03 -5.28762460e-05 9.99983694e-01 -2.59359235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.035769231 meters 0.023244098113399683 Centerline is valid? [True, True] Translation: X:102.58, Y:19.96, Z:-0.26 [[ 9.13962369e-01 -4.05761170e-01 -5.53733890e-03 1.02577649e+02] [ 4.05754209e-01 9.13979140e-01 -2.37779755e-03 1.99564340e+01] [ 6.02583016e-03 -7.35810882e-05 9.99981842e-01 -2.62509211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.065769231 meters 0.023587215543100844 Centerline is valid? [True, True] Translation: X:102.61, Y:19.96, Z:-0.26 [[ 9.12628736e-01 -4.08756093e-01 -5.21979673e-03 1.02605454e+02] [ 4.08749954e-01 9.12643659e-01 -2.24199168e-03 1.99638304e+01] [ 5.68024215e-03 -8.74856361e-05 9.99983863e-01 -2.58822177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.095769231 meters 0.032028904760605 Centerline is valid? [True, True] Translation: X:102.64, Y:19.96, Z:-0.26 [[ 9.10783185e-01 -4.12853497e-01 -5.09698764e-03 1.02639209e+02] [ 4.12847706e-01 9.10797441e-01 -2.18949282e-03 1.99567174e+01] [ 5.54626307e-03 -1.10126412e-04 9.99984613e-01 -2.60491018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.125769231 meters 0.0335695112487997 Centerline is valid? [True, True] Translation: X:102.67, Y:19.96, Z:-0.26 [[ 9.10334157e-01 -4.13833900e-01 -5.76412500e-03 1.02667046e+02] [ 4.13826511e-01 9.10352397e-01 -2.47640786e-03 1.99627526e+01] [ 6.27220653e-03 -1.30989078e-04 9.99980321e-01 -2.62500427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15576923100001 meters 0.02808806798959787 Centerline is valid? [True, True] Translation: X:102.69, Y:19.98, Z:-0.26 [[ 9.10278258e-01 -4.13949635e-01 -6.26040870e-03 1.02690990e+02] [ 4.13940910e-01 9.10299775e-01 -2.69134190e-03 1.99787718e+01] [ 6.81292862e-03 -1.41569258e-04 9.99976782e-01 -2.59835329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18576923100001 meters 0.025548954063181657 Centerline is valid? [True, True] Translation: X:102.72, Y:19.99, Z:-0.26 [[ 9.11927947e-01 -4.10298783e-01 -6.50599110e-03 1.02716225e+02] [ 4.10289266e-01 9.11951147e-01 -2.79705035e-03 1.99904076e+01] [ 7.08077240e-03 -1.18629929e-04 9.99974924e-01 -2.60604644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21576923100001 meters 0.021574396717903264 Centerline is valid? [True, True] Translation: X:102.74, Y:20.01, Z:-0.26 [[ 9.13037764e-01 -4.07822794e-01 -6.52765223e-03 1.02740906e+02] [ 4.07813139e-01 9.13061093e-01 -2.80793537e-03 2.00062550e+01] [ 7.10528533e-03 -9.83113178e-05 9.99974752e-01 -2.59528839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24576923100001 meters 0.022278358293979967 Centerline is valid? [True, True] Translation: X:102.77, Y:20.02, Z:-0.26 [[ 9.14092549e-01 -4.05447065e-01 -6.89118356e-03 1.02767892e+02] [ 4.05436227e-01 9.14118521e-01 -2.96566792e-03 2.00152387e+01] [ 7.50177988e-03 -8.30405186e-05 9.99971858e-01 -2.63605860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27576923100001 meters 0.017617245823375306 Centerline is valid? [True, True] Translation: X:102.79, Y:20.03, Z:-0.26 [[ 9.16224235e-01 -4.00577660e-01 -8.40771272e-03 1.02790964e+02] [ 4.00561307e-01 9.16262809e-01 -3.61984834e-03 2.00342685e+01] [ 9.15370485e-03 -5.12116209e-05 9.99958103e-01 -2.64679490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30576923100001 meters 0.01676437523127079 Centerline is valid? [True, True] Translation: X:102.81, Y:20.05, Z:-0.27 [[ 9.17438359e-01 -3.97774420e-01 -9.07566307e-03 1.02814356e+02] [ 3.97755225e-01 9.17483248e-01 -3.90777836e-03 2.00493076e+01] [ 9.88118310e-03 -2.47466406e-05 9.99951180e-01 -2.65683440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.335769231 meters 0.01684429486114334 Centerline is valid? [True, True] Translation: X:102.84, Y:20.07, Z:-0.26 [[ 9.20037482e-01 -3.91745378e-01 -8.16030661e-03 1.02835271e+02] [ 3.91729603e-01 9.20073669e-01 -3.51578898e-03 2.00719455e+01] [ 8.88537733e-03 3.80239702e-05 9.99960524e-01 -2.62992011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.365769231 meters 0.018175469932887513 Centerline is valid? [True, True] Translation: X:102.86, Y:20.09, Z:-0.26 [[ 9.21381897e-01 -3.88573553e-01 -8.12361335e-03 1.02858790e+02] [ 3.88557794e-01 9.21417706e-01 -3.50025632e-03 2.00889595e+01] [ 8.84534821e-03 6.85795278e-05 9.99960877e-01 -2.62585510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.395769231 meters 0.019907748641440404 Centerline is valid? [True, True] Translation: X:102.88, Y:20.10, Z:-0.26 [[ 9.22320775e-01 -3.86318803e-01 -9.06476303e-03 1.02882622e+02] [ 3.86299065e-01 9.22365314e-01 -3.90639449e-03 2.01047971e+01] [ 9.87013664e-03 1.01239306e-04 9.99951284e-01 -2.64510368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.425769231 meters 0.020825995238203984 Centerline is valid? [True, True] Translation: X:102.91, Y:20.12, Z:-0.27 [[ 9.22978792e-01 -3.84719884e-01 -1.00379754e-02 1.02907459e+02] [ 3.84695561e-01 9.23033365e-01 -4.32806950e-03 2.01190753e+01] [ 1.09304806e-02 1.33151788e-04 9.99940252e-01 -2.66019568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.455769231 meters 0.02336013813947472 Centerline is valid? [True, True] Translation: X:102.93, Y:20.14, Z:-0.27 [[ 9.23737610e-01 -3.82888172e-01 -1.02700881e-02 1.02929282e+02] [ 3.82862588e-01 9.23794686e-01 -4.42905518e-03 2.01394965e+01] [ 1.11832857e-02 1.59252338e-04 9.99937452e-01 -2.67477121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.485769231 meters 0.024979621106763692 Centerline is valid? [True, True] Translation: X:102.95, Y:20.16, Z:-0.27 [[ 9.24079466e-01 -3.82098645e-01 -8.81853732e-03 1.02952272e+02] [ 3.82079741e-01 9.24121531e-01 -3.80362668e-03 2.01565540e+01] [ 9.60276081e-03 1.45468858e-04 9.99953882e-01 -2.65162657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51576923100001 meters 0.022666577324935693 Centerline is valid? [True, True] Translation: X:102.98, Y:20.17, Z:-0.26 [[ 9.24049218e-01 -3.82231580e-01 -5.66228501e-03 1.02977872e+02] [ 3.82223780e-01 9.24066562e-01 -2.44370087e-03 2.01700224e+01] [ 6.16638789e-03 9.38398988e-05 9.99980983e-01 -2.56437832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54576923100001 meters 0.02235922135826678 Centerline is valid? [True, True] Translation: X:103.00, Y:20.18, Z:-0.26 [[ 9.23409595e-01 -3.83780068e-01 -5.25154454e-03 1.03003200e+02] [ 3.83773382e-01 9.23424525e-01 -2.26658083e-03 2.01818484e+01] [ 5.71927357e-03 7.75794827e-05 9.99983642e-01 -2.57095998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57576923100001 meters 0.020031172913750086 Centerline is valid? [True, True] Translation: X:103.03, Y:20.19, Z:-0.26 [[ 9.22421518e-01 -3.86145759e-01 -5.47678524e-03 1.03031188e+02] [ 3.86138522e-01 9.22437775e-01 -2.36509746e-03 2.01904288e+01] [ 5.96526594e-03 6.68190402e-05 9.99982205e-01 -2.57489731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60576923100001 meters 0.017182506428255927 Centerline is valid? [True, True] Translation: X:103.06, Y:20.20, Z:-0.26 [[ 9.20376022e-01 -3.90978001e-01 -6.64689774e-03 1.03058976e+02] [ 3.90967458e-01 9.20400022e-01 -2.87162126e-03 2.01986629e+01] [ 7.24054557e-03 4.42506330e-05 9.99973786e-01 -2.60486124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63576923100001 meters 0.016473014589112538 Centerline is valid? [True, True] Translation: X:103.09, Y:20.21, Z:-0.26 [[ 9.19571105e-01 -3.92862478e-01 -6.93231017e-03 1.03085335e+02] [ 3.92851062e-01 9.19597234e-01 -2.99514396e-03 2.02087494e+01] [ 7.55161293e-03 3.08824282e-05 9.99971486e-01 -2.61101288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66576923100001 meters 0.016016815330089033 Centerline is valid? [True, True] Translation: X:103.11, Y:20.22, Z:-0.26 [[ 9.18868515e-01 -3.94509430e-01 -6.55452879e-03 1.03112929e+02] [ 3.94499255e-01 9.18891892e-01 -2.83346570e-03 2.02183028e+01] [ 7.14073230e-03 1.78256942e-05 9.99974504e-01 -2.60375941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69576923100001 meters 0.015446184264876523 Centerline is valid? [True, True] Translation: X:103.14, Y:20.23, Z:-0.26 [[ 9.17927865e-01 -3.96710436e-01 -5.40969729e-03 1.03140184e+02] [ 3.96703542e-01 9.17943805e-01 -2.33876012e-03 2.02259948e+01] [ 5.89360866e-03 7.67009164e-07 9.99982633e-01 -2.57128669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.725769231 meters 0.01527114247211214 Centerline is valid? [True, True] Translation: X:103.17, Y:20.24, Z:-0.25 [[ 9.17816203e-01 -3.96975827e-01 -4.85896397e-03 1.03165470e+02] [ 3.96970262e-01 9.17829065e-01 -2.10212161e-03 2.02387781e+01] [ 5.29418982e-03 4.97076584e-07 9.99985986e-01 -2.54771802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.755769231 meters 0.016015380167841754 Centerline is valid? [True, True] Translation: X:103.19, Y:20.26, Z:-0.25 [[ 9.19347152e-01 -3.93419039e-01 -4.71948584e-03 1.03186799e+02] [ 3.93413741e-01 9.19359266e-01 -2.04181801e-03 2.02586030e+01] [ 5.14219311e-03 2.04289881e-05 9.99986779e-01 -2.54486079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.785769231 meters 0.017063491737769193 Centerline is valid? [True, True] Translation: X:103.21, Y:20.27, Z:-0.25 [[ 9.20362972e-01 -3.91034522e-01 -4.89925718e-03 1.03210802e+02] [ 3.91028772e-01 9.20376011e-01 -2.12080389e-03 2.02747062e+01] [ 5.33846631e-03 3.61588499e-05 9.99985750e-01 -2.54703468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.815769231 meters 0.01895156011949532 Centerline is valid? [True, True] Translation: X:103.23, Y:20.29, Z:-0.26 [[ 9.21491414e-01 -3.88361435e-01 -5.38233510e-03 1.03234269e+02] [ 3.88354450e-01 9.21507131e-01 -2.33000641e-03 2.02915303e+01] [ 5.86474481e-03 5.68271176e-05 9.99982801e-01 -2.55541590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.845769231 meters 0.022067918319742627 Centerline is valid? [True, True] Translation: X:103.26, Y:20.31, Z:-0.26 [[ 9.22999494e-01 -3.84755658e-01 -5.91759652e-03 1.03256023e+02] [ 3.84747131e-01 9.23018459e-01 -2.56311736e-03 2.03140908e+01] [ 6.44822473e-03 8.89777450e-05 9.99979206e-01 -2.57006005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.875769231 meters 0.022777586436266675 Centerline is valid? [True, True] Translation: X:103.28, Y:20.33, Z:-0.26 [[ 9.23276237e-01 -3.84098916e-01 -5.38637345e-03 1.03279838e+02] [ 3.84091839e-01 9.23291945e-01 -2.33318736e-03 2.03298917e+01] [ 5.86936995e-03 8.53143644e-05 9.99982771e-01 -2.56810805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90576923100001 meters 0.022925101916135726 Centerline is valid? [True, True] Translation: X:103.30, Y:20.34, Z:-0.26 [[ 9.23299611e-01 -3.84051821e-01 -4.69326333e-03 1.03303999e+02] [ 3.84046440e-01 9.23311536e-01 -2.03432534e-03 2.03437949e+01] [ 5.11463053e-03 7.58607178e-05 9.99986917e-01 -2.55202618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93576923100001 meters 0.023052351349113216 Centerline is valid? [True, True] Translation: X:103.33, Y:20.36, Z:-0.25 [[ 9.23267297e-01 -3.84136474e-01 -4.08260642e-03 1.03328616e+02] [ 3.84132399e-01 9.23276321e-01 -1.77059219e-03 2.03563571e+01] [ 4.44952287e-03 6.64684679e-05 9.99990099e-01 -2.54313820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96576923100001 meters 0.022153746263246125 Centerline is valid? [True, True] Translation: X:103.35, Y:20.37, Z:-0.25 [[ 9.22757617e-01 -3.85356908e-01 -4.29355665e-03 1.03353445e+02] [ 3.85352413e-01 9.22767603e-01 -1.86226314e-03 2.03687727e+01] [ 4.67959094e-03 6.38850788e-05 9.99989049e-01 -2.54132709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99576923100001 meters 0.021053599642145933 Centerline is valid? [True, True] Translation: X:103.38, Y:20.38, Z:-0.25 [[ 9.22230995e-01 -3.86612451e-01 -4.56129736e-03 1.03380015e+02] [ 3.86607389e-01 9.22242272e-01 -1.97944414e-03 2.03809281e+01] [ 4.97189899e-03 6.20734768e-05 9.99987638e-01 -2.54445636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02576923100001 meters 0.020585933751481 Centerline is valid? [True, True] Translation: X:103.41, Y:20.40, Z:-0.25 [[ 9.21919145e-01 -3.87355001e-01 -4.60358648e-03 1.03405270e+02] [ 3.87349849e-01 9.21930637e-01 -1.99868449e-03 2.03962618e+01] [ 5.01838785e-03 5.94269685e-05 9.99987406e-01 -2.53080515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05576923100001 meters 0.02051672737558408 Centerline is valid? [True, True] Translation: X:103.43, Y:20.41, Z:-0.25 [[ 9.21934393e-01 -3.87323465e-01 -4.18422529e-03 1.03430224e+02] [ 3.87319204e-01 9.21943887e-01 -1.81764280e-03 2.04087848e+01] [ 4.56163663e-03 5.51166050e-05 9.99989594e-01 -2.52629270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.085769231 meters 0.02051672737558408 Centerline is valid? [True, True] Translation: X:103.46, Y:20.42, Z:-0.25 [[ 9.21861779e-01 -3.87496265e-01 -4.18388496e-03 1.03455357e+02] [ 3.87492002e-01 9.21871272e-01 -1.81842613e-03 2.04199169e+01] [ 4.56163668e-03 5.51155879e-05 9.99989594e-01 -2.52688317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.115769231 meters 0.020929153318038123 Centerline is valid? [True, True] Translation: X:103.48, Y:20.43, Z:-0.25 [[ 9.21867902e-01 -3.87477862e-01 -4.52514916e-03 1.03480512e+02] [ 3.87472870e-01 9.21879007e-01 -1.96771773e-03 2.04329124e+01] [ 4.93408707e-03 6.06032862e-05 9.99987825e-01 -2.53317193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.145769231 meters 0.021520544707608603 Centerline is valid? [True, True] Translation: X:103.51, Y:20.45, Z:-0.25 [[ 9.22060720e-01 -3.87012585e-01 -5.02862585e-03 1.03505051e+02] [ 3.87006409e-01 9.22074430e-01 -2.18753228e-03 2.04486166e+01] [ 5.48336984e-03 7.09271546e-05 9.99984964e-01 -2.54849219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.175769231 meters 0.021400426413882522 Centerline is valid? [True, True] Translation: X:103.53, Y:20.46, Z:-0.25 [[ 9.22128086e-01 -3.86857015e-01 -4.63056388e-03 1.03530190e+02] [ 3.86851771e-01 9.22139710e-01 -2.01551272e-03 2.04618115e+01] [ 5.04974207e-03 6.72190503e-05 9.99987248e-01 -2.53611053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.205769231 meters 0.021865504956109272 Centerline is valid? [True, True] Translation: X:103.55, Y:20.48, Z:-0.25 [[ 9.22314317e-01 -3.86416766e-01 -4.28766861e-03 1.03554526e+02] [ 3.86412265e-01 9.22324281e-01 -1.86628937e-03 2.04753577e+01] [ 4.67578637e-03 6.44976621e-05 9.99989066e-01 -2.53006484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.235769231 meters 0.022556630980253477 Centerline is valid? [True, True] Translation: X:103.58, Y:20.49, Z:-0.25 [[ 9.22626337e-01 -3.85682328e-01 -3.12789712e-03 1.03579494e+02] [ 3.85679925e-01 9.22631638e-01 -1.36237874e-03 2.04905764e+01] [ 3.41134225e-03 5.05993784e-05 9.99994180e-01 -2.50485207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26576923100001 meters 0.024319687587095306 Centerline is valid? [True, True] Translation: X:103.60, Y:20.51, Z:-0.25 [[ 9.22816507e-01 -3.85228091e-01 -3.00194064e-03 1.03603459e+02] [ 3.85225876e-01 9.22821389e-01 -1.30749322e-03 2.05056407e+01] [ 3.27393814e-03 5.01511209e-05 9.99994639e-01 -2.51384597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29576923100001 meters 0.024131870471840476 Centerline is valid? [True, True] Translation: X:103.63, Y:20.52, Z:-0.26 [[ 9.22470995e-01 -3.86036990e-01 -4.76516277e-03 1.03627424e+02] [ 3.86031414e-01 9.22483299e-01 -2.07622833e-03 2.05180185e+01] [ 5.19728401e-03 7.57578895e-05 9.99986491e-01 -2.55121898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32576923100001 meters 0.023329677696806446 Centerline is valid? [True, True] Translation: X:103.65, Y:20.53, Z:-0.26 [[ 9.22122467e-01 -3.86854320e-01 -5.82162452e-03 1.03652751e+02] [ 3.86846006e-01 9.22140839e-01 -2.53787016e-03 2.05299903e+01] [ 6.35014375e-03 8.81548998e-05 9.99979834e-01 -2.56794550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35576923100001 meters 0.021886355807076957 Centerline is valid? [True, True] Translation: X:103.68, Y:20.54, Z:-0.26 [[ 9.21772536e-01 -3.87680206e-01 -6.28089938e-03 1.03677782e+02] [ 3.87670537e-01 9.21793930e-01 -2.73947549e-03 2.05414109e+01] [ 6.85173534e-03 9.02536389e-05 9.99976523e-01 -2.56592947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38576923100001 meters 0.02104783963271915 Centerline is valid? [True, True] Translation: X:103.70, Y:20.55, Z:-0.26 [[ 9.21398922e-01 -3.88575607e-01 -5.74674159e-03 1.03702877e+02] [ 3.88567524e-01 9.21416839e-01 -2.50751157e-03 2.05548685e+01] [ 6.26950230e-03 7.74213035e-05 9.99980343e-01 -2.55890694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41576923100001 meters 0.020823993293037 Centerline is valid? [True, True] Translation: X:103.73, Y:20.57, Z:-0.26 [[ 9.21073293e-01 -3.89347823e-01 -5.67994057e-03 1.03728578e+02] [ 3.89339941e-01 9.21090803e-01 -2.47854645e-03 2.05663269e+01] [ 6.19675769e-03 7.14952120e-05 9.99980797e-01 -2.56385227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44576923100001 meters 0.02007113005333104 Centerline is valid? [True, True] Translation: X:103.75, Y:20.58, Z:-0.26 [[ 9.20688142e-01 -3.90248976e-01 -6.25156521e-03 1.03754145e+02] [ 3.90239436e-01 9.20709363e-01 -2.72969330e-03 2.05767509e+01] [ 6.82113463e-03 7.35889687e-05 9.99976733e-01 -2.57154587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.475769231 meters 0.018220752232209758 Centerline is valid? [True, True] Translation: X:103.78, Y:20.59, Z:-0.26 [[ 9.19318238e-01 -3.93440077e-01 -7.67360314e-03 1.03781188e+02] [ 3.93425803e-01 9.19350261e-01 -3.35197611e-03 2.05864550e+01] [ 8.37353078e-03 6.25392968e-05 9.99964939e-01 -2.60502330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.505769231 meters 0.018670530954255603 Centerline is valid? [True, True] Translation: X:103.81, Y:20.60, Z:-0.26 [[ 9.18786807e-01 -3.94678873e-01 -7.70644527e-03 1.03805959e+02] [ 3.94664518e-01 9.18819125e-01 -3.36661119e-03 2.05982459e+01] [ 8.40955961e-03 5.17374358e-05 9.99964638e-01 -2.63370237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.535769231 meters 0.016759778398226597 Centerline is valid? [True, True] Translation: X:103.83, Y:20.61, Z:-0.26 [[ 9.18251694e-01 -3.95948019e-01 -6.24445662e-03 1.03833168e+02] [ 3.95938613e-01 9.18272925e-01 -2.72942015e-03 2.06070872e+01] [ 6.81482395e-03 3.38731816e-05 9.99976778e-01 -2.56247909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.565769231 meters 0.01725242415375847 Centerline is valid? [True, True] Translation: X:103.86, Y:20.62, Z:-0.26 [[ 9.18456682e-01 -3.95470496e-01 -6.35692853e-03 1.03858375e+02] [ 3.95460727e-01 9.18478680e-01 -2.78003660e-03 2.06200531e+01] [ 6.93812578e-03 3.94276085e-05 9.99975930e-01 -2.56801757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.595769231 meters 0.018223086717906838 Centerline is valid? [True, True] Translation: X:103.88, Y:20.63, Z:-0.26 [[ 9.18985102e-01 -3.94231787e-01 -6.90506380e-03 1.03882258e+02] [ 3.94220224e-01 9.19011042e-01 -3.01988730e-03 2.06344854e+01] [ 7.53636545e-03 5.31156357e-05 9.99971600e-01 -2.58540352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.625769231 meters 0.02145369370673061 Centerline is valid? [True, True] Translation: X:103.91, Y:20.65, Z:-0.26 [[ 9.20449047e-01 -3.90747926e-01 -9.46630044e-03 1.03905756e+02] [ 3.90725996e-01 9.20497716e-01 -4.14132638e-03 2.06547751e+01] [ 1.03319226e-02 1.13150260e-04 9.99946618e-01 -2.64160754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65576923100001 meters 0.02379188103961373 Centerline is valid? [True, True] Translation: X:103.93, Y:20.67, Z:-0.27 [[ 9.21410494e-01 -3.88465411e-01 -9.86539862e-03 1.03928369e+02] [ 3.88441450e-01 9.21463294e-01 -4.31708068e-03 2.06712394e+01] [ 1.07676392e-02 1.45673705e-04 9.99942017e-01 -2.65579677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68576923100001 meters 0.026097447738907643 Centerline is valid? [True, True] Translation: X:103.95, Y:20.69, Z:-0.26 [[ 9.22401532e-01 -3.86120679e-01 -9.28624033e-03 1.03952284e+02] [ 3.86099310e-01 9.22448261e-01 -4.06557012e-03 2.06884884e+01] [ 1.01358769e-02 1.64677120e-04 9.99948617e-01 -2.63963919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71576923100001 meters 0.030678641245132567 Centerline is valid? [True, True] Translation: X:103.97, Y:20.71, Z:-0.26 [[ 9.24772301e-01 -3.80453180e-01 -7.18116047e-03 1.03974541e+02] [ 3.80440231e-01 9.24800166e-01 -3.14391854e-03 2.07118590e+01] [ 7.83725220e-03 1.75406441e-04 9.99969273e-01 -2.57543673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74576923100001 meters 0.03509827690778353 Centerline is valid? [True, True] Translation: X:104.00, Y:20.73, Z:-0.26 [[ 9.25843573e-01 -3.77857156e-01 -6.13574264e-03 1.03996956e+02] [ 3.77847643e-01 9.25863889e-01 -2.68652397e-03 2.07320563e+01] [ 6.69598485e-03 1.68925053e-04 9.99977567e-01 -2.56118600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77576923100001 meters 0.03740172304769636 Centerline is valid? [True, True] Translation: X:104.02, Y:20.75, Z:-0.25 [[ 9.26555765e-01 -3.76125960e-01 -4.86574989e-03 1.04020033e+02] [ 3.76119948e-01 9.26568530e-01 -2.13166884e-03 2.07516876e+01] [ 5.31022671e-03 1.45004457e-04 9.99985890e-01 -2.53737542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80576923100001 meters 0.0362746326906467 Centerline is valid? [True, True] Translation: X:104.05, Y:20.76, Z:-0.25 [[ 9.26122486e-01 -3.77196575e-01 -4.45932179e-03 1.04046019e+02] [ 3.77191533e-01 9.26133213e-01 -1.95447507e-03 2.07633743e+01] [ 4.86714731e-03 1.28064894e-04 9.99988147e-01 -2.53802972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.835769231 meters 0.03500012469492424 Centerline is valid? [True, True] Translation: X:104.07, Y:20.77, Z:-0.25 [[ 9.25468399e-01 -3.78801837e-01 -4.17266627e-03 1.04071559e+02] [ 3.78797437e-01 9.25477799e-01 -1.82908839e-03 2.07737445e+01] [ 4.55457204e-03 1.12168209e-04 9.99989622e-01 -2.53626907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.865769231 meters 0.025145037572281877 Centerline is valid? [True, True] Translation: X:104.10, Y:20.77, Z:-0.25 [[ 9.23335925e-01 -3.83977038e-01 -3.52197998e-03 1.04104109e+02] [ 3.83973941e-01 9.23342639e-01 -1.54391574e-03 2.07747388e+01] [ 3.84482248e-03 7.32043337e-05 9.99992606e-01 -2.51191137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.895769231 meters 0.026665771297148116 Centerline is valid? [True, True] Translation: X:104.13, Y:20.79, Z:-0.25 [[ 9.22373008e-01 -3.86286261e-01 -3.31043879e-03 1.04128796e+02] [ 3.86283536e-01 9.22378947e-01 -1.45219373e-03 2.07890798e+01] [ 3.61444153e-03 6.06962933e-05 9.99993466e-01 -2.52765723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.925769231 meters 0.02319810955686674 Centerline is valid? [True, True] Translation: X:104.16, Y:20.79, Z:-0.25 [[ 9.21020176e-01 -3.89501252e-01 -3.25732733e-03 1.04157005e+02] [ 3.89498635e-01 9.21025935e-01 -1.42883992e-03 2.07946995e+01] [ 3.55661788e-03 4.72658500e-05 9.99993674e-01 -2.52154792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.955769231 meters 0.020612301218112996 Centerline is valid? [True, True] Translation: X:104.19, Y:20.80, Z:-0.25 [[ 9.20489857e-01 -3.90754784e-01 -3.02022121e-03 1.04185150e+02] [ 3.90752537e-01 9.20494811e-01 -1.32569007e-03 2.08020270e+01] [ 3.29811769e-03 4.01251582e-05 9.99994560e-01 -2.49669105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.985769231 meters 0.021047704386009985 Centerline is valid? [True, True] Translation: X:104.21, Y:20.81, Z:-0.25 [[ 9.20061462e-01 -3.91763548e-01 -2.86867167e-03 1.04210261e+02] [ 3.91761525e-01 9.20065933e-01 -1.25930683e-03 2.08139666e+01] [ 3.13271759e-03 3.48044911e-05 9.99995092e-01 -2.50220260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01576923100001 meters 0.020080479847860842 Centerline is valid? [True, True] Translation: X:104.24, Y:20.82, Z:-0.25 [[ 9.19549872e-01 -3.92962903e-01 -2.86174988e-03 1.04237059e+02] [ 3.92960894e-01 9.19554325e-01 -1.25693992e-03 2.08239310e+01] [ 3.12546524e-03 3.12631557e-05 9.99995115e-01 -2.50601116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04576923100001 meters 0.017603385163631562 Centerline is valid? [True, True] Translation: X:104.27, Y:20.83, Z:-0.25 [[ 9.18167677e-01 -3.96175198e-01 -3.65102298e-03 1.04265296e+02] [ 3.96171953e-01 9.18174935e-01 -1.60351159e-03 2.08283750e+01] [ 3.98754932e-03 2.58596055e-05 9.99992049e-01 -2.52963247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07576923100001 meters 0.016169175026832242 Centerline is valid? [True, True] Translation: X:104.29, Y:20.83, Z:-0.25 [[ 9.17398066e-01 -3.97950560e-01 -4.01737419e-03 1.04293147e+02] [ 3.97946644e-01 9.17406862e-01 -1.76562184e-03 2.08347899e+01] [ 4.38819685e-03 2.10774870e-05 9.99990372e-01 -2.52153540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10576923100001 meters 0.015808433246406954 Centerline is valid? [True, True] Translation: X:104.32, Y:20.84, Z:-0.26 [[ 9.16198631e-01 -4.00691694e-01 -5.12195162e-03 1.04319842e+02] [ 4.00685368e-01 9.16212948e-01 -2.25160558e-03 2.08406634e+01] [ 5.59499805e-03 1.06268852e-05 9.99984348e-01 -2.55999146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13576923100001 meters 0.01563635021626753 Centerline is valid? [True, True] Translation: X:104.35, Y:20.85, Z:-0.26 [[ 9.15668034e-01 -4.01889473e-01 -6.07481014e-03 1.04347628e+02] [ 4.01880593e-01 9.15688184e-01 -2.67170010e-03 2.08498247e+01] [ 6.63636002e-03 5.04207803e-06 9.99977979e-01 -2.55071423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16576923100001 meters 0.01584557354768759 Centerline is valid? [True, True] Translation: X:104.37, Y:20.86, Z:-0.26 [[ 9.15278706e-01 -4.02768855e-01 -6.49154095e-03 1.04373774e+02] [ 4.02758735e-01 9.15301726e-01 -2.85515546e-03 2.08593504e+01] [ 7.09168633e-03 -1.26182321e-06 9.99974854e-01 -2.56873302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19576923100001 meters 0.015574018601809438 Centerline is valid? [True, True] Translation: X:104.40, Y:20.87, Z:-0.25 [[ 9.14347176e-01 -4.04909209e-01 -4.21589603e-03 1.04402024e+02] [ 4.04904958e-01 9.14356896e-01 -1.85538125e-03 2.08656158e+01] [ 4.60609456e-03 -1.05745948e-05 9.99989392e-01 -2.53566498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.225769231 meters 0.016077940216931336 Centerline is valid? [True, True] Translation: X:104.43, Y:20.87, Z:-0.25 [[ 9.13539794e-01 -4.06736761e-01 -3.20180239e-03 1.04428379e+02] [ 4.06734319e-01 9.13545405e-01 -1.40957801e-03 2.08715938e+01] [ 3.49831906e-03 -1.45773060e-05 9.99993881e-01 -2.51939272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.255769231 meters 0.016830732728763304 Centerline is valid? [True, True] Translation: X:104.46, Y:20.88, Z:-0.25 [[ 9.12614334e-01 -4.08806052e-01 -3.56224220e-03 1.04456634e+02] [ 4.08803042e-01 9.12621286e-01 -1.56901655e-03 2.08792673e+01] [ 3.89240152e-03 -2.43484549e-05 9.99992424e-01 -2.51847532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.285769231 meters 0.01976407123255825 Centerline is valid? [True, True] Translation: X:104.49, Y:20.88, Z:-0.26 [[ 9.11171608e-01 -4.11969260e-01 -6.90143882e-03 1.04486232e+02] [ 4.11958053e-01 9.11197741e-01 -3.03953815e-03 2.08819571e+01] [ 7.54077175e-03 -7.35624407e-05 9.99971565e-01 -2.59522360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.315769231 meters 0.020369805830032336 Centerline is valid? [True, True] Translation: X:104.51, Y:20.89, Z:-0.26 [[ 9.10873710e-01 -4.12611182e-01 -7.81642573e-03 1.04514275e+02] [ 4.12596816e-01 9.10907243e-01 -3.44427611e-03 2.08906260e+01] [ 8.54118564e-03 -8.77318042e-05 9.99963520e-01 -2.61210820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.345769231 meters 0.020127291313002598 Centerline is valid? [True, True] Translation: X:104.54, Y:20.90, Z:-0.26 [[ 9.11096721e-01 -4.12119387e-01 -7.77018723e-03 1.04540568e+02] [ 4.12105170e-01 9.11129850e-01 -3.42419071e-03 2.08990833e+01] [ 8.49082490e-03 -8.23653981e-05 9.99963949e-01 -2.61502832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.375769231 meters 0.017881557199917856 Centerline is valid? [True, True] Translation: X:104.57, Y:20.91, Z:-0.26 [[ 9.12483693e-01 -4.09052795e-01 -7.02290645e-03 1.04566025e+02] [ 4.09041084e-01 9.12510717e-01 -3.09564487e-03 2.09095064e+01] [ 7.67475959e-03 -4.79318052e-05 9.99970547e-01 -2.59570867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40576923100001 meters 0.01723847713492378 Centerline is valid? [True, True] Translation: X:104.59, Y:20.92, Z:-0.26 [[ 9.13253370e-01 -4.07320970e-01 -7.60989395e-03 1.04591059e+02] [ 4.07307156e-01 9.13285074e-01 -3.35481653e-03 2.09219884e+01] [ 8.31648968e-03 -3.57667556e-05 9.99965417e-01 -2.61244773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43576923100001 meters 0.017032819102599264 Centerline is valid? [True, True] Translation: X:104.62, Y:20.94, Z:-0.27 [[ 9.14912444e-01 -4.03535726e-01 -9.70245234e-03 1.04616313e+02] [ 4.03513035e-01 9.14963889e-01 -4.27933796e-03 2.09354327e+01] [ 1.06042593e-02 1.53560801e-07 9.99943773e-01 -2.65635091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46576923100001 meters 0.017300234641413396 Centerline is valid? [True, True] Translation: X:104.64, Y:20.95, Z:-0.27 [[ 9.15406006e-01 -4.02406698e-01 -1.00346786e-02 1.04642552e+02] [ 4.02382338e-01 9.15461004e-01 -4.42773005e-03 2.09465907e+01] [ 1.09681052e-02 1.53932424e-05 9.99939848e-01 -2.67132407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49576923100001 meters 0.01726791805070271 Centerline is valid? [True, True] Translation: X:104.67, Y:20.96, Z:-0.27 [[ 9.15765892e-01 -4.01609819e-01 -9.07654262e-03 1.04669537e+02] [ 4.01589833e-01 9.15810872e-01 -4.00669012e-03 2.09572585e+01] [ 9.92152250e-03 2.41429175e-05 9.99950780e-01 -2.65604279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52576923100001 meters 0.016575099444311122 Centerline is valid? [True, True] Translation: X:104.70, Y:20.97, Z:-0.26 [[ 9.16425283e-01 -4.00160794e-01 -6.00330213e-03 1.04696975e+02] [ 4.00152011e-01 9.16444946e-01 -2.65135542e-03 2.09657842e+01] [ 6.56266439e-03 2.75357174e-05 9.99978465e-01 -2.57245592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55576923100001 meters 0.017579788672612368 Centerline is valid? [True, True] Translation: X:104.72, Y:20.98, Z:-0.26 [[ 9.17149628e-01 -3.98506335e-01 -5.40923523e-03 1.04721635e+02] [ 3.98499175e-01 9.17165579e-01 -2.38915193e-03 2.09788103e+01] [ 5.91325654e-03 3.56340240e-05 9.99982516e-01 -2.56513260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.585769231 meters 0.018965208028926345 Centerline is valid? [True, True] Translation: X:104.75, Y:20.99, Z:-0.26 [[ 9.17893035e-01 -3.96787013e-01 -5.69581883e-03 1.04745593e+02] [ 3.96779039e-01 9.17910706e-01 -2.51608783e-03 2.09924770e+01] [ 6.22660406e-03 4.95179755e-05 9.99980613e-01 -2.57164176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.615769231 meters 0.022178008625799765 Centerline is valid? [True, True] Translation: X:104.77, Y:21.01, Z:-0.26 [[ 9.19298004e-01 -3.93510215e-01 -6.39460676e-03 1.04769390e+02] [ 3.93500075e-01 9.19320240e-01 -2.82616203e-03 2.10095015e+01] [ 6.99081505e-03 8.18068667e-05 9.99975561e-01 -2.59062926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.645769231 meters 0.02192354286027882 Centerline is valid? [True, True] Translation: X:104.80, Y:21.02, Z:-0.26 [[ 9.19824728e-01 -3.92275511e-01 -6.51102892e-03 1.04796157e+02] [ 3.92264958e-01 9.19847767e-01 -2.87891902e-03 2.10204760e+01] [ 7.11848485e-03 9.40524145e-05 9.99974659e-01 -2.57095898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.675769231 meters 0.02531804016864541 Centerline is valid? [True, True] Translation: X:104.82, Y:21.04, Z:-0.26 [[ 9.20485701e-01 -3.90741138e-01 -5.23816311e-03 1.04819803e+02] [ 3.90734280e-01 9.20500601e-01 -2.31655240e-03 2.10361047e+01] [ 5.72690461e-03 8.56234670e-05 9.99983597e-01 -2.55455441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.705769231 meters 0.0262699716696217 Centerline is valid? [True, True] Translation: X:104.84, Y:21.05, Z:-0.25 [[ 9.20750708e-01 -3.90130863e-01 -4.00534195e-03 1.04843623e+02] [ 3.90126846e-01 9.20759418e-01 -1.77172469e-03 2.10479908e+01] [ 4.37916081e-03 6.87253401e-05 9.99990409e-01 -2.53382742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.735769231 meters 0.02339751162968982 Centerline is valid? [True, True] Translation: X:104.87, Y:21.06, Z:-0.25 [[ 9.20651066e-01 -3.90371356e-01 -3.43785293e-03 1.04871518e+02] [ 3.90368395e-01 9.20657483e-01 -1.52168639e-03 2.10553524e+01] [ 3.75910781e-03 5.89130633e-05 9.99992933e-01 -2.50571278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76576923100001 meters 0.02580792167531085 Centerline is valid? [True, True] Translation: X:104.89, Y:21.07, Z:-0.25 [[ 9.20548759e-01 -3.90608930e-01 -3.82702709e-03 1.04894703e+02] [ 3.90605262e-01 9.20556712e-01 -1.69405069e-03 2.10690699e+01] [ 4.18470680e-03 6.45993373e-05 9.99991242e-01 -2.52954442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79576923100001 meters 0.021457276456474442 Centerline is valid? [True, True] Translation: X:104.92, Y:21.07, Z:-0.25 [[ 9.19566753e-01 -3.92904415e-01 -4.80700381e-03 1.04924465e+02] [ 3.92898654e-01 9.19579314e-01 -2.12893604e-03 2.10725874e+01] [ 5.25688964e-03 6.90334808e-05 9.99986180e-01 -2.53318614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82576923100001 meters 0.020969507042158095 Centerline is valid? [True, True] Translation: X:104.95, Y:21.08, Z:-0.25 [[ 9.18960251e-01 -3.94319177e-01 -4.94410575e-03 1.04950579e+02] [ 3.94313102e-01 9.18973548e-01 -2.18974216e-03 2.10820847e+01] [ 5.40695973e-03 6.27603258e-05 9.99985380e-01 -2.54140416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85576923100001 meters 0.019478309647744142 Centerline is valid? [True, True] Translation: X:104.98, Y:21.09, Z:-0.26 [[ 9.17974659e-01 -3.96592107e-01 -6.10126096e-03 1.04977463e+02] [ 3.96582903e-01 9.17994933e-01 -2.70262166e-03 2.10897138e+01] [ 6.67276506e-03 6.12824130e-05 9.99977735e-01 -2.57517438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88576923100001 meters 0.0192536907189623 Centerline is valid? [True, True] Translation: X:105.00, Y:21.10, Z:-0.26 [[ 9.17782470e-01 -3.97043109e-01 -5.66640453e-03 1.05002778e+02] [ 3.97035174e-01 9.17799960e-01 -2.51064881e-03 2.11006136e+01] [ 6.19746166e-03 5.44675589e-05 9.99980794e-01 -2.57129233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91576923100001 meters 0.01889773688746908 Centerline is valid? [True, True] Translation: X:105.03, Y:21.11, Z:-0.25 [[ 9.17728793e-01 -3.97177364e-01 -4.89941129e-03 1.05028207e+02] [ 3.97171427e-01 9.17741870e-01 -2.17213874e-03 2.11116799e+01] [ 5.35911922e-03 4.75280923e-05 9.99985639e-01 -2.54428371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94576923100001 meters 0.019714148342052578 Centerline is valid? [True, True] Translation: X:105.05, Y:21.13, Z:-0.25 [[ 9.18157085e-01 -3.96189839e-01 -4.60206546e-03 1.05053705e+02] [ 3.96184584e-01 9.18168617e-01 -2.04116074e-03 2.11254059e+01] [ 5.03415923e-03 5.08388039e-05 9.99987327e-01 -2.53172918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.975769231 meters 0.019714148342052578 Centerline is valid? [True, True] Translation: X:105.08, Y:21.14, Z:-0.25 [[ 9.18085218e-01 -3.96356350e-01 -4.60167609e-03 1.05078748e+02] [ 3.96351093e-01 9.18096749e-01 -2.04203849e-03 2.11367400e+01] [ 5.03415879e-03 5.08860054e-05 9.99987327e-01 -2.53231965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.005769231 meters 0.020797233135060288 Centerline is valid? [True, True] Translation: X:105.10, Y:21.15, Z:-0.26 [[ 9.18387655e-01 -3.95643026e-01 -5.54178466e-03 1.05104421e+02] [ 3.95635383e-01 9.18404373e-01 -2.46013190e-03 2.11509847e+01] [ 6.06293329e-03 6.68286755e-05 9.99981618e-01 -2.56070209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.035769231 meters 0.020371529841212096 Centerline is valid? [True, True] Translation: X:105.13, Y:21.16, Z:-0.26 [[ 9.18384546e-01 -3.95638342e-01 -6.33469398e-03 1.05130144e+02] [ 3.95628347e-01 9.18406390e-01 -2.81334132e-03 2.11632113e+01] [ 6.93088912e-03 7.75446831e-05 9.99975978e-01 -2.56896834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.065769231 meters 0.020338085654826175 Centerline is valid? [True, True] Translation: X:105.15, Y:21.18, Z:-0.26 [[ 9.17836422e-01 -3.96896931e-01 -7.00917363e-03 1.05154775e+02] [ 3.96884729e-01 9.17863182e-01 -3.11308966e-03 2.11769556e+01] [ 7.66903814e-03 7.54730975e-05 9.99970590e-01 -2.59734472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.095769231 meters 0.019680506121897295 Centerline is valid? [True, True] Translation: X:105.18, Y:21.19, Z:-0.26 [[ 9.17410229e-01 -3.97882049e-01 -6.95311729e-03 1.05181501e+02] [ 3.97870058e-01 9.17436576e-01 -3.08973276e-03 2.11882405e+01] [ 7.60839332e-03 6.81152580e-05 9.99971053e-01 -2.59297849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.125769231 meters 0.018261871379682538 Centerline is valid? [True, True] Translation: X:105.21, Y:21.20, Z:-0.26 [[ 9.16919944e-01 -3.99019672e-01 -6.41238318e-03 1.05208847e+02] [ 3.99009492e-01 9.16942364e-01 -2.85074676e-03 2.11984777e+01] [ 7.01728983e-03 5.53048010e-05 9.99975377e-01 -2.56663581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15576923100001 meters 0.01716470723548247 Centerline is valid? [True, True] Translation: X:105.24, Y:21.21, Z:-0.26 [[ 9.15693377e-01 -4.01831107e-01 -6.11560072e-03 1.05235224e+02] [ 4.01821907e-01 9.15713798e-01 -2.71927030e-03 2.12084690e+01] [ 6.69282736e-03 3.26354561e-05 9.99977602e-01 -2.57493963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18576923100001 meters 0.015685024479179455 Centerline is valid? [True, True] Translation: X:105.26, Y:21.22, Z:-0.26 [[ 9.14516260e-01 -4.04498843e-01 -6.37931209e-03 1.05262659e+02] [ 4.04488885e-01 9.14538510e-01 -2.83830331e-03 2.12164627e+01] [ 6.98221698e-03 1.53136894e-05 9.99975624e-01 -2.55497583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21576923100001 meters 0.01607399945727983 Centerline is valid? [True, True] Translation: X:105.29, Y:21.22, Z:-0.26 [[ 9.12503453e-01 -4.09022347e-01 -6.17800623e-03 1.05289789e+02] [ 4.09013108e-01 9.12524367e-01 -2.74912607e-03 2.12229388e+01] [ 6.76203522e-03 -1.82985023e-05 9.99977137e-01 -2.56605947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24576923100001 meters 0.01611701026958625 Centerline is valid? [True, True] Translation: X:105.32, Y:21.23, Z:-0.25 [[ 9.12166036e-01 -4.09789354e-01 -5.08015973e-03 1.05315473e+02] [ 4.09783117e-01 9.12180182e-01 -2.26091828e-03 2.12335497e+01] [ 5.56052126e-03 -1.94308279e-05 9.99984540e-01 -2.54654002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27576923100001 meters 0.015529652839534221 Centerline is valid? [True, True] Translation: X:105.34, Y:21.25, Z:-0.25 [[ 9.12200896e-01 -4.09721438e-01 -4.22702491e-03 1.05340976e+02] [ 4.09717115e-01 9.12210690e-01 -1.88235092e-03 2.12464779e+01] [ 4.62717684e-03 -1.48022586e-05 9.99989294e-01 -2.51207256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30576923100001 meters 0.015319581947443242 Centerline is valid? [True, True] Translation: X:105.36, Y:21.26, Z:-0.25 [[ 9.13575874e-01 -4.06635896e-01 -5.13513768e-03 1.05363373e+02] [ 4.06629460e-01 9.13590306e-01 -2.28789038e-03 2.12646287e+01] [ 5.62175036e-03 2.06319817e-06 9.99984198e-01 -2.53067313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33576923100001 meters 0.015966948731462236 Centerline is valid? [True, True] Translation: X:105.39, Y:21.28, Z:-0.26 [[ 9.14442678e-01 -4.04667488e-01 -6.23006714e-03 1.05386599e+02] [ 4.04657966e-01 9.14463900e-01 -2.77604593e-03 2.12800272e+01] [ 6.82054703e-03 1.74885731e-05 9.99976740e-01 -2.56507205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.365769231 meters 0.016410932726458636 Centerline is valid? [True, True] Translation: X:105.41, Y:21.29, Z:-0.26 [[ 9.15188255e-01 -4.02976277e-01 -6.37006519e-03 1.05411606e+02] [ 4.02966272e-01 9.15210423e-01 -2.83986533e-03 2.12949878e+01] [ 6.97434842e-03 3.20899748e-05 9.99975678e-01 -2.56769137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.395769231 meters 0.017541325666771353 Centerline is valid? [True, True] Translation: X:105.43, Y:21.31, Z:-0.25 [[ 9.16148622e-01 -4.00816388e-01 -4.23398578e-03 1.05434590e+02] [ 4.00811944e-01 9.16158405e-01 -1.88775005e-03 2.13119922e+01] [ 4.63564282e-03 3.24275345e-05 9.99989255e-01 -2.53310195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.425769231 meters 0.017457835604590122 Centerline is valid? [True, True] Translation: X:105.46, Y:21.32, Z:-0.25 [[ 9.16098326e-01 -4.00934337e-01 -3.93879539e-03 1.05459941e+02] [ 4.00930487e-01 9.16106793e-01 -1.75730372e-03 2.13245009e+01] [ 4.31292061e-03 3.06798456e-05 9.99990699e-01 -2.52380130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.455769231 meters 0.018214187568279253 Centerline is valid? [True, True] Translation: X:105.48, Y:21.34, Z:-0.26 [[ 9.16449385e-01 -4.00113265e-01 -5.46818019e-03 1.05484960e+02] [ 4.00105825e-01 9.16465697e-01 -2.44050395e-03 2.13391209e+01] [ 5.98787757e-03 4.87475985e-05 9.99982071e-01 -2.55355451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.485769231 meters 0.020614312685162048 Centerline is valid? [True, True] Translation: X:105.51, Y:21.35, Z:-0.26 [[ 9.16750141e-01 -3.99408563e-01 -6.47903573e-03 1.05508256e+02] [ 3.99398099e-01 9.16773034e-01 -2.89179199e-03 2.13549313e+01] [ 7.09481173e-03 6.33361549e-05 9.99974829e-01 -2.60040313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51576923100001 meters 0.018596198940830578 Centerline is valid? [True, True] Translation: X:105.54, Y:21.36, Z:-0.26 [[ 9.16789787e-01 -3.99308708e-01 -7.00301932e-03 1.05536064e+02] [ 3.99296468e-01 9.16816531e-01 -3.12733737e-03 2.13640710e+01] [ 7.66925692e-03 7.08300863e-05 9.99970588e-01 -2.56447344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54576923100001 meters 0.018755534538577177 Centerline is valid? [True, True] Translation: X:105.56, Y:21.38, Z:-0.26 [[ 9.16370506e-01 -4.00286308e-01 -5.99726944e-03 1.05560954e+02] [ 4.00277343e-01 9.16390129e-01 -2.67947203e-03 2.13778440e+01] [ 6.56839448e-03 5.48180615e-05 9.99978426e-01 -2.55941658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57576923100001 meters 0.01733275151751332 Centerline is valid? [True, True] Translation: X:105.59, Y:21.39, Z:-0.25 [[ 9.15777268e-01 -4.01647659e-01 -5.58155482e-03 1.05588550e+02] [ 4.01639913e-01 9.15794276e-01 -2.49487425e-03 2.13875433e+01] [ 6.11361636e-03 4.29739370e-05 9.99981311e-01 -2.54552243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60576923100001 meters 0.01608794550388161 Centerline is valid? [True, True] Translation: X:105.62, Y:21.39, Z:-0.26 [[ 9.14324943e-01 -4.04929663e-01 -6.47046800e-03 1.05616080e+02] [ 4.04919331e-01 9.14347837e-01 -2.89264731e-03 2.13942518e+01] [ 7.08757713e-03 2.48020139e-05 9.99974882e-01 -2.57463297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63576923100001 meters 0.0160453811773716 Centerline is valid? [True, True] Translation: X:105.64, Y:21.40, Z:-0.26 [[ 9.13715559e-01 -4.06295876e-01 -6.89475532e-03 1.05641545e+02] [ 4.06284180e-01 9.13741572e-01 -3.08297123e-03 2.14040415e+01] [ 7.55262306e-03 1.57287725e-05 9.99971478e-01 -2.59275239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66576923100001 meters 0.016054350471314788 Centerline is valid? [True, True] Translation: X:105.67, Y:21.41, Z:-0.26 [[ 9.13251212e-01 -4.07334834e-01 -7.11029609e-03 1.05666851e+02] [ 4.07322421e-01 9.13278891e-01 -3.18001306e-03 2.14141144e+01] [ 7.78901342e-03 7.96777000e-06 9.99969665e-01 -2.60448422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69576923100001 meters 0.015720951685032285 Centerline is valid? [True, True] Translation: X:105.69, Y:21.42, Z:-0.26 [[ 9.12752130e-01 -4.08464687e-01 -6.33637445e-03 1.05694086e+02] [ 4.08454846e-01 9.12774123e-01 -2.83527970e-03 2.14241180e+01] [ 6.94179027e-03 -2.15267979e-07 9.99975905e-01 -2.57314918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.725769231 meters 0.01532705124994968 Centerline is valid? [True, True] Translation: X:105.72, Y:21.43, Z:-0.25 [[ 9.11752570e-01 -4.10713036e-01 -4.69616792e-03 1.05723462e+02] [ 4.10707658e-01 9.11764664e-01 -2.10179656e-03 2.14303222e+01] [ 5.14503521e-03 -1.24337104e-05 9.99986764e-01 -2.51768948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.755769231 meters 0.015779200363991615 Centerline is valid? [True, True] Translation: X:105.75, Y:21.44, Z:-0.25 [[ 9.11207513e-01 -4.11919382e-01 -4.82601566e-03 1.05750602e+02] [ 4.11913717e-01 9.11220293e-01 -2.16041051e-03 2.14383615e+01] [ 5.28747837e-03 -1.93197553e-05 9.99986021e-01 -2.53570714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.785769231 meters 0.016292208712003705 Centerline is valid? [True, True] Translation: X:105.78, Y:21.45, Z:-0.26 [[ 9.10849626e-01 -4.12688990e-01 -6.38404758e-03 1.05777164e+02] [ 4.12679086e-01 9.10871998e-01 -2.85922313e-03 2.14493984e+01] [ 6.99502009e-03 -3.02406038e-05 9.99975534e-01 -2.55971640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.815769231 meters 0.01624228170675058 Centerline is valid? [True, True] Translation: X:105.80, Y:21.46, Z:-0.26 [[ 9.10849775e-01 -4.12684614e-01 -6.64056526e-03 1.05802694e+02] [ 4.12673887e-01 9.10873981e-01 -2.97563501e-03 2.14616747e+01] [ 7.27671689e-03 -3.00313994e-05 9.99973524e-01 -2.55808511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.845769231 meters 0.01607778867999153 Centerline is valid? [True, True] Translation: X:105.83, Y:21.47, Z:-0.26 [[ 9.11028847e-01 -4.12299161e-01 -5.98685407e-03 1.05827989e+02] [ 4.12290433e-01 9.11048517e-01 -2.68286446e-03 2.14730629e+01] [ 6.56045729e-03 -2.41557417e-05 9.99978480e-01 -2.55012872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.875769231 meters 0.016098650272684666 Centerline is valid? [True, True] Translation: X:105.86, Y:21.48, Z:-0.25 [[ 9.10499203e-01 -4.13485566e-01 -4.57027107e-03 1.05855975e+02] [ 4.13480489e-01 9.10510673e-01 -2.04921429e-03 2.14812578e+01] [ 5.00860112e-03 -2.39099355e-05 9.99987457e-01 -2.51889440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90576923100001 meters 0.016704356508442434 Centerline is valid? [True, True] Translation: X:105.88, Y:21.49, Z:-0.25 [[ 9.09861096e-01 -4.14889889e-01 -4.37793870e-03 1.05882940e+02] [ 4.14885246e-01 9.09871628e-01 -1.96304959e-03 2.14890597e+01] [ 4.79781164e-03 -3.02397210e-05 9.99988490e-01 -2.52015787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93576923100001 meters 0.0176984030720927 Centerline is valid? [True, True] Translation: X:105.91, Y:21.50, Z:-0.25 [[ 9.09033284e-01 -4.16687852e-01 -5.45187998e-03 1.05911926e+02] [ 4.16680676e-01 9.09049631e-01 -2.44590957e-03 2.14952681e+01] [ 5.97521029e-03 -4.82798288e-05 9.99982147e-01 -2.53301435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96576923100001 meters 0.018051141236154065 Centerline is valid? [True, True] Translation: X:105.94, Y:21.50, Z:-0.25 [[ 9.09103475e-01 -4.16535787e-01 -5.36742401e-03 1.05938268e+02] [ 4.16528822e-01 9.09119319e-01 -2.40928846e-03 2.15037104e+01] [ 5.88318373e-03 -4.53942857e-05 9.99982693e-01 -2.53637805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99576923100001 meters 0.01668747200606388 Centerline is valid? [True, True] Translation: X:105.96, Y:21.52, Z:-0.25 [[ 9.09421511e-01 -4.15854135e-01 -4.22523666e-03 1.05964745e+02] [ 4.15849808e-01 9.09431326e-01 -1.89737604e-03 2.15163356e+01] [ 4.63159425e-03 -3.15492681e-05 9.99989274e-01 -2.49671667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02576923100001 meters 0.014664284356113218 Centerline is valid? [True, True] Translation: X:105.99, Y:21.53, Z:-0.25 [[ 9.11024157e-01 -4.12346066e-01 -2.38905255e-03 1.05988482e+02] [ 4.12344668e-01 9.11027289e-01 -1.07347668e-03 2.15333006e+01] [ 2.61913596e-03 -7.14989098e-06 9.99996570e-01 -2.45140172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05576923100001 meters 0.014480330631462774 Centerline is valid? [True, True] Translation: X:106.01, Y:21.55, Z:-0.25 [[ 9.12114864e-01 -4.09926958e-01 -2.52256079e-03 1.06011296e+02] [ 4.09925390e-01 9.12118353e-01 -1.13374321e-03 2.15489311e+01] [ 2.76562589e-03 4.23182355e-08 9.99996176e-01 -2.46154969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08576923100001 meters 0.0162671717252486 Centerline is valid? [True, True] Translation: X:106.03, Y:21.57, Z:-0.25 [[ 9.14638669e-01 -4.04262464e-01 -2.82229816e-03 1.06033223e+02] [ 4.04260473e-01 9.14643023e-01 -1.26905612e-03 2.15702310e+01] [ 3.09442707e-03 1.97842086e-05 9.99995212e-01 -2.47181132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.115769231 meters 0.018147020469707165 Centerline is valid? [True, True] Translation: X:106.06, Y:21.59, Z:-0.25 [[ 9.15895515e-01 -4.01409802e-01 -2.36154091e-03 1.06057743e+02] [ 4.01408397e-01 9.15898559e-01 -1.06240787e-03 2.15870304e+01] [ 2.58939285e-03 2.51122517e-05 9.99996647e-01 -2.45515275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.145769231 meters 0.02059064018812699 Centerline is valid? [True, True] Translation: X:106.08, Y:21.60, Z:-0.24 [[ 9.17146560e-01 -3.98546647e-01 -1.66069831e-03 1.06081696e+02] [ 3.98545947e-01 9.17148063e-01 -7.47554287e-04 2.16041921e+01] [ 1.82104149e-03 2.37522639e-05 9.99998342e-01 -2.44244163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.175769231 meters 0.024755762624330054 Centerline is valid? [True, True] Translation: X:106.11, Y:21.62, Z:-0.24 [[ 9.19015711e-01 -3.94216094e-01 -1.94794599e-03 1.06105307e+02] [ 3.94215121e-01 9.19017774e-01 -8.76537412e-04 2.16244145e+01] [ 2.13574214e-03 3.76418892e-05 9.99997719e-01 -2.44905142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.205769231 meters 0.026151738584047242 Centerline is valid? [True, True] Translation: X:106.13, Y:21.64, Z:-0.25 [[ 9.19541310e-01 -3.92981286e-01 -3.08016122e-03 1.06129421e+02] [ 3.92978846e-01 9.19546467e-01 -1.38626046e-03 2.16397688e+01] [ 3.37712578e-03 6.42855541e-05 9.99994295e-01 -2.47306199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.235769231 meters 0.025841273293019204 Centerline is valid? [True, True] Translation: X:106.15, Y:21.66, Z:-0.25 [[ 9.19275116e-01 -3.93588652e-01 -4.60798819e-03 1.06152710e+02] [ 3.93583192e-01 9.19286661e-01 -2.07515042e-03 2.16550994e+01] [ 5.05281773e-03 9.40074411e-05 9.99987230e-01 -2.51508542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26576923100001 meters 0.02454309711310411 Centerline is valid? [True, True] Translation: X:106.18, Y:21.67, Z:-0.25 [[ 9.18647213e-01 -3.95048801e-01 -4.87261519e-03 1.06178920e+02] [ 3.95042712e-01 9.18660131e-01 -2.19520797e-03 2.16666086e+01] [ 5.34349159e-03 9.17305679e-05 9.99985719e-01 -2.52267110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29576923100001 meters 0.023131363940219144 Centerline is valid? [True, True] Translation: X:106.21, Y:21.68, Z:-0.25 [[ 9.17974402e-01 -3.96606870e-01 -5.09776651e-03 1.06205569e+02] [ 3.96600224e-01 9.17988553e-01 -2.29763870e-03 2.16774568e+01] [ 5.59095060e-03 8.73981694e-05 9.99984367e-01 -2.53137968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32576923100001 meters 0.022134726762940243 Centerline is valid? [True, True] Translation: X:106.23, Y:21.69, Z:-0.25 [[ 9.17383890e-01 -3.97966469e-01 -5.43028224e-03 1.06232247e+02] [ 3.97958946e-01 9.17399957e-01 -2.44856337e-03 2.16886967e+01] [ 5.95618682e-03 8.52431979e-05 9.99982258e-01 -2.53771137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35576923100001 meters 0.022403250169060984 Centerline is valid? [True, True] Translation: X:106.26, Y:21.70, Z:-0.26 [[ 9.16727456e-01 -3.99454207e-01 -6.86348283e-03 1.06256624e+02] [ 3.99442228e-01 9.16753144e-01 -3.09493931e-03 2.17033794e+01] [ 7.52840599e-03 9.56509655e-05 9.99971657e-01 -2.57638702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38576923100001 meters 0.02085666828440699 Centerline is valid? [True, True] Translation: X:106.28, Y:21.71, Z:-0.26 [[ 9.16180231e-01 -4.00694060e-01 -7.61929529e-03 1.06282398e+02] [ 4.00679325e-01 9.16211908e-01 -3.43774154e-03 2.17137272e+01] [ 8.35837169e-03 9.66967425e-05 9.99965064e-01 -2.58140235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41576923100001 meters 0.01806096322302424 Centerline is valid? [True, True] Translation: X:106.31, Y:21.72, Z:-0.26 [[ 9.14812973e-01 -4.03814017e-01 -7.17386159e-03 1.06309968e+02] [ 4.03801039e-01 9.14841098e-01 -3.23817221e-03 2.17223155e+01] [ 7.87056274e-03 6.55091815e-05 9.99969024e-01 -2.56827215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44576923100001 meters 0.017136896425923486 Centerline is valid? [True, True] Translation: X:106.34, Y:21.73, Z:-0.26 [[ 9.14162864e-01 -4.05292280e-01 -6.66524786e-03 1.06337426e+02] [ 4.05281107e-01 9.14187161e-01 -3.00981838e-03 2.17327618e+01] [ 7.31314018e-03 5.01651642e-05 9.99973257e-01 -2.55517434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.475769231 meters 0.016479490775113004 Centerline is valid? [True, True] Translation: X:106.36, Y:21.74, Z:-0.25 [[ 9.13723011e-01 -4.06287320e-01 -6.39311729e-03 1.06362781e+02] [ 4.06277064e-01 9.13745376e-01 -2.88717626e-03 2.17436340e+01] [ 7.01470447e-03 4.07024698e-05 9.99975396e-01 -2.54942957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.505769231 meters 0.01626132127365367 Centerline is valid? [True, True] Translation: X:106.39, Y:21.76, Z:-0.25 [[ 9.13266486e-01 -4.07320160e-01 -5.88329236e-03 1.06388234e+02] [ 4.07311493e-01 9.13285435e-01 -2.65735403e-03 2.17554324e+01] [ 6.45551909e-03 3.05397785e-05 9.99979162e-01 -2.54069021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.535769231 meters 0.01567035671784944 Centerline is valid? [True, True] Translation: X:106.41, Y:21.77, Z:-0.25 [[ 9.12859928e-01 -4.08230316e-01 -5.89577838e-03 1.06414650e+02] [ 4.08221620e-01 9.12878967e-01 -2.66464337e-03 2.17657581e+01] [ 6.46992028e-03 2.56619498e-05 9.99979070e-01 -2.53661337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.565769231 meters 0.015183820307480998 Centerline is valid? [True, True] Translation: X:106.44, Y:21.77, Z:-0.25 [[ 9.12049298e-01 -4.10036889e-01 -5.98569625e-03 1.06441432e+02] [ 4.10027956e-01 9.12068939e-01 -2.70662989e-03 2.17742314e+01] [ 6.56918573e-03 1.42770946e-05 9.99978423e-01 -2.54879587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.595769231 meters 0.015283320006540715 Centerline is valid? [True, True] Translation: X:106.47, Y:21.79, Z:-0.26 [[ 9.11876775e-01 -4.10415772e-01 -6.29610640e-03 1.06466655e+02] [ 4.10405897e-01 9.11898511e-01 -2.84710421e-03 2.17853348e+01] [ 6.90990652e-03 1.22490130e-05 9.99976126e-01 -2.55614155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.625769231 meters 0.0157144585288907 Centerline is valid? [True, True] Translation: X:106.49, Y:21.80, Z:-0.26 [[ 9.12356789e-01 -4.09332059e-01 -7.23564951e-03 1.06492717e+02] [ 4.09318969e-01 9.12385480e-01 -3.27364827e-03 2.17985958e+01] [ 7.94171074e-03 2.50466229e-05 9.99968464e-01 -2.56372461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65576923100001 meters 0.016204089682702576 Centerline is valid? [True, True] Translation: X:106.52, Y:21.81, Z:-0.26 [[ 9.12820518e-01 -4.08293127e-01 -7.44470033e-03 1.06517822e+02] [ 4.08279233e-01 9.12850876e-01 -3.36849757e-03 2.18108027e+01] [ 8.17123562e-03 3.53171556e-05 9.99966614e-01 -2.56651273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68576923100001 meters 0.016853186784574228 Centerline is valid? [True, True] Translation: X:106.54, Y:21.82, Z:-0.26 [[ 9.13331748e-01 -4.07150329e-01 -7.32991784e-03 1.06542923e+02] [ 4.07136819e-01 9.13361160e-01 -3.31707596e-03 2.18237323e+01] [ 8.04541083e-03 4.53113552e-05 9.99967634e-01 -2.56626275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71576923100001 meters 0.017607768503944396 Centerline is valid? [True, True] Translation: X:106.57, Y:21.84, Z:-0.25 [[ 9.14005996e-01 -4.05655741e-01 -6.03814010e-03 1.06566187e+02] [ 4.05646537e-01 9.14025939e-01 -2.73313724e-03 2.18382861e+01] [ 6.62772949e-03 4.87532043e-05 9.99978035e-01 -2.53150239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74576923100001 meters 0.017269473081076552 Centerline is valid? [True, True] Translation: X:106.59, Y:21.85, Z:-0.25 [[ 9.14036768e-01 -4.05596320e-01 -5.33028356e-03 1.06592329e+02] [ 4.05589138e-01 9.14052309e-01 -2.41408614e-03 2.18496068e+01] [ 5.85130245e-03 4.46583798e-05 9.99982880e-01 -2.51444202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77576923100001 meters 0.016688089540337212 Centerline is valid? [True, True] Translation: X:106.62, Y:21.86, Z:-0.25 [[ 9.14109585e-01 -4.05456264e-01 -2.98076881e-03 1.06620797e+02] [ 4.05454015e-01 9.14114444e-01 -1.35075690e-03 2.18569978e+01] [ 3.27243667e-03 2.61751456e-05 9.99994645e-01 -2.46998747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80576923100001 meters 0.016280843937585283 Centerline is valid? [True, True] Translation: X:106.65, Y:21.87, Z:-0.24 [[ 9.13949423e-01 -4.05821629e-01 -2.29294761e-03 1.06647481e+02] [ 4.05820298e-01 9.13952299e-01 -1.03975280e-03 2.18666289e+01] [ 2.51759892e-03 1.97567877e-05 9.99996831e-01 -2.44744476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83576923100001 meters 0.015987983115079592 Centerline is valid? [True, True] Translation: X:106.67, Y:21.88, Z:-0.24 [[ 9.13872522e-01 -4.05993465e-01 -2.51396212e-03 1.06673676e+02] [ 4.05991863e-01 9.13875980e-01 -1.14054557e-03 2.18777136e+01] [ 2.76050365e-03 2.16650866e-05 9.99996190e-01 -2.44533311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.865769231 meters 0.015987983115079592 Centerline is valid? [True, True] Translation: X:106.70, Y:21.89, Z:-0.24 [[ 9.13791628e-01 -4.06175505e-01 -2.51373467e-03 1.06698629e+02] [ 4.06173903e-01 9.13795086e-01 -1.14104689e-03 2.18892374e+01] [ 2.76050368e-03 2.16656761e-05 9.99996190e-01 -2.44592355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.895769231 meters 0.01745174133394651 Centerline is valid? [True, True] Translation: X:106.72, Y:21.90, Z:-0.25 [[ 9.13856932e-01 -4.06024837e-01 -3.05594041e-03 1.06722905e+02] [ 4.06022469e-01 9.13862041e-01 -1.38696995e-03 2.19039798e+01] [ 3.35585219e-03 2.67116358e-05 9.99994369e-01 -2.47611257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.925769231 meters 0.01908991940359053 Centerline is valid? [True, True] Translation: X:106.75, Y:21.92, Z:-0.25 [[ 9.14480983e-01 -4.04609653e-01 -3.94471113e-03 1.06747151e+02] [ 4.04605693e-01 9.14489490e-01 -1.79055025e-03 2.19176685e+01] [ 4.33187079e-03 4.13715678e-05 9.99990617e-01 -2.49765036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.955769231 meters 0.02235678171544241 Centerline is valid? [True, True] Translation: X:106.77, Y:21.94, Z:-0.25 [[ 9.15683668e-01 -4.01870202e-01 -4.87446152e-03 1.06769640e+02] [ 4.01864115e-01 9.15696640e-01 -2.21286280e-03 2.19351392e+01] [ 5.35281166e-03 6.74111562e-05 9.99985671e-01 -2.50288004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.985769231 meters 0.024010342373661602 Centerline is valid? [True, True] Translation: X:106.79, Y:21.95, Z:-0.25 [[ 9.16198080e-01 -4.00691562e-01 -5.22967501e-03 1.06793944e+02] [ 4.00684530e-01 9.16213002e-01 -2.37528698e-03 2.19509991e+01] [ 5.74325369e-03 8.07834975e-05 9.99983504e-01 -2.51627460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01576923100001 meters 0.02168065962628535 Centerline is valid? [True, True] Translation: X:106.82, Y:21.96, Z:-0.25 [[ 9.16195582e-01 -4.00701753e-01 -4.87453448e-03 1.06819857e+02] [ 4.00695637e-01 9.16208546e-01 -2.21521456e-03 2.19605351e+01] [ 5.35373050e-03 7.63650951e-05 9.99985666e-01 -2.48971890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04576923100001 meters 0.02278938470888957 Centerline is valid? [True, True] Translation: X:106.84, Y:21.97, Z:-0.25 [[ 9.15656924e-01 -4.01943325e-01 -3.73643739e-03 1.06844852e+02] [ 4.01939738e-01 9.15664546e-01 -1.69880420e-03 2.19740247e+01] [ 4.10414626e-03 5.36991617e-05 9.99991577e-01 -2.49049315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07576923100001 meters 0.01562470475473307 Centerline is valid? [True, True] Translation: X:106.88, Y:21.97, Z:-0.24 [[ 9.13314329e-01 -4.07251711e-01 -1.72639849e-03 1.06876897e+02] [ 4.07250955e-01 9.13315960e-01 -7.84959182e-04 2.19728497e+01] [ 1.89642327e-03 1.38370341e-05 9.99998202e-01 -2.42894958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10576923100001 meters 0.0143616845611009 Centerline is valid? [True, True] Translation: X:106.90, Y:21.98, Z:-0.24 [[ 9.11660806e-01 -4.10937074e-01 -2.30128861e-03 1.06904544e+02] [ 4.10935742e-01 9.11663710e-01 -1.04650947e-03 2.19801216e+01] [ 2.52805086e-03 8.37992270e-06 9.99996804e-01 -2.44739936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13576923100001 meters 0.014907134800658039 Centerline is valid? [True, True] Translation: X:106.94, Y:21.98, Z:-0.25 [[ 9.08269169e-01 -4.18369884e-01 -3.70892207e-03 1.06935267e+02] [ 4.18366481e-01 9.08276742e-01 -1.68756264e-03 2.19813674e+01] [ 4.07475304e-03 -1.89275575e-05 9.99991698e-01 -2.47307888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16576923100001 meters 0.016824108381596387 Centerline is valid? [True, True] Translation: X:106.96, Y:21.99, Z:-0.25 [[ 9.07171381e-01 -4.20739139e-01 -4.32010430e-03 1.06962804e+02] [ 4.20734549e-01 9.07181666e-01 -1.96563978e-03 2.19873200e+01] [ 4.74614100e-03 -3.44449844e-05 9.99988736e-01 -2.49825097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19576923100001 meters 0.018048198031715913 Centerline is valid? [True, True] Translation: X:106.99, Y:22.00, Z:-0.25 [[ 9.06374312e-01 -4.22450857e-01 -4.56950116e-03 1.06990678e+02] [ 4.22445738e-01 9.06385829e-01 -2.08021544e-03 2.19966981e+01] [ 5.02051990e-03 -4.49124505e-05 9.99987396e-01 -2.50114136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.225769231 meters 0.019294328812107367 Centerline is valid? [True, True] Translation: X:107.02, Y:22.01, Z:-0.25 [[ 9.05192863e-01 -4.24975708e-01 -4.63982931e-03 1.07017819e+02] [ 4.24970458e-01 9.05204753e-01 -2.11316898e-03 2.20062984e+01] [ 5.09804102e-03 -5.89649096e-05 9.99987003e-01 -2.49721506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.255769231 meters 0.020240376883775234 Centerline is valid? [True, True] Translation: X:107.04, Y:22.02, Z:-0.25 [[ 9.04614927e-01 -4.26202540e-01 -4.81954101e-03 1.07044676e+02] [ 4.26196888e-01 9.04627763e-01 -2.19596558e-03 2.20162830e+01] [ 5.29581671e-03 -6.75701355e-05 9.99985975e-01 -2.50399686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.285769231 meters 0.02227487969459969 Centerline is valid? [True, True] Translation: X:107.07, Y:22.02, Z:-0.25 [[ 9.03624045e-01 -4.28291352e-01 -5.48666135e-03 1.07074550e+02] [ 4.28284059e-01 9.03640697e-01 -2.50096213e-03 2.20209336e+01] [ 6.02911094e-03 -8.99200769e-05 9.99981821e-01 -2.52286274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.315769231 meters 0.02307022766075905 Centerline is valid? [True, True] Translation: X:107.10, Y:22.03, Z:-0.25 [[ 9.03265884e-01 -4.29039000e-01 -6.02328776e-03 1.07102486e+02] [ 4.29030220e-01 9.03285960e-01 -2.74672463e-03 2.20284612e+01] [ 6.61920325e-03 -1.03149820e-04 9.99978088e-01 -2.53382692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.345769231 meters 0.023648932048334646 Centerline is valid? [True, True] Translation: X:107.13, Y:22.04, Z:-0.26 [[ 9.03241941e-01 -4.29060324e-01 -7.82517951e-03 1.07130452e+02] [ 4.29045504e-01 9.03275827e-01 -3.56860406e-03 2.20351723e+01] [ 8.59944191e-03 -1.34045229e-04 9.99963015e-01 -2.56355031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.375769231 meters 0.02260568031378762 Centerline is valid? [True, True] Translation: X:107.16, Y:22.05, Z:-0.26 [[ 9.03612506e-01 -4.28267699e-01 -8.43896318e-03 1.07156124e+02] [ 4.28250411e-01 9.03651902e-01 -3.85041753e-03 2.20474991e+01] [ 9.27489459e-03 -1.34704016e-04 9.99956978e-01 -2.56859916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40576923100001 meters 0.02139062081703066 Centerline is valid? [True, True] Translation: X:107.18, Y:22.06, Z:-0.26 [[ 9.04347325e-01 -4.26719920e-01 -8.12560548e-03 1.07181669e+02] [ 4.26703815e-01 9.04383822e-01 -3.70905048e-03 2.20597424e+01] [ 8.93139186e-03 -1.12956985e-04 9.99960108e-01 -2.57181483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43576923100001 meters 0.01899388406116069 Centerline is valid? [True, True] Translation: X:107.21, Y:22.07, Z:-0.26 [[ 9.05535810e-01 -4.24209899e-01 -7.13149311e-03 1.07206331e+02] [ 4.24197404e-01 9.05563888e-01 -3.25669633e-03 2.20736003e+01] [ 7.83954545e-03 -7.61057114e-05 9.99969267e-01 -2.55584096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46576923100001 meters 0.014383131521841192 Centerline is valid? [True, True] Translation: X:107.23, Y:22.10, Z:-0.25 [[ 9.09347723e-01 -4.15996219e-01 -5.81927111e-03 1.07227137e+02] [ 4.15987724e-01 9.09366343e-01 -2.65857069e-03 2.20978913e+01] [ 6.39780464e-03 -3.18013626e-06 9.99979534e-01 -2.51983664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49576923100001 meters 0.015825176680527773 Centerline is valid? [True, True] Translation: X:107.25, Y:22.12, Z:-0.25 [[ 9.11688379e-01 -4.10840653e-01 -5.85292212e-03 1.07248398e+02] [ 4.10831952e-01 9.11707166e-01 -2.67413472e-03 2.21190730e+01] [ 6.43479429e-03 3.34101335e-05 9.99979296e-01 -2.52402273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52576923100001 meters 0.024504108797925556 Centerline is valid? [True, True] Translation: X:107.27, Y:22.15, Z:-0.25 [[ 9.15990596e-01 -4.01147153e-01 -6.49530361e-03 1.07266721e+02] [ 4.01136184e-01 9.16013618e-01 -2.96870286e-03 2.21508303e+01] [ 7.14067327e-03 1.13802598e-04 9.99974499e-01 -2.53106136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55576923100001 meters 0.028631569680747523 Centerline is valid? [True, True] Translation: X:107.29, Y:22.17, Z:-0.25 [[ 9.17484853e-01 -3.97712147e-01 -6.82593369e-03 1.07289419e+02] [ 3.97699936e-01 9.17510232e-01 -3.12003116e-03 2.21705928e+01] [ 7.50373830e-03 1.47907940e-04 9.99971836e-01 -2.53671127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58576923100001 meters 0.03156654814624297 Centerline is valid? [True, True] Translation: X:107.31, Y:22.19, Z:-0.25 [[ 9.18458074e-01 -3.95458299e-01 -6.89201272e-03 1.07313202e+02] [ 3.95445775e-01 9.18483917e-01 -3.15178814e-03 2.21887698e+01] [ 7.57660361e-03 1.69367957e-04 9.99971283e-01 -2.53438636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.615769231 meters 0.034915432667643666 Centerline is valid? [True, True] Translation: X:107.33, Y:22.21, Z:-0.25 [[ 9.19506152e-01 -3.93042935e-01 -5.06836904e-03 1.07333767e+02] [ 3.93036122e-01 9.19520110e-01 -2.31837546e-03 2.22095183e+01] [ 5.57168835e-03 1.39708391e-04 9.99984468e-01 -2.50059887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.645769231 meters 0.03462824961998249 Centerline is valid? [True, True] Translation: X:107.36, Y:22.22, Z:-0.25 [[ 9.19496682e-01 -3.93073846e-01 -4.33637278e-03 1.07358452e+02] [ 3.93068854e-01 9.19506899e-01 -1.98470573e-03 2.22236798e+01] [ 4.76746061e-03 1.20437254e-04 9.99988628e-01 -2.48370403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.675769231 meters 0.032730919087178525 Centerline is valid? [True, True] Translation: X:107.38, Y:22.24, Z:-0.25 [[ 9.18957952e-01 -3.94332295e-01 -4.28050576e-03 1.07383053e+02] [ 3.94327441e-01 9.18967915e-01 -1.95990473e-03 2.22392138e+01] [ 4.70650118e-03 1.13149153e-04 9.99988918e-01 -2.47877513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.705769231 meters 0.032887528025931874 Centerline is valid? [True, True] Translation: X:107.41, Y:22.25, Z:-0.25 [[ 9.18656736e-01 -3.95028790e-01 -4.69648396e-03 1.07407248e+02] [ 3.95022954e-01 9.18668733e-01 -2.15063288e-03 2.22540932e+01] [ 5.16407487e-03 1.20474411e-04 9.99986659e-01 -2.48673666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.735769231 meters 0.03137044790220263 Centerline is valid? [True, True] Translation: X:107.43, Y:22.27, Z:-0.25 [[ 9.18213785e-01 -3.96057374e-01 -4.69054914e-03 1.07432803e+02] [ 3.96051560e-01 9.18225758e-01 -2.14898058e-03 2.22667773e+01] [ 5.15810264e-03 1.15524285e-04 9.99986690e-01 -2.49270591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76576923100001 meters 0.027948695450852844 Centerline is valid? [True, True] Translation: X:107.46, Y:22.28, Z:-0.25 [[ 9.16862357e-01 -3.99181706e-01 -4.16927650e-03 1.07458313e+02] [ 3.99177145e-01 9.16871833e-01 -1.91024145e-03 2.22778597e+01] [ 4.58522563e-03 8.71485914e-05 9.99989484e-01 -2.49222139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79576923100001 meters 0.025320137252675574 Centerline is valid? [True, True] Translation: X:107.49, Y:22.29, Z:-0.25 [[ 9.15788220e-01 -4.01642309e-01 -3.92317335e-03 1.07485634e+02] [ 4.01638289e-01 9.15796621e-01 -1.79846299e-03 2.22873845e+01] [ 4.31516773e-03 7.13145913e-05 9.99990687e-01 -2.48662732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82576923100001 meters 0.018240882421200297 Centerline is valid? [True, True] Translation: X:107.52, Y:22.29, Z:-0.25 [[ 9.13271995e-01 -4.07330999e-01 -3.96492992e-03 1.07516654e+02] [ 4.07326946e-01 9.13280601e-01 -1.81752575e-03 2.22896307e+01] [ 4.36142816e-03 4.48725663e-05 9.99990488e-01 -2.46858881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85576923100001 meters 0.016092031272571698 Centerline is valid? [True, True] Translation: X:107.54, Y:22.30, Z:-0.25 [[ 9.11969035e-01 -4.10242885e-01 -3.64064662e-03 1.07544329e+02] [ 4.10239488e-01 9.11976301e-01 -1.66992933e-03 2.22974934e+01] [ 4.00526006e-03 2.93868397e-05 9.99991978e-01 -2.45809858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88576923100001 meters 0.014829725657968883 Centerline is valid? [True, True] Translation: X:107.57, Y:22.31, Z:-0.24 [[ 9.10950211e-01 -4.12503338e-01 -3.27236776e-03 1.07571076e+02] [ 4.12500608e-01 9.10956089e-01 -1.50102474e-03 2.23061103e+01] [ 3.60016105e-03 1.75051133e-05 9.99993519e-01 -2.44552083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91576923100001 meters 0.013802017477739206 Centerline is valid? [True, True] Translation: X:107.60, Y:22.32, Z:-0.24 [[ 9.09865363e-01 -4.14897885e-01 -2.18331616e-03 1.07597577e+02] [ 4.14896676e-01 9.09867982e-01 -1.00168298e-03 2.23158232e+01] [ 2.40212561e-03 5.54602970e-06 9.99997115e-01 -2.42738693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94576923100001 meters 0.013619138550130411 Centerline is valid? [True, True] Translation: X:107.62, Y:22.33, Z:-0.24 [[ 9.09754729e-01 -4.15141172e-01 -2.03493966e-03 1.07622462e+02] [ 4.15140121e-01 9.09757004e-01 -9.34427705e-04 2.23283068e+01] [ 2.23922002e-03 5.31492615e-06 9.99997493e-01 -2.41851065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.975769231 meters 0.014508276660601163 Centerline is valid? [True, True] Translation: X:107.65, Y:22.34, Z:-0.24 [[ 9.10343609e-01 -4.13841763e-01 -3.08359396e-03 1.07645670e+02] [ 4.13839340e-01 9.10348831e-01 -1.41629664e-03 2.23437502e+01] [ 3.39326886e-03 1.32041084e-05 9.99994243e-01 -2.44414031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.005769231 meters 0.014992870923364847 Centerline is valid? [True, True] Translation: X:107.67, Y:22.36, Z:-0.24 [[ 9.10943549e-01 -4.12518800e-01 -3.17640250e-03 1.07670343e+02] [ 4.12516219e-01 9.10949087e-01 -1.45953565e-03 2.23580478e+01] [ 3.49562686e-03 1.92370310e-05 9.99993890e-01 -2.44445516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.035769231 meters 0.015717884163832407 Centerline is valid? [True, True] Translation: X:107.70, Y:22.37, Z:-0.24 [[ 9.11438681e-01 -4.11424154e-01 -3.11383123e-03 1.07695654e+02] [ 4.11421664e-01 9.11444000e-01 -1.43141531e-03 2.23730609e+01] [ 3.42700162e-03 2.35496548e-05 9.99994128e-01 -2.44041872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.065769231 meters 0.017912294978951304 Centerline is valid? [True, True] Translation: X:107.72, Y:22.39, Z:-0.25 [[ 9.12619670e-01 -4.08787750e-01 -4.23242849e-03 1.07718961e+02] [ 4.08783119e-01 9.12629483e-01 -1.94634150e-03 2.23921219e+01] [ 4.65827959e-03 4.61242205e-05 9.99989149e-01 -2.45788621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.095769231 meters 0.018755429036409102 Centerline is valid? [True, True] Translation: X:107.74, Y:22.41, Z:-0.25 [[ 9.13293487e-01 -4.07270865e-01 -5.04475039e-03 1.07743777e+02] [ 4.07264257e-01 9.13307417e-01 -2.32089728e-03 2.24073453e+01] [ 5.55264179e-03 6.51138531e-05 9.99984582e-01 -2.46770712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.125769231 meters 0.02119102008424531 Centerline is valid? [True, True] Translation: X:107.77, Y:22.42, Z:-0.25 [[ 9.14000940e-01 -4.05677311e-01 -5.31042934e-03 1.07766206e+02] [ 4.05669959e-01 9.14016364e-01 -2.44350492e-03 2.24246921e+01] [ 5.84509382e-03 7.90841392e-05 9.99982914e-01 -2.48436766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15576923100001 meters 0.022237742843757013 Centerline is valid? [True, True] Translation: X:107.79, Y:22.44, Z:-0.24 [[ 9.14848826e-01 -4.03777250e-01 -3.94444771e-03 1.07788715e+02] [ 4.03773175e-01 9.14857327e-01 -1.81524063e-03 2.24436496e+01] [ 4.34155976e-03 6.80085855e-05 9.99990573e-01 -2.44092923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18576923100001 meters 0.02289874762532477 Centerline is valid? [True, True] Translation: X:107.81, Y:22.46, Z:-0.24 [[ 9.15011534e-01 -4.03411418e-01 -3.62217375e-03 1.07812054e+02] [ 4.03407978e-01 9.15018701e-01 -1.66720376e-03 2.24593675e+01] [ 3.98692576e-03 6.42968836e-05 9.99992050e-01 -2.44007279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21576923100001 meters 0.02341163250381947 Centerline is valid? [True, True] Translation: X:107.84, Y:22.47, Z:-0.25 [[ 9.14485703e-01 -4.04592720e-01 -4.54199532e-03 1.07835159e+02] [ 4.04587324e-01 9.14496979e-01 -2.09086510e-03 2.24746018e+01] [ 4.99958979e-03 7.44325079e-05 9.99987499e-01 -2.47559382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24576923100001 meters 0.021749313897763384 Centerline is valid? [True, True] Translation: X:107.86, Y:22.49, Z:-0.25 [[ 9.13759087e-01 -4.06223708e-01 -5.16043543e-03 1.07861834e+02] [ 4.06216762e-01 9.13773656e-01 -2.37677721e-03 2.24854777e+01] [ 5.68097320e-03 7.55464000e-05 9.99983860e-01 -2.49514363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27576923100001 meters 0.016869324008197514 Centerline is valid? [True, True] Translation: X:107.89, Y:22.49, Z:-0.25 [[ 9.11605296e-01 -4.11028437e-01 -5.60433886e-03 1.07889665e+02] [ 4.11020335e-01 9.11622521e-01 -2.58125191e-03 2.24936162e+01] [ 6.17000946e-03 4.95856804e-05 9.99980964e-01 -2.49235237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30576923100001 meters 0.01520512162306041 Centerline is valid? [True, True] Translation: X:107.92, Y:22.50, Z:-0.25 [[ 9.10222609e-01 -4.14089608e-01 -4.95973442e-03 1.07915662e+02] [ 4.14083306e-01 9.10236121e-01 -2.28475193e-03 2.25027260e+01] [ 5.46062145e-03 2.58896361e-05 9.99985090e-01 -2.48594091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33576923100001 meters 0.013834247211783307 Centerline is valid? [True, True] Translation: X:107.94, Y:22.51, Z:-0.25 [[ 9.08649978e-01 -4.17535613e-01 -4.38501479e-03 1.07943828e+02] [ 4.17530721e-01 9.08660559e-01 -2.02114527e-03 2.25100471e+01] [ 4.82839012e-03 5.63521953e-06 9.99988343e-01 -2.47027957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.365769231 meters 0.01537487328555668 Centerline is valid? [True, True] Translation: X:107.97, Y:22.51, Z:-0.25 [[ 9.05530139e-01 -4.24257528e-01 -4.55155209e-03 1.07974512e+02] [ 4.24252338e-01 9.05541578e-01 -2.09880486e-03 2.25122266e+01] [ 5.01205342e-03 -3.04755596e-05 9.99987439e-01 -2.48424088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.395769231 meters 0.017866988829623853 Centerline is valid? [True, True] Translation: X:108.00, Y:22.52, Z:-0.25 [[ 9.03673352e-01 -4.28199800e-01 -4.40506742e-03 1.08003120e+02] [ 4.28194980e-01 9.03684087e-01 -2.03215124e-03 2.25190719e+01] [ 4.85095608e-03 -4.98268353e-05 9.99988233e-01 -2.48199005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.425769231 meters 0.024072998718323076 Centerline is valid? [True, True] Translation: X:108.03, Y:22.52, Z:-0.25 [[ 9.00428288e-01 -4.34989775e-01 -3.57673482e-03 1.08033856e+02] [ 4.34986651e-01 9.00435390e-01 -1.65002019e-03 2.25194418e+01] [ 3.93836052e-03 -7.01070419e-05 9.99992242e-01 -2.46293486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.455769231 meters 0.02718097348815658 Centerline is valid? [True, True] Translation: X:108.06, Y:22.53, Z:-0.24 [[ 8.99059576e-01 -4.37816670e-01 -2.90560041e-03 1.08063156e+02] [ 4.37814623e-01 8.99064268e-01 -1.34057796e-03 2.25251627e+01] [ 3.19924889e-03 -6.68549002e-05 9.99994880e-01 -2.44653116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.485769231 meters 0.030672584973878085 Centerline is valid? [True, True] Translation: X:108.09, Y:22.53, Z:-0.25 [[ 8.97520793e-01 -4.40955672e-01 -3.81065776e-03 1.08093718e+02] [ 4.40952176e-01 8.97528877e-01 -1.75886374e-03 2.25299343e+01] [ 4.19575632e-03 -1.01701053e-04 9.99991193e-01 -2.45800117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51576923100001 meters 0.03029162582667577 Centerline is valid? [True, True] Translation: X:108.12, Y:22.54, Z:-0.25 [[ 8.97185989e-01 -4.41626549e-01 -4.82621172e-03 1.08120126e+02] [ 4.41620945e-01 8.97198960e-01 -2.22859561e-03 2.25421307e+01] [ 5.31427913e-03 -1.31891422e-04 9.99985870e-01 -2.47726400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54576923100001 meters 0.03030789449888949 Centerline is valid? [True, True] Translation: X:108.15, Y:22.55, Z:-0.25 [[ 8.97120238e-01 -4.41750917e-01 -5.60404808e-03 1.08146607e+02] [ 4.41743357e-01 8.97137729e-01 -2.58883769e-03 2.25532448e+01] [ 6.17122439e-03 -1.53052331e-04 9.99980946e-01 -2.49190814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57576923100001 meters 0.02841263210421764 Centerline is valid? [True, True] Translation: X:108.17, Y:22.56, Z:-0.25 [[ 8.97462117e-01 -4.41066295e-01 -4.71930085e-03 1.08173308e+02] [ 4.41060920e-01 8.97474516e-01 -2.18115902e-03 2.25639571e+01] [ 5.19748797e-03 -1.23991584e-04 9.99986485e-01 -2.47338095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60576923100001 meters 0.029328781256206672 Centerline is valid? [True, True] Translation: X:108.20, Y:22.57, Z:-0.25 [[ 8.97722468e-01 -4.40547487e-01 -3.50464463e-03 1.08199865e+02] [ 4.40544518e-01 8.97729304e-01 -1.61987164e-03 2.25728394e+01] [ 3.85985256e-03 -8.97568122e-05 9.99992547e-01 -2.45113056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63576923100001 meters 0.027238772015095697 Centerline is valid? [True, True] Translation: X:108.23, Y:22.59, Z:-0.24 [[ 8.98341772e-01 -4.39292935e-01 -1.94342533e-03 1.08225674e+02] [ 4.39292018e-01 8.98343873e-01 -8.98962126e-04 2.25859980e+01] [ 2.14077195e-03 -4.61560070e-05 9.99997707e-01 -2.42269597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66576923100001 meters 0.026355587561237806 Centerline is valid? [True, True] Translation: X:108.25, Y:22.60, Z:-0.24 [[ 8.98947964e-01 -4.38046411e-01 -2.81082693e-03 1.08250945e+02] [ 4.38044486e-01 8.98952356e-01 -1.30012734e-03 2.25973358e+01] [ 3.09631560e-03 -6.25204153e-05 9.99995204e-01 -2.44274128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69576923100001 meters 0.025091070114792502 Centerline is valid? [True, True] Translation: X:108.28, Y:22.61, Z:-0.25 [[ 8.99524716e-01 -4.36850030e-01 -4.16369573e-03 1.08277152e+02] [ 4.36845789e-01 8.99534349e-01 -1.92679977e-03 2.26095784e+01] [ 4.58710987e-03 -8.56889280e-05 9.99989475e-01 -2.47526358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.725769231 meters 0.023341606276978455 Centerline is valid? [True, True] Translation: X:108.30, Y:22.62, Z:-0.25 [[ 9.00702735e-01 -4.34371718e-01 -7.46946567e-03 1.08301494e+02] [ 4.34357975e-01 9.00733697e-01 -3.45775070e-03 2.26227914e+01] [ 8.22994854e-03 -1.30016475e-04 9.99966125e-01 -2.53875566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.755769231 meters 0.023341606276978455 Centerline is valid? [True, True] Translation: X:108.33, Y:22.63, Z:-0.25 [[ 9.00621681e-01 -4.34539763e-01 -7.46879896e-03 1.08326359e+02] [ 4.34526013e-01 9.00652640e-01 -3.45919066e-03 2.26345165e+01] [ 8.22994939e-03 -1.29965328e-04 9.99966125e-01 -2.53934619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.785769231 meters 0.02035778521809128 Centerline is valid? [True, True] Translation: X:108.35, Y:22.65, Z:-0.25 [[ 9.01400470e-01 -4.32920159e-01 -7.57158104e-03 1.08350896e+02] [ 4.32905960e-01 9.01432262e-01 -3.50819481e-03 2.26512275e+01] [ 8.34403568e-03 -1.15494104e-04 9.99965181e-01 -2.52382179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.815769231 meters 0.01844467581493746 Centerline is valid? [True, True] Translation: X:108.38, Y:22.66, Z:-0.25 [[ 9.03014044e-01 -4.29580625e-01 -5.11101114e-03 1.08377016e+02] [ 4.29574101e-01 9.03028506e-01 -2.36828394e-03 2.26622166e+01] [ 5.63275765e-03 -5.69643545e-05 9.99984134e-01 -2.49016846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.845769231 meters 0.017311578329157508 Centerline is valid? [True, True] Translation: X:108.40, Y:22.67, Z:-0.25 [[ 9.03618474e-01 -4.28318045e-01 -4.16006534e-03 1.08403020e+02] [ 4.28313707e-01 9.03628049e-01 -1.92797404e-03 2.26731132e+01] [ 4.58493780e-03 -3.96600462e-05 9.99989488e-01 -2.47227878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.875769231 meters 0.016581513685978138 Centerline is valid? [True, True] Translation: X:108.43, Y:22.68, Z:-0.25 [[ 9.03875268e-01 -4.27774809e-01 -4.26765740e-03 1.08428335e+02] [ 4.27770232e-01 9.03885342e-01 -1.97911231e-03 2.26848785e+01] [ 4.70408736e-03 -3.67061266e-05 9.99988935e-01 -2.47032434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90576923100001 meters 0.015739068331730464 Centerline is valid? [True, True] Translation: X:108.45, Y:22.70, Z:-0.25 [[ 9.04455298e-01 -4.26540467e-01 -4.88305767e-03 1.08453310e+02] [ 4.26534452e-01 9.04468479e-01 -2.26554536e-03 2.26986104e+01] [ 5.38291852e-03 -3.37078181e-05 9.99985511e-01 -2.48480084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93576923100001 meters 0.014800259256274258 Centerline is valid? [True, True] Translation: X:108.48, Y:22.71, Z:-0.25 [[ 9.04956248e-01 -4.25486716e-01 -3.90425265e-03 1.08478394e+02] [ 4.25482857e-01 9.04964670e-01 -1.81224314e-03 2.27122200e+01] [ 4.30429609e-03 -2.11918145e-05 9.99990736e-01 -2.46539808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96576923100001 meters 0.013923366577269381 Centerline is valid? [True, True] Translation: X:108.50, Y:22.72, Z:-0.25 [[ 9.05670764e-01 -4.23971511e-01 -2.93667727e-03 1.08504992e+02] [ 4.23969318e-01 9.05675525e-01 -1.36382533e-03 2.27238819e+01] [ 3.23789982e-03 -9.88433254e-06 9.99994758e-01 -2.45509456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99576923100001 meters 0.01400693065053429 Centerline is valid? [True, True] Translation: X:108.53, Y:22.73, Z:-0.25 [[ 9.05650484e-01 -4.24012598e-01 -3.24309621e-03 1.08530497e+02] [ 4.24009923e-01 9.05656291e-01 -1.50621706e-03 2.27342152e+01] [ 3.57578549e-03 -1.09987651e-05 9.99993607e-01 -2.46134478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02576923100001 meters 0.020036715777722522 Centerline is valid? [True, True] Translation: X:108.56, Y:22.75, Z:-0.24 [[ 9.05220215e-01 -4.24926161e-01 -3.75771941e-03 1.08556972e+02] [ 4.24922573e-01 9.05228014e-01 -1.74616783e-03 2.27451351e+01] [ 4.14358528e-03 -1.60733859e-05 9.99991415e-01 -2.42146256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05576923100001 meters 0.015485048066035442 Centerline is valid? [True, True] Translation: X:108.59, Y:22.75, Z:-0.25 [[ 9.04002136e-01 -4.27500534e-01 -4.84059705e-03 1.08585593e+02] [ 4.27494613e-01 9.04015095e-01 -2.25025706e-03 2.27517663e+01] [ 5.33795890e-03 -3.50919803e-05 9.99985752e-01 -2.48593854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08576923100001 meters 0.01684294249927535 Centerline is valid? [True, True] Translation: X:108.61, Y:22.76, Z:-0.25 [[ 9.03383323e-01 -4.28801975e-01 -5.23809281e-03 1.08612744e+02] [ 4.28795063e-01 9.03398508e-01 -2.43513348e-03 2.27588380e+01] [ 5.77627527e-03 -4.62093577e-05 9.99983316e-01 -2.50163703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.115769231 meters 0.017794616344170334 Centerline is valid? [True, True] Translation: X:108.64, Y:22.76, Z:-0.25 [[ 9.02367418e-01 -4.30956355e-01 -3.10862133e-03 1.08641659e+02] [ 4.30953930e-01 9.02372772e-01 -1.44623832e-03 2.27631016e+01] [ 3.42840084e-03 -3.46342443e-05 9.99994122e-01 -2.45704441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.145769231 meters 0.018091437330517116 Centerline is valid? [True, True] Translation: X:108.67, Y:22.77, Z:-0.24 [[ 9.01837566e-01 -4.32073054e-01 -1.37125011e-03 1.08668032e+02] [ 4.32072583e-01 9.01838608e-01 -6.38526207e-04 2.27717960e+01] [ 1.51253626e-03 -1.66326579e-05 9.99998856e-01 -2.42237821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.175769231 meters 0.019204657324949664 Centerline is valid? [True, True] Translation: X:108.70, Y:22.78, Z:-0.24 [[ 9.01115022e-01 -4.33579400e-01 -7.87842818e-04 1.08695587e+02] [ 4.33579244e-01 9.01115367e-01 -3.67156024e-04 2.27798835e+01] [ 8.69128559e-04 -1.07424849e-05 9.99999622e-01 -2.41114256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.205769231 meters 0.02235082366912699 Centerline is valid? [True, True] Translation: X:108.73, Y:22.78, Z:-0.24 [[ 8.99680509e-01 -4.36542645e-01 -2.34521820e-03 1.08725259e+02] [ 4.36541281e-01 8.99683565e-01 -1.09206895e-03 2.27818258e+01] [ 2.58668893e-03 -4.12714080e-05 9.99996654e-01 -2.44130426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.235769231 meters 0.02255176936785115 Centerline is valid? [True, True] Translation: X:108.75, Y:22.79, Z:-0.24 [[ 8.99505100e-01 -4.36900414e-01 -2.93320040e-03 1.08752842e+02] [ 4.36898280e-01 8.99509881e-01 -1.36667335e-03 2.27910582e+01] [ 3.23554289e-03 -5.21805625e-05 9.99994764e-01 -2.44553118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26576923100001 meters 0.01914989334109988 Centerline is valid? [True, True] Translation: X:108.78, Y:22.80, Z:-0.24 [[ 9.01490035e-01 -4.32797405e-01 -1.45677218e-03 1.08777379e+02] [ 4.32796873e-01 9.01491212e-01 -6.78906820e-04 2.28035894e+01] [ 1.60709643e-03 -1.84587100e-05 9.99998708e-01 -2.41572798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29576923100001 meters 0.015867559006583452 Centerline is valid? [True, True] Translation: X:108.80, Y:22.82, Z:-0.24 [[ 9.03057887e-01 -4.29517175e-01 -1.20381375e-03 1.08801631e+02] [ 4.29516808e-01 9.03058689e-01 -5.61481135e-04 2.28206510e+01] [ 1.32828026e-03 -1.00082712e-05 9.99999118e-01 -2.40241167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32576923100001 meters 0.013850487962642592 Centerline is valid? [True, True] Translation: X:108.82, Y:22.84, Z:-0.24 [[ 9.04774158e-01 -4.25887589e-01 -1.86639632e-03 1.08824851e+02] [ 4.25886700e-01 9.04776083e-01 -8.70193276e-04 2.28368107e+01] [ 2.05927527e-03 -7.54498340e-06 9.99997880e-01 -2.41696659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35576923100001 meters 0.01451723127096683 Centerline is valid? [True, True] Translation: X:108.85, Y:22.86, Z:-0.25 [[ 9.08031794e-01 -4.18881396e-01 -4.07896837e-03 1.08846216e+02] [ 4.18877076e-01 9.08040955e-01 -1.90259031e-03 2.28582527e+01] [ 4.50083001e-03 1.90261460e-05 9.99989871e-01 -2.47787166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38576923100001 meters 0.01586140348852398 Centerline is valid? [True, True] Translation: X:108.87, Y:22.87, Z:-0.25 [[ 9.09228592e-01 -4.16273757e-01 -4.41895360e-03 1.08870757e+02] [ 4.16268651e-01 9.09239329e-01 -2.06208263e-03 2.28733688e+01] [ 4.87627730e-03 3.54326318e-05 9.99988110e-01 -2.48513348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41576923100001 meters 0.01758602494870604 Centerline is valid? [True, True] Translation: X:108.90, Y:22.89, Z:-0.25 [[ 9.10175559e-01 -4.14192541e-01 -4.99912639e-03 1.08895681e+02] [ 4.14185973e-01 9.10189286e-01 -2.33312158e-03 2.28866556e+01] [ 5.51651283e-03 5.29822099e-05 9.99984783e-01 -2.49364363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44576923100001 meters 0.01790171245084253 Centerline is valid? [True, True] Translation: X:108.92, Y:22.90, Z:-0.25 [[ 9.10204481e-01 -4.14122500e-01 -5.50978452e-03 1.08922340e+02] [ 4.14114513e-01 9.10221155e-01 -2.57271355e-03 2.28985553e+01] [ 6.08054100e-03 6.00136691e-05 9.99981512e-01 -2.50596692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.475769231 meters 0.01877893449527445 Centerline is valid? [True, True] Translation: X:108.95, Y:22.91, Z:-0.25 [[ 9.10193257e-01 -4.14141939e-01 -5.88972000e-03 1.08947359e+02] [ 4.14132812e-01 9.10212311e-01 -2.75025970e-03 2.29109318e+01] [ 6.49989354e-03 6.41415331e-05 9.99978873e-01 -2.52386959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.505769231 meters 0.019201650629633343 Centerline is valid? [True, True] Translation: X:108.97, Y:22.92, Z:-0.25 [[ 9.10760123e-01 -4.12894112e-01 -5.86938859e-03 1.08972637e+02] [ 4.12885013e-01 9.10779033e-01 -2.74219680e-03 2.29247250e+01] [ 6.47795298e-03 7.41009091e-05 9.99979015e-01 -2.51532479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.535769231 meters 0.021270033193853666 Centerline is valid? [True, True] Translation: X:109.00, Y:22.94, Z:-0.25 [[ 9.11647850e-01 -4.10938439e-01 -5.27229047e-03 1.08995695e+02] [ 4.10931064e-01 9.11663092e-01 -2.46339440e-03 2.29406797e+01] [ 5.81885608e-03 7.92002748e-05 9.99983067e-01 -2.51000598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.565769231 meters 0.026216762142687536 Centerline is valid? [True, True] Translation: X:109.02, Y:22.96, Z:-0.25 [[ 9.14158953e-01 -4.05333968e-01 -4.21705367e-03 1.09017065e+02] [ 4.05329189e-01 9.14168675e-01 -1.97050555e-03 2.29637040e+01] [ 4.65381120e-03 9.20603473e-05 9.99989167e-01 -2.47001973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.595769231 meters 0.031248328156617523 Centerline is valid? [True, True] Translation: X:109.04, Y:22.98, Z:-0.25 [[ 9.15435136e-01 -4.02445300e-01 -4.03633322e-03 1.09038688e+02] [ 4.02440892e-01 9.15444029e-01 -1.88631878e-03 2.29845865e+01] [ 4.45417727e-03 1.02416943e-04 9.99990075e-01 -2.47363451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.625769231 meters 0.034593811528832334 Centerline is valid? [True, True] Translation: X:109.06, Y:23.00, Z:-0.25 [[ 9.16512953e-01 -3.99987600e-01 -3.73173156e-03 1.09061070e+02] [ 3.99983812e-01 9.16520544e-01 -1.74417606e-03 2.30034978e+01] [ 4.11785744e-03 1.05927743e-04 9.99991516e-01 -2.47403390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65576923100001 meters 0.038542154207162414 Centerline is valid? [True, True] Translation: X:109.08, Y:23.03, Z:-0.25 [[ 9.18089776e-01 -3.96357920e-01 -3.40037004e-03 1.09082592e+02] [ 3.96354749e-01 9.18096066e-01 -1.58940842e-03 2.30263803e+01] [ 3.75184097e-03 1.11466802e-04 9.99992956e-01 -2.47207560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68576923100001 meters 0.04034495534334552 Centerline is valid? [True, True] Translation: X:109.11, Y:23.04, Z:-0.25 [[ 9.18530320e-01 -3.95333452e-01 -3.67599722e-03 1.09105063e+02] [ 3.95329736e-01 9.18537667e-01 -1.71862259e-03 2.30428835e+01] [ 4.05597092e-03 1.25375945e-04 9.99991767e-01 -2.47344022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71576923100001 meters 0.04118990139889516 Centerline is valid? [True, True] Translation: X:109.13, Y:23.06, Z:-0.25 [[ 9.18814019e-01 -3.94665310e-01 -4.48226811e-03 1.09128704e+02] [ 3.94659776e-01 9.18824939e-01 -2.09603630e-03 2.30592179e+01] [ 4.94565254e-03 1.56896609e-04 9.99987758e-01 -2.47905979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74576923100001 meters 0.042489325958476855 Centerline is valid? [True, True] Translation: X:109.15, Y:23.08, Z:-0.25 [[ 9.19075621e-01 -3.94054097e-01 -4.62292075e-03 1.09150886e+02] [ 3.94048197e-01 9.19087232e-01 -2.16285056e-03 2.30804198e+01] [ 5.10114756e-03 1.66169636e-04 9.99986975e-01 -2.47651412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77576923100001 meters 0.038264062227395486 Centerline is valid? [True, True] Translation: X:109.18, Y:23.09, Z:-0.24 [[ 9.18755833e-01 -3.94815909e-01 -2.84917245e-03 1.09177477e+02] [ 3.94813670e-01 9.18760245e-01 -1.33372506e-03 2.30909328e+01] [ 3.14428225e-03 1.00475453e-04 9.99995052e-01 -2.43710200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80576923100001 meters 0.03673488563907272 Centerline is valid? [True, True] Translation: X:109.20, Y:23.11, Z:-0.24 [[ 9.18054951e-01 -3.96452126e-01 9.05194492e-04 1.09201669e+02] [ 3.96451901e-01 9.18055397e-01 4.23547893e-04 2.31062374e+01] [-9.98935151e-04 -2.99741631e-05 9.99999501e-01 -2.38049351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83576923100001 meters 0.0339693755950787 Centerline is valid? [True, True] Translation: X:109.23, Y:23.12, Z:-0.24 [[ 9.17478421e-01 -3.97783651e-01 1.23027652e-03 1.09228309e+02] [ 3.97783237e-01 9.17479245e-01 5.75661363e-04 2.31171045e+01] [-1.35774185e-03 -3.87735023e-05 9.99999078e-01 -2.37690175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.865769231 meters 0.03585549260552603 Centerline is valid? [True, True] Translation: X:109.25, Y:23.13, Z:-0.24 [[ 9.16774300e-01 -3.99405222e-01 5.93307101e-04 1.09251310e+02] [ 3.99405125e-01 9.16774492e-01 2.77708741e-04 2.31327762e+01] [-6.54847137e-04 -1.76263401e-05 9.99999785e-01 -2.39833127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.895769231 meters 0.02754175351688179 Centerline is valid? [True, True] Translation: X:109.28, Y:23.14, Z:-0.24 [[ 9.14370179e-01 -4.04874695e-01 -1.91245234e-03 1.09282529e+02] [ 4.04873706e-01 9.14372178e-01 -8.96229490e-04 2.31367866e+01] [ 2.11155385e-03 4.51838543e-05 9.99997770e-01 -2.43890712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.925769231 meters 0.023522234670744775 Centerline is valid? [True, True] Translation: X:109.31, Y:23.14, Z:-0.25 [[ 9.12559092e-01 -4.08938507e-01 -2.28050505e-03 1.09310315e+02] [ 4.08937113e-01 9.12561941e-01 -1.06857468e-03 2.31436113e+01] [ 2.51808345e-03 4.25543840e-05 9.99996829e-01 -2.45050622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.955769231 meters 0.016264720055892603 Centerline is valid? [True, True] Translation: X:109.34, Y:23.15, Z:-0.24 [[ 9.09009220e-01 -4.16773994e-01 -1.29442868e-03 1.09341954e+02] [ 4.16773552e-01 9.09010142e-01 -6.07038909e-04 2.31457256e+01] [ 1.42964683e-03 1.23203281e-05 9.99998978e-01 -2.43601213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.985769231 meters 0.014287053128226632 Centerline is valid? [True, True] Translation: X:109.37, Y:23.15, Z:-0.24 [[ 9.07592515e-01 -4.19851532e-01 -7.19646945e-04 1.09370317e+02] [ 4.19851397e-01 9.07592800e-01 -3.37828869e-04 2.31541057e+01] [ 7.94984354e-04 4.46617782e-06 9.99999684e-01 -2.42282747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01576923100001 meters 0.012977067335385045 Centerline is valid? [True, True] Translation: X:109.40, Y:23.16, Z:-0.24 [[ 9.05786139e-01 -4.23733273e-01 -1.25893350e-03 1.09398320e+02] [ 4.23732861e-01 9.05787013e-01 -5.90952206e-04 2.31620062e+01] [ 1.39073173e-03 1.82482321e-06 9.99999033e-01 -2.42401676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04576923100001 meters 0.013081445205805018 Centerline is valid? [True, True] Translation: X:109.42, Y:23.17, Z:-0.24 [[ 9.05302619e-01 -4.24761486e-01 -2.20174510e-03 1.09423261e+02] [ 4.24760228e-01 9.05305297e-01 -1.03378992e-03 2.31740844e+01] [ 2.43236565e-03 6.78968839e-07 9.99997042e-01 -2.43851907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07576923100001 meters 0.013290213929843324 Centerline is valid? [True, True] Translation: X:109.45, Y:23.19, Z:-0.25 [[ 9.05070354e-01 -4.25248653e-01 -3.35204832e-03 1.09449062e+02] [ 4.25245739e-01 9.05076562e-01 -1.57427469e-03 2.31876207e+01] [ 3.70331856e-03 -6.14909510e-07 9.99993143e-01 -2.45712049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10576923100001 meters 0.013171921190273167 Centerline is valid? [True, True] Translation: X:109.47, Y:23.20, Z:-0.25 [[ 9.04839539e-01 -4.25740955e-01 -3.16977131e-03 1.09473932e+02] [ 4.25738350e-01 9.04845091e-01 -1.48949400e-03 2.32004995e+01] [ 3.50229061e-03 -1.74013678e-06 9.99993867e-01 -2.45859745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13576923100001 meters 0.01296359416130097 Centerline is valid? [True, True] Translation: X:109.50, Y:23.21, Z:-0.24 [[ 9.04697996e-01 -4.26049207e-01 -1.89965703e-03 1.09498663e+02] [ 4.26048270e-01 9.04699991e-01 -8.93280030e-04 2.32125264e+01] [ 2.09920095e-03 -1.19693874e-06 9.99997797e-01 -2.44299111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16576923100001 meters 0.012622791303806292 Centerline is valid? [True, True] Translation: X:109.52, Y:23.23, Z:-0.24 [[ 9.04308262e-01 -4.26878964e-01 9.57731447e-04 1.09523578e+02] [ 4.26878727e-01 9.04308769e-01 4.50060625e-04 2.32258314e+01] [-1.05820636e-03 1.84163911e-06 9.99999440e-01 -2.37863507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19576923100001 meters 0.012825754372152883 Centerline is valid? [True, True] Translation: X:109.55, Y:23.24, Z:-0.24 [[ 9.03798358e-01 -4.27956779e-01 1.23468704e-03 1.09548830e+02] [ 4.27956385e-01 9.03799201e-01 5.80226048e-04 2.32380966e+01] [-1.36422083e-03 3.98485499e-06 9.99999069e-01 -2.37258248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.225769231 meters 0.013358186188203221 Centerline is valid? [True, True] Translation: X:109.57, Y:23.25, Z:-0.24 [[ 9.03217902e-01 -4.29181959e-01 5.17974258e-04 1.09574113e+02] [ 4.29181890e-01 9.03218050e-01 2.43283775e-04 2.32492497e+01] [-5.72256706e-04 2.56690972e-06 9.99999836e-01 -2.39180045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.255769231 meters 0.014203975456987804 Centerline is valid? [True, True] Translation: X:109.60, Y:23.26, Z:-0.24 [[ 9.02693806e-01 -4.30282127e-01 -1.08824734e-03 1.09600722e+02] [ 4.30281822e-01 9.02694461e-01 -5.12601183e-04 2.32604470e+01] [ 1.20291798e-03 -5.53113737e-06 9.99999276e-01 -2.43376661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.285769231 meters 0.015065366332399235 Centerline is valid? [True, True] Translation: X:109.63, Y:23.27, Z:-0.25 [[ 9.02013592e-01 -4.31691559e-01 -3.72525297e-03 1.09627630e+02] [ 4.31687995e-01 9.02021284e-01 -1.75457230e-03 2.32705502e+01] [ 4.11769151e-03 -2.54989237e-05 9.99991522e-01 -2.49436685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.315769231 meters 0.017089785193530917 Centerline is valid? [True, True] Translation: X:109.66, Y:23.28, Z:-0.25 [[ 9.00454575e-01 -4.34935121e-01 -3.60555001e-03 1.09656253e+02] [ 4.34931804e-01 9.00461792e-01 -1.69893033e-03 2.32776748e+01] [ 3.98558449e-03 -3.83587867e-05 9.99992057e-01 -2.48451682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.345769231 meters 0.01923765011485018 Centerline is valid? [True, True] Translation: X:109.68, Y:23.29, Z:-0.25 [[ 8.99615738e-01 -4.36672838e-01 -2.89074210e-03 1.09683806e+02] [ 4.36670715e-01 8.99620382e-01 -1.36214485e-03 2.32850769e+01] [ 3.19538217e-03 -3.68954768e-05 9.99994894e-01 -2.47641994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.375769231 meters 0.021071695944624432 Centerline is valid? [True, True] Translation: X:109.71, Y:23.29, Z:-0.25 [[ 8.99061686e-01 -4.37816863e-01 -2.11643613e-03 1.09710662e+02] [ 4.37815728e-01 8.99064176e-01 -9.97672373e-04 2.32921739e+01] [ 2.33960970e-03 -2.96400204e-05 9.99997263e-01 -2.46424907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40576923100001 meters 0.01880942245075721 Centerline is valid? [True, True] Translation: X:109.74, Y:23.31, Z:-0.24 [[ 8.98841951e-01 -4.38268328e-01 -2.00488730e-03 1.09735346e+02] [ 4.38267308e-01 8.98844187e-01 -9.45803944e-04 2.33060577e+01] [ 2.21659721e-03 -2.85482984e-05 9.99997543e-01 -2.44297850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43576923100001 meters 0.01892216769441306 Centerline is valid? [True, True] Translation: X:109.76, Y:23.32, Z:-0.25 [[ 8.99161850e-01 -4.37605451e-01 -3.07207233e-03 1.09760795e+02] [ 4.37603054e-01 8.99167097e-01 -1.44891154e-03 2.33175545e+01] [ 3.39635795e-03 -4.15422508e-05 9.99994231e-01 -2.46544000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46576923100001 meters 0.020595946423566082 Centerline is valid? [True, True] Translation: X:109.79, Y:23.33, Z:-0.25 [[ 8.99322503e-01 -4.37271551e-01 -3.55339986e-03 1.09786470e+02] [ 4.37268339e-01 8.99329522e-01 -1.67661763e-03 2.33267814e+01] [ 3.92881458e-03 -4.59692916e-05 9.99992281e-01 -2.49800433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49576923100001 meters 0.01710953041413392 Centerline is valid? [True, True] Translation: X:109.81, Y:23.34, Z:-0.25 [[ 9.00142733e-01 -4.35580701e-01 -3.53743802e-03 1.09810998e+02] [ 4.35577502e-01 9.00149683e-01 -1.66988063e-03 2.33429681e+01] [ 3.91159149e-03 -3.76974970e-05 9.99992349e-01 -2.48997159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52576923100001 meters 0.0155573697463568 Centerline is valid? [True, True] Translation: X:109.84, Y:23.36, Z:-0.25 [[ 9.00833455e-01 -4.34152605e-01 -3.25616250e-03 1.09835711e+02] [ 4.34149882e-01 9.00839339e-01 -1.53782136e-03 2.33574381e+01] [ 3.60092842e-03 -2.83416327e-05 9.99993516e-01 -2.47448949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55576923100001 meters 0.013478778165796313 Centerline is valid? [True, True] Translation: X:109.86, Y:23.37, Z:-0.25 [[ 9.02894266e-01 -4.29852483e-01 -2.96429289e-03 1.09858754e+02] [ 4.29850203e-01 9.02899132e-01 -1.39997245e-03 2.33746559e+01] [ 3.27823911e-03 -1.01747998e-05 9.99994627e-01 -2.46369877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58576923100001 meters 0.01310217768845461 Centerline is valid? [True, True] Translation: X:109.88, Y:23.39, Z:-0.25 [[ 9.03950943e-01 -4.27622394e-01 -3.43227775e-03 1.09882072e+02] [ 4.27619318e-01 9.03957459e-01 -1.62208347e-03 2.33903047e+01] [ 3.79627229e-03 -1.42438190e-06 9.99992794e-01 -2.47039654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.615769231 meters 0.013362137293537196 Centerline is valid? [True, True] Translation: X:109.90, Y:23.41, Z:-0.25 [[ 9.04933615e-01 -4.25537128e-01 -3.64769237e-03 1.09904531e+02] [ 4.25533634e-01 9.04940967e-01 -1.72429669e-03 2.34059402e+01] [ 4.03469852e-03 8.15825060e-06 9.99991861e-01 -2.48550086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.645769231 meters 0.01403614992212893 Centerline is valid? [True, True] Translation: X:109.93, Y:23.42, Z:-0.25 [[ 9.05815215e-01 -4.23657712e-01 -3.59721202e-03 1.09928062e+02] [ 4.23654297e-01 9.05822357e-01 -1.70124333e-03 2.34229251e+01] [ 3.97917993e-03 1.70377662e-05 9.99992083e-01 -2.49487501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.675769231 meters 0.01657599211368686 Centerline is valid? [True, True] Translation: X:109.95, Y:23.45, Z:-0.25 [[ 9.07586653e-01 -4.19846165e-01 -3.95790449e-03 1.09949017e+02] [ 4.19841994e-01 9.07595282e-01 -1.87181978e-03 2.34450809e+01] [ 4.37805180e-03 3.71441340e-05 9.99990416e-01 -2.50908075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.705769231 meters 0.01657599211368686 Centerline is valid? [True, True] Translation: X:109.97, Y:23.46, Z:-0.25 [[ 9.07507763e-01 -4.20016664e-01 -3.95743401e-03 1.09973773e+02] [ 4.20012490e-01 9.07516391e-01 -1.87281440e-03 2.34570108e+01] [ 4.37804949e-03 3.74218879e-05 9.99990416e-01 -2.50967112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.735769231 meters 0.019550536294514802 Centerline is valid? [True, True] Translation: X:109.99, Y:23.48, Z:-0.25 [[ 9.08850218e-01 -4.17091422e-01 -5.10167540e-03 1.09994456e+02] [ 4.17084438e-01 9.08864534e-01 -2.41449564e-03 2.34792513e+01] [ 5.64379725e-03 6.65854747e-05 9.99984071e-01 -2.52830622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76576923100001 meters 0.02015245552515966 Centerline is valid? [True, True] Translation: X:110.02, Y:23.50, Z:-0.25 [[ 9.09193447e-01 -4.16340530e-01 -5.27619431e-03 1.10018776e+02] [ 4.16333041e-01 9.09208753e-01 -2.49833347e-03 2.34959143e+01] [ 5.83731953e-03 7.48143958e-05 9.99982960e-01 -2.51975174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79576923100001 meters 0.021303602907770128 Centerline is valid? [True, True] Translation: X:110.04, Y:23.51, Z:-0.25 [[ 9.09560796e-01 -4.15539300e-01 -5.12332622e-03 1.10041992e+02] [ 4.15532223e-01 9.09575222e-01 -2.42632693e-03 2.35128357e+01] [ 5.66828478e-03 7.79847188e-05 9.99983932e-01 -2.51451586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82576923100001 meters 0.020966177986666428 Centerline is valid? [True, True] Translation: X:110.07, Y:23.53, Z:-0.25 [[ 9.09521808e-01 -4.15623883e-01 -5.18361271e-03 1.10066108e+02] [ 4.15616632e-01 9.09536575e-01 -2.45631438e-03 2.35276900e+01] [ 5.73558828e-03 7.96758396e-05 9.99983548e-01 -2.50540057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85576923100001 meters 0.01955690926329143 Centerline is valid? [True, True] Translation: X:110.09, Y:23.54, Z:-0.25 [[ 9.08658282e-01 -4.17513794e-01 -4.72853807e-03 1.10089507e+02] [ 4.17507785e-01 9.08670583e-01 -2.24096891e-03 2.35435187e+01] [ 5.23231887e-03 6.20735076e-05 9.99986309e-01 -2.51178174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88576923100001 meters 0.01691618523711214 Centerline is valid? [True, True] Translation: X:110.12, Y:23.55, Z:-0.25 [[ 9.07560091e-01 -4.19905604e-01 -3.73692547e-03 1.10116525e+02] [ 4.19901867e-01 9.07567784e-01 -1.77201554e-03 2.35543597e+01] [ 4.13559242e-03 3.90686019e-05 9.99991448e-01 -2.49236291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91576923100001 meters 0.013928641623248098 Centerline is valid? [True, True] Translation: X:110.14, Y:23.56, Z:-0.25 [[ 9.05403866e-01 -4.24546399e-01 -2.04794205e-03 1.10142579e+02] [ 4.24545288e-01 9.05406182e-01 -9.71185194e-04 2.35649599e+01] [ 2.26653257e-03 9.87068264e-06 9.99997431e-01 -2.46381539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94576923100001 meters 0.012862739322834797 Centerline is valid? [True, True] Translation: X:110.17, Y:23.58, Z:-0.24 [[ 9.04385119e-01 -4.26716141e-01 -9.43959030e-04 1.10168708e+02] [ 4.26715906e-01 9.04385612e-01 -4.48141982e-04 2.35765551e+01] [ 1.04493238e-03 2.49060760e-06 9.99999454e-01 -2.44063142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.975769231 meters 0.012578379775814977 Centerline is valid? [True, True] Translation: X:110.19, Y:23.59, Z:-0.24 [[ 9.03651657e-01 -4.28267890e-01 -5.44939109e-04 1.10193638e+02] [ 4.28267811e-01 9.03651822e-01 -2.59043999e-04 2.35887285e+01] [ 6.03375445e-04 7.05659779e-07 9.99999818e-01 -2.42678483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.005769231 meters 0.012612832390319505 Centerline is valid? [True, True] Translation: X:110.22, Y:23.60, Z:-0.24 [[ 9.02965488e-01 -4.29712900e-01 -3.88560651e-04 1.10216448e+02] [ 4.29712861e-01 9.02965572e-01 -1.84623912e-04 2.36035446e+01] [ 4.30192167e-04 -2.60487831e-07 9.99999907e-01 -2.42765767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.035769231 meters 0.012610033328202038 Centerline is valid? [True, True] Translation: X:110.24, Y:23.62, Z:-0.24 [[ 9.02610045e-01 -4.30459146e-01 -1.74141490e-04 1.10240547e+02] [ 4.30459138e-01 9.02610062e-01 -8.31436151e-05 2.36175839e+01] [ 1.92971791e-04 8.54664675e-08 9.99999981e-01 -2.42174988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.065769231 meters 0.012803118175772137 Centerline is valid? [True, True] Translation: X:110.26, Y:23.63, Z:-0.24 [[ 9.02334571e-01 -4.31036326e-01 8.16890527e-05 1.10264420e+02] [ 4.31036325e-01 9.02334575e-01 3.86091195e-05 2.36300824e+01] [-9.03527897e-05 3.72605692e-07 9.99999996e-01 -2.41736377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.095769231 meters 0.013484822423019153 Centerline is valid? [True, True] Translation: X:110.29, Y:23.64, Z:-0.24 [[ 9.01264371e-01 -4.33269578e-01 7.91376580e-05 1.10289855e+02] [ 4.33269577e-01 9.01264374e-01 3.73894253e-05 2.36425955e+01] [-8.75236524e-05 5.90182668e-07 9.99999996e-01 -2.41516826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.125769231 meters 0.014982873139437363 Centerline is valid? [True, True] Translation: X:110.31, Y:23.66, Z:-0.25 [[ 9.00453024e-01 -4.34946793e-01 -2.37447680e-03 1.10314253e+02] [ 4.34945330e-01 9.00456155e-01 -1.12843174e-03 2.36553196e+01] [ 2.62892002e-03 -1.66678197e-05 9.99996544e-01 -2.46858622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15576923100001 meters 0.015167817943897294 Centerline is valid? [True, True] Translation: X:110.34, Y:23.67, Z:-0.25 [[ 9.00074295e-01 -4.35720771e-01 -3.69779058e-03 1.10339750e+02] [ 4.35717224e-01 9.00081890e-01 -1.75824865e-03 2.36695609e+01] [ 4.09441979e-03 -2.86366293e-05 9.99991617e-01 -2.49659179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18576923100001 meters 0.01622357689096736 Centerline is valid? [True, True] Translation: X:110.37, Y:23.68, Z:-0.25 [[ 8.99549449e-01 -4.36794603e-01 -4.61121334e-03 1.10365392e+02] [ 4.36789102e-01 8.99561267e-01 -2.19254879e-03 2.36800215e+01] [ 5.10576239e-03 -4.18216765e-05 9.99986965e-01 -2.51729826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21576923100001 meters 0.018601755264916475 Centerline is valid? [True, True] Translation: X:110.39, Y:23.69, Z:-0.25 [[ 8.98756560e-01 -4.38426409e-01 -4.35091666e-03 1.10392024e+02] [ 4.38421529e-01 8.98767090e-01 -2.06909639e-03 2.36881133e+01] [ 4.81760720e-03 -4.79215868e-05 9.99988394e-01 -2.53148509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24576923100001 meters 0.01971404270998742 Centerline is valid? [True, True] Translation: X:110.42, Y:23.70, Z:-0.25 [[ 8.97155768e-01 -4.41707580e-01 -2.43746420e-03 1.10418310e+02] [ 4.41706059e-01 8.97159079e-01 -1.15995018e-03 2.37007762e+01] [ 2.69915192e-03 -3.59867100e-05 9.99996357e-01 -2.47674422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27576923100001 meters 0.020800769234748332 Centerline is valid? [True, True] Translation: X:110.45, Y:23.71, Z:-0.25 [[ 8.96432681e-01 -4.43175621e-01 -1.95388362e-03 1.10445089e+02] [ 4.43174646e-01 8.96434810e-01 -9.30291943e-04 2.37124328e+01] [ 2.16381200e-03 -3.19675779e-05 9.99997658e-01 -2.46770154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30576923100001 meters 0.021477965791439083 Centerline is valid? [True, True] Translation: X:110.47, Y:23.72, Z:-0.25 [[ 8.95876818e-01 -4.44296154e-01 -2.37783927e-03 1.10471843e+02] [ 4.44294713e-01 8.95879973e-01 -1.13255043e-03 2.37238592e+01] [ 2.63344638e-03 -4.18357342e-05 9.99996532e-01 -2.47590374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33576923100001 meters 0.022287260143383388 Centerline is valid? [True, True] Translation: X:110.50, Y:23.74, Z:-0.25 [[ 8.95941021e-01 -4.44161679e-01 -3.17649131e-03 1.10496000e+02] [ 4.44159106e-01 8.95946650e-01 -1.51293495e-03 2.37350274e+01] [ 3.51795448e-03 -5.53670573e-05 9.99993810e-01 -2.49634484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.365769231 meters 0.02117822237792093 Centerline is valid? [True, True] Translation: X:110.52, Y:23.75, Z:-0.25 [[ 8.96139312e-01 -4.43760081e-01 -3.36516104e-03 1.10520437e+02] [ 4.43757187e-01 8.96145628e-01 -1.60365262e-03 2.37507128e+01] [ 3.72731138e-03 -5.62182396e-05 9.99993052e-01 -2.49663927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.395769231 meters 0.01882730659965634 Centerline is valid? [True, True] Translation: X:110.54, Y:23.77, Z:-0.25 [[ 8.97310357e-01 -4.41389281e-01 -3.10236632e-03 1.10542959e+02] [ 4.41386805e-01 8.97315720e-01 -1.47906725e-03 2.37705043e+01] [ 3.43664650e-03 -4.21611968e-05 9.99994094e-01 -2.48572833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.425769231 meters 0.019300703132096097 Centerline is valid? [True, True] Translation: X:110.57, Y:23.78, Z:-0.25 [[ 8.97955010e-01 -4.40073317e-01 -3.50365932e-03 1.10567672e+02] [ 4.40070149e-01 8.97961844e-01 -1.67033470e-03 2.37825808e+01] [ 3.88122212e-03 -4.19704722e-05 9.99992467e-01 -2.50894240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.455769231 meters 0.017184219138691368 Centerline is valid? [True, True] Translation: X:110.59, Y:23.80, Z:-0.26 [[ 8.98580794e-01 -4.38768779e-01 -5.87498273e-03 1.10590449e+02] [ 4.38759833e-01 8.98599997e-01 -2.80236924e-03 2.38007083e+01] [ 6.50885160e-03 -5.95512643e-05 9.99978815e-01 -2.55728380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.485769231 meters 0.01725219164388078 Centerline is valid? [True, True] Translation: X:110.62, Y:23.81, Z:-0.26 [[ 8.98528230e-01 -4.38869920e-01 -6.34130993e-03 1.10615474e+02] [ 4.38859500e-01 8.98550604e-01 -3.02492213e-03 2.38140426e+01] [ 7.02553520e-03 -6.49661825e-05 9.99975319e-01 -2.56829558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51576923100001 meters 0.017678422573848364 Centerline is valid? [True, True] Translation: X:110.64, Y:23.83, Z:-0.26 [[ 8.98230247e-01 -4.39490794e-01 -5.50137888e-03 1.10639508e+02] [ 4.39482959e-01 8.98247092e-01 -2.62487707e-03 2.38255232e+01] [ 6.09520689e-03 -6.00182936e-05 9.99981422e-01 -2.55622756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54576923100001 meters 0.020182866708616964 Centerline is valid? [True, True] Translation: X:110.67, Y:23.83, Z:-0.25 [[ 8.96505904e-01 -4.43020419e-01 -3.17382336e-03 1.10667567e+02] [ 4.43017830e-01 8.96511521e-01 -1.51523646e-03 2.38339559e+01] [ 3.51664990e-03 -4.76419094e-05 9.99993815e-01 -2.50406513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57576923100001 meters 0.022845645932607128 Centerline is valid? [True, True] Translation: X:110.69, Y:23.84, Z:-0.25 [[ 8.95362853e-01 -4.45329381e-01 -2.66533788e-03 1.10694633e+02] [ 4.45327566e-01 8.95366819e-01 -1.27247675e-03 2.38426423e+01] [ 2.95312638e-03 -4.76200129e-05 9.99995638e-01 -2.49505420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60576923100001 meters 0.02371760650620328 Centerline is valid? [True, True] Translation: X:110.72, Y:23.85, Z:-0.25 [[ 8.95069527e-01 -4.45912120e-01 -3.59478557e-03 1.10719360e+02] [ 4.45908821e-01 8.95076744e-01 -1.71648609e-03 2.38542656e+01] [ 3.98301092e-03 -6.65722013e-05 9.99992066e-01 -2.51413623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63576923100001 meters 0.021471504911181848 Centerline is valid? [True, True] Translation: X:110.74, Y:23.87, Z:-0.25 [[ 8.95795155e-01 -4.44449518e-01 -3.95817345e-03 1.10743811e+02] [ 4.44445500e-01 8.95803897e-01 -1.89098977e-03 2.38706712e+01] [ 4.38619669e-03 -6.52529047e-05 9.99990378e-01 -2.52018537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66576923100001 meters 0.018718097290831737 Centerline is valid? [True, True] Translation: X:110.77, Y:23.89, Z:-0.25 [[ 8.97332967e-01 -4.41347879e-01 -2.36576500e-03 1.10766338e+02] [ 4.41346432e-01 8.97336085e-01 -1.13042064e-03 2.38872513e+01] [ 2.62179506e-03 -2.97582335e-05 9.99996563e-01 -2.48661083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69576923100001 meters 0.01768686795722881 Centerline is valid? [True, True] Translation: X:110.79, Y:23.90, Z:-0.24 [[ 8.97514204e-01 -4.40984430e-01 -9.92818609e-04 1.10791140e+02] [ 4.40984174e-01 8.97514754e-01 -4.74889252e-04 2.39028280e+01] [ 1.10048811e-03 -1.15974452e-05 9.99999394e-01 -2.44476268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.725769231 meters 0.018005341071033777 Centerline is valid? [True, True] Translation: X:110.82, Y:23.91, Z:-0.24 [[ 8.97307139e-01 -4.41406723e-01 5.13504976e-05 1.10815250e+02] [ 4.41406723e-01 8.97307141e-01 2.43582360e-05 2.39149991e+01] [-5.68290573e-05 8.09635831e-07 9.99999998e-01 -2.42789391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.755769231 meters 0.0183111470887991 Centerline is valid? [True, True] Translation: X:110.84, Y:23.93, Z:-0.24 [[ 8.96518183e-01 -4.43006902e-01 1.78048891e-04 1.10841738e+02] [ 4.43006894e-01 8.96518201e-01 8.47522551e-05 2.39263363e+01] [-1.97169905e-04 2.89494814e-06 9.99999981e-01 -2.43247491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.785769231 meters 0.026397522832061347 Centerline is valid? [True, True] Translation: X:110.87, Y:23.92, Z:-0.25 [[ 8.93483683e-01 -4.49095511e-01 -3.60102800e-04 1.10874853e+02] [ 4.49095478e-01 8.93483756e-01 -1.72360576e-04 2.39222058e+01] [ 3.99152363e-04 -7.71917694e-06 9.99999920e-01 -2.46318436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.815769231 meters 0.030081807964824913 Centerline is valid? [True, True] Translation: X:110.90, Y:23.93, Z:-0.25 [[ 8.91861293e-01 -4.52308983e-01 -1.36252351e-04 1.10904613e+02] [ 4.52308978e-01 8.91861303e-01 -6.54685797e-05 2.39283742e+01] [ 1.51130226e-04 -3.23926953e-06 9.99999989e-01 -2.45534434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.845769231 meters 0.03522374625160373 Centerline is valid? [True, True] Translation: X:110.93, Y:23.93, Z:-0.24 [[ 8.89826273e-01 -4.56299263e-01 4.30652420e-04 1.10934483e+02] [ 4.56299217e-01 8.89826378e-01 2.05957670e-04 2.39326723e+01] [-4.77184216e-04 1.32398157e-05 9.99999886e-01 -2.43033855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.875769231 meters 0.0360736576541296 Centerline is valid? [True, True] Translation: X:110.96, Y:23.94, Z:-0.24 [[ 8.89525216e-01 -4.56886058e-01 -1.37995311e-04 1.10961885e+02] [ 4.56886054e-01 8.89525227e-01 -6.64248166e-05 2.39418665e+01] [ 1.53098883e-04 -3.96158378e-06 9.99999988e-01 -2.44218133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90576923100001 meters 0.03650362834028478 Centerline is valid? [True, True] Translation: X:110.99, Y:23.95, Z:-0.25 [[ 8.89476490e-01 -4.56980076e-01 -8.86048670e-04 1.10988429e+02] [ 4.56979879e-01 8.89476930e-01 -4.24339411e-04 2.39497846e+01] [ 9.82034508e-04 -2.74664849e-05 9.99999517e-01 -2.47029525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93576923100001 meters 0.037315839422726094 Centerline is valid? [True, True] Translation: X:111.02, Y:23.95, Z:-0.25 [[ 8.89407564e-01 -4.57103627e-01 -3.23390841e-03 1.11016980e+02] [ 4.57101015e-01 8.89413438e-01 -1.54862741e-03 2.39543871e+01] [ 3.58416480e-03 -1.00861884e-04 9.99993572e-01 -2.52596837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96576923100001 meters 0.03350231994981753 Centerline is valid? [True, True] Translation: X:111.04, Y:23.97, Z:-0.25 [[ 8.89461185e-01 -4.56990978e-01 -4.24815900e-03 1.11040268e+02] [ 4.56986463e-01 8.89471320e-01 -2.03555689e-03 2.39694155e+01] [ 4.70884672e-03 -1.30802315e-04 9.99988905e-01 -2.53397775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99576923100001 meters 0.036273020525899556 Centerline is valid? [True, True] Translation: X:111.07, Y:23.97, Z:-0.26 [[ 8.89936615e-01 -4.56058194e-01 -4.87290344e-03 1.11069653e+02] [ 4.56052235e-01 8.89949944e-01 -2.33575179e-03 2.39736482e+01] [ 5.40187889e-03 -1.43627462e-04 9.99985399e-01 -2.55593934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02576923100001 meters 0.032451789587834214 Centerline is valid? [True, True] Translation: X:111.10, Y:23.99, Z:-0.25 [[ 8.90179497e-01 -4.55589830e-01 -4.28607955e-03 1.11095055e+02] [ 4.55585210e-01 8.90189807e-01 -2.05534890e-03 2.39869309e+01] [ 4.75182038e-03 -1.23045001e-04 9.99988702e-01 -2.53355027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05576923100001 meters 0.034824547149547726 Centerline is valid? [True, True] Translation: X:111.12, Y:23.99, Z:-0.25 [[ 8.90566499e-01 -4.54843767e-01 -2.90843658e-03 1.11123901e+02] [ 4.54841635e-01 8.90571244e-01 -1.39479309e-03 2.39901714e+01] [ 3.22458293e-03 -8.07220558e-05 9.99994798e-01 -2.51020569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08576923100001 meters 0.034482797367909636 Centerline is valid? [True, True] Translation: X:111.15, Y:24.00, Z:-0.25 [[ 8.91033504e-01 -4.53932698e-01 -2.09757860e-03 1.11149226e+02] [ 4.53931587e-01 8.91035971e-01 -1.00609820e-03 2.40012978e+01] [ 2.32571886e-03 -5.56899749e-05 9.99997294e-01 -2.50156389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.115769231 meters 0.026835064961364598 Centerline is valid? [True, True] Translation: X:111.17, Y:24.02, Z:-0.25 [[ 8.91523865e-01 -4.52970171e-01 -1.79540636e-03 1.11171301e+02] [ 4.52969353e-01 8.91525671e-01 -8.61825573e-04 2.40216037e+01] [ 1.99103213e-03 -4.49259891e-05 9.99998017e-01 -2.48161722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.145769231 meters 0.02711393349822336 Centerline is valid? [True, True] Translation: X:111.20, Y:24.03, Z:-0.25 [[ 8.92784581e-01 -4.50480960e-01 -1.61170663e-03 1.11199725e+02] [ 4.50480297e-01 8.92786035e-01 -7.73495468e-04 2.40279248e+01] [ 1.78735415e-03 -3.54772542e-05 9.99998402e-01 -2.48576750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.175769231 meters 0.022871402230874863 Centerline is valid? [True, True] Translation: X:111.22, Y:24.04, Z:-0.25 [[ 8.93451125e-01 -4.49157581e-01 -1.59808487e-03 1.11224589e+02] [ 4.49156927e-01 8.93452554e-01 -7.67231421e-04 2.40439717e+01] [ 1.77242082e-03 -3.23071117e-05 9.99998429e-01 -2.47442529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.205769231 meters 0.020574488071386458 Centerline is valid? [True, True] Translation: X:111.25, Y:24.06, Z:-0.25 [[ 8.95634901e-01 -4.44780599e-01 -2.88846386e-03 1.11249020e+02] [ 4.44778440e-01 8.95639558e-01 -1.38663743e-03 2.40582176e+01] [ 3.20377192e-03 -4.28055700e-05 9.99994867e-01 -2.50540880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.235769231 meters 0.017903187395505785 Centerline is valid? [True, True] Translation: X:111.27, Y:24.07, Z:-0.25 [[ 8.97008675e-01 -4.42001419e-01 -3.19106038e-03 1.11272860e+02] [ 4.41998765e-01 8.97014350e-01 -1.53212846e-03 2.40736627e+01] [ 3.53962991e-03 -3.61122287e-05 9.99993735e-01 -2.51797831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26576923100001 meters 0.015203558628666411 Centerline is valid? [True, True] Translation: X:111.30, Y:24.09, Z:-0.25 [[ 8.98331341e-01 -4.39306104e-01 -3.30871580e-03 1.11297281e+02] [ 4.39303229e-01 8.98337434e-01 -1.58952850e-03 2.40896690e+01] [ 3.67063284e-03 -2.56062634e-05 9.99993263e-01 -2.51482012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29576923100001 meters 0.013677103043581848 Centerline is valid? [True, True] Translation: X:111.32, Y:24.10, Z:-0.25 [[ 8.99407487e-01 -4.37101708e-01 -2.87562384e-03 1.11322423e+02] [ 4.37099523e-01 8.99412084e-01 -1.38211104e-03 2.41044452e+01] [ 3.19049393e-03 -1.38527891e-05 9.99994910e-01 -2.50976221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32576923100001 meters 0.012604007738038601 Centerline is valid? [True, True] Translation: X:111.35, Y:24.12, Z:-0.25 [[ 9.00721121e-01 -4.34394978e-01 -1.56994463e-03 1.11345519e+02] [ 4.34394323e-01 9.00722489e-01 -7.54601361e-04 2.41204841e+01] [ 1.74187948e-03 -2.28965186e-06 9.99998483e-01 -2.48339907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35576923100001 meters 0.012346213997352645 Centerline is valid? [True, True] Translation: X:111.37, Y:24.13, Z:-0.25 [[ 9.01243692e-01 -4.33312025e-01 -7.04558923e-04 1.11369793e+02] [ 4.33311893e-01 9.01243967e-01 -3.38768898e-04 2.41347007e+01] [ 7.81772116e-04 1.95715053e-08 9.99999694e-01 -2.46872366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38576923100001 meters 0.01240235090066121 Centerline is valid? [True, True] Translation: X:111.40, Y:24.15, Z:-0.25 [[ 9.01494450e-01 -4.32790170e-01 -6.52233006e-04 1.11395074e+02] [ 4.32790056e-01 9.01494686e-01 -3.14085632e-04 2.41471944e+01] [ 7.23917763e-04 8.66494791e-07 9.99999738e-01 -2.45838515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41576923100001 meters 0.01244754766223032 Centerline is valid? [True, True] Translation: X:111.42, Y:24.16, Z:-0.25 [[ 9.01808869e-01 -4.32134731e-01 -5.80913203e-04 1.11420075e+02] [ 4.32134640e-01 9.01809056e-01 -2.79924446e-04 2.41598130e+01] [ 6.44837862e-04 1.40562982e-06 9.99999792e-01 -2.46419304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44576923100001 meters 0.012543070691133194 Centerline is valid? [True, True] Translation: X:111.44, Y:24.17, Z:-0.25 [[ 9.01965829e-01 -4.31807159e-01 -4.69475408e-04 1.11444618e+02] [ 4.31807100e-01 9.01965951e-01 -2.26432697e-04 2.41723546e+01] [ 5.21226093e-04 1.51174108e-06 9.99999864e-01 -2.46273475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.475769231 meters 0.013325112508275182 Centerline is valid? [True, True] Translation: X:111.47, Y:24.19, Z:-0.25 [[ 9.02844226e-01 -4.29966177e-01 -1.17884821e-03 1.11467890e+02] [ 4.29965802e-01 9.02844996e-01 -5.67762170e-04 2.41882789e+01] [ 1.30843574e-03 5.73638184e-06 9.99999144e-01 -2.46844391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.505769231 meters 0.01611747721027167 Centerline is valid? [True, True] Translation: X:111.49, Y:24.21, Z:-0.25 [[ 9.04657899e-01 -4.26126369e-01 -3.22544034e-03 1.11488433e+02] [ 4.26123539e-01 9.04663649e-01 -1.55324404e-03 2.42101811e+01] [ 3.57981687e-03 3.07184380e-05 9.99993592e-01 -2.50670335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.535769231 meters 0.0182951797007929 Centerline is valid? [True, True] Translation: X:111.51, Y:24.23, Z:-0.25 [[ 9.05795997e-01 -4.23699134e-01 -3.55744717e-03 1.11511550e+02] [ 4.23695669e-01 9.05802982e-01 -1.71409027e-03 2.42290358e+01] [ 3.94860481e-03 4.53411438e-05 9.99992203e-01 -2.51717432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.565769231 meters 0.021731221991095576 Centerline is valid? [True, True] Translation: X:111.53, Y:24.25, Z:-0.25 [[ 9.07289502e-01 -4.20491922e-01 -3.50755203e-03 1.11534260e+02] [ 4.20488526e-01 9.07296280e-01 -1.69076696e-03 2.42489675e+01] [ 3.89334276e-03 5.91297261e-05 9.99992419e-01 -2.51600716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.595769231 meters 0.021731221991095576 Centerline is valid? [True, True] Translation: X:111.56, Y:24.26, Z:-0.25 [[ 9.07210161e-01 -4.20663076e-01 -3.50721101e-03 1.11558923e+02] [ 4.20659679e-01 9.07216938e-01 -1.69147435e-03 2.42610764e+01] [ 3.89334203e-03 5.91804601e-05 9.99992419e-01 -2.51659762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.625769231 meters 0.02505241834031524 Centerline is valid? [True, True] Translation: X:111.58, Y:24.28, Z:-0.25 [[ 9.08583446e-01 -4.17691957e-01 -3.09034763e-03 1.11581418e+02] [ 4.17689300e-01 9.08588700e-01 -1.49105025e-03 2.42805411e+01] [ 3.43065463e-03 6.39384328e-05 9.99994113e-01 -2.50898050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65576923100001 meters 0.03144102112017008 Centerline is valid? [True, True] Translation: X:111.60, Y:24.31, Z:-0.25 [[ 9.10270517e-01 -4.14010487e-01 -1.70365927e-03 1.11600687e+02] [ 4.14009673e-01 9.10272110e-01 -8.21985185e-04 2.43054770e+01] [ 1.89110400e-03 4.28974644e-05 9.99998211e-01 -2.49524348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68576923100001 meters 0.02997381508293207 Centerline is valid? [True, True] Translation: X:111.63, Y:24.32, Z:-0.25 [[ 9.10386212e-01 -4.13757930e-01 -1.14876556e-03 1.11625319e+02] [ 4.13757559e-01 9.10386937e-01 -5.54799276e-04 2.43206798e+01] [ 1.27537376e-03 2.97711763e-05 9.99999186e-01 -2.48796951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71576923100001 meters 0.02906760240660849 Centerline is valid? [True, True] Translation: X:111.65, Y:24.33, Z:-0.25 [[ 9.09828946e-01 -4.14980430e-01 -1.59087951e-03 1.11650906e+02] [ 4.14979720e-01 9.09830336e-01 -7.68486459e-04 2.43337310e+01] [ 1.76633728e-03 3.90084904e-05 9.99998439e-01 -2.49868522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74576923100001 meters 0.027294630338107872 Centerline is valid? [True, True] Translation: X:111.68, Y:24.35, Z:-0.25 [[ 9.08993881e-01 -4.16803085e-01 -2.30467793e-03 1.11676933e+02] [ 4.16801601e-01 9.08996802e-01 -1.11357983e-03 2.43452768e+01] [ 2.55908838e-03 5.16438001e-05 9.99996724e-01 -2.51026086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77576923100001 meters 0.02447753453694681 Centerline is valid? [True, True] Translation: X:111.70, Y:24.36, Z:-0.25 [[ 9.07717631e-01 -4.19569120e-01 -3.23357308e-03 1.11702486e+02] [ 4.19566216e-01 9.07723388e-01 -1.56240406e-03 2.43569813e+01] [ 3.59072641e-03 6.15236948e-05 9.99993551e-01 -2.52745091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80576923100001 meters 0.024159417798893225 Centerline is valid? [True, True] Translation: X:111.73, Y:24.37, Z:-0.25 [[ 9.07467091e-01 -4.20110093e-01 -3.31495208e-03 1.11726897e+02] [ 4.20107043e-01 9.07473144e-01 -1.60188655e-03 2.43707953e+01] [ 3.68119869e-03 6.10246094e-05 9.99993222e-01 -2.53603564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83576923100001 meters 0.023125040373660855 Centerline is valid? [True, True] Translation: X:111.75, Y:24.38, Z:-0.25 [[ 9.07388746e-01 -4.20280614e-01 -3.14133872e-03 1.11751992e+02] [ 4.20277873e-01 9.07394182e-01 -1.51904345e-03 2.43841402e+01] [ 3.48885699e-03 5.81277762e-05 9.99993912e-01 -2.52868198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.865769231 meters 0.026169954944199287 Centerline is valid? [True, True] Translation: X:111.77, Y:24.40, Z:-0.25 [[ 9.07998139e-01 -4.18969820e-01 -1.91546349e-03 1.11773576e+02] [ 4.18968797e-01 9.08000159e-01 -9.26256308e-04 2.44042577e+01] [ 2.12731459e-03 3.85195680e-05 9.99997737e-01 -2.51871996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.895769231 meters 0.02556019141037954 Centerline is valid? [True, True] Translation: X:111.80, Y:24.42, Z:-0.25 [[ 9.08238067e-01 -4.18452077e-01 -1.21330545e-03 1.11798694e+02] [ 4.18451666e-01 9.08238878e-01 -5.87261063e-04 2.44176853e+01] [ 1.34771179e-03 2.56631650e-05 9.99999092e-01 -2.51195492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.925769231 meters 0.025330141248057377 Centerline is valid? [True, True] Translation: X:111.82, Y:24.43, Z:-0.25 [[ 9.07927969e-01 -4.19125893e-01 -5.38210998e-04 1.11822402e+02] [ 4.19125812e-01 9.07928128e-01 -2.60507045e-04 2.44331237e+01] [ 5.97842151e-04 1.09435101e-05 9.99999821e-01 -2.49748510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.955769231 meters 0.023868100980425758 Centerline is valid? [True, True] Translation: X:111.85, Y:24.45, Z:-0.25 [[ 9.07366700e-01 -4.20339250e-01 -7.65777440e-04 1.11848070e+02] [ 4.20339086e-01 9.07367023e-01 -3.70996827e-04 2.44454245e+01] [ 8.50785724e-04 1.47439776e-05 9.99999638e-01 -2.49062348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.985769231 meters 0.023414757239323115 Centerline is valid? [True, True] Translation: X:111.87, Y:24.46, Z:-0.25 [[ 9.07089648e-01 -4.20935617e-01 -1.25618144e-03 1.11872717e+02] [ 4.20935178e-01 9.07090517e-01 -6.08176139e-04 2.44583377e+01] [ 1.39547327e-03 2.28993218e-05 9.99999026e-01 -2.50255790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01576923100001 meters 0.02332792329154425 Centerline is valid? [True, True] Translation: X:111.90, Y:24.47, Z:-0.25 [[ 9.06822616e-01 -4.21506798e-01 -2.18243803e-03 1.11895929e+02] [ 4.21505474e-01 9.06825241e-01 -1.05701707e-03 2.44721270e+01] [ 2.42462977e-03 3.86174066e-05 9.99997060e-01 -2.51527088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04576923100001 meters 0.022164660523651344 Centerline is valid? [True, True] Translation: X:111.92, Y:24.48, Z:-0.25 [[ 9.06312726e-01 -4.22602055e-01 -2.17844907e-03 1.11922304e+02] [ 4.22600738e-01 9.06315344e-01 -1.05559973e-03 2.44846951e+01] [ 2.42046043e-03 3.60892837e-05 9.99997070e-01 -2.51692836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07576923100001 meters 0.0189584772295195 Centerline is valid? [True, True] Translation: X:111.95, Y:24.49, Z:-0.25 [[ 9.04806433e-01 -4.25819478e-01 -1.75813333e-03 1.11949979e+02] [ 4.25818626e-01 9.04808141e-01 -8.52345798e-04 2.44944009e+01] [ 1.95371880e-03 2.25620407e-05 9.99998091e-01 -2.51106624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10576923100001 meters 0.017180805596571817 Centerline is valid? [True, True] Translation: X:111.98, Y:24.50, Z:-0.25 [[ 9.03875080e-01 -4.27793561e-01 -1.58410720e-03 1.11977550e+02] [ 4.27792872e-01 9.03876468e-01 -7.68275246e-04 2.45047835e+01] [ 1.76050043e-03 1.67550794e-05 9.99998450e-01 -2.51158023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13576923100001 meters 0.01592409659481504 Centerline is valid? [True, True] Translation: X:112.00, Y:24.51, Z:-0.25 [[ 9.03023822e-01 -4.29586302e-01 -1.89355660e-03 1.12004342e+02] [ 4.29585321e-01 9.03025807e-01 -9.18330210e-04 2.45141694e+01] [ 2.10443255e-03 1.58299380e-05 9.99997786e-01 -2.52468005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16576923100001 meters 0.014491672259245705 Centerline is valid? [True, True] Translation: X:112.03, Y:24.52, Z:-0.25 [[ 9.01958164e-01 -4.31817486e-01 -2.26485986e-03 1.12032008e+02] [ 4.31816087e-01 9.01961007e-01 -1.09897392e-03 2.45231922e+01] [ 2.51737144e-03 1.32255775e-05 9.99996831e-01 -2.53474022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19576923100001 meters 0.013086853065662096 Centerline is valid? [True, True] Translation: X:112.06, Y:24.53, Z:-0.25 [[ 9.00331613e-01 -4.35201087e-01 -1.73193741e-03 1.12059668e+02] [ 4.35200276e-01 9.00333279e-01 -8.40351509e-04 2.45290963e+01] [ 1.92504278e-03 2.85539141e-06 9.99998147e-01 -2.51888147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22576923100002 meters 0.012820405633678755 Centerline is valid? [True, True] Translation: X:112.09, Y:24.54, Z:-0.25 [[ 8.99783387e-01 -4.36335073e-01 -1.24898160e-03 1.12085624e+02] [ 4.36334652e-01 8.99784254e-01 -6.06618351e-04 2.45395890e+01] [ 1.38850284e-03 8.51164149e-07 9.99999036e-01 -2.49950493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.255769231 meters 0.012793971977915345 Centerline is valid? [True, True] Translation: X:112.11, Y:24.55, Z:-0.25 [[ 8.99381309e-01 -4.37164783e-01 -4.62602380e-04 1.12111593e+02] [ 4.37164725e-01 8.99381428e-01 -2.25048452e-04 2.45494060e+01] [ 5.14439246e-04 1.70928706e-07 9.99999868e-01 -2.47794900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.285769231 meters 0.01279022817113135 Centerline is valid? [True, True] Translation: X:112.14, Y:24.56, Z:-0.25 [[ 8.99122755e-01 -4.37696197e-01 -5.56602147e-04 1.12136174e+02] [ 4.37696114e-01 8.99122928e-01 -2.70505977e-04 2.45596467e+01] [ 6.18853189e-04 -4.04516724e-07 9.99999809e-01 -2.47956259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.315769231 meters 0.01311437150137287 Centerline is valid? [True, True] Translation: X:112.16, Y:24.57, Z:-0.25 [[ 8.98366308e-01 -4.39246793e-01 -4.80710011e-04 1.12163423e+02] [ 4.39246731e-01 8.98366437e-01 -2.34011553e-04 2.45681913e+01] [ 5.34642563e-04 -9.22205735e-07 9.99999857e-01 -2.48323946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.345769231 meters 0.013019898962298914 Centerline is valid? [True, True] Translation: X:112.19, Y:24.58, Z:-0.25 [[ 8.98242939e-01 -4.39499052e-01 -4.54047178e-04 1.12189393e+02] [ 4.39498997e-01 8.98243053e-01 -2.21191252e-04 2.45795937e+01] [ 5.05058069e-04 -8.69798854e-07 9.99999872e-01 -2.48247324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.375769231 meters 0.013285070370091882 Centerline is valid? [True, True] Translation: X:112.21, Y:24.59, Z:-0.25 [[ 8.98105810e-01 -4.39779413e-01 -1.45901630e-04 1.12214821e+02] [ 4.39779407e-01 8.98105822e-01 -7.11443722e-05 2.45899590e+01] [ 1.62322933e-04 -2.69358110e-07 9.99999987e-01 -2.48230509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40576923100001 meters 0.01359161716918526 Centerline is valid? [True, True] Translation: X:112.24, Y:24.60, Z:-0.25 [[ 8.97721207e-01 -4.40563745e-01 4.69514822e-04 1.12240613e+02] [ 4.40563686e-01 8.97721330e-01 2.28071234e-04 2.45996350e+01] [-5.21973388e-04 2.10679698e-06 9.99999864e-01 -2.47539082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43576923100001 meters 0.014463287940370684 Centerline is valid? [True, True] Translation: X:112.27, Y:24.61, Z:-0.25 [[ 8.97037608e-01 -4.41953404e-01 8.47522304e-04 1.12268269e+02] [ 4.41953212e-01 8.97038009e-01 4.12027762e-04 2.46090315e+01] [-9.42356792e-04 4.96080571e-06 9.99999556e-01 -2.47224983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46576923100001 meters 0.01825819344720456 Centerline is valid? [True, True] Translation: X:112.30, Y:24.61, Z:-0.25 [[ 8.94758242e-01 -4.46550481e-01 5.97270748e-04 1.12299491e+02] [ 4.46550386e-01 8.94758441e-01 2.90526096e-04 2.46098673e+01] [-6.64147612e-04 6.76086476e-06 9.99999779e-01 -2.47643640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49576923100001 meters 0.022390752835326985 Centerline is valid? [True, True] Translation: X:112.33, Y:24.61, Z:-0.25 [[ 8.93291841e-01 -4.49476861e-01 -4.87875838e-04 1.12328263e+02] [ 4.49476798e-01 8.93291975e-01 -2.37581575e-04 2.46136120e+01] [ 5.42602991e-04 -7.05918659e-06 9.99999853e-01 -2.50722143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52576923100001 meters 0.022442503177379305 Centerline is valid? [True, True] Translation: X:112.36, Y:24.62, Z:-0.25 [[ 8.91665046e-01 -4.52692951e-01 -1.59292745e-03 1.12355046e+02] [ 4.52692287e-01 8.91666468e-01 -7.76008271e-04 2.46248964e+01] [ 1.77165347e-03 -2.91665218e-05 9.99998430e-01 -2.52314839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55576923100001 meters 0.02890323512271056 Centerline is valid? [True, True] Translation: X:112.39, Y:24.63, Z:-0.26 [[ 8.89837049e-01 -4.56263832e-01 -3.65254482e-03 1.12386317e+02] [ 4.56260373e-01 8.89844542e-01 -1.77870618e-03 2.46262567e+01] [ 4.06175637e-03 -8.37527993e-05 9.99991748e-01 -2.56450340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58576923100001 meters 0.030557047787045134 Centerline is valid? [True, True] Translation: X:112.41, Y:24.63, Z:-0.26 [[ 8.89248029e-01 -4.57406243e-01 -4.17993690e-03 1.12413594e+02] [ 4.57401723e-01 8.89257847e-01 -2.03585210e-03 2.46346329e+01] [ 4.64825315e-03 -1.01532878e-04 9.99989192e-01 -2.57222797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.615769231 meters 0.029712315204920514 Centerline is valid? [True, True] Translation: X:112.44, Y:24.65, Z:-0.25 [[ 8.87676315e-01 -4.60454387e-01 -3.53789550e-03 1.12441278e+02] [ 4.60451170e-01 8.87683360e-01 -1.72389731e-03 2.46454832e+01] [ 3.93430705e-03 -9.87653119e-05 9.99992256e-01 -2.54835685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.645769231 meters 0.03686938382405146 Centerline is valid? [True, True] Translation: X:112.47, Y:24.65, Z:-0.26 [[ 8.86629673e-01 -4.62472533e-01 -2.64195719e-03 1.12471633e+02] [ 4.62470748e-01 8.86633605e-01 -1.28744580e-03 2.46468102e+01] [ 2.93785635e-03 -8.03402716e-05 9.99995681e-01 -2.55140502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.675769231 meters 0.04029691169759321 Centerline is valid? [True, True] Translation: X:112.50, Y:24.65, Z:-0.25 [[ 8.85406768e-01 -4.64813642e-01 -1.77021013e-03 1.12501040e+02] [ 4.64812845e-01 8.85408535e-01 -8.62689921e-04 2.46531817e+01] [ 1.96834920e-03 -5.89849112e-05 9.99998061e-01 -2.53480776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.705769231 meters 0.04444698972316382 Centerline is valid? [True, True] Translation: X:112.53, Y:24.66, Z:-0.25 [[ 8.83940649e-01 -4.67596994e-01 -1.40733085e-03 1.12530351e+02] [ 4.67596494e-01 8.83941768e-01 -6.85917263e-04 2.46583713e+01] [ 1.56473137e-03 -5.17528213e-05 9.99998774e-01 -2.52628591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.735769231 meters 0.04400000095563796 Centerline is valid? [True, True] Translation: X:112.56, Y:24.67, Z:-0.25 [[ 8.81309041e-01 -4.72530884e-01 -2.98978443e-03 1.12558529e+02] [ 4.72528653e-01 8.81314103e-01 -1.45740273e-03 2.46666751e+01] [ 3.32360698e-03 -1.28336608e-04 9.99994469e-01 -2.54845093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76576923100001 meters 0.05531960286955433 Centerline is valid? [True, True] Translation: X:112.59, Y:24.66, Z:-0.26 [[ 8.79772743e-01 -4.75382423e-01 -3.38707217e-03 1.12591984e+02] [ 4.75379582e-01 8.79779249e-01 -1.65119997e-03 2.46617761e+01] [ 3.76482725e-03 -1.57464230e-04 9.99992901e-01 -2.57167257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79576923100001 meters 0.059368898183639586 Centerline is valid? [True, True] Translation: X:112.63, Y:24.66, Z:-0.25 [[ 8.76265448e-01 -4.81823387e-01 -2.25581791e-03 1.12626155e+02] [ 4.81822148e-01 8.76268343e-01 -1.09995734e-03 2.46588821e+01] [ 2.50668700e-03 -1.23048416e-04 9.99996851e-01 -2.54868980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82576923100001 meters 0.0632449964178551 Centerline is valid? [True, True] Translation: X:112.66, Y:24.66, Z:-0.25 [[ 8.74691406e-01 -4.84677983e-01 -1.48244634e-03 1.12657515e+02] [ 4.84677451e-01 8.74692658e-01 -7.23029006e-04 2.46613376e+01] [ 1.64712117e-03 -8.60810547e-05 9.99998640e-01 -2.52869609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85576923100001 meters 0.06706000110599504 Centerline is valid? [True, True] Translation: X:112.69, Y:24.66, Z:-0.25 [[ 8.73227654e-01 -4.87309361e-01 -1.74648934e-03 1.12691182e+02] [ 4.87308628e-01 8.73229394e-01 -8.52307689e-04 2.46577755e+01] [ 1.94042335e-03 -1.06820681e-04 9.99998112e-01 -2.51886006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88576923100001 meters 0.06445918503543165 Centerline is valid? [True, True] Translation: X:112.72, Y:24.67, Z:-0.25 [[ 8.73951846e-01 -4.86004411e-01 -2.80775297e-03 1.12718915e+02] [ 4.86002508e-01 8.73956340e-01 -1.37048614e-03 2.46677184e+01] [ 3.11991581e-03 -1.66836094e-04 9.99995119e-01 -2.52599148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91576923100001 meters 0.05825558943581824 Centerline is valid? [True, True] Translation: X:112.75, Y:24.68, Z:-0.26 [[ 8.77365212e-01 -4.79805856e-01 -4.07732795e-03 1.12745162e+02] [ 4.79801775e-01 8.77374661e-01 -1.99005873e-03 2.46766961e+01] [ 4.53218606e-03 -2.10300893e-04 9.99989707e-01 -2.55880925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94576923100001 meters 0.05457807283243727 Centerline is valid? [True, True] Translation: X:112.77, Y:24.69, Z:-0.26 [[ 8.79069024e-01 -4.76679674e-01 -3.76033115e-03 1.12771424e+02] [ 4.76676170e-01 8.79077048e-01 -1.83627398e-03 2.46892911e+01] [ 4.18093529e-03 -1.78248678e-04 9.99991244e-01 -2.56054762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97576923100002 meters 0.05151644110854592 Centerline is valid? [True, True] Translation: X:112.80, Y:24.70, Z:-0.26 [[ 8.80628248e-01 -4.73797705e-01 -3.10222907e-03 1.12796995e+02] [ 4.73795302e-01 8.80633702e-01 -1.51491414e-03 2.47006451e+01] [ 3.44969031e-03 -1.35745378e-04 9.99994041e-01 -2.55028368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00576923100002 meters 0.04473502098176204 Centerline is valid? [True, True] Translation: X:112.82, Y:24.71, Z:-0.25 [[ 8.83237190e-01 -4.68926479e-01 -1.53360109e-04 1.12823420e+02] [ 4.68926473e-01 8.83237203e-01 -7.52749856e-05 2.47117893e+01] [ 1.70751788e-04 -5.42894849e-06 9.99999985e-01 -2.49156428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03576923100002 meters 0.03781019407737768 Centerline is valid? [True, True] Translation: X:112.85, Y:24.73, Z:-0.25 [[ 8.84257059e-01 -4.66998850e-01 1.23632451e-03 1.12847678e+02] [ 4.66998462e-01 8.84257922e-01 6.03791828e-04 2.47284833e+01] [-1.37519983e-03 4.34544563e-05 9.99999053e-01 -2.45672648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06576923100002 meters 0.03657748658772044 Centerline is valid? [True, True] Translation: X:112.88, Y:24.74, Z:-0.25 [[ 8.86629362e-01 -4.62478482e-01 1.42405876e-03 1.12875653e+02] [ 4.62477960e-01 8.86630505e-01 6.95860708e-04 2.47358457e+01] [-1.58443454e-03 4.16252549e-05 9.99998744e-01 -2.45096633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09576923100002 meters 0.03115082582492603 Centerline is valid? [True, True] Translation: X:112.90, Y:24.75, Z:-0.25 [[ 8.88112621e-01 -4.59625833e-01 -2.55227715e-04 1.12899216e+02] [ 4.59625816e-01 8.88112658e-01 -1.25020254e-04 2.47532597e+01] [ 2.84133502e-04 -6.27718151e-06 9.99999960e-01 -2.48531383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12576923100002 meters 0.025886076455591343 Centerline is valid? [True, True] Translation: X:112.92, Y:24.77, Z:-0.25 [[ 8.89848884e-01 -4.56251947e-01 -1.76755616e-03 1.12922940e+02] [ 4.56251130e-01 8.89850639e-01 -8.64287971e-04 2.47703341e+01] [ 1.96719405e-03 -3.73638107e-05 9.99998064e-01 -2.52291416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15576923100002 meters 0.0179370559579862 Centerline is valid? [True, True] Translation: X:112.95, Y:24.79, Z:-0.25 [[ 8.93484737e-01 -4.49077086e-01 -3.84659082e-03 1.12945453e+02] [ 4.49073146e-01 8.93493015e-01 -1.88176313e-03 2.47910393e+01] [ 4.28195873e-03 -4.60740090e-05 9.99990831e-01 -2.54460977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.185769231 meters 0.01550791255475387 Centerline is valid? [True, True] Translation: X:112.97, Y:24.81, Z:-0.25 [[ 8.95452132e-01 -4.45141131e-01 -3.85388606e-03 1.12968296e+02] [ 4.45137138e-01 8.95460425e-01 -1.88559221e-03 2.48082011e+01] [ 4.29035710e-03 -2.70502414e-05 9.99990796e-01 -2.54538446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.215769231 meters 0.013762646604795932 Centerline is valid? [True, True] Translation: X:112.99, Y:24.83, Z:-0.25 [[ 8.97305966e-01 -4.41391843e-01 -3.90426543e-03 1.12991267e+02] [ 4.41387706e-01 8.97314460e-01 -1.91122461e-03 2.48272322e+01] [ 4.34695278e-03 -8.34151583e-06 9.99990552e-01 -2.53734720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.245769231 meters 0.015502067346119567 Centerline is valid? [True, True] Translation: X:113.01, Y:24.85, Z:-0.25 [[ 9.00949538e-01 -4.33906498e-01 -3.88340749e-03 1.13011872e+02] [ 4.33902331e-01 9.00957907e-01 -1.90182597e-03 2.48509058e+01] [ 4.32400133e-03 2.84296673e-05 9.99990651e-01 -2.53958836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.275769231 meters 0.017548755988785872 Centerline is valid? [True, True] Translation: X:113.04, Y:24.87, Z:-0.25 [[ 9.02400526e-01 -4.30887073e-01 -3.10181511e-03 1.13036032e+02] [ 4.30884394e-01 9.02405856e-01 -1.51977277e-03 2.48676052e+01] [ 3.45394656e-03 3.49200199e-05 9.99994034e-01 -2.53180738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.305769231 meters 0.021126000846205122 Centerline is valid? [True, True] Translation: X:113.06, Y:24.89, Z:-0.25 [[ 9.04339037e-01 -4.26813145e-01 -1.20219351e-03 1.13059120e+02] [ 4.26812738e-01 9.04339836e-01 -5.89517707e-04 2.48868781e+01] [ 1.33880539e-03 2.00123723e-05 9.99999104e-01 -2.49778875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.335769231 meters 0.021667326617652662 Centerline is valid? [True, True] Translation: X:113.08, Y:24.90, Z:-0.25 [[ 9.04536961e-01 -4.26393768e-01 -1.11384929e-03 1.13083943e+02] [ 4.26393418e-01 9.04537647e-01 -5.46451070e-04 2.49014062e+01] [ 1.24052194e-03 1.93471851e-05 9.99999230e-01 -2.50069072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.365769231 meters 0.021437564742934186 Centerline is valid? [True, True] Translation: X:113.11, Y:24.91, Z:-0.25 [[ 9.04204401e-01 -4.27096727e-01 -1.66962462e-03 1.13108841e+02] [ 4.27095942e-01 9.04205942e-01 -8.18914907e-04 2.49144191e+01] [ 1.85944038e-03 2.73765603e-05 9.99998271e-01 -2.51841745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.395769231 meters 0.019249153467931213 Centerline is valid? [True, True] Translation: X:113.14, Y:24.93, Z:-0.26 [[ 9.02911882e-01 -4.29810658e-01 -3.59617583e-03 1.13136204e+02] [ 4.29807039e-01 9.02919042e-01 -1.76443958e-03 2.49251201e+01] [ 4.00543057e-03 4.74717787e-05 9.99991977e-01 -2.55098882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.425769231 meters 0.018409855872210838 Centerline is valid? [True, True] Translation: X:113.16, Y:24.94, Z:-0.26 [[ 9.02323582e-01 -4.31043664e-01 -3.67605669e-03 1.13161273e+02] [ 4.31039892e-01 9.02331069e-01 -1.80366604e-03 2.49370414e+01] [ 4.09447898e-03 4.29633263e-05 9.99991617e-01 -2.55529205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.455769231 meters 0.017848278863352884 Centerline is valid? [True, True] Translation: X:113.19, Y:24.95, Z:-0.25 [[ 9.01766486e-01 -4.32212316e-01 -3.11736109e-03 1.13185433e+02] [ 4.32209610e-01 9.01771874e-01 -1.52978611e-03 2.49512765e+01] [ 3.47234095e-03 3.21564282e-05 9.99993971e-01 -2.54562073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.485769231 meters 0.017630578347670702 Centerline is valid? [True, True] Translation: X:113.21, Y:24.96, Z:-0.25 [[ 9.01849840e-01 -4.32038761e-01 -3.06177894e-03 1.13210082e+02] [ 4.32036146e-01 9.01855037e-01 -1.50352516e-03 2.49646263e+01] [ 3.41086190e-03 3.31547525e-05 9.99994182e-01 -2.53957889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.515769231 meters 0.017630578347670702 Centerline is valid? [True, True] Translation: X:113.23, Y:24.98, Z:-0.25 [[ 9.01769576e-01 -4.32206269e-01 -3.06149986e-03 1.13234671e+02] [ 4.32203653e-01 9.01774772e-01 -1.50409342e-03 2.49769215e+01] [ 3.41086194e-03 3.31542685e-05 9.99994182e-01 -2.54016934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.545769231 meters 0.01807349467831975 Centerline is valid? [True, True] Translation: X:113.26, Y:24.99, Z:-0.26 [[ 9.01941391e-01 -4.31846949e-01 -3.15263798e-03 1.13258869e+02] [ 4.31844174e-01 9.01946900e-01 -1.54877481e-03 2.49913620e+01] [ 3.51234573e-03 3.54557612e-05 9.99993831e-01 -2.55121047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.575769231 meters 0.01865535737377905 Centerline is valid? [True, True] Translation: X:113.28, Y:25.01, Z:-0.26 [[ 9.02170651e-01 -4.31356902e-01 -4.39756710e-03 1.13284154e+02] [ 4.31351490e-01 9.02181368e-01 -2.16145638e-03 2.50062336e+01] [ 4.89976223e-03 5.31053880e-05 9.99987995e-01 -2.57705527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.605769231 meters 0.01899869347981017 Centerline is valid? [True, True] Translation: X:113.31, Y:25.02, Z:-0.26 [[ 9.02045421e-01 -4.31617411e-01 -4.52424472e-03 1.13308323e+02] [ 4.31611684e-01 9.02056765e-01 -2.22396958e-03 2.50193525e+01] [ 5.04102955e-03 5.34046900e-05 9.99987293e-01 -2.57708482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.635769231 meters 0.018425103113684383 Centerline is valid? [True, True] Translation: X:113.33, Y:25.03, Z:-0.26 [[ 9.01822458e-01 -4.32089609e-01 -3.85023373e-03 1.13334278e+02] [ 4.32085462e-01 9.01830676e-01 -1.89362515e-03 2.50316857e+01] [ 4.29047463e-03 4.40836683e-05 9.99990795e-01 -2.55671011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.665769231 meters 0.01755119878760353 Centerline is valid? [True, True] Translation: X:113.36, Y:25.04, Z:-0.25 [[ 9.01331204e-01 -4.33124815e-01 -2.22630499e-03 1.13360690e+02] [ 4.33123431e-01 9.01333953e-01 -1.09501406e-03 2.50414076e+01] [ 2.48092204e-03 2.27054836e-05 9.99996922e-01 -2.52713993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.695769231 meters 0.017508227362262544 Centerline is valid? [True, True] Translation: X:113.39, Y:25.05, Z:-0.25 [[ 9.01296250e-01 -4.33201016e-01 -1.39602631e-03 1.13386453e+02] [ 4.33200471e-01 9.01297331e-01 -6.87296218e-04 2.50523394e+01] [ 1.55597221e-03 1.46982494e-05 9.99998789e-01 -2.50896311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72576923100002 meters 0.018265284354667885 Centerline is valid? [True, True] Translation: X:113.41, Y:25.06, Z:-0.25 [[ 9.01702172e-01 -4.32357455e-01 -4.73802811e-04 1.13412010e+02] [ 4.32357392e-01 9.01702296e-01 -2.33284595e-04 2.50642013e+01] [ 5.28091416e-04 5.50107819e-06 9.99999861e-01 -2.48711781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75576923100002 meters 0.018335148587826183 Centerline is valid? [True, True] Translation: X:113.44, Y:25.08, Z:-0.25 [[ 9.02188953e-01 -4.31339107e-01 -1.29178841e-03 1.13437737e+02] [ 4.31338638e-01 9.02189877e-01 -6.36334623e-04 2.50767778e+01] [ 1.43991443e-03 1.68958163e-05 9.99998963e-01 -2.49502216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78576923100002 meters 0.02051613517598842 Centerline is valid? [True, True] Translation: X:113.46, Y:25.09, Z:-0.25 [[ 9.03178978e-01 -4.29259480e-01 -2.00841567e-03 1.13462119e+02] [ 4.29258340e-01 9.03181210e-01 -9.89534898e-04 2.50931431e+01] [ 2.23873053e-03 3.15979406e-05 9.99997494e-01 -2.51163866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81576923100002 meters 0.029701581181308025 Centerline is valid? [True, True] Translation: X:113.48, Y:25.12, Z:-0.25 [[ 9.06330124e-01 -4.22568607e-01 -1.21634335e-03 1.13481742e+02] [ 4.22568183e-01 9.06330939e-01 -5.99266306e-04 2.51180897e+01] [ 1.35564074e-03 2.91451074e-05 9.99999081e-01 -2.49066946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84576923100002 meters 0.0344075109826858 Centerline is valid? [True, True] Translation: X:113.50, Y:25.14, Z:-0.25 [[ 9.08010860e-01 -4.18946186e-01 -6.09565125e-04 1.13504128e+02] [ 4.18946078e-01 9.08011065e-01 -3.00356489e-04 2.51374791e+01] [ 6.79325084e-04 1.73520355e-05 9.99999769e-01 -2.47224801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87576923100002 meters 0.04237414693447932 Centerline is valid? [True, True] Translation: X:113.52, Y:25.17, Z:-0.25 [[ 9.11288039e-01 -4.11767710e-01 -1.20967333e-03 1.13523588e+02] [ 4.11767281e-01 9.11288840e-01 -5.96057646e-04 2.51657593e+01] [ 1.34779910e-03 4.50763039e-05 9.99999091e-01 -2.47927859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90576923100002 meters 0.04289764718799627 Centerline is valid? [True, True] Translation: X:113.55, Y:25.18, Z:-0.25 [[ 9.12704731e-01 -4.08616468e-01 -1.62985788e-03 1.13548228e+02] [ 4.08615684e-01 9.12706184e-01 -8.03279021e-04 2.51831774e+01] [ 1.81581440e-03 6.71710689e-05 9.99998349e-01 -2.48635998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.935769231 meters 0.04859328926203456 Centerline is valid? [True, True] Translation: X:113.57, Y:25.21, Z:-0.25 [[ 9.13912115e-01 -4.05909457e-01 -1.46948732e-03 1.13568904e+02] [ 4.05908816e-01 9.13913294e-01 -7.24221034e-04 2.52062847e+01] [ 1.63695217e-03 6.53965177e-05 9.99998658e-01 -2.49163699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.965769231 meters 0.050173250617307055 Centerline is valid? [True, True] Translation: X:113.59, Y:25.23, Z:-0.25 [[ 9.15241616e-01 -4.02904084e-01 -1.04041271e-03 1.13591985e+02] [ 4.02903761e-01 9.15242206e-01 -5.12892438e-04 2.52271694e+01] [ 1.15887608e-03 5.02343102e-05 9.99999327e-01 -2.48128841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.995769231 meters 0.05149262305851267 Centerline is valid? [True, True] Translation: X:113.61, Y:25.24, Z:-0.25 [[ 9.15231291e-01 -4.02926883e-01 -1.26925223e-03 1.13614958e+02] [ 4.02926402e-01 9.15232169e-01 -6.25780981e-04 2.52445151e+01] [ 1.41380445e-03 6.13191014e-05 9.99998999e-01 -2.48978456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.025769231 meters 0.050357873391283274 Centerline is valid? [True, True] Translation: X:113.64, Y:25.26, Z:-0.25 [[ 9.14682917e-01 -4.04167019e-01 -2.04513182e-03 1.13640082e+02] [ 4.04165771e-01 9.14685198e-01 -1.00882542e-03 2.52599096e+01] [ 2.27838576e-03 9.61831001e-05 9.99997400e-01 -2.51256654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.055769231 meters 0.04894281904779568 Centerline is valid? [True, True] Translation: X:113.66, Y:25.28, Z:-0.26 [[ 9.13271558e-01 -4.07330719e-01 -4.09219462e-03 1.13663297e+02] [ 4.07325758e-01 9.13280709e-01 -2.01816381e-03 2.52780204e+01] [ 4.55938252e-03 1.76275329e-04 9.99989590e-01 -2.55297697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.085769231 meters 0.045411792923733325 Centerline is valid? [True, True] Translation: X:113.69, Y:25.29, Z:-0.26 [[ 9.12386986e-01 -4.09305389e-01 -4.36886217e-03 1.13690167e+02] [ 4.09299752e-01 9.12397428e-01 -2.15567458e-03 2.52894302e+01] [ 4.86846783e-03 1.78635228e-04 9.99988133e-01 -2.55661028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.115769231 meters 0.04019932772848838 Centerline is valid? [True, True] Translation: X:113.72, Y:25.30, Z:-0.25 [[ 9.10327574e-01 -4.13871939e-01 -3.70481617e-03 1.13716464e+02] [ 4.13867922e-01 9.10335104e-01 -1.82800801e-03 2.53028001e+01] [ 4.12918543e-03 1.30781523e-04 9.99991466e-01 -2.54523562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.145769231 meters 0.03792677495330787 Centerline is valid? [True, True] Translation: X:113.74, Y:25.32, Z:-0.25 [[ 9.09186447e-01 -4.16374458e-01 -3.50927505e-03 1.13741063e+02] [ 4.16370872e-01 9.09193213e-01 -1.73176154e-03 2.53158724e+01] [ 3.91167033e-03 1.13334210e-04 9.99992343e-01 -2.54376724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.175769231 meters 0.03226426669671133 Centerline is valid? [True, True] Translation: X:113.77, Y:25.32, Z:-0.25 [[ 9.08227490e-01 -4.18462783e-01 -3.42438550e-03 1.13768849e+02] [ 4.18459383e-01 9.08233939e-01 -1.69007351e-03 2.53243090e+01] [ 3.81737599e-03 1.02004976e-04 9.99992709e-01 -2.53600109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.205769231 meters 0.03377637024619232 Centerline is valid? [True, True] Translation: X:113.79, Y:25.34, Z:-0.26 [[ 9.07413207e-01 -4.20223520e-01 -3.66956894e-03 1.13792091e+02] [ 4.20219628e-01 9.07420621e-01 -1.81137379e-03 2.53405373e+01] [ 4.09102440e-03 1.01639607e-04 9.99991627e-01 -2.55824311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.235769231 meters 0.027051042018188365 Centerline is valid? [True, True] Translation: X:113.82, Y:25.35, Z:-0.26 [[ 9.05650056e-01 -4.23997866e-01 -4.87706287e-03 1.13821166e+02] [ 4.23991040e-01 9.05663181e-01 -2.40853316e-03 2.53473231e+01] [ 5.43818920e-03 1.13457235e-04 9.99985207e-01 -2.57216056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.265769231 meters 0.025379508918709253 Centerline is valid? [True, True] Translation: X:113.85, Y:25.36, Z:-0.26 [[ 9.04810138e-01 -4.25788000e-01 -4.81582955e-03 1.13847159e+02] [ 4.25781365e-01 9.04822949e-01 -2.37932942e-03 2.53589327e+01] [ 5.37056301e-03 1.02350901e-04 9.99985573e-01 -2.56791857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.295769231 meters 0.02418782460010058 Centerline is valid? [True, True] Translation: X:113.87, Y:25.37, Z:-0.25 [[ 9.04203412e-01 -4.27089703e-01 -3.25187489e-03 1.13871571e+02] [ 4.27086685e-01 9.04209258e-01 -1.60674885e-03 2.53715978e+01] [ 3.62660127e-03 6.39953279e-05 9.99993422e-01 -2.53459876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.325769231 meters 0.023835188494341252 Centerline is valid? [True, True] Translation: X:113.90, Y:25.38, Z:-0.25 [[ 9.03970517e-01 -4.27587950e-01 -2.41842789e-03 1.13897643e+02] [ 4.27586281e-01 9.03973751e-01 -1.19572811e-03 2.53844920e+01] [ 2.69747427e-03 4.68163732e-05 9.99996361e-01 -2.51393559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.355769231 meters 0.0223688435796639 Centerline is valid? [True, True] Translation: X:113.92, Y:25.40, Z:-0.25 [[ 9.03734093e-01 -4.28089285e-01 -2.06228842e-03 1.13924140e+02] [ 4.28088072e-01 9.03736445e-01 -1.02015448e-03 2.53960222e+01] [ 2.30048241e-03 3.91073111e-05 9.99997353e-01 -2.50283760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.385769231 meters 0.02424673596718444 Centerline is valid? [True, True] Translation: X:113.95, Y:25.41, Z:-0.25 [[ 9.04012444e-01 -4.27498567e-01 -2.54493402e-03 1.13946166e+02] [ 4.27496717e-01 9.04016025e-01 -1.25873846e-03 2.54141443e+01] [ 2.83877002e-03 4.99642888e-05 9.99995969e-01 -2.51630902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.415769231 meters 0.02545724954531492 Centerline is valid? [True, True] Translation: X:113.97, Y:25.43, Z:-0.25 [[ 9.04436962e-01 -4.26598162e-01 -2.79099342e-03 1.13969796e+02] [ 4.26595932e-01 9.04441267e-01 -1.38062297e-03 2.54304094e+01] [ 3.11326084e-03 5.80600040e-05 9.99995152e-01 -2.52051166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.445769231 meters 0.027528190116090336 Centerline is valid? [True, True] Translation: X:113.99, Y:25.45, Z:-0.25 [[ 9.04978856e-01 -4.25449906e-01 -2.37649919e-03 1.13992523e+02] [ 4.25448285e-01 9.04981975e-01 -1.17577636e-03 2.54471315e+01] [ 2.65092288e-03 5.29752404e-05 9.99996485e-01 -2.52105521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47576923100002 meters 0.030011970793965906 Centerline is valid? [True, True] Translation: X:114.01, Y:25.47, Z:-0.25 [[ 9.05986845e-01 -4.23303459e-01 -1.42090670e-03 1.14014544e+02] [ 4.23302876e-01 9.05987958e-01 -7.03150971e-04 2.54666022e+01] [ 1.58497060e-03 3.55716379e-05 9.99998743e-01 -2.50300783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50576923100002 meters 0.02959356207041092 Centerline is valid? [True, True] Translation: X:114.04, Y:25.48, Z:-0.25 [[ 9.06297927e-01 -4.22636053e-01 -1.68345915e-03 1.14039184e+02] [ 4.22635233e-01 9.06299490e-01 -8.33652796e-04 2.54808328e+01] [ 1.87804989e-03 4.40486532e-05 9.99998235e-01 -2.50431693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53576923100002 meters 0.03183442082014213 Centerline is valid? [True, True] Translation: X:114.06, Y:25.50, Z:-0.25 [[ 9.06417484e-01 -4.22374521e-01 -2.66623527e-03 1.14061619e+02] [ 4.22372464e-01 9.06421402e-01 -1.32003547e-03 2.54979780e+01] [ 2.97428207e-03 7.03588657e-05 9.99995574e-01 -2.52765798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56576923100002 meters 0.03045381879307734 Centerline is valid? [True, True] Translation: X:114.09, Y:25.51, Z:-0.26 [[ 9.06510308e-01 -4.22147815e-01 -5.50303877e-03 1.14086745e+02] [ 4.22139041e-01 9.06526999e-01 -2.72576342e-03 2.55117955e+01] [ 6.13932829e-03 1.47885136e-04 9.99981143e-01 -2.57796600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59576923100002 meters 0.030338572002419743 Centerline is valid? [True, True] Translation: X:114.11, Y:25.53, Z:-0.26 [[ 9.06295517e-01 -4.22602253e-01 -5.98086641e-03 1.14111457e+02] [ 4.22591889e-01 9.06315238e-01 -2.96387479e-03 2.55256548e+01] [ 6.67309052e-03 1.58680799e-04 9.99977722e-01 -2.58848084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62576923100002 meters 0.026931503933728868 Centerline is valid? [True, True] Translation: X:114.14, Y:25.54, Z:-0.26 [[ 9.04770774e-01 -4.25872676e-01 -4.72330766e-03 1.14138320e+02] [ 4.25866257e-01 9.04783097e-01 -2.34058395e-03 2.55377810e+01] [ 5.27035968e-03 1.06194593e-04 9.99986106e-01 -2.57890193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65576923100002 meters 0.023077840153005572 Centerline is valid? [True, True] Translation: X:114.17, Y:25.55, Z:-0.26 [[ 9.03473949e-01 -4.28625244e-01 -3.90176723e-03 1.14166906e+02] [ 4.28620887e-01 9.03482371e-01 -1.93400781e-03 2.55462006e+01] [ 4.35414247e-03 7.49467470e-05 9.99990518e-01 -2.56855262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.685769231 meters 0.022198614967818633 Centerline is valid? [True, True] Translation: X:114.19, Y:25.56, Z:-0.26 [[ 9.01890112e-01 -4.31944079e-01 -4.30560434e-03 1.14193117e+02] [ 4.31938811e-01 9.01900387e-01 -2.13443394e-03 2.55556366e+01] [ 4.80518232e-03 6.52672470e-05 9.99988453e-01 -2.59828587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.715769231 meters 0.01860597081818816 Centerline is valid? [True, True] Translation: X:114.22, Y:25.56, Z:-0.26 [[ 9.00015449e-01 -4.35825887e-01 -5.29037725e-03 1.14221941e+02] [ 4.35817997e-01 9.00030996e-01 -2.62293856e-03 2.55598123e+01] [ 5.90464803e-03 5.50436126e-05 9.99982566e-01 -2.62590487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.745769231 meters 0.014412604062884934 Centerline is valid? [True, True] Translation: X:114.25, Y:25.56, Z:-0.26 [[ 8.96886444e-01 -4.42220098e-01 -6.00753340e-03 1.14254708e+02] [ 4.42210058e-01 8.96906564e-01 -2.97991392e-03 2.55586774e+01] [ 6.70597396e-03 1.60527066e-05 9.99977515e-01 -2.62487489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.775769231 meters 0.013774070171789972 Centerline is valid? [True, True] Translation: X:114.28, Y:25.57, Z:-0.26 [[ 8.96211995e-01 -4.43601309e-01 -4.68396664e-03 1.14282552e+02] [ 4.43595219e-01 8.96224235e-01 -2.32443148e-03 2.55677322e+01] [ 5.22900526e-03 5.39817008e-06 9.99986329e-01 -2.58931525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.805769231 meters 0.013378672506143855 Centerline is valid? [True, True] Translation: X:114.31, Y:25.58, Z:-0.26 [[ 8.96255305e-01 -4.43524325e-01 -3.54995839e-03 1.14309825e+02] [ 4.43520823e-01 8.96262335e-01 -1.76245642e-03 2.55787623e+01] [ 3.96338629e-03 5.13044662e-06 9.99992146e-01 -2.55956244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.835769231 meters 0.01481068674479559 Centerline is valid? [True, True] Translation: X:114.33, Y:25.59, Z:-0.26 [[ 8.98070861e-01 -4.39827685e-01 -4.50959301e-03 1.14334093e+02] [ 4.39821983e-01 8.98082183e-01 -2.23976943e-03 2.55945871e+01] [ 5.03509774e-03 2.80535173e-05 9.99987323e-01 -2.57990863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.865769231 meters 0.016859707845137246 Centerline is valid? [True, True] Translation: X:114.36, Y:25.61, Z:-0.26 [[ 8.99147720e-01 -4.37603972e-01 -6.01184912e-03 1.14357273e+02] [ 4.37593788e-01 8.99167816e-01 -2.98594663e-03 2.56099573e+01] [ 6.71232335e-03 5.40592738e-05 9.99977471e-01 -2.61823558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.895769231 meters 0.019400814107069772 Centerline is valid? [True, True] Translation: X:114.38, Y:25.62, Z:-0.26 [[ 9.00446663e-01 -4.34910615e-01 -6.96882202e-03 1.14382615e+02] [ 4.34896837e-01 9.00473625e-01 -3.46291251e-03 2.56238802e+01] [ 7.78129784e-03 8.74493667e-05 9.99969721e-01 -2.63116803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.925769231 meters 0.019157513733642287 Centerline is valid? [True, True] Translation: X:114.41, Y:25.63, Z:-0.26 [[ 9.00548851e-01 -4.34716550e-01 -5.76950197e-03 1.14409667e+02] [ 4.34707094e-01 9.00567330e-01 -2.86823331e-03 2.56349440e+01] [ 6.44269347e-03 7.49407792e-05 9.99979243e-01 -2.60357450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.955769231 meters 0.01843936674176164 Centerline is valid? [True, True] Translation: X:114.44, Y:25.64, Z:-0.25 [[ 9.00405002e-01 -4.35048417e-01 -1.92563420e-03 1.14436175e+02] [ 4.35047364e-01 9.00407060e-01 -9.57455790e-04 2.56445267e+01] [ 2.15039426e-03 2.43558979e-05 9.99997688e-01 -2.52731081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.985769231 meters 0.01768890366014071 Centerline is valid? [True, True] Translation: X:114.46, Y:25.66, Z:-0.25 [[ 9.00057498e-01 -4.35770812e-01 -5.46864023e-04 1.14462535e+02] [ 4.35770727e-01 9.00057665e-01 -2.72379081e-04 2.56560277e+01] [ 6.10904008e-04 6.84950171e-06 9.99999813e-01 -2.49891071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.015769231 meters 0.0174749497935261 Centerline is valid? [True, True] Translation: X:114.49, Y:25.67, Z:-0.25 [[ 8.99795845e-01 -4.36311116e-01 -2.16828001e-04 1.14488631e+02] [ 4.36311102e-01 8.99795871e-01 -1.08311699e-04 2.56674933e+01] [ 2.42358538e-04 2.85395241e-06 9.99999971e-01 -2.49302381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.045769231 meters 0.01779786759021911 Centerline is valid? [True, True] Translation: X:114.51, Y:25.68, Z:-0.25 [[ 8.99625353e-01 -4.36661611e-01 -9.28407136e-04 1.14513040e+02] [ 4.36661366e-01 8.99625832e-01 -4.62238458e-04 2.56787653e+01] [ 1.03706083e-03 1.04419080e-05 9.99999462e-01 -2.51422418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.075769231 meters 0.016979548845519585 Centerline is valid? [True, True] Translation: X:114.54, Y:25.69, Z:-0.25 [[ 8.99174377e-01 -4.37581616e-01 -2.78726639e-03 1.14540376e+02] [ 4.37579415e-01 8.99178697e-01 -1.38824117e-03 2.56876600e+01] [ 3.11371937e-03 2.86204991e-05 9.99995152e-01 -2.54141765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.105769231 meters 0.016527884896054414 Centerline is valid? [True, True] Translation: X:114.57, Y:25.70, Z:-0.25 [[ 8.98774657e-01 -4.38399371e-01 -3.17916903e-03 1.14565996e+02] [ 4.38396510e-01 8.98780279e-01 -1.58410781e-03 2.56991057e+01] [ 3.55184630e-03 3.00193484e-05 9.99993692e-01 -2.54409852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.135769231 meters 0.016084759085561756 Centerline is valid? [True, True] Translation: X:114.59, Y:25.71, Z:-0.25 [[ 8.98411585e-01 -4.39145660e-01 -2.77731545e-03 1.14591142e+02] [ 4.39143480e-01 8.98415878e-01 -1.38382126e-03 2.57105349e+01] [ 3.10288339e-03 2.36010778e-05 9.99995186e-01 -2.53799826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.165769231 meters 0.016205490335128848 Centerline is valid? [True, True] Translation: X:114.62, Y:25.72, Z:-0.25 [[ 8.98328190e-01 -4.39316783e-01 -2.68830164e-03 1.14616477e+02] [ 4.39314739e-01 8.98332212e-01 -1.34038892e-03 2.57226039e+01] [ 3.00384331e-03 2.30986206e-05 9.99995488e-01 -2.53787567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.195769231 meters 0.016539508444428135 Centerline is valid? [True, True] Translation: X:114.64, Y:25.74, Z:-0.25 [[ 8.98409982e-01 -4.39147651e-01 -2.97398333e-03 1.14641304e+02] [ 4.39145146e-01 8.98414904e-01 -1.48345920e-03 2.57355445e+01] [ 3.32332857e-03 2.67442071e-05 9.99994477e-01 -2.54237576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22576923100002 meters 0.01853974755033732 Centerline is valid? [True, True] Translation: X:114.66, Y:25.75, Z:-0.26 [[ 8.99326918e-01 -4.37253853e-01 -4.49022224e-03 1.14663642e+02] [ 4.37248119e-01 8.99338126e-01 -2.23979935e-03 2.57522114e+01] [ 5.01758895e-03 5.09706184e-05 9.99987411e-01 -2.56666614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25576923100002 meters 0.019986352423345878 Centerline is valid? [True, True] Translation: X:114.69, Y:25.77, Z:-0.26 [[ 8.99908965e-01 -4.36051262e-01 -4.81156035e-03 1.14687938e+02] [ 4.36044655e-01 8.99921826e-01 -2.40119970e-03 2.57685532e+01] [ 5.37707433e-03 6.28059613e-05 9.99985541e-01 -2.57983945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28576923100002 meters 0.021664717984077535 Centerline is valid? [True, True] Translation: X:114.71, Y:25.78, Z:-0.26 [[ 9.00590978e-01 -4.34637979e-01 -5.07114115e-03 1.14711836e+02] [ 4.34630617e-01 9.00605253e-01 -2.53083396e-03 2.57840168e+01] [ 5.66709292e-03 7.51730216e-05 9.99983939e-01 -2.58746744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31576923100002 meters 0.025343721307987652 Centerline is valid? [True, True] Translation: X:114.74, Y:25.80, Z:-0.26 [[ 9.01975607e-01 -4.31744506e-01 -6.05695041e-03 1.14735364e+02] [ 4.31733937e-01 9.01995937e-01 -3.02299096e-03 2.58019936e+01] [ 6.76850439e-03 1.11673057e-04 9.99977087e-01 -2.61196053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34576923100002 meters 0.025992921462796432 Centerline is valid? [True, True] Translation: X:114.76, Y:25.82, Z:-0.26 [[ 9.02145229e-01 -4.31385115e-01 -6.39277997e-03 1.14759050e+02] [ 4.31373329e-01 9.02167871e-01 -3.19109625e-03 2.58162048e+01] [ 7.14395212e-03 1.21157484e-04 9.99974474e-01 -2.62157045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37576923100002 meters 0.024621769530868594 Centerline is valid? [True, True] Translation: X:114.78, Y:25.83, Z:-0.26 [[ 9.01425701e-01 -4.32882016e-01 -6.69815160e-03 1.14783974e+02] [ 4.32869107e-01 9.01450579e-01 -3.34506179e-03 2.58304690e+01] [ 7.48606973e-03 1.15901765e-04 9.99971972e-01 -2.62974556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40576923100002 meters 0.024621769530868594 Centerline is valid? [True, True] Translation: X:114.81, Y:25.84, Z:-0.26 [[ 9.01348633e-01 -4.33042475e-01 -6.69753432e-03 1.14808464e+02] [ 4.33029561e-01 9.01373508e-01 -3.34629761e-03 2.58429398e+01] [ 7.48606901e-03 1.15950426e-04 9.99971972e-01 -2.63033605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.435769231 meters 0.0235472751022526 Centerline is valid? [True, True] Translation: X:114.83, Y:25.85, Z:-0.26 [[ 9.00768072e-01 -4.34252748e-01 -6.43675647e-03 1.14834211e+02] [ 4.34240843e-01 9.00791064e-01 -3.21721196e-03 2.58546843e+01] [ 7.19525584e-03 1.02859258e-04 9.99974109e-01 -2.62660999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.465769231 meters 0.0215330491866478 Centerline is valid? [True, True] Translation: X:114.86, Y:25.86, Z:-0.26 [[ 9.00183187e-01 -4.35478102e-01 -5.38994474e-03 1.14861153e+02] [ 4.35469769e-01 9.00199320e-01 -2.69512329e-03 2.58643391e+01] [ 6.02569176e-03 7.89466798e-05 9.99981842e-01 -2.59956208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.495769231 meters 0.02028571118678721 Centerline is valid? [True, True] Translation: X:114.89, Y:25.88, Z:-0.26 [[ 8.99623997e-01 -4.36646821e-01 -4.02716753e-03 1.14887919e+02] [ 4.36642177e-01 8.99633009e-01 -2.01457957e-03 2.58760363e+01] [ 4.50263261e-03 5.39329238e-05 9.99989862e-01 -2.56838447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.525769231 meters 0.01941982630000772 Centerline is valid? [True, True] Translation: X:114.91, Y:25.89, Z:-0.25 [[ 8.99187265e-01 -4.37557222e-01 -2.43711790e-03 1.14912255e+02] [ 4.37555523e-01 8.99190567e-01 -1.21978752e-03 2.58906343e+01] [ 2.72516027e-03 3.04430080e-05 9.99996286e-01 -2.54358825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.555769231 meters 0.01987743813726319 Centerline is valid? [True, True] Translation: X:114.94, Y:25.91, Z:-0.25 [[ 8.99344448e-01 -4.37232956e-01 -2.62808857e-03 1.14937113e+02] [ 4.37230977e-01 8.99348287e-01 -1.31585065e-03 2.59060870e+01] [ 2.93890023e-03 3.43212428e-05 9.99995681e-01 -2.54603127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.585769231 meters 0.018503358678050783 Centerline is valid? [True, True] Translation: X:114.96, Y:25.92, Z:-0.25 [[ 8.99571516e-01 -4.36764904e-01 -2.73975223e-03 1.14963672e+02] [ 4.36762749e-01 8.99575687e-01 -1.37237069e-03 2.59181869e+01] [ 3.06401785e-03 3.79238704e-05 9.99995305e-01 -2.53489134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.615769231 meters 0.020928376525620865 Centerline is valid? [True, True] Translation: X:114.99, Y:25.94, Z:-0.25 [[ 8.99902597e-01 -4.36087894e-01 -1.63235340e-03 1.14986018e+02] [ 4.36087128e-01 8.99904077e-01 -8.17688193e-04 2.59364786e+01] [ 1.82554540e-03 2.39914207e-05 9.99998333e-01 -2.51266443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.645769231 meters 0.019321111866665706 Centerline is valid? [True, True] Translation: X:115.01, Y:25.95, Z:-0.25 [[ 8.99672035e-01 -4.36565194e-01 -1.02967011e-03 1.15011300e+02] [ 4.36564889e-01 8.99672624e-01 -5.16397205e-04 2.59484003e+01] [ 1.15180706e-03 1.50703060e-05 9.99999337e-01 -2.48740767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.675769231 meters 0.018347635382753132 Centerline is valid? [True, True] Translation: X:115.04, Y:25.96, Z:-0.25 [[ 8.99062952e-01 -4.37816849e-01 -1.48819706e-03 1.15037541e+02] [ 4.37816213e-01 8.99064184e-01 -7.46407111e-04 2.59598101e+01] [ 1.66477429e-03 1.95101788e-05 9.99998614e-01 -2.50115492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.705769231 meters 0.01753825165477282 Centerline is valid? [True, True] Translation: X:115.06, Y:25.97, Z:-0.25 [[ 8.98470811e-01 -4.39027763e-01 -2.19667640e-03 1.15064796e+02] [ 4.39026380e-01 8.98473496e-01 -1.10201349e-03 2.59706173e+01] [ 2.45747005e-03 2.57280668e-05 9.99996980e-01 -2.51740056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.735769231 meters 0.016563643955380535 Centerline is valid? [True, True] Translation: X:115.09, Y:25.98, Z:-0.25 [[ 8.97762838e-01 -4.40472378e-01 -2.44363399e-03 1.15092074e+02] [ 4.40470671e-01 8.97766163e-01 -1.22636923e-03 2.59810952e+01] [ 2.73399369e-03 2.46396176e-05 9.99996262e-01 -2.52276611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.765769231 meters 0.01445015128113774 Centerline is valid? [True, True] Translation: X:115.12, Y:25.99, Z:-0.25 [[ 8.96021296e-01 -4.43999292e-01 -3.23502461e-03 1.15120626e+02] [ 4.43996322e-01 8.96027136e-01 -1.62407940e-03 2.59885007e+01] [ 3.61975994e-03 1.88707011e-05 9.99993448e-01 -2.54171019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.795769231 meters 0.014210558501989183 Centerline is valid? [True, True] Translation: X:115.15, Y:26.00, Z:-0.26 [[ 8.95201735e-01 -4.45643186e-01 -4.00051153e-03 1.15145766e+02] [ 4.45638660e-01 8.95210674e-01 -2.00849511e-03 2.59974802e+01] [ 4.47637278e-03 1.52257143e-05 9.99989981e-01 -2.57063465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.825769231 meters 0.013981647906990335 Centerline is valid? [True, True] Translation: X:115.17, Y:26.01, Z:-0.26 [[ 8.94550432e-01 -4.46949452e-01 -3.96372032e-03 1.15171508e+02] [ 4.46945021e-01 8.94559214e-01 -1.99023984e-03 2.60072398e+01] [ 4.43531914e-03 8.80484475e-06 9.99990164e-01 -2.58427139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.855769231 meters 0.013384744367672176 Centerline is valid? [True, True] Translation: X:115.20, Y:26.02, Z:-0.25 [[ 8.94601431e-01 -4.46861914e-01 -1.64580418e-03 1.15197337e+02] [ 4.46861149e-01 8.94602945e-01 -8.26977229e-04 2.60204114e+01] [ 1.84188589e-03 4.36906684e-06 9.99998304e-01 -2.51393195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.885769231 meters 0.013866980884662315 Centerline is valid? [True, True] Translation: X:115.22, Y:26.04, Z:-0.25 [[ 8.95165384e-01 -4.45732931e-01 -1.04362815e-03 1.15220443e+02] [ 4.45732622e-01 8.95165992e-01 -5.24795922e-04 2.60362982e+01] [ 1.16813926e-03 4.60002904e-06 9.99999318e-01 -2.49139419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.915769231 meters 0.015411576663272019 Centerline is valid? [True, True] Translation: X:115.24, Y:26.05, Z:-0.25 [[ 8.96684166e-01 -4.42664803e-01 -2.31907697e-03 1.15244099e+02] [ 4.42663268e-01 8.96687165e-01 -1.16614591e-03 2.60525589e+01] [ 2.59569830e-03 1.90943836e-05 9.99996631e-01 -2.50442622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.945769231 meters 0.016971452806328228 Centerline is valid? [True, True] Translation: X:115.27, Y:26.07, Z:-0.25 [[ 8.97074231e-01 -4.41866182e-01 -3.47878323e-03 1.15268189e+02] [ 4.41862721e-01 8.97080975e-01 -1.74910658e-03 2.60674726e+01] [ 3.89362130e-03 3.19338197e-05 9.99992419e-01 -2.54778143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97576923100002 meters 0.016173986216188735 Centerline is valid? [True, True] Translation: X:115.29, Y:26.08, Z:-0.26 [[ 8.96896157e-01 -4.42222036e-01 -4.11751350e-03 1.15293757e+02] [ 4.42217185e-01 8.96905608e-01 -2.07152240e-03 2.60782437e+01] [ 4.60909381e-03 3.71052501e-05 9.99989377e-01 -2.55358248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00576923100002 meters 0.01480188160352783 Centerline is valid? [True, True] Translation: X:115.32, Y:26.09, Z:-0.25 [[ 8.96027719e-01 -4.43992581e-01 -2.21697924e-03 1.15320454e+02] [ 4.43991179e-01 8.96030461e-01 -1.11597517e-03 2.60900939e+01] [ 2.48196562e-03 1.56254556e-05 9.99996920e-01 -2.51089498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03576923100002 meters 0.013996765611563123 Centerline is valid? [True, True] Translation: X:115.35, Y:26.10, Z:-0.25 [[ 8.95542595e-01 -4.44974603e-01 -1.03115618e-03 1.15346716e+02] [ 4.44974300e-01 8.95543188e-01 -5.19506676e-04 2.61017774e+01] [ 1.15461217e-03 6.40235612e-06 9.99999333e-01 -2.48847080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06576923100002 meters 0.01399703213507694 Centerline is valid? [True, True] Translation: X:115.37, Y:26.11, Z:-0.25 [[ 8.95326547e-01 -4.45409430e-01 -9.01859857e-04 1.15371059e+02] [ 4.45409198e-01 8.95327002e-01 -4.54307228e-04 2.61130908e+01] [ 1.00981220e-03 5.05664670e-06 9.99999490e-01 -2.49514256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09576923100002 meters 0.0141720786022901 Centerline is valid? [True, True] Translation: X:115.40, Y:26.12, Z:-0.26 [[ 8.94533359e-01 -4.46995166e-01 -2.32208111e-03 1.15396409e+02] [ 4.46993635e-01 8.94536373e-01 -1.16964772e-03 2.61228640e+01] [ 2.60001288e-03 8.33342647e-06 9.99996620e-01 -2.55516473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12576923100002 meters 0.013474920484593027 Centerline is valid? [True, True] Translation: X:115.42, Y:26.13, Z:-0.25 [[ 8.94140002e-01 -4.47776752e-01 -3.10450655e-03 1.15422459e+02] [ 4.47774018e-01 8.94145391e-01 -1.56468352e-03 2.61325774e+01] [ 3.47650913e-03 8.92875134e-06 9.99993957e-01 -2.54371004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15576923100002 meters 0.013453652326265603 Centerline is valid? [True, True] Translation: X:115.45, Y:26.14, Z:-0.25 [[ 8.93845247e-01 -4.48362815e-01 -3.38535870e-03 1.15448955e+02] [ 4.48359566e-01 8.93851658e-01 -1.70699283e-03 2.61428866e+01] [ 3.79136059e-03 7.92946998e-06 9.99992813e-01 -2.54432418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.185769231 meters 0.013284479323812097 Centerline is valid? [True, True] Translation: X:115.47, Y:26.15, Z:-0.25 [[ 8.93619055e-01 -4.48818409e-01 -2.64980448e-03 1.15474888e+02] [ 4.48816420e-01 8.93622983e-01 -1.33608549e-03 2.61526858e+01] [ 2.96758595e-03 4.67569614e-06 9.99995597e-01 -2.52865046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.215769231 meters 0.013067685298366442 Centerline is valid? [True, True] Translation: X:115.50, Y:26.16, Z:-0.25 [[ 8.93334259e-01 -4.49389405e-01 -1.75052790e-03 1.15500575e+02] [ 4.49388537e-01 8.93335974e-01 -8.83417753e-04 2.61628255e+01] [ 1.96080813e-03 2.52017079e-06 9.99998078e-01 -2.51360369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.245769231 meters 0.012991529543727858 Centerline is valid? [True, True] Translation: X:115.52, Y:26.17, Z:-0.25 [[ 8.93208354e-01 -4.49639857e-01 -1.68394759e-03 1.15524901e+02] [ 4.49639054e-01 8.93209941e-01 -8.49752163e-04 2.61735650e+01] [ 1.88620117e-03 1.83712871e-06 9.99998221e-01 -2.50734754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.275769231 meters 0.013570967733460585 Centerline is valid? [True, True] Translation: X:115.55, Y:26.18, Z:-0.26 [[ 8.93531018e-01 -4.48989932e-01 -3.21881613e-03 1.15551171e+02] [ 4.48986994e-01 8.93536816e-01 -1.62427288e-03 2.61838582e+01] [ 3.60541289e-03 6.13162607e-06 9.99993500e-01 -2.55028827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.305769231 meters 0.01391630048673693 Centerline is valid? [True, True] Translation: X:115.58, Y:26.20, Z:-0.26 [[ 8.93770815e-01 -4.48504244e-01 -4.20392400e-03 1.15578055e+02] [ 4.48499222e-01 8.93780702e-01 -2.12241281e-03 2.61951771e+01] [ 4.70929730e-03 1.14939874e-05 9.99988911e-01 -2.56784197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.335769231 meters 0.014426396756142615 Centerline is valid? [True, True] Translation: X:115.60, Y:26.21, Z:-0.26 [[ 8.94213986e-01 -4.47615045e-01 -4.70300867e-03 1.15603992e+02] [ 4.47608743e-01 8.94226353e-01 -2.37528055e-03 2.62079431e+01] [ 5.26876561e-03 1.89012849e-05 9.99986120e-01 -2.56823823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.365769231 meters 0.016374935865728333 Centerline is valid? [True, True] Translation: X:115.63, Y:26.22, Z:-0.26 [[ 8.95805196e-01 -4.44422511e-01 -4.65635118e-03 1.15626499e+02] [ 4.44416290e-01 8.95817297e-01 -2.35180315e-03 2.62245090e+01] [ 5.21643419e-03 3.73991641e-05 9.99986394e-01 -2.56126323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.395769231 meters 0.016982645188804164 Centerline is valid? [True, True] Translation: X:115.65, Y:26.24, Z:-0.25 [[ 8.96467091e-01 -4.43088103e-01 -4.43703326e-03 1.15651609e+02] [ 4.43082432e-01 8.96478071e-01 -2.24221665e-03 2.62379812e+01] [ 4.97120253e-03 4.41019507e-05 9.99987643e-01 -2.54542138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.425769231 meters 0.017540424365460976 Centerline is valid? [True, True] Translation: X:115.68, Y:26.25, Z:-0.25 [[ 8.97232399e-01 -4.41547653e-01 -3.11319586e-03 1.15678910e+02] [ 4.41544849e-01 8.97237800e-01 -1.57402835e-03 2.62487795e+01] [ 3.48828553e-03 3.76536382e-05 9.99993915e-01 -2.52400548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.455769231 meters 0.018381724054497697 Centerline is valid? [True, True] Translation: X:115.70, Y:26.26, Z:-0.25 [[ 8.97337138e-01 -4.41340428e-01 -2.16525370e-03 1.15703132e+02] [ 4.41339070e-01 8.97339750e-01 -1.09514452e-03 2.62614692e+01] [ 2.42629977e-03 2.71027978e-05 9.99997056e-01 -2.51391591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.485769231 meters 0.017816963353650704 Centerline is valid? [True, True] Translation: X:115.73, Y:26.27, Z:-0.25 [[ 8.97066790e-01 -4.41892398e-01 -1.51071364e-03 1.15729313e+02] [ 4.41891737e-01 8.97068062e-01 -7.64582156e-04 2.62736913e+01] [ 1.69307600e-03 1.83093878e-05 9.99998567e-01 -2.50225081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.515769231 meters 0.016903115790734956 Centerline is valid? [True, True] Translation: X:115.76, Y:26.28, Z:-0.25 [[ 8.96674479e-01 -4.42685769e-01 -2.04654188e-03 1.15756294e+02] [ 4.42684557e-01 8.96676814e-01 -1.03619832e-03 2.62829992e+01] [ 2.29379690e-03 2.31601055e-05 9.99997369e-01 -2.50881392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.545769231 meters 0.016993108178415275 Centerline is valid? [True, True] Translation: X:115.78, Y:26.29, Z:-0.25 [[ 8.96428954e-01 -4.43176391e-01 -3.13330339e-03 1.15781410e+02] [ 4.43173553e-01 8.96434429e-01 -1.58626263e-03 2.62936929e+01] [ 3.51179518e-03 3.33745517e-05 9.99993833e-01 -2.52830909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.575769231 meters 0.016919736833987068 Centerline is valid? [True, True] Translation: X:115.81, Y:26.30, Z:-0.25 [[ 8.96056729e-01 -4.43925420e-01 -3.54399232e-03 1.15806813e+02] [ 4.43921793e-01 8.96063737e-01 -1.79483843e-03 2.63042212e+01] [ 3.97241740e-03 3.50216242e-05 9.99992109e-01 -2.53622682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.605769231 meters 0.015426693537222116 Centerline is valid? [True, True] Translation: X:115.84, Y:26.31, Z:-0.25 [[ 8.95295369e-01 -4.45468639e-01 -1.97354841e-03 1.15835861e+02] [ 4.45467516e-01 8.95297544e-01 -1.00012626e-03 2.63112804e+01] [ 2.21243793e-03 1.62566995e-05 9.99997552e-01 -2.50770892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.635769231 meters 0.01552712292123085 Centerline is valid? [True, True] Translation: X:115.86, Y:26.32, Z:-0.25 [[ 8.95500248e-01 -4.45060896e-01 -3.24529195e-04 1.15862056e+02] [ 4.45060866e-01 8.95500306e-01 -1.64938325e-04 2.63224594e+01] [ 3.64023592e-04 3.26706657e-06 9.99999934e-01 -2.47115496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.665769231 meters 0.018829277188245983 Centerline is valid? [True, True] Translation: X:115.88, Y:26.34, Z:-0.24 [[ 8.97033877e-01 -4.41956348e-01 2.19304979e-03 1.15883966e+02] [ 4.41954951e-01 8.97036558e-01 1.11147318e-03 2.63400841e+01] [-2.45846846e-03 -2.77998838e-05 9.99996978e-01 -2.42355408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.695769231 meters 0.019212067318423155 Centerline is valid? [True, True] Translation: X:115.91, Y:26.35, Z:-0.24 [[ 8.97745863e-01 -4.40510472e-01 1.69995349e-03 1.15908968e+02] [ 4.40509630e-01 8.97747472e-01 8.61629741e-04 2.63538303e+01] [-1.90568587e-03 -2.46786507e-05 9.99998184e-01 -2.44009042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72576923100002 meters 0.020692108511328633 Centerline is valid? [True, True] Translation: X:115.93, Y:26.37, Z:-0.25 [[ 8.98278647e-01 -4.39426182e-01 -3.21833382e-04 1.15934159e+02] [ 4.39426152e-01 8.98278704e-01 -1.63666823e-04 2.63682887e+01] [ 3.61015561e-04 5.59640792e-06 9.99999935e-01 -2.48888499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75576923100002 meters 0.021310695138005677 Centerline is valid? [True, True] Translation: X:115.96, Y:26.38, Z:-0.26 [[ 8.98161182e-01 -4.39651654e-01 -3.59379361e-03 1.15960646e+02] [ 4.39647876e-01 8.98168370e-01 -1.82354401e-03 2.63785673e+01] [ 4.02955589e-03 5.78327165e-05 9.99991880e-01 -2.56194529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78576923100002 meters 0.019789120282272837 Centerline is valid? [True, True] Translation: X:115.99, Y:26.39, Z:-0.25 [[ 8.97324670e-01 -4.41359516e-01 -3.19595089e-03 1.15987877e+02] [ 4.41356536e-01 8.97330360e-01 -1.62259532e-03 2.63887301e+01] [ 3.58397164e-03 4.54409958e-05 9.99993577e-01 -2.54455154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81576923100002 meters 0.017799272462804383 Centerline is valid? [True, True] Translation: X:116.01, Y:26.40, Z:-0.25 [[ 8.96328955e-01 -4.43386203e-01 -1.75483192e-03 1.16014879e+02] [ 4.43385308e-01 8.96330672e-01 -8.91477262e-04 2.63986082e+01] [ 1.96817839e-03 2.09901937e-05 9.99998063e-01 -2.50609226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84576923100002 meters 0.014928942217757429 Centerline is valid? [True, True] Translation: X:116.04, Y:26.40, Z:-0.25 [[ 8.94520177e-01 -4.47027550e-01 1.51353986e-04 1.16044882e+02] [ 4.47027543e-01 8.94520190e-01 7.65178967e-05 2.64043335e+01] [-1.69594805e-04 -7.87401860e-07 9.99999986e-01 -2.46813093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87576923100002 meters 0.014122722491942864 Centerline is valid? [True, True] Translation: X:116.07, Y:26.41, Z:-0.25 [[ 8.93631043e-01 -4.48802336e-01 -1.47856444e-04 1.16072607e+02] [ 4.48802329e-01 8.93631056e-01 -7.55309672e-05 2.64127995e+01] [ 1.66027585e-04 1.13850044e-06 9.99999986e-01 -2.48118108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90576923100002 meters 0.013659800327910927 Centerline is valid? [True, True] Translation: X:116.10, Y:26.42, Z:-0.25 [[ 8.92880019e-01 -4.50291941e-01 -1.56167066e-03 1.16099512e+02] [ 4.50291240e-01 8.92881385e-01 -7.94437095e-04 2.64211730e+01] [ 1.75211529e-03 6.13038845e-06 9.99998465e-01 -2.50453835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.935769231 meters 0.014164035147396625 Centerline is valid? [True, True] Translation: X:116.12, Y:26.44, Z:-0.25 [[ 8.93281576e-01 -4.49490506e-01 -2.51228031e-03 1.16123610e+02] [ 4.49488691e-01 8.93285108e-01 -1.27761859e-03 2.64352956e+01] [ 2.81846002e-03 1.20315616e-05 9.99996028e-01 -2.52406464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.965769231 meters 0.014985338429207191 Centerline is valid? [True, True] Translation: X:116.15, Y:26.45, Z:-0.25 [[ 8.93818487e-01 -4.48416804e-01 -3.29887419e-03 1.16148641e+02] [ 4.48413663e-01 8.93824574e-01 -1.67851822e-03 2.64495689e+01] [ 3.70129059e-03 2.10303558e-05 9.99993150e-01 -2.54859915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.995769231 meters 0.015761378196604028 Centerline is valid? [True, True] Translation: X:116.17, Y:26.46, Z:-0.26 [[ 8.94149430e-01 -4.47749271e-01 -4.16971209e-03 1.16173411e+02] [ 4.47744245e-01 8.94159152e-01 -2.12177921e-03 2.64616208e+01] [ 4.67841133e-03 3.02230840e-05 9.99989056e-01 -2.57424250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.025769231 meters 0.015805871158947722 Centerline is valid? [True, True] Translation: X:116.20, Y:26.47, Z:-0.26 [[ 8.94151751e-01 -4.47732764e-01 -5.29315589e-03 1.16201126e+02] [ 4.47724657e-01 8.94167418e-01 -2.69468861e-03 2.64710358e+01] [ 5.93946791e-03 3.95841352e-05 9.99982360e-01 -2.58717696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.055769231 meters 0.015862981263625144 Centerline is valid? [True, True] Translation: X:116.23, Y:26.48, Z:-0.26 [[ 8.94066601e-01 -4.47901082e-01 -5.43440506e-03 1.16226883e+02] [ 4.47892531e-01 8.94083116e-01 -2.76795024e-03 2.64831921e+01] [ 6.09857772e-03 4.07024219e-05 9.99981403e-01 -2.58964275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.085769231 meters 0.01566953188584912 Centerline is valid? [True, True] Translation: X:116.25, Y:26.49, Z:-0.26 [[ 8.93831821e-01 -4.48372287e-01 -5.19309179e-03 1.16253244e+02] [ 4.48364486e-01 8.93846906e-01 -2.64512904e-03 2.64917857e+01] [ 5.82783159e-03 3.59025727e-05 9.99983017e-01 -2.58908997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.115769231 meters 0.015188634924119536 Centerline is valid? [True, True] Translation: X:116.28, Y:26.50, Z:-0.26 [[ 8.93528831e-01 -4.48986144e-01 -4.20359368e-03 1.16280824e+02] [ 4.48981034e-01 8.93538719e-01 -2.14227797e-03 2.65019706e+01] [ 4.71792684e-03 2.68532948e-05 9.99988870e-01 -2.56953726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.145769231 meters 0.014751882286844249 Centerline is valid? [True, True] Translation: X:116.31, Y:26.51, Z:-0.25 [[ 8.93241796e-01 -4.49565580e-01 -3.14384118e-03 1.16307980e+02] [ 4.49562723e-01 8.93247328e-01 -1.60294921e-03 2.65127762e+01] [ 3.52885852e-03 1.84674309e-05 9.99993773e-01 -2.54751204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.175769231 meters 0.014910454615476406 Centerline is valid? [True, True] Translation: X:116.33, Y:26.52, Z:-0.25 [[ 8.93382982e-01 -4.49289883e-01 -2.33427275e-03 1.16333441e+02] [ 4.49288305e-01 8.93386031e-01 -1.19088530e-03 2.65249432e+01] [ 2.62045938e-03 1.51552107e-05 9.99996566e-01 -2.52333073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.205769231 meters 0.015366661663119428 Centerline is valid? [True, True] Translation: X:116.36, Y:26.54, Z:-0.25 [[ 8.93614100e-01 -4.48826288e-01 -2.96713479e-03 1.16357961e+02] [ 4.48823736e-01 8.93619025e-01 -1.51361112e-03 2.65370107e+01] [ 3.33083656e-03 2.08637112e-05 9.99994453e-01 -2.54020387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.235769231 meters 0.01567791944303605 Centerline is valid? [True, True] Translation: X:116.38, Y:26.55, Z:-0.26 [[ 8.93931636e-01 -4.48186186e-01 -3.92082737e-03 1.16384495e+02] [ 4.48181719e-01 8.93940234e-01 -2.00113839e-03 2.65489349e+01] [ 4.40186792e-03 3.16377660e-05 9.99990311e-01 -2.55746636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.265769231 meters 0.017144153082280126 Centerline is valid? [True, True] Translation: X:116.41, Y:26.56, Z:-0.26 [[ 8.94647195e-01 -4.46754490e-01 -4.10143671e-03 1.16408788e+02] [ 4.46749587e-01 8.94656596e-01 -2.09334722e-03 2.65634504e+01] [ 4.60458968e-03 4.04920640e-05 9.99989398e-01 -2.56308021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.295769231 meters 0.017484975866317663 Centerline is valid? [True, True] Translation: X:116.43, Y:26.58, Z:-0.25 [[ 8.94948622e-01 -4.46158731e-01 -3.05806829e-03 1.16432436e+02] [ 4.46155998e-01 8.94953846e-01 -1.56187771e-03 2.65781593e+01] [ 3.43367535e-03 3.34247908e-05 9.99994104e-01 -2.53403221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.325769231 meters 0.017484975866317663 Centerline is valid? [True, True] Translation: X:116.46, Y:26.59, Z:-0.25 [[ 8.94865460e-01 -4.46325508e-01 -3.05777710e-03 1.16456832e+02] [ 4.46322775e-01 8.94870683e-01 -1.56244778e-03 2.65908394e+01] [ 3.43367538e-03 3.34249872e-05 9.99994104e-01 -2.53462267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.355769231 meters 0.0184486441022858 Centerline is valid? [True, True] Translation: X:116.48, Y:26.61, Z:-0.25 [[ 8.95661025e-01 -4.44733077e-01 -1.95421442e-03 1.16480634e+02] [ 4.44731956e-01 8.95663156e-01 -9.99078530e-04 2.66076076e+01] [ 2.19464112e-03 2.57341001e-05 9.99997591e-01 -2.50577559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.385769231 meters 0.018893936426146115 Centerline is valid? [True, True] Translation: X:116.50, Y:26.62, Z:-0.25 [[ 8.95672357e-01 -4.44710033e-01 -2.00399910e-03 1.16503821e+02] [ 4.44708853e-01 8.95674598e-01 -1.02452582e-03 2.66207699e+01] [ 2.25054800e-03 2.64433175e-05 9.99997467e-01 -2.51306508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.415769231 meters 0.018414726411385206 Centerline is valid? [True, True] Translation: X:116.53, Y:26.63, Z:-0.25 [[ 8.95341294e-01 -4.45374871e-01 -2.27847866e-03 1.16528397e+02] [ 4.45373347e-01 8.95344193e-01 -1.16562595e-03 2.66332676e+01] [ 2.55916315e-03 2.88593788e-05 9.99996725e-01 -2.52201795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.445769231 meters 0.016784113221370286 Centerline is valid? [True, True] Translation: X:116.55, Y:26.65, Z:-0.25 [[ 8.94253594e-01 -4.47554689e-01 -2.30443725e-03 1.16553267e+02] [ 4.47553136e-01 8.94256563e-01 -1.17932167e-03 2.66467719e+01] [ 2.58856908e-03 2.32545277e-05 9.99996649e-01 -2.52113735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47576923100002 meters 0.016274528187705074 Centerline is valid? [True, True] Translation: X:116.58, Y:26.66, Z:-0.25 [[ 8.93834805e-01 -4.48395116e-01 -1.07795721e-03 1.16577430e+02] [ 4.48394777e-01 8.93835454e-01 -5.51690455e-04 2.66608485e+01] [ 1.21089168e-03 9.76974498e-06 9.99999267e-01 -2.48922720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50576923100002 meters 0.01614511385113684 Centerline is valid? [True, True] Translation: X:116.60, Y:26.68, Z:-0.24 [[ 8.93645582e-01 -4.48772469e-01 9.19503195e-04 1.16601090e+02] [ 4.48772223e-01 8.93646055e-01 4.70402252e-04 2.66761806e+01] [-1.03281398e-03 -7.72540176e-06 9.99999467e-01 -2.44703874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53576923100002 meters 0.01601159244862897 Centerline is valid? [True, True] Translation: X:116.62, Y:26.69, Z:-0.24 [[ 8.93709588e-01 -4.48640555e-01 2.19656448e-03 1.16623798e+02] [ 4.48639147e-01 8.93712287e-01 1.12412553e-03 2.66924386e+01] [-2.46742497e-03 -1.91769445e-05 9.99996956e-01 -2.41298380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56576923100002 meters 0.015542205554336398 Centerline is valid? [True, True] Translation: X:116.65, Y:26.71, Z:-0.24 [[ 8.93715396e-01 -4.48632573e-01 1.26719521e-03 1.16648365e+02] [ 4.48632104e-01 8.93716294e-01 6.48602449e-04 2.67066696e+01] [-1.42349719e-03 -1.11615413e-05 9.99998987e-01 -2.43844293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59576923100002 meters 0.015113317162254695 Centerline is valid? [True, True] Translation: X:116.67, Y:26.72, Z:-0.25 [[ 8.92945810e-01 -4.50161656e-01 -1.50443313e-03 1.16671561e+02] [ 4.50160997e-01 8.92947077e-01 -7.70862986e-04 2.67233408e+01] [ 1.69039212e-03 1.11017581e-05 9.99998571e-01 -2.49430712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62576923100002 meters 0.014672425500818171 Centerline is valid? [True, True] Translation: X:116.70, Y:26.74, Z:-0.25 [[ 8.92001534e-01 -4.52025423e-01 -2.50586874e-03 1.16695982e+02] [ 4.52023600e-01 8.92005054e-01 -1.28408491e-03 2.67356469e+01] [ 2.81568661e-03 1.26939024e-05 9.99996036e-01 -2.52433287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65576923100002 meters 0.013936222309723174 Centerline is valid? [True, True] Translation: X:116.73, Y:26.74, Z:-0.25 [[ 8.89127257e-01 -4.57648966e-01 -3.18505439e-03 1.16725044e+02] [ 4.57646052e-01 8.89132962e-01 -1.63314514e-03 2.67400347e+01] [ 3.57934403e-03 -5.55371138e-06 9.99993594e-01 -2.52730317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.685769231 meters 0.015000931177678057 Centerline is valid? [True, True] Translation: X:116.75, Y:26.75, Z:-0.25 [[ 8.87540733e-01 -4.60717928e-01 -3.23073925e-03 1.16753117e+02] [ 4.60714948e-01 8.87546613e-01 -1.65717428e-03 2.67484236e+01] [ 3.63092158e-03 -1.76401853e-05 9.99993408e-01 -2.52576678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.715769231 meters 0.016079888353367648 Centerline is valid? [True, True] Translation: X:116.78, Y:26.76, Z:-0.25 [[ 8.86160506e-01 -4.63369884e-01 -2.81230461e-03 1.16779960e+02] [ 4.63367637e-01 8.86164968e-01 -1.44322073e-03 2.67584823e+01] [ 3.16091084e-03 -2.42057297e-05 9.99995004e-01 -2.51429852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.745769231 meters 0.019492004941855528 Centerline is valid? [True, True] Translation: X:116.81, Y:26.76, Z:-0.25 [[ 8.83918752e-01 -4.67638444e-01 -1.38783537e-03 1.16808343e+02] [ 4.67637902e-01 8.83919841e-01 -7.12309845e-04 2.67632340e+01] [ 1.55983869e-03 -1.93803931e-05 9.99998783e-01 -2.49534690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.775769231 meters 0.021822471346578796 Centerline is valid? [True, True] Translation: X:116.84, Y:26.77, Z:-0.25 [[ 8.82773662e-01 -4.69798470e-01 -2.43535291e-04 1.16835556e+02] [ 4.69798453e-01 8.82773696e-01 -1.25125925e-04 2.67707662e+01] [ 2.73770517e-04 -3.95463171e-06 9.99999963e-01 -2.48253325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.805769231 meters 0.024993682599108256 Centerline is valid? [True, True] Translation: X:116.87, Y:26.78, Z:-0.25 [[ 8.81016463e-01 -4.73085306e-01 5.34383754e-04 1.16865690e+02] [ 4.73085227e-01 8.81016625e-01 2.73961499e-04 2.67750717e+01] [-6.00408131e-04 1.14444687e-05 9.99999820e-01 -2.47511649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.835769231 meters 0.025791117839536946 Centerline is valid? [True, True] Translation: X:116.89, Y:26.78, Z:-0.25 [[ 8.80177068e-01 -4.74645345e-01 3.54274574e-04 1.16893052e+02] [ 4.74645311e-01 8.80177139e-01 1.81558772e-04 2.67848660e+01] [-3.98000407e-04 8.35089814e-06 9.99999921e-01 -2.47738375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.865769231 meters 0.028507766537632494 Centerline is valid? [True, True] Translation: X:116.92, Y:26.79, Z:-0.25 [[ 8.79453514e-01 -4.75984756e-01 1.67455389e-04 1.16920649e+02] [ 4.75984748e-01 8.79453530e-01 8.58510386e-05 2.67909191e+01] [-1.88133018e-04 4.20421339e-06 9.99999982e-01 -2.48537987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.895769231 meters 0.029502542170299278 Centerline is valid? [True, True] Translation: X:116.95, Y:26.80, Z:-0.25 [[ 8.78870667e-01 -4.77060109e-01 -6.42455963e-05 1.16948436e+02] [ 4.77060107e-01 8.78870669e-01 -3.34080529e-05 2.68003445e+01] [ 7.24012195e-05 -1.28765334e-06 9.99999997e-01 -2.48721089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.925769231 meters 0.03012194089214123 Centerline is valid? [True, True] Translation: X:116.98, Y:26.81, Z:-0.25 [[ 8.78717588e-01 -4.77340622e-01 -1.15386964e-03 1.16976380e+02] [ 4.77340254e-01 8.78718345e-01 -5.93382001e-04 2.68058010e+01] [ 1.29717176e-03 -2.93732283e-05 9.99999158e-01 -2.51509662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.955769231 meters 0.029066844546071766 Centerline is valid? [True, True] Translation: X:117.00, Y:26.82, Z:-0.25 [[ 8.78760506e-01 -4.77260479e-01 -1.55195616e-03 1.17002422e+02] [ 4.77259813e-01 8.78761875e-01 -7.98590241e-04 2.68165921e+01] [ 1.74493547e-03 -3.89167441e-05 9.99998477e-01 -2.52382356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.985769231 meters 0.026945000631758857 Centerline is valid? [True, True] Translation: X:117.03, Y:26.83, Z:-0.25 [[ 8.80159836e-01 -4.74675919e-01 -1.19834144e-03 1.17028943e+02] [ 4.74675519e-01 8.80160651e-01 -6.16510210e-04 2.68261094e+01] [ 1.34737553e-03 -2.61958205e-05 9.99999092e-01 -2.52349756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.015769231 meters 0.02520306062735401 Centerline is valid? [True, True] Translation: X:117.05, Y:26.84, Z:-0.25 [[ 8.81199737e-01 -4.72741959e-01 -1.43661704e-03 1.17053364e+02] [ 4.72741382e-01 8.81200907e-01 -7.39167283e-04 2.68389825e+01] [ 1.61538363e-03 -2.77943124e-05 9.99998695e-01 -2.52990503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.045769231 meters 0.02226925164357596 Centerline is valid? [True, True] Translation: X:117.08, Y:26.85, Z:-0.25 [[ 8.82508290e-01 -4.70294210e-01 -1.57300199e-03 1.17078144e+02] [ 4.70293513e-01 8.82509692e-01 -8.09887958e-04 2.68536493e+01] [ 1.76907512e-03 -2.50397968e-05 9.99998435e-01 -2.53250838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.075769231 meters 0.016838342806916054 Centerline is valid? [True, True] Translation: X:117.10, Y:26.87, Z:-0.25 [[ 8.85238624e-01 -4.65134361e-01 -1.61409629e-03 1.17101870e+02] [ 4.65133619e-01 8.85240095e-01 -8.31321085e-04 2.68707194e+01] [ 1.81553876e-03 -1.48529170e-05 9.99998352e-01 -2.52289824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.105769231 meters 0.015094656576572815 Centerline is valid? [True, True] Translation: X:117.13, Y:26.88, Z:-0.25 [[ 8.86531770e-01 -4.62665561e-01 -1.41383902e-03 1.17126448e+02] [ 4.62664988e-01 8.86532897e-01 -7.28542389e-04 2.68849262e+01] [ 1.59048628e-03 -8.25784027e-06 9.99998735e-01 -2.52288156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.135769231 meters 0.013582135287105598 Centerline is valid? [True, True] Translation: X:117.15, Y:26.90, Z:-0.25 [[ 8.88316434e-01 -4.59230734e-01 -1.02287846e-03 1.17150668e+02] [ 4.59230432e-01 8.88317023e-01 -5.27108967e-04 2.68988220e+01] [ 1.15070499e-03 -1.49736068e-06 9.99999338e-01 -2.52942056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.165769231 meters 0.01330698305112494 Centerline is valid? [True, True] Translation: X:117.18, Y:26.91, Z:-0.25 [[ 8.88885279e-01 -4.58128720e-01 -1.01826245e-03 1.17175909e+02] [ 4.58128418e-01 8.88885862e-01 -5.25230618e-04 2.69119933e+01] [ 1.14574232e-03 3.74800895e-07 9.99999344e-01 -2.52491756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.195769231 meters 0.01336304694187405 Centerline is valid? [True, True] Translation: X:117.20, Y:26.92, Z:-0.25 [[ 8.89162198e-01 -4.57589918e-01 -1.43249079e-03 1.17201453e+02] [ 4.57589322e-01 8.89163352e-01 -7.39048146e-04 2.69238444e+01] [ 1.61189929e-03 1.64118671e-06 9.99998701e-01 -2.53783841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22576923100002 meters 0.013575570477345015 Centerline is valid? [True, True] Translation: X:117.23, Y:26.94, Z:-0.25 [[ 8.89246828e-01 -4.57422603e-01 -2.15432152e-03 1.17227693e+02] [ 4.57421252e-01 8.89249438e-01 -1.11175345e-03 2.69350782e+01] [ 2.42427036e-03 3.19077603e-06 9.99997061e-01 -2.54046859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25576923100002 meters 0.013582372009411292 Centerline is valid? [True, True] Translation: X:117.25, Y:26.94, Z:-0.25 [[ 8.89666034e-01 -4.56609623e-01 -1.41421579e-03 1.17254302e+02] [ 4.56609039e-01 8.89667158e-01 -7.30315311e-04 2.69448951e+01] [ 1.59165035e-03 3.99301240e-06 9.99998733e-01 -2.52610557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28576923100002 meters 0.013749335144207085 Centerline is valid? [True, True] Translation: X:117.28, Y:26.96, Z:-0.25 [[ 8.90147423e-01 -4.55671856e-01 -8.51765138e-04 1.17279107e+02] [ 4.55671643e-01 8.90147830e-01 -4.40246054e-04 2.69587471e+01] [ 9.58804626e-04 3.75866965e-06 9.99999540e-01 -2.51656122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31576923100002 meters 0.015916824554364897 Centerline is valid? [True, True] Translation: X:117.30, Y:26.98, Z:-0.25 [[ 8.92128014e-01 -4.51782635e-01 -2.39925231e-04 1.17300867e+02] [ 4.51782617e-01 8.92128046e-01 -1.24118839e-04 2.69777576e+01] [ 2.70118764e-04 2.33584436e-06 9.99999964e-01 -2.50510060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34576923100002 meters 0.0184198663613905 Centerline is valid? [True, True] Translation: X:117.32, Y:27.00, Z:-0.25 [[ 8.93579714e-01 -4.48904488e-01 -2.33919527e-04 1.17324023e+02] [ 4.48904472e-01 8.93579745e-01 -1.21246646e-04 2.69954105e+01] [ 2.63453915e-04 3.33602152e-06 9.99999965e-01 -2.50282371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37576923100002 meters 0.02112660176889301 Centerline is valid? [True, True] Translation: X:117.35, Y:27.01, Z:-0.25 [[ 8.95074262e-01 -4.45916857e-01 -4.72301615e-04 1.17347515e+02] [ 4.45916790e-01 8.95074386e-01 -2.44506857e-04 2.70127750e+01] [ 5.31774807e-04 8.24457432e-06 9.99999859e-01 -2.50836821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40576923100002 meters 0.02596138222454887 Centerline is valid? [True, True] Translation: X:117.37, Y:27.03, Z:-0.25 [[ 8.97121377e-01 -4.41783488e-01 -7.64585710e-04 1.17368355e+02] [ 4.41783311e-01 8.97121703e-01 -3.95334273e-04 2.70334538e+01] [ 8.60578588e-04 1.68816208e-05 9.99999630e-01 -2.51601107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.435769231 meters 0.027373113670033835 Centerline is valid? [True, True] Translation: X:117.39, Y:27.05, Z:-0.25 [[ 8.97350803e-01 -4.41317279e-01 -7.71361851e-04 1.17391416e+02] [ 4.41317099e-01 8.97351135e-01 -3.98918670e-04 2.70489581e+01] [ 8.68232134e-04 1.75548146e-05 9.99999623e-01 -2.51899166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.465769231 meters 0.025502058301903455 Centerline is valid? [True, True] Translation: X:117.42, Y:27.06, Z:-0.25 [[ 8.97208323e-01 -4.41606583e-01 -9.22179024e-04 1.17415746e+02] [ 4.41606325e-01 8.97208797e-01 -4.77423407e-04 2.70619331e+01] [ 1.03822045e-03 2.11081647e-05 9.99999461e-01 -2.51962053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.495769231 meters 0.024822960255543557 Centerline is valid? [True, True] Translation: X:117.44, Y:27.08, Z:-0.25 [[ 8.97153581e-01 -4.41717810e-01 -9.09709053e-04 1.17440463e+02] [ 4.41717559e-01 8.97154042e-01 -4.71204463e-04 2.70757974e+01] [ 1.02428856e-03 2.09083086e-05 9.99999475e-01 -2.52426559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.525769231 meters 0.02760743193687683 Centerline is valid? [True, True] Translation: X:117.46, Y:27.10, Z:-0.25 [[ 8.97393628e-01 -4.41230823e-01 -1.92338924e-04 1.17461401e+02] [ 4.41230812e-01 8.97393649e-01 -9.96868904e-05 2.70959897e+01] [ 2.16588658e-04 4.59252041e-06 9.99999977e-01 -2.52265596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.555769231 meters 0.025688471826067892 Centerline is valid? [True, True] Translation: X:117.49, Y:27.11, Z:-0.25 [[ 8.97478297e-01 -4.41058551e-01 2.44989205e-04 1.17487531e+02] [ 4.41058533e-01 8.97478331e-01 1.26437379e-04 2.71083163e+01] [-2.75638790e-04 -5.42022429e-06 9.99999962e-01 -2.50453565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.585769231 meters 0.026672190414354556 Centerline is valid? [True, True] Translation: X:117.51, Y:27.12, Z:-0.25 [[ 8.97319633e-01 -4.41381307e-01 1.30684324e-04 1.17511132e+02] [ 4.41381302e-01 8.97319643e-01 6.74655973e-05 2.71235375e+01] [-1.47043664e-04 -2.85658793e-06 9.99999989e-01 -2.50447502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.615769231 meters 0.025973445296961276 Centerline is valid? [True, True] Translation: X:117.53, Y:27.14, Z:-0.25 [[ 8.96713966e-01 -4.42610407e-01 -3.02854570e-04 1.17534739e+02] [ 4.42610379e-01 8.96714017e-01 -1.56998296e-04 2.71378066e+01] [ 3.41063018e-04 6.73598803e-06 9.99999942e-01 -2.51487527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.645769231 meters 0.02491983839297949 Centerline is valid? [True, True] Translation: X:117.56, Y:27.15, Z:-0.25 [[ 8.96272656e-01 -4.43503463e-01 -7.21382402e-05 1.17560120e+02] [ 4.43503461e-01 8.96272658e-01 -3.77689029e-05 2.71510952e+01] [ 8.14061715e-05 1.85767562e-06 9.99999997e-01 -2.51520699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.675769231 meters 0.022046805271583043 Centerline is valid? [True, True] Translation: X:117.59, Y:27.16, Z:-0.25 [[ 8.94855562e-01 -4.46355203e-01 -7.46082415e-04 1.17586765e+02] [ 4.46355035e-01 8.94855873e-01 -3.87103318e-04 2.71619959e+01] [ 8.40421811e-04 1.33839146e-05 9.99999647e-01 -2.53299949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.705769231 meters 0.02102708949044293 Centerline is valid? [True, True] Translation: X:117.61, Y:27.17, Z:-0.26 [[ 8.94151645e-01 -4.47761990e-01 -1.42667979e-03 1.17611868e+02] [ 4.47761380e-01 8.94152783e-01 -7.39746686e-04 2.71733651e+01] [ 1.60690015e-03 2.26336073e-05 9.99998709e-01 -2.55224815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.735769231 meters 0.019694825669315224 Centerline is valid? [True, True] Translation: X:117.64, Y:27.19, Z:-0.26 [[ 8.93512040e-01 -4.49034266e-01 -2.11221380e-03 1.17638561e+02] [ 4.49032930e-01 8.93514536e-01 -1.09582427e-03 2.71853156e+01] [ 2.37935639e-03 3.06786306e-05 9.99997169e-01 -2.56715038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.765769231 meters 0.019494821092109593 Centerline is valid? [True, True] Translation: X:117.66, Y:27.20, Z:-0.26 [[ 8.93143817e-01 -4.49766003e-01 -2.15969685e-03 1.17663257e+02] [ 4.49764608e-01 8.93146428e-01 -1.12050237e-03 2.71987234e+01] [ 2.43288940e-03 2.94145598e-05 9.99997040e-01 -2.56836053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.795769231 meters 0.01933618913460681 Centerline is valid? [True, True] Translation: X:117.69, Y:27.21, Z:-0.25 [[ 8.93005268e-01 -4.50043917e-01 -1.43667078e-03 1.17687567e+02] [ 4.50043300e-01 8.93006423e-01 -7.45481543e-04 2.72123054e+01] [ 1.61845566e-03 1.91548882e-05 9.99998690e-01 -2.54908797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.825769231 meters 0.018993152140878863 Centerline is valid? [True, True] Translation: X:117.71, Y:27.22, Z:-0.26 [[ 8.92873761e-01 -4.50303474e-01 -1.79654667e-03 1.17712538e+02] [ 4.50302508e-01 8.92875569e-01 -9.32907778e-04 2.72239172e+01] [ 2.02418424e-03 2.39794049e-05 9.99997951e-01 -2.55062483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.855769231 meters 0.01769051094784454 Centerline is valid? [True, True] Translation: X:117.74, Y:27.23, Z:-0.25 [[ 8.92076913e-01 -4.51882789e-01 -8.52071355e-04 1.17740014e+02] [ 4.51882572e-01 8.92077320e-01 -4.42810860e-04 2.72339836e+01] [ 9.60212137e-04 9.98514943e-06 9.99999539e-01 -2.54135829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.885769231 meters 0.016722269077612324 Centerline is valid? [True, True] Translation: X:117.77, Y:27.25, Z:-0.25 [[ 8.91539972e-01 -4.52942024e-01 2.23582827e-05 1.17765532e+02] [ 4.52942024e-01 8.91539973e-01 1.14731629e-05 2.72450995e+01] [-2.51299804e-05 -1.01777523e-07 1.00000000e+00 -2.52696276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.915769231 meters 0.015945627739424713 Centerline is valid? [True, True] Translation: X:117.79, Y:27.26, Z:-0.25 [[ 8.91035366e-01 -4.53933674e-01 4.43040529e-04 1.17791774e+02] [ 4.53933616e-01 8.91035476e-01 2.29778868e-04 2.72565230e+01] [-4.99069195e-04 -3.63010843e-06 9.99999875e-01 -2.52844842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.945769231 meters 0.01500973463108696 Centerline is valid? [True, True] Translation: X:117.82, Y:27.27, Z:-0.25 [[ 8.90659993e-01 -4.54669217e-01 -8.25356202e-04 1.17817976e+02] [ 4.54669014e-01 8.90660375e-01 -4.29451206e-04 2.72668175e+01] [ 9.30370308e-04 7.23111793e-06 9.99999567e-01 -2.53919152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97576923100002 meters 0.01611774067790301 Centerline is valid? [True, True] Translation: X:117.84, Y:27.28, Z:-0.25 [[ 8.90790998e-01 -4.54412270e-01 -9.41868207e-04 1.17841471e+02] [ 4.54412006e-01 8.90791496e-01 -4.89757398e-04 2.72814342e+01] [ 1.06155996e-03 8.27525912e-06 9.99999437e-01 -2.54535215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00576923100002 meters 0.017038101117677368 Centerline is valid? [True, True] Translation: X:117.87, Y:27.30, Z:-0.25 [[ 8.91372338e-01 -4.53271797e-01 1.78564669e-04 1.17866132e+02] [ 4.53271788e-01 8.91372356e-01 9.24806242e-05 2.72963210e+01] [-2.01086468e-04 -1.49634359e-06 9.99999980e-01 -2.52503345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03576923100002 meters 0.016294579473236093 Centerline is valid? [True, True] Translation: X:117.89, Y:27.31, Z:-0.25 [[ 8.91375711e-01 -4.53264542e-01 7.72430550e-04 1.17891710e+02] [ 4.53264364e-01 8.91376046e-01 4.01412729e-04 2.73082896e+01] [-8.70472246e-04 -7.69431462e-06 9.99999621e-01 -2.50832510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06576923100002 meters 0.01731123619231836 Centerline is valid? [True, True] Translation: X:117.92, Y:27.32, Z:-0.25 [[ 8.91307275e-01 -4.53399659e-01 3.00953519e-04 1.17915398e+02] [ 4.53399632e-01 8.91307326e-01 1.56408517e-04 2.73220291e+01] [-3.39157645e-04 -2.95583430e-06 9.99999942e-01 -2.52343279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09576923100002 meters 0.017204910702972375 Centerline is valid? [True, True] Translation: X:117.94, Y:27.33, Z:-0.25 [[ 8.91163408e-01 -4.53682270e-01 -4.23089646e-04 1.17940698e+02] [ 4.53682216e-01 8.91163508e-01 -2.20685840e-04 2.73342022e+01] [ 4.77163306e-04 4.71889751e-06 9.99999886e-01 -2.54087042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12576923100002 meters 0.017334418373457453 Centerline is valid? [True, True] Translation: X:117.96, Y:27.35, Z:-0.25 [[ 8.91128340e-01 -4.53751127e-01 -4.43468111e-04 1.17964963e+02] [ 4.53751068e-01 8.91128450e-01 -2.31227622e-04 2.73463902e+01] [ 5.00106844e-04 4.82935754e-06 9.99999875e-01 -2.54002255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15576923100002 meters 0.01845413103076057 Centerline is valid? [True, True] Translation: X:117.99, Y:27.36, Z:-0.25 [[ 8.91676141e-01 -4.52672306e-01 1.20132512e-03 1.17989833e+02] [ 4.52671874e-01 8.91676950e-01 6.25455615e-04 2.73604689e+01] [-1.35432036e-03 -1.38977549e-05 9.99999083e-01 -2.50736170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.185769231 meters 0.01845413103076057 Centerline is valid? [True, True] Translation: X:118.01, Y:27.37, Z:-0.25 [[ 8.91597516e-01 -4.52827149e-01 1.20123798e-03 1.18014123e+02] [ 4.52826717e-01 8.91598325e-01 6.25622916e-04 2.73733611e+01] [-1.35432081e-03 -1.38511866e-05 9.99999083e-01 -2.50795218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.215769231 meters 0.01845402342510395 Centerline is valid? [True, True] Translation: X:118.04, Y:27.39, Z:-0.25 [[ 8.92121183e-01 -4.51791940e-01 1.95915329e-03 1.18039978e+02] [ 4.51790787e-01 8.92123333e-01 1.02105392e-03 2.73867214e+01] [-2.20911030e-03 -2.57764279e-05 9.99997560e-01 -2.48667111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.245769231 meters 0.021474684454953 Centerline is valid? [True, True] Translation: X:118.06, Y:27.40, Z:-0.25 [[ 8.92776034e-01 -4.50493772e-01 2.51288365e-03 1.18062137e+02] [ 4.50491869e-01 8.92779569e-01 1.31018859e-03 2.74048850e+01] [-2.83368298e-03 -3.76713195e-05 9.99995984e-01 -2.47581474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.275769231 meters 0.023041154667236323 Centerline is valid? [True, True] Translation: X:118.08, Y:27.42, Z:-0.25 [[ 8.94162054e-01 -4.47740042e-01 1.75406155e-03 1.18084735e+02] [ 4.47739109e-01 8.94163773e-01 9.14627917e-04 2.74228370e+01] [-1.97793384e-03 -3.24636198e-05 9.99998043e-01 -2.49533353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.305769231 meters 0.025065080941769832 Centerline is valid? [True, True] Translation: X:118.11, Y:27.44, Z:-0.25 [[ 8.94961057e-01 -4.46143774e-01 6.62444520e-04 1.18107860e+02] [ 4.46143640e-01 8.94961302e-01 3.45410174e-04 2.74398081e+01] [-7.46964809e-04 -1.35832448e-05 9.99999721e-01 -2.52419354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.335769231 meters 0.028340700210451764 Centerline is valid? [True, True] Translation: X:118.13, Y:27.46, Z:-0.26 [[ 8.96630413e-01 -4.42779190e-01 -7.01101604e-04 1.18131080e+02] [ 4.42779039e-01 8.96630687e-01 -3.66172103e-04 2.74596302e+01] [ 7.90762600e-04 1.78879500e-05 9.99999687e-01 -2.55583912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.365769231 meters 0.029275292553856153 Centerline is valid? [True, True] Translation: X:118.15, Y:27.47, Z:-0.26 [[ 8.96863470e-01 -4.42306215e-01 -1.06261853e-03 1.18154313e+02] [ 4.42305868e-01 8.96864099e-01 -5.54692970e-04 2.74749905e+01] [ 1.19836856e-03 2.74814515e-05 9.99999282e-01 -2.56396887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.395769231 meters 0.029412324762828547 Centerline is valid? [True, True] Translation: X:118.18, Y:27.49, Z:-0.26 [[ 8.96661745e-01 -4.42713381e-01 -1.60523759e-03 1.18177891e+02] [ 4.42712590e-01 8.96663181e-01 -8.37987655e-04 2.74895393e+01] [ 1.81034580e-03 4.07325817e-05 9.99998360e-01 -2.57468052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.425769231 meters 0.029202335689213668 Centerline is valid? [True, True] Translation: X:118.20, Y:27.51, Z:-0.26 [[ 8.96385662e-01 -4.43268632e-01 -2.38013507e-03 1.18200854e+02] [ 4.43266895e-01 8.96388820e-01 -1.24261331e-03 2.75064497e+01] [ 2.68433796e-03 5.88256739e-05 9.99996395e-01 -2.58787052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.455769231 meters 0.029656956988378183 Centerline is valid? [True, True] Translation: X:118.22, Y:27.52, Z:-0.26 [[ 8.96309955e-01 -4.43421415e-01 -2.43179656e-03 1.18222753e+02] [ 4.43419601e-01 8.96313252e-01 -1.26987913e-03 2.75217708e+01] [ 2.74274309e-03 5.98990456e-05 9.99996237e-01 -2.59768686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.485769231 meters 0.028907065935415234 Centerline is valid? [True, True] Translation: X:118.25, Y:27.54, Z:-0.26 [[ 8.95901782e-01 -4.44249499e-01 -1.54254737e-03 1.18247020e+02] [ 4.44248769e-01 8.95903109e-01 -8.06075335e-04 2.75382584e+01] [ 1.74007155e-03 3.68895583e-05 9.99998485e-01 -2.58202818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.515769231 meters 0.02786467293008628 Centerline is valid? [True, True] Translation: X:118.27, Y:27.55, Z:-0.26 [[ 8.95428097e-01 -4.45206130e-01 -1.58430493e-04 1.18272956e+02] [ 4.45206122e-01 8.95428111e-01 -8.31591934e-05 2.75517649e+01] [ 1.78886099e-04 3.92885295e-06 9.99999984e-01 -2.55069368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.545769231 meters 0.026747498115305097 Centerline is valid? [True, True] Translation: X:118.30, Y:27.56, Z:-0.25 [[ 8.94886037e-01 -4.46290749e-01 1.88359278e-03 1.18299156e+02] [ 4.46289666e-01 8.94888019e-01 9.84201550e-04 2.75646414e+01] [-2.12484466e-03 -4.01202309e-05 9.99997742e-01 -2.50921228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.575769231 meters 0.025763858065129066 Centerline is valid? [True, True] Translation: X:118.32, Y:27.58, Z:-0.25 [[ 8.94222554e-01 -4.47610706e-01 3.26788266e-03 1.18324203e+02] [ 4.47607451e-01 8.94228523e-01 1.70825840e-03 2.75767120e+01] [-3.68686863e-03 -6.48345644e-05 9.99993201e-01 -2.47465130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.605769231 meters 0.01877508714189374 Centerline is valid? [True, True] Translation: X:118.35, Y:27.58, Z:-0.25 [[ 8.91553031e-01 -4.52908927e-01 2.58786052e-03 1.18354460e+02] [ 4.52906907e-01 8.91556786e-01 1.35301497e-03 2.75819801e+01] [-2.92001716e-03 -3.42246989e-05 9.99995736e-01 -2.50492165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.635769231 meters 0.01399580794215218 Centerline is valid? [True, True] Translation: X:118.39, Y:27.59, Z:-0.26 [[ 8.88745250e-01 -4.58400915e-01 6.94512930e-04 1.18385744e+02] [ 4.58400771e-01 8.88745521e-01 3.63088480e-04 2.75853688e+01] [-7.83685348e-04 -4.32789918e-06 9.99999693e-01 -2.55535059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.665769231 meters 0.01333610100749738 Centerline is valid? [True, True] Translation: X:118.41, Y:27.59, Z:-0.26 [[ 8.87776827e-01 -4.60274145e-01 1.29298739e-04 1.18412366e+02] [ 4.60274140e-01 8.87776837e-01 6.75010955e-05 2.75944336e+01] [-1.45857435e-04 -4.13042397e-07 9.99999989e-01 -2.56196247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.695769231 meters 0.012779020807091073 Centerline is valid? [True, True] Translation: X:118.44, Y:27.60, Z:-0.26 [[ 8.86923706e-01 -4.61915823e-01 -3.34418375e-04 1.18438785e+02] [ 4.61915790e-01 8.86923769e-01 -1.75445559e-04 2.76033503e+01] [ 3.77644686e-04 1.13369790e-06 9.99999929e-01 -2.56408664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72576923100002 meters 0.012537253636557786 Centerline is valid? [True, True] Translation: X:118.46, Y:27.61, Z:-0.26 [[ 8.86578193e-01 -4.62578758e-01 9.13292479e-06 1.18464394e+02] [ 4.62578758e-01 8.86578193e-01 4.59614449e-06 2.76133195e+01] [-1.02231308e-05 1.49855529e-07 1.00000000e+00 -2.55437178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75576923100002 meters 0.012645473078171246 Centerline is valid? [True, True] Translation: X:118.49, Y:27.63, Z:-0.26 [[ 8.86873779e-01 -4.62011741e-01 2.25529325e-04 1.18489340e+02] [ 4.62011726e-01 8.86873808e-01 1.17683487e-04 2.76263137e+01] [-2.54387204e-04 -1.73205594e-07 9.99999968e-01 -2.55675131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78576923100002 meters 0.013313703898161213 Centerline is valid? [True, True] Translation: X:118.51, Y:27.64, Z:-0.26 [[ 8.87578703e-01 -4.60656075e-01 1.61439878e-04 1.18514687e+02] [ 4.60656067e-01 8.87578718e-01 8.44231944e-05 2.76369403e+01] [-1.82180658e-04 -5.63970034e-07 9.99999983e-01 -2.55921161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81576923100002 meters 0.01376970358688455 Centerline is valid? [True, True] Translation: X:118.54, Y:27.65, Z:-0.26 [[ 8.87944181e-01 -4.59951199e-01 -1.60595443e-04 1.18539181e+02] [ 4.59951191e-01 8.87944196e-01 -8.45776477e-05 2.76498297e+01] [ 1.81501382e-04 1.23416491e-06 9.99999984e-01 -2.56607689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84576923100002 meters 0.014482264871150608 Centerline is valid? [True, True] Translation: X:118.56, Y:27.66, Z:-0.26 [[ 8.88521582e-01 -4.58834109e-01 -8.12271754e-04 1.18563847e+02] [ 4.58833911e-01 8.88521953e-01 -4.26153968e-04 2.76644385e+01] [ 9.17255261e-04 5.94917239e-06 9.99999579e-01 -2.57732651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87576923100002 meters 0.017657045383448575 Centerline is valid? [True, True] Translation: X:118.59, Y:27.68, Z:-0.26 [[ 8.90201078e-01 -4.55561725e-01 -2.35694464e-03 1.18586075e+02] [ 4.55560050e-01 8.90204198e-01 -1.23575647e-03 2.76813628e+01] [ 2.66112536e-03 2.63419295e-05 9.99996459e-01 -2.61154467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90576923100002 meters 0.01946909489792006 Centerline is valid? [True, True] Translation: X:118.61, Y:27.70, Z:-0.26 [[ 8.90984385e-01 -4.54025069e-01 -2.83950308e-03 1.18611029e+02] [ 4.54022628e-01 8.90988908e-01 -1.48954282e-03 2.76964213e+01] [ 3.20625553e-03 3.79607466e-05 9.99994859e-01 -2.62499834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.935769231 meters 0.021817325577767853 Centerline is valid? [True, True] Translation: X:118.64, Y:27.71, Z:-0.26 [[ 8.92812030e-01 -4.50422473e-01 -2.50488488e-03 1.18635686e+02] [ 4.50420558e-01 8.92815543e-01 -1.31400452e-03 2.77107545e+01] [ 2.82825732e-03 4.49073986e-05 9.99995999e-01 -2.61014533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.965769231 meters 0.026109205842930146 Centerline is valid? [True, True] Translation: X:118.66, Y:27.73, Z:-0.26 [[ 8.93763727e-01 -4.48534383e-01 -1.81846143e-03 1.18657589e+02] [ 4.48533370e-01 8.93765577e-01 -9.54096997e-04 2.77297823e+01] [ 2.05322354e-03 3.70966549e-05 9.99997891e-01 -2.60207505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.995769231 meters 0.02855090342401343 Centerline is valid? [True, True] Translation: X:118.68, Y:27.75, Z:-0.26 [[ 8.94663667e-01 -4.46738066e-01 -1.42232793e-03 1.18680986e+02] [ 4.46737443e-01 8.94664797e-01 -7.46793525e-04 2.77469949e+01] [ 1.60612783e-03 3.27218897e-05 9.99998710e-01 -2.59011074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.025769231 meters 0.028782634388885703 Centerline is valid? [True, True] Translation: X:118.71, Y:27.76, Z:-0.26 [[ 8.95876985e-01 -4.44298634e-01 -1.77539881e-03 1.18705851e+02] [ 4.44297659e-01 8.95878743e-01 -9.31914746e-04 2.77620112e+01] [ 2.00459050e-03 4.60754360e-05 9.99997990e-01 -2.59677214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.055769231 meters 0.028056313010749998 Centerline is valid? [True, True] Translation: X:118.73, Y:27.78, Z:-0.26 [[ 8.95874772e-01 -4.44302991e-01 -1.80146862e-03 1.18730932e+02] [ 4.44301986e-01 8.95876582e-01 -9.46387791e-04 2.77752715e+01] [ 2.03437648e-03 4.74488586e-05 9.99997930e-01 -2.60041383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.085769231 meters 0.02491001964850441 Centerline is valid? [True, True] Translation: X:118.76, Y:27.79, Z:-0.26 [[ 8.94223644e-01 -4.47620274e-01 -4.05495949e-04 1.18758071e+02] [ 4.47620224e-01 8.94223736e-01 -2.13053822e-04 2.77850368e+01] [ 4.57971313e-04 9.00957766e-06 9.99999895e-01 -2.57804972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.115769231 meters 0.0219991884792918 Centerline is valid? [True, True] Translation: X:118.79, Y:27.79, Z:-0.26 [[ 8.92423121e-01 -4.51199464e-01 1.30054027e-04 1.18785237e+02] [ 4.51199458e-01 8.92423131e-01 6.81656777e-05 2.77934248e+01] [-1.46819539e-04 -2.15232021e-06 9.99999989e-01 -2.56693811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.145769231 meters 0.017360882574706138 Centerline is valid? [True, True] Translation: X:118.82, Y:27.80, Z:-0.26 [[ 8.90357138e-01 -4.55262745e-01 1.16649839e-05 1.18815062e+02] [ 4.55262745e-01 8.90357138e-01 6.01357005e-06 2.77988540e+01] [-1.31237561e-05 -4.35924124e-08 1.00000000e+00 -2.56128874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.175769231 meters 0.012903840325052277 Centerline is valid? [True, True] Translation: X:118.85, Y:27.80, Z:-0.26 [[ 8.86775654e-01 -4.62198933e-01 -1.04213234e-03 1.18847138e+02] [ 4.62198608e-01 8.86776266e-01 -5.47817404e-04 2.78003621e+01] [ 1.17733885e-03 4.11901832e-06 9.99999307e-01 -2.58712575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.205769231 meters 0.012489799657164503 Centerline is valid? [True, True] Translation: X:118.87, Y:27.81, Z:-0.26 [[ 8.85617490e-01 -4.64412931e-01 -1.51392858e-03 1.18873259e+02] [ 4.64412248e-01 8.85618784e-01 -7.96270792e-04 2.78098498e+01] [ 1.71056204e-03 2.10436473e-06 9.99998537e-01 -2.60232224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.235769231 meters 0.012480777789699218 Centerline is valid? [True, True] Translation: X:118.90, Y:27.82, Z:-0.26 [[ 8.85053925e-01 -4.65485042e-01 -1.79611275e-03 1.18898695e+02] [ 4.65484082e-01 8.85055747e-01 -9.45038691e-04 2.78212878e+01] [ 2.02956128e-03 3.48308568e-07 9.99997940e-01 -2.60190166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.265769231 meters 0.012078202192807995 Centerline is valid? [True, True] Translation: X:118.92, Y:27.83, Z:-0.26 [[ 8.85381993e-01 -4.64864203e-01 -7.70733959e-06 1.18923681e+02] [ 4.64864203e-01 8.85381993e-01 -4.19668609e-06 2.78336235e+01] [ 8.77482880e-06 1.32804018e-07 1.00000000e+00 -2.56314605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.295769231 meters 0.012128897120805263 Centerline is valid? [True, True] Translation: X:118.95, Y:27.85, Z:-0.25 [[ 8.85446926e-01 -4.64740101e-01 6.15253678e-04 1.18949061e+02] [ 4.64739989e-01 8.85447140e-01 3.23301464e-04 2.78454096e+01] [-6.95025765e-04 -3.33300222e-07 9.99999758e-01 -2.53936375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.325769231 meters 0.01209147921311647 Centerline is valid? [True, True] Translation: X:118.98, Y:27.85, Z:-0.25 [[ 8.85422156e-01 -4.64785140e-01 1.54247002e-03 1.18975531e+02] [ 4.64784431e-01 8.85423500e-01 8.11583523e-04 2.78543273e+01] [-1.74295116e-03 -1.67798297e-06 9.99998481e-01 -2.53187429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.355769231 meters 0.01198442167010851 Centerline is valid? [True, True] Translation: X:119.00, Y:27.86, Z:-0.25 [[ 8.85204955e-01 -4.65197538e-01 1.85429659e-03 1.19000824e+02] [ 4.65196514e-01 8.85206897e-01 9.76210932e-04 2.78648053e+01] [-2.09556705e-03 -1.53444593e-06 9.99997804e-01 -2.53250056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.385769231 meters 0.01202634676430691 Centerline is valid? [True, True] Translation: X:119.03, Y:27.88, Z:-0.25 [[ 8.84927692e-01 -4.65725127e-01 1.75649444e-03 1.19026999e+02] [ 4.65724209e-01 8.84929436e-01 9.24880885e-04 2.78753040e+01] [-1.98511390e-03 -4.10723982e-07 9.99998030e-01 -2.54476998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.415769231 meters 0.012210040545152354 Centerline is valid? [True, True] Translation: X:119.05, Y:27.88, Z:-0.26 [[ 8.84559114e-01 -4.66428077e-01 1.54070166e-04 1.19054379e+02] [ 4.66428070e-01 8.84559127e-01 8.07528291e-05 2.78824945e+01] [-1.73949558e-04 4.31999040e-07 9.99999985e-01 -2.57507545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.445769231 meters 0.012250351163169861 Centerline is valid? [True, True] Translation: X:119.08, Y:27.89, Z:-0.26 [[ 8.84044876e-01 -4.67401985e-01 2.04815316e-04 1.19081791e+02] [ 4.67401972e-01 8.84044900e-01 1.07539549e-04 2.78895389e+01] [-2.31330134e-04 6.61295666e-07 9.99999973e-01 -2.56629736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47576923100002 meters 0.012071781469979325 Centerline is valid? [True, True] Translation: X:119.11, Y:27.90, Z:-0.25 [[ 8.83840310e-01 -4.67787042e-01 1.26129754e-03 1.19107892e+02] [ 4.67786569e-01 8.83841209e-01 6.64902248e-04 2.79003302e+01] [-1.42581940e-03 2.35063946e-06 9.99998984e-01 -2.54322708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50576923100002 meters 0.012068944959064057 Centerline is valid? [True, True] Translation: X:119.13, Y:27.91, Z:-0.25 [[ 8.83765183e-01 -4.67924974e-01 2.30639044e-03 1.19134250e+02] [ 4.67923392e-01 8.83768193e-01 1.21678176e-03 2.79113229e+01] [-2.60767708e-03 3.86468551e-06 9.99996600e-01 -2.52026230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53576923100002 meters 0.012001281505964832 Centerline is valid? [True, True] Translation: X:119.16, Y:27.92, Z:-0.25 [[ 8.84204128e-01 -4.67095013e-01 2.30401398e-03 1.19160040e+02] [ 4.67093430e-01 8.84207130e-01 1.21609246e-03 2.79228137e+01] [-2.60525631e-03 9.15816232e-07 9.99996606e-01 -2.51978141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56576923100002 meters 0.013008529170336328 Centerline is valid? [True, True] Translation: X:119.18, Y:27.94, Z:-0.26 [[ 8.86035222e-01 -4.63617889e-01 -1.97408173e-04 1.19184115e+02] [ 4.63617877e-01 8.86035244e-01 -1.04393174e-04 2.79358190e+01] [ 2.23309142e-04 9.74070643e-07 9.99999975e-01 -2.57058911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59576923100002 meters 0.014996152900674634 Centerline is valid? [True, True] Translation: X:119.21, Y:27.95, Z:-0.26 [[ 8.87513312e-01 -4.60777813e-01 -1.98212164e-03 1.19207371e+02] [ 4.60776624e-01 8.87515525e-01 -1.04702513e-03 2.79523218e+01] [ 2.24160967e-03 1.59334251e-05 9.99997487e-01 -2.61578035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62576923100002 meters 0.02018310982445698 Centerline is valid? [True, True] Translation: X:119.23, Y:27.97, Z:-0.27 [[ 8.90612630e-01 -4.54743981e-01 -4.12977769e-03 1.19229871e+02] [ 4.54738753e-01 8.90622203e-01 -2.18147179e-03 2.79724610e+01] [ 4.67008287e-03 6.48763754e-05 9.99989093e-01 -2.65995833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65576923100002 meters 0.022928946494637482 Centerline is valid? [True, True] Translation: X:119.25, Y:27.99, Z:-0.26 [[ 8.91893309e-01 -4.52231835e-01 -3.56266567e-03 1.19253305e+02] [ 4.52227923e-01 8.91900422e-01 -1.88223709e-03 2.79879785e+01] [ 4.02875054e-03 6.76177717e-05 9.99991882e-01 -2.64731700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.685769231 meters 0.025485282789129843 Centerline is valid? [True, True] Translation: X:119.28, Y:28.00, Z:-0.26 [[ 8.92945649e-01 -4.50157935e-01 -2.42939780e-03 1.19276162e+02] [ 4.50156107e-01 8.92948952e-01 -1.28379091e-03 2.80030828e+01] [ 2.74723688e-03 5.27472484e-05 9.99996225e-01 -2.62508068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.715769231 meters 0.027547096949898653 Centerline is valid? [True, True] Translation: X:119.30, Y:28.02, Z:-0.26 [[ 8.94628111e-01 -4.46810615e-01 -9.04229210e-04 1.19300438e+02] [ 4.46810360e-01 8.94628567e-01 -4.77896159e-04 2.80193415e+01] [ 1.02247836e-03 2.35203586e-05 9.99999477e-01 -2.59687163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.745769231 meters 0.031038885695190654 Centerline is valid? [True, True] Translation: X:119.32, Y:28.04, Z:-0.26 [[ 8.95266757e-01 -4.45530121e-01 -5.86838837e-04 1.19322527e+02] [ 4.45530013e-01 8.95266950e-01 -3.10281876e-04 2.80368157e+01] [ 6.63617337e-04 1.63307343e-05 9.99999780e-01 -2.60379940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.775769231 meters 0.034116417953130786 Centerline is valid? [True, True] Translation: X:119.35, Y:28.05, Z:-0.26 [[ 8.96412119e-01 -4.43221510e-01 -7.73278777e-05 1.19346772e+02] [ 4.43221508e-01 8.96412122e-01 -4.12112260e-05 2.80539821e+01] [ 8.75833488e-05 2.66886378e-06 9.99999996e-01 -2.59734866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.805769231 meters 0.03467248422282002 Centerline is valid? [True, True] Translation: X:119.37, Y:28.07, Z:-0.26 [[ 8.96676698e-01 -4.42686002e-01 -5.68603661e-05 1.19371404e+02] [ 4.42686001e-01 8.96676699e-01 -3.02713369e-05 2.80680276e+01] [ 6.43860625e-05 1.97231429e-06 9.99999998e-01 -2.59705655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.835769231 meters 0.03504621656966283 Centerline is valid? [True, True] Translation: X:119.40, Y:28.08, Z:-0.26 [[ 8.96706142e-01 -4.42626286e-01 -2.55489480e-04 1.19395839e+02] [ 4.42626265e-01 8.96706179e-01 -1.35250996e-04 2.80824505e+01] [ 2.88964641e-04 8.19404478e-06 9.99999958e-01 -2.60051138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.865769231 meters 0.0357671249647786 Centerline is valid? [True, True] Translation: X:119.42, Y:28.10, Z:-0.26 [[ 8.96810782e-01 -4.42408834e-01 -2.20102577e-03 1.19419167e+02] [ 4.42407308e-01 8.96813480e-01 -1.16429704e-03 2.80980345e+01] [ 2.48900487e-03 7.04042496e-05 9.99996900e-01 -2.63403243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.895769231 meters 0.037120561969930785 Centerline is valid? [True, True] Translation: X:119.44, Y:28.11, Z:-0.26 [[ 8.97187264e-01 -4.41642806e-01 -2.57767370e-03 1.19442159e+02] [ 4.41640709e-01 8.97190963e-01 -1.36369584e-03 2.81136962e+01] [ 2.91493200e-03 8.50848991e-05 9.99995748e-01 -2.63793383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.925769231 meters 0.041558668421993794 Centerline is valid? [True, True] Translation: X:119.46, Y:28.14, Z:-0.26 [[ 8.98704027e-01 -4.38554390e-01 -1.05807493e-03 1.19463644e+02] [ 4.38554034e-01 8.98704649e-01 -5.60213412e-04 2.81368872e+01] [ 1.19658091e-03 3.94430200e-05 9.99999283e-01 -2.60890201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.955769231 meters 0.0439666034460462 Centerline is valid? [True, True] Translation: X:119.49, Y:28.16, Z:-0.26 [[ 8.99446774e-01 -4.37029492e-01 -8.51131185e-04 1.19485793e+02] [ 4.37029261e-01 8.99447176e-01 -4.50532921e-04 2.81551421e+01] [ 9.62443714e-04 3.32611504e-05 9.99999536e-01 -2.60819496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.985769231 meters 0.045123504018379626 Centerline is valid? [True, True] Translation: X:119.51, Y:28.17, Z:-0.26 [[ 8.99798747e-01 -4.36302198e-01 -1.61469427e-03 1.19509537e+02] [ 4.36301365e-01 8.99800193e-01 -8.55209791e-04 2.81721244e+01] [ 1.82603213e-03 6.50233855e-05 9.99998331e-01 -2.62844823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.015769231 meters 0.04421750191905456 Centerline is valid? [True, True] Translation: X:119.53, Y:28.19, Z:-0.26 [[ 8.99343437e-01 -4.37237420e-01 -2.19588944e-03 1.19533249e+02] [ 4.37235881e-01 8.99346113e-01 -1.16332767e-03 2.81883339e+01] [ 2.48351502e-03 8.61094471e-05 9.99996912e-01 -2.64166026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.045769231 meters 0.04291342547428838 Centerline is valid? [True, True] Translation: X:119.56, Y:28.20, Z:-0.26 [[ 8.98711988e-01 -4.38537083e-01 -1.41007827e-03 1.19558451e+02] [ 4.38536450e-01 8.98713093e-01 -7.46983933e-04 2.82020066e+01] [ 1.59483596e-03 5.29526965e-05 9.99998727e-01 -2.62124770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.075769231 meters 0.039221358058785565 Centerline is valid? [True, True] Translation: X:119.58, Y:28.21, Z:-0.26 [[ 8.96832923e-01 -4.42369084e-01 5.48771673e-04 1.19583554e+02] [ 4.42368989e-01 8.96833091e-01 2.90590868e-04 2.82149642e+01] [-6.20705012e-04 -1.78518870e-05 9.99999807e-01 -2.58293784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.105769231 meters 0.0326234247944081 Centerline is valid? [True, True] Translation: X:119.61, Y:28.22, Z:-0.26 [[ 8.95937199e-01 -4.44180286e-01 6.39430634e-04 1.19612175e+02] [ 4.44180157e-01 8.95937427e-01 3.38645948e-04 2.82227482e+01] [-7.23309691e-04 -1.93831021e-05 9.99999738e-01 -2.57498077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.135769231 meters 0.0326234247944081 Centerline is valid? [True, True] Translation: X:119.64, Y:28.24, Z:-0.26 [[ 8.95855477e-01 -4.44345086e-01 6.39507170e-04 1.19636394e+02] [ 4.44344957e-01 8.95855705e-01 3.38501532e-04 2.82357910e+01] [-7.23317639e-04 -1.90866660e-05 9.99999738e-01 -2.57557162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.165769231 meters 0.03245933966025213 Centerline is valid? [True, True] Translation: X:119.66, Y:28.25, Z:-0.26 [[ 8.94826485e-01 -4.46410580e-01 -1.77664677e-03 1.19658749e+02] [ 4.46409588e-01 8.94828247e-01 -9.42391904e-04 2.82533191e+01] [ 2.01048743e-03 5.01650823e-05 9.99997978e-01 -2.62025629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.195769231 meters 0.03419032359458474 Centerline is valid? [True, True] Translation: X:119.68, Y:28.27, Z:-0.26 [[ 8.94569237e-01 -4.46920169e-01 -2.87102898e-03 1.19681202e+02] [ 4.46917582e-01 8.94573841e-01 -1.52260882e-03 2.82703740e+01] [ 3.24883201e-03 7.89656819e-05 9.99994719e-01 -2.64582087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22576923100002 meters 0.028233854372843006 Centerline is valid? [True, True] Translation: X:119.71, Y:28.28, Z:-0.26 [[ 8.94334333e-01 -4.47392097e-01 -2.53249184e-03 1.19709366e+02] [ 4.47390084e-01 8.94337915e-01 -1.34390250e-03 2.82780703e+01] [ 2.86615483e-03 6.88864086e-05 9.99995890e-01 -2.62413647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25576923100002 meters 0.03047673887557972 Centerline is valid? [True, True] Translation: X:119.73, Y:28.30, Z:-0.26 [[ 8.93613618e-01 -4.48836552e-01 6.72183951e-04 1.19731209e+02] [ 4.48836411e-01 8.93613870e-01 3.56334817e-04 2.82975505e+01] [-7.60608993e-04 -1.67250128e-05 9.99999711e-01 -2.56719471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28576923100002 meters 0.02594001593039428 Centerline is valid? [True, True] Translation: X:119.76, Y:28.31, Z:-0.26 [[ 8.93021178e-01 -4.50012670e-01 1.33139036e-03 1.19758876e+02] [ 4.50012117e-01 8.93022170e-01 7.06469349e-04 2.83074525e+01] [-1.50688126e-03 -3.17502973e-05 9.99998864e-01 -2.55329202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31576923100002 meters 0.023617925426431468 Centerline is valid? [True, True] Translation: X:119.78, Y:28.32, Z:-0.26 [[ 8.91526005e-01 -4.52968456e-01 -9.79804074e-04 1.19784408e+02] [ 4.52968158e-01 8.91526543e-01 -5.20425719e-04 2.83185392e+01] [ 1.10925777e-03 2.01530157e-05 9.99999385e-01 -2.60594754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34576923100002 meters 0.021290228999508408 Centerline is valid? [True, True] Translation: X:119.81, Y:28.33, Z:-0.26 [[ 8.90307529e-01 -4.55356074e-01 -1.83033448e-03 1.19811359e+02] [ 4.55355036e-01 8.90309410e-01 -9.72702575e-04 2.83291740e+01] [ 2.07249003e-03 3.25524049e-05 9.99997852e-01 -2.62369875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37576923100002 meters 0.019398547618120775 Centerline is valid? [True, True] Translation: X:119.84, Y:28.34, Z:-0.26 [[ 8.89176593e-01 -4.57561595e-01 -1.54038800e-03 1.19837316e+02] [ 4.57560863e-01 8.89177927e-01 -8.18536572e-04 2.83399172e+01] [ 1.74420991e-03 2.30022952e-05 9.99998479e-01 -2.61314410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40576923100002 meters 0.01624166230252536 Centerline is valid? [True, True] Translation: X:119.86, Y:28.35, Z:-0.26 [[ 8.87494699e-01 -4.60816918e-01 9.62408435e-04 1.19862827e+02] [ 4.60816635e-01 8.87495221e-01 5.11249163e-04 2.83506205e+01] [-1.08972515e-03 -1.02371061e-05 9.99999406e-01 -2.55819003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.435769231 meters 0.01571591712184999 Centerline is valid? [True, True] Translation: X:119.89, Y:28.36, Z:-0.25 [[ 8.87071641e-01 -4.61628666e-01 1.69662902e-03 1.19888142e+02] [ 4.61627786e-01 8.87073263e-01 9.01488951e-04 2.83643434e+01] [-1.92118738e-03 -1.64741859e-05 9.99998154e-01 -2.54649404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.465769231 meters 0.016637688614058187 Centerline is valid? [True, True] Translation: X:119.91, Y:28.38, Z:-0.25 [[ 8.87527923e-01 -4.60750800e-01 1.69901382e-03 1.19911628e+02] [ 4.60749915e-01 8.87529549e-01 9.03137260e-04 2.83802751e+01] [-1.92404619e-03 -1.87390614e-05 9.99998149e-01 -2.54285032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.495769231 meters 0.017688154214471976 Centerline is valid? [True, True] Translation: X:119.94, Y:28.40, Z:-0.25 [[ 8.88095668e-01 -4.59655843e-01 1.60949287e-03 1.19936041e+02] [ 4.59655047e-01 8.88097126e-01 8.55624871e-04 2.83967174e+01] [-1.82267896e-03 -2.00652207e-05 9.99998339e-01 -2.53986538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.525769231 meters 0.019391294320777235 Centerline is valid? [True, True] Translation: X:119.96, Y:28.41, Z:-0.25 [[ 8.88921034e-01 -4.58058756e-01 1.25338472e-03 1.19959032e+02] [ 4.58058271e-01 8.88921918e-01 6.66547527e-04 2.84137140e+01] [-1.41947908e-03 -1.83848811e-05 9.99998992e-01 -2.54125474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.555769231 meters 0.023335957098253684 Centerline is valid? [True, True] Translation: X:119.98, Y:28.44, Z:-0.26 [[ 8.90489724e-01 -4.55003086e-01 -4.93402486e-04 1.19978168e+02] [ 4.55003010e-01 8.90489861e-01 -2.62637327e-04 2.84366456e+01] [ 5.58870705e-04 9.37622455e-06 9.99999844e-01 -2.57828327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.585769231 meters 0.024567662849502576 Centerline is valid? [True, True] Translation: X:120.00, Y:28.45, Z:-0.26 [[ 8.90996848e-01 -4.54008410e-01 -9.90281194e-04 1.20001307e+02] [ 4.54008104e-01 8.90997398e-01 -5.27178722e-04 2.84534796e+01] [ 1.12168154e-03 2.01188916e-05 9.99999371e-01 -2.59599246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.615769231 meters 0.025053221606604757 Centerline is valid? [True, True] Translation: X:120.02, Y:28.47, Z:-0.26 [[ 8.90889829e-01 -4.54219208e-01 -4.72870578e-04 1.20024615e+02] [ 4.54219139e-01 8.90889954e-01 -2.51806938e-04 2.84695156e+01] [ 5.35651196e-04 9.54537372e-06 9.99999856e-01 -2.59167074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.645769231 meters 0.023011891327712863 Centerline is valid? [True, True] Translation: X:120.05, Y:28.48, Z:-0.26 [[ 8.90058269e-01 -4.55846761e-01 -8.83356560e-05 1.20051535e+02] [ 4.55846758e-01 8.90058274e-01 -4.74138415e-05 2.84806681e+01] [ 1.00237327e-04 1.93355924e-06 9.99999995e-01 -2.57941727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.675769231 meters 0.020888494546189438 Centerline is valid? [True, True] Translation: X:120.08, Y:28.49, Z:-0.26 [[ 8.88966310e-01 -4.57972172e-01 -6.23954339e-04 1.20078715e+02] [ 4.57972051e-01 8.88966529e-01 -3.32709730e-04 2.84910864e+01] [ 7.07046320e-04 1.00140928e-05 9.99999750e-01 -2.59440266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.705769231 meters 0.018610302757386628 Centerline is valid? [True, True] Translation: X:120.11, Y:28.50, Z:-0.26 [[ 8.87950156e-01 -4.59930118e-01 -2.96753287e-03 1.20106237e+02] [ 4.59927401e-01 8.87955114e-01 -1.58157082e-03 2.85001889e+01] [ 3.36244804e-03 3.95063821e-05 9.99994346e-01 -2.64163917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.735769231 meters 0.02045463354671493 Centerline is valid? [True, True] Translation: X:120.13, Y:28.52, Z:-0.27 [[ 8.88415465e-01 -4.59023974e-01 -3.86700506e-03 1.20129364e+02] [ 4.59019351e-01 8.88423879e-01 -2.06086555e-03 2.85162383e+01] [ 4.38152632e-03 5.58746702e-05 9.99990400e-01 -2.66377361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.765769231 meters 0.023267933154737668 Centerline is valid? [True, True] Translation: X:120.15, Y:28.54, Z:-0.26 [[ 8.90903916e-01 -4.54174869e-01 -3.92439611e-03 1.20152225e+02] [ 4.54170060e-01 8.90912556e-01 -2.09157885e-03 2.85359210e+01] [ 4.44623632e-03 8.10525722e-05 9.99990112e-01 -2.64841421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.795769231 meters 0.027603851920714923 Centerline is valid? [True, True] Translation: X:120.17, Y:28.55, Z:-0.26 [[ 8.92280967e-01 -4.51471893e-01 -2.79375131e-03 1.20173352e+02] [ 4.51469441e-01 8.92285338e-01 -1.48946408e-03 2.85547698e+01] [ 3.16527450e-03 6.77271065e-05 9.99994988e-01 -2.63273804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.825769231 meters 0.030012316511669714 Centerline is valid? [True, True] Translation: X:120.20, Y:28.57, Z:-0.26 [[ 8.93330537e-01 -4.49396954e-01 -1.71159698e-03 1.20197443e+02] [ 4.49396028e-01 8.93332176e-01 -9.13136640e-04 2.85710891e+01] [ 1.93938548e-03 4.65479581e-05 9.99998118e-01 -2.60855506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.855769231 meters 0.03370346112477941 Centerline is valid? [True, True] Translation: X:120.22, Y:28.59, Z:-0.26 [[ 8.94726923e-01 -4.46612336e-01 -1.07416868e-03 1.20220834e+02] [ 4.46611969e-01 8.94727568e-01 -5.73344988e-04 2.85901860e+01] [ 1.21715127e-03 3.32506084e-05 9.99999259e-01 -2.59440625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.885769231 meters 0.034275572221326725 Centerline is valid? [True, True] Translation: X:120.24, Y:28.61, Z:-0.26 [[ 8.95505905e-01 -4.45047824e-01 -1.26848260e-03 1.20244754e+02] [ 4.45047311e-01 8.95506802e-01 -6.76904452e-04 2.86058637e+01] [ 1.43718965e-03 4.16371619e-05 9.99998966e-01 -2.59297267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.915769231 meters 0.04019089505167603 Centerline is valid? [True, True] Translation: X:120.26, Y:28.63, Z:-0.26 [[ 8.97857083e-01 -4.40284353e-01 -1.53203920e-03 1.20264024e+02] [ 4.40283597e-01 8.97858388e-01 -8.18024501e-04 2.86323966e+01] [ 1.73571763e-03 5.99373630e-05 9.99998492e-01 -2.59704148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.945769231 meters 0.043705348465380794 Centerline is valid? [True, True] Translation: X:120.29, Y:28.65, Z:-0.26 [[ 8.99031968e-01 -4.37879032e-01 -1.86364091e-03 1.20285750e+02] [ 4.37877909e-01 8.99033896e-01 -9.94812143e-04 2.86530650e+01] [ 2.11108373e-03 7.83207332e-05 9.99997769e-01 -2.60755164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97576923100002 meters 0.049285665659437886 Centerline is valid? [True, True] Translation: X:120.30, Y:28.68, Z:-0.26 [[ 9.00675107e-01 -4.34490317e-01 -1.58612880e-03 1.20304787e+02] [ 4.34489498e-01 9.00676501e-01 -8.46789488e-04 2.86771089e+01] [ 1.79651077e-03 7.35259048e-05 9.99998384e-01 -2.60345135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00576923100002 meters 0.04965461671770242 Centerline is valid? [True, True] Translation: X:120.33, Y:28.69, Z:-0.26 [[ 9.01023393e-01 -4.33770183e-01 -5.23512074e-04 1.20328302e+02] [ 4.33770094e-01 9.01023544e-01 -2.79630869e-04 2.86933488e+01] [ 5.92992238e-04 2.48700731e-05 9.99999824e-01 -2.58253150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03576923100002 meters 0.05095297794356197 Centerline is valid? [True, True] Translation: X:120.35, Y:28.71, Z:-0.26 [[ 9.01054620e-01 -4.33705150e-01 6.43476582e-04 1.20350720e+02] [ 4.33705015e-01 9.01054850e-01 3.43449404e-04 2.87107756e+01] [-7.28763470e-04 -3.03876523e-05 9.99999734e-01 -2.56300767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06576923100002 meters 0.048676986843405164 Centerline is valid? [True, True] Translation: X:120.38, Y:28.73, Z:-0.26 [[ 9.00165619e-01 -4.35545686e-01 1.34646232e-03 1.20375540e+02] [ 4.35545097e-01 9.00166624e-01 7.18845474e-04 2.87261862e+01] [-1.52513049e-03 -6.06349182e-05 9.99998835e-01 -2.56086989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09576923100002 meters 0.04622893826347664 Centerline is valid? [True, True] Translation: X:120.40, Y:28.74, Z:-0.26 [[ 8.99342960e-01 -4.37243630e-01 4.98493953e-04 1.20402154e+02] [ 4.37243549e-01 8.99343098e-01 2.66133291e-04 2.87386815e+01] [-5.64682183e-04 -2.13818367e-05 9.99999840e-01 -2.58458300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12576923100002 meters 0.039602111896105775 Centerline is valid? [True, True] Translation: X:120.43, Y:28.75, Z:-0.26 [[ 8.97501740e-01 -4.41010781e-01 -3.42922975e-04 1.20430834e+02] [ 4.41010743e-01 8.97501806e-01 -1.83355468e-04 2.87475192e+01] [ 3.88635727e-04 1.33291359e-05 9.99999924e-01 -2.60050733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15576923100002 meters 0.03725610551858497 Centerline is valid? [True, True] Translation: X:120.46, Y:28.76, Z:-0.26 [[ 8.96389801e-01 -4.43266652e-01 -5.37794924e-06 1.20457863e+02] [ 4.43266652e-01 8.96389801e-01 -3.24260885e-06 2.87594966e+01] [ 6.25807920e-06 5.22775950e-07 1.00000000e+00 -2.58917229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.185769231 meters 0.037652371535343857 Centerline is valid? [True, True] Translation: X:120.48, Y:28.77, Z:-0.26 [[ 8.95254924e-01 -4.45554180e-01 3.05502483e-04 1.20482627e+02] [ 4.45554151e-01 8.95254976e-01 1.63198014e-04 2.87730135e+01] [-3.46216176e-04 -9.98592671e-06 9.99999940e-01 -2.58573858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.215769231 meters 0.031558307027613766 Centerline is valid? [True, True] Translation: X:120.51, Y:28.78, Z:-0.26 [[ 8.93593346e-01 -4.48877343e-01 -2.50649686e-04 1.20512748e+02] [ 4.48877323e-01 8.93593381e-01 -1.34150951e-04 2.87787543e+01] [ 2.84196223e-04 7.36543732e-06 9.99999960e-01 -2.58280690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.245769231 meters 0.03180198897046488 Centerline is valid? [True, True] Translation: X:120.54, Y:28.79, Z:-0.26 [[ 8.93529803e-01 -4.49003702e-01 -4.09025373e-04 1.20536873e+02] [ 4.49003648e-01 8.93529896e-01 -2.19226016e-04 2.87938958e+01] [ 4.63909692e-04 1.22310939e-05 9.99999892e-01 -2.58523652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.275769231 meters 0.03632746254476226 Centerline is valid? [True, True] Translation: X:120.56, Y:28.82, Z:-0.26 [[ 8.95265164e-01 -4.45533686e-01 -1.43015007e-04 1.20556745e+02] [ 4.45533680e-01 8.95265175e-01 -7.66387960e-05 2.88171326e+01] [ 1.62181520e-04 4.89404218e-06 9.99999987e-01 -2.57177923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.305769231 meters 0.0396573168310174 Centerline is valid? [True, True] Translation: X:120.58, Y:28.84, Z:-0.26 [[ 8.96490805e-01 -4.43062102e-01 4.57913246e-04 1.20579597e+02] [ 4.43062035e-01 8.96490922e-01 2.44733996e-04 2.88372604e+01] [-5.18947427e-04 -1.65178034e-05 9.99999865e-01 -2.56489139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.335769231 meters 0.0460353504609564 Centerline is valid? [True, True] Translation: X:120.60, Y:28.86, Z:-0.26 [[ 8.98751721e-01 -4.38457845e-01 -2.50322703e-04 1.20598564e+02] [ 4.38457825e-01 8.98751755e-01 -1.34057159e-04 2.88617197e+01] [ 2.83756382e-04 1.07281549e-05 9.99999960e-01 -2.57324548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.365769231 meters 0.05185427820849921 Centerline is valid? [True, True] Translation: X:120.62, Y:28.88, Z:-0.26 [[ 8.99589180e-01 -4.36735860e-01 -1.04666404e-03 1.20618360e+02] [ 4.36735503e-01 8.99589788e-01 -5.60289472e-04 2.88842445e+01] [ 1.18626678e-03 4.69150033e-05 9.99999295e-01 -2.59469358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.395769231 meters 0.05402452787183218 Centerline is valid? [True, True] Translation: X:120.64, Y:28.91, Z:-0.26 [[ 9.01389813e-01 -4.33007620e-01 -8.97658107e-04 1.20639604e+02] [ 4.33007356e-01 9.01390259e-01 -4.80933979e-04 2.89076930e+01] [ 1.01738835e-03 4.48164261e-05 9.99999481e-01 -2.59258905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.425769231 meters 0.05531843416129883 Centerline is valid? [True, True] Translation: X:120.66, Y:28.93, Z:-0.26 [[ 9.01950248e-01 -4.31839834e-01 3.27534227e-04 1.20663066e+02] [ 4.31839799e-01 9.01950308e-01 1.75087972e-04 2.89263191e+01] [-3.71029558e-04 -1.64783253e-05 9.99999931e-01 -2.57074931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.455769231 meters 0.05702211580678885 Centerline is valid? [True, True] Translation: X:120.69, Y:28.94, Z:-0.26 [[ 9.02280758e-01 -4.31147026e-01 1.29403536e-03 1.20685664e+02] [ 4.31146475e-01 9.02281684e-01 6.92910434e-04 2.89445468e+01] [-1.46633068e-03 -6.72809675e-05 9.99998923e-01 -2.55334654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.485769231 meters 0.056813630945758475 Centerline is valid? [True, True] Translation: X:120.71, Y:28.96, Z:-0.25 [[ 9.02013446e-01 -4.31704932e-01 1.61050808e-03 1.20707990e+02] [ 4.31704078e-01 9.02014880e-01 8.62784030e-04 2.89630843e+01] [-1.82517037e-03 -8.29798909e-05 9.99998331e-01 -2.54272863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.515769231 meters 0.057189336120859406 Centerline is valid? [True, True] Translation: X:120.73, Y:28.98, Z:-0.26 [[ 9.01862765e-01 -4.32021354e-01 1.05039748e-03 1.20730454e+02] [ 4.32020991e-01 9.01863375e-01 5.62906823e-04 2.89806800e+01] [-1.19050279e-03 -5.38709431e-05 9.99999290e-01 -2.55300706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.545769231 meters 0.04861964055791359 Centerline is valid? [True, True] Translation: X:120.76, Y:28.99, Z:-0.26 [[ 9.01913610e-01 -4.31916160e-01 -5.21321880e-04 1.20757272e+02] [ 4.31916070e-01 9.01913760e-01 -2.79966341e-04 2.89914294e+01] [ 5.91109363e-04 2.73381558e-05 9.99999825e-01 -2.59542041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.575769231 meters 0.05240666584035201 Centerline is valid? [True, True] Translation: X:120.78, Y:29.01, Z:-0.26 [[ 9.02014157e-01 -4.31704998e-01 -1.12006125e-03 1.20778189e+02] [ 4.31704584e-01 9.02014851e-01 -6.00857985e-04 2.90115057e+01] [ 1.26970527e-03 5.84468356e-05 9.99999192e-01 -2.61488110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.605769231 meters 0.04958389981374574 Centerline is valid? [True, True] Translation: X:120.80, Y:29.02, Z:-0.26 [[ 9.01852283e-01 -4.32042489e-01 -1.32209985e-03 1.20803425e+02] [ 4.32041911e-01 9.01853249e-01 -7.09762656e-04 2.90248071e+01] [ 1.49898767e-03 6.88985255e-05 9.99998874e-01 -2.61044893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.635769231 meters 0.050775430632004175 Centerline is valid? [True, True] Translation: X:120.82, Y:29.05, Z:-0.26 [[ 9.01725594e-01 -4.32306966e-01 -1.28106803e-03 1.20823014e+02] [ 4.32306424e-01 9.01726501e-01 -6.87582164e-04 2.90474392e+01] [ 1.45241955e-03 6.61964980e-05 9.99998943e-01 -2.60695005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.665769231 meters 0.06470491044906772 Centerline is valid? [True, True] Translation: X:120.84, Y:29.08, Z:-0.26 [[ 9.01604467e-01 -4.32560344e-01 -9.66396800e-04 1.20836405e+02] [ 4.32560036e-01 9.01604983e-01 -5.18905483e-04 2.90814081e+01] [ 1.09576611e-03 4.98228670e-05 9.99999398e-01 -2.60866390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.695769231 meters 0.049646670866257465 Centerline is valid? [True, True] Translation: X:120.87, Y:29.09, Z:-0.26 [[ 9.00783782e-01 -4.34267839e-01 1.52789361e-04 1.20867040e+02] [ 4.34267831e-01 9.00783794e-01 8.16660840e-05 2.90857803e+01] [-1.73095134e-04 -7.21197951e-06 9.99999985e-01 -2.58928296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72576923100002 meters 0.04937892671741468 Centerline is valid? [True, True] Translation: X:120.89, Y:29.10, Z:-0.26 [[ 8.99699250e-01 -4.36509705e-01 7.32953929e-04 1.20890250e+02] [ 4.36509529e-01 8.99699548e-01 3.93454264e-04 2.91023293e+01] [-8.31184923e-04 -3.40491316e-05 9.99999654e-01 -2.58972698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75576923100002 meters 0.04146234277582934 Centerline is valid? [True, True] Translation: X:120.92, Y:29.11, Z:-0.26 [[ 8.96955036e-01 -4.42121670e-01 3.04331469e-04 1.20918052e+02] [ 4.42121640e-01 8.96955088e-01 1.63366904e-04 2.91133212e+01] [-3.45199708e-04 -1.19812391e-05 9.99999940e-01 -2.60980168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78576923100002 meters 0.038134301774906745 Centerline is valid? [True, True] Translation: X:120.94, Y:29.13, Z:-0.26 [[ 8.95521519e-01 -4.45016679e-01 -1.16821648e-03 1.20944715e+02] [ 4.45016238e-01 8.95522280e-01 -6.27574578e-04 2.91262512e+01] [ 1.32544504e-03 4.21312367e-05 9.99999121e-01 -2.63220836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81576923100002 meters 0.03569764446057537 Centerline is valid? [True, True] Translation: X:120.97, Y:29.14, Z:-0.27 [[ 8.94041098e-01 -4.47976987e-01 -2.67103727e-03 1.20970272e+02] [ 4.47974698e-01 8.94045084e-01 -1.43483164e-03 2.91392821e+01] [ 3.03079929e-03 8.62413377e-05 9.99995403e-01 -2.66261380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84576923100002 meters 0.028968357461647512 Centerline is valid? [True, True] Translation: X:121.00, Y:29.15, Z:-0.27 [[ 8.90883651e-01 -4.54222165e-01 -2.92314820e-03 1.20997427e+02] [ 4.54219454e-01 8.90888444e-01 -1.57105448e-03 2.91482367e+01] [ 3.31780672e-03 7.18759695e-05 9.99994493e-01 -2.66313859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87576923100002 meters 0.025735019756782523 Centerline is valid? [True, True] Translation: X:121.02, Y:29.16, Z:-0.26 [[ 8.89495457e-01 -4.56941574e-01 -1.49303842e-03 1.21024054e+02] [ 4.56940871e-01 8.89496710e-01 -8.02459630e-04 2.91592798e+01] [ 1.69472993e-03 3.15539199e-05 9.99998563e-01 -2.63399076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90576923100002 meters 0.020206051631784277 Centerline is valid? [True, True] Translation: X:121.05, Y:29.17, Z:-0.26 [[ 8.87322056e-01 -4.61149315e-01 9.37118959e-04 1.21051813e+02] [ 4.61149041e-01 8.87322551e-01 5.03522151e-04 2.91696097e+01] [-1.06372568e-03 -1.46348012e-05 9.99999434e-01 -2.58864042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93576923100002 meters 0.019591851035558487 Centerline is valid? [True, True] Translation: X:121.08, Y:29.18, Z:-0.26 [[ 8.86513932e-01 -4.62701237e-01 7.83631216e-04 1.21075262e+02] [ 4.62701045e-01 8.86514278e-01 4.21097889e-04 2.91842974e+01] [-8.89542776e-04 -1.07221619e-05 9.99999604e-01 -2.59980392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.965769231 meters 0.018583330516322008 Centerline is valid? [True, True] Translation: X:121.10, Y:29.20, Z:-0.26 [[ 8.85961576e-01 -4.63758616e-01 -1.81317111e-04 1.21100720e+02] [ 4.63758605e-01 8.85961594e-01 -9.78898426e-05 2.91986016e+01] [ 2.06037255e-04 2.63926863e-06 9.99999979e-01 -2.61988294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.995769231 meters 0.018583330516322008 Centerline is valid? [True, True] Translation: X:121.12, Y:29.21, Z:-0.26 [[ 8.85877843e-01 -4.63918542e-01 -1.81276791e-04 1.21124815e+02] [ 4.63918532e-01 8.85877862e-01 -9.79647405e-05 2.92117978e+01] [ 2.06036756e-04 2.68713039e-06 9.99999979e-01 -2.62047336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.025769231 meters 0.017580666647119585 Centerline is valid? [True, True] Translation: X:121.15, Y:29.22, Z:-0.26 [[ 8.85231724e-01 -4.65149306e-01 -9.58007115e-04 1.21149503e+02] [ 4.65149021e-01 8.85232242e-01 -5.15600439e-04 2.92248909e+01] [ 1.08788997e-03 1.08097939e-05 9.99999408e-01 -2.63908013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.055769231 meters 0.016846895842201084 Centerline is valid? [True, True] Translation: X:121.17, Y:29.24, Z:-0.26 [[ 8.84919738e-01 -4.65743499e-01 -2.25080701e-04 1.21173312e+02] [ 4.65743484e-01 8.84919766e-01 -1.21596647e-04 2.92387847e+01] [ 2.55811210e-04 2.77340331e-06 9.99999967e-01 -2.61087449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.085769231 meters 0.015959777008361757 Centerline is valid? [True, True] Translation: X:121.20, Y:29.26, Z:-0.25 [[ 8.84920899e-01 -4.65732380e-01 2.89011900e-03 1.21195318e+02] [ 4.65729782e-01 8.84925618e-01 1.55596656e-03 2.92568317e+01] [-3.28220435e-03 -3.08928338e-05 9.99994613e-01 -2.54375128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.115769231 meters 0.01616269387582109 Centerline is valid? [True, True] Translation: X:121.22, Y:29.27, Z:-0.25 [[ 8.84982749e-01 -4.65611971e-01 3.32059004e-03 1.21219162e+02] [ 4.65608537e-01 8.84988978e-01 1.78860590e-03 2.92725605e+01] [-3.77148190e-03 -3.67902921e-05 9.99992887e-01 -2.54447880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.145769231 meters 0.01570262241289465 Centerline is valid? [True, True] Translation: X:121.25, Y:29.29, Z:-0.26 [[ 8.84509528e-01 -4.66517831e-01 2.00206542e-03 1.21245085e+02] [ 4.66516584e-01 8.84511794e-01 1.07869878e-03 2.92855707e+01] [-2.27408269e-03 -2.01226285e-05 9.99997414e-01 -2.58361914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.175769231 meters 0.014684875015386557 Centerline is valid? [True, True] Translation: X:121.27, Y:29.30, Z:-0.26 [[ 8.83784816e-01 -4.67892108e-01 1.17241139e-03 1.21269785e+02] [ 4.67891681e-01 8.83785593e-01 6.31869570e-04 2.92981004e+01] [-1.33180709e-03 -9.87519319e-06 9.99999113e-01 -2.59928538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.205769231 meters 0.013916375128637786 Centerline is valid? [True, True] Translation: X:121.29, Y:29.31, Z:-0.26 [[ 8.83047614e-01 -4.69282928e-01 6.67327824e-04 1.21293997e+02] [ 4.69282790e-01 8.83047866e-01 3.59598655e-04 2.93112830e+01] [-7.58035921e-04 -4.37727095e-06 9.99999713e-01 -2.60434986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.235769231 meters 0.013487735456965544 Centerline is valid? [True, True] Translation: X:121.32, Y:29.33, Z:-0.26 [[ 8.82616786e-01 -4.70093116e-01 2.66038519e-04 1.21318291e+02] [ 4.70093094e-01 8.82616827e-01 1.43049817e-04 2.93253134e+01] [-3.02056807e-04 -1.19529886e-06 9.99999954e-01 -2.61415427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.265769231 meters 0.013190382518458972 Centerline is valid? [True, True] Translation: X:121.34, Y:29.34, Z:-0.26 [[ 8.82120975e-01 -4.71022842e-01 2.62457818e-04 1.21343672e+02] [ 4.71022820e-01 8.82121014e-01 1.41181077e-04 2.93365484e+01] [-2.98019069e-04 -9.15167425e-07 9.99999956e-01 -2.61960141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.295769231 meters 0.012021639062006746 Centerline is valid? [True, True] Translation: X:121.37, Y:29.35, Z:-0.26 [[ 8.80660371e-01 -4.73747176e-01 9.60902442e-04 1.21371620e+02] [ 4.73746892e-01 8.80660896e-01 5.18374192e-04 2.93457656e+01] [-1.09180751e-03 -1.28706254e-06 9.99999404e-01 -2.60794008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.325769231 meters 0.01197454677047775 Centerline is valid? [True, True] Translation: X:121.40, Y:29.36, Z:-0.26 [[ 8.79595899e-01 -4.75719429e-01 1.44231669e-03 1.21397452e+02] [ 4.75718792e-01 8.79597081e-01 7.78566906e-04 2.93573167e+01] [-1.63903696e-03 1.31289764e-06 9.99998657e-01 -2.59930099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.355769231 meters 0.012295222142950183 Centerline is valid? [True, True] Translation: X:121.42, Y:29.37, Z:-0.26 [[ 8.78497669e-01 -4.77742346e-01 2.02409251e-03 1.21422698e+02] [ 4.77741095e-01 8.78500001e-01 1.09330985e-03 2.93670181e+01] [-2.30048569e-03 6.52201590e-06 9.99997354e-01 -2.59118664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.385769231 meters 0.014401534737896163 Centerline is valid? [True, True] Translation: X:121.45, Y:29.37, Z:-0.26 [[ 8.76235952e-01 -4.81875885e-01 2.48760737e-03 1.21453389e+02] [ 4.81874011e-01 8.76239483e-01 1.34420645e-03 2.93706360e+01] [-2.82748046e-03 2.08713192e-05 9.99996002e-01 -2.58816217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.415769231 meters 0.015980587992951698 Centerline is valid? [True, True] Translation: X:121.48, Y:29.38, Z:-0.26 [[ 8.75191045e-01 -4.83775084e-01 1.51755306e-03 1.21480641e+02] [ 4.83774389e-01 8.75192360e-01 8.20244027e-04 2.93783391e+01] [-1.72496447e-03 1.62830775e-05 9.99998512e-01 -2.60607893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.445769231 meters 0.030566899262471216 Centerline is valid? [True, True] Translation: X:121.51, Y:29.39, Z:-0.26 [[ 8.73914811e-01 -4.86074364e-01 -2.14853639e-03 1.21509862e+02] [ 4.86072975e-01 8.73917452e-01 -1.16235105e-03 2.93855472e+01] [ 2.44263250e-03 -2.85496741e-05 9.99997016e-01 -2.62891204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47576923100002 meters 0.01878277328662359 Centerline is valid? [True, True] Translation: X:121.54, Y:29.40, Z:-0.27 [[ 8.73678324e-01 -4.86489895e-01 -3.71055729e-03 1.21536525e+02] [ 4.86485757e-01 8.73686202e-01 -2.00712961e-03 2.93957327e+01] [ 4.21831098e-03 -5.15476351e-05 9.99991102e-01 -2.71033740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50576923100002 meters 0.01892986027893608 Centerline is valid? [True, True] Translation: X:121.56, Y:29.41, Z:-0.27 [[ 8.73548000e-01 -4.86721168e-01 -4.04920245e-03 1.21563006e+02] [ 4.86716237e-01 8.73557383e-01 -2.19158956e-03 2.94056121e+01] [ 4.60390373e-03 -5.63539033e-05 9.99989400e-01 -2.72015289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53576923100002 meters 0.017783636396143998 Centerline is valid? [True, True] Translation: X:121.59, Y:29.41, Z:-0.27 [[ 8.73728946e-01 -4.86405965e-01 -2.63946312e-03 1.21590733e+02] [ 4.86403866e-01 8.73732932e-01 -1.42926408e-03 2.94147038e+01] [ 3.00138843e-03 -3.50556728e-05 9.99995495e-01 -2.67824821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56576923100002 meters 0.01816952960555952 Centerline is valid? [True, True] Translation: X:121.62, Y:29.42, Z:-0.27 [[ 8.73478004e-01 -4.86862499e-01 -1.04090911e-03 1.21617360e+02] [ 4.86862173e-01 8.73478624e-01 -5.63804001e-04 2.94229090e+01] [ 1.18370688e-03 -1.43088764e-05 9.99999299e-01 -2.66296227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59576923100002 meters 0.021749824031782137 Centerline is valid? [True, True] Translation: X:121.65, Y:29.43, Z:-0.27 [[ 8.73300915e-01 -4.87180759e-01 -6.47441930e-04 1.21645129e+02] [ 4.87180633e-01 8.73301155e-01 -3.50827459e-04 2.94275511e+01] [ 7.36328173e-04 -9.04322848e-06 9.99999729e-01 -2.67074373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62576923100002 meters 0.018700427913388832 Centerline is valid? [True, True] Translation: X:121.67, Y:29.44, Z:-0.27 [[ 8.73212949e-01 -4.87338808e-01 -1.80836047e-04 1.21669406e+02] [ 4.87338798e-01 8.73212968e-01 -9.84324014e-05 2.94421220e+01] [ 2.05878310e-04 -2.17597421e-06 9.99999979e-01 -2.65052184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65576923100002 meters 0.01813547199940289 Centerline is valid? [True, True] Translation: X:121.69, Y:29.45, Z:-0.26 [[ 8.73318180e-01 -4.87150196e-01 2.09725634e-04 1.21694592e+02] [ 4.87150183e-01 8.73318205e-01 1.13219927e-04 2.94537542e+01] [-2.38312324e-04 3.29086059e-06 9.99999972e-01 -2.63660180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68576923100002 meters 0.017360118087684225 Centerline is valid? [True, True] Translation: X:121.72, Y:29.47, Z:-0.26 [[ 8.74143117e-01 -4.85668337e-01 2.76776183e-04 1.21720126e+02] [ 4.85668314e-01 8.74143161e-01 1.49683156e-04 2.94655393e+01] [-3.14638377e-04 3.57692198e-06 9.99999950e-01 -2.62549569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.715769231 meters 0.014576865847937623 Centerline is valid? [True, True] Translation: X:121.75, Y:29.48, Z:-0.26 [[ 8.75323799e-01 -4.83537102e-01 -3.43128301e-04 1.21745170e+02] [ 4.83537066e-01 8.75323866e-01 -1.86554585e-04 2.94804027e+01] [ 3.90554454e-04 -2.61958400e-06 9.99999924e-01 -2.64461514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.745769231 meters 0.014756478014609409 Centerline is valid? [True, True] Translation: X:121.77, Y:29.49, Z:-0.27 [[ 8.75742769e-01 -4.82777426e-01 -7.48000359e-04 1.21770513e+02] [ 4.82777256e-01 8.75743088e-01 -4.05977142e-04 2.94910223e+01] [ 8.51052744e-04 -5.58601421e-06 9.99999638e-01 -2.66417139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.775769231 meters 0.013826348966639543 Centerline is valid? [True, True] Translation: X:121.80, Y:29.50, Z:-0.27 [[ 8.76117426e-01 -4.82096045e-01 -1.28830257e-03 1.21795241e+02] [ 4.82095537e-01 8.76118373e-01 -6.99744591e-04 2.95040047e+01] [ 1.46604965e-03 -8.02648848e-06 9.99998925e-01 -2.67346364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.805769231 meters 0.012915923366101765 Centerline is valid? [True, True] Translation: X:121.82, Y:29.51, Z:-0.27 [[ 8.77024101e-01 -4.80445435e-01 -9.54168147e-04 1.21821322e+02] [ 4.80445156e-01 8.77024620e-01 -5.18133352e-04 2.95136477e+01] [ 1.08576376e-03 -4.01002682e-06 9.99999411e-01 -2.67421888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.835769231 meters 0.012725623940457377 Centerline is valid? [True, True] Translation: X:121.85, Y:29.52, Z:-0.27 [[ 8.77378135e-01 -4.79799180e-01 -5.95608256e-04 1.21847689e+02] [ 4.79799071e-01 8.77378338e-01 -3.23526025e-04 2.95238664e+01] [ 6.77801303e-04 -1.91762754e-06 9.99999770e-01 -2.66856150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.865769231 meters 0.012554642118164778 Centerline is valid? [True, True] Translation: X:121.88, Y:29.53, Z:-0.27 [[ 8.77431210e-01 -4.79702425e-01 -2.34467339e-04 1.21875919e+02] [ 4.79702408e-01 8.77431242e-01 -1.27821590e-04 2.95312608e+01] [ 2.67045295e-04 -3.19894627e-07 9.99999964e-01 -2.65261982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.895769231 meters 0.012428973602114538 Centerline is valid? [True, True] Translation: X:121.90, Y:29.54, Z:-0.26 [[ 8.77463385e-01 -4.79643626e-01 -6.77678996e-06 1.21901258e+02] [ 4.79643625e-01 8.77463385e-01 -3.88175030e-06 2.95411561e+01] [ 7.80824183e-06 1.55649651e-07 1.00000000e+00 -2.64396999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.925769231 meters 0.012199065761828004 Centerline is valid? [True, True] Translation: X:121.93, Y:29.55, Z:-0.26 [[ 8.77658310e-01 -4.79285715e-01 1.04588232e-03 1.21926355e+02] [ 4.79285379e-01 8.77658933e-01 5.68027300e-04 2.95526863e+01] [-1.19017533e-03 2.74222350e-06 9.99999292e-01 -2.62326112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.955769231 meters 0.012304580662898591 Centerline is valid? [True, True] Translation: X:121.95, Y:29.57, Z:-0.26 [[ 8.79755686e-01 -4.75417533e-01 2.84659572e-03 1.21950664e+02] [ 4.75415014e-01 8.79760291e-01 1.54744896e-03 2.95666710e+01] [-3.24000625e-03 -8.06267561e-06 9.99994751e-01 -2.57348255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.985769231 meters 0.015816629791491142 Centerline is valid? [True, True] Translation: X:121.97, Y:29.59, Z:-0.26 [[ 8.82733655e-01 -4.69870011e-01 1.86178857e-03 1.21971782e+02] [ 4.69868921e-01 8.82735618e-01 1.01239442e-03 2.95851904e+01] [-2.11916086e-03 -1.88780416e-05 9.99997754e-01 -2.60389090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.015769231 meters 0.0190928927418863 Centerline is valid? [True, True] Translation: X:121.99, Y:29.60, Z:-0.26 [[ 8.83948759e-01 -4.67583617e-01 3.90129165e-04 1.21993826e+02] [ 4.67583569e-01 8.83948845e-01 2.12065830e-04 2.96029571e+01] [-4.44012733e-04 -5.03734027e-06 9.99999901e-01 -2.64429611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.045769231 meters 0.020249231264877172 Centerline is valid? [True, True] Translation: X:122.02, Y:29.62, Z:-0.27 [[ 8.84851198e-01 -4.65873252e-01 -6.85476308e-04 1.22018438e+02] [ 4.65873103e-01 8.84851464e-01 -3.73402628e-04 2.96188000e+01] [ 7.80503011e-04 1.10607882e-05 9.99999695e-01 -2.66201194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.075769231 meters 0.02294595471313976 Centerline is valid? [True, True] Translation: X:122.04, Y:29.64, Z:-0.26 [[ 8.86416147e-01 -4.62889121e-01 2.76874312e-04 1.22040367e+02] [ 4.62889096e-01 8.86416190e-01 1.50539677e-04 2.96376130e+01] [-3.15109051e-04 -5.27870022e-06 9.99999950e-01 -2.63076506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.105769231 meters 0.025883530794513384 Centerline is valid? [True, True] Translation: X:122.06, Y:29.66, Z:-0.26 [[ 8.87032651e-01 -4.61705088e-01 1.21949720e-03 1.22061901e+02] [ 4.61704612e-01 8.87033489e-01 6.63611869e-04 2.96555814e+01] [-1.38812784e-03 -2.55979124e-05 9.99999036e-01 -2.61006928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.135769231 meters 0.025663951596215356 Centerline is valid? [True, True] Translation: X:122.09, Y:29.67, Z:-0.26 [[ 8.87608164e-01 -4.60599310e-01 1.48774878e-04 1.22085765e+02] [ 4.60599303e-01 8.87608177e-01 8.06118248e-05 2.96722579e+01] [-1.69183549e-04 -3.02610891e-06 9.99999986e-01 -2.64008783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.165769231 meters 0.025471724274800125 Centerline is valid? [True, True] Translation: X:122.11, Y:29.69, Z:-0.27 [[ 8.87290808e-01 -4.61209969e-01 -6.21189767e-04 1.22108774e+02] [ 4.61209845e-01 8.87291026e-01 -3.38465040e-04 2.96876822e+01] [ 7.07279556e-04 1.38180827e-05 9.99999750e-01 -2.66903889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.195769231 meters 0.02411111946744518 Centerline is valid? [True, True] Translation: X:122.13, Y:29.70, Z:-0.27 [[ 8.86635855e-01 -4.62468041e-01 -4.15359353e-04 1.22133283e+02] [ 4.62467985e-01 8.86635952e-01 -2.26707588e-04 2.97022435e+01] [ 4.73117550e-04 8.91667327e-06 9.99999888e-01 -2.66884249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22576923100002 meters 0.020345540011942748 Centerline is valid? [True, True] Translation: X:122.16, Y:29.71, Z:-0.26 [[ 8.84662818e-01 -4.66227739e-01 1.84252127e-03 1.22157768e+02] [ 4.66226659e-01 8.84664736e-01 1.00388799e-03 2.97148276e+01] [-2.09805402e-03 -2.90698426e-05 9.99997799e-01 -2.61491679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25576923100002 meters 0.014862076105097613 Centerline is valid? [True, True] Translation: X:122.19, Y:29.72, Z:-0.26 [[ 8.81779371e-01 -4.71653277e-01 2.88563957e-03 1.22186989e+02] [ 4.71650656e-01 8.81784093e-01 1.57264806e-03 2.97223391e+01] [-3.28625568e-03 -2.57148199e-05 9.99994600e-01 -2.59213155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28576923100002 meters 0.013608527119391381 Centerline is valid? [True, True] Translation: X:122.21, Y:29.73, Z:-0.26 [[ 8.80659951e-01 -4.73743033e-01 2.36403488e-03 1.22212882e+02] [ 4.73741281e-01 8.80663124e-01 1.28874328e-03 2.97333086e+01] [-2.69245150e-03 -1.50036845e-05 9.99996375e-01 -2.60682883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31576923100002 meters 0.012634865551289802 Centerline is valid? [True, True] Translation: X:122.24, Y:29.74, Z:-0.26 [[ 8.79780169e-01 -4.75377687e-01 1.70582387e-03 1.22239657e+02] [ 4.75376777e-01 8.79781822e-01 9.30039089e-04 2.97449274e+01] [-1.94287267e-03 -7.32089136e-06 9.99998113e-01 -2.62335789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34576923100002 meters 0.011980351623418326 Centerline is valid? [True, True] Translation: X:122.27, Y:29.76, Z:-0.26 [[ 8.78231167e-01 -4.78235647e-01 8.26922478e-04 1.22265366e+02] [ 4.78235434e-01 8.78231556e-01 4.50780068e-04 2.97561934e+01] [-9.41808512e-04 -4.25475147e-07 9.99999556e-01 -2.63640851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37576923100002 meters 0.011960953565799001 Centerline is valid? [True, True] Translation: X:122.29, Y:29.77, Z:-0.26 [[ 8.77685362e-01 -4.79237252e-01 2.45980174e-04 1.22289184e+02] [ 4.79237234e-01 8.77685397e-01 1.34052675e-04 2.97693006e+01] [-2.80136243e-04 2.26787061e-07 9.99999961e-01 -2.64733055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40576923100002 meters 0.011997636858844776 Centerline is valid? [True, True] Translation: X:122.31, Y:29.78, Z:-0.27 [[ 8.77151922e-01 -4.80212928e-01 2.23302626e-04 1.22314531e+02] [ 4.80212913e-01 8.77151950e-01 1.21478916e-04 2.97819306e+01] [-2.54206080e-04 6.77340194e-07 9.99999968e-01 -2.65087130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43576923100002 meters 0.011996097140948138 Centerline is valid? [True, True] Translation: X:122.34, Y:29.79, Z:-0.26 [[ 8.76910471e-01 -4.80653595e-01 3.85407786e-04 1.22339860e+02] [ 4.80653549e-01 8.76910555e-01 2.10077840e-04 2.97945887e+01] [-4.38942824e-04 1.02816265e-06 9.99999904e-01 -2.64866580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.465769231 meters 0.012106196727147127 Centerline is valid? [True, True] Translation: X:122.36, Y:29.81, Z:-0.27 [[ 8.76714732e-01 -4.81010591e-01 2.99443155e-04 1.22364701e+02] [ 4.81010563e-01 8.76714783e-01 1.63417045e-04 2.98063102e+01] [-3.41131570e-04 7.65190097e-07 9.99999942e-01 -2.65668809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.495769231 meters 0.012498733333095525 Centerline is valid? [True, True] Translation: X:122.39, Y:29.82, Z:-0.27 [[ 8.76009817e-01 -4.82292904e-01 5.96950886e-04 1.22390367e+02] [ 4.82292793e-01 8.76010020e-01 3.26060942e-04 2.98169296e+01] [-6.80191836e-04 2.27252437e-06 9.99999769e-01 -2.65689986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.525769231 meters 0.012600274168459878 Centerline is valid? [True, True] Translation: X:122.42, Y:29.83, Z:-0.26 [[ 8.75751687e-01 -4.82761099e-01 8.39259571e-04 1.22415473e+02] [ 4.82760882e-01 8.75752089e-01 4.58429035e-04 2.98295067e+01] [-9.56295028e-04 3.69169020e-06 9.99999543e-01 -2.64858120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.555769231 meters 0.012589492215260317 Centerline is valid? [True, True] Translation: X:122.44, Y:29.84, Z:-0.26 [[ 8.75462808e-01 -4.83281417e-01 1.98575932e-03 1.22440625e+02] [ 4.83280197e-01 8.75465060e-01 1.08578499e-03 2.98414180e+01] [-2.26320261e-03 9.11378082e-06 9.99997439e-01 -2.61822330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.585769231 meters 0.01263419956258711 Centerline is valid? [True, True] Translation: X:122.46, Y:29.85, Z:-0.26 [[ 8.75525154e-01 -4.83169353e-01 1.75514525e-03 1.22464072e+02] [ 4.83168399e-01 8.75526914e-01 9.60077138e-04 2.98549705e+01] [-2.00055675e-03 7.45903457e-06 9.99997999e-01 -2.62089956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.615769231 meters 0.012289476860074856 Centerline is valid? [True, True] Translation: X:122.49, Y:29.87, Z:-0.26 [[ 8.75758263e-01 -4.82748688e-01 1.08120034e-03 1.22487601e+02] [ 4.82748325e-01 8.75758931e-01 5.91345828e-04 2.98705716e+01] [-1.23234228e-03 4.07165841e-06 9.99999241e-01 -2.63761639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.645769231 meters 0.011931262569639165 Centerline is valid? [True, True] Translation: X:122.51, Y:29.89, Z:-0.27 [[ 8.77153532e-01 -4.80210038e-01 3.48931741e-05 1.22508807e+02] [ 4.80210038e-01 8.77153532e-01 1.87863773e-05 2.98879662e+01] [-3.96280779e-05 2.77515214e-07 9.99999999e-01 -2.67289664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.675769231 meters 0.012040059163599725 Centerline is valid? [True, True] Translation: X:122.53, Y:29.90, Z:-0.27 [[ 8.77887380e-01 -4.78867041e-01 3.25072116e-04 1.22532260e+02] [ 4.78867008e-01 8.77887440e-01 1.77607015e-04 2.99032688e+01] [-3.70426873e-04 -2.52645614e-07 9.99999931e-01 -2.66777023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.705769231 meters 0.01235507536811501 Centerline is valid? [True, True] Translation: X:122.56, Y:29.92, Z:-0.26 [[ 8.78374175e-01 -4.77972297e-01 1.13667993e-03 1.22555863e+02] [ 4.77971892e-01 8.78374910e-01 6.22470328e-04 2.99190323e+01] [-1.29595470e-03 -3.46080505e-06 9.99999160e-01 -2.64891884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.735769231 meters 0.012224618994390266 Centerline is valid? [True, True] Translation: X:122.58, Y:29.93, Z:-0.26 [[ 8.78070925e-01 -4.78528770e-01 1.29104419e-03 1.22579928e+02] [ 4.78528247e-01 8.78071874e-01 7.07465411e-04 2.99323133e+01] [-1.47217214e-03 -3.40369493e-06 9.99998916e-01 -2.64947502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.765769231 meters 0.012115951600975453 Centerline is valid? [True, True] Translation: X:122.60, Y:29.94, Z:-0.27 [[ 8.77744826e-01 -4.79126501e-01 1.34796665e-03 1.22604513e+02] [ 4.79125931e-01 8.77745861e-01 7.38813917e-04 2.99446282e+01] [-1.53715748e-03 -2.64431579e-06 9.99998819e-01 -2.65777137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.795769231 meters 0.011702905436129967 Centerline is valid? [True, True] Translation: X:122.63, Y:29.95, Z:-0.26 [[ 8.76931269e-01 -4.80609974e-01 2.36666209e-03 1.22631546e+02] [ 4.80608223e-01 8.76934463e-01 1.29761710e-03 2.99537668e+01] [-2.69905527e-03 -4.83754142e-07 9.99996358e-01 -2.63933633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.825769231 meters 0.011670566798409065 Centerline is valid? [True, True] Translation: X:122.66, Y:29.96, Z:-0.26 [[ 8.76475706e-01 -4.81435871e-01 3.13665109e-03 1.22656357e+02] [ 4.81432797e-01 8.76481319e-01 1.72057254e-03 2.99646649e+01] [-3.57756142e-03 2.04667373e-06 9.99993601e-01 -2.62371912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.855769231 meters 0.011888601942661654 Centerline is valid? [True, True] Translation: X:122.68, Y:29.97, Z:-0.27 [[ 8.75937397e-01 -4.82421814e-01 1.69421098e-03 1.22682554e+02] [ 4.82420919e-01 8.75939035e-01 9.29431762e-04 2.99733037e+01] [-1.93240369e-03 3.19878011e-06 9.99998133e-01 -2.65057815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.885769231 meters 0.012139444924790407 Centerline is valid? [True, True] Translation: X:122.71, Y:29.98, Z:-0.27 [[ 8.75743841e-01 -4.82776049e-01 -1.02882925e-04 1.22708962e+02] [ 4.82776046e-01 8.75743847e-01 -5.69398119e-05 2.99838015e+01] [ 1.17588266e-04 1.95277825e-07 9.99999993e-01 -2.68747962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.915769231 meters 0.012095420825899525 Centerline is valid? [True, True] Translation: X:122.73, Y:29.99, Z:-0.27 [[ 8.75725351e-01 -4.82807450e-01 -1.44068920e-03 1.22734786e+02] [ 4.82806801e-01 8.75726536e-01 -7.91724238e-04 2.99939183e+01] [ 1.64390013e-03 -2.24155967e-06 9.99998649e-01 -2.71053461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.945769231 meters 0.012095420825899525 Centerline is valid? [True, True] Translation: X:122.76, Y:30.01, Z:-0.27 [[ 8.75630727e-01 -4.82979042e-01 -1.44053378e-03 1.22758785e+02] [ 4.82978392e-01 8.75631912e-01 -7.92007084e-04 3.00073192e+01] [ 1.64390017e-03 -2.24094996e-06 9.99998649e-01 -2.71112503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97576923100002 meters 0.012028586083257468 Centerline is valid? [True, True] Translation: X:122.78, Y:30.02, Z:-0.27 [[ 8.75827650e-01 -4.82621339e-01 -1.60331284e-03 1.22784680e+02] [ 4.82620533e-01 8.75829118e-01 -8.81574642e-04 3.00172483e+01] [ 1.82969481e-03 -1.68425152e-06 9.99998326e-01 -2.69989937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00576923100002 meters 0.012047969694260308 Centerline is valid? [True, True] Translation: X:122.81, Y:30.03, Z:-0.27 [[ 8.75971024e-01 -4.82362519e-01 -1.07997237e-03 1.22808820e+02] [ 4.82362153e-01 8.75971689e-01 -5.93922259e-04 3.00296062e+01] [ 1.23251106e-03 -6.79109601e-07 9.99999240e-01 -2.69955104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03576923100002 meters 0.01207651998222151 Centerline is valid? [True, True] Translation: X:122.83, Y:30.04, Z:-0.27 [[ 8.76920449e-01 -4.80634936e-01 -7.64234730e-04 1.22833368e+02] [ 4.80634751e-01 8.76920782e-01 -4.20771299e-04 3.00422884e+01] [ 8.72410703e-04 1.66518669e-06 9.99999619e-01 -2.69435888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06576923100002 meters 0.012144544751520197 Centerline is valid? [True, True] Translation: X:122.86, Y:30.06, Z:-0.27 [[ 8.77181900e-01 -4.80157340e-01 -9.18169055e-04 1.22858181e+02] [ 4.80157073e-01 8.77182381e-01 -5.05686185e-04 3.00552350e+01] [ 1.04821065e-03 2.71340237e-06 9.99999451e-01 -2.69611130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09576923100002 meters 0.01269340757883706 Centerline is valid? [True, True] Translation: X:122.88, Y:30.07, Z:-0.27 [[ 8.77581192e-01 -4.79427691e-01 -5.83691733e-04 1.22881219e+02] [ 4.79427583e-01 8.77581386e-01 -3.21440085e-04 3.00697109e+01] [ 6.66344278e-04 2.25185667e-06 9.99999778e-01 -2.70455622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12576923100002 meters 0.012463836278339933 Centerline is valid? [True, True] Translation: X:122.91, Y:30.08, Z:-0.27 [[ 8.77342352e-01 -4.79864819e-01 -3.90738990e-04 1.22905625e+02] [ 4.79864770e-01 8.77342439e-01 -2.15580190e-04 3.00827883e+01] [ 4.46261248e-04 1.63575544e-06 9.99999900e-01 -2.70201497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15576923100002 meters 0.012271246855668518 Centerline is valid? [True, True] Translation: X:122.93, Y:30.09, Z:-0.27 [[ 8.76912965e-01 -4.80648872e-01 -5.60811645e-04 1.22930773e+02] [ 4.80648772e-01 8.76913144e-01 -3.09352928e-04 3.00946646e+01] [ 6.40473238e-04 1.72216481e-06 9.99999795e-01 -2.70705819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18576923100002 meters 0.012177201751462079 Centerline is valid? [True, True] Translation: X:122.96, Y:30.11, Z:-0.27 [[ 8.75818925e-01 -4.82635005e-01 -2.15949600e-03 1.22956777e+02] [ 4.82633536e-01 8.75821587e-01 -1.19053858e-03 3.01057216e+01] [ 2.46592880e-03 4.51028057e-07 9.99996960e-01 -2.71967013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.215769231 meters 0.012249876127550505 Centerline is valid? [True, True] Translation: X:122.98, Y:30.12, Z:-0.27 [[ 8.75274557e-01 -4.83621235e-01 -2.22488817e-03 1.22980450e+02] [ 4.83619679e-01 8.75277385e-01 -1.22681200e-03 3.01185298e+01] [ 2.54070663e-03 -2.20236996e-06 9.99996772e-01 -2.72851617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.245769231 meters 0.012122674757577232 Centerline is valid? [True, True] Translation: X:123.01, Y:30.13, Z:-0.27 [[ 8.74634662e-01 -4.84782591e-01 2.17191953e-04 1.23005268e+02] [ 4.84782576e-01 8.74634689e-01 1.19315977e-04 3.01324797e+01] [-2.47805925e-04 9.32985316e-07 9.99999969e-01 -2.67994894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.275769231 meters 0.012038509228988041 Centerline is valid? [True, True] Translation: X:123.03, Y:30.15, Z:-0.26 [[ 8.74748105e-01 -4.84572943e-01 2.19433032e-03 1.23029444e+02] [ 4.84571432e-01 8.74750858e-01 1.21021377e-03 3.01455258e+01] [-2.50592918e-03 4.67758324e-06 9.99996860e-01 -2.64405905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.305769231 meters 0.011723466277536298 Centerline is valid? [True, True] Translation: X:123.05, Y:30.16, Z:-0.26 [[ 8.74976988e-01 -4.84154231e-01 3.15447845e-03 1.23053544e+02] [ 4.84151103e-01 8.74982674e-01 1.74035471e-03 3.01601144e+01] [-3.60271408e-03 4.47390066e-06 9.99993510e-01 -2.62818478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.335769231 meters 0.011888758570985529 Centerline is valid? [True, True] Translation: X:123.08, Y:30.18, Z:-0.27 [[ 8.75505788e-01 -4.83206037e-01 1.24123508e-03 1.23075543e+02] [ 4.83205552e-01 8.75506668e-01 6.84913708e-04 3.01756858e+01] [-1.41766403e-03 1.25765201e-07 9.99998995e-01 -2.67383631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.365769231 meters 0.012032553535541604 Centerline is valid? [True, True] Translation: X:123.10, Y:30.19, Z:-0.27 [[ 8.75727278e-01 -4.82805962e-01 -3.69808063e-04 1.23098389e+02] [ 4.82805919e-01 8.75727356e-01 -2.04674418e-04 3.01914639e+01] [ 4.22669066e-04 6.93449267e-07 9.99999911e-01 -2.70258922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.395769231 meters 0.01212725596051104 Centerline is valid? [True, True] Translation: X:123.12, Y:30.21, Z:-0.27 [[ 8.76022728e-01 -4.82269634e-01 -4.25279469e-04 1.23120506e+02] [ 4.82269576e-01 8.76022831e-01 -2.35090569e-04 3.02063482e+01] [ 4.85931567e-04 8.45332602e-07 9.99999882e-01 -2.70264987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.425769231 meters 0.012390936293602866 Centerline is valid? [True, True] Translation: X:123.14, Y:30.22, Z:-0.27 [[ 8.76564369e-01 -4.81283816e-01 -8.92133484e-04 1.23142785e+02] [ 4.81283563e-01 8.76564823e-01 -4.93417407e-04 3.02230601e+01] [ 1.01948664e-03 3.14293655e-06 9.99999480e-01 -2.70583813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.455769231 meters 0.013381838549099141 Centerline is valid? [True, True] Translation: X:123.16, Y:30.24, Z:-0.27 [[ 8.77423282e-01 -4.79711794e-01 -2.23129808e-03 1.23163043e+02] [ 4.79710209e-01 8.77426119e-01 -1.23323847e-03 3.02441540e+01] [ 2.54939825e-03 1.16956807e-05 9.99996750e-01 -2.74282990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.485769231 meters 0.013510751200837019 Centerline is valid? [True, True] Translation: X:123.18, Y:30.26, Z:-0.28 [[ 8.77412878e-01 -4.79730708e-01 -2.25591465e-03 1.23184720e+02] [ 4.79729087e-01 8.77415778e-01 -1.24738012e-03 3.02598710e+01] [ 2.57778166e-03 1.22395004e-05 9.99996677e-01 -2.75241223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.515769231 meters 0.012373584757156436 Centerline is valid? [True, True] Translation: X:123.21, Y:30.27, Z:-0.28 [[ 8.75826933e-01 -4.82620124e-01 -2.23603630e-03 1.23210531e+02] [ 4.82618539e-01 8.75829787e-01 -1.23694752e-03 3.02726735e+01] [ 2.55536297e-03 4.19938169e-06 9.99996735e-01 -2.75872435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.545769231 meters 0.012420104440239194 Centerline is valid? [True, True] Translation: X:123.24, Y:30.28, Z:-0.28 [[ 8.74264890e-01 -4.85445076e-01 -1.99511548e-03 1.23235644e+02] [ 4.85443822e-01 8.74267166e-01 -1.10372466e-03 3.02822534e+01] [ 2.28006166e-03 -3.56876187e-06 9.99997401e-01 -2.75741508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.575769231 meters 0.01365529112721091 Centerline is valid? [True, True] Translation: X:123.26, Y:30.29, Z:-0.27 [[ 8.72475746e-01 -4.88654142e-01 -1.78951560e-03 1.23262740e+02] [ 4.88653138e-01 8.72477581e-01 -9.90575951e-04 3.02923243e+01] [ 2.04536129e-03 -1.01989236e-05 9.99997908e-01 -2.74459855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.605769231 meters 0.01735218226276845 Centerline is valid? [True, True] Translation: X:123.29, Y:30.30, Z:-0.27 [[ 8.69134726e-01 -4.94575089e-01 -5.56781715e-04 1.23290226e+02] [ 4.94574993e-01 8.69134904e-01 -3.08372330e-04 3.03012051e+01] [ 6.36431695e-04 -7.35321263e-06 9.99999797e-01 -2.70967008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.635769231 meters 0.020528358027904193 Centerline is valid? [True, True] Translation: X:123.32, Y:30.31, Z:-0.27 [[ 8.67905654e-01 -4.96728913e-01 -4.04560513e-04 1.23316579e+02] [ 4.96728862e-01 8.67905748e-01 -2.24081780e-04 3.03117165e+01] [ 4.62428294e-04 -6.47503939e-06 9.99999893e-01 -2.70419296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.665769231 meters 0.024287749725920422 Centerline is valid? [True, True] Translation: X:123.34, Y:30.32, Z:-0.27 [[ 8.66573461e-01 -4.99046017e-01 -1.87370472e-03 1.23342555e+02] [ 4.99044940e-01 8.66575486e-01 -1.03742015e-03 3.03229458e+01] [ 2.14142697e-03 -3.60620893e-05 9.99997706e-01 -2.74178699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.695769231 meters 0.024180533467619773 Centerline is valid? [True, True] Translation: X:123.37, Y:30.34, Z:-0.28 [[ 8.66127716e-01 -4.99816711e-01 -2.45679061e-03 1.23366982e+02] [ 4.99814861e-01 8.66131199e-01 -1.36055868e-03 3.03373387e+01] [ 2.80793296e-03 -4.95228758e-05 9.99996057e-01 -2.75310347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72576923100002 meters 0.02559852201359069 Centerline is valid? [True, True] Translation: X:123.39, Y:30.35, Z:-0.28 [[ 8.65828353e-01 -5.00334815e-01 -2.51727988e-03 1.23392669e+02] [ 5.00332875e-01 8.65832010e-01 -1.39416873e-03 3.03489201e+01] [ 2.87709266e-03 -5.23670675e-05 9.99995860e-01 -2.75825789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75576923100002 meters 0.02626528195760221 Centerline is valid? [True, True] Translation: X:123.42, Y:30.36, Z:-0.27 [[ 8.65178719e-01 -5.01460472e-01 -1.78292349e-03 1.23419515e+02] [ 5.01459500e-01 8.65180555e-01 -9.88111243e-04 3.03601035e+01] [ 2.03804947e-03 -3.91711041e-05 9.99997922e-01 -2.73386552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78576923100002 meters 0.028491633233803167 Centerline is valid? [True, True] Translation: X:123.45, Y:30.37, Z:-0.27 [[ 8.64404558e-01 -5.02795760e-01 -1.08761370e-03 1.23445982e+02] [ 5.02795400e-01 8.64405242e-01 -6.02854411e-04 3.03693548e+01] [ 1.24325163e-03 -2.57370636e-05 9.99999227e-01 -2.71668365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81576923100002 meters 0.03349848017966141 Centerline is valid? [True, True] Translation: X:123.48, Y:30.37, Z:-0.27 [[ 8.61807002e-01 -5.07235698e-01 7.98919974e-04 1.23475884e+02] [ 5.07235506e-01 8.61807372e-01 4.42466109e-04 3.03749602e+01] [-9.12949729e-04 2.39201861e-05 9.99999583e-01 -2.68058738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84576923100002 meters 0.037202851267093766 Centerline is valid? [True, True] Translation: X:123.50, Y:30.38, Z:-0.27 [[ 8.60151356e-01 -5.10036913e-01 1.41172119e-03 1.23503581e+02] [ 5.10036315e-01 8.60152513e-01 7.82470163e-04 3.03828309e+01] [-1.61338420e-03 4.69863014e-05 9.99998697e-01 -2.66825314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87576923100002 meters 0.044874870796767434 Centerline is valid? [True, True] Translation: X:123.54, Y:30.38, Z:-0.27 [[ 8.56900701e-01 -5.15478078e-01 1.88157634e-03 1.23535177e+02] [ 5.15477028e-01 8.56902763e-01 1.04315197e-03 3.03822444e+01] [-2.15004993e-03 7.60317283e-05 9.99997686e-01 -2.66343909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90576923100002 meters 0.04407678661072265 Centerline is valid? [True, True] Translation: X:123.56, Y:30.39, Z:-0.27 [[ 8.55552227e-01 -5.17714905e-01 1.28988100e-03 1.23561620e+02] [ 5.17714414e-01 8.55553198e-01 7.15108835e-04 3.03949235e+01] [-1.47378432e-03 5.59770295e-05 9.99998912e-01 -2.67472405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93576923100002 meters 0.05151182635831023 Centerline is valid? [True, True] Translation: X:123.59, Y:30.40, Z:-0.27 [[ 8.54886541e-01 -5.18814354e-01 8.17027363e-04 1.23591837e+02] [ 5.18814157e-01 8.54886931e-01 4.53092665e-04 3.03969821e+01] [-9.33536993e-04 3.65425422e-05 9.99999564e-01 -2.68327854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.965769231 meters 0.05376461508289715 Centerline is valid? [True, True] Translation: X:123.62, Y:30.40, Z:-0.27 [[ 8.54667147e-01 -5.19176331e-01 6.83747374e-05 1.23620576e+02] [ 5.19176329e-01 8.54667150e-01 3.77442874e-05 3.04024631e+01] [-7.80335826e-05 3.23974279e-06 9.99999997e-01 -2.70069357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.995769231 meters 0.04529012618639011 Centerline is valid? [True, True] Translation: X:123.64, Y:30.42, Z:-0.27 [[ 8.54945810e-01 -5.18716817e-01 7.25462843e-04 1.23641685e+02] [ 5.18716662e-01 8.54946117e-01 4.02295683e-04 3.04236470e+01] [-8.28909176e-04 3.23686558e-05 9.99999656e-01 -2.68674994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.025769231 meters 0.04389836339143713 Centerline is valid? [True, True] Translation: X:123.67, Y:30.43, Z:-0.27 [[ 8.56223371e-01 -5.16603006e-01 1.69501045e-03 1.23667832e+02] [ 5.16602154e-01 8.56225046e-01 9.40857149e-04 3.04339303e+01] [-1.93736003e-03 7.00621681e-05 9.99998121e-01 -2.66237414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.055769231 meters 0.04059886232190652 Centerline is valid? [True, True] Translation: X:123.69, Y:30.45, Z:-0.27 [[ 8.56925305e-01 -5.15439365e-01 1.13261422e-03 1.23692497e+02] [ 5.15438983e-01 8.56926052e-01 6.28633246e-04 3.04500014e+01] [-1.29458895e-03 4.51017860e-05 9.99999161e-01 -2.67177446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.085769231 meters 0.0393865516680112 Centerline is valid? [True, True] Translation: X:123.72, Y:30.46, Z:-0.27 [[ 8.57456014e-01 -5.14557230e-01 -2.01311420e-04 1.23718255e+02] [ 5.14557218e-01 8.57456038e-01 -1.12239287e-04 3.04631020e+01] [ 2.30369230e-04 -7.34599255e-06 9.99999973e-01 -2.70258720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.115769231 meters 0.03948934434213691 Centerline is valid? [True, True] Translation: X:123.74, Y:30.47, Z:-0.27 [[ 8.57510453e-01 -5.14461747e-01 -2.22144554e-03 1.23744820e+02] [ 5.14460271e-01 8.57513326e-01 -1.23515124e-03 3.04738350e+01] [ 2.54035721e-03 -8.36903744e-05 9.99996770e-01 -2.74410623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.145769231 meters 0.044041435252120696 Centerline is valid? [True, True] Translation: X:123.78, Y:30.47, Z:-0.28 [[ 8.56749949e-01 -5.15716577e-01 -3.99206120e-03 1.23776360e+02] [ 5.15711826e-01 8.56759236e-01 -2.21922784e-03 3.04743850e+01] [ 4.56472788e-03 -1.57429826e-04 9.99989569e-01 -2.79777186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.175769231 meters 0.04019271072478988 Centerline is valid? [True, True] Translation: X:123.80, Y:30.49, Z:-0.27 [[ 8.57274506e-01 -5.14857468e-01 -1.48643940e-03 1.23802585e+02] [ 5.14856807e-01 8.57275793e-01 -8.26984250e-04 3.04871224e+01] [ 1.70006753e-03 -5.63509262e-05 9.99998553e-01 -2.74052960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.205769231 meters 0.039371494257084715 Centerline is valid? [True, True] Translation: X:123.83, Y:30.50, Z:-0.27 [[ 8.57961234e-01 -5.13713583e-01 -9.35509928e-04 1.23827878e+02] [ 5.13713321e-01 8.57961744e-01 -5.20435002e-04 3.04990726e+01] [ 1.06998626e-03 -3.40708544e-05 9.99999427e-01 -2.72506229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.235769231 meters 0.03798687691237496 Centerline is valid? [True, True] Translation: X:123.85, Y:30.51, Z:-0.27 [[ 8.58671631e-01 -5.12524829e-01 -1.15300396e-03 1.23853683e+02] [ 5.12524428e-01 8.58672405e-01 -6.41843108e-04 3.05115545e+01] [ 1.31901321e-03 -3.98102266e-05 9.99999129e-01 -2.72733114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.265769231 meters 0.036484331773860616 Centerline is valid? [True, True] Translation: X:123.88, Y:30.52, Z:-0.27 [[ 8.59450466e-01 -5.11216336e-01 -1.65971052e-03 1.23879161e+02] [ 5.11215504e-01 8.59452066e-01 -9.24115376e-04 3.05240730e+01] [ 1.89886451e-03 -5.42383593e-05 9.99998196e-01 -2.74225837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.295769231 meters 0.03219854646338651 Centerline is valid? [True, True] Translation: X:123.90, Y:30.54, Z:-0.28 [[ 8.61612646e-01 -5.07559391e-01 -2.66721956e-03 1.23902196e+02] [ 5.07557224e-01 8.61616771e-01 -1.48488382e-03 3.05389683e+01] [ 3.05178783e-03 -7.43718743e-05 9.99995341e-01 -2.76314342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.325769231 meters 0.027248707881361987 Centerline is valid? [True, True] Translation: X:123.92, Y:30.56, Z:-0.28 [[ 8.64055882e-01 -5.03385740e-01 -3.19826470e-03 1.23924183e+02] [ 5.03382595e-01 8.64061799e-01 -1.78091867e-03 3.05569593e+01] [ 3.65998741e-03 -7.11375330e-05 9.99993300e-01 -2.79069961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.355769231 meters 0.02540219267437539 Centerline is valid? [True, True] Translation: X:123.95, Y:30.57, Z:-0.28 [[ 8.64855398e-01 -5.02004053e-01 -4.13180731e-03 1.23948786e+02] [ 5.01998783e-01 8.64865263e-01 -2.30170065e-03 3.05723791e+01] [ 4.72891967e-03 -8.35240123e-05 9.99988815e-01 -2.81446873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.385769231 meters 0.024507316068597334 Centerline is valid? [True, True] Translation: X:123.97, Y:30.59, Z:-0.28 [[ 8.65261148e-01 -5.01302659e-01 -4.33484455e-03 1.23974553e+02] [ 5.01296848e-01 8.65272002e-01 -2.41512826e-03 3.05864692e+01] [ 4.96152984e-03 -8.33272618e-05 9.99987688e-01 -2.81792437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.415769231 meters 0.025056978767114373 Centerline is valid? [True, True] Translation: X:124.00, Y:30.60, Z:-0.28 [[ 8.64556608e-01 -5.02527222e-01 -2.87443805e-03 1.24000612e+02] [ 5.02524673e-01 8.64561385e-01 -1.60168264e-03 3.05979308e+01] [ 3.29001726e-03 -5.97307294e-05 9.99994586e-01 -2.77803971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.445769231 meters 0.023555259099842588 Centerline is valid? [True, True] Translation: X:124.03, Y:30.61, Z:-0.27 [[ 8.63986370e-01 -5.03513211e-01 -1.41419102e-03 1.24025546e+02] [ 5.03512594e-01 8.63987526e-01 -7.88676668e-04 3.06132144e+01] [ 1.61895253e-03 -3.06570997e-05 9.99998689e-01 -2.73932528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47576923100002 meters 0.029108521950776258 Centerline is valid? [True, True] Translation: X:124.06, Y:30.62, Z:-0.27 [[ 8.63201372e-01 -5.04859723e-01 2.28569277e-04 1.24055117e+02] [ 5.04859707e-01 8.63201402e-01 1.27245575e-04 3.06162219e+01] [-2.61542486e-04 5.55686364e-06 9.99999966e-01 -2.72788187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50576923100002 meters 0.031149701962002296 Centerline is valid? [True, True] Translation: X:124.08, Y:30.63, Z:-0.28 [[ 8.62308418e-01 -5.06382998e-01 -6.72667920e-04 1.24082782e+02] [ 5.06382859e-01 8.62308680e-01 -3.75514709e-04 3.06257101e+01] [ 7.70201650e-04 -1.68180101e-05 9.99999703e-01 -2.75327938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53576923100002 meters 0.033363107097146065 Centerline is valid? [True, True] Translation: X:124.11, Y:30.63, Z:-0.28 [[ 8.61502191e-01 -5.07750931e-01 -1.72243978e-03 1.24109394e+02] [ 5.07750023e-01 8.61503912e-01 -9.60967736e-04 3.06344221e+01] [ 1.97182087e-03 -4.66930306e-05 9.99998055e-01 -2.78673001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56576923100002 meters 0.035039075793361976 Centerline is valid? [True, True] Translation: X:124.14, Y:30.64, Z:-0.28 [[ 8.59678146e-01 -5.10824906e-01 -3.37655609e-03 1.24138044e+02] [ 5.10821440e-01 8.59684771e-01 -1.88447487e-03 3.06423345e+01] [ 3.86541055e-03 -1.04775387e-04 9.99992524e-01 -2.81400313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59576923100002 meters 0.039935951787832664 Centerline is valid? [True, True] Translation: X:124.17, Y:30.65, Z:-0.28 [[ 8.58921625e-01 -5.12097420e-01 -3.14248234e-03 1.24167720e+02] [ 5.12094427e-01 8.58927367e-01 -1.75385732e-03 3.06469205e+01] [ 3.59730989e-03 -1.02821711e-04 9.99993524e-01 -2.81395604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62576923100002 meters 0.03665856453513737 Centerline is valid? [True, True] Translation: X:124.19, Y:30.66, Z:-0.28 [[ 8.57864457e-01 -5.13873629e-01 -1.57084032e-03 1.24194799e+02] [ 5.13872883e-01 8.57865893e-01 -8.77375501e-04 3.06578994e+01] [ 1.79843047e-03 -5.45429866e-05 9.99998381e-01 -2.75831899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65576923100002 meters 0.03827773924084923 Centerline is valid? [True, True] Translation: X:124.22, Y:30.67, Z:-0.28 [[ 8.57466699e-01 -5.14537813e-01 -1.30371479e-03 1.24221636e+02] [ 5.14537300e-01 8.57467689e-01 -7.28202831e-04 3.06672911e+01] [ 1.49258120e-03 -4.64002112e-05 9.99998885e-01 -2.75919694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68576923100002 meters 0.03971195897009338 Centerline is valid? [True, True] Translation: X:124.25, Y:30.68, Z:-0.28 [[ 8.56964844e-01 -5.15373033e-01 -1.37599656e-03 1.24249477e+02] [ 5.15372461e-01 8.56965947e-01 -7.69032563e-04 3.06774419e+01] [ 1.57552084e-03 -5.01168632e-05 9.99998758e-01 -2.77531539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.715769231 meters 0.04195290912946519 Centerline is valid? [True, True] Translation: X:124.28, Y:30.68, Z:-0.28 [[ 8.56213301e-01 -5.16619375e-01 -1.79019261e-03 1.24279454e+02] [ 5.16618412e-01 8.56215169e-01 -1.00028546e-03 3.06814633e+01] [ 2.04955692e-03 -6.83887498e-05 9.99997897e-01 -2.79045048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.745769231 meters 0.04069258093607106 Centerline is valid? [True, True] Translation: X:124.31, Y:30.69, Z:-0.28 [[ 8.55817637e-01 -5.17270989e-01 -2.62588359e-03 1.24305366e+02] [ 5.17268916e-01 8.55821660e-01 -1.46799455e-03 3.06938550e+01] [ 3.00663905e-03 -1.01952333e-04 9.99995475e-01 -2.79724395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.775769231 meters 0.04060548839594351 Centerline is valid? [True, True] Translation: X:124.33, Y:30.70, Z:-0.28 [[ 8.56453655e-01 -5.16217380e-01 -2.59871107e-03 1.24331345e+02] [ 5.16215345e-01 8.56457592e-01 -1.45274636e-03 3.07038541e+01] [ 2.97561875e-03 -9.72846073e-05 9.99995568e-01 -2.79784534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.805769231 meters 0.04060548839594351 Centerline is valid? [True, True] Translation: X:124.36, Y:30.72, Z:-0.28 [[ 8.56358985e-01 -5.16374415e-01 -2.59831320e-03 1.24355278e+02] [ 5.16372379e-01 8.56362922e-01 -1.45345798e-03 3.07174623e+01] [ 2.97562760e-03 -9.70153664e-05 9.99995568e-01 -2.79843655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.835769231 meters 0.039054589921621446 Centerline is valid? [True, True] Translation: X:124.38, Y:30.73, Z:-0.28 [[ 8.56804217e-01 -5.15638563e-01 -1.84531397e-03 1.24381087e+02] [ 5.15637534e-01 8.56806202e-01 -1.03265104e-03 3.07314347e+01] [ 2.11355115e-03 -6.67333750e-05 9.99997764e-01 -2.78714008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.865769231 meters 0.038558560370445694 Centerline is valid? [True, True] Translation: X:124.41, Y:30.74, Z:-0.28 [[ 8.57174198e-01 -5.15024175e-01 -1.57946178e-03 1.24407482e+02] [ 5.15023418e-01 8.57175651e-01 -8.84289313e-04 3.07427547e+01] [ 1.80930655e-03 -5.54698214e-05 9.99998362e-01 -2.78502763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.895769231 meters 0.03762491938955958 Centerline is valid? [True, True] Translation: X:124.43, Y:30.75, Z:-0.28 [[ 8.57787932e-01 -5.14000913e-01 -1.71042806e-03 1.24434305e+02] [ 5.14000025e-01 8.57789635e-01 -9.57454551e-04 3.07525827e+01] [ 1.95931998e-03 -5.78671073e-05 9.99998079e-01 -2.77870612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.925769231 meters 0.03697748445320536 Centerline is valid? [True, True] Translation: X:124.46, Y:30.77, Z:-0.28 [[ 8.58198137e-01 -5.13317158e-01 -1.20576028e-03 1.24458731e+02] [ 5.13316715e-01 8.58198983e-01 -6.75497580e-04 3.07668183e+01] [ 1.38152675e-03 -3.92261434e-05 9.99999045e-01 -2.76920446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.955769231 meters 0.03344359278119824 Centerline is valid? [True, True] Translation: X:124.48, Y:30.78, Z:-0.27 [[ 8.59732070e-01 -5.10743257e-01 1.44677061e-03 1.24482519e+02] [ 5.10742617e-01 8.59733286e-01 8.09951977e-04 3.07822167e+01] [-1.65751436e-03 4.25857194e-05 9.99998625e-01 -2.70987314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.985769231 meters 0.03152292192540192 Centerline is valid? [True, True] Translation: X:124.51, Y:30.80, Z:-0.27 [[ 8.60433885e-01 -5.09558813e-01 1.82916242e-03 1.24507900e+02] [ 5.09557785e-01 8.60435828e-01 1.02455486e-03 3.07963254e+01] [-2.09594784e-03 5.05022373e-05 9.99997802e-01 -2.69921134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.015769231 meters 0.030911860137892634 Centerline is valid? [True, True] Translation: X:124.53, Y:30.81, Z:-0.27 [[ 8.60820359e-01 -5.08907066e-01 1.38148555e-03 1.24533535e+02] [ 5.08906479e-01 8.60821466e-01 7.73994612e-04 3.08084876e+01] [-1.58310374e-03 3.67766246e-05 9.99998746e-01 -2.71739764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.045769231 meters 0.030304076789174298 Centerline is valid? [True, True] Translation: X:124.56, Y:30.82, Z:-0.27 [[ 8.60515577e-01 -5.09423386e-01 8.69094824e-04 1.24561175e+02] [ 5.09423154e-01 8.60516016e-01 4.86951954e-04 3.08187502e+01] [-9.95934729e-04 2.37072845e-05 9.99999504e-01 -2.74075729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.075769231 meters 0.032223782300283166 Centerline is valid? [True, True] Translation: X:124.59, Y:30.83, Z:-0.27 [[ 8.60290063e-01 -5.09803680e-01 1.10257692e-03 1.24588203e+02] [ 5.09803306e-01 8.60290769e-01 6.18195472e-04 3.08274030e+01] [-1.26369507e-03 3.02699351e-05 9.99999201e-01 -2.73849102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.105769231 meters 0.030166306379912525 Centerline is valid? [True, True] Translation: X:124.61, Y:30.84, Z:-0.27 [[ 8.60428377e-01 -5.09570712e-01 8.35644923e-04 1.24614937e+02] [ 5.09570497e-01 8.60428782e-01 4.68461955e-04 3.08377567e+01] [-9.57727435e-04 2.27420386e-05 9.99999541e-01 -2.74135225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.135769231 meters 0.03158299275888237 Centerline is valid? [True, True] Translation: X:124.64, Y:30.85, Z:-0.28 [[ 8.60760807e-01 -5.09009459e-01 4.51902211e-04 1.24641440e+02] [ 5.09009396e-01 8.60760925e-01 2.53443413e-04 3.08465276e+01] [-5.17984860e-04 1.18683151e-05 9.99999866e-01 -2.75288693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.165769231 meters 0.030507407103055564 Centerline is valid? [True, True] Translation: X:124.67, Y:30.86, Z:-0.28 [[ 8.61321120e-01 -5.08060934e-01 1.25087852e-04 1.24666684e+02] [ 5.08060929e-01 8.61321129e-01 7.00658617e-05 3.08582625e+01] [-1.43338537e-04 3.20304401e-06 9.99999990e-01 -2.76356492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.195769231 meters 0.027540433903135902 Centerline is valid? [True, True] Translation: X:124.69, Y:30.87, Z:-0.28 [[ 8.62824999e-01 -5.05498234e-01 -2.13458584e-03 1.24692565e+02] [ 5.05496815e-01 8.62827639e-01 -1.19831759e-03 3.08687237e+01] [ 2.44752708e-03 -4.50879647e-05 9.99997004e-01 -2.81502706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22576923100002 meters 0.02512357257012392 Centerline is valid? [True, True] Translation: X:124.72, Y:30.88, Z:-0.28 [[ 8.63823526e-01 -5.03783063e-01 -3.39737781e-03 1.24717812e+02] [ 5.03779453e-01 8.63830204e-01 -1.90803679e-03 3.08828921e+01] [ 3.89599419e-03 -6.33220661e-05 9.99992409e-01 -2.84300343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25576923100002 meters 0.017962559158523524 Centerline is valid? [True, True] Translation: X:124.74, Y:30.90, Z:-0.28 [[ 8.66558662e-01 -4.99056440e-01 -4.33074715e-03 1.24740388e+02] [ 4.99050511e-01 8.66569482e-01 -2.43307434e-03 3.09018338e+01] [ 4.96713474e-03 -5.28599373e-05 9.99987662e-01 -2.84892522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28576923100002 meters 0.016055024156650763 Centerline is valid? [True, True] Translation: X:124.76, Y:30.92, Z:-0.29 [[ 8.67730955e-01 -4.97021224e-01 -3.59067149e-03 1.24764949e+02] [ 4.97017131e-01 8.67738383e-01 -2.01736978e-03 3.09155785e+01] [ 4.11843907e-03 -3.40910356e-05 9.99991519e-01 -2.85009927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31576923100002 meters 0.014547187398348666 Centerline is valid? [True, True] Translation: X:124.79, Y:30.93, Z:-0.28 [[ 8.68443155e-01 -4.95778507e-01 -3.18718224e-03 1.24790290e+02] [ 4.95775270e-01 8.68449003e-01 -1.79162791e-03 3.09285176e+01] [ 3.65615585e-03 -2.41991379e-05 9.99993316e-01 -2.83622546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34576923100002 meters 0.021839112560356227 Centerline is valid? [True, True] Translation: X:124.82, Y:30.94, Z:-0.28 [[ 8.69564198e-01 -4.93813598e-01 -2.49726381e-03 1.24817584e+02] [ 4.93811601e-01 8.69567784e-01 -1.40442399e-03 3.09392370e+01] [ 2.86506382e-03 -1.19410179e-05 9.99995896e-01 -2.77679253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37576923100002 meters 0.012767608779947797 Centerline is valid? [True, True] Translation: X:124.84, Y:30.95, Z:-0.28 [[ 8.70188020e-01 -4.92709403e-01 -3.20211426e-03 1.24841197e+02] [ 4.92706112e-01 8.70193912e-01 -1.80098301e-03 3.09525325e+01] [ 3.67382160e-03 -1.05074240e-05 9.99993251e-01 -2.83341572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40576923100002 meters 0.012303478661259495 Centerline is valid? [True, True] Translation: X:124.86, Y:30.97, Z:-0.28 [[ 8.72089841e-01 -4.89330629e-01 -3.85274450e-03 1.24862642e+02] [ 4.89325827e-01 8.72098352e-01 -2.16796606e-03 3.09714197e+01] [ 4.42082432e-03 5.41379263e-06 9.99990228e-01 -2.84114422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43576923100002 meters 0.012819602020578729 Centerline is valid? [True, True] Translation: X:124.88, Y:30.99, Z:-0.28 [[ 8.73293702e-01 -4.87185036e-01 -2.97510325e-03 1.24884947e+02] [ 4.87182157e-01 8.73298769e-01 -1.67492971e-03 3.09891466e+01] [ 3.41415470e-03 1.32883408e-05 9.99994172e-01 -2.81687742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.465769231 meters 0.014026472047272585 Centerline is valid? [True, True] Translation: X:124.91, Y:31.01, Z:-0.28 [[ 8.74536010e-01 -4.84955467e-01 -2.22781209e-03 1.24907958e+02] [ 4.84953844e-01 8.74538847e-01 -1.25474989e-03 3.10069681e+01] [ 2.55680603e-03 1.69379298e-05 9.99996731e-01 -2.80210977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.495769231 meters 0.016986266985984374 Centerline is valid? [True, True] Translation: X:124.93, Y:31.03, Z:-0.28 [[ 8.76356080e-01 -4.81659413e-01 -2.05684113e-03 1.24929145e+02] [ 4.81658020e-01 8.76358494e-01 -1.15838348e-03 3.10262474e+01] [ 2.36047650e-03 2.44623799e-05 9.99997214e-01 -2.81751516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.525769231 meters 0.016925737012717032 Centerline is valid? [True, True] Translation: X:124.95, Y:31.04, Z:-0.28 [[ 8.76692613e-01 -4.81048750e-01 -1.47060383e-03 1.24953642e+02] [ 4.81048036e-01 8.76693846e-01 -8.28845032e-04 3.10415274e+01] [ 1.68798420e-03 1.92112317e-05 9.99998575e-01 -2.80055760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.555769231 meters 0.01680918161943797 Centerline is valid? [True, True] Translation: X:124.98, Y:31.06, Z:-0.28 [[ 8.76424425e-01 -4.81537899e-01 -1.21583728e-03 1.24976972e+02] [ 4.81537412e-01 8.76425269e-01 -6.85186983e-04 3.10568375e+01] [ 1.39553401e-03 1.50434717e-05 9.99999026e-01 -2.79247463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.585769231 meters 0.01662306325077895 Centerline is valid? [True, True] Translation: X:125.00, Y:31.07, Z:-0.28 [[ 8.75960022e-01 -4.82382598e-01 -1.03374234e-03 1.24999896e+02] [ 4.82382246e-01 8.75960632e-01 -5.82649569e-04 3.10722429e+01] [ 1.18657761e-03 1.17187775e-05 9.99999296e-01 -2.79225810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.615769231 meters 0.015215318874817444 Centerline is valid? [True, True] Translation: X:125.02, Y:31.09, Z:-0.28 [[ 8.75121695e-01 -4.83902853e-01 2.19770372e-04 1.25024831e+02] [ 4.83902837e-01 8.75121722e-01 1.23719249e-04 3.10851111e+01] [-2.52193924e-04 -1.92189243e-06 9.99999968e-01 -2.77218372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.645769231 meters 0.014497769920931956 Centerline is valid? [True, True] Translation: X:125.05, Y:31.10, Z:-0.28 [[ 8.74597366e-01 -4.84848847e-01 1.02156325e-03 1.25049964e+02] [ 4.84848505e-01 8.74597962e-01 5.75658412e-04 3.10964596e+01] [-1.17256445e-03 -8.16591648e-06 9.99999313e-01 -2.75637633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.675769231 meters 0.01326653624074881 Centerline is valid? [True, True] Translation: X:125.08, Y:31.11, Z:-0.28 [[ 8.73617107e-01 -4.86613085e-01 9.25199954e-04 1.25076077e+02] [ 4.86612806e-01 8.73617597e-01 5.21412096e-04 3.11068652e+01] [-1.06199691e-03 -5.30038107e-06 9.99999436e-01 -2.76176741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.705769231 meters 0.012620298425104542 Centerline is valid? [True, True] Translation: X:125.10, Y:31.12, Z:-0.28 [[ 8.73197514e-01 -4.87366496e-01 -4.80859053e-06 1.25101801e+02] [ 4.87366496e-01 8.73197514e-01 -3.17553243e-06 3.11192739e+01] [ 5.74649739e-06 4.29321108e-07 1.00000000e+00 -2.78363404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.735769231 meters 0.013036287980901114 Centerline is valid? [True, True] Translation: X:125.13, Y:31.13, Z:-0.28 [[ 8.73049362e-01 -4.87629380e-01 -1.54886808e-03 1.25125554e+02] [ 4.87628597e-01 8.73050736e-01 -8.73815368e-04 3.11327821e+01] [ 1.77833846e-03 7.61158248e-06 9.99998419e-01 -2.82083535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.765769231 meters 0.014840876842359869 Centerline is valid? [True, True] Translation: X:125.15, Y:31.15, Z:-0.29 [[ 8.74070418e-01 -4.85784037e-01 -3.84375597e-03 1.25147693e+02] [ 4.85779196e-01 8.74078869e-01 -2.16879394e-03 3.11492309e+01] [ 4.41331135e-03 2.84619384e-05 9.99990261e-01 -2.86417890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.795769231 meters 0.01586274689520949 Centerline is valid? [True, True] Translation: X:125.17, Y:31.17, Z:-0.28 [[ 8.75602930e-01 -4.83017968e-01 -3.62653944e-03 1.25170945e+02] [ 4.83013631e-01 8.75610439e-01 -2.04722615e-03 3.11665206e+01] [ 4.16428280e-03 4.08892302e-05 9.99991328e-01 -2.83283909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.825769231 meters 0.025396975879225184 Centerline is valid? [True, True] Translation: X:125.19, Y:31.20, Z:-0.28 [[ 8.79591931e-01 -4.75723539e-01 -2.26909083e-03 1.25186209e+02] [ 4.75721817e-01 8.79594857e-01 -1.28112014e-03 3.11969819e+01] [ 2.60533963e-03 4.74069252e-05 9.99996605e-01 -2.81514059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.855769231 meters 0.03258848725516187 Centerline is valid? [True, True] Translation: X:125.20, Y:31.22, Z:-0.28 [[ 8.81677973e-01 -4.71846772e-01 -2.13893107e-03 1.25204647e+02] [ 4.71845230e-01 8.81680566e-01 -1.20784360e-03 3.12210185e+01] [ 2.45577106e-03 5.56846716e-05 9.99996983e-01 -2.82806270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.885769231 meters 0.03545054569242131 Centerline is valid? [True, True] Translation: X:125.23, Y:31.24, Z:-0.28 [[ 8.83732053e-01 -4.67985258e-01 -2.73081731e-03 1.25226710e+02] [ 4.67982723e-01 8.83736268e-01 -1.54275763e-03 3.12402794e+01] [ 3.13531013e-03 8.54090512e-05 9.99995081e-01 -2.83357676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.915769231 meters 0.04075019806866646 Centerline is valid? [True, True] Translation: X:125.25, Y:31.27, Z:-0.29 [[ 8.87590905e-01 -4.60612243e-01 -4.32981212e-03 1.25245850e+02] [ 4.60605778e-01 8.87601448e-01 -2.44672493e-03 3.12665412e+01] [ 4.97013896e-03 1.77354313e-04 9.99987633e-01 -2.85303577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.945769231 meters 0.04550810188274926 Centerline is valid? [True, True] Translation: X:125.27, Y:31.29, Z:-0.29 [[ 8.89284736e-01 -4.57333365e-01 -4.34171857e-03 1.25265266e+02] [ 4.57326826e-01 8.89295313e-01 -2.45363746e-03 3.12890494e+01] [ 4.98320026e-03 1.96397968e-04 9.99987564e-01 -2.85016492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97576923100002 meters 0.06318897353529107 Centerline is valid? [True, True] Translation: X:125.27, Y:31.33, Z:-0.28 [[ 8.92000142e-01 -4.52030609e-01 -2.01886882e-03 1.25274678e+02] [ 4.52029181e-01 8.92002420e-01 -1.14111373e-03 3.13289273e+01] [ 2.31665421e-03 1.05285992e-04 9.99997311e-01 -2.81712905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00576923100002 meters 0.05410274423119133 Centerline is valid? [True, True] Translation: X:125.30, Y:31.34, Z:-0.28 [[ 8.92509155e-01 -4.51029197e-01 -2.68018680e-04 1.25303495e+02] [ 4.51029171e-01 8.92509195e-01 -1.51916475e-04 3.13368626e+01] [ 3.07727902e-04 1.47026013e-05 9.99999953e-01 -2.77043861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03576923100002 meters 0.0544485989387737 Centerline is valid? [True, True] Translation: X:125.32, Y:31.36, Z:-0.28 [[ 8.92851426e-01 -4.50350860e-01 6.58597483e-04 1.25323894e+02] [ 4.50350708e-01 8.92851668e-01 3.72097677e-04 3.13599068e+01] [-7.55604370e-04 -3.56280986e-05 9.99999714e-01 -2.76014143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06576923100002 meters 0.053802630355806846 Centerline is valid? [True, True] Translation: X:125.35, Y:31.38, Z:-0.28 [[ 8.93069845e-01 -4.49917790e-01 -4.84304285e-04 1.25347222e+02] [ 4.49917707e-01 8.93069976e-01 -2.74410089e-04 3.13767008e+01] [ 5.55979596e-04 2.71703021e-05 9.99999845e-01 -2.78492334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09576923100002 meters 0.0511631987802952 Centerline is valid? [True, True] Translation: X:125.37, Y:31.39, Z:-0.28 [[ 8.93400813e-01 -4.49258297e-01 -1.40318918e-03 1.25372237e+02] [ 4.49257602e-01 8.93401912e-01 -7.94626499e-04 3.13912584e+01] [ 1.61060444e-03 7.95265551e-05 9.99998700e-01 -2.79564208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12576923100002 meters 0.05781962720362038 Centerline is valid? [True, True] Translation: X:125.39, Y:31.42, Z:-0.28 [[ 8.93756020e-01 -4.48552839e-01 -7.26412198e-04 1.25386897e+02] [ 4.48552652e-01 8.93756314e-01 -4.11509101e-04 3.14207621e+01] [ 8.33819064e-04 4.19546188e-05 9.99999651e-01 -2.78839835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15576923100002 meters 0.0581663925070146 Centerline is valid? [True, True] Translation: X:125.41, Y:31.44, Z:-0.28 [[ 8.93669336e-01 -4.48725971e-01 3.46314402e-04 1.25408554e+02] [ 4.48725929e-01 8.93669403e-01 1.95950843e-04 3.14396764e+01] [-3.97418817e-04 -1.97150077e-05 9.99999921e-01 -2.77058708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18576923100002 meters 0.05224419425764587 Centerline is valid? [True, True] Translation: X:125.43, Y:31.45, Z:-0.28 [[ 8.92063902e-01 -4.51908932e-01 5.59302694e-04 1.25434457e+02] [ 4.51908822e-01 8.92064077e-01 3.16433811e-04 3.14543460e+01] [-6.41933107e-04 -2.95253582e-05 9.99999794e-01 -2.77570441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.215769231 meters 0.05322579510077935 Centerline is valid? [True, True] Translation: X:125.46, Y:31.47, Z:-0.28 [[ 8.90714456e-01 -4.54561314e-01 -1.33055206e-03 1.25457036e+02] [ 4.54560693e-01 8.90715447e-01 -7.53878783e-04 3.14711267e+01] [ 1.52782740e-03 6.66740632e-05 9.99998831e-01 -2.81723839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.245769231 meters 0.04847543453873115 Centerline is valid? [True, True] Translation: X:125.48, Y:31.48, Z:-0.29 [[ 8.87903024e-01 -4.60007837e-01 -4.58360415e-03 1.25482227e+02] [ 4.60000545e-01 8.87914833e-01 -2.59773386e-03 3.14844796e+01] [ 5.26482805e-03 1.98075342e-04 9.99986121e-01 -2.89621340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.275769231 meters 0.041523417407131925 Centerline is valid? [True, True] Translation: X:125.51, Y:31.49, Z:-0.29 [[ 8.86619317e-01 -4.62478570e-01 -4.44515555e-03 1.25510165e+02] [ 4.62471743e-01 8.86630442e-01 -2.51931164e-03 3.14932307e+01] [ 5.10633788e-03 1.77911526e-04 9.99986947e-01 -2.88326934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.305769231 meters 0.041020219402627435 Centerline is valid? [True, True] Translation: X:125.53, Y:31.51, Z:-0.29 [[ 8.85390550e-01 -4.64836217e-01 -3.29621605e-03 1.25533466e+02] [ 4.64832478e-01 8.85396677e-01 -1.86836614e-03 3.15090443e+01] [ 3.78694298e-03 1.22045447e-04 9.99992822e-01 -2.86472959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.335769231 meters 0.030821250298442217 Centerline is valid? [True, True] Translation: X:125.56, Y:31.51, Z:-0.28 [[ 8.83125848e-01 -4.69135915e-01 -4.80036480e-04 1.25564537e+02] [ 4.69135836e-01 8.83125978e-01 -2.72226767e-04 3.15126992e+01] [ 5.51644039e-04 1.52081791e-05 9.99999848e-01 -2.78866437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.365769231 meters 0.028409786782599065 Centerline is valid? [True, True] Translation: X:125.59, Y:31.52, Z:-0.28 [[ 8.81926385e-01 -4.71387026e-01 3.50769130e-04 1.25591835e+02] [ 4.71386984e-01 8.81926455e-01 1.98520305e-04 3.15240301e+01] [-4.02932472e-04 -9.73229264e-06 9.99999919e-01 -2.77508224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.395769231 meters 0.027642128838107252 Centerline is valid? [True, True] Translation: X:125.62, Y:31.54, Z:-0.28 [[ 8.80178811e-01 -4.74641025e-01 -1.07613732e-03 1.25616708e+02] [ 4.74640633e-01 8.80179469e-01 -6.10416064e-04 3.15372262e+01] [ 1.23692248e-03 2.64967875e-05 9.99999235e-01 -2.81215172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.425769231 meters 0.028511094884990294 Centerline is valid? [True, True] Translation: X:125.64, Y:31.55, Z:-0.29 [[ 8.79830988e-01 -4.75279380e-01 -2.63504380e-03 1.25639860e+02] [ 4.75277034e-01 8.79834931e-01 -1.49477369e-03 3.15526583e+01] [ 3.02883870e-03 6.27724077e-05 9.99995411e-01 -2.85582369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.455769231 meters 0.027973550464962697 Centerline is valid? [True, True] Translation: X:125.66, Y:31.57, Z:-0.29 [[ 8.79867744e-01 -4.75205347e-01 -3.55399292e-03 1.25664915e+02] [ 4.75201074e-01 8.79874918e-01 -2.01697452e-03 3.15670337e+01] [ 4.08554630e-03 8.58095712e-05 9.99991650e-01 -2.87620047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.485769231 meters 0.027118660723497154 Centerline is valid? [True, True] Translation: X:125.69, Y:31.58, Z:-0.29 [[ 8.80345453e-01 -4.74319360e-01 -3.60945376e-03 1.25689640e+02] [ 4.74314942e-01 8.80352848e-01 -2.04925212e-03 3.15817149e+01] [ 4.14959285e-03 9.20319326e-05 9.99991386e-01 -2.85728227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.515769231 meters 0.0303776986333215 Centerline is valid? [True, True] Translation: X:125.71, Y:31.60, Z:-0.29 [[ 8.80655799e-01 -4.73742271e-01 -3.69118966e-03 1.25710119e+02] [ 4.73737646e-01 8.80663529e-01 -2.09567241e-03 3.16016509e+01] [ 4.24350472e-03 9.69105617e-05 9.99990992e-01 -2.85751233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.545769231 meters 0.03402096964777553 Centerline is valid? [True, True] Translation: X:125.73, Y:31.63, Z:-0.29 [[ 8.82458738e-01 -4.70363626e-01 -4.96349948e-03 1.25729435e+02] [ 4.70355202e-01 8.82472683e-01 -2.81912678e-03 3.16267923e+01] [ 5.70616739e-03 1.53155261e-04 9.99983708e-01 -2.87525275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.575769231 meters 0.034677754564781636 Centerline is valid? [True, True] Translation: X:125.75, Y:31.64, Z:-0.29 [[ 8.83330391e-01 -4.68726486e-01 -4.78557652e-03 1.25752121e+02] [ 4.68718631e-01 8.83343340e-01 -2.71824101e-03 3.16441455e+01] [ 5.50141870e-03 1.58016020e-04 9.99984855e-01 -2.86599277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.605769231 meters 0.035635540397900865 Centerline is valid? [True, True] Translation: X:125.77, Y:31.66, Z:-0.28 [[ 8.83719041e-01 -4.68015311e-01 -1.52485349e-03 1.25773168e+02] [ 4.68014512e-01 8.83720355e-01 -8.66340568e-04 3.16642070e+01] [ 1.75300471e-03 5.19480963e-05 9.99998462e-01 -2.80610869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.635769231 meters 0.038393084262468 Centerline is valid? [True, True] Translation: X:125.79, Y:31.68, Z:-0.28 [[ 8.83349253e-01 -4.68715327e-01 -1.97446867e-04 1.25793566e+02] [ 4.68715313e-01 8.83349275e-01 -1.12316538e-04 3.16845402e+01] [ 2.27059030e-04 6.66835979e-06 9.99999974e-01 -2.78943448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.665769231 meters 0.03281031671892744 Centerline is valid? [True, True] Translation: X:125.82, Y:31.70, Z:-0.28 [[ 8.82204001e-01 -4.70867254e-01 3.60820466e-04 1.25818719e+02] [ 4.70867210e-01 8.82204074e-01 2.04901584e-04 3.16989220e+01] [-4.14798732e-04 -1.08664712e-05 9.99999914e-01 -2.78820030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.695769231 meters 0.030479409699354396 Centerline is valid? [True, True] Translation: X:125.84, Y:31.71, Z:-0.28 [[ 8.81446998e-01 -4.72282820e-01 -3.56547334e-04 1.25843511e+02] [ 4.72282777e-01 8.81447070e-01 -2.03066332e-04 3.17128694e+01] [ 4.10182343e-04 1.06010442e-05 9.99999916e-01 -2.79416915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72576923100002 meters 0.030077614828023954 Centerline is valid? [True, True] Translation: X:125.87, Y:31.73, Z:-0.28 [[ 8.80885499e-01 -4.73327349e-01 -1.39916607e-03 1.25866371e+02] [ 4.73326682e-01 8.80886610e-01 -7.95664168e-04 3.17291406e+01] [ 1.60911627e-03 3.86263931e-05 9.99998705e-01 -2.80912070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75576923100002 meters 0.030077614828023954 Centerline is valid? [True, True] Translation: X:125.89, Y:31.74, Z:-0.28 [[ 8.80798437e-01 -4.73489342e-01 -1.39891561e-03 1.25890181e+02] [ 4.73488674e-01 8.80799547e-01 -7.96104593e-04 3.17429002e+01] [ 1.60911127e-03 3.88369839e-05 9.99998705e-01 -2.80971138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78576923100002 meters 0.029835236128979946 Centerline is valid? [True, True] Translation: X:125.91, Y:31.76, Z:-0.28 [[ 8.80165312e-01 -4.74657661e-01 -3.02133527e-03 1.25911152e+02] [ 4.74654555e-01 8.80170494e-01 -1.71896894e-03 3.17621445e+01] [ 3.47521193e-03 7.88862888e-05 9.99993958e-01 -2.83741611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81576923100002 meters 0.029490796169289114 Centerline is valid? [True, True] Translation: X:125.93, Y:31.78, Z:-0.28 [[ 8.79815940e-01 -4.75305868e-01 -2.87105797e-03 1.25934363e+02] [ 4.75303066e-01 8.79820622e-01 -1.63362494e-03 3.17781132e+01] [ 3.30248753e-03 7.26666086e-05 9.99994544e-01 -2.83715846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84576923100002 meters 0.029433604633507894 Centerline is valid? [True, True] Translation: X:125.96, Y:31.80, Z:-0.28 [[ 8.79662200e-01 -4.75598366e-01 -7.79402280e-04 1.25956147e+02] [ 4.75598160e-01 8.79662545e-01 -4.43634993e-04 3.17954650e+01] [ 8.96603071e-04 1.95666438e-05 9.99999598e-01 -2.79619457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87576923100002 meters 0.029976152184760463 Centerline is valid? [True, True] Translation: X:125.98, Y:31.81, Z:-0.28 [[ 8.79804857e-01 -4.75334809e-01 4.81801424e-04 1.25979664e+02] [ 4.75334730e-01 8.79804989e-01 2.73870226e-04 3.18126347e+01] [-5.54071349e-04 -1.19354050e-05 9.99999846e-01 -2.76878478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90576923100002 meters 0.02863832820538057 Centerline is valid? [True, True] Translation: X:126.00, Y:31.83, Z:-0.28 [[ 8.80400043e-01 -4.74231755e-01 8.14133469e-05 1.26003671e+02] [ 4.74231753e-01 8.80400047e-01 4.61333426e-05 3.18277338e+01] [-9.35542105e-05 -2.00700264e-06 9.99999996e-01 -2.77513596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93576923100002 meters 0.032428167836436685 Centerline is valid? [True, True] Translation: X:126.02, Y:31.85, Z:-0.28 [[ 8.80630726e-01 -4.73801415e-01 -1.32037191e-03 1.26024804e+02] [ 4.73800820e-01 8.80631715e-01 -7.52119622e-04 3.18468541e+01] [ 1.51911672e-03 3.67463572e-05 9.99998845e-01 -2.80913359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.965769231 meters 0.033149662824061094 Centerline is valid? [True, True] Translation: X:126.05, Y:31.86, Z:-0.28 [[ 8.80785308e-01 -4.73509913e-01 -2.36717299e-03 1.26048684e+02] [ 4.73507997e-01 8.80788486e-01 -1.34888225e-03 3.18632456e+01] [ 2.72368784e-03 6.72003305e-05 9.99996288e-01 -2.83805441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.995769231 meters 0.035938607439711064 Centerline is valid? [True, True] Translation: X:126.07, Y:31.88, Z:-0.28 [[ 8.81705261e-01 -4.71794964e-01 -2.31176184e-03 1.26068704e+02] [ 4.71793130e-01 8.81708289e-01 -1.31729698e-03 3.18836099e+01] [ 2.65979366e-03 7.07943252e-05 9.99996460e-01 -2.82955624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.025769231 meters 0.037611260140390936 Centerline is valid? [True, True] Translation: X:126.09, Y:31.90, Z:-0.28 [[ 8.82067930e-01 -4.71117970e-01 -2.00654950e-03 1.26091952e+02] [ 4.71116585e-01 8.82070210e-01 -1.14402070e-03 3.19016563e+01] [ 2.30888624e-03 6.37852236e-05 9.99997332e-01 -2.81477877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.055769231 meters 0.03387344801525175 Centerline is valid? [True, True] Translation: X:126.12, Y:31.91, Z:-0.28 [[ 8.82277794e-01 -4.70716948e-01 -3.38362965e-03 1.26118370e+02] [ 4.70713006e-01 8.82284275e-01 -1.92966517e-03 3.19127822e+01] [ 3.89364933e-03 1.09782244e-04 9.99992414e-01 -2.83305837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.085769231 meters 0.03385250330078065 Centerline is valid? [True, True] Translation: X:126.14, Y:31.93, Z:-0.29 [[ 8.81916027e-01 -4.71388483e-01 -4.12540270e-03 1.26142238e+02] [ 4.71382630e-01 8.81925667e-01 -2.35266131e-03 3.19264619e+01] [ 4.74731597e-03 1.30206543e-04 9.99988723e-01 -2.86080986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.115769231 meters 0.03705320353086413 Centerline is valid? [True, True] Translation: X:126.16, Y:31.94, Z:-0.29 [[ 8.81357384e-01 -4.72430054e-01 -4.35945231e-03 1.26163601e+02] [ 4.72423529e-01 8.81368156e-01 -2.48646214e-03 3.19446369e+01] [ 5.01696189e-03 1.31953921e-04 9.99987406e-01 -2.88588435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.145769231 meters 0.032290103835320334 Centerline is valid? [True, True] Translation: X:126.19, Y:31.96, Z:-0.28 [[ 8.81073787e-01 -4.72972852e-01 -2.37988675e-03 1.26190234e+02] [ 4.72970907e-01 8.81076998e-01 -1.35822638e-03 3.19563741e+01] [ 2.73926768e-03 7.10804690e-05 9.99996246e-01 -2.82428249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.175769231 meters 0.031132291465279602 Centerline is valid? [True, True] Translation: X:126.21, Y:31.97, Z:-0.28 [[ 8.80434662e-01 -4.74166886e-01 -7.55379773e-04 1.26214101e+02] [ 4.74166690e-01 8.80434985e-01 -4.31534002e-04 3.19717425e+01] [ 8.69681914e-04 2.17615658e-05 9.99999622e-01 -2.78401421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.205769231 meters 0.030342370409726947 Centerline is valid? [True, True] Translation: X:126.24, Y:31.99, Z:-0.28 [[ 8.79639953e-01 -4.75637920e-01 -1.45706490e-03 1.26238032e+02] [ 4.75637194e-01 8.79641158e-01 -8.31878104e-04 3.19858086e+01] [ 1.67736703e-03 3.87189549e-05 9.99998592e-01 -2.79823782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.235769231 meters 0.028121650441279757 Centerline is valid? [True, True] Translation: X:126.26, Y:32.00, Z:-0.28 [[ 8.78738217e-01 -4.77295212e-01 -2.90298621e-03 1.26264017e+02] [ 4.77292337e-01 8.78743009e-01 -1.65812957e-03 3.19983981e+01] [ 3.34239614e-03 7.14887482e-05 9.99994412e-01 -2.83423143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.265769231 meters 0.02618720926329187 Centerline is valid? [True, True] Translation: X:126.29, Y:32.01, Z:-0.29 [[ 8.77231860e-01 -4.80045759e-01 -4.50927562e-03 1.26289531e+02] [ 4.80038855e-01 8.77243444e-01 -2.57635095e-03 3.20108720e+01] [ 5.19249882e-03 9.54296303e-05 9.99986514e-01 -2.87960026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.295769231 meters 0.023799044274560723 Centerline is valid? [True, True] Translation: X:126.32, Y:32.02, Z:-0.29 [[ 8.76410874e-01 -4.81548301e-01 -3.90061907e-03 1.26316064e+02] [ 4.81543145e-01 8.76419551e-01 -2.22947597e-03 3.20228219e+01] [ 4.49217918e-03 7.56206027e-05 9.99989907e-01 -2.85967971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.325769231 meters 0.02068859163464804 Centerline is valid? [True, True] Translation: X:126.34, Y:32.03, Z:-0.28 [[ 8.75394742e-01 -4.83405497e-01 -1.78064553e-03 1.26342723e+02] [ 4.83404426e-01 8.75396553e-01 -1.01838020e-03 3.20345432e+01] [ 2.05106154e-03 3.07127469e-05 9.99997896e-01 -2.79345797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.355769231 meters 0.02063509988426851 Centerline is valid? [True, True] Translation: X:126.37, Y:32.05, Z:-0.28 [[ 8.74946347e-01 -4.84218005e-01 -1.34640078e-03 1.26367173e+02] [ 4.84217393e-01 8.74947383e-01 -7.70418532e-04 3.20487561e+01] [ 1.55108036e-03 2.21242064e-05 9.99998797e-01 -2.78785921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.385769231 meters 0.020423367967183026 Centerline is valid? [True, True] Translation: X:126.39, Y:32.06, Z:-0.28 [[ 8.74462753e-01 -4.85089910e-01 -1.63519723e-03 1.26391874e+02] [ 4.85089008e-01 8.74464281e-01 -9.35575336e-04 3.20624331e+01] [ 1.88375973e-03 2.49095790e-05 9.99998225e-01 -2.80183647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.415769231 meters 0.018925006352351514 Centerline is valid? [True, True] Translation: X:126.42, Y:32.08, Z:-0.28 [[ 8.74080042e-01 -4.85777503e-01 -2.07289202e-03 1.26416907e+02] [ 4.85776054e-01 8.74082500e-01 -1.18671242e-03 3.20756771e+01] [ 2.38835683e-03 3.03203365e-05 9.99997147e-01 -2.80997092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.445769231 meters 0.019164041715816742 Centerline is valid? [True, True] Translation: X:126.44, Y:32.09, Z:-0.28 [[ 8.74159108e-01 -4.85636514e-01 -1.74068256e-03 1.26440601e+02] [ 4.85635491e-01 8.74160841e-01 -9.97034545e-04 3.20914735e+01] [ 2.00583291e-03 2.62295983e-05 9.99997988e-01 -2.80040782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47576923100002 meters 0.019828285105109332 Centerline is valid? [True, True] Translation: X:126.46, Y:32.11, Z:-0.28 [[ 8.74308198e-01 -4.85370523e-01 -7.93324544e-04 1.26462532e+02] [ 4.85370311e-01 8.74308558e-01 -4.54479153e-04 3.21079715e+01] [ 9.14201223e-04 1.22986692e-05 9.99999582e-01 -2.78300824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50576923100002 meters 0.01963674046989343 Centerline is valid? [True, True] Translation: X:126.49, Y:32.12, Z:-0.28 [[ 8.74048460e-01 -4.85838118e-01 -7.82617930e-04 1.26486092e+02] [ 4.85837911e-01 8.74048810e-01 -4.48792952e-04 3.21226990e+01] [ 9.02086994e-04 1.20413288e-05 9.99999593e-01 -2.78629292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53576923100002 meters 0.020216367684454985 Centerline is valid? [True, True] Translation: X:126.51, Y:32.14, Z:-0.28 [[ 8.74245464e-01 -4.85483891e-01 -5.09277825e-04 1.26508391e+02] [ 4.85483803e-01 8.74245613e-01 -2.91929761e-04 3.21401329e+01] [ 5.86961100e-04 7.97213408e-06 9.99999828e-01 -2.77674335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56576923100002 meters 0.02197332741703941 Centerline is valid? [True, True] Translation: X:126.53, Y:32.16, Z:-0.28 [[ 8.74980832e-01 -4.84155933e-01 -1.25524400e-03 1.26531499e+02] [ 4.84155398e-01 8.74981732e-01 -7.19847598e-04 3.21583193e+01] [ 1.44683405e-03 2.21196934e-05 9.99998953e-01 -2.78930129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59576923100002 meters 0.025231270273680308 Centerline is valid? [True, True] Translation: X:126.55, Y:32.18, Z:-0.28 [[ 8.76214610e-01 -4.81911735e-01 -3.00604795e-03 1.26550822e+02] [ 4.81908657e-01 8.76219765e-01 -1.72349202e-03 3.21808302e+01] [ 3.46452965e-03 6.15083632e-05 9.99993997e-01 -2.82589202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62576923100002 meters 0.026555518094674088 Centerline is valid? [True, True] Translation: X:126.57, Y:32.20, Z:-0.28 [[ 8.76739483e-01 -4.80956845e-01 -2.89697855e-03 1.26573674e+02] [ 4.80953979e-01 8.76744266e-01 -1.66175554e-03 3.21995022e+01] [ 3.33914204e-03 6.36133336e-05 9.99994423e-01 -2.82358621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65576923100002 meters 0.027443392776523936 Centerline is valid? [True, True] Translation: X:126.60, Y:32.22, Z:-0.28 [[ 8.77010319e-01 -4.80466322e-01 -2.23933745e-03 1.26595833e+02] [ 4.80464608e-01 8.77013176e-01 -1.28452469e-03 3.22174863e+01] [ 2.58109930e-03 5.06190174e-05 9.99996668e-01 -2.81082088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68576923100002 meters 0.026294906398868705 Centerline is valid? [True, True] Translation: X:126.62, Y:32.23, Z:-0.28 [[ 8.77317618e-01 -4.79909098e-01 -1.02701888e-03 1.26619248e+02] [ 4.79908736e-01 8.77318219e-01 -5.89687205e-04 3.22344780e+01] [ 1.18401863e-03 2.44676402e-05 9.99999299e-01 -2.79036499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.715769231 meters 0.028980853707523374 Centerline is valid? [True, True] Translation: X:126.64, Y:32.25, Z:-0.28 [[ 8.77423960e-01 -4.79714478e-01 -1.10199264e-03 1.26640150e+02] [ 4.79714062e-01 8.77424651e-01 -6.32526835e-04 3.22540796e+01] [ 1.27034779e-03 2.63528342e-05 9.99999193e-01 -2.80006477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.745769231 meters 0.026113313888151343 Centerline is valid? [True, True] Translation: X:126.66, Y:32.27, Z:-0.28 [[ 8.77141528e-01 -4.80228128e-01 -1.91964999e-03 1.26663039e+02] [ 4.80226864e-01 8.77143627e-01 -1.10254577e-03 3.22706626e+01] [ 2.21328225e-03 4.52211871e-05 9.99997550e-01 -2.80847561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.775769231 meters 0.02406010776082552 Centerline is valid? [True, True] Translation: X:126.69, Y:32.29, Z:-0.28 [[ 8.76433539e-01 -4.81518504e-01 -2.04505201e-03 1.26688404e+02] [ 4.81517073e-01 8.76435924e-01 -1.17494576e-03 3.22851437e+01] [ 2.35811517e-03 4.50344161e-05 9.99997219e-01 -2.80544462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.805769231 meters 0.020723654151855796 Centerline is valid? [True, True] Translation: X:126.71, Y:32.30, Z:-0.28 [[ 8.74345964e-01 -4.85301170e-01 -1.38190734e-03 1.26713884e+02] [ 4.85300522e-01 8.74347055e-01 -7.93873263e-04 3.22975164e+01] [ 1.59353424e-03 2.34795293e-05 9.99998730e-01 -2.79269590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.835769231 meters 0.02041757335707452 Centerline is valid? [True, True] Translation: X:126.74, Y:32.31, Z:-0.28 [[ 8.73174330e-01 -4.87407088e-01 -9.59339630e-04 1.26737497e+02] [ 4.87406776e-01 8.73174857e-01 -5.51256257e-04 3.23117455e+01] [ 1.10635745e-03 1.37541764e-05 9.99999388e-01 -2.79351584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.865769231 meters 0.01802724546668346 Centerline is valid? [True, True] Translation: X:126.76, Y:32.32, Z:-0.28 [[ 8.71962570e-01 -4.89571914e-01 -7.86064244e-04 1.26763578e+02] [ 4.89571705e-01 8.71962924e-01 -4.51851706e-04 3.23229819e+01] [ 9.06632781e-04 9.16296204e-06 9.99999589e-01 -2.79119777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.895769231 meters 0.014127231285945818 Centerline is valid? [True, True] Translation: X:126.79, Y:32.33, Z:-0.28 [[ 8.69818592e-01 -4.93370111e-01 -1.24562259e-03 1.26793211e+02] [ 4.93369591e-01 8.69819483e-01 -7.16357568e-04 3.23289200e+01] [ 1.43689621e-03 8.54882580e-06 9.99998968e-01 -2.79568635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.925769231 meters 0.012816812875820652 Centerline is valid? [True, True] Translation: X:126.82, Y:32.34, Z:-0.28 [[ 8.68423591e-01 -4.95817277e-01 -2.38650970e-03 1.26820686e+02] [ 4.95815376e-01 8.68426870e-01 -1.37279562e-03 3.23365073e+01] [ 2.75316493e-03 8.89990000e-06 9.99996210e-01 -2.81350233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.955769231 meters 0.013050157360547933 Centerline is valid? [True, True] Translation: X:126.84, Y:32.35, Z:-0.28 [[ 8.68463000e-01 -4.95744929e-01 -2.99717166e-03 1.26844454e+02] [ 4.95741932e-01 8.68468172e-01 -1.72393602e-03 3.23499903e+01] [ 3.45758073e-03 1.13509766e-05 9.99994022e-01 -2.82255761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.985769231 meters 0.013669873314268865 Centerline is valid? [True, True] Translation: X:126.87, Y:32.37, Z:-0.28 [[ 8.68901279e-01 -4.94972245e-01 -3.61159236e-03 1.26868589e+02] [ 4.94967882e-01 8.68908785e-01 -2.07832397e-03 3.23651165e+01] [ 4.16685701e-03 1.82361328e-05 9.99991318e-01 -2.83072827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.015769231 meters 0.014355178608680155 Centerline is valid? [True, True] Translation: X:126.89, Y:32.38, Z:-0.28 [[ 8.69661724e-01 -4.93645406e-01 -1.64303126e-03 1.26892515e+02] [ 4.93644500e-01 8.69663276e-01 -9.45653412e-04 3.23785574e+01] [ 1.89570141e-03 1.13252323e-05 9.99998203e-01 -2.80152423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.045769231 meters 0.013982289600669752 Centerline is valid? [True, True] Translation: X:126.92, Y:32.39, Z:-0.28 [[ 8.69422138e-01 -4.94069980e-01 2.08903012e-06 1.26918933e+02] [ 4.94069980e-01 8.69422138e-01 8.14338547e-07 3.23905671e+01] [-2.21858929e-06 3.24123108e-07 1.00000000e+00 -2.76753794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.075769231 meters 0.012849917984626012 Centerline is valid? [True, True] Translation: X:126.95, Y:32.40, Z:-0.28 [[ 8.68622886e-01 -4.95473435e-01 5.97268396e-04 1.26948184e+02] [ 4.95473316e-01 8.68623091e-01 3.43559041e-04 3.23985041e+01] [-6.89025499e-04 -2.49269253e-06 9.99999763e-01 -2.75524126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.105769231 meters 0.01271604977742598 Centerline is valid? [True, True] Translation: X:126.97, Y:32.41, Z:-0.28 [[ 8.68151705e-01 -4.96298599e-01 -5.64343587e-04 1.26973562e+02] [ 4.96298492e-01 8.68151888e-01 -3.25249952e-04 3.24084833e+01] [ 6.51357046e-04 2.28342881e-06 9.99999788e-01 -2.78776071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.135769231 meters 0.012504273560071838 Centerline is valid? [True, True] Translation: X:127.00, Y:32.42, Z:-0.28 [[ 8.67400394e-01 -4.97607551e-01 -1.81136065e-03 1.27000731e+02] [ 4.97606456e-01 8.67402285e-01 -1.04421700e-03 3.24177947e+01] [ 2.09078863e-03 4.40948131e-06 9.99997814e-01 -2.81429473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.165769231 meters 0.01230391773149988 Centerline is valid? [True, True] Translation: X:127.03, Y:32.42, Z:-0.28 [[ 8.66405474e-01 -4.99337318e-01 -1.94885070e-03 1.27029504e+02] [ 4.99336053e-01 8.66407666e-01 -1.12393010e-03 3.24235602e+01] [ 2.24971942e-03 6.47774470e-07 9.99997469e-01 -2.81753672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.195769231 meters 0.012198949572243099 Centerline is valid? [True, True] Translation: X:127.05, Y:32.44, Z:-0.28 [[ 8.66286390e-01 -4.99546535e-01 -1.07225317e-03 1.27054102e+02] [ 4.99546152e-01 8.66287054e-01 -6.18630673e-04 3.24351863e+01] [ 1.23791384e-03 2.71389100e-07 9.99999234e-01 -2.80405945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22576923100002 meters 0.012286806657946053 Centerline is valid? [True, True] Translation: X:127.08, Y:32.45, Z:-0.28 [[ 8.66506623e-01 -4.99164702e-01 -9.33738396e-04 1.27079455e+02] [ 4.99164411e-01 8.66507126e-01 -5.39134499e-04 3.24479264e+01] [ 1.07820789e-03 1.07463751e-06 9.99999419e-01 -2.79863136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25576923100002 meters 0.012512215555817224 Centerline is valid? [True, True] Translation: X:127.10, Y:32.46, Z:-0.28 [[ 8.66981786e-01 -4.98335630e-01 -2.04506936e-03 1.27104289e+02] [ 4.98334231e-01 8.66984198e-01 -1.18065513e-03 3.24620835e+01] [ 2.36140534e-03 4.47842875e-06 9.99997212e-01 -2.81951180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28576923100002 meters 0.013976554189749744 Centerline is valid? [True, True] Translation: X:127.13, Y:32.48, Z:-0.29 [[ 8.68378895e-01 -4.95888215e-01 -3.60170850e-03 1.27127500e+02] [ 4.95883856e-01 8.68386364e-01 -2.07924798e-03 3.24773616e+01] [ 4.15874912e-03 1.95459672e-05 9.99991352e-01 -2.85894599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31576923100002 meters 0.014694812607780654 Centerline is valid? [True, True] Translation: X:127.15, Y:32.49, Z:-0.29 [[ 8.69053700e-01 -4.94704078e-01 -3.67995413e-03 1.27151378e+02] [ 4.94699516e-01 8.69061491e-01 -2.12462098e-03 3.24926713e+01] [ 4.24916508e-03 2.59381958e-05 9.99990972e-01 -2.86147296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34576923100002 meters 0.015406643230396895 Centerline is valid? [True, True] Translation: X:127.17, Y:32.51, Z:-0.29 [[ 8.69458230e-01 -4.93994959e-01 -3.37136216e-03 1.27174032e+02] [ 4.93991123e-01 8.69464766e-01 -1.94686265e-03 3.25070259e+01] [ 3.89302095e-03 2.72927774e-05 9.99992422e-01 -2.86306415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37576923100002 meters 0.014360911625208545 Centerline is valid? [True, True] Translation: X:127.20, Y:32.52, Z:-0.28 [[ 8.68892600e-01 -4.94997160e-01 -1.86034611e-03 1.27200343e+02] [ 4.94995993e-01 8.68894592e-01 -1.07498244e-03 3.25184677e+01] [ 2.14855792e-03 1.31804210e-05 9.99997692e-01 -2.83420419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40576923100002 meters 0.013566809394067039 Centerline is valid? [True, True] Translation: X:127.23, Y:32.53, Z:-0.28 [[ 8.68284856e-01 -4.96064909e-01 -1.00701163e-03 1.27226508e+02] [ 4.96064568e-01 8.68285440e-01 -5.82289160e-04 3.25304498e+01] [ 1.16322675e-03 6.05007172e-06 9.99999323e-01 -2.81348654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43576923100002 meters 0.012270663598315771 Centerline is valid? [True, True] Translation: X:127.25, Y:32.54, Z:-0.28 [[ 8.66681526e-01 -4.98861569e-01 -5.16634270e-04 1.27254777e+02] [ 4.98861480e-01 8.66681680e-01 -2.98800787e-04 3.25376955e+01] [ 5.96817687e-04 1.23618582e-06 9.99999822e-01 -2.80421169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.465769231 meters 0.01221123444813808 Centerline is valid? [True, True] Translation: X:127.28, Y:32.55, Z:-0.28 [[ 8.65511906e-01 -5.00887622e-01 -8.54621007e-04 1.27281232e+02] [ 5.00887378e-01 8.65512328e-01 -4.94586290e-04 3.25469519e+01] [ 9.87417169e-04 1.44716977e-09 9.99999512e-01 -2.81484530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.495769231 meters 0.014193162540477219 Centerline is valid? [True, True] Translation: X:127.31, Y:32.55, Z:-0.28 [[ 8.62771797e-01 -5.05590605e-01 -1.72239868e-03 1.27312732e+02] [ 5.05589622e-01 8.62773516e-01 -9.96633590e-04 3.25495470e+01] [ 1.98992855e-03 -1.09595457e-05 9.99998020e-01 -2.83849707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.525769231 meters 0.015428866660202418 Centerline is valid? [True, True] Translation: X:127.34, Y:32.56, Z:-0.28 [[ 8.61452951e-01 -5.07833031e-01 -2.10391827e-03 1.27341180e+02] [ 5.07831571e-01 8.61455520e-01 -1.21778244e-03 3.25584618e+01] [ 2.43086215e-03 -1.93738455e-05 9.99997045e-01 -2.84123141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.555769231 meters 0.016927304375653277 Centerline is valid? [True, True] Translation: X:127.37, Y:32.56, Z:-0.28 [[ 8.59980247e-01 -5.10324887e-01 -1.57652205e-03 1.27372240e+02] [ 5.10324070e-01 8.59981691e-01 -9.12989037e-04 3.25631829e+01] [ 1.82170113e-03 -1.93846116e-05 9.99998341e-01 -2.82318224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.585769231 meters 0.017505695374966396 Centerline is valid? [True, True] Translation: X:127.40, Y:32.57, Z:-0.28 [[ 8.59772366e-01 -5.10675604e-01 -1.38065338e-03 1.27398416e+02] [ 5.10674978e-01 8.59773474e-01 -7.99502939e-04 3.25725222e+01] [ 1.59533580e-03 -1.76746016e-05 9.99998727e-01 -2.81906115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.615769231 meters 0.017505695374966396 Centerline is valid? [True, True] Translation: X:127.42, Y:32.59, Z:-0.28 [[ 8.59675996e-01 -5.10837818e-01 -1.38037722e-03 1.27422118e+02] [ 5.10837192e-01 8.59677104e-01 -7.99979810e-04 3.25864719e+01] [ 1.59533863e-03 -1.74245830e-05 9.99998727e-01 -2.81965182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.645769231 meters 0.01803698124042885 Centerline is valid? [True, True] Translation: X:127.45, Y:32.60, Z:-0.28 [[ 8.59553006e-01 -5.11044571e-01 -1.44111830e-03 1.27447418e+02] [ 5.11043889e-01 8.59554214e-01 -8.35053993e-04 3.25959296e+01] [ 1.66546911e-03 -1.87015285e-05 9.99998613e-01 -2.83093013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.675769231 meters 0.019036061593728403 Centerline is valid? [True, True] Translation: X:127.47, Y:32.60, Z:-0.29 [[ 8.59716886e-01 -5.10766560e-01 -2.09703495e-03 1.27474436e+02] [ 5.10765115e-01 8.59719443e-01 -1.21549492e-03 3.26021740e+01] [ 2.42369587e-03 -2.61107916e-05 9.99997063e-01 -2.86058395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.705769231 meters 0.016365437943545724 Centerline is valid? [True, True] Translation: X:127.50, Y:32.62, Z:-0.28 [[ 8.60434808e-01 -5.09555493e-01 -2.26748260e-03 1.27498602e+02] [ 5.09553797e-01 8.60437795e-01 -1.31485691e-03 3.26182848e+01] [ 2.62102029e-03 -2.40557096e-05 9.99996565e-01 -2.84803426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.735769231 meters 0.012868097005599374 Centerline is valid? [True, True] Translation: X:127.52, Y:32.64, Z:-0.28 [[ 8.63208142e-01 -5.04842578e-01 -2.38223478e-03 1.27521486e+02] [ 5.04840687e-01 8.63211429e-01 -1.38190601e-03 3.26360709e+01] [ 2.75401728e-03 -9.77652047e-06 9.99996208e-01 -2.83937019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.765769231 meters 0.012154084698990814 Centerline is valid? [True, True] Translation: X:127.54, Y:32.65, Z:-0.28 [[ 8.64758084e-01 -5.02182749e-01 -2.43767871e-03 1.27543827e+02] [ 5.02180756e-01 8.64761520e-01 -1.41473212e-03 3.26525190e+01] [ 2.81846481e-03 -7.54296339e-07 9.99996028e-01 -2.84315229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.795769231 meters 0.0136505017514576 Centerline is valid? [True, True] Translation: X:127.56, Y:32.67, Z:-0.28 [[ 8.67323554e-01 -4.97744370e-01 -6.29156370e-04 1.27564295e+02] [ 4.97744236e-01 8.67323782e-01 -3.65283927e-04 3.26711182e+01] [ 7.27500300e-04 3.66039703e-06 9.99999735e-01 -2.82431512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.825769231 meters 0.01394367314227255 Centerline is valid? [True, True] Translation: X:127.59, Y:32.69, Z:-0.28 [[ 8.67957582e-01 -4.96638279e-01 2.35781032e-04 1.27589544e+02] [ 4.96638261e-01 8.67957614e-01 1.36467752e-04 3.26851392e+01] [-2.72423051e-04 -1.35033824e-06 9.99999963e-01 -2.80126355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.855769231 meters 0.014327265139839469 Centerline is valid? [True, True] Translation: X:127.61, Y:32.70, Z:-0.28 [[ 8.68187389e-01 -4.96236389e-01 3.21561904e-04 1.27613765e+02] [ 4.96236354e-01 8.68187449e-01 1.86284232e-04 3.26984224e+01] [-3.71617024e-04 -2.15891464e-06 9.99999931e-01 -2.79639231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.885769231 meters 0.01596965346358509 Centerline is valid? [True, True] Translation: X:127.64, Y:32.71, Z:-0.28 [[ 8.69222249e-01 -4.94421546e-01 1.30044897e-04 1.27637267e+02] [ 4.94421540e-01 8.69222259e-01 7.53897822e-05 3.27137993e+01] [-1.50312251e-04 -1.23347798e-06 9.99999989e-01 -2.79733849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.915769231 meters 0.01757895937095773 Centerline is valid? [True, True] Translation: X:127.66, Y:32.73, Z:-0.28 [[ 8.70105870e-01 -4.92864765e-01 3.15107638e-04 1.27659498e+02] [ 4.92864731e-01 8.70105927e-01 1.82902079e-04 3.27303345e+01] [-3.64323013e-04 -3.83873132e-06 9.99999934e-01 -2.79349983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.945769231 meters 0.01996101291586958 Centerline is valid? [True, True] Translation: X:127.68, Y:32.75, Z:-0.28 [[ 8.71713951e-01 -4.90014206e-01 9.29785733e-04 1.27681705e+02] [ 4.90013909e-01 8.71714447e-01 5.39900521e-04 3.27494167e+01] [-1.07506658e-03 -1.50308750e-05 9.99999422e-01 -2.77923914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97576923100002 meters 0.0214681494441066 Centerline is valid? [True, True] Translation: X:127.70, Y:32.77, Z:-0.28 [[ 8.72330487e-01 -4.88916649e-01 1.75473729e-04 1.27703802e+02] [ 4.88916639e-01 8.72330505e-01 1.01838697e-04 3.27664241e+01] [-2.02861721e-04 -3.04497446e-06 9.99999979e-01 -2.79250472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00576923100002 meters 0.022193467148854437 Centerline is valid? [True, True] Translation: X:127.73, Y:32.78, Z:-0.28 [[ 8.72694011e-01 -4.88266696e-01 -8.92470615e-04 1.27727267e+02] [ 4.88266421e-01 8.72694467e-01 -5.19296877e-04 3.27833721e+01] [ 1.03240954e-03 1.74238412e-05 9.99999467e-01 -2.81577791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03576923100002 meters 0.02282779878232593 Centerline is valid? [True, True] Translation: X:127.75, Y:32.80, Z:-0.28 [[ 8.72873917e-01 -4.87940975e-01 -2.17491470e-03 1.27749540e+02] [ 4.87939336e-01 8.72876625e-01 -1.26539846e-03 3.28017063e+01] [ 2.51587196e-03 4.33068808e-05 9.99996834e-01 -2.84281155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06576923100002 meters 0.020177619381473888 Centerline is valid? [True, True] Translation: X:127.77, Y:32.82, Z:-0.28 [[ 8.71555005e-01 -4.90297250e-01 -6.93056480e-04 1.27774094e+02] [ 4.90297084e-01 8.71555280e-01 -4.03663561e-04 3.28164664e+01] [ 8.01952169e-04 1.20114259e-05 9.99999678e-01 -2.81341452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09576923100002 meters 0.019608525232799122 Centerline is valid? [True, True] Translation: X:127.80, Y:32.83, Z:-0.28 [[ 8.70691896e-01 -4.91828578e-01 5.21604932e-04 1.27797275e+02] [ 4.91828485e-01 8.70692052e-01 3.03390320e-04 3.28315688e+01] [-6.03373298e-04 -7.61932990e-06 9.99999818e-01 -2.79304325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12576923100002 meters 0.018070750692193174 Centerline is valid? [True, True] Translation: X:127.82, Y:32.85, Z:-0.28 [[ 8.69802950e-01 -4.93397780e-01 1.20796211e-03 1.27822576e+02] [ 4.93397280e-01 8.69803789e-01 7.02808303e-04 3.28461393e+01] [-1.39745408e-03 -1.52995137e-05 9.99999023e-01 -2.77682262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15576923100002 meters 0.016393023293405203 Centerline is valid? [True, True] Translation: X:127.85, Y:32.86, Z:-0.28 [[ 8.68793564e-01 -4.95174378e-01 2.80300474e-04 1.27845980e+02] [ 4.95174351e-01 8.68793609e-01 1.63055103e-04 3.28610485e+01] [-3.24263970e-04 -2.86361884e-06 9.99999947e-01 -2.79608945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18576923100002 meters 0.01606120770742996 Centerline is valid? [True, True] Translation: X:127.87, Y:32.88, Z:-0.28 [[ 8.68878195e-01 -4.95025716e-01 -4.72125456e-04 1.27868950e+02] [ 4.95025639e-01 8.68878323e-01 -2.75465927e-04 3.28770495e+01] [ 5.46582292e-04 5.63213137e-06 9.99999851e-01 -2.80785304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.215769231 meters 0.01713423402077742 Centerline is valid? [True, True] Translation: X:127.89, Y:32.90, Z:-0.28 [[ 8.69143866e-01 -4.94559054e-01 -5.30930721e-04 1.27888192e+02] [ 4.94558958e-01 8.69144028e-01 -3.09436701e-04 3.29001097e+01] [ 6.14489988e-04 6.36846672e-06 9.99999811e-01 -2.81495336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.245769231 meters 0.01668836783094344 Centerline is valid? [True, True] Translation: X:127.91, Y:32.92, Z:-0.28 [[ 8.68831502e-01 -4.95107877e-01 -1.09535902e-04 1.27910839e+02] [ 4.95107873e-01 8.68831509e-01 -6.42922342e-05 3.29173258e+01] [ 1.26999834e-04 1.62703116e-06 9.99999992e-01 -2.80824179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.275769231 meters 0.015907090718240858 Centerline is valid? [True, True] Translation: X:127.93, Y:32.93, Z:-0.28 [[ 8.68266781e-01 -4.96097544e-01 -1.51746218e-04 1.27934130e+02] [ 4.96097536e-01 8.68266795e-01 -8.88656435e-05 3.29337214e+01] [ 1.75842230e-04 1.87816146e-06 9.99999985e-01 -2.81249553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.305769231 meters 0.013688015755501345 Centerline is valid? [True, True] Translation: X:127.96, Y:32.95, Z:-0.28 [[ 8.66546898e-01 -4.99093875e-01 -1.33295466e-03 1.27957852e+02] [ 4.99093270e-01 8.66547923e-01 -7.77360686e-04 3.29487425e+01] [ 1.54304505e-03 8.35078999e-06 9.99998809e-01 -2.83910769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.335769231 meters 0.012081324955410366 Centerline is valid? [True, True] Translation: X:127.98, Y:32.96, Z:-0.28 [[ 8.64192733e-01 -5.03159518e-01 -1.19169195e-03 1.27982546e+02] [ 5.03159037e-01 8.64193555e-01 -6.95081958e-04 3.29612758e+01] [ 1.37958961e-03 1.07420164e-06 9.99999048e-01 -2.84262570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.365769231 meters 0.012405855906129021 Centerline is valid? [True, True] Translation: X:128.01, Y:32.97, Z:-0.28 [[ 8.62249380e-01 -5.06483952e-01 1.19099471e-04 1.28008552e+02] [ 5.06483947e-01 8.62249388e-01 6.90343222e-05 3.29715474e+01] [-1.37658222e-04 7.97168739e-07 9.99999991e-01 -2.80792080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.395769231 meters 0.01533447824802912 Centerline is valid? [True, True] Translation: X:128.04, Y:32.98, Z:-0.28 [[ 8.59918581e-01 -5.10429966e-01 1.13304049e-03 1.28036371e+02] [ 5.10429538e-01 8.59919327e-01 6.60931580e-04 3.29791963e+01] [-1.31168270e-03 9.98998793e-06 9.99999140e-01 -2.78340298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.425769231 meters 0.023477472383555763 Centerline is valid? [True, True] Translation: X:128.07, Y:32.98, Z:-0.28 [[ 8.55475311e-01 -5.17843157e-01 -6.75632247e-04 1.28068207e+02] [ 5.17843007e-01 8.55475578e-01 -3.94784158e-04 3.29818991e+01] [ 7.82423161e-04 -1.21433340e-05 9.99999694e-01 -2.82936143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.455769231 meters 0.026808122718558675 Centerline is valid? [True, True] Translation: X:128.09, Y:32.99, Z:-0.29 [[ 8.53918605e-01 -5.20401824e-01 -2.22659438e-03 1.28094969e+02] [ 5.20400202e-01 8.53921507e-01 -1.30016886e-03 3.29926928e+01] [ 2.57794708e-03 -4.84817881e-05 9.99996676e-01 -2.86314791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.485769231 meters 0.024763587402494156 Centerline is valid? [True, True] Translation: X:128.12, Y:33.01, Z:-0.28 [[ 8.53565590e-01 -5.20982859e-01 -1.62611107e-03 1.28118671e+02] [ 5.20981994e-01 8.53567138e-01 -9.50151630e-04 3.30098122e+01] [ 1.88300768e-03 -3.61578504e-05 9.99998226e-01 -2.84098902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.515769231 meters 0.026513298570616992 Centerline is valid? [True, True] Translation: X:128.14, Y:33.02, Z:-0.28 [[ 8.54116574e-01 -5.20081244e-01 -6.14567012e-04 1.28144515e+02] [ 5.20081120e-01 8.54116795e-01 -3.59136046e-04 3.30208132e+01] [ 7.11691928e-04 -1.28806508e-05 9.99999747e-01 -2.82129318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.545769231 meters 0.022563315578356266 Centerline is valid? [True, True] Translation: X:128.17, Y:33.04, Z:-0.28 [[ 8.54659196e-01 -5.19189424e-01 -3.23526949e-05 1.28166895e+02] [ 5.19189423e-01 8.54659197e-01 -1.93148854e-05 3.30392947e+01] [ 3.76786124e-05 -2.89532543e-07 9.99999999e-01 -2.80607330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.575769231 meters 0.021195876983911018 Centerline is valid? [True, True] Translation: X:128.19, Y:33.06, Z:-0.28 [[ 8.56566395e-01 -5.16035468e-01 -1.18583892e-03 1.28189391e+02] [ 5.16035002e-01 8.56567216e-01 -6.93562631e-04 3.30553457e+01] [ 1.37365366e-03 -1.78519480e-05 9.99999056e-01 -2.83667347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.605769231 meters 0.01741719302356589 Centerline is valid? [True, True] Translation: X:128.21, Y:33.08, Z:-0.28 [[ 8.57553260e-01 -5.14391610e-01 -1.91771050e-03 1.28210484e+02] [ 5.14390387e-01 8.57555404e-01 -1.12184926e-03 3.30760029e+01] [ 2.22161285e-03 -2.44063580e-05 9.99997532e-01 -2.84712280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.635769231 meters 0.016225672405931042 Centerline is valid? [True, True] Translation: X:128.23, Y:33.09, Z:-0.28 [[ 8.58311883e-01 -5.13125355e-01 -1.75554433e-03 1.28233283e+02] [ 5.13124327e-01 8.58313678e-01 -1.02740394e-03 3.30931045e+01] [ 2.03399472e-03 -1.89794904e-05 9.99997931e-01 -2.83993206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.665769231 meters 0.01613158085609319 Centerline is valid? [True, True] Translation: X:128.26, Y:33.11, Z:-0.28 [[ 8.58117572e-01 -5.13453217e-01 1.64266871e-04 1.28257995e+02] [ 5.13453208e-01 8.58117588e-01 9.56692625e-05 3.31062265e+01] [-1.90081982e-04 2.24787674e-06 9.99999982e-01 -2.80401969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.695769231 meters 0.01883166627972655 Centerline is valid? [True, True] Translation: X:128.29, Y:33.11, Z:-0.28 [[ 8.56931586e-01 -5.15425644e-01 2.15929196e-03 1.28285423e+02] [ 5.15424096e-01 8.56934306e-01 1.26375567e-03 3.31138791e+01] [-2.50174344e-03 2.99989538e-05 9.99996870e-01 -2.77241720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72576923100002 meters 0.021136983642546493 Centerline is valid? [True, True] Translation: X:128.31, Y:33.12, Z:-0.28 [[ 8.55905612e-01 -5.17130907e-01 1.09933839e-03 1.28311626e+02] [ 5.17130507e-01 8.55906318e-01 6.43420869e-04 3.31237506e+01] [-1.27366350e-03 1.77938885e-05 9.99999189e-01 -2.79518661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75576923100002 meters 0.022201234571214406 Centerline is valid? [True, True] Translation: X:128.34, Y:33.14, Z:-0.29 [[ 8.54736801e-01 -5.19057376e-01 -2.10738439e-03 1.28337710e+02] [ 5.19055910e-01 8.54739398e-01 -1.23414168e-03 3.31353711e+01] [ 2.44185481e-03 -3.89840146e-05 9.99997018e-01 -2.85870843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78576923100002 meters 0.02187172211127979 Centerline is valid? [True, True] Translation: X:128.36, Y:33.15, Z:-0.29 [[ 8.54769161e-01 -5.19003758e-01 -2.18616113e-03 1.28362036e+02] [ 5.19002179e-01 8.54771956e-01 -1.28106157e-03 3.31489699e+01] [ 2.53354500e-03 -3.96104706e-05 9.99996790e-01 -2.85040839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81576923100002 meters 0.01999663046999259 Centerline is valid? [True, True] Translation: X:128.39, Y:33.16, Z:-0.28 [[ 8.55245960e-01 -5.18221883e-01 -6.53996623e-04 1.28386535e+02] [ 5.18221741e-01 8.55246210e-01 -3.83657318e-04 3.31649904e+01] [ 7.58147751e-04 -1.07938966e-05 9.99999713e-01 -2.82113357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84576923100002 meters 0.01635356451997118 Centerline is valid? [True, True] Translation: X:128.41, Y:33.18, Z:-0.28 [[ 8.57635925e-01 -5.14255334e-01 1.43961410e-03 1.28409002e+02] [ 5.14254642e-01 8.57637133e-01 8.43579114e-04 3.31813050e+01] [-1.66848157e-03 1.68444815e-05 9.99998608e-01 -2.77900927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87576923100002 meters 0.014354405442553493 Centerline is valid? [True, True] Translation: X:128.43, Y:33.20, Z:-0.28 [[ 8.58777021e-01 -5.12346902e-01 1.63677902e-03 1.28433515e+02] [ 5.12346005e-01 8.58778581e-01 9.59236443e-04 3.31974252e+01] [-1.89709258e-03 1.48269755e-05 9.99998200e-01 -2.77954679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90576923100002 meters 0.012972901322625068 Centerline is valid? [True, True] Translation: X:128.46, Y:33.21, Z:-0.28 [[ 8.59985344e-01 -5.10318253e-01 6.99614992e-04 1.28458760e+02] [ 5.10318088e-01 8.59985628e-01 4.10082291e-04 3.32096958e+01] [-8.10931317e-04 4.36142490e-06 9.99999671e-01 -2.79951286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93576923100002 meters 0.012821354901635532 Centerline is valid? [True, True] Translation: X:128.48, Y:33.22, Z:-0.28 [[ 8.60111240e-01 -5.10106416e-01 3.13670061e-04 1.28483606e+02] [ 5.10106383e-01 8.60111298e-01 1.83537391e-04 3.32223356e+01] [-3.63414764e-04 2.14252740e-06 9.99999934e-01 -2.80544476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.965769231 meters 0.012604104073181289 Centerline is valid? [True, True] Translation: X:128.51, Y:33.24, Z:-0.28 [[ 8.60529138e-01 -5.09401204e-01 -1.23265731e-04 1.28508643e+02] [ 5.09401199e-01 8.60529147e-01 -7.28048004e-05 3.32356112e+01] [ 1.43160607e-04 -1.41059057e-07 9.99999990e-01 -2.81762464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.995769231 meters 0.012216812137753432 Centerline is valid? [True, True] Translation: X:128.53, Y:33.25, Z:-0.28 [[ 8.61064374e-01 -5.08495594e-01 -6.11947037e-04 1.28531928e+02] [ 5.08495467e-01 8.61064592e-01 -3.59750785e-04 3.32509058e+01] [ 7.09857614e-04 -1.40371004e-06 9.99999748e-01 -2.83126241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.025769231 meters 0.011969492089588248 Centerline is valid? [True, True] Translation: X:128.55, Y:33.27, Z:-0.28 [[ 8.63157112e-01 -5.04934551e-01 -9.47866812e-04 1.28552576e+02] [ 5.04934244e-01 8.63157633e-01 -5.57213794e-04 3.32707582e+01] [ 1.09951497e-03 2.35263783e-06 9.99999396e-01 -2.83354003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.055769231 meters 0.012551642659294383 Centerline is valid? [True, True] Translation: X:128.57, Y:33.29, Z:-0.28 [[ 8.64107416e-01 -5.03306467e-01 -9.86679119e-04 1.28574933e+02] [ 5.03306133e-01 8.64107980e-01 -5.79765359e-04 3.32878229e+01] [ 1.14439695e-03 4.37789507e-06 9.99999345e-01 -2.83212071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.085769231 meters 0.013937799602615542 Centerline is valid? [True, True] Translation: X:128.60, Y:33.31, Z:-0.28 [[ 8.65268947e-01 -5.01306488e-01 -1.20569872e-03 1.28597097e+02] [ 5.01305987e-01 8.65269787e-01 -7.08948676e-04 3.33065192e+01] [ 1.39865525e-03 9.00728714e-06 9.99999022e-01 -2.84825324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.115769231 meters 0.013766850111484753 Centerline is valid? [True, True] Translation: X:128.62, Y:33.32, Z:-0.29 [[ 8.64953878e-01 -5.01849847e-01 -1.23309764e-03 1.28620362e+02] [ 5.01849323e-01 8.64954757e-01 -7.24979669e-04 3.33195382e+01] [ 1.43040461e-03 8.24475838e-06 9.99998977e-01 -2.85702485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.145769231 meters 0.01250532121498627 Centerline is valid? [True, True] Translation: X:128.65, Y:33.33, Z:-0.29 [[ 8.63628646e-01 -5.04127818e-01 -8.39019342e-04 1.28648458e+02] [ 5.04127576e-01 8.63629054e-01 -4.93730834e-04 3.33295012e+01] [ 9.73504929e-04 3.42730430e-06 9.99999526e-01 -2.85451742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.175769231 meters 0.012114352594344313 Centerline is valid? [True, True] Translation: X:128.67, Y:33.34, Z:-0.28 [[ 8.62845574e-01 -5.05466431e-01 -1.09647642e-03 1.28674565e+02] [ 5.05466019e-01 8.62846271e-01 -6.45438687e-04 3.33412465e+01] [ 1.27233818e-03 2.68234535e-06 9.99999191e-01 -2.84930229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.205769231 meters 0.011872198488496796 Centerline is valid? [True, True] Translation: X:128.70, Y:33.35, Z:-0.28 [[ 8.62111180e-01 -5.06718141e-01 -1.01959130e-03 1.28699995e+02] [ 5.06717785e-01 8.62111782e-01 -6.00471766e-04 3.33532103e+01] [ 1.18327161e-03 1.02837627e-06 9.99999300e-01 -2.84566089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.235769231 meters 0.011993647035599037 Centerline is valid? [True, True] Translation: X:128.72, Y:33.37, Z:-0.29 [[ 8.61556293e-01 -5.07659482e-01 -1.61342025e-03 1.28723860e+02] [ 5.07658593e-01 8.61557804e-01 -9.50055533e-04 3.33657529e+01] [ 1.87235951e-03 -5.40333020e-07 9.99998247e-01 -2.86235794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.265769231 meters 0.012160241722348539 Centerline is valid? [True, True] Translation: X:128.75, Y:33.38, Z:-0.29 [[ 8.61844422e-01 -5.07167654e-01 -2.27217212e-03 1.28746711e+02] [ 5.07165889e-01 8.61847417e-01 -1.33794531e-03 3.33805974e+01] [ 2.63682825e-03 7.32507394e-07 9.99996524e-01 -2.87651608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.295769231 meters 0.012858788227366748 Centerline is valid? [True, True] Translation: X:128.77, Y:33.40, Z:-0.29 [[ 8.63510616e-01 -5.04324943e-01 -2.40162622e-03 1.28768360e+02] [ 5.04322959e-01 8.63513956e-01 -1.41490509e-03 3.34001658e+01] [ 2.78740969e-03 1.05903262e-05 9.99996115e-01 -2.87061858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.325769231 meters 0.01369603965335383 Centerline is valid? [True, True] Translation: X:128.79, Y:33.42, Z:-0.29 [[ 8.64644708e-01 -5.02381104e-01 -1.66007787e-03 1.28791360e+02] [ 5.02380151e-01 8.64646301e-01 -9.78536148e-04 3.34178157e+01] [ 1.92697826e-03 1.20959293e-05 9.99998143e-01 -2.85001976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.355769231 meters 0.017273692117489303 Centerline is valid? [True, True] Translation: X:128.81, Y:33.44, Z:-0.28 [[ 8.66840269e-01 -4.98585843e-01 -3.23663700e-04 1.28811894e+02] [ 4.98585806e-01 8.66840330e-01 -1.90876901e-04 3.34376737e+01] [ 3.75733269e-04 4.08565767e-06 9.99999929e-01 -2.81411312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.385769231 meters 0.01672423650109989 Centerline is valid? [True, True] Translation: X:128.84, Y:33.45, Z:-0.28 [[ 8.67072681e-01 -4.98180711e-01 9.72169232e-04 1.28837139e+02] [ 4.98180382e-01 8.67073226e-01 5.72650870e-04 3.34500727e+01] [-1.12822553e-03 -1.22142853e-05 9.99999363e-01 -2.78656917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.415769231 meters 0.016834173681088777 Centerline is valid? [True, True] Translation: X:128.86, Y:33.46, Z:-0.28 [[ 8.66780310e-01 -4.98685701e-01 2.11332000e-03 1.28861716e+02] [ 4.98684146e-01 8.66782885e-01 1.24591198e-03 3.34633920e+01] [-2.45310810e-03 -2.60527888e-05 9.99996991e-01 -2.76785805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.445769231 meters 0.014833038860751989 Centerline is valid? [True, True] Translation: X:128.89, Y:33.47, Z:-0.28 [[ 8.65242250e-01 -5.01350525e-01 1.87063865e-03 1.28888080e+02] [ 5.01349312e-01 8.65244272e-01 1.10297330e-03 3.34734370e+01] [-2.17153562e-03 -1.64956984e-05 9.99997642e-01 -2.78221101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47576923100002 meters 0.013061488390916523 Centerline is valid? [True, True] Translation: X:128.92, Y:33.48, Z:-0.28 [[ 8.64091702e-01 -5.03333051e-01 1.17074789e-03 1.28915409e+02] [ 5.03332578e-01 8.64092495e-01 6.90236654e-04 3.34836962e+01] [-1.35905338e-03 -7.15221335e-06 9.99999076e-01 -2.80413686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50576923100002 meters 0.01204947715489276 Centerline is valid? [True, True] Translation: X:128.94, Y:33.49, Z:-0.29 [[ 8.61627895e-01 -5.07538556e-01 -1.40908713e-03 1.28944262e+02] [ 5.07537875e-01 8.61629047e-01 -8.31659074e-04 3.34901293e+01] [ 1.63620945e-03 1.41556956e-06 9.99998661e-01 -2.85162693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53576923100002 meters 0.012467012435910061 Centerline is valid? [True, True] Translation: X:128.97, Y:33.50, Z:-0.29 [[ 8.60548039e-01 -5.09360028e-01 -3.07142078e-03 1.28970650e+02] [ 5.09356803e-01 8.60553520e-01 -1.81269212e-03 3.35007409e+01] [ 3.56643487e-03 -4.54041555e-06 9.99993640e-01 -2.88730234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56576923100002 meters 0.012467012435910061 Centerline is valid? [True, True] Translation: X:128.99, Y:33.51, Z:-0.29 [[ 8.60454149e-01 -5.09518622e-01 -3.07095080e-03 1.28994229e+02] [ 5.09515395e-01 8.60459629e-01 -1.81348833e-03 3.35148939e+01] [ 3.56643526e-03 -4.27315151e-06 9.99993640e-01 -2.88789299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59576923100002 meters 0.013170245318521028 Centerline is valid? [True, True] Translation: X:129.02, Y:33.52, Z:-0.29 [[ 8.58978188e-01 -5.11997023e-01 -3.93963955e-03 1.29022310e+02] [ 5.11991734e-01 8.58987222e-01 -2.32721698e-03 3.35240168e+01] [ 4.57562821e-03 -1.80342583e-05 9.99989532e-01 -2.89476936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62576923100002 meters 0.014174740676058053 Centerline is valid? [True, True] Translation: X:129.05, Y:33.53, Z:-0.29 [[ 8.58593801e-01 -5.12645598e-01 -3.34286599e-03 1.29048065e+02] [ 5.12641793e-01 8.58600309e-01 -1.97526218e-03 3.35329391e+01] [ 3.88279524e-03 -1.77449533e-05 9.99992462e-01 -2.91190754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65576923100002 meters 0.014424700228592376 Centerline is valid? [True, True] Translation: X:129.08, Y:33.54, Z:-0.29 [[ 8.57529204e-01 -5.14425502e-01 -3.17297228e-03 1.29076167e+02] [ 5.14422083e-01 8.57535074e-01 -1.87570094e-03 3.35425489e+01] [ 3.68584342e-03 -2.37786740e-05 9.99993207e-01 -2.88306849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68576923100002 meters 0.01504142598772837 Centerline is valid? [True, True] Translation: X:129.10, Y:33.55, Z:-0.29 [[ 8.56954674e-01 -5.15378430e-01 -3.70951457e-03 1.29102312e+02] [ 5.15373763e-01 8.56962702e-01 -2.19364016e-03 3.35543862e+01] [ 4.30947046e-03 -3.19362914e-05 9.99990714e-01 -2.89238651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.715769231 meters 0.01557136323034235 Centerline is valid? [True, True] Translation: X:129.13, Y:33.57, Z:-0.29 [[ 8.56573928e-01 -5.16012354e-01 -3.51513070e-03 1.29127020e+02] [ 5.16008166e-01 8.56581140e-01 -2.07923931e-03 3.35659416e+01] [ 4.08390783e-03 -3.28139605e-05 9.99991660e-01 -2.88694818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.745769231 meters 0.015614928402780968 Centerline is valid? [True, True] Translation: X:129.15, Y:33.58, Z:-0.28 [[ 8.56212225e-01 -5.16623244e-01 -1.02459488e-03 1.29153799e+02] [ 5.16622888e-01 8.56212838e-01 -6.06610303e-04 3.35768065e+01] [ 1.19066027e-03 -9.94200704e-06 9.99999291e-01 -2.83277194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.775769231 meters 0.015151637470269817 Centerline is valid? [True, True] Translation: X:129.18, Y:33.59, Z:-0.28 [[ 8.56200609e-01 -5.16643442e-01 -2.67395235e-04 1.29178424e+02] [ 5.16643418e-01 8.56200650e-01 -1.58753670e-04 3.35903647e+01] [ 3.10963016e-04 -2.22299887e-06 9.99999952e-01 -2.81396773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.805769231 meters 0.015311700533055231 Centerline is valid? [True, True] Translation: X:129.20, Y:33.60, Z:-0.28 [[ 8.56243099e-01 -5.16572327e-01 -8.86402377e-04 1.29203251e+02] [ 5.16572061e-01 8.56243558e-01 -5.24974403e-04 3.36023500e+01] [ 1.03016357e-03 -8.38499266e-06 9.99999469e-01 -2.83526676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.835769231 meters 0.015908280708721956 Centerline is valid? [True, True] Translation: X:129.23, Y:33.61, Z:-0.28 [[ 8.55967020e-01 -5.17028848e-01 -1.27727163e-03 1.29228130e+02] [ 5.17028294e-01 8.55967973e-01 -7.56586617e-04 3.36149427e+01] [ 1.48448072e-03 -1.27723806e-05 9.99998898e-01 -2.84319703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.865769231 meters 0.016236312319877374 Centerline is valid? [True, True] Translation: X:129.25, Y:33.63, Z:-0.28 [[ 8.55652096e-01 -5.17550939e-01 7.18576901e-04 1.29252811e+02] [ 5.17550764e-01 8.55652398e-01 4.25354062e-04 3.36254120e+01] [-8.34994442e-04 7.94492970e-06 9.99999651e-01 -2.79162819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.895769231 meters 0.015354743178741791 Centerline is valid? [True, True] Translation: X:129.28, Y:33.64, Z:-0.28 [[ 8.55594511e-01 -5.17642760e-01 2.00132486e-03 1.29276859e+02] [ 5.17641404e-01 8.55596851e-01 1.18539704e-03 3.36396990e+01] [-2.32593944e-03 2.17494098e-05 9.99997295e-01 -2.76081805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.925769231 meters 0.017144838062837505 Centerline is valid? [True, True] Translation: X:129.30, Y:33.65, Z:-0.28 [[ 8.55027342e-01 -5.18578062e-01 2.24476536e-03 1.29304260e+02] [ 5.18576357e-01 8.55030288e-01 1.33016620e-03 3.36472401e+01] [-2.60913738e-03 2.67537720e-05 9.99996596e-01 -2.76583350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.955769231 meters 0.018144515768228293 Centerline is valid? [True, True] Translation: X:129.33, Y:33.66, Z:-0.28 [[ 8.54247039e-01 -5.19866941e-01 5.99914611e-04 1.29331036e+02] [ 5.19866820e-01 8.54247250e-01 3.55382049e-04 3.36576780e+01] [-6.97226785e-04 8.29163731e-06 9.99999757e-01 -2.80188427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.985769231 meters 0.020180917764583764 Centerline is valid? [True, True] Translation: X:129.36, Y:33.67, Z:-0.28 [[ 8.53386070e-01 -5.21277965e-01 -1.22442018e-03 1.29358473e+02] [ 5.21277460e-01 8.53386948e-01 -7.26011309e-04 3.36667287e+01] [ 1.42335789e-03 -1.86947019e-05 9.99998987e-01 -2.84457913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.015769231 meters 0.021296846236191866 Centerline is valid? [True, True] Translation: X:129.39, Y:33.67, Z:-0.28 [[ 8.52504179e-01 -5.22717699e-01 -1.68308543e-03 1.29386765e+02] [ 5.22716747e-01 8.52505840e-01 -9.98192970e-04 3.36745096e+01] [ 1.95661329e-03 -2.88132642e-05 9.99998085e-01 -2.84019148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.045769231 meters 0.020526102722031748 Centerline is valid? [True, True] Translation: X:129.41, Y:33.69, Z:-0.28 [[ 8.52474800e-01 -5.22767096e-01 -1.13061521e-03 1.29411015e+02] [ 5.22766666e-01 8.52475550e-01 -6.71161489e-04 3.36880111e+01] [ 1.31468296e-03 -1.88996853e-05 9.99999136e-01 -2.82167705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.075769231 meters 0.019817805167005983 Centerline is valid? [True, True] Translation: X:129.44, Y:33.70, Z:-0.28 [[ 8.53112373e-01 -5.21726208e-01 -1.02090212e-03 1.29436048e+02] [ 5.21725857e-01 8.53112984e-01 -6.05832353e-04 3.37002539e+01] [ 1.18702347e-03 -1.57879572e-05 9.99999295e-01 -2.82590352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.105769231 meters 0.018760835257961243 Centerline is valid? [True, True] Translation: X:129.46, Y:33.72, Z:-0.28 [[ 8.53530236e-01 -5.21040152e-01 -1.81543680e-03 1.29460673e+02] [ 5.21039038e-01 8.53532167e-01 -1.07788803e-03 3.37152772e+01] [ 2.11115665e-03 -2.59034149e-05 9.99997771e-01 -2.84572011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.135769231 meters 0.01740870198409754 Centerline is valid? [True, True] Translation: X:129.48, Y:33.73, Z:-0.29 [[ 8.53964073e-01 -5.20324910e-01 -2.71117716e-03 1.29483867e+02] [ 5.20322419e-01 8.53968376e-01 -1.61030956e-03 3.37311549e+01] [ 3.15314374e-03 -3.55397466e-05 9.99995028e-01 -2.86607490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.165769231 meters 0.014905595764232815 Centerline is valid? [True, True] Translation: X:129.51, Y:33.75, Z:-0.29 [[ 8.56210260e-01 -5.16618301e-01 -3.08577170e-03 1.29505675e+02] [ 5.16615050e-01 8.56215820e-01 -1.83284166e-03 3.37496087e+01] [ 3.58896609e-03 -2.48582619e-05 9.99993559e-01 -2.87578258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.195769231 meters 0.013074466782474833 Centerline is valid? [True, True] Translation: X:129.53, Y:33.77, Z:-0.29 [[ 8.57752609e-01 -5.14056938e-01 -2.43438119e-03 1.29528147e+02] [ 5.14054902e-01 8.57756063e-01 -1.44671652e-03 3.37686811e+01] [ 2.83179989e-03 -1.04807151e-05 9.99995990e-01 -2.85117517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22576923100002 meters 0.01220639571901871 Centerline is valid? [True, True] Translation: X:129.55, Y:33.79, Z:-0.28 [[ 8.60814717e-01 -5.08918205e-01 -5.32378326e-04 1.29546751e+02] [ 5.08918107e-01 8.60814882e-01 -3.16481972e-04 3.37919240e+01] [ 6.19342623e-04 1.49536895e-06 9.99999808e-01 -2.79549144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25576923100002 meters 0.012908674062972757 Centerline is valid? [True, True] Translation: X:129.57, Y:33.81, Z:-0.28 [[ 8.61834318e-01 -5.07189819e-01 3.09236420e-04 1.29568914e+02] [ 5.07189785e-01 8.61834374e-01 1.83545595e-04 3.38101105e+01] [-3.59603033e-04 -1.34433913e-06 9.99999935e-01 -2.78261952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28576923100002 meters 0.013811882289769328 Centerline is valid? [True, True] Translation: X:129.59, Y:33.83, Z:-0.28 [[ 8.62742619e-01 -5.05642818e-01 7.16353660e-04 1.29592717e+02] [ 5.05642639e-01 8.62742917e-01 4.25495941e-04 3.38274040e+01] [-8.33178013e-04 -4.87452679e-06 9.99999653e-01 -2.77945655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31576923100002 meters 0.01666537936984764 Centerline is valid? [True, True] Translation: X:129.61, Y:33.85, Z:-0.28 [[ 8.64524452e-01 -5.02589687e-01 1.03878867e-03 1.29614306e+02] [ 5.02589308e-01 8.64525076e-01 6.17545766e-04 3.38451787e+01] [-1.20843099e-03 -1.17993351e-05 9.99999270e-01 -2.78668428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34576923100002 meters 0.018272294818972603 Centerline is valid? [True, True] Translation: X:129.64, Y:33.86, Z:-0.28 [[ 8.65255184e-01 -5.01331573e-01 3.46863615e-04 1.29637497e+02] [ 5.01331530e-01 8.65255254e-01 2.06139154e-04 3.38614672e+01] [-4.03469631e-04 -4.46930461e-06 9.99999919e-01 -2.80528534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37576923100002 meters 0.01866484648196978 Centerline is valid? [True, True] Translation: X:129.66, Y:33.88, Z:-0.28 [[ 8.65305358e-01 -5.01245041e-01 -2.16199906e-04 1.29660765e+02] [ 5.01245025e-01 8.65305385e-01 -1.29074978e-04 3.38767108e+01] [ 2.51777136e-04 3.32014248e-06 9.99999968e-01 -2.82175392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40576923100002 meters 0.018519922667676096 Centerline is valid? [True, True] Translation: X:129.68, Y:33.89, Z:-0.28 [[ 8.65107177e-01 -5.01585247e-01 -1.34616351e-03 1.29684400e+02] [ 5.01584606e-01 8.65108224e-01 -8.01670971e-04 3.38908963e+01] [ 1.56668346e-03 1.83164144e-05 9.99998773e-01 -2.84842216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43576923100002 meters 0.017602032202254213 Centerline is valid? [True, True] Translation: X:129.71, Y:33.90, Z:-0.29 [[ 8.64252327e-01 -5.03047836e-01 -3.28481862e-03 1.29708502e+02] [ 5.03044036e-01 8.64258569e-01 -1.95566678e-03 3.39030203e+01] [ 3.82272658e-03 3.77811463e-05 9.99992693e-01 -2.89452045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.465769231 meters 0.016598166008800135 Centerline is valid? [True, True] Translation: X:129.73, Y:33.92, Z:-0.29 [[ 8.63863326e-01 -5.03718045e-01 -2.87830238e-03 1.29734644e+02] [ 5.03715129e-01 8.63868121e-01 -1.71448878e-03 3.39161614e+01] [ 3.35009261e-03 3.12395295e-05 9.99994388e-01 -2.88272828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.495769231 meters 0.01765236366626771 Centerline is valid? [True, True] Translation: X:129.76, Y:33.93, Z:-0.28 [[ 8.64580935e-01 -5.02492724e-01 -9.31896322e-04 1.29757683e+02] [ 5.02492418e-01 8.64581437e-01 -5.55177136e-04 3.39312825e+01] [ 1.08467273e-03 1.17247312e-05 9.99999412e-01 -2.83258229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.525769231 meters 0.019070741252745008 Centerline is valid? [True, True] Translation: X:129.78, Y:33.95, Z:-0.28 [[ 8.65294979e-01 -5.01262924e-01 -2.81951812e-04 1.29780876e+02] [ 5.01262896e-01 8.65295025e-01 -1.68386348e-04 3.39481998e+01] [ 3.28377333e-04 4.37187993e-06 9.99999946e-01 -2.81330223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.555769231 meters 0.02079354970272783 Centerline is valid? [True, True] Translation: X:129.80, Y:33.97, Z:-0.28 [[ 8.66062364e-01 -4.99935953e-01 1.55575317e-04 1.29802851e+02] [ 4.99935944e-01 8.66062378e-01 9.25000186e-05 3.39658684e+01] [-1.80982014e-04 -2.33309177e-06 9.99999984e-01 -2.80768873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.585769231 meters 0.022840430438734793 Centerline is valid? [True, True] Translation: X:129.82, Y:33.99, Z:-0.28 [[ 8.66976698e-01 -4.98348564e-01 3.36636773e-04 1.29823724e+02] [ 4.98348524e-01 8.66976763e-01 2.00438931e-04 3.39861207e+01] [-3.91744714e-04 -6.01344357e-06 9.99999923e-01 -2.80902104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.615769231 meters 0.02233020681403904 Centerline is valid? [True, True] Translation: X:129.85, Y:34.00, Z:-0.28 [[ 8.66744358e-01 -4.98752052e-01 7.80103594e-04 1.29847698e+02] [ 4.98751836e-01 8.66744709e-01 4.64713315e-04 3.40010703e+01] [-9.07927382e-04 -1.37095448e-05 9.99999588e-01 -2.80447789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.645769231 meters 0.021204676467638024 Centerline is valid? [True, True] Translation: X:129.87, Y:34.01, Z:-0.28 [[ 8.65934162e-01 -5.00156910e-01 1.04534435e-03 1.29872413e+02] [ 5.00156522e-01 8.65934792e-01 6.23261557e-04 3.40134750e+01] [-1.21692862e-03 -1.68676794e-05 9.99999259e-01 -2.80214063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.675769231 meters 0.019515551502849664 Centerline is valid? [True, True] Translation: X:129.90, Y:34.03, Z:-0.28 [[ 8.64897863e-01 -5.01947891e-01 3.87026440e-05 1.29897738e+02] [ 5.01947891e-01 8.64897863e-01 2.28589333e-05 3.40250191e+01] [-4.49478275e-05 -3.43932013e-07 9.99999999e-01 -2.83321678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.705769231 meters 0.017061423766287383 Centerline is valid? [True, True] Translation: X:129.93, Y:34.04, Z:-0.29 [[ 8.63412785e-01 -5.04494331e-01 -1.95803962e-03 1.29925092e+02] [ 5.04492977e-01 8.63415005e-01 -1.16873063e-03 3.40353141e+01] [ 2.28021876e-03 2.12797307e-05 9.99997400e-01 -2.88190001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.735769231 meters 0.01355894669838443 Centerline is valid? [True, True] Translation: X:129.96, Y:34.04, Z:-0.29 [[ 8.59991393e-01 -5.10288644e-01 -4.50599143e-03 1.29956508e+02] [ 5.10281554e-01 8.60003197e-01 -2.69002372e-03 3.40381390e+01] [ 5.24785559e-03 1.40729364e-05 9.99986230e-01 -2.94135520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.765769231 meters 0.012887369710307489 Centerline is valid? [True, True] Translation: X:129.99, Y:34.05, Z:-0.29 [[ 8.58577259e-01 -5.12672253e-01 -3.50024111e-03 1.29985055e+02] [ 5.12667991e-01 8.58584394e-01 -2.09042762e-03 3.40472940e+01] [ 4.07695663e-03 3.32038902e-07 9.99991689e-01 -2.91539053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.795769231 meters 0.013325999305812457 Centerline is valid? [True, True] Translation: X:130.01, Y:34.05, Z:-0.28 [[ 8.56530045e-01 -5.16097016e-01 -3.90528358e-04 1.30014330e+02] [ 5.16096963e-01 8.56530134e-01 -2.33357010e-04 3.40525389e+01] [ 4.54934163e-04 -1.67320942e-06 9.99999897e-01 -2.83725749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.825769231 meters 0.013906437866487441 Centerline is valid? [True, True] Translation: X:130.04, Y:34.06, Z:-0.28 [[ 8.55884832e-01 -5.17166454e-01 1.17132492e-04 1.30040145e+02] [ 5.17166449e-01 8.55884840e-01 6.97322460e-05 3.40631305e+01] [-1.36315102e-04 8.94223154e-07 9.99999991e-01 -2.82652901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.855769231 meters 0.014031171552297493 Centerline is valid? [True, True] Translation: X:130.07, Y:34.07, Z:-0.29 [[ 8.55915274e-01 -5.17112823e-01 -1.83631315e-03 1.30067350e+02] [ 5.17111658e-01 8.55917244e-01 -1.09761649e-03 3.40745475e+01] [ 2.13932365e-03 -1.01122213e-05 9.99997712e-01 -2.87151384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.885769231 meters 0.013839217588101008 Centerline is valid? [True, True] Translation: X:130.09, Y:34.09, Z:-0.29 [[ 8.56296427e-01 -5.16476535e-01 -2.90139325e-03 1.30091072e+02] [ 5.16473622e-01 8.56301342e-01 -1.73476615e-03 3.40888607e+01] [ 3.38043294e-03 -1.30190237e-05 9.99994286e-01 -2.89600018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.915769231 meters 0.01321281078697868 Centerline is valid? [True, True] Translation: X:130.11, Y:34.10, Z:-0.29 [[ 8.56905242e-01 -5.15465061e-01 -3.02938899e-03 1.30114501e+02] [ 5.15461876e-01 8.56910597e-01 -1.81198819e-03 3.41039787e+01] [ 3.52993213e-03 -8.83236001e-06 9.99993770e-01 -2.90068499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.945769231 meters 0.012525081402521804 Centerline is valid? [True, True] Translation: X:130.14, Y:34.12, Z:-0.29 [[ 8.57912998e-01 -5.13791331e-01 -1.93801689e-03 1.30137211e+02] [ 5.13790023e-01 8.57915187e-01 -1.15919771e-03 3.41200716e+01] [ 2.25823986e-03 -1.24295549e-06 9.99997450e-01 -2.87253223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97576923100002 meters 0.012336071073331104 Centerline is valid? [True, True] Translation: X:130.16, Y:34.13, Z:-0.29 [[ 8.58281452e-01 -5.13177464e-01 -1.35631726e-03 1.30159823e+02] [ 5.13176822e-01 8.58282524e-01 -8.11561063e-04 3.41347001e+01] [ 1.58057825e-03 5.17227591e-07 9.99998751e-01 -2.86089639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00576923100002 meters 0.012426343120380275 Centerline is valid? [True, True] Translation: X:130.18, Y:34.15, Z:-0.29 [[ 8.58931171e-01 -5.12088564e-01 -1.59578703e-03 1.30182862e+02] [ 5.12087673e-01 8.58932653e-01 -9.55482953e-04 3.41502125e+01] [ 1.85996548e-03 3.51122558e-06 9.99998270e-01 -2.85536016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03576923100002 meters 0.01311675755431387 Centerline is valid? [True, True] Translation: X:130.21, Y:34.17, Z:-0.29 [[ 8.59455169e-01 -5.11206349e-01 -2.20940995e-03 1.30205766e+02] [ 5.11204638e-01 8.59458009e-01 -1.32255294e-03 3.41667019e+01] [ 2.57499253e-03 7.21434343e-06 9.99996685e-01 -2.88910034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06576923100002 meters 0.013158941025764663 Centerline is valid? [True, True] Translation: X:130.23, Y:34.18, Z:-0.29 [[ 8.59605174e-01 -5.10950365e-01 -2.94444238e-03 1.30230455e+02] [ 5.10947322e-01 8.59610216e-01 -1.76339137e-03 3.41813593e+01] [ 3.43207822e-03 1.13653903e-05 9.99994110e-01 -2.89231959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09576923100002 meters 0.013293778206451536 Centerline is valid? [True, True] Translation: X:130.25, Y:34.19, Z:-0.29 [[ 8.59542322e-01 -5.11059854e-01 -2.19582652e-03 1.30253703e+02] [ 5.11058162e-01 8.59545127e-01 -1.31525419e-03 3.41946356e+01] [ 2.55958560e-03 8.32157291e-06 9.99996724e-01 -2.89375866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12576923100002 meters 0.012800194187913196 Centerline is valid? [True, True] Translation: X:130.28, Y:34.21, Z:-0.29 [[ 8.59173759e-01 -5.11683382e-01 -7.53708043e-04 1.30279202e+02] [ 5.11683183e-01 8.59174090e-01 -4.51910054e-04 3.42075187e+01] [ 8.78801286e-04 2.60952968e-06 9.99999614e-01 -2.85365870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15576923100002 meters 0.011975000168455898 Centerline is valid? [True, True] Translation: X:130.31, Y:34.22, Z:-0.28 [[ 8.58167940e-01 -5.13366218e-01 1.70668864e-03 1.30306907e+02] [ 5.13365200e-01 8.58169637e-01 1.02241294e-03 3.42175231e+01] [-1.98950064e-03 -1.24745339e-06 9.99998021e-01 -2.78531175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18576923100002 meters 0.011998962143102367 Centerline is valid? [True, True] Translation: X:130.33, Y:34.23, Z:-0.28 [[ 8.57822961e-01 -5.13942522e-01 1.68847598e-03 1.30332102e+02] [ 5.13941526e-01 8.57824623e-01 1.01187342e-03 3.42309159e+01] [-1.96846105e-03 -2.30332786e-07 9.99998063e-01 -2.78570588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.215769231 meters 0.012105760976640016 Centerline is valid? [True, True] Translation: X:130.35, Y:34.25, Z:-0.28 [[ 8.57926581e-01 -5.13771586e-01 8.59431537e-04 1.30354837e+02] [ 5.13771328e-01 8.57927012e-01 5.15144612e-04 3.42450415e+01] [-1.00199619e-03 -4.04973803e-07 9.99999498e-01 -2.80049032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.245769231 meters 0.012631965746526568 Centerline is valid? [True, True] Translation: X:130.38, Y:34.26, Z:-0.28 [[ 8.59079626e-01 -5.11841441e-01 -7.31606301e-04 1.30377829e+02] [ 5.11841253e-01 8.59079938e-01 -4.39348547e-04 3.42627956e+01] [ 8.53385089e-04 2.96909947e-06 9.99999636e-01 -2.84199049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.275769231 meters 0.013080841372198697 Centerline is valid? [True, True] Translation: X:130.40, Y:34.28, Z:-0.28 [[ 8.59631044e-01 -5.10913921e-01 -1.19679063e-03 1.30401725e+02] [ 5.10913416e-01 8.59631878e-01 -7.18707823e-04 3.42797183e+01] [ 1.39599721e-03 6.36716699e-06 9.99999026e-01 -2.84460643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.305769231 meters 0.014656386592984764 Centerline is valid? [True, True] Translation: X:130.42, Y:34.30, Z:-0.29 [[ 8.60813495e-01 -5.08917139e-01 -1.86339657e-03 1.30422345e+02] [ 5.08915910e-01 8.60815512e-01 -1.11872362e-03 3.42984597e+01] [ 2.17337829e-03 1.47002283e-05 9.99997638e-01 -2.85147566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.335769231 meters 0.015192898777408185 Centerline is valid? [True, True] Translation: X:130.45, Y:34.31, Z:-0.28 [[ 8.61359316e-01 -5.07992420e-01 -1.95698818e-03 1.30445869e+02] [ 5.07991060e-01 8.61361539e-01 -1.17558218e-03 3.43149253e+01] [ 2.28286118e-03 1.84661623e-05 9.99997394e-01 -2.84707580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.365769231 meters 0.016935604191770467 Centerline is valid? [True, True] Translation: X:130.47, Y:34.33, Z:-0.28 [[ 8.62341927e-01 -5.06323825e-01 -1.60820202e-03 1.30467108e+02] [ 5.06322903e-01 8.62343426e-01 -9.66051672e-04 3.43326914e+01] [ 1.87595742e-03 1.87973424e-05 9.99998240e-01 -2.84150590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.395769231 meters 0.02210689686664623 Centerline is valid? [True, True] Translation: X:130.48, Y:34.36, Z:-0.28 [[ 8.65235737e-01 -5.01365158e-01 -3.12989978e-04 1.30484903e+02] [ 5.01365123e-01 8.65235793e-01 -1.88170725e-04 3.43568596e+01] [ 3.65152377e-04 5.88977713e-06 9.99999933e-01 -2.81662644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.425769231 meters 0.02210689686664623 Centerline is valid? [True, True] Translation: X:130.51, Y:34.37, Z:-0.28 [[ 8.65144081e-01 -5.01523300e-01 -3.12825510e-04 1.30508386e+02] [ 5.01523265e-01 8.65144138e-01 -1.88444444e-04 3.43711937e+01] [ 3.65148436e-04 6.14232450e-06 9.99999933e-01 -2.81721727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.455769231 meters 0.026209782412671655 Centerline is valid? [True, True] Translation: X:130.53, Y:34.40, Z:-0.28 [[ 8.68415033e-01 -4.95837971e-01 1.92192068e-04 1.30526488e+02] [ 4.95837957e-01 8.68415054e-01 1.15119392e-04 3.43970117e+01] [-2.23983051e-04 -4.67528799e-06 9.99999975e-01 -2.80005610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.485769231 meters 0.03008712366278635 Centerline is valid? [True, True] Translation: X:130.54, Y:34.42, Z:-0.28 [[ 8.69881198e-01 -4.93261047e-01 4.91891931e-04 1.30544993e+02] [ 4.93260958e-01 8.69881337e-01 2.95543125e-04 3.44198425e+01] [-5.73667521e-04 -1.44563225e-05 9.99999835e-01 -2.79573552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.515769231 meters 0.03536459164452961 Centerline is valid? [True, True] Translation: X:130.56, Y:34.44, Z:-0.28 [[ 8.71297938e-01 -4.90753900e-01 7.15973029e-04 1.30562983e+02] [ 4.90753712e-01 8.71298232e-01 4.30410768e-04 3.44438978e+01] [-8.35051797e-04 -2.36495927e-05 9.99999651e-01 -2.78987078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.545769231 meters 0.03834369461129841 Centerline is valid? [True, True] Translation: X:130.58, Y:34.47, Z:-0.28 [[ 8.73475788e-01 -4.86867539e-01 2.16672087e-04 1.30581859e+02] [ 4.86867522e-01 8.73475815e-01 1.29948698e-04 3.44684193e+01] [-2.52525631e-04 -8.01643935e-06 9.99999968e-01 -2.80415544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.575769231 meters 0.038401576229562355 Centerline is valid? [True, True] Translation: X:130.60, Y:34.49, Z:-0.28 [[ 8.73866630e-01 -4.86165351e-01 -6.03917872e-04 1.30604730e+02] [ 4.86165216e-01 8.73866838e-01 -3.63847537e-04 3.44867969e+01] [ 7.04633867e-04 2.43503586e-05 9.99999751e-01 -2.81555237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.605769231 meters 0.04177838324956912 Centerline is valid? [True, True] Translation: X:130.62, Y:34.51, Z:-0.29 [[ 8.74085017e-01 -4.85764974e-01 -2.78797307e-03 1.30622126e+02] [ 4.85762087e-01 8.74089456e-01 -1.67834011e-03 3.45112703e+01] [ 3.25221670e-03 1.12720324e-04 9.99994705e-01 -2.85977622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.635769231 meters 0.03978869270743327 Centerline is valid? [True, True] Translation: X:130.65, Y:34.53, Z:-0.29 [[ 8.73820916e-01 -4.86238037e-01 -3.09469769e-03 1.30646112e+02] [ 4.86234481e-01 8.73826388e-01 -1.86383559e-03 3.45276362e+01] [ 3.61049626e-03 1.23909799e-04 9.99993474e-01 -2.86877545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.665769231 meters 0.04020806627223379 Centerline is valid? [True, True] Translation: X:130.67, Y:34.55, Z:-0.28 [[ 8.72723376e-01 -4.88213879e-01 -1.05691652e-03 1.30666057e+02] [ 4.88213466e-01 8.72724015e-01 -6.36629252e-04 3.45481177e+01] [ 1.23320767e-03 3.96003526e-05 9.99999239e-01 -2.84143071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.695769231 meters 0.035520018704572554 Centerline is valid? [True, True] Translation: X:130.69, Y:34.56, Z:-0.28 [[ 8.71967113e-01 -4.89564304e-01 -3.82467560e-04 1.30693082e+02] [ 4.89564250e-01 8.71967197e-01 -2.30824542e-04 3.45595719e+01] [ 4.46502622e-04 1.40289650e-05 9.99999900e-01 -2.82081121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72576923100002 meters 0.0327849104580019 Centerline is valid? [True, True] Translation: X:130.72, Y:34.57, Z:-0.28 [[ 8.71120231e-01 -4.91068787e-01 -9.95075843e-04 1.30718725e+02] [ 4.91068421e-01 8.71120798e-01 -6.00117636e-04 3.45724542e+01] [ 1.16153030e-03 3.41242907e-05 9.99999325e-01 -2.82869701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75576923100002 meters 0.02939531489520858 Centerline is valid? [True, True] Translation: X:130.74, Y:34.58, Z:-0.29 [[ 8.68873994e-01 -4.95018978e-01 -3.76748055e-03 1.30743948e+02] [ 4.95013781e-01 8.68882155e-01 -2.27096353e-03 3.45849135e+01] [ 4.39766667e-03 1.08226360e-04 9.99990324e-01 -2.88159862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78576923100002 meters 0.02796322662517405 Centerline is valid? [True, True] Translation: X:130.77, Y:34.60, Z:-0.29 [[ 8.67934947e-01 -4.96663340e-01 -3.80195019e-03 1.30768392e+02] [ 4.96658061e-01 8.67943268e-01 -2.29205171e-03 3.45975752e+01] [ 4.43825513e-03 1.01082567e-04 9.99990146e-01 -2.88436419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81576923100002 meters 0.025770762649518827 Centerline is valid? [True, True] Translation: X:130.79, Y:34.61, Z:-0.28 [[ 8.66300054e-01 -4.99522612e-01 -1.17358498e-03 1.30794423e+02] [ 4.99522111e-01 8.66300848e-01 -7.07906250e-04 3.46096698e+01] [ 1.37029284e-03 2.70275772e-05 9.99999061e-01 -2.82433023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84576923100002 meters 0.02334441236330598 Centerline is valid? [True, True] Translation: X:130.82, Y:34.62, Z:-0.28 [[ 8.65376690e-01 -5.01121739e-01 4.31695610e-04 1.30820492e+02] [ 5.01121672e-01 8.65376798e-01 2.59983158e-04 3.46222856e+01] [-5.03862577e-04 -8.65133943e-06 9.99999873e-01 -2.78858896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87576923100002 meters 0.021876351204142233 Centerline is valid? [True, True] Translation: X:130.85, Y:34.64, Z:-0.28 [[ 8.64548170e-01 -5.02548144e-01 1.35074391e-03 1.30846220e+02] [ 5.02547484e-01 8.64549225e-01 8.14659011e-04 3.46364566e+01] [-1.57718997e-03 -2.54990052e-05 9.99998756e-01 -2.77274148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90576923100002 meters 0.02126962372536921 Centerline is valid? [True, True] Translation: X:130.87, Y:34.65, Z:-0.28 [[ 8.63820564e-01 -5.03799597e-01 4.39865478e-06 1.30870287e+02] [ 5.03799597e-01 8.63820564e-01 2.50750433e-06 3.46497048e+01] [-5.06292815e-06 5.00067020e-08 1.00000000e+00 -2.80544735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93576923100002 meters 0.020244463403842766 Centerline is valid? [True, True] Translation: X:130.90, Y:34.66, Z:-0.28 [[ 8.63460836e-01 -5.04412993e-01 -1.70793964e-03 1.30896437e+02] [ 5.04411939e-01 8.63462524e-01 -1.03163176e-03 3.46609456e+01] [ 1.99511034e-03 2.92684689e-05 9.99998009e-01 -2.83915959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.965769231 meters 0.020644128209499162 Centerline is valid? [True, True] Translation: X:130.92, Y:34.68, Z:-0.28 [[ 8.63158445e-01 -5.04928075e-01 -2.26694552e-03 1.30918942e+02] [ 5.04926219e-01 8.63161421e-01 -1.36937951e-03 3.46755882e+01] [ 2.64817807e-03 3.73512594e-05 9.99996493e-01 -2.84856547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.995769231 meters 0.02030430837549446 Centerline is valid? [True, True] Translation: X:130.94, Y:34.69, Z:-0.29 [[ 8.62950203e-01 -5.05281246e-01 -2.79459682e-03 1.30942867e+02] [ 5.05278425e-01 8.62954727e-01 -1.68889010e-03 3.46902152e+01] [ 3.26497503e-03 4.53785700e-05 9.99994669e-01 -2.85920474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.025769231 meters 0.020365341497321734 Centerline is valid? [True, True] Translation: X:130.97, Y:34.71, Z:-0.29 [[ 8.62981172e-01 -5.05224802e-01 -3.37586871e-03 1.30966612e+02] [ 5.05220683e-01 8.62987773e-01 -2.04078418e-03 3.47059108e+01] [ 3.94438820e-03 5.55996290e-05 9.99992219e-01 -2.88025912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.055769231 meters 0.020398560020757336 Centerline is valid? [True, True] Translation: X:130.99, Y:34.72, Z:-0.29 [[ 8.62926040e-01 -5.05322109e-01 -2.86626767e-03 1.30990179e+02] [ 5.05319137e-01 8.62930799e-01 -1.73357639e-03 3.47203495e+01] [ 3.34940513e-03 4.75683073e-05 9.99994390e-01 -2.87205267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.085769231 meters 0.019563228749387616 Centerline is valid? [True, True] Translation: X:131.02, Y:34.73, Z:-0.28 [[ 8.62450474e-01 -5.06139003e-01 -1.57782894e-03 1.31016057e+02] [ 5.06138103e-01 8.62451917e-01 -9.54810567e-04 3.47341045e+01] [ 1.84406846e-03 2.48774810e-05 9.99998299e-01 -2.84380247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.115769231 meters 0.01905893665484804 Centerline is valid? [True, True] Translation: X:131.04, Y:34.75, Z:-0.28 [[ 8.62036573e-01 -5.06844387e-01 -1.30890060e-03 1.31040787e+02] [ 5.06843769e-01 8.62037567e-01 -7.91979223e-04 3.47474999e+01] [ 1.52973171e-03 1.93069439e-05 9.99998830e-01 -2.84471981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.145769231 meters 0.018244720604776086 Centerline is valid? [True, True] Translation: X:131.07, Y:34.76, Z:-0.29 [[ 8.61426918e-01 -5.07878227e-01 -1.83593158e-03 1.31066201e+02] [ 5.07877011e-01 8.61428875e-01 -1.11148524e-03 3.47603085e+01] [ 2.14602362e-03 2.50358618e-05 9.99997697e-01 -2.85490303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.175769231 meters 0.017578725332212972 Centerline is valid? [True, True] Translation: X:131.09, Y:34.77, Z:-0.29 [[ 8.60912934e-01 -5.08749131e-01 -1.80055634e-03 1.31091607e+02] [ 5.08747964e-01 8.60914817e-01 -1.08995505e-03 3.47729111e+01] [ 2.10463931e-03 2.23270286e-05 9.99997785e-01 -2.85541930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.205769231 meters 0.018337506084151505 Centerline is valid? [True, True] Translation: X:131.11, Y:34.79, Z:-0.28 [[ 8.61247357e-01 -5.08184861e-01 -1.06623784e-03 1.31113761e+02] [ 5.08184451e-01 8.61248017e-01 -6.45639280e-04 3.47883974e+01] [ 1.24639933e-03 1.42096329e-05 9.99999223e-01 -2.83796691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.235769231 meters 0.020254908897660098 Centerline is valid? [True, True] Translation: X:131.14, Y:34.81, Z:-0.28 [[ 8.62467988e-01 -5.06111547e-01 2.68380681e-04 1.31136569e+02] [ 5.06111521e-01 8.62468029e-01 1.62119572e-04 3.48059574e+01] [-3.13520344e-04 -3.99238583e-06 9.99999951e-01 -2.81086922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.265769231 meters 0.021705650325430058 Centerline is valid? [True, True] Translation: X:131.16, Y:34.82, Z:-0.28 [[ 8.63136408e-01 -5.04970704e-01 3.60422732e-04 1.31159304e+02] [ 5.04970657e-01 8.63136483e-01 2.18149865e-04 3.48214249e+01] [-4.21253300e-04 -6.29018740e-06 9.99999911e-01 -2.81185158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.295769231 meters 0.0225914232049832 Centerline is valid? [True, True] Translation: X:131.18, Y:34.84, Z:-0.28 [[ 8.63523486e-01 -5.04308548e-01 2.77428881e-04 1.31184041e+02] [ 5.04308520e-01 8.63523531e-01 1.67684326e-04 3.48365185e+01] [-3.24131006e-04 -4.88960549e-06 9.99999947e-01 -2.81365125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.325769231 meters 0.023546429893610013 Centerline is valid? [True, True] Translation: X:131.21, Y:34.85, Z:-0.28 [[ 8.63831125e-01 -5.03781476e-01 -1.06945211e-04 1.31207671e+02] [ 5.03781472e-01 8.63831132e-01 -6.49478391e-05 3.48509237e+01] [ 1.25102121e-04 2.22694918e-06 9.99999992e-01 -2.82348898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.355769231 meters 0.0253951067531958 Centerline is valid? [True, True] Translation: X:131.23, Y:34.87, Z:-0.28 [[ 8.64511075e-01 -5.02613740e-01 1.69453943e-04 1.31230081e+02] [ 5.02613730e-01 8.64511092e-01 1.02489581e-04 3.48669371e+01] [-1.98007485e-04 -3.43349983e-06 9.99999980e-01 -2.81972136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.385769231 meters 0.027154087104563414 Centerline is valid? [True, True] Translation: X:131.25, Y:34.88, Z:-0.28 [[ 8.65293941e-01 -5.01264738e-01 2.41485369e-04 1.31253366e+02] [ 5.01264717e-01 8.65293974e-01 1.46014481e-04 3.48845123e+01] [-2.82147745e-04 -5.29735016e-06 9.99999960e-01 -2.81680195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.415769231 meters 0.029727409602311423 Centerline is valid? [True, True] Translation: X:131.28, Y:34.90, Z:-0.28 [[ 8.66371586e-01 -4.99399864e-01 2.26140244e-04 1.31275949e+02] [ 4.99399845e-01 8.66371615e-01 1.36761631e-04 3.49034684e+01] [-2.64220229e-04 -5.55198853e-06 9.99999965e-01 -2.81184539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.445769231 meters 0.036977829108364814 Centerline is valid? [True, True] Translation: X:131.29, Y:34.93, Z:-0.28 [[ 8.69402880e-01 -4.94102496e-01 -1.16464558e-03 1.31292476e+02] [ 4.94101992e-01 8.69403659e-01 -7.06581564e-04 3.49303827e+01] [ 1.36167084e-03 3.88503463e-05 9.99999072e-01 -2.83665859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47576923100002 meters 0.040759206946136765 Centerline is valid? [True, True] Translation: X:131.31, Y:34.95, Z:-0.28 [[ 8.70789718e-01 -4.91653659e-01 -1.39534415e-03 1.31313432e+02] [ 4.91652932e-01 8.70790834e-01 -8.47006337e-04 3.49523018e+01] [ 1.63148666e-03 5.15393647e-05 9.99998668e-01 -2.83683749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50576923100002 meters 0.03930882598837092 Centerline is valid? [True, True] Translation: X:131.34, Y:34.97, Z:-0.28 [[ 8.73479655e-01 -4.86860339e-01 5.49764792e-04 1.31336532e+02] [ 4.86860225e-01 8.73479828e-01 3.33299969e-04 3.49701251e+01] [-6.42478992e-04 -2.34721317e-05 9.99999793e-01 -2.79506770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53576923100002 meters 0.04459293150317022 Centerline is valid? [True, True] Translation: X:131.36, Y:34.99, Z:-0.28 [[ 8.74867986e-01 -4.84360817e-01 7.78248684e-04 1.31355405e+02] [ 4.84360589e-01 8.74868331e-01 4.72317477e-04 3.49934455e+01] [-9.09637207e-04 -3.62624493e-05 9.99999586e-01 -2.79298516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56576923100002 meters 0.05529031294769475 Centerline is valid? [True, True] Translation: X:131.37, Y:35.02, Z:-0.28 [[ 8.76366194e-01 -4.81645401e-01 -4.04026197e-05 1.31370724e+02] [ 4.81645400e-01 8.76366195e-01 -2.49167252e-05 3.50236157e+01] [ 4.74085161e-05 2.37643977e-06 9.99999999e-01 -2.81805525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59576923100002 meters 0.0651210129638653 Centerline is valid? [True, True] Translation: X:131.38, Y:35.06, Z:-0.29 [[ 8.79273541e-01 -4.76311552e-01 -2.31197159e-03 1.31382983e+02] [ 4.76309500e-01 8.79276571e-01 -1.40439261e-03 3.50566134e+01] [ 2.70179088e-03 1.33631229e-04 9.99996341e-01 -2.87095194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62576923100002 meters 0.0679977729815787 Centerline is valid? [True, True] Translation: X:131.40, Y:35.08, Z:-0.28 [[ 8.80652453e-01 -4.73760621e-01 -1.45958203e-03 1.31400839e+02] [ 4.73759799e-01 8.80653658e-01 -8.87138968e-04 3.50825372e+01] [ 1.70567777e-03 8.97698179e-05 9.99998541e-01 -2.83971852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65576923100002 meters 0.06982634899358217 Centerline is valid? [True, True] Translation: X:131.42, Y:35.10, Z:-0.28 [[ 8.81086783e-01 -4.72954270e-01 -5.82642706e-04 1.31420815e+02] [ 4.72954139e-01 8.81086975e-01 -3.54254941e-04 3.51039232e+01] [ 6.80905287e-04 3.65660670e-05 9.99999768e-01 -2.82010349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68576923100002 meters 0.07054607413279382 Centerline is valid? [True, True] Translation: X:131.44, Y:35.12, Z:-0.28 [[ 8.81350074e-01 -4.72463409e-01 -6.11794363e-04 1.31441789e+02] [ 4.72463264e-01 8.81350286e-01 -3.72264200e-04 3.51247478e+01] [ 7.15086349e-04 3.90447188e-05 9.99999744e-01 -2.82248629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.715769231 meters 0.059683097978259485 Centerline is valid? [True, True] Translation: X:131.47, Y:35.14, Z:-0.28 [[ 8.81452746e-01 -4.72270981e-01 -1.08504021e-03 1.31467643e+02] [ 4.72270525e-01 8.81453411e-01 -6.60217130e-04 3.51375917e+01] [ 1.26821378e-03 6.95176936e-05 9.99999193e-01 -2.83666516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.745769231 meters 0.05886451260653297 Centerline is valid? [True, True] Translation: X:131.49, Y:35.16, Z:-0.28 [[ 8.80976404e-01 -4.73159874e-01 -5.56900555e-04 1.31490246e+02] [ 4.73159754e-01 8.80976579e-01 -3.39145243e-04 3.51567212e+01] [ 6.51086266e-04 3.52760270e-05 9.99999787e-01 -2.82603420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.775769231 meters 0.057233670909990306 Centerline is valid? [True, True] Translation: X:131.51, Y:35.18, Z:-0.28 [[ 8.79217062e-01 -4.76421342e-01 2.49585794e-04 1.31509923e+02] [ 4.76421318e-01 8.79217098e-01 1.51731597e-04 3.51788122e+01] [-2.91728268e-04 -1.44970157e-05 9.99999957e-01 -2.79703418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.805769231 meters 0.05342651209200418 Centerline is valid? [True, True] Translation: X:131.53, Y:35.19, Z:-0.28 [[ 8.77862405e-01 -4.78912805e-01 3.50771395e-04 1.31534399e+02] [ 4.78912758e-01 8.77862475e-01 2.13311033e-04 3.51942762e+01] [-4.10086430e-04 -1.92688397e-05 9.99999916e-01 -2.79425923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.835769231 meters 0.04866122005307867 Centerline is valid? [True, True] Translation: X:131.56, Y:35.21, Z:-0.28 [[ 8.75373770e-01 -4.83445760e-01 -9.80061522e-04 1.31556839e+02] [ 4.83445395e-01 8.75374317e-01 -5.96486530e-04 3.52135047e+01] [ 1.14628957e-03 4.83424331e-05 9.99999342e-01 -2.82795039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.865769231 meters 0.046645723874515 Centerline is valid? [True, True] Translation: X:131.58, Y:35.23, Z:-0.28 [[ 8.74058199e-01 -4.85819008e-01 -1.46848591e-03 1.31578896e+02] [ 4.85818191e-01 8.74059430e-01 -8.93860860e-04 3.52306578e+01] [ 1.71779855e-03 6.78692459e-05 9.99998522e-01 -2.84343604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.895769231 meters 0.04396976453240859 Centerline is valid? [True, True] Translation: X:131.60, Y:35.25, Z:-0.28 [[ 8.72811232e-01 -4.88056820e-01 -1.04624839e-03 1.31602874e+02] [ 4.88056406e-01 8.72811857e-01 -6.36903917e-04 3.52470417e+01] [ 1.22402330e-03 4.52686627e-05 9.99999250e-01 -2.83802923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.925769231 meters 0.03803502375920391 Centerline is valid? [True, True] Translation: X:131.63, Y:35.26, Z:-0.28 [[ 8.69271910e-01 -4.94332866e-01 1.16744327e-03 1.31627086e+02] [ 4.94332358e-01 8.69272693e-01 7.10508148e-04 3.52610787e+01] [-1.36605409e-03 -4.05197910e-05 9.99999066e-01 -2.78463526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.955769231 meters 0.032095298222220625 Centerline is valid? [True, True] Translation: X:131.65, Y:35.27, Z:-0.28 [[ 8.66932637e-01 -4.98421861e-01 1.85762041e-03 1.31654926e+02] [ 4.98420581e-01 8.66934626e-01 1.13076086e-03 3.52716474e+01] [-2.17403138e-03 -5.44172499e-05 9.99997635e-01 -2.76394631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.985769231 meters 0.022583963552389133 Centerline is valid? [True, True] Translation: X:131.68, Y:35.28, Z:-0.28 [[ 8.62067764e-01 -5.06792750e-01 5.28429832e-04 1.31684357e+02] [ 5.06792648e-01 8.62067925e-01 3.21494019e-04 3.52800214e+01] [-6.18473247e-04 -9.34527609e-06 9.99999809e-01 -2.80129248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.015769231 meters 0.018466263048922314 Centerline is valid? [True, True] Translation: X:131.71, Y:35.29, Z:-0.28 [[ 8.59989134e-01 -5.10311629e-01 -8.54702513e-04 1.31711168e+02] [ 5.10311363e-01 8.59989559e-01 -5.21226671e-04 3.52909734e+01] [ 1.00102327e-03 1.20848693e-05 9.99999499e-01 -2.83802601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.045769231 meters 0.01615173131081288 Centerline is valid? [True, True] Translation: X:131.74, Y:35.30, Z:-0.29 [[ 8.58088868e-01 -5.13496946e-01 -2.09330722e-03 1.31737577e+02] [ 5.13495359e-01 8.58091421e-01 -1.27645686e-03 3.53031602e+01] [ 2.45170567e-03 2.04098778e-05 9.99996994e-01 -2.87102371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.075769231 meters 0.013136166028599093 Centerline is valid? [True, True] Translation: X:131.77, Y:35.31, Z:-0.29 [[ 8.54188195e-01 -5.19959617e-01 -2.12707173e-03 1.31766125e+02] [ 5.19957998e-01 8.54190843e-01 -1.29752130e-03 3.53107975e+01] [ 2.49158388e-03 2.33942109e-06 9.99996896e-01 -2.86892795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.105769231 meters 0.014705612585592397 Centerline is valid? [True, True] Translation: X:131.79, Y:35.32, Z:-0.28 [[ 8.50616512e-01 -5.25785844e-01 -8.91826402e-04 1.31794134e+02] [ 5.25785562e-01 8.50616980e-01 -5.44167939e-04 3.53187015e+01] [ 1.04471848e-03 -6.03121110e-06 9.99999454e-01 -2.83289431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.135769231 meters 0.016829045764538995 Centerline is valid? [True, True] Translation: X:131.82, Y:35.33, Z:-0.28 [[ 8.49020625e-01 -5.28358967e-01 -8.83561807e-04 1.31820097e+02] [ 5.28358692e-01 8.49021084e-01 -5.39226084e-04 3.53295123e+01] [ 1.03506754e-03 -9.02349415e-06 9.99999464e-01 -2.83272597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.165769231 meters 0.01900677507628172 Centerline is valid? [True, True] Translation: X:131.85, Y:35.34, Z:-0.28 [[ 8.47793564e-01 -5.30325073e-01 -1.17890988e-03 1.31846041e+02] [ 5.30324586e-01 8.47794383e-01 -7.19417081e-04 3.53401792e+01] [ 1.38099809e-03 -1.52877216e-05 9.99999046e-01 -2.84545870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.195769231 meters 0.02201161046107774 Centerline is valid? [True, True] Translation: X:131.87, Y:35.35, Z:-0.29 [[ 8.45930368e-01 -5.33290527e-01 -1.73957780e-03 1.31873806e+02] [ 5.33289470e-01 8.45932156e-01 -1.06211956e-03 3.53506901e+01] [ 2.03798310e-03 -2.92193302e-05 9.99997923e-01 -2.86255433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22576923100002 meters 0.021201152199779954 Centerline is valid? [True, True] Translation: X:131.90, Y:35.37, Z:-0.29 [[ 8.45175182e-01 -5.34487492e-01 -1.42582901e-03 1.31898242e+02] [ 5.34486783e-01 8.45176384e-01 -8.70984648e-04 3.53665199e+01] [ 1.67060741e-03 -2.59521543e-05 9.99998604e-01 -2.85365167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25576923100002 meters 0.0240491218508772 Centerline is valid? [True, True] Translation: X:131.92, Y:35.38, Z:-0.28 [[ 8.43998959e-01 -5.36344641e-01 -4.27476152e-04 1.31924509e+02] [ 5.36344577e-01 8.43999068e-01 -2.61326377e-04 3.53759867e+01] [ 5.00950476e-04 -8.71532569e-06 9.99999874e-01 -2.83281470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28576923100002 meters 0.023994189026695967 Centerline is valid? [True, True] Translation: X:131.95, Y:35.39, Z:-0.28 [[ 8.43631356e-01 -5.36922838e-01 -4.43031477e-05 1.31949827e+02] [ 5.36922837e-01 8.43631357e-01 -2.74797938e-05 3.53902629e+01] [ 5.21300534e-05 -6.04556036e-07 9.99999999e-01 -2.81641831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31576923100002 meters 0.02367589136757628 Centerline is valid? [True, True] Translation: X:131.97, Y:35.40, Z:-0.28 [[ 8.43663558e-01 -5.36872233e-01 -7.15233931e-05 1.31973770e+02] [ 5.36872232e-01 8.43663561e-01 -4.41882801e-05 3.54042522e+01] [ 8.40651412e-05 -1.11888203e-06 9.99999996e-01 -2.81163697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34576923100002 meters 0.022503905858489725 Centerline is valid? [True, True] Translation: X:132.00, Y:35.42, Z:-0.28 [[ 8.44995766e-01 -5.34772622e-01 -6.30520369e-04 1.31997968e+02] [ 5.34772483e-01 8.44996001e-01 -3.85923398e-04 3.54188215e+01] [ 7.39168458e-04 -1.10813060e-05 9.99999727e-01 -2.82204108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37576923100002 meters 0.022503905858489725 Centerline is valid? [True, True] Translation: X:132.02, Y:35.43, Z:-0.28 [[ 8.44898828e-01 -5.34925764e-01 -6.30430729e-04 1.32021316e+02] [ 5.34925624e-01 8.44899063e-01 -3.86069918e-04 3.54333340e+01] [ 7.39169078e-04 -1.10435293e-05 9.99999727e-01 -2.82263157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40576923100002 meters 0.020728484614090725 Centerline is valid? [True, True] Translation: X:132.04, Y:35.45, Z:-0.28 [[ 8.45791436e-01 -5.33513662e-01 -1.40193427e-04 1.32044414e+02] [ 5.33513655e-01 8.45791447e-01 -8.61798044e-05 3.54506172e+01] [ 1.64552505e-04 -1.90496733e-06 9.99999986e-01 -2.81283412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43576923100002 meters 0.017219444848264966 Centerline is valid? [True, True] Translation: X:132.06, Y:35.47, Z:-0.28 [[ 8.47824855e-01 -5.30276253e-01 3.33546419e-04 1.32064869e+02] [ 5.30276214e-01 8.47824920e-01 2.03772309e-04 3.54716723e+01] [-3.90844583e-04 4.10850386e-06 9.99999924e-01 -2.80311124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.465769231 meters 0.015510204733794268 Centerline is valid? [True, True] Translation: X:132.09, Y:35.49, Z:-0.28 [[ 8.48688176e-01 -5.28893497e-01 2.18723393e-04 1.32087364e+02] [ 5.28893481e-01 8.48688204e-01 1.33519052e-04 3.54902706e+01] [-2.56245322e-04 2.36533632e-06 9.99999967e-01 -2.80798131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.495769231 meters 0.013696911672639464 Centerline is valid? [True, True] Translation: X:132.11, Y:35.51, Z:-0.28 [[ 8.50503213e-01 -5.25968978e-01 -9.58451806e-04 1.32109563e+02] [ 5.25968650e-01 8.50503753e-01 -5.87512591e-04 3.55100233e+01] [ 1.12418026e-03 -4.43425622e-06 9.99999368e-01 -2.83398383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.525769231 meters 0.013429121517666974 Centerline is valid? [True, True] Translation: X:132.13, Y:35.53, Z:-0.29 [[ 8.51293638e-01 -5.24687456e-01 -1.48844954e-03 1.32131697e+02] [ 5.24686663e-01 8.51294939e-01 -9.12120926e-04 3.55259799e+01] [ 1.74568797e-03 -4.48688209e-06 9.99998476e-01 -2.85244962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.555769231 meters 0.012934548560326763 Centerline is valid? [True, True] Translation: X:132.15, Y:35.55, Z:-0.28 [[ 8.52521872e-01 -5.22690157e-01 -1.20743715e-03 1.32152480e+02] [ 5.22689632e-01 8.52522727e-01 -7.40513193e-04 3.55455842e+01] [ 1.41642657e-03 1.88812819e-07 9.99998997e-01 -2.84537363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.585769231 meters 0.013009688680302582 Centerline is valid? [True, True] Translation: X:132.18, Y:35.56, Z:-0.28 [[ 8.52620558e-01 -5.22529922e-01 -8.14890471e-04 1.32175209e+02] [ 5.22529683e-01 8.52620948e-01 -5.00127038e-04 3.55624518e+01] [ 9.56124027e-04 6.14134881e-07 9.99999543e-01 -2.83881295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.615769231 meters 0.013044154536686423 Centerline is valid? [True, True] Translation: X:132.20, Y:35.58, Z:-0.28 [[ 8.52567267e-01 -5.22617066e-01 -6.76361890e-04 1.32198432e+02] [ 5.22616901e-01 8.52567536e-01 -4.15358473e-04 3.55786540e+01] [ 7.93717616e-04 6.42883446e-07 9.99999685e-01 -2.83868421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.645769231 meters 0.013317893708389202 Centerline is valid? [True, True] Translation: X:132.22, Y:35.59, Z:-0.29 [[ 8.51591420e-01 -5.24201642e-01 -2.16601637e-03 1.32223070e+02] [ 5.24199957e-01 8.51594175e-01 -1.32899130e-03 3.55916137e+01] [ 2.54122635e-03 -3.66810124e-06 9.99996771e-01 -2.87751669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.675769231 meters 0.014105902485180647 Centerline is valid? [True, True] Translation: X:132.25, Y:35.60, Z:-0.29 [[ 8.50304527e-01 -5.26284735e-01 -2.56698841e-03 1.32250120e+02] [ 5.26282376e-01 8.50308402e-01 -1.57580594e-03 3.56034776e+01] [ 3.01205442e-03 -1.10458391e-05 9.99995464e-01 -2.89086121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.705769231 meters 0.017624441578703253 Centerline is valid? [True, True] Translation: X:132.28, Y:35.61, Z:-0.28 [[ 8.47243149e-01 -5.31205017e-01 -5.25440796e-04 1.32280240e+02] [ 5.31204919e-01 8.47243312e-01 -3.22691727e-04 3.56067439e+01] [ 6.16591664e-04 -5.71838085e-06 9.99999810e-01 -2.84274488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.735769231 meters 0.01990064507198753 Centerline is valid? [True, True] Translation: X:132.31, Y:35.62, Z:-0.28 [[ 8.45575342e-01 -5.33855640e-01 7.04512291e-04 1.32308156e+02] [ 5.33855465e-01 8.45575636e-01 4.32193032e-04 3.56162632e+01] [-8.26447116e-04 1.06559659e-05 9.99999658e-01 -2.81515950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.765769231 meters 0.025245309741291005 Centerline is valid? [True, True] Translation: X:132.34, Y:35.62, Z:-0.28 [[ 8.42676866e-01 -5.38419630e-01 4.90159843e-05 1.32339878e+02] [ 5.38419629e-01 8.42676867e-01 2.97240071e-05 3.56202032e+01] [-5.73086250e-05 1.34343492e-06 9.99999998e-01 -2.83086041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.795769231 meters 0.02679213250371402 Centerline is valid? [True, True] Translation: X:132.37, Y:35.63, Z:-0.29 [[ 8.42016608e-01 -5.39451073e-01 -7.55759808e-04 1.32365841e+02] [ 5.39450873e-01 8.42016947e-01 -4.64412896e-04 3.56307045e+01] [ 8.86890601e-04 -1.66519163e-05 9.99999607e-01 -2.85544619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.825769231 meters 0.025321908628262193 Centerline is valid? [True, True] Translation: X:132.39, Y:35.64, Z:-0.29 [[ 8.41669216e-01 -5.39991354e-01 -1.50612958e-03 1.32392342e+02] [ 5.39990562e-01 8.41670563e-01 -9.25988848e-04 3.56422366e+01] [ 1.76769091e-03 -3.39194518e-05 9.99998437e-01 -2.86149913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.855769231 meters 0.02586963893115684 Centerline is valid? [True, True] Translation: X:132.42, Y:35.65, Z:-0.29 [[ 8.42109646e-01 -5.39304920e-01 -1.24354799e-03 1.32418540e+02] [ 5.39304379e-01 8.42110564e-01 -7.64454675e-04 3.56532358e+01] [ 1.45947907e-03 -2.68962217e-05 9.99998935e-01 -2.85747618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.885769231 meters 0.023228703835560156 Centerline is valid? [True, True] Translation: X:132.44, Y:35.67, Z:-0.28 [[ 8.42728963e-01 -5.38337044e-01 -1.05901709e-03 1.32442740e+02] [ 5.38336650e-01 8.42729628e-01 -6.51544822e-04 3.56688284e+01] [ 1.24321579e-03 -2.10320179e-05 9.99999227e-01 -2.84751131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.915769231 meters 0.022826387150689124 Centerline is valid? [True, True] Translation: X:132.47, Y:35.68, Z:-0.29 [[ 8.44053583e-01 -5.36257953e-01 -9.78450007e-04 1.32469286e+02] [ 5.36257616e-01 8.44054149e-01 -6.01820867e-04 3.56780178e+01] [ 1.14859601e-03 -1.67322092e-05 9.99999340e-01 -2.85765869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.945769231 meters 0.02039313965022967 Centerline is valid? [True, True] Translation: X:132.49, Y:35.69, Z:-0.29 [[ 8.44532268e-01 -5.35503682e-01 -1.02725467e-03 1.32493528e+02] [ 5.35503309e-01 8.44532892e-01 -6.32321521e-04 3.56931007e+01] [ 1.20616086e-03 -1.60823464e-05 9.99999272e-01 -2.85813055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97576923100002 meters 0.01849238451603894 Centerline is valid? [True, True] Translation: X:132.52, Y:35.70, Z:-0.29 [[ 8.45345416e-01 -5.34219066e-01 -1.05733908e-03 1.32519894e+02] [ 5.34218669e-01 8.45346077e-01 -6.51079662e-04 3.57045035e+01] [ 1.24163661e-03 -1.44630681e-05 9.99999229e-01 -2.86504530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00576923100002 meters 0.017731015494365714 Centerline is valid? [True, True] Translation: X:132.54, Y:35.72, Z:-0.29 [[ 8.45983214e-01 -5.33208385e-01 -1.10482862e-03 1.32544417e+02] [ 5.33207951e-01 8.45983935e-01 -6.80241740e-04 3.57177907e+01] [ 1.29737786e-03 -1.36303105e-05 9.99999158e-01 -2.86062833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03576923100002 meters 0.01461151490444392 Centerline is valid? [True, True] Translation: X:132.57, Y:35.74, Z:-0.28 [[ 8.48153620e-01 -5.29749928e-01 -6.71777000e-04 1.32567374e+02] [ 5.29749766e-01 8.48153886e-01 -4.14011963e-04 3.57364220e+01] [ 7.89093081e-04 -4.72796358e-06 9.99999689e-01 -2.83945653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06576923100002 meters 0.013637836405529367 Centerline is valid? [True, True] Translation: X:132.59, Y:35.75, Z:-0.28 [[ 8.49539643e-01 -5.27524765e-01 -1.29724858e-04 1.32589552e+02] [ 5.27524759e-01 8.49539653e-01 -8.00331259e-05 3.57533163e+01] [ 1.52425867e-04 -4.41761092e-07 9.99999988e-01 -2.83082862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09576923100002 meters 0.012830439048963239 Centerline is valid? [True, True] Translation: X:132.61, Y:35.78, Z:-0.28 [[ 8.52379876e-01 -5.22923016e-01 -2.57165235e-04 1.32607549e+02] [ 5.22922992e-01 8.52379915e-01 -1.58908494e-04 3.57770109e+01] [ 3.02299391e-04 9.72788654e-07 9.99999954e-01 -2.82628450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12576923100002 meters 0.013917606880385638 Centerline is valid? [True, True] Translation: X:132.63, Y:35.80, Z:-0.28 [[ 8.53763852e-01 -5.20660161e-01 -5.31338624e-04 1.32628353e+02] [ 5.20660058e-01 8.53764017e-01 -3.27526991e-04 3.57955926e+01] [ 6.24168054e-04 2.98390668e-06 9.99999805e-01 -2.84603203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15576923100002 meters 0.01500043747188516 Centerline is valid? [True, True] Translation: X:132.65, Y:35.81, Z:-0.29 [[ 8.54784043e-01 -5.18982389e-01 -1.23246775e-03 1.32650296e+02] [ 5.18981833e-01 8.54784932e-01 -7.60064162e-04 3.58149422e+01] [ 1.44795477e-03 1.00623476e-05 9.99998952e-01 -2.87279252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18576923100002 meters 0.014936225316971826 Centerline is valid? [True, True] Translation: X:132.67, Y:35.83, Z:-0.29 [[ 8.54601851e-01 -5.19282886e-01 -9.80022952e-04 1.32672598e+02] [ 5.19282534e-01 8.54602413e-01 -6.04778488e-04 3.58314915e+01] [ 1.15158110e-03 7.93601288e-06 9.99999337e-01 -2.87168092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21576923100002 meters 0.013563073780850437 Centerline is valid? [True, True] Translation: X:132.70, Y:35.85, Z:-0.29 [[ 8.53071052e-01 -5.21794195e-01 -7.73119695e-04 1.32695911e+02] [ 5.21793978e-01 8.53071402e-01 -4.76933468e-04 3.58466791e+01] [ 9.08387418e-04 3.44893416e-06 9.99999587e-01 -2.86643614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.245769231 meters 0.013012861789315424 Centerline is valid? [True, True] Translation: X:132.72, Y:35.86, Z:-0.29 [[ 8.51983198e-01 -5.23567213e-01 -1.41575844e-03 1.32720017e+02] [ 5.23566483e-01 8.51984374e-01 -8.73937759e-04 3.58603336e+01] [ 1.66376923e-03 3.33661752e-06 9.99998616e-01 -2.87233154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.275769231 meters 0.013241304470450629 Centerline is valid? [True, True] Translation: X:132.74, Y:35.87, Z:-0.29 [[ 8.50271404e-01 -5.26334067e-01 -3.31501265e-03 1.32744705e+02] [ 5.26330089e-01 8.50277866e-01 -2.04638773e-03 3.58749375e+01] [ 3.89576546e-03 -4.80593352e-06 9.99992411e-01 -2.90830857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.305769231 meters 0.013763906863341368 Centerline is valid? [True, True] Translation: X:132.77, Y:35.89, Z:-0.29 [[ 8.49398195e-01 -5.27740051e-01 -3.62551735e-03 1.32769255e+02] [ 5.27735302e-01 8.49405933e-01 -2.23884448e-03 3.58906533e+01] [ 4.26106385e-03 -1.16430329e-05 9.99990922e-01 -2.90715235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.335769231 meters 0.013653875640770597 Centerline is valid? [True, True] Translation: X:132.79, Y:35.91, Z:-0.29 [[ 8.49013612e-01 -5.28363161e-01 -2.87345027e-03 1.32791761e+02] [ 5.28360178e-01 8.49018475e-01 -1.77529825e-03 3.59071720e+01] [ 3.37761455e-03 -1.09643172e-05 9.99994296e-01 -2.89377224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.365769231 meters 0.012997038034418002 Centerline is valid? [True, True] Translation: X:132.81, Y:35.93, Z:-0.28 [[ 8.49519615e-01 -5.27556771e-01 -5.27311380e-04 1.32811956e+02] [ 5.27556670e-01 8.49519778e-01 -3.25888527e-04 3.59282019e+01] [ 6.19886146e-04 -1.33793956e-06 9.99999808e-01 -2.83935241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.395769231 meters 0.012670621255910338 Centerline is valid? [True, True] Translation: X:132.83, Y:35.95, Z:-0.28 [[ 8.50012453e-01 -5.26762352e-01 5.05143125e-04 1.32833336e+02] [ 5.26762259e-01 8.50012603e-01 3.11716725e-04 3.59460762e+01] [-5.93578658e-04 1.12723538e-06 9.99999824e-01 -2.82336941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.425769231 meters 0.012616715880414128 Centerline is valid? [True, True] Translation: X:132.85, Y:35.96, Z:-0.28 [[ 8.50014926e-01 -5.26758591e-01 1.11753364e-04 1.32854348e+02] [ 5.26758586e-01 8.50014934e-01 6.88752624e-05 3.59639470e+01] [-1.31272664e-04 3.22042783e-07 9.99999991e-01 -2.82787751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.455769231 meters 0.013039591369008655 Centerline is valid? [True, True] Translation: X:132.88, Y:35.98, Z:-0.28 [[ 8.49359023e-01 -5.27814767e-01 -9.06202935e-04 1.32878613e+02] [ 5.27814469e-01 8.49359507e-01 -5.60814587e-04 3.59786098e+01] [ 1.06569830e-03 -1.97409035e-06 9.99999432e-01 -2.84985305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.485769231 meters 0.01423552461570251 Centerline is valid? [True, True] Translation: X:132.90, Y:35.99, Z:-0.29 [[ 8.47852804e-01 -5.30229848e-01 -1.38974054e-03 1.32904463e+02] [ 5.30229152e-01 8.47853943e-01 -8.59605400e-04 3.59901299e+01] [ 1.63408544e-03 -8.06210102e-06 9.99998665e-01 -2.86524060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.515769231 meters 0.015239512595294047 Centerline is valid? [True, True] Translation: X:132.93, Y:36.00, Z:-0.29 [[ 8.46813812e-01 -5.31888040e-01 -1.21701894e-03 1.32930687e+02] [ 5.31887507e-01 8.46814686e-01 -7.53307264e-04 3.60031058e+01] [ 1.43126464e-03 -9.40617449e-06 9.99998976e-01 -2.86015848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.545769231 meters 0.01664406020145011 Centerline is valid? [True, True] Translation: X:132.96, Y:36.02, Z:-0.29 [[ 8.45755221e-01 -5.33570256e-01 -9.42714219e-04 1.32956293e+02] [ 5.33569937e-01 8.45755746e-01 -5.83532016e-04 3.60155052e+01] [ 1.10866129e-03 -9.47871662e-06 9.99999385e-01 -2.85555865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.575769231 meters 0.019712730176304188 Centerline is valid? [True, True] Translation: X:132.98, Y:36.03, Z:-0.29 [[ 8.43900070e-01 -5.36499045e-01 -1.20222683e-03 1.32982376e+02] [ 5.36498529e-01 8.43900927e-01 -7.44307903e-04 3.60253318e+01] [ 1.41388082e-03 -1.68714370e-05 9.99999000e-01 -2.86333471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.605769231 meters 0.022092428901015152 Centerline is valid? [True, True] Translation: X:133.01, Y:36.04, Z:-0.29 [[ 8.42709807e-01 -5.38367496e-01 -7.87988853e-04 1.33008608e+02] [ 5.38367275e-01 8.42710175e-01 -4.87887987e-04 3.60363995e+01] [ 9.26709258e-04 -1.30794202e-05 9.99999571e-01 -2.85289271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.635769231 meters 0.02435345946801429 Centerline is valid? [True, True] Translation: X:133.04, Y:36.04, Z:-0.28 [[ 8.40116657e-01 -5.42404800e-01 1.01746246e-03 1.33037735e+02] [ 5.42404435e-01 8.40117273e-01 6.29613854e-04 3.60443697e+01] [-1.19629337e-03 2.29270663e-05 9.99999284e-01 -2.80980677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.665769231 meters 0.026022139204471276 Centerline is valid? [True, True] Translation: X:133.07, Y:36.05, Z:-0.28 [[ 8.39044193e-01 -5.44062222e-01 1.06840833e-03 1.33065041e+02] [ 5.44061820e-01 8.39044873e-01 6.61378455e-04 3.60544842e+01] [-1.25627356e-03 2.63544284e-05 9.99999211e-01 -2.80948415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.695769231 meters 0.03063717730435302 Centerline is valid? [True, True] Translation: X:133.10, Y:36.06, Z:-0.29 [[ 8.37859771e-01 -5.45882816e-01 -1.71889000e-03 1.33095705e+02] [ 5.45881779e-01 8.37861533e-01 -1.06515159e-03 3.60584366e+01] [ 2.02163977e-03 -4.58630612e-05 9.99997955e-01 -2.87529356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72576923100002 meters 0.027997318516138313 Centerline is valid? [True, True] Translation: X:133.12, Y:36.07, Z:-0.29 [[ 8.37947530e-01 -5.45743884e-01 -2.74787901e-03 1.33118612e+02] [ 5.45741229e-01 8.37952032e-01 -1.70362271e-03 3.60740335e+01] [ 3.23233247e-03 -7.20844222e-05 9.99994773e-01 -2.89333232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75576923100002 meters 0.023059217208990207 Centerline is valid? [True, True] Translation: X:133.14, Y:36.09, Z:-0.29 [[ 8.39763256e-01 -5.42947849e-01 -2.30354808e-03 1.33141261e+02] [ 5.42945972e-01 8.39766414e-01 -1.42852487e-03 3.60926932e+01] [ 2.71005681e-03 -5.10794569e-05 9.99996326e-01 -2.86869379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78576923100002 meters 0.02256076388420532 Centerline is valid? [True, True] Translation: X:133.16, Y:36.11, Z:-0.29 [[ 8.40962433e-01 -5.41089316e-01 -2.13047167e-03 1.33164693e+02] [ 5.41087704e-01 8.40965130e-01 -1.32136719e-03 3.61079182e+01] [ 2.50663005e-03 -4.15518562e-05 9.99996858e-01 -2.86862721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81576923100002 meters 0.019281175177865116 Centerline is valid? [True, True] Translation: X:133.19, Y:36.13, Z:-0.29 [[ 8.43563248e-01 -5.37022262e-01 -2.85243695e-03 1.33185872e+02] [ 5.37019349e-01 8.43568070e-01 -1.76922078e-03 3.61270642e+01] [ 3.35633568e-03 -3.93642078e-05 9.99994367e-01 -2.89817045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84576923100002 meters 0.016804276469092386 Centerline is valid? [True, True] Translation: X:133.21, Y:36.14, Z:-0.29 [[ 8.44552826e-01 -5.35462140e-01 -3.28940827e-03 1.33208468e+02] [ 5.35458250e-01 8.44559231e-01 -2.04125208e-03 3.61449139e+01] [ 3.87111333e-03 -3.73955805e-05 9.99992507e-01 -2.90331758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87576923100002 meters 0.01503504840449373 Centerline is valid? [True, True] Translation: X:133.23, Y:36.16, Z:-0.29 [[ 8.45610683e-01 -5.33794762e-01 -2.39266728e-03 1.33231866e+02] [ 5.33792695e-01 8.45614068e-01 -1.48546361e-03 3.61612508e+01] [ 2.81620581e-03 -2.10644224e-05 9.99996034e-01 -2.88417443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90576923100002 meters 0.015005875438562147 Centerline is valid? [True, True] Translation: X:133.25, Y:36.18, Z:-0.29 [[ 8.45653663e-01 -5.33729135e-01 -1.75829910e-03 1.33254411e+02] [ 5.33728019e-01 8.45655491e-01 -1.09196581e-03 3.61758177e+01] [ 2.06972926e-03 -1.50286052e-05 9.99997858e-01 -2.86454645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93576923100002 meters 0.015012557297409725 Centerline is valid? [True, True] Translation: X:133.28, Y:36.19, Z:-0.28 [[ 8.45808209e-01 -5.33486752e-01 -5.98745816e-04 1.33277769e+02] [ 5.33486622e-01 8.45808421e-01 -3.71923453e-04 3.61911780e+01] [ 7.04840488e-04 -4.84697338e-06 9.99999752e-01 -2.83753624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96576923100002 meters 0.014347592063981207 Centerline is valid? [True, True] Translation: X:133.30, Y:36.21, Z:-0.28 [[ 8.46015554e-01 -5.33158212e-01 6.14476876e-05 1.33301479e+02] [ 5.33158211e-01 8.46015556e-01 3.76979824e-05 3.62067966e+01] [-7.20846886e-05 8.68259685e-07 9.99999997e-01 -2.82673604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.995769231 meters 0.013654257232528947 Centerline is valid? [True, True] Translation: X:133.33, Y:36.22, Z:-0.28 [[ 8.47020232e-01 -5.31557953e-01 1.69354304e-03 1.33326460e+02] [ 5.31556912e-01 8.47021925e-01 1.05199127e-03 3.62198303e+01] [-1.99366242e-03 9.15662103e-06 9.99998013e-01 -2.79171737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.025769231 meters 0.01279886495850563 Centerline is valid? [True, True] Translation: X:133.35, Y:36.24, Z:-0.28 [[ 8.47197048e-01 -5.31274985e-01 2.01305887e-03 1.33349401e+02] [ 5.31273513e-01 8.47199440e-01 1.25069069e-03 3.62352922e+01] [-2.36992303e-03 9.90339882e-06 9.99997192e-01 -2.78951128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.055769231 meters 0.013044095955373558 Centerline is valid? [True, True] Translation: X:133.37, Y:36.25, Z:-0.28 [[ 8.47356934e-01 -5.31021443e-01 1.56648212e-03 1.33373678e+02] [ 5.31020551e-01 8.47358382e-01 9.73562496e-04 3.62477849e+01] [-1.84435431e-03 6.87926521e-06 9.99998299e-01 -2.80855061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.085769231 meters 0.012625192877221518 Centerline is valid? [True, True] Translation: X:133.40, Y:36.26, Z:-0.28 [[ 8.47538972e-01 -5.30733049e-01 -3.48579680e-04 1.33398535e+02] [ 5.30733005e-01 8.47539043e-01 -2.17270135e-04 3.62612365e+01] [ 4.10747330e-04 -8.57833832e-07 9.99999916e-01 -2.84438174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.115769231 meters 0.012438134880306867 Centerline is valid? [True, True] Translation: X:133.42, Y:36.28, Z:-0.29 [[ 8.48321323e-01 -5.29479181e-01 -1.65210843e-03 1.33421929e+02] [ 5.29478183e-01 8.48322932e-01 -1.02803889e-03 3.62754081e+01] [ 1.94584666e-03 -2.64805603e-06 9.99998107e-01 -2.87238572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.145769231 meters 0.012525566132283313 Centerline is valid? [True, True] Translation: X:133.44, Y:36.29, Z:-0.29 [[ 8.49222610e-01 -5.28032367e-01 -1.66654397e-03 1.33443562e+02] [ 5.28031348e-01 8.49224245e-01 -1.03735843e-03 3.62922293e+01] [ 1.96302837e-03 9.60773356e-07 9.99998073e-01 -2.88203227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.175769231 meters 0.012589431222781467 Centerline is valid? [True, True] Translation: X:133.47, Y:36.31, Z:-0.28 [[ 8.50353312e-01 -5.26210502e-01 -1.32384803e-03 1.33465578e+02] [ 5.26209856e-01 8.50354343e-01 -8.24655940e-04 3.63100986e+01] [ 1.55968254e-03 4.62702848e-06 9.99998784e-01 -2.84597492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.205769231 meters 0.015413403315377367 Centerline is valid? [True, True] Translation: X:133.48, Y:36.33, Z:-0.28 [[ 8.53248960e-01 -5.21503348e-01 -6.85569674e-04 1.33484062e+02] [ 5.21503173e-01 8.53249236e-01 -4.27011540e-04 3.63338610e+01] [ 8.07649748e-04 6.82039225e-06 9.99999674e-01 -2.84254669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.235769231 meters 0.017651779008258983 Centerline is valid? [True, True] Translation: X:133.51, Y:36.35, Z:-0.29 [[ 8.54518521e-01 -5.19419201e-01 -1.33854389e-03 1.33505131e+02] [ 5.19418532e-01 8.54519569e-01 -8.33677371e-04 3.63529230e+01] [ 1.57683999e-03 1.71282488e-05 9.99998757e-01 -2.86330374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.265769231 meters 0.017651779008258983 Centerline is valid? [True, True] Translation: X:133.53, Y:36.37, Z:-0.29 [[ 8.54422081e-01 -5.19577825e-01 -1.33824504e-03 1.33528360e+02] [ 5.19577156e-01 8.54423129e-01 -8.34157177e-04 3.63676252e+01] [ 1.57683708e-03 1.74007605e-05 9.99998757e-01 -2.86389426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.295769231 meters 0.01825147321557143 Centerline is valid? [True, True] Translation: X:133.55, Y:36.38, Z:-0.29 [[ 8.54815353e-01 -5.18931465e-01 -9.20596507e-04 1.33552543e+02] [ 5.18931148e-01 8.54815848e-01 -5.74129556e-04 3.63835730e+01] [ 1.08487438e-03 1.30485573e-05 9.99999411e-01 -2.87017727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.325769231 meters 0.01379123608066999 Centerline is valid? [True, True] Translation: X:133.58, Y:36.39, Z:-0.28 [[ 8.51733770e-01 -5.23974422e-01 6.24934633e-04 1.33582579e+02] [ 5.23974278e-01 8.51733999e-01 3.89205720e-04 3.63896660e+01] [-7.36211917e-04 -4.04998169e-06 9.99999729e-01 -2.83761710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.355769231 meters 0.012329420946830734 Centerline is valid? [True, True] Translation: X:133.61, Y:36.40, Z:-0.28 [[ 8.49986345e-01 -5.26804647e-01 2.76706226e-04 1.33609792e+02] [ 5.26804619e-01 8.49986390e-01 1.72148737e-04 3.63998555e+01] [-3.25885281e-04 -5.53958235e-07 9.99999947e-01 -2.84395773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.385769231 meters 0.01214824822625191 Centerline is valid? [True, True] Translation: X:133.64, Y:36.41, Z:-0.29 [[ 8.48479544e-01 -5.29228047e-01 -3.70954439e-04 1.33635057e+02] [ 5.29227997e-01 8.48479625e-01 -2.31731344e-04 3.64096630e+01] [ 4.37386010e-04 2.99830828e-07 9.99999904e-01 -2.85830663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.415769231 meters 0.012585172248239232 Centerline is valid? [True, True] Translation: X:133.66, Y:36.42, Z:-0.29 [[ 8.47042164e-01 -5.31523075e-01 -1.67146019e-03 1.33662683e+02] [ 5.31522051e-01 8.47043813e-01 -1.04347830e-03 3.64189778e+01] [ 1.97043280e-03 -4.54782872e-06 9.99998059e-01 -2.88307481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.445769231 meters 0.01271978470905272 Centerline is valid? [True, True] Translation: X:133.69, Y:36.43, Z:-0.29 [[ 8.46895356e-01 -5.31755180e-01 -2.16452153e-03 1.33686886e+02] [ 5.31753462e-01 8.46898122e-01 -1.35178634e-03 3.64320829e+01] [ 2.55194861e-03 -6.17024974e-06 9.99996744e-01 -2.89335193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47576923100002 meters 0.012194874955165585 Centerline is valid? [True, True] Translation: X:133.71, Y:36.45, Z:-0.29 [[ 8.47477061e-01 -5.30830971e-01 -1.05450870e-03 1.33710725e+02] [ 5.30830562e-01 8.47477717e-01 -6.59023048e-04 3.64479600e+01] [ 1.24350247e-03 -1.25853082e-06 9.99999227e-01 -2.86622336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50576923100002 meters 0.011995949075129833 Centerline is valid? [True, True] Translation: X:133.73, Y:36.46, Z:-0.29 [[ 8.48181595e-01 -5.29705435e-01 -3.66525087e-04 1.33732028e+02] [ 5.29705386e-01 8.48181674e-01 -2.29295177e-04 3.64639627e+01] [ 4.32338764e-04 3.33636403e-07 9.99999907e-01 -2.85167692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53576923100002 meters 0.013050533183769298 Centerline is valid? [True, True] Translation: X:133.75, Y:36.48, Z:-0.28 [[ 8.50640755e-01 -5.25747361e-01 -1.35066776e-04 1.33752660e+02] [ 5.25747354e-01 8.50640766e-01 -8.45409503e-05 3.64844285e+01] [ 1.59340488e-04 9.02977445e-07 9.99999987e-01 -2.83542595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56576923100002 meters 0.014453029579728521 Centerline is valid? [True, True] Translation: X:133.77, Y:36.50, Z:-0.29 [[ 8.51746859e-01 -5.23952738e-01 -9.03771097e-04 1.33774523e+02] [ 5.23952433e-01 8.51747339e-01 -5.64901616e-04 3.65013198e+01] [ 1.06576638e-03 7.62011161e-06 9.99999432e-01 -2.85956162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59576923100002 meters 0.017111650554722708 Centerline is valid? [True, True] Translation: X:133.79, Y:36.52, Z:-0.29 [[ 8.53485454e-01 -5.21111591e-01 -2.30005772e-03 1.33794756e+02] [ 5.21109608e-01 8.53488553e-01 -1.43760475e-03 3.65211343e+01] [ 2.71222543e-03 2.83925680e-05 9.99996322e-01 -2.89366235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62576923100002 meters 0.019215616367727822 Centerline is valid? [True, True] Translation: X:133.82, Y:36.54, Z:-0.29 [[ 8.54675360e-01 -5.19159274e-01 -1.91746343e-03 1.33815185e+02] [ 5.19157890e-01 8.54677510e-01 -1.19920204e-03 3.65431762e+01] [ 2.26138973e-03 2.94621611e-05 9.99997443e-01 -2.88112934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65576923100002 meters 0.020923751738758704 Centerline is valid? [True, True] Translation: X:133.84, Y:36.56, Z:-0.29 [[ 8.55215817e-01 -5.18269345e-01 -1.67129721e-03 1.33835977e+02] [ 5.18268292e-01 8.55217449e-01 -1.04516696e-03 3.65623049e+01] [ 1.97100053e-03 2.76629648e-05 9.99998057e-01 -2.87822223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68576923100002 meters 0.02096139642649846 Centerline is valid? [True, True] Translation: X:133.86, Y:36.58, Z:-0.29 [[ 8.55396365e-01 -5.17971541e-01 -1.59421894e-03 1.33859486e+02] [ 5.17970582e-01 8.55397850e-01 -9.97591919e-04 3.65797114e+01] [ 1.88041568e-03 2.75779875e-05 9.99998232e-01 -2.87740482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71576923100002 meters 0.01960264967197901 Centerline is valid? [True, True] Translation: X:133.88, Y:36.60, Z:-0.29 [[ 8.54817924e-01 -5.18927633e-01 -6.54432846e-04 1.33883434e+02] [ 5.18927471e-01 8.54818175e-01 -4.09909541e-04 3.65962534e+01] [ 7.72134479e-04 1.07948415e-05 9.99999702e-01 -2.86713520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.745769231 meters 0.01811040096260368 Centerline is valid? [True, True] Translation: X:133.91, Y:36.61, Z:-0.29 [[ 8.53887626e-01 -5.20457389e-01 1.68620791e-04 1.33908225e+02] [ 5.20457378e-01 8.53887643e-01 1.05134435e-04 3.66109951e+01] [-1.98701203e-04 -2.01305850e-06 9.99999980e-01 -2.85267321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.775769231 meters 0.014738627161549738 Centerline is valid? [True, True] Translation: X:133.94, Y:36.62, Z:-0.29 [[ 8.51274999e-01 -5.24719756e-01 2.30436468e-04 1.33935686e+02] [ 5.24719737e-01 8.51275030e-01 1.43882211e-04 3.66205361e+01] [-2.71662650e-04 -1.56876610e-06 9.99999963e-01 -2.85134360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.805769231 meters 0.012980442895941087 Centerline is valid? [True, True] Translation: X:133.96, Y:36.63, Z:-0.29 [[ 8.49910927e-01 -5.26926051e-01 -5.93802634e-04 1.33963214e+02] [ 5.26925919e-01 8.49911135e-01 -3.72380233e-04 3.66305880e+01] [ 7.00896316e-04 3.60003074e-06 9.99999754e-01 -2.86625243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.835769231 meters 0.01181517884136268 Centerline is valid? [True, True] Translation: X:133.99, Y:36.64, Z:-0.29 [[ 8.47713958e-01 -5.30452639e-01 -1.02159181e-03 1.33992916e+02] [ 5.30452253e-01 8.47714573e-01 -6.40591957e-04 3.66377574e+01] [ 1.20582196e-03 1.13306462e-06 9.99999273e-01 -2.87294256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.865769231 meters 0.01176137391114879 Centerline is valid? [True, True] Translation: X:134.02, Y:36.65, Z:-0.29 [[ 8.47231414e-01 -5.31223583e-01 -6.59540446e-04 1.34016660e+02] [ 5.31223422e-01 8.47231671e-01 -4.13742057e-04 3.66507834e+01] [ 7.78573092e-04 1.71935039e-07 9.99999697e-01 -2.86201506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.895769231 meters 0.012098046048890991 Centerline is valid? [True, True] Translation: X:134.04, Y:36.67, Z:-0.29 [[ 8.48469537e-01 -5.29243932e-01 -5.52175040e-04 1.34039133e+02] [ 5.29243818e-01 8.48469717e-01 -3.46736779e-04 3.66684913e+01] [ 6.52012136e-04 1.96036822e-06 9.99999787e-01 -2.86734061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.925769231 meters 0.013002397405222969 Centerline is valid? [True, True] Translation: X:134.06, Y:36.69, Z:-0.29 [[ 8.49701803e-01 -5.27263249e-01 -5.59575280e-04 1.34061732e+02] [ 5.27263132e-01 8.49701987e-01 -3.51451273e-04 3.66865843e+01] [ 6.60779567e-04 3.58536526e-06 9.99999782e-01 -2.86625882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.955769231 meters 0.014560770818202548 Centerline is valid? [True, True] Translation: X:134.08, Y:36.70, Z:-0.29 [[ 8.51113604e-01 -5.24981501e-01 -2.35906245e-04 1.34083382e+02] [ 5.24981480e-01 8.51113637e-01 -1.48240822e-04 3.67048739e+01] [ 2.78606711e-04 2.32337109e-06 9.99999961e-01 -2.86278274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.985769231 meters 0.018119184719262063 Centerline is valid? [True, True] Translation: X:134.10, Y:36.73, Z:-0.29 [[ 8.53299131e-01 -5.21420831e-01 -9.53990583e-04 1.34104008e+02] [ 5.21420487e-01 8.53299664e-01 -5.99206559e-04 3.67266795e+01] [ 1.12647863e-03 1.38722021e-05 9.99999365e-01 -2.87235000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.015769231 meters 0.01808438171384691 Centerline is valid? [True, True] Translation: X:134.13, Y:36.74, Z:-0.29 [[ 8.53320391e-01 -5.21386235e-01 -8.39545009e-04 1.34127173e+02] [ 5.21385968e-01 8.53320804e-01 -5.27661202e-04 3.67420608e+01] [ 9.91516509e-04 1.25370761e-05 9.99999508e-01 -2.87143373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.045769231 meters 0.017877815556562572 Centerline is valid? [True, True] Translation: X:134.15, Y:36.76, Z:-0.29 [[ 8.52617709e-01 -5.22534767e-01 -6.77666823e-04 1.34151264e+02] [ 5.22534593e-01 8.52617979e-01 -4.26105554e-04 3.67569652e+01] [ 8.00445883e-04 9.20078399e-06 9.99999680e-01 -2.87074710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.075769231 meters 0.01622965428108255 Centerline is valid? [True, True] Translation: X:134.18, Y:36.77, Z:-0.29 [[ 8.51629514e-01 -5.24143938e-01 -5.50988697e-04 1.34176926e+02] [ 5.24143824e-01 8.51629692e-01 -3.46639930e-04 3.67699273e+01] [ 6.50927552e-04 6.41147228e-06 9.99999788e-01 -2.87285523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.105769231 meters 0.014308942091918572 Centerline is valid? [True, True] Translation: X:134.20, Y:36.78, Z:-0.29 [[ 8.50303766e-01 -5.26292207e-01 1.36072793e-04 1.34202194e+02] [ 5.26292200e-01 8.50303777e-01 8.51266192e-05 3.67834275e+01] [-1.60504686e-04 -7.69435143e-07 9.99999987e-01 -2.86389643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.135769231 meters 0.01450156238219406 Centerline is valid? [True, True] Translation: X:134.22, Y:36.80, Z:-0.29 [[ 8.50642999e-01 -5.25743694e-01 2.39895977e-04 1.34224958e+02] [ 5.25743672e-01 8.50643032e-01 1.50435857e-04 3.68018757e+01] [-2.83156545e-04 -1.84341697e-06 9.99999960e-01 -2.85545547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.165769231 meters 0.0155376504970662 Centerline is valid? [True, True] Translation: X:134.25, Y:36.82, Z:-0.29 [[ 8.51309246e-01 -5.24664228e-01 -1.23369653e-04 1.34246411e+02] [ 5.24664223e-01 8.51309255e-01 -7.77404015e-05 3.68200585e+01] [ 1.45813335e-04 1.45347932e-06 9.99999989e-01 -2.85981855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.195769231 meters 0.016683590031786683 Centerline is valid? [True, True] Translation: X:134.27, Y:36.84, Z:-0.29 [[ 8.52223834e-01 -5.23176355e-01 -1.01875561e-03 1.34268568e+02] [ 5.23175962e-01 8.52224443e-01 -6.41394416e-04 3.68387650e+01] [ 1.20377083e-03 1.36231606e-05 9.99999275e-01 -2.87426333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22576923100002 meters 0.021446529653966054 Centerline is valid? [True, True] Translation: X:134.29, Y:36.86, Z:-0.29 [[ 8.54463148e-01 -5.19507260e-01 -2.22155720e-03 1.34285048e+02] [ 5.19505380e-01 8.54466035e-01 -1.39809216e-03 3.68645191e+01] [ 2.62456420e-03 4.05073062e-05 9.99996555e-01 -2.90164969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25576923100002 meters 0.024546900609160205 Centerline is valid? [True, True] Translation: X:134.30, Y:36.89, Z:-0.29 [[ 8.55380867e-01 -5.17996597e-01 -1.76030234e-03 1.34304279e+02] [ 5.17995412e-01 8.55382677e-01 -1.10818485e-03 3.68854116e+01] [ 2.07976811e-03 3.60915806e-05 9.99997837e-01 -2.90313029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28576923100002 meters 0.02588619477452637 Centerline is valid? [True, True] Translation: X:134.32, Y:36.91, Z:-0.29 [[ 8.56476069e-01 -5.16186709e-01 -1.58261662e-04 1.34324096e+02] [ 5.16186699e-01 8.56476083e-01 -9.98472119e-05 3.69071844e+01] [ 1.87087132e-04 3.82418233e-06 9.99999982e-01 -2.87323041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31576923100002 meters 0.024851753912683936 Centerline is valid? [True, True] Translation: X:134.35, Y:36.92, Z:-0.29 [[ 8.56464466e-01 -5.16205945e-01 2.00671719e-04 1.34346960e+02] [ 5.16205930e-01 8.56464490e-01 1.25898821e-04 3.69243006e+01] [-2.36857922e-04 -4.23993533e-06 9.99999972e-01 -2.86553437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34576923100002 meters 0.026531791457098258 Centerline is valid? [True, True] Translation: X:134.36, Y:36.95, Z:-0.29 [[ 8.57011121e-01 -5.15297820e-01 3.07850257e-04 1.34364024e+02] [ 5.15297784e-01 8.57011176e-01 1.93730164e-04 3.69486198e+01] [-3.63659842e-04 -7.39434985e-06 9.99999934e-01 -2.86522397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37576923100002 meters 0.02758785319363794 Centerline is valid? [True, True] Translation: X:134.38, Y:36.97, Z:-0.29 [[ 8.57686068e-01 -5.14172012e-01 -1.32340064e-03 1.34382069e+02] [ 5.14171337e-01 8.57687088e-01 -8.34310852e-04 3.69740196e+01] [ 1.56404293e-03 3.51221198e-05 9.99998776e-01 -2.90746679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40576923100002 meters 0.030028549605563202 Centerline is valid? [True, True] Translation: X:134.40, Y:37.00, Z:-0.29 [[ 8.57733035e-01 -5.14088725e-01 -2.61218748e-03 1.34400905e+02] [ 5.14086093e-01 8.57737010e-01 -1.64633411e-03 3.69966632e+01] [ 3.08693168e-03 6.92258946e-05 9.99995233e-01 -2.94717989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43576923100002 meters 0.029655428598944295 Centerline is valid? [True, True] Translation: X:134.42, Y:37.02, Z:-0.30 [[ 8.57507308e-01 -5.14462658e-01 -3.06428036e-03 1.34421604e+02] [ 5.14459035e-01 8.57512780e-01 -1.93233483e-03 3.70158132e+01] [ 3.62177368e-03 8.05445171e-05 9.99993438e-01 -2.96667115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46576923100002 meters 0.024318958696803613 Centerline is valid? [True, True] Translation: X:134.45, Y:37.03, Z:-0.29 [[ 8.55599779e-01 -5.17633415e-01 -2.16010932e-03 1.34445458e+02] [ 5.17631624e-01 8.55602504e-01 -1.36256386e-03 3.70326402e+01] [ 2.55350353e-03 4.76684476e-05 9.99996739e-01 -2.94425630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.495769231 meters 0.020836916433424505 Centerline is valid? [True, True] Translation: X:134.47, Y:37.05, Z:-0.29 [[ 8.53724483e-01 -5.20722352e-01 -1.65493242e-03 1.34471141e+02] [ 5.20721306e-01 8.53726087e-01 -1.04436246e-03 3.70464936e+01] [ 1.95668185e-03 2.98392290e-05 9.99998085e-01 -2.93469547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.525769231 meters 0.012845533550632875 Centerline is valid? [True, True] Translation: X:134.50, Y:37.05, Z:-0.29 [[ 8.48151123e-01 -5.29753685e-01 -8.39789264e-04 1.34500047e+02] [ 5.29753420e-01 8.48151539e-01 -5.29991697e-04 3.70524987e+01] [ 9.93033611e-04 4.63181904e-06 9.99999507e-01 -2.91857197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.555769231 meters 0.014457412188408458 Centerline is valid? [True, True] Translation: X:134.53, Y:37.05, Z:-0.29 [[ 8.41462374e-01 -5.40315521e-01 4.58391478e-04 1.34532571e+02] [ 5.40315444e-01 8.41462499e-01 2.88895343e-04 3.70547068e+01] [-5.41813876e-04 4.58143404e-06 9.99999853e-01 -2.89797234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.585769231 meters 0.018061486267830065 Centerline is valid? [True, True] Translation: X:134.56, Y:37.06, Z:-0.29 [[ 8.38802047e-01 -5.44436250e-01 5.44548079e-04 1.34560527e+02] [ 5.44436142e-01 8.38802223e-01 3.43399576e-04 3.70642452e+01] [-6.43727316e-04 8.42738787e-06 9.99999793e-01 -2.89575044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.615769231 meters 0.021282528066786346 Centerline is valid? [True, True] Translation: X:134.59, Y:37.07, Z:-0.29 [[ 8.37082192e-01 -5.47077144e-01 4.20611559e-05 1.34587226e+02] [ 5.47077143e-01 8.37082194e-01 2.64124175e-05 3.70735363e+01] [-4.96582746e-05 9.01332638e-07 9.99999999e-01 -2.90466294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.645769231 meters 0.024822473079405077 Centerline is valid? [True, True] Translation: X:134.62, Y:37.08, Z:-0.29 [[ 8.35553199e-01 -5.49409077e-01 -7.20374034e-04 1.34615815e+02] [ 5.49408888e-01 8.35553509e-01 -4.55090425e-04 3.70808621e+01] [ 8.51941862e-04 -1.55276363e-05 9.99999637e-01 -2.90407883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.675769231 meters 0.02402285894295587 Centerline is valid? [True, True] Translation: X:134.64, Y:37.10, Z:-0.29 [[ 8.34968021e-01 -5.50298248e-01 -4.91837061e-04 1.34640724e+02] [ 5.50298160e-01 8.34968166e-01 -3.11148114e-04 3.70958126e+01] [ 5.81892550e-04 -1.08583050e-05 9.99999831e-01 -2.89157152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.705769231 meters 0.025411350757902296 Centerline is valid? [True, True] Translation: X:134.67, Y:37.11, Z:-0.29 [[ 8.33988476e-01 -5.51781634e-01 5.00074023e-04 1.34668695e+02] [ 5.51781543e-01 8.33988626e-01 3.15627516e-04 3.71054425e+01] [-5.91213514e-04 1.27019044e-05 9.99999825e-01 -2.87491303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.735769231 meters 0.02706163841586069 Centerline is valid? [True, True] Translation: X:134.70, Y:37.12, Z:-0.29 [[ 8.33386544e-01 -5.52688729e-01 1.42751300e-03 1.34695571e+02] [ 5.52687994e-01 8.33387765e-01 9.02144804e-04 3.71151242e+01] [-1.68827714e-03 3.71339570e-05 9.99998574e-01 -2.85550020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.765769231 meters 0.02760505985991674 Centerline is valid? [True, True] Translation: X:134.72, Y:37.13, Z:-0.29 [[ 8.33120079e-01 -5.53089434e-01 1.73526494e-03 1.34720249e+02] [ 5.53088349e-01 8.33121885e-01 1.09689632e-03 3.71275954e+01] [-2.05236896e-03 4.59084749e-05 9.99997893e-01 -2.85402813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.795769231 meters 0.029019995348292107 Centerline is valid? [True, True] Translation: X:134.75, Y:37.14, Z:-0.29 [[ 8.32506237e-01 -5.54015295e-01 6.47114650e-04 1.34746380e+02] [ 5.54015144e-01 8.32506488e-01 4.08995723e-04 3.71382850e+01] [-7.65317031e-04 1.80198263e-05 9.99999707e-01 -2.88553510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.825769231 meters 0.029886073630143797 Centerline is valid? [True, True] Translation: X:134.77, Y:37.15, Z:-0.29 [[ 8.31853781e-01 -5.54994709e-01 -4.00663865e-04 1.34771941e+02] [ 5.54994651e-01 8.31853877e-01 -2.53869000e-04 3.71511964e+01] [ 4.74189741e-04 -1.11844140e-05 9.99999888e-01 -2.91077025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.855769231 meters 0.031074811612701394 Centerline is valid? [True, True] Translation: X:134.80, Y:37.16, Z:-0.29 [[ 8.31019405e-01 -5.56242111e-01 -1.20925208e-03 1.34797998e+02] [ 5.56241585e-01 8.31020284e-01 -7.65653167e-04 3.71637509e+01] [ 1.43080154e-03 -3.63636539e-05 9.99998976e-01 -2.92940079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.885769231 meters 0.03384045789312509 Centerline is valid? [True, True] Translation: X:134.83, Y:37.17, Z:-0.29 [[ 8.29365326e-01 -5.58704469e-01 -1.57225003e-03 1.34826444e+02] [ 5.58703585e-01 8.29366815e-01 -9.95706328e-04 3.71731397e+01] [ 1.86027757e-03 -5.26174238e-05 9.99998268e-01 -2.93929381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.915769231 meters 0.03645946248581681 Centerline is valid? [True, True] Translation: X:134.85, Y:37.18, Z:-0.29 [[ 8.28555848e-01 -5.59906192e-01 -5.12612521e-04 1.34852746e+02] [ 5.59906098e-01 8.28556006e-01 -3.24788606e-04 3.71831570e+01] [ 6.06579334e-04 -1.79093774e-05 9.99999816e-01 -2.91948969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.945769231 meters 0.03748194741257059 Centerline is valid? [True, True] Translation: X:134.88, Y:37.19, Z:-0.29 [[ 8.26937727e-01 -5.62291706e-01 1.42608561e-03 1.34880036e+02] [ 5.62290984e-01 8.26938955e-01 9.02867741e-04 3.71931964e+01] [-1.68696079e-03 5.52596847e-05 9.99998576e-01 -2.87297544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97576923100002 meters 0.0405163763984873 Centerline is valid? [True, True] Translation: X:134.91, Y:37.20, Z:-0.29 [[ 8.25911177e-01 -5.63796340e-01 2.10109875e-03 1.34907467e+02] [ 5.63794775e-01 8.25913846e-01 1.33080441e-03 3.72014372e+01] [-2.48562920e-03 8.54622641e-05 9.99996907e-01 -2.85571096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00576923100002 meters 0.04119638162550792 Centerline is valid? [True, True] Translation: X:134.93, Y:37.21, Z:-0.29 [[ 8.25449031e-01 -5.64473803e-01 1.79535391e-03 1.34933260e+02] [ 5.64472662e-01 8.25450980e-01 1.13731042e-03 3.72145962e+01] [-2.12395859e-03 7.46364149e-05 9.99997742e-01 -2.86362281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03576923100002 meters 0.042545807268764745 Centerline is valid? [True, True] Translation: X:134.96, Y:37.22, Z:-0.29 [[ 8.25113669e-01 -5.64966503e-01 5.32810369e-04 1.34960914e+02] [ 5.64966403e-01 8.25113841e-01 3.37540773e-04 3.72226811e+01] [-6.30328440e-04 2.25104513e-05 9.99999801e-01 -2.89011256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06576923100002 meters 0.04406514385460438 Centerline is valid? [True, True] Translation: X:134.99, Y:37.23, Z:-0.29 [[ 8.25392184e-01 -5.64559765e-01 1.21392080e-04 1.34987695e+02] [ 5.64559760e-01 8.25392193e-01 7.68021549e-05 3.72331562e+01] [-1.43555481e-04 5.14118496e-06 9.99999990e-01 -2.90364018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09576923100002 meters 0.042133385744531 Centerline is valid? [True, True] Translation: X:135.01, Y:37.25, Z:-0.29 [[ 8.25788304e-01 -5.63980180e-01 1.83291299e-04 1.35012430e+02] [ 5.63980168e-01 8.25788324e-01 1.15847460e-04 3.72488932e+01] [-2.16695486e-04 7.70717997e-06 9.99999976e-01 -2.89760851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12576923100002 meters 0.03808706015107856 Centerline is valid? [True, True] Translation: X:135.04, Y:37.27, Z:-0.29 [[ 8.27448648e-01 -5.61541223e-01 4.35499846e-04 1.35035770e+02] [ 5.61541155e-01 8.27448763e-01 2.75810241e-04 3.72651374e+01] [-5.15232628e-04 1.63322752e-05 9.99999867e-01 -2.88411600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15576923100002 meters 0.036675085203142735 Centerline is valid? [True, True] Translation: X:135.06, Y:37.28, Z:-0.29 [[ 8.28724202e-01 -5.59656967e-01 5.24622351e-04 1.35061031e+02] [ 5.59656869e-01 8.28724368e-01 3.32458936e-04 3.72775464e+01] [-6.20830286e-04 1.80917363e-05 9.99999807e-01 -2.89262912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18576923100002 meters 0.036675085203142735 Centerline is valid? [True, True] Translation: X:135.08, Y:37.29, Z:-0.29 [[ 8.28624987e-01 -5.59803854e-01 5.24570288e-04 1.35084150e+02] [ 5.59803756e-01 8.28625153e-01 3.32541029e-04 3.72924546e+01] [-6.20829885e-04 1.81046120e-05 9.99999807e-01 -2.89321978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21576923100002 meters 0.034726552932308086 Centerline is valid? [True, True] Translation: X:135.11, Y:37.31, Z:-0.29 [[ 8.29036911e-01 -5.59193646e-01 5.16510987e-04 1.35108473e+02] [ 5.59193550e-01 8.29037072e-01 3.27589203e-04 3.73075289e+01] [-6.11392557e-04 1.72460707e-05 9.99999813e-01 -2.90168107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.245769231 meters 0.03268700381068376 Centerline is valid? [True, True] Translation: X:135.13, Y:37.32, Z:-0.29 [[ 8.30367194e-01 -5.57216490e-01 3.26607446e-04 1.35133035e+02] [ 5.57216452e-01 8.30367258e-01 2.07042399e-04 3.73205878e+01] [-3.86571569e-04 1.00698261e-05 9.99999925e-01 -2.90611700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.275769231 meters 0.03084696973275505 Centerline is valid? [True, True] Translation: X:135.16, Y:37.34, Z:-0.29 [[ 8.31469045e-01 -5.55571004e-01 2.94211937e-04 1.35155848e+02] [ 5.55570973e-01 8.31469097e-01 1.86770867e-04 3.73359822e+01] [-3.48392612e-04 8.16141737e-06 9.99999939e-01 -2.90770700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.305769231 meters 0.02195510234532686 Centerline is valid? [True, True] Translation: X:135.17, Y:37.36, Z:-0.29 [[ 8.34581673e-01 -5.50884140e-01 -3.10041615e-04 1.35174830e+02] [ 5.50884104e-01 8.34581730e-01 -1.97482409e-04 3.73600297e+01] [ 3.67544995e-04 -5.98179785e-06 9.99999932e-01 -2.90433474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.335769231 meters 0.020172413348478323 Centerline is valid? [True, True] Translation: X:135.20, Y:37.38, Z:-0.29 [[ 8.36088085e-01 -5.48594979e-01 -5.12616021e-04 1.35197068e+02] [ 5.48594882e-01 8.36088243e-01 -3.26344063e-04 3.73777955e+01] [ 6.07622943e-04 -8.36614291e-06 9.99999815e-01 -2.91216505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.365769231 meters 0.01611249301615285 Centerline is valid? [True, True] Translation: X:135.22, Y:37.40, Z:-0.29 [[ 8.38892993e-01 -5.44296363e-01 -1.25416245e-04 1.35217531e+02] [ 5.44296357e-01 8.38893002e-01 -7.98972249e-05 3.73968738e+01] [ 1.48698579e-04 -1.23838287e-06 9.99999989e-01 -2.91952031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.395769231 meters 0.014472778083621698 Centerline is valid? [True, True] Translation: X:135.24, Y:37.41, Z:-0.29 [[ 8.40054258e-01 -5.42502213e-01 4.39098762e-04 1.35240294e+02] [ 5.42502141e-01 8.40054373e-01 2.79039806e-04 3.74124859e+01] [-5.20246547e-04 3.80344195e-06 9.99999865e-01 -2.90848229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.425769231 meters 0.01239125062683729 Centerline is valid? [True, True] Translation: X:135.26, Y:37.43, Z:-0.29 [[ 8.41054897e-01 -5.40948709e-01 1.07427581e-03 1.35264036e+02] [ 5.40948278e-01 8.41055583e-01 6.83084450e-04 3.74281047e+01] [-1.27303932e-03 6.61612626e-06 9.99999190e-01 -2.89240943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.455769231 meters 0.012552792575434351 Centerline is valid? [True, True] Translation: X:135.29, Y:37.44, Z:-0.29 [[ 8.41168015e-01 -5.40773143e-01 8.82335882e-04 1.35287257e+02] [ 5.40772852e-01 8.41168478e-01 5.61248176e-04 3.74417987e+01] [-1.04570107e-03 5.03927734e-06 9.99999453e-01 -2.89841259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.485769231 meters 0.01260944906027759 Centerline is valid? [True, True] Translation: X:135.31, Y:37.46, Z:-0.29 [[ 8.41232554e-01 -5.40672825e-01 8.28077014e-04 1.35310222e+02] [ 5.40672569e-01 8.41232962e-01 5.26844021e-04 3.74557489e+01] [-9.81455924e-04 4.52018450e-06 9.99999518e-01 -2.91535446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.515769231 meters 0.01253227161872798 Centerline is valid? [True, True] Translation: X:135.33, Y:37.47, Z:-0.29 [[ 8.41201174e-01 -5.40721987e-01 5.64179909e-04 1.35334888e+02] [ 5.40721868e-01 8.41201363e-01 3.58805936e-04 3.74698353e+01] [-6.68603167e-04 3.23644020e-06 9.99999776e-01 -2.92387006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.545769231 meters 0.013061383342948847 Centerline is valid? [True, True] Translation: X:135.36, Y:37.48, Z:-0.29 [[ 8.40658243e-01 -5.41565932e-01 2.45615936e-04 1.35362623e+02] [ 5.41565910e-01 8.40658278e-01 1.56018113e-04 3.74788568e+01] [-2.90973164e-04 1.85930478e-06 9.99999958e-01 -2.93491450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.575769231 meters 0.013504983853367375 Centerline is valid? [True, True] Translation: X:135.39, Y:37.49, Z:-0.29 [[ 8.40237215e-01 -5.42218958e-01 -1.54316025e-04 1.35388391e+02] [ 5.42218949e-01 8.40237229e-01 -9.87798765e-05 3.74913255e+01] [ 1.83222391e-04 -6.74544413e-07 9.99999983e-01 -2.94270535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.605769231 meters 0.012632533733050181 Centerline is valid? [True, True] Translation: X:135.41, Y:37.51, Z:-0.30 [[ 8.40747518e-01 -5.41425354e-01 -1.48235370e-03 1.35412745e+02] [ 5.41424528e-01 8.40748825e-01 -9.45478488e-04 3.75060571e+01] [ 1.75819315e-03 -7.67395879e-06 9.99998454e-01 -2.95520781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.635769231 meters 0.011697882718437417 Centerline is valid? [True, True] Translation: X:135.43, Y:37.52, Z:-0.30 [[ 8.41843939e-01 -5.39718629e-01 -1.60741920e-03 1.35434821e+02] [ 5.39717655e-01 8.41845473e-01 -1.02564833e-03 3.75226878e+01] [ 1.90676008e-03 -4.11669333e-06 9.99998182e-01 -2.95799097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.665769231 meters 0.012356034125268174 Centerline is valid? [True, True] Translation: X:135.45, Y:37.54, Z:-0.30 [[ 8.44712362e-01 -5.35216017e-01 -2.20008264e-03 1.35453191e+02] [ 5.35214177e-01 8.44715227e-01 -1.40375658e-03 3.75439643e+01] [ 2.60975631e-03 8.25512283e-06 9.99996595e-01 -2.98236657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.695769231 meters 0.013980677649618212 Centerline is valid? [True, True] Translation: X:135.47, Y:37.56, Z:-0.30 [[ 8.45911612e-01 -5.33318508e-01 -2.21670238e-03 1.35474638e+02] [ 5.33316631e-01 8.45914516e-01 -1.41500246e-03 3.75628544e+01] [ 2.62978772e-03 1.47627658e-05 9.99996542e-01 -2.99259885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72576923100002 meters 0.016364349891449206 Centerline is valid? [True, True] Translation: X:135.50, Y:37.58, Z:-0.30 [[ 8.47192503e-01 -5.31278940e-01 -2.74806632e-03 1.35495878e+02] [ 5.31276044e-01 8.47196959e-01 -1.75421025e-03 3.75819964e+01] [ 3.26012839e-03 2.61719719e-05 9.99994685e-01 -3.01426979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75576923100002 meters 0.015432462481649506 Centerline is valid? [True, True] Translation: X:135.52, Y:37.60, Z:-0.30 [[ 8.47412967e-01 -5.30930812e-01 -1.93299985e-03 1.35519989e+02] [ 5.30929377e-01 8.47415171e-01 -1.23473046e-03 3.75965380e+01] [ 2.29360984e-03 2.00401978e-05 9.99997369e-01 -2.97379755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78576923100002 meters 0.015062138168522426 Centerline is valid? [True, True] Translation: X:135.54, Y:37.61, Z:-0.30 [[ 8.47451283e-01 -5.30871571e-01 -1.30303243e-03 1.35543285e+02] [ 5.30870918e-01 8.47452285e-01 -8.32845798e-04 3.76118303e+01] [ 1.54639197e-03 1.40542187e-05 9.99998804e-01 -2.95004597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81576923100002 meters 0.017881206952628754 Centerline is valid? [True, True] Translation: X:135.56, Y:37.63, Z:-0.29 [[ 8.47850199e-01 -5.30235832e-01 5.60407885e-05 1.35562344e+02] [ 5.30235831e-01 8.47850201e-01 3.55984174e-05 3.76319470e+01] [-6.63897503e-05 -4.67291267e-07 9.99999998e-01 -2.93016462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84576923100002 meters 0.015870784438250244 Centerline is valid? [True, True] Translation: X:135.59, Y:37.64, Z:-0.29 [[ 8.47844882e-01 -5.30243544e-01 9.16327119e-04 1.35587072e+02] [ 5.30243221e-01 8.47845378e-01 5.85209989e-04 3.76449482e+01] [-1.08720753e-03 -1.02910516e-05 9.99999409e-01 -2.90602140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87576923100002 meters 0.01625382533272219 Centerline is valid? [True, True] Translation: X:135.61, Y:37.66, Z:-0.29 [[ 8.47682567e-01 -5.30497803e-01 2.51925349e-03 1.35608177e+02] [ 5.30495360e-01 8.47686310e-01 1.61030275e-03 3.76623388e+01] [-2.98979877e-03 -2.85732816e-05 9.99995530e-01 -2.86944259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90576923100002 meters 0.018027341065028565 Centerline is valid? [True, True] Translation: X:135.63, Y:37.68, Z:-0.29 [[ 8.47827376e-01 -5.30264204e-01 2.93488344e-03 1.35628754e+02] [ 5.30260885e-01 8.47832456e-01 1.87637453e-03 3.76803972e+01] [-3.48326368e-03 -3.45877983e-05 9.99993933e-01 -2.85492359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93576923100002 meters 0.017113817156138578 Centerline is valid? [True, True] Translation: X:135.65, Y:37.70, Z:-0.29 [[ 8.48140916e-01 -5.29763684e-01 2.72498437e-03 1.35653140e+02] [ 5.29760819e-01 8.48145293e-01 1.74262318e-03 3.76963865e+01] [-3.23436114e-03 -3.44000650e-05 9.99994769e-01 -2.85532764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96576923100002 meters 0.017112356021476975 Centerline is valid? [True, True] Translation: X:135.68, Y:37.71, Z:-0.29 [[ 8.48127554e-01 -5.29787180e-01 2.27940185e-03 1.35675927e+02] [ 5.29785174e-01 8.48130617e-01 1.45813127e-03 3.77119994e+01] [-2.70572975e-03 -2.90880024e-05 9.99996339e-01 -2.87312143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.995769231 meters 0.017009373194092275 Centerline is valid? [True, True] Translation: X:135.70, Y:37.73, Z:-0.29 [[ 8.47807412e-01 -5.30302695e-01 1.28193948e-03 1.35697496e+02] [ 5.30302061e-01 8.47808381e-01 8.20251528e-04 3.77275461e+01] [-1.52182063e-03 -1.56001785e-05 9.99998842e-01 -2.90631295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.025769231 meters 0.0162194854366694 Centerline is valid? [True, True] Translation: X:135.72, Y:37.74, Z:-0.29 [[ 8.47303274e-01 -5.31108761e-01 8.03587174e-04 1.35721386e+02] [ 5.31108512e-01 8.47303655e-01 5.14062133e-04 3.77424982e+01] [-9.53905252e-04 -8.77454041e-06 9.99999545e-01 -2.92205099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.055769231 meters 0.01461714514735313 Centerline is valid? [True, True] Translation: X:135.75, Y:37.76, Z:-0.29 [[ 8.46204146e-01 -5.32858533e-01 5.71972880e-04 1.35746414e+02] [ 5.32858407e-01 8.46204339e-01 3.66126197e-04 3.77553983e+01] [-6.79099401e-04 -5.03694788e-06 9.99999769e-01 -2.92906062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.085769231 meters 0.01377177088499897 Centerline is valid? [True, True] Translation: X:135.77, Y:37.77, Z:-0.29 [[ 8.45711455e-01 -5.33640356e-01 3.24846545e-04 1.35770757e+02] [ 5.33640315e-01 8.45711517e-01 2.07633718e-04 3.77693925e+01] [-3.85528196e-04 -2.24700167e-06 9.99999926e-01 -2.92909384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.115769231 meters 0.014150577760896135 Centerline is valid? [True, True] Translation: X:135.79, Y:37.79, Z:-0.30 [[ 8.45488035e-01 -5.33991091e-01 -1.87016226e-03 1.35793189e+02] [ 5.33989746e-01 8.45490103e-01 -1.19849888e-03 3.77850127e+01] [ 2.22119141e-03 1.46689884e-05 9.99997533e-01 -2.99494465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.145769231 meters 0.013888833114594223 Centerline is valid? [True, True] Translation: X:135.82, Y:37.80, Z:-0.30 [[ 8.45457799e-01 -5.34034958e-01 -2.78812590e-03 1.35817668e+02] [ 5.34031967e-01 8.45462396e-01 -1.78753097e-03 3.77998245e+01] [ 3.31185963e-03 2.23336423e-05 9.99994516e-01 -3.01793952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.175769231 meters 0.014433383120872032 Centerline is valid? [True, True] Translation: X:135.84, Y:37.82, Z:-0.30 [[ 8.45539866e-01 -5.33903272e-01 -3.10323873e-03 1.35840099e+02] [ 5.33899566e-01 8.45545561e-01 -1.98963360e-03 3.78152124e+01] [ 3.68620162e-03 2.54967119e-05 9.99993206e-01 -3.02574058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.205769231 meters 0.01360293858167152 Centerline is valid? [True, True] Translation: X:135.87, Y:37.83, Z:-0.30 [[ 8.45168241e-01 -5.34497858e-01 -1.63838623e-03 1.35865613e+02] [ 5.34496824e-01 8.45169829e-01 -1.05108490e-03 3.78298219e+01] [ 1.94651724e-03 1.26313428e-05 9.99998105e-01 -2.98145162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.235769231 meters 0.012498839893429288 Centerline is valid? [True, True] Translation: X:135.89, Y:37.84, Z:-0.30 [[ 8.44260304e-01 -5.35931302e-01 -1.47600523e-03 1.35891638e+02] [ 5.35930465e-01 8.44261594e-01 -9.46991945e-04 3.78436115e+01] [ 1.75365716e-03 8.47153678e-06 9.99998462e-01 -2.97121418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.265769231 meters 0.01304348727979642 Centerline is valid? [True, True] Translation: X:135.91, Y:37.86, Z:-0.30 [[ 8.43942145e-01 -5.36428243e-01 -2.52891640e-03 1.35914576e+02] [ 5.36425789e-01 8.43945934e-01 -1.62262666e-03 3.78588870e+01] [ 3.00469148e-03 1.28270492e-05 9.99995486e-01 -3.01107616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.295769231 meters 0.012433435772319824 Centerline is valid? [True, True] Translation: X:135.94, Y:37.87, Z:-0.30 [[ 8.43168489e-01 -5.37632834e-01 -4.22322876e-03 1.35940971e+02] [ 5.37626000e-01 8.43179065e-01 -2.71083786e-03 3.78718784e+01] [ 5.01837352e-03 1.51754757e-05 9.99987408e-01 -3.04271964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.325769231 meters 0.012169048677524571 Centerline is valid? [True, True] Translation: X:135.96, Y:37.89, Z:-0.30 [[ 8.42681298e-01 -5.38401154e-01 -3.52526739e-03 1.35964885e+02] [ 5.38396398e-01 8.42688672e-01 -2.26291751e-03 3.78862119e+01] [ 4.18906029e-03 8.92700213e-06 9.99991226e-01 -3.03388325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.355769231 meters 0.011289641788778244 Centerline is valid? [True, True] Translation: X:135.99, Y:37.90, Z:-0.30 [[ 8.41815653e-01 -5.39764723e-01 -6.70042214e-04 1.35990233e+02] [ 5.39764552e-01 8.41815920e-01 -4.30659403e-04 3.79003708e+01] [ 7.96506956e-04 8.70791272e-07 9.99999683e-01 -2.96031693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.385769231 meters 0.011288324344409902 Centerline is valid? [True, True] Translation: X:136.01, Y:37.91, Z:-0.29 [[ 8.41688500e-01 -5.39963305e-01 -3.13197252e-04 1.36014050e+02] [ 5.39963267e-01 8.41688559e-01 -2.01411304e-04 3.79138091e+01] [ 3.72369257e-04 4.10566548e-07 9.99999931e-01 -2.94771378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.415769231 meters 0.011274934225723052 Centerline is valid? [True, True] Translation: X:136.04, Y:37.93, Z:-0.30 [[ 8.41281534e-01 -5.40597016e-01 -4.97909133e-04 1.36038693e+02] [ 5.40596921e-01 8.41281681e-01 -3.20392829e-04 3.79273631e+01] [ 5.92085240e-04 3.72426392e-07 9.99999825e-01 -2.96053074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.445769231 meters 0.012000770306713256 Centerline is valid? [True, True] Translation: X:136.07, Y:37.94, Z:-0.30 [[ 8.39147511e-01 -5.43903660e-01 -5.14204979e-04 1.36067545e+02] [ 5.43903559e-01 8.39147668e-01 -3.30935702e-04 3.79355354e+01] [ 6.11491048e-04 -1.97404781e-06 9.99999813e-01 -2.97434876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47576923100002 meters 0.013185610594513696 Centerline is valid? [True, True] Translation: X:136.09, Y:37.95, Z:-0.30 [[ 8.38005210e-01 -5.45662180e-01 -2.30665248e-04 1.36094200e+02] [ 5.45662159e-01 8.38005242e-01 -1.48546038e-04 3.79450434e+01] [ 2.74354641e-04 -1.38294329e-06 9.99999962e-01 -2.97462733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50576923100002 meters 0.016174679537037277 Centerline is valid? [True, True] Translation: X:136.13, Y:37.95, Z:-0.30 [[ 8.35541241e-01 -5.49427719e-01 1.25618500e-04 1.36126240e+02] [ 5.49427713e-01 8.35541251e-01 8.03658445e-05 3.79481012e+01] [-1.49114661e-04 1.86930773e-06 9.99999989e-01 -2.95621897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53576923100002 meters 0.01727339667343855 Centerline is valid? [True, True] Translation: X:136.15, Y:37.96, Z:-0.29 [[ 8.34856998e-01 -5.50466625e-01 5.36002097e-04 1.36152366e+02] [ 5.50466517e-01 8.34857170e-01 3.44568386e-04 3.79581957e+01] [-6.37158590e-04 7.38587867e-06 9.99999797e-01 -2.94676260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56576923100002 meters 0.01811707333077372 Centerline is valid? [True, True] Translation: X:136.18, Y:37.97, Z:-0.29 [[ 8.34667077e-01 -5.50753767e-01 1.07662831e-03 1.36176825e+02] [ 5.50753332e-01 8.34667771e-01 6.92400862e-04 3.79691862e+01] [-1.27996933e-03 1.50324245e-05 9.99999181e-01 -2.93152915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59576923100002 meters 0.015697927824042546 Centerline is valid? [True, True] Translation: X:136.20, Y:37.98, Z:-0.29 [[ 8.35737572e-01 -5.49128253e-01 9.34157936e-04 1.36201741e+02] [ 5.49127924e-01 8.35738094e-01 6.00856921e-04 3.79842006e+01] [-1.11065888e-03 1.08135043e-05 9.99999383e-01 -2.93861574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62576923100002 meters 0.013227162783585824 Centerline is valid? [True, True] Translation: X:136.22, Y:38.00, Z:-0.30 [[ 8.37843229e-01 -5.45909526e-01 -1.23034804e-03 1.36224714e+02] [ 5.45908951e-01 8.37844132e-01 -7.92328844e-04 3.79995412e+01] [ 1.46337975e-03 -7.81065346e-06 9.99998929e-01 -2.98844993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65576923100002 meters 0.01218197824281063 Centerline is valid? [True, True] Translation: X:136.25, Y:38.02, Z:-0.30 [[ 8.39151585e-01 -5.43894315e-01 -1.89498624e-03 1.36247185e+02] [ 5.43892945e-01 8.39153725e-01 -1.22087251e-03 3.80166429e+01] [ 2.25421038e-03 -6.17254418e-06 9.99997459e-01 -3.00115392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68576923100002 meters 0.011829267945049333 Centerline is valid? [True, True] Translation: X:136.27, Y:38.03, Z:-0.30 [[ 8.41631419e-01 -5.40049486e-01 -1.76280648e-03 1.36267726e+02] [ 5.40048291e-01 8.41633265e-01 -1.13579029e-03 3.80339319e+01] [ 2.09701953e-03 3.91617067e-06 9.99997801e-01 -2.99695903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71576923100002 meters 0.012062175848058108 Centerline is valid? [True, True] Translation: X:136.29, Y:38.05, Z:-0.30 [[ 8.42223940e-01 -5.39126854e-01 -1.03430743e-03 1.36291442e+02] [ 5.39126442e-01 8.42224575e-01 -6.67001848e-04 3.80496452e+01] [ 1.23071775e-03 4.14243718e-06 9.99999243e-01 -2.97842798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.745769231 meters 0.01315962807801612 Centerline is valid? [True, True] Translation: X:136.31, Y:38.07, Z:-0.30 [[ 8.43369867e-01 -5.37333427e-01 -2.33913197e-04 1.36313378e+02] [ 5.37333406e-01 8.43369900e-01 -1.50971814e-04 3.80669501e+01] [ 2.78397552e-04 1.63570416e-06 9.99999961e-01 -2.96679653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.775769231 meters 0.014113406814388588 Centerline is valid? [True, True] Translation: X:136.34, Y:38.09, Z:-0.30 [[ 8.43989445e-01 -5.36358902e-01 -9.71672100e-04 1.36336373e+02] [ 5.36358536e-01 8.43990005e-01 -6.26900586e-04 3.80850577e+01] [ 1.15632525e-03 7.93285259e-06 9.99999331e-01 -2.98778873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.805769231 meters 0.01693138818295536 Centerline is valid? [True, True] Translation: X:136.36, Y:38.11, Z:-0.30 [[ 8.45708385e-01 -5.33640812e-01 -2.19365510e-03 1.36356248e+02] [ 5.33638937e-01 8.45711229e-01 -1.41470505e-03 3.81052770e+01] [ 2.61014310e-03 2.58081483e-05 9.99996593e-01 -3.01611202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.835769231 meters 0.022172484816705997 Centerline is valid? [True, True] Translation: X:136.37, Y:38.13, Z:-0.30 [[ 8.48472722e-01 -5.29235564e-01 -1.93862388e-03 1.36374603e+02] [ 5.29234087e-01 8.48474936e-01 -1.25092046e-03 3.81304990e+01] [ 2.30690537e-03 3.53860515e-05 9.99997338e-01 -2.99599213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.865769231 meters 0.025841481764583053 Centerline is valid? [True, True] Translation: X:136.39, Y:38.15, Z:-0.30 [[ 8.50458408e-01 -5.26038890e-01 -1.89259028e-03 1.36394467e+02] [ 5.26037474e-01 8.50460513e-01 -1.22164800e-03 3.81534549e+01] [ 2.25220765e-03 4.33874032e-05 9.99997463e-01 -2.99218807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.895769231 meters 0.03639830312065866 Centerline is valid? [True, True] Translation: X:136.41, Y:38.19, Z:-0.30 [[ 8.55247569e-01 -5.18211903e-01 -2.83194215e-03 1.36406294e+02] [ 5.18208687e-01 8.55252252e-01 -1.82822625e-03 3.81866099e+01] [ 3.36943350e-03 9.60490363e-05 9.99994319e-01 -3.01246017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.925769231 meters 0.04269737005251749 Centerline is valid? [True, True] Translation: X:136.42, Y:38.21, Z:-0.30 [[ 8.57444163e-01 -5.14568527e-01 -2.95618190e-03 1.36423262e+02] [ 5.14565000e-01 8.57449251e-01 -1.90863920e-03 3.82117590e+01] [ 3.51690162e-03 1.15403799e-04 9.99993809e-01 -3.02185415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.955769231 meters 0.04028050441098939 Centerline is valid? [True, True] Translation: X:136.44, Y:38.23, Z:-0.30 [[ 8.59847013e-01 -5.10549393e-01 -1.55931107e-03 1.36444539e+02] [ 5.10548405e-01 8.59848424e-01 -1.00694567e-03 3.82325076e+01] [ 1.85486666e-03 6.97154503e-05 9.99998277e-01 -2.98255914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.985769231 meters 0.04320110241279568 Centerline is valid? [True, True] Translation: X:136.46, Y:38.25, Z:-0.30 [[ 8.60209998e-01 -5.09939410e-01 -7.47259129e-04 1.36463439e+02] [ 5.09939183e-01 8.60210321e-01 -4.82693887e-04 3.82549229e+01] [ 8.88944652e-04 3.41613982e-05 9.99999604e-01 -2.97207258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.015769231 meters 0.05064988188541614 Centerline is valid? [True, True] Translation: X:136.48, Y:38.29, Z:-0.29 [[ 8.60356115e-01 -5.09692271e-01 1.07000227e-03 1.36476537e+02] [ 5.09691805e-01 8.60356779e-01 6.90859554e-04 3.82853379e+01] [-1.27270948e-03 -4.90138535e-05 9.99999189e-01 -2.93118491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.045769231 meters 0.05175995238550246 Centerline is valid? [True, True] Translation: X:136.50, Y:38.31, Z:-0.29 [[ 8.60421169e-01 -5.09580171e-01 1.86041412e-03 1.36496116e+02] [ 5.09578761e-01 8.60423176e-01 1.20159251e-03 3.83059910e+01] [-2.21305114e-03 -8.58481095e-05 9.99997548e-01 -2.90333962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.075769231 meters 0.05175995238550246 Centerline is valid? [True, True] Translation: X:136.52, Y:38.32, Z:-0.29 [[ 8.60334306e-01 -5.09726811e-01 1.86031448e-03 1.36519106e+02] [ 5.09725401e-01 8.60336313e-01 1.20174675e-03 3.83210874e+01] [-2.21305864e-03 -8.56544130e-05 9.99997548e-01 -2.90393047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.105769231 meters 0.052308429290857376 Centerline is valid? [True, True] Translation: X:136.53, Y:38.35, Z:-0.29 [[ 8.60300258e-01 -5.09781363e-01 2.53524717e-03 1.36534604e+02] [ 5.09778744e-01 8.60303986e-01 1.63846182e-03 3.83466844e+01] [-3.01634055e-03 -1.17154010e-04 9.99995444e-01 -2.88745111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.135769231 meters 0.051221310774078925 Centerline is valid? [True, True] Translation: X:136.55, Y:38.37, Z:-0.29 [[ 8.59547589e-01 -5.11053167e-01 1.61338456e-03 1.36553374e+02] [ 5.11052108e-01 8.59549100e-01 1.04285609e-03 3.83715536e+01] [-1.91973816e-03 -7.18608574e-05 9.99998155e-01 -2.92341061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.165769231 meters 0.04987062926495416 Centerline is valid? [True, True] Translation: X:136.58, Y:38.39, Z:-0.29 [[ 8.58945853e-01 -5.12065254e-01 1.09396019e-03 1.36575615e+02] [ 5.12064768e-01 8.58946549e-01 7.07089848e-04 3.83908414e+01] [-1.30172947e-03 -4.71734237e-05 9.99999152e-01 -2.93357485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.195769231 meters 0.04648579758254597 Centerline is valid? [True, True] Translation: X:136.60, Y:38.41, Z:-0.29 [[ 8.57088676e-01 -5.15166748e-01 1.49119497e-03 1.36595062e+02] [ 5.15165849e-01 8.57089971e-01 9.64325462e-04 3.84115341e+01] [-1.77487667e-03 -5.82997081e-05 9.99998423e-01 -2.91710742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22576923100002 meters 0.0424654902099923 Centerline is valid? [True, True] Translation: X:136.62, Y:38.43, Z:-0.29 [[ 8.55473786e-01 -5.17843614e-01 1.61025962e-03 1.36619807e+02] [ 5.17842570e-01 8.55475299e-01 1.04152413e-03 3.84268996e+01] [-1.91688395e-03 -5.71356078e-05 9.99998161e-01 -2.90939641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25576923100002 meters 0.03203685425679431 Centerline is valid? [True, True] Translation: X:136.65, Y:38.44, Z:-0.29 [[ 8.50976760e-01 -5.25202441e-01 9.74843215e-04 1.36646963e+02] [ 5.25202063e-01 8.50977318e-01 6.30682184e-04 3.84357409e+01] [-1.16080529e-03 -2.47062134e-05 9.99999326e-01 -2.93184259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28576923100002 meters 0.0180662151793244 Centerline is valid? [True, True] Translation: X:136.68, Y:38.44, Z:-0.30 [[ 8.45992676e-01 -5.33194512e-01 -6.76277421e-05 1.36679798e+02] [ 5.33194510e-01 8.45992679e-01 -4.38992997e-05 3.84375359e+01] [ 8.06194404e-05 1.07974516e-06 9.99999997e-01 -2.95452621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31576923100002 meters 0.014843890808865327 Centerline is valid? [True, True] Translation: X:136.71, Y:38.45, Z:-0.30 [[ 8.43761079e-01 -5.36718623e-01 -6.00753364e-04 1.36706375e+02] [ 5.36718482e-01 8.43761293e-01 -3.89357917e-04 3.84493998e+01] [ 7.15868080e-04 6.08962212e-06 9.99999744e-01 -2.96524004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34576923100002 meters 0.012159637366446286 Centerline is valid? [True, True] Translation: X:136.73, Y:38.46, Z:-0.30 [[ 8.40884886e-01 -5.41212900e-01 -1.09758376e-03 1.36733919e+02] [ 5.41212433e-01 8.40885602e-01 -7.10945683e-04 3.84574694e+01] [ 1.30771536e-03 3.79750087e-06 9.99999145e-01 -2.98822577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37576923100002 meters 0.01205195490129479 Centerline is valid? [True, True] Translation: X:136.76, Y:38.47, Z:-0.30 [[ 8.40425437e-01 -5.41926188e-01 -1.04446176e-03 1.36757684e+02] [ 5.41925766e-01 8.40426086e-01 -6.76656406e-04 3.84712156e+01] [ 1.24449074e-03 2.65851531e-06 9.99999226e-01 -2.99712912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40576923100002 meters 0.012155381826772792 Centerline is valid? [True, True] Translation: X:136.78, Y:38.49, Z:-0.30 [[ 8.40812316e-01 -5.41325455e-01 -1.18309236e-03 1.36781719e+02] [ 5.41324912e-01 8.40813149e-01 -7.67017358e-04 3.84862724e+01] [ 1.40996563e-03 4.48027566e-06 9.99999006e-01 -2.98115116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43576923100002 meters 0.012334883643561625 Centerline is valid? [True, True] Translation: X:136.81, Y:38.50, Z:-0.30 [[ 8.41117292e-01 -5.40850597e-01 -1.52723934e-03 1.36805226e+02] [ 5.40849690e-01 8.41118679e-01 -9.90448745e-04 3.85011600e+01] [ 1.82027433e-03 7.07664525e-06 9.99998343e-01 -2.98104257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46576923100002 meters 0.013685021548589249 Centerline is valid? [True, True] Translation: X:136.83, Y:38.52, Z:-0.30 [[ 8.41697940e-01 -5.39947357e-01 -1.19570665e-03 1.36828535e+02] [ 5.39946800e-01 8.41698789e-01 -7.75403769e-04 3.85154125e+01] [ 1.42510206e-03 7.03777305e-06 9.99998985e-01 -2.99600048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.495769231 meters 0.01373022415641 Centerline is valid? [True, True] Translation: X:136.85, Y:38.53, Z:-0.30 [[ 8.41765821e-01 -5.39842848e-01 -3.62108266e-05 1.36852939e+02] [ 5.39842848e-01 8.41765822e-01 -2.39129772e-05 3.85293862e+01] [ 4.33902859e-05 5.80971155e-07 9.99999999e-01 -2.96580319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.525769231 meters 0.016692287637747202 Centerline is valid? [True, True] Translation: X:136.87, Y:38.55, Z:-0.29 [[ 8.43341300e-01 -5.37375006e-01 1.88543542e-03 1.36872950e+02] [ 5.37373615e-01 8.43343407e-01 1.22281488e-03 3.85509496e+01] [-2.24717968e-03 -1.80670484e-05 9.99997475e-01 -2.90915288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.555769231 meters 0.021800650944164342 Centerline is valid? [True, True] Translation: X:136.89, Y:38.58, Z:-0.29 [[ 8.45491029e-01 -5.33988904e-01 8.78032969e-04 1.36890042e+02] [ 5.33988600e-01 8.45491485e-01 5.69561514e-04 3.85764735e+01] [-1.04650893e-03 -1.26995544e-05 9.99999452e-01 -2.94272219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.585769231 meters 0.0232327086575749 Centerline is valid? [True, True] Translation: X:136.91, Y:38.60, Z:-0.30 [[ 8.45954018e-01 -5.33255804e-01 2.18367493e-04 1.36911789e+02] [ 5.33255785e-01 8.45954046e-01 1.41355077e-04 3.85952061e+01] [-2.60107280e-04 -3.13416688e-06 9.99999966e-01 -2.96559493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.615769231 meters 0.01824023608296541 Centerline is valid? [True, True] Translation: X:136.94, Y:38.61, Z:-0.30 [[ 8.45412521e-01 -5.34113542e-01 -6.27151314e-04 1.36938170e+02] [ 5.34113386e-01 8.45412754e-01 -4.07620190e-04 3.86079889e+01] [ 7.47917183e-04 9.63730059e-06 9.99999720e-01 -2.98119608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.645769231 meters 0.01690897186338291 Centerline is valid? [True, True] Translation: X:136.96, Y:38.62, Z:-0.30 [[ 8.44320490e-01 -5.35838115e-01 -6.51729475e-04 1.36961286e+02] [ 5.35837948e-01 8.44320742e-01 -4.23358343e-04 3.86230600e+01] [ 7.77120250e-04 8.22873945e-06 9.99999698e-01 -2.98559446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.675769231 meters 0.012543791060071039 Centerline is valid? [True, True] Translation: X:136.99, Y:38.64, Z:-0.29 [[ 8.40893736e-01 -5.41199720e-01 7.66231106e-04 1.36987889e+02] [ 5.41199492e-01 8.40894085e-01 4.97317847e-04 3.86353439e+01] [-9.13467485e-04 -3.50757706e-06 9.99999583e-01 -2.94879765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.705769231 meters 0.011621712974525506 Centerline is valid? [True, True] Translation: X:137.01, Y:38.65, Z:-0.29 [[ 8.38912635e-01 -5.44264732e-01 1.22153435e-03 1.37012960e+02] [ 5.44264154e-01 8.38913524e-01 7.93451190e-04 3.86482277e+01] [-1.45660918e-03 -7.98870711e-07 9.99998939e-01 -2.93813386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.735769231 meters 0.014414354201396735 Centerline is valid? [True, True] Translation: X:137.04, Y:38.65, Z:-0.29 [[ 8.34425011e-01 -5.51121294e-01 4.69313755e-04 1.37043273e+02] [ 5.51121209e-01 8.34425143e-01 3.04593770e-04 3.86546794e+01] [-5.59475310e-04 4.48810462e-06 9.99999843e-01 -2.94776664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.765769231 meters 0.020608124926409652 Centerline is valid? [True, True] Translation: X:137.07, Y:38.66, Z:-0.30 [[ 8.32505884e-01 -5.54016171e-01 -1.89491616e-04 1.37072651e+02] [ 5.54016157e-01 8.32505905e-01 -1.23397313e-04 3.86610146e+01] [ 2.26116996e-04 -2.25242814e-06 9.99999974e-01 -2.97173426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.795769231 meters 0.022368772732498304 Centerline is valid? [True, True] Translation: X:137.10, Y:38.67, Z:-0.30 [[ 8.29523004e-01 -5.58472547e-01 -1.89020538e-05 1.37099263e+02] [ 5.58472547e-01 8.29523004e-01 -1.26901473e-05 3.86734830e+01] [ 2.27667873e-05 -2.95090676e-08 1.00000000e+00 -2.96390322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.825769231 meters 0.0221274028177195 Centerline is valid? [True, True] Translation: X:137.13, Y:38.69, Z:-0.30 [[ 8.28148419e-01 -5.60508857e-01 1.29594021e-04 1.37125047e+02] [ 5.60508851e-01 8.28148429e-01 8.41238043e-05 3.86859423e+01] [-1.54475223e-04 2.97160046e-06 9.99999988e-01 -2.95955234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.855769231 meters 0.024275721330240183 Centerline is valid? [True, True] Translation: X:137.15, Y:38.70, Z:-0.30 [[ 8.27861122e-01 -5.60932172e-01 -1.02972435e-03 1.37151530e+02] [ 5.60931773e-01 8.27861762e-01 -6.69914525e-04 3.86963122e+01] [ 1.22824602e-03 -2.30089122e-05 9.99999245e-01 -2.98248631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.885769231 meters 0.02368546221756339 Centerline is valid? [True, True] Translation: X:137.18, Y:38.71, Z:-0.30 [[ 8.27671498e-01 -5.61202218e-01 -3.45849164e-03 1.37178668e+02] [ 5.61197710e-01 8.27678720e-01 -2.25074501e-03 3.87082426e+01] [ 4.12564302e-03 -7.80200917e-05 9.99991486e-01 -3.02621033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.915769231 meters 0.023833089819736333 Centerline is valid? [True, True] Translation: X:137.20, Y:38.72, Z:-0.30 [[ 8.27878502e-01 -5.60899993e-01 -2.89539814e-03 1.37203283e+02] [ 5.60896831e-01 8.27883563e-01 -1.88432867e-03 3.87206955e+01] [ 3.45397246e-03 -6.40244485e-05 9.99994033e-01 -3.01912052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.945769231 meters 0.021454501136558845 Centerline is valid? [True, True] Translation: X:137.23, Y:38.74, Z:-0.30 [[ 8.29152716e-01 -5.59022153e-01 -8.31601318e-05 1.37228679e+02] [ 5.59022150e-01 8.29152720e-01 -5.45257185e-05 3.87354098e+01] [ 9.94335340e-05 -1.27820810e-06 9.99999995e-01 -2.96630525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97576923100002 meters 0.019719270231794865 Centerline is valid? [True, True] Translation: X:137.25, Y:38.75, Z:-0.30 [[ 8.29835416e-01 -5.58008103e-01 -3.73611090e-04 1.37252748e+02] [ 5.58008050e-01 8.29835500e-01 -2.43727525e-04 3.87517886e+01] [ 4.46037680e-04 -6.22426384e-06 9.99999901e-01 -2.96991996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00576923100002 meters 0.01792865293911017 Centerline is valid? [True, True] Translation: X:137.28, Y:38.77, Z:-0.30 [[ 8.31488454e-01 -5.55532287e-01 -3.29078104e-03 1.37276018e+02] [ 5.55528154e-01 8.31494965e-01 -2.14340397e-03 3.87675287e+01] [ 3.92699797e-03 -4.59058592e-05 9.99992288e-01 -3.03444606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03576923100002 meters 0.016483250787655813 Centerline is valid? [True, True] Translation: X:137.30, Y:38.78, Z:-0.30 [[ 8.32335889e-01 -5.54259742e-01 -3.62028786e-03 1.37298948e+02] [ 5.54254723e-01 8.32343761e-01 -2.35914321e-03 3.87845178e+01] [ 4.32090212e-03 -4.29620779e-05 9.99990664e-01 -3.03835215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06576923100002 meters 0.013931308994119701 Centerline is valid? [True, True] Translation: X:137.32, Y:38.80, Z:-0.30 [[ 8.34224536e-01 -5.51423487e-01 -1.24971938e-03 1.37320933e+02] [ 5.51422885e-01 8.34225472e-01 -8.14483345e-04 3.88013024e+01] [ 1.49167298e-03 -9.66187441e-06 9.99998887e-01 -2.98669549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09576923100002 meters 0.012814961718580618 Centerline is valid? [True, True] Translation: X:137.34, Y:38.82, Z:-0.30 [[ 8.34847234e-01 -5.50481503e-01 -4.58639039e-04 1.37344745e+02] [ 5.50481422e-01 8.34847360e-01 -2.99390244e-04 3.88181132e+01] [ 5.47702382e-04 -2.52715267e-06 9.99999850e-01 -2.96308549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12576923100002 meters 0.012845220681763695 Centerline is valid? [True, True] Translation: X:137.37, Y:38.83, Z:-0.30 [[ 8.34887800e-01 -5.50420114e-01 -2.44996717e-04 1.37368882e+02] [ 5.50420091e-01 8.34887836e-01 -1.60255481e-04 3.88329531e+01] [ 2.92752619e-04 -1.05576898e-06 9.99999957e-01 -2.97607427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15576923100002 meters 0.013377558686271784 Centerline is valid? [True, True] Translation: X:137.39, Y:38.85, Z:-0.30 [[ 8.34114777e-01 -5.51590856e-01 2.56379239e-04 1.37393668e+02] [ 5.51590831e-01 8.34114817e-01 1.66988993e-04 3.88468440e+01] [-3.05959324e-04 2.12845115e-06 9.99999953e-01 -2.96961530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18576923100002 meters 0.01544441268421865 Centerline is valid? [True, True] Translation: X:137.42, Y:38.86, Z:-0.29 [[ 8.32104693e-01 -5.54617477e-01 1.11042406e-03 1.37422893e+02] [ 5.54617005e-01 8.32105434e-01 7.24106991e-04 3.88553705e+01] [-1.32559229e-03 1.33272422e-05 9.99999121e-01 -2.94954077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21576923100002 meters 0.017416049066929423 Centerline is valid? [True, True] Translation: X:137.45, Y:38.86, Z:-0.30 [[ 8.31099807e-01 -5.56123018e-01 -5.46967143e-04 1.37450555e+02] [ 5.56122904e-01 8.31099987e-01 -3.57193844e-04 3.88644047e+01] [ 6.53228104e-04 -7.31722045e-06 9.99999787e-01 -2.96777034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.245769231 meters 0.01696154071034215 Centerline is valid? [True, True] Translation: X:137.47, Y:38.88, Z:-0.30 [[ 8.31419432e-01 -5.55643500e-01 -1.42435399e-03 1.37473472e+02] [ 5.55642721e-01 8.31420652e-01 -9.30426668e-04 3.88811032e+01] [ 1.70122285e-03 -1.78571153e-05 9.99998553e-01 -2.98675830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.275769231 meters 0.01492312349608087 Centerline is valid? [True, True] Translation: X:137.49, Y:38.90, Z:-0.30 [[ 8.33317278e-01 -5.52793744e-01 -1.17919887e-03 1.37494218e+02] [ 5.52793207e-01 8.33318113e-01 -7.70132707e-04 3.88999650e+01] [ 1.40837232e-03 -1.00882313e-05 9.99999008e-01 -3.00102969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.305769231 meters 0.013228521556085596 Centerline is valid? [True, True] Translation: X:137.52, Y:38.92, Z:-0.30 [[ 8.34171220e-01 -5.51505163e-01 -6.56297143e-04 1.37517249e+02] [ 5.51504996e-01 8.34171478e-01 -4.29122073e-04 3.89181509e+01] [ 7.84127397e-04 -3.98986998e-06 9.99999693e-01 -2.98390491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.335769231 meters 0.012292423419796411 Centerline is valid? [True, True] Translation: X:137.54, Y:38.94, Z:-0.30 [[ 8.35624647e-01 -5.49298219e-01 -1.70783083e-03 1.37537421e+02] [ 5.49297085e-01 8.35626392e-01 -1.11600018e-03 3.89364811e+01] [ 2.04012542e-03 -5.54923576e-06 9.99997919e-01 -3.00672336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.365769231 meters 0.012417540578843159 Centerline is valid? [True, True] Translation: X:137.56, Y:38.95, Z:-0.30 [[ 8.35794498e-01 -5.49036268e-01 -2.59503539e-03 1.37560293e+02] [ 5.49033647e-01 8.35798526e-01 -1.69658610e-03 3.89530704e+01] [ 3.10041406e-03 -6.76441391e-06 9.99995194e-01 -3.03553386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.395769231 meters 0.012769202261875496 Centerline is valid? [True, True] Translation: X:137.58, Y:38.97, Z:-0.31 [[ 8.35427041e-01 -5.49591735e-01 -3.25339740e-03 1.37584915e+02] [ 5.49587617e-01 8.35433376e-01 -2.12760141e-03 3.89676243e+01] [ 3.88730892e-03 -1.05711778e-05 9.99992444e-01 -3.05131182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.425769231 meters 0.013529146115856355 Centerline is valid? [True, True] Translation: X:137.61, Y:38.98, Z:-0.30 [[ 8.33736944e-01 -5.52154893e-01 -2.77172825e-03 1.37614436e+02] [ 5.52151915e-01 8.33741551e-01 -1.81336209e-03 3.89751159e+01] [ 3.31216176e-03 -1.85480983e-05 9.99994515e-01 -3.03805063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.455769231 meters 0.01641537835362943 Centerline is valid? [True, True] Translation: X:137.65, Y:38.98, Z:-0.30 [[ 8.31290951e-01 -5.55834560e-01 -1.81596846e-03 1.37646093e+02] [ 5.55833290e-01 8.31292934e-01 -1.18809447e-03 3.89776549e+01] [ 2.16998571e-03 -2.17235359e-05 9.99997645e-01 -3.01329057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.485769231 meters 0.017812288815200184 Centerline is valid? [True, True] Translation: X:137.67, Y:38.99, Z:-0.30 [[ 8.30224568e-01 -5.57427130e-01 -1.47010573e-03 1.37673577e+02] [ 5.57426299e-01 8.30225870e-01 -9.62464123e-04 3.89885295e+01] [ 1.75702342e-03 -2.04142339e-05 9.99998456e-01 -3.00686559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.515769231 meters 0.019587343511100527 Centerline is valid? [True, True] Translation: X:137.70, Y:38.99, Z:-0.30 [[ 8.29653413e-01 -5.58278234e-01 -7.92030437e-04 1.37703245e+02] [ 5.58277993e-01 8.29653791e-01 -5.18609752e-04 3.89947324e+01] [ 9.46639591e-04 -1.19068123e-05 9.99999552e-01 -2.99810307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.545769231 meters 0.017758940842152123 Centerline is valid? [True, True] Translation: X:137.73, Y:39.01, Z:-0.30 [[ 8.30015297e-01 -5.57740339e-01 -5.67060810e-04 1.37728609e+02] [ 5.57740215e-01 8.30015491e-01 -3.71711647e-04 3.90093720e+01] [ 6.77987836e-04 -7.74626518e-06 9.99999770e-01 -2.99066034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.575769231 meters 0.014714734036715896 Centerline is valid? [True, True] Translation: X:137.75, Y:39.02, Z:-0.30 [[ 8.32267143e-01 -5.54372514e-01 -1.58710459e-03 1.37754509e+02] [ 5.54371539e-01 8.32268656e-01 -1.03996171e-03 3.90231119e+01] [ 1.89742359e-03 -1.43196540e-05 9.99998200e-01 -3.00853071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.605769231 meters 0.01227679721574028 Centerline is valid? [True, True] Translation: X:137.78, Y:39.04, Z:-0.30 [[ 8.35409524e-01 -5.49614615e-01 -3.83424469e-03 1.37777361e+02] [ 5.49608871e-01 8.35418323e-01 -2.51274105e-03 3.90403770e+01] [ 4.58423748e-03 -8.16709466e-06 9.99989492e-01 -3.04285939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.635769231 meters 0.012270123779687852 Centerline is valid? [True, True] Translation: X:137.80, Y:39.06, Z:-0.30 [[ 8.37043809e-01 -5.47117755e-01 -4.45245167e-03 1.37799469e+02] [ 5.47109968e-01 8.37055650e-01 -2.91909457e-03 3.90580357e+01] [ 5.32403830e-03 7.42934911e-06 9.99985827e-01 -3.04799101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.665769231 meters 0.013239577626404242 Centerline is valid? [True, True] Translation: X:137.82, Y:39.08, Z:-0.30 [[ 8.38661148e-01 -5.44637590e-01 -4.16832315e-03 1.37821096e+02] [ 5.44630732e-01 8.38671506e-01 -2.73308283e-03 3.90759461e+01] [ 4.98439350e-03 2.19334990e-05 9.99987578e-01 -3.04451820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.695769231 meters 0.016447973506911136 Centerline is valid? [True, True] Translation: X:137.84, Y:39.10, Z:-0.30 [[ 8.41488971e-01 -5.40272569e-01 -1.36449490e-03 1.37841251e+02] [ 5.40271828e-01 8.41490078e-01 -8.94863878e-04 3.90963217e+01] [ 1.63167932e-03 1.58199318e-05 9.99998669e-01 -2.99052367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72576923100002 meters 0.018898692966042446 Centerline is valid? [True, True] Translation: X:137.86, Y:39.11, Z:-0.29 [[ 8.43084907e-01 -5.37779269e-01 1.13958545e-03 1.37864481e+02] [ 5.37778750e-01 8.43085677e-01 7.47086853e-04 3.91142751e+01] [-1.36253599e-03 -1.70128124e-05 9.99999072e-01 -2.93663311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75576923100002 meters 0.020548123988121256 Centerline is valid? [True, True] Translation: X:137.89, Y:39.13, Z:-0.29 [[ 8.43804686e-01 -5.36646615e-01 2.01577428e-03 1.37886817e+02] [ 5.36644987e-01 8.43807093e-01 1.32224544e-03 3.91315288e+01] [-2.41050318e-03 -3.39617343e-05 9.99997094e-01 -2.92347423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78576923100002 meters 0.024734245625553077 Centerline is valid? [True, True] Translation: X:137.91, Y:39.15, Z:-0.29 [[ 8.45917245e-01 -5.33313125e-01 1.06058152e-03 1.37906699e+02] [ 5.33312672e-01 8.45917910e-01 6.95677321e-04 3.91529901e+01] [-1.26817875e-03 -2.28638772e-05 9.99999196e-01 -2.94521711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81576923100002 meters 0.02691919829869536 Centerline is valid? [True, True] Translation: X:137.93, Y:39.17, Z:-0.30 [[ 8.46923963e-01 -5.31713940e-01 -2.96765270e-04 1.37927960e+02] [ 5.31713904e-01 8.46924014e-01 -1.95191542e-04 3.91730908e+01] [ 3.55123697e-04 7.51817386e-06 9.99999937e-01 -2.97399434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84576923100002 meters 0.031042439044500544 Centerline is valid? [True, True] Translation: X:137.95, Y:39.20, Z:-0.30 [[ 8.48476590e-01 -5.29225818e-01 -2.74030963e-03 1.37945294e+02] [ 5.29222764e-01 8.48481012e-01 -1.79956066e-03 3.91980455e+01] [ 3.27747465e-03 7.66508562e-05 9.99994626e-01 -3.02715105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87576923100002 meters 0.03255024112970314 Centerline is valid? [True, True] Translation: X:137.97, Y:39.22, Z:-0.30 [[ 8.49011694e-01 -5.28366923e-01 -2.74559352e-03 1.37965674e+02] [ 5.28363853e-01 8.49016130e-01 -1.80302726e-03 3.92181070e+01] [ 3.28371315e-03 8.01188610e-05 9.99994605e-01 -3.02697428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90576923100002 meters 0.03327995421628591 Centerline is valid? [True, True] Translation: X:137.99, Y:39.24, Z:-0.30 [[ 8.49386035e-01 -5.27769950e-01 -1.49757913e-03 1.37985323e+02] [ 5.27769035e-01 8.49387354e-01 -9.84114034e-04 3.92399705e+01] [ 1.79141059e-03 4.55168270e-05 9.99998394e-01 -2.99618615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93576923100002 meters 0.031362621931504214 Centerline is valid? [True, True] Translation: X:138.01, Y:39.26, Z:-0.30 [[ 8.49108705e-01 -5.28217105e-01 -1.04755454e-03 1.38008810e+02] [ 5.28216657e-01 8.49109350e-01 -6.88758957e-04 3.92563981e+01] [ 1.25330261e-03 3.14954712e-05 9.99999214e-01 -2.98726152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96576923100002 meters 0.03134571682526003 Centerline is valid? [True, True] Translation: X:138.03, Y:39.28, Z:-0.30 [[ 8.48109241e-01 -5.29820455e-01 -1.00030357e-03 1.38028835e+02] [ 5.29820047e-01 8.48109831e-01 -6.57936469e-04 3.92775136e+01] [ 1.19695549e-03 2.80211163e-05 9.99999283e-01 -2.99118673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.995769231 meters 0.03134571682526003 Centerline is valid? [True, True] Translation: X:138.05, Y:39.29, Z:-0.30 [[ 8.48015789e-01 -5.29970019e-01 -1.00016751e-03 1.38051698e+02] [ 5.29969611e-01 8.48016379e-01 -6.58143357e-04 3.92927885e+01] [ 1.19695468e-03 2.80575706e-05 9.99999283e-01 -2.99177731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.025769231 meters 0.027762466475845068 Centerline is valid? [True, True] Translation: X:138.08, Y:39.31, Z:-0.30 [[ 8.47032074e-01 -5.31539262e-01 -1.63673412e-03 1.38076507e+02] [ 5.31538172e-01 8.47033654e-01 -1.07707160e-03 3.93069934e+01] [ 1.95887472e-03 4.23275254e-05 9.99998081e-01 -2.99894671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.055769231 meters 0.023175089403318073 Centerline is valid? [True, True] Translation: X:138.10, Y:39.32, Z:-0.30 [[ 8.44929857e-01 -5.34872856e-01 -2.13657781e-03 1.38100668e+02] [ 5.34871009e-01 8.44932557e-01 -1.40632187e-03 3.93228488e+01] [ 2.55746755e-03 4.54498032e-05 9.99996729e-01 -3.01045899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.085769231 meters 0.023293367449160083 Centerline is valid? [True, True] Translation: X:138.12, Y:39.34, Z:-0.30 [[ 8.44195014e-01 -5.36032156e-01 -2.07530921e-03 1.38122272e+02] [ 5.36030415e-01 8.44197564e-01 -1.36652514e-03 3.93415646e+01] [ 2.48447239e-03 4.11848562e-05 9.99996913e-01 -3.01433110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.115769231 meters 0.022407507068134148 Centerline is valid? [True, True] Translation: X:138.14, Y:39.36, Z:-0.30 [[ 8.42932674e-01 -5.38016328e-01 -1.71402536e-03 1.38142586e+02] [ 5.38015144e-01 8.42934416e-01 -1.12907336e-03 3.93620547e+01] [ 2.05227087e-03 2.95612293e-05 9.99997894e-01 -3.00104072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.145769231 meters 0.01848705867636541 Centerline is valid? [True, True] Translation: X:138.17, Y:39.38, Z:-0.30 [[ 8.41232549e-01 -5.40671323e-01 -1.52254057e-03 1.38167303e+02] [ 5.40670393e-01 8.41233927e-01 -1.00332019e-03 3.93772932e+01] [ 1.82327924e-03 2.08329914e-05 9.99998338e-01 -2.99327025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.175769231 meters 0.017269215565374696 Centerline is valid? [True, True] Translation: X:138.19, Y:39.39, Z:-0.30 [[ 8.40375903e-01 -5.42001077e-01 -1.78139924e-03 1.38191798e+02] [ 5.41999806e-01 8.40377791e-01 -1.17422929e-03 3.93922054e+01] [ 2.13348189e-03 2.12759578e-05 9.99997724e-01 -3.00466106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.205769231 meters 0.013961377292150945 Centerline is valid? [True, True] Translation: X:138.22, Y:39.40, Z:-0.30 [[ 8.38208213e-01 -5.45344265e-01 -2.57375476e-03 1.38217758e+02] [ 5.45341626e-01 8.38212164e-01 -1.69695861e-03 3.94049907e+01] [ 3.08277920e-03 1.88290371e-05 9.99995248e-01 -3.02501348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.235769231 meters 0.012764746462605045 Centerline is valid? [True, True] Translation: X:138.24, Y:39.42, Z:-0.30 [[ 8.36784666e-01 -5.47526953e-01 -2.37856294e-03 1.38242320e+02] [ 5.47524708e-01 8.36788047e-01 -1.56822229e-03 3.94189491e+01] [ 2.84899701e-03 9.94238355e-06 9.99995942e-01 -3.02797237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.265769231 meters 0.012457286345481359 Centerline is valid? [True, True] Translation: X:138.27, Y:39.43, Z:-0.30 [[ 8.33026789e-01 -5.53230980e-01 -1.36104435e-03 1.38270581e+02] [ 5.53230251e-01 8.33027900e-01 -8.98105026e-04 3.94261816e+01] [ 1.63064744e-03 -4.82536055e-06 9.99998670e-01 -3.00089176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.295769231 meters 0.013986661863543816 Centerline is valid? [True, True] Translation: X:138.30, Y:39.44, Z:-0.30 [[ 8.31311962e-01 -5.55805320e-01 -9.31772511e-04 1.38297113e+02] [ 5.55804979e-01 8.31312484e-01 -6.15145502e-04 3.94377142e+01] [ 1.11649526e-03 -6.50598733e-06 9.99999377e-01 -2.99120469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.325769231 meters 0.016414983485108187 Centerline is valid? [True, True] Translation: X:138.33, Y:39.45, Z:-0.30 [[ 8.28872904e-01 -5.59436689e-01 -5.48102660e-04 1.38325141e+02] [ 5.59436571e-01 8.28873085e-01 -3.62167711e-04 3.94481160e+01] [ 6.56917448e-04 -6.43767065e-06 9.99999784e-01 -2.97679934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.355769231 meters 0.019646852679667353 Centerline is valid? [True, True] Translation: X:138.35, Y:39.45, Z:-0.30 [[ 8.27046434e-01 -5.62133609e-01 -5.23417452e-05 1.38353386e+02] [ 5.62133608e-01 8.27046435e-01 -3.48185002e-05 3.94549922e+01] [ 6.28617029e-05 -6.26537675e-07 9.99999998e-01 -2.96985813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.385769231 meters 0.020971918819863416 Centerline is valid? [True, True] Translation: X:138.38, Y:39.47, Z:-0.30 [[ 8.26069700e-01 -5.63567965e-01 -8.39231540e-06 1.38379851e+02] [ 5.63567965e-01 8.26069700e-01 -5.95890924e-06 3.94671687e+01] [ 1.02908878e-05 1.92834251e-07 1.00000000e+00 -2.96971704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.415769231 meters 0.02107205554995386 Centerline is valid? [True, True] Translation: X:138.40, Y:39.48, Z:-0.30 [[ 8.25338491e-01 -5.64638240e-01 -1.80235186e-04 1.38404853e+02] [ 5.64638227e-01 8.25338511e-01 -1.19191869e-04 3.94807679e+01] [ 2.16055327e-04 -3.39403859e-06 9.99999977e-01 -2.97380722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.445769231 meters 0.023169518992712745 Centerline is valid? [True, True] Translation: X:138.43, Y:39.49, Z:-0.30 [[ 8.23984975e-01 -5.66610180e-01 -1.29037068e-03 1.38433064e+02] [ 5.66609539e-01 8.23985985e-01 -8.52974099e-04 3.94898925e+01] [ 1.54655117e-03 -2.82984957e-05 9.99998804e-01 -3.00204333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47576923100002 meters 0.02471060977166507 Centerline is valid? [True, True] Translation: X:138.46, Y:39.50, Z:-0.30 [[ 8.23336621e-01 -5.67551039e-01 -1.62074302e-03 1.38459525e+02] [ 5.67550030e-01 8.23338215e-01 -1.07110822e-03 3.95007979e+01] [ 1.94232824e-03 -3.79701290e-05 9.99998113e-01 -3.00844717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50576923100002 meters 0.02592070697861577 Centerline is valid? [True, True] Translation: X:138.49, Y:39.51, Z:-0.30 [[ 8.22575101e-01 -5.68656075e-01 -6.86763851e-04 1.38487651e+02] [ 5.68655893e-01 8.22575388e-01 -4.54385902e-04 3.95097632e+01] [ 8.23304345e-04 -1.67657817e-05 9.99999661e-01 -2.98439606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53576923100002 meters 0.025979050795352957 Centerline is valid? [True, True] Translation: X:138.51, Y:39.52, Z:-0.30 [[ 8.22565266e-01 -5.68670716e-01 -6.19074325e-06 1.38512860e+02] [ 5.68670716e-01 8.22565266e-01 -4.57588561e-06 3.95216422e+01] [ 7.69446248e-06 2.43470171e-07 1.00000000e+00 -2.96983655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56576923100002 meters 0.023752019617286298 Centerline is valid? [True, True] Translation: X:138.54, Y:39.54, Z:-0.30 [[ 8.22877479e-01 -5.68218835e-01 -1.03198009e-04 1.38535933e+02] [ 5.68218831e-01 8.22877485e-01 -6.87088341e-05 3.95386800e+01] [ 1.23960972e-04 -2.10009999e-06 9.99999992e-01 -2.97000629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59576923100002 meters 0.022747501938422936 Centerline is valid? [True, True] Translation: X:138.56, Y:39.55, Z:-0.30 [[ 8.24094007e-01 -5.66452544e-01 -7.63130366e-04 1.38561396e+02] [ 5.66452319e-01 8.24094361e-01 -5.05458818e-04 3.95515715e+01] [ 9.15209865e-04 -1.57313823e-05 9.99999581e-01 -2.99146517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62576923100002 meters 0.021798342424293023 Centerline is valid? [True, True] Translation: X:138.59, Y:39.57, Z:-0.30 [[ 8.24638021e-01 -5.65657425e-01 -1.95237881e-03 1.38586273e+02] [ 5.65655948e-01 8.24640331e-01 -1.29293025e-03 3.95669146e+01] [ 2.34136590e-03 -3.81752395e-05 9.99997258e-01 -3.02099282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65576923100002 meters 0.02030525587754966 Centerline is valid? [True, True] Translation: X:138.61, Y:39.58, Z:-0.31 [[ 8.25874377e-01 -5.63843132e-01 -3.52638717e-03 1.38609623e+02] [ 5.63838301e-01 8.25881904e-01 -2.33496949e-03 3.95817989e+01] [ 4.22893586e-03 -5.99206781e-05 9.99991056e-01 -3.06400454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68576923100002 meters 0.01931017891624026 Centerline is valid? [True, True] Translation: X:138.63, Y:39.60, Z:-0.31 [[ 8.26651942e-01 -5.62703747e-01 -3.32568753e-03 1.38632397e+02] [ 5.62699440e-01 8.26658630e-01 -2.20236483e-03 3.95973102e+01] [ 3.98848724e-03 -5.07733507e-05 9.99992045e-01 -3.05427591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71576923100002 meters 0.016136328995304143 Centerline is valid? [True, True] Translation: X:138.65, Y:39.62, Z:-0.30 [[ 8.28380651e-01 -5.60162580e-01 -1.83861489e-03 1.38654617e+02] [ 5.60161256e-01 8.28382691e-01 -1.21835513e-03 3.96156742e+01] [ 2.20555370e-03 -2.06590072e-05 9.99997568e-01 -3.00550539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.745769231 meters 0.014585353814667357 Centerline is valid? [True, True] Translation: X:138.68, Y:39.63, Z:-0.30 [[ 8.29495649e-01 -5.58511288e-01 -1.45219872e-03 1.38676137e+02] [ 5.58510459e-01 8.29496920e-01 -9.62234362e-04 3.96330302e+01] [ 1.74201312e-03 -1.28989564e-05 9.99998483e-01 -2.99820885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.775769231 meters 0.013056613820330522 Centerline is valid? [True, True] Translation: X:138.70, Y:39.65, Z:-0.30 [[ 8.30720166e-01 -5.56688906e-01 -1.21149949e-03 1.38697993e+02] [ 5.56688327e-01 8.30721049e-01 -8.03324976e-04 3.96521037e+01] [ 1.45362023e-03 -7.08936712e-06 9.99998943e-01 -2.99711240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.805769231 meters 0.011370353276902662 Centerline is valid? [True, True] Translation: X:138.72, Y:39.68, Z:-0.30 [[ 8.33404441e-01 -5.52663537e-01 2.28099465e-04 1.38717568e+02] [ 5.52663517e-01 8.33404472e-01 1.50791540e-04 3.96751646e+01] [-2.73436101e-04 3.91913257e-07 9.99999963e-01 -2.97093398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.835769231 meters 0.012052332236855881 Centerline is valid? [True, True] Translation: X:138.74, Y:39.70, Z:-0.29 [[ 8.35338482e-01 -5.49733536e-01 1.63098079e-03 1.38736892e+02] [ 5.49732472e-01 8.35340074e-01 1.08128049e-03 3.96951884e+01] [-1.95683976e-03 -6.63210134e-06 9.99998085e-01 -2.94092236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.865769231 meters 0.012860138804696719 Centerline is valid? [True, True] Translation: X:138.76, Y:39.71, Z:-0.29 [[ 8.36301897e-01 -5.48266110e-01 1.84636182e-03 1.38758630e+02] [ 5.48264743e-01 8.36303935e-01 1.22440356e-03 3.97143919e+01] [-2.21541863e-03 -1.16759323e-05 9.99997546e-01 -2.92389890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.895769231 meters 0.014874970176842679 Centerline is valid? [True, True] Translation: X:138.78, Y:39.73, Z:-0.29 [[ 8.37588536e-01 -5.46298671e-01 1.79076317e-03 1.38778191e+02] [ 5.46297380e-01 8.37590450e-01 1.18794622e-03 3.97347613e+01] [-2.14889957e-03 -1.67209055e-05 9.99997691e-01 -2.92460998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.925769231 meters 0.01816690689465369 Centerline is valid? [True, True] Translation: X:138.80, Y:39.76, Z:-0.29 [[ 8.39957079e-01 -5.42651952e-01 9.82007927e-04 1.38796859e+02] [ 5.42651562e-01 8.39957653e-01 6.51330872e-04 3.97589137e+01] [-1.17829104e-03 -1.42018410e-05 9.99999306e-01 -2.94496832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.955769231 meters 0.021508024497971876 Centerline is valid? [True, True] Translation: X:138.82, Y:39.78, Z:-0.30 [[ 8.41714475e-01 -5.39922807e-01 -3.25595056e-04 1.38815387e+02] [ 5.39922763e-01 8.41714538e-01 -2.16272247e-04 3.97816039e+01] [ 3.90828410e-04 6.24329837e-06 9.99999924e-01 -2.98304093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.985769231 meters 0.02312373141613634 Centerline is valid? [True, True] Translation: X:138.84, Y:39.80, Z:-0.30 [[ 8.42523871e-01 -5.38658282e-01 -8.84628805e-04 1.38836873e+02] [ 5.38657962e-01 8.42524335e-01 -5.87420676e-04 3.98005326e+01] [ 1.06174031e-03 1.84035927e-05 9.99999436e-01 -2.99335553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.015769231 meters 0.02577860334422834 Centerline is valid? [True, True] Translation: X:138.86, Y:39.82, Z:-0.30 [[ 8.44075969e-01 -5.36222785e-01 -9.40151381e-04 1.38856000e+02] [ 5.36222421e-01 8.44076492e-01 -6.24771312e-04 3.98233149e+01] [ 1.12857629e-03 2.32242010e-05 9.99999363e-01 -2.99622908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.045769231 meters 0.02827003728701725 Centerline is valid? [True, True] Translation: X:138.88, Y:39.84, Z:-0.30 [[ 8.44772631e-01 -5.35124208e-01 -1.13312965e-03 1.38876280e+02] [ 5.35123679e-01 8.44773391e-01 -7.52750480e-04 3.98437374e+01] [ 1.36005278e-03 2.95384962e-05 9.99999075e-01 -3.00360390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.075769231 meters 0.03132439951231279 Centerline is valid? [True, True] Translation: X:138.90, Y:39.87, Z:-0.30 [[ 8.46058500e-01 -5.33089283e-01 -9.11426354e-04 1.38895994e+02] [ 5.33088940e-01 8.46058990e-01 -6.05962291e-04 3.98666708e+01] [ 1.09415246e-03 2.68082386e-05 9.99999401e-01 -2.99982360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.105769231 meters 0.032507185314987266 Centerline is valid? [True, True] Translation: X:138.92, Y:39.89, Z:-0.30 [[ 8.46650485e-01 -5.32149021e-01 -6.12325016e-04 1.38917044e+02] [ 5.32148865e-01 8.46650707e-01 -4.07380098e-04 3.98864332e+01] [ 7.35212328e-04 1.90604950e-05 9.99999730e-01 -2.99035623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.135769231 meters 0.03176832251625027 Centerline is valid? [True, True] Translation: X:138.94, Y:39.91, Z:-0.30 [[ 8.47548549e-01 -5.30716848e-01 -1.04154453e-03 1.38939220e+02] [ 5.30716396e-01 8.47549188e-01 -6.92925443e-04 3.99057644e+01] [ 1.25050743e-03 3.45231942e-05 9.99999218e-01 -2.99971626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.165769231 meters 0.03275315109568457 Centerline is valid? [True, True] Translation: X:138.96, Y:39.92, Z:-0.30 [[ 8.47506169e-01 -5.30783118e-01 -1.60490611e-03 1.38960481e+02] [ 5.30782047e-01 8.47507687e-01 -1.06746666e-03 3.99233103e+01] [ 1.92676354e-03 5.28292272e-05 9.99998142e-01 -3.01414296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.195769231 meters 0.033255796588194664 Centerline is valid? [True, True] Translation: X:138.98, Y:39.94, Z:-0.30 [[ 8.46162743e-01 -5.32922856e-01 -1.35727389e-03 1.38981936e+02] [ 5.32922092e-01 8.46163831e-01 -9.02842782e-04 3.99417323e+01] [ 1.62962162e-03 4.06306855e-05 9.99998671e-01 -3.02343700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22576923100002 meters 0.028895303380032458 Centerline is valid? [True, True] Translation: X:139.01, Y:39.95, Z:-0.30 [[ 8.45070144e-01 -5.34654804e-01 -8.32324945e-04 1.39007807e+02] [ 5.34654517e-01 8.45070553e-01 -5.54170614e-04 3.99547919e+01] [ 9.99663283e-04 2.33067483e-05 9.99999500e-01 -3.01103541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25576923100002 meters 0.02600601901805596 Centerline is valid? [True, True] Translation: X:139.03, Y:39.97, Z:-0.30 [[ 8.43495617e-01 -5.37134435e-01 -1.32007209e-03 1.39032759e+02] [ 5.37133718e-01 8.43496649e-01 -8.78621852e-04 3.99704544e+01] [ 1.58541443e-03 3.20584529e-05 9.99998743e-01 -3.02109085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28576923100002 meters 0.026079288703594692 Centerline is valid? [True, True] Translation: X:139.06, Y:39.99, Z:-0.30 [[ 8.42746088e-01 -5.38308725e-01 -1.65769573e-03 1.39055551e+02] [ 5.38307595e-01 8.42747717e-01 -1.10388525e-03 3.99872499e+01] [ 1.99125035e-03 3.79447750e-05 9.99998017e-01 -3.03036817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31576923100002 meters 0.02223623536944542 Centerline is valid? [True, True] Translation: X:139.08, Y:40.00, Z:-0.30 [[ 8.41377846e-01 -5.40444557e-01 -1.73205006e-03 1.39080842e+02] [ 5.40443327e-01 8.41379628e-01 -1.15379234e-03 4.00010502e+01] [ 2.08087242e-03 3.47004139e-05 9.99997834e-01 -3.02265529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34576923100002 meters 0.020680797012375657 Centerline is valid? [True, True] Translation: X:139.10, Y:40.02, Z:-0.30 [[ 8.40617770e-01 -5.41619006e-01 -3.25850900e-03 1.39104245e+02] [ 5.41614658e-01 8.40624083e-01 -2.17105846e-03 4.00172425e+01] [ 3.91506766e-03 6.01740816e-05 9.99992334e-01 -3.04760240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37576923100002 meters 0.021393307107668253 Centerline is valid? [True, True] Translation: X:139.13, Y:40.03, Z:-0.31 [[ 8.40402939e-01 -5.41949955e-01 -3.62565545e-03 1.39125909e+02] [ 5.41944575e-01 8.40410758e-01 -2.41584874e-03 4.00339966e+01] [ 4.35630896e-03 6.53820803e-05 9.99990509e-01 -3.06602037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40576923100002 meters 0.02023186046335584 Centerline is valid? [True, True] Translation: X:139.15, Y:40.05, Z:-0.30 [[ 8.39872653e-01 -5.42780659e-01 -1.75573147e-03 1.39149720e+02] [ 5.42779398e-01 8.39874488e-01 -1.17022113e-03 4.00511787e+01] [ 2.10976747e-03 2.98618520e-05 9.99997774e-01 -3.01104527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43576923100002 meters 0.020062862087731607 Centerline is valid? [True, True] Translation: X:139.17, Y:40.07, Z:-0.30 [[ 8.39428346e-01 -5.43470347e-01 -1.81757638e-04 1.39171921e+02] [ 5.43470334e-01 8.39428366e-01 -1.21285277e-04 4.00688497e+01] [ 2.18487469e-04 3.03041528e-06 9.99999976e-01 -2.97135088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46576923100002 meters 0.018679102894772613 Centerline is valid? [True, True] Translation: X:139.20, Y:40.08, Z:-0.30 [[ 8.39022404e-01 -5.44096731e-01 3.91774773e-04 1.39196560e+02] [ 5.44096669e-01 8.39022495e-01 2.60775432e-04 4.00846960e+01] [-4.70594908e-04 -5.63308138e-06 9.99999889e-01 -2.96400444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.495769231 meters 0.017597299839293142 Centerline is valid? [True, True] Translation: X:139.22, Y:40.10, Z:-0.30 [[ 8.38260649e-01 -5.45269669e-01 -2.70184708e-04 1.39221040e+02] [ 5.45269639e-01 8.38260692e-01 -1.80624544e-04 4.00997494e+01] [ 3.24974305e-04 4.08692903e-06 9.99999947e-01 -2.99353171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.525769231 meters 0.01752141122059916 Centerline is valid? [True, True] Translation: X:139.24, Y:40.11, Z:-0.30 [[ 8.38024476e-01 -5.45632348e-01 -5.64964014e-04 1.39243271e+02] [ 5.45632218e-01 8.38024666e-01 -3.77079079e-04 4.01149821e+01] [ 6.79200322e-04 7.73892933e-06 9.99999769e-01 -2.99677735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.555769231 meters 0.017277671312506508 Centerline is valid? [True, True] Translation: X:139.27, Y:40.13, Z:-0.30 [[ 8.37782189e-01 -5.46004554e-01 -1.75735332e-04 1.39265621e+02] [ 5.46004542e-01 8.37782207e-01 -1.17445393e-04 4.01300875e+01] [ 2.11353653e-04 2.44136934e-06 9.99999978e-01 -2.97496602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.585769231 meters 0.016539270139007786 Centerline is valid? [True, True] Translation: X:139.29, Y:40.14, Z:-0.30 [[ 8.37479106e-01 -5.46469259e-01 -3.10577684e-04 1.39289240e+02] [ 5.46469220e-01 8.37479163e-01 -2.07785930e-04 4.01442636e+01] [ 3.73650962e-04 4.29523023e-06 9.99999930e-01 -2.98481505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.615769231 meters 0.016658350653906955 Centerline is valid? [True, True] Translation: X:139.31, Y:40.16, Z:-0.30 [[ 8.37086306e-01 -5.47070785e-01 -2.67991000e-04 1.39312514e+02] [ 5.47070756e-01 8.37086349e-01 -1.79046404e-04 4.01596328e+01] [ 3.22282664e-04 3.26725376e-06 9.99999948e-01 -2.99668296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.645769231 meters 0.015311805592395282 Centerline is valid? [True, True] Translation: X:139.34, Y:40.17, Z:-0.30 [[ 8.36385768e-01 -5.48141266e-01 -1.48425307e-05 1.39338066e+02] [ 5.48141265e-01 8.36385768e-01 -1.03389356e-05 4.01727585e+01] [ 1.80812786e-05 5.11535025e-07 1.00000000e+00 -2.99318749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.675769231 meters 0.01410221881700552 Centerline is valid? [True, True] Translation: X:139.36, Y:40.18, Z:-0.30 [[ 8.35134963e-01 -5.50045013e-01 -2.79299537e-04 1.39363897e+02] [ 5.50044981e-01 8.35135009e-01 -1.86684896e-04 4.01837688e+01] [ 3.35937918e-04 2.27977525e-06 9.99999944e-01 -2.99628806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.705769231 meters 0.01280054533795937 Centerline is valid? [True, True] Translation: X:139.39, Y:40.20, Z:-0.30 [[ 8.34147871e-01 -5.51540767e-01 -3.35030340e-04 1.39390329e+02] [ 5.51540722e-01 8.34147938e-01 -2.24259361e-04 4.01961540e+01] [ 4.03153047e-04 2.28259272e-06 9.99999919e-01 -2.99574697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.735769231 meters 0.011658793374024631 Centerline is valid? [True, True] Translation: X:139.42, Y:40.21, Z:-0.30 [[ 8.31895217e-01 -5.54932742e-01 4.53147008e-06 1.39418336e+02] [ 5.54932742e-01 8.31895217e-01 2.60636486e-06 4.02051742e+01] [-5.21606551e-06 3.46438655e-07 1.00000000e+00 -2.99925067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.765769231 meters 0.012333795190370924 Centerline is valid? [True, True] Translation: X:139.45, Y:40.22, Z:-0.30 [[ 8.29611710e-01 -5.58340560e-01 -4.80655911e-04 1.39446737e+02] [ 5.58340467e-01 8.29611849e-01 -3.21754388e-04 4.02152169e+01] [ 5.78406364e-04 -1.43843737e-06 9.99999833e-01 -3.00735519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.795769231 meters 0.013269757000325977 Centerline is valid? [True, True] Translation: X:139.47, Y:40.23, Z:-0.30 [[ 8.28523860e-01 -5.59953207e-01 -7.87444143e-04 1.39471726e+02] [ 5.59952959e-01 8.28524234e-01 -5.27035805e-04 4.02279473e+01] [ 9.47531944e-04 -4.26993818e-06 9.99999551e-01 -3.02278551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.825769231 meters 0.015561527027293912 Centerline is valid? [True, True] Translation: X:139.50, Y:40.24, Z:-0.31 [[ 8.26880001e-01 -5.62373933e-01 -2.24140028e-03 1.39498898e+02] [ 5.62371934e-01 8.26883039e-01 -1.49956018e-03 4.02372808e+01] [ 2.69668943e-03 -2.05442837e-05 9.99996364e-01 -3.06189676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.855769231 meters 0.016238552206971877 Centerline is valid? [True, True] Translation: X:139.53, Y:40.25, Z:-0.31 [[ 8.26030134e-01 -5.63621968e-01 -2.12030050e-03 1.39525195e+02] [ 5.63620182e-01 8.26032854e-01 -1.41921685e-03 4.02504061e+01] [ 2.55133967e-03 -2.27282733e-05 9.99996745e-01 -3.05740784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.885769231 meters 0.016238552206971877 Centerline is valid? [True, True] Translation: X:139.55, Y:40.27, Z:-0.31 [[ 8.25926919e-01 -5.63773208e-01 -2.12001246e-03 1.39547930e+02] [ 5.63771421e-01 8.25929640e-01 -1.41964717e-03 4.02658690e+01] [ 2.55134016e-03 -2.26776238e-05 9.99996745e-01 -3.05799831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.915769231 meters 0.017860192740087898 Centerline is valid? [True, True] Translation: X:139.58, Y:40.28, Z:-0.30 [[ 8.24155940e-01 -5.66361884e-01 -1.09666676e-03 1.39575708e+02] [ 5.66361408e-01 8.24156669e-01 -7.34820971e-04 4.02757130e+01] [ 1.31999981e-03 -1.55026609e-05 9.99999129e-01 -3.02350128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.945769231 meters 0.020554833059772657 Centerline is valid? [True, True] Translation: X:139.60, Y:40.29, Z:-0.30 [[ 8.23196217e-01 -5.67756780e-01 -4.77689974e-04 1.39601889e+02] [ 5.67756690e-01 8.23196355e-01 -3.20081161e-04 4.02859291e+01] [ 5.74960895e-04 -7.72207752e-06 9.99999835e-01 -3.01265562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97576923100002 meters 0.02213019723085829 Centerline is valid? [True, True] Translation: X:139.63, Y:40.30, Z:-0.30 [[ 8.21924949e-01 -5.69595524e-01 5.63770378e-04 1.39629627e+02] [ 5.69595399e-01 8.21925142e-01 3.77300543e-04 4.02957826e+01] [-6.78285749e-04 1.10082839e-05 9.99999770e-01 -2.98479985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00576923100002 meters 0.021204098168962536 Centerline is valid? [True, True] Translation: X:139.65, Y:40.31, Z:-0.30 [[ 8.21619781e-01 -5.70035329e-01 8.11906862e-04 1.39653097e+02] [ 5.70035070e-01 8.21620182e-01 5.43688499e-04 4.03102083e+01] [-9.77000716e-04 1.61101599e-05 9.99999523e-01 -2.98023153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03576923100002 meters 0.02158320919718431 Centerline is valid? [True, True] Translation: X:139.68, Y:40.32, Z:-0.30 [[ 8.21611164e-01 -5.70048271e-01 2.54288683e-04 1.39678138e+02] [ 5.70048245e-01 8.21611203e-01 1.70206470e-04 4.03216742e+01] [-3.05952335e-04 5.11328129e-06 9.99999953e-01 -2.99619603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06576923100002 meters 0.02244000192429115 Centerline is valid? [True, True] Translation: X:139.70, Y:40.33, Z:-0.30 [[ 8.21711863e-01 -5.69903098e-01 -2.70046709e-04 1.39702664e+02] [ 5.69903070e-01 8.21711907e-01 -1.81332991e-04 4.03343028e+01] [ 3.25242830e-04 -4.89697836e-06 9.99999947e-01 -3.00311323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09576923100002 meters 0.022054282025320716 Centerline is valid? [True, True] Translation: X:139.73, Y:40.35, Z:-0.30 [[ 8.21918711e-01 -5.69604708e-01 -3.32058767e-04 1.39727411e+02] [ 5.69604664e-01 8.21918778e-01 -2.23207995e-04 4.03481670e+01] [ 4.00065661e-04 -5.68339500e-06 9.99999920e-01 -3.00845981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12576923100002 meters 0.01895370697818274 Centerline is valid? [True, True] Translation: X:139.75, Y:40.36, Z:-0.30 [[ 8.22886997e-01 -5.68205059e-01 -1.94050922e-05 1.39753209e+02] [ 5.68205059e-01 8.22886997e-01 -1.34514781e-05 4.03622012e+01] [ 2.36113959e-05 4.29748336e-08 1.00000000e+00 -2.99233833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15576923100002 meters 0.015121612674505933 Centerline is valid? [True, True] Translation: X:139.78, Y:40.38, Z:-0.30 [[ 8.24971371e-01 -5.65172694e-01 1.43624876e-03 1.39775953e+02] [ 5.65171872e-01 8.24972622e-01 9.63695406e-04 4.03794846e+01] [-1.72952024e-03 1.67062819e-05 9.99998504e-01 -2.97035902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18576923100002 meters 0.01378301848747168 Centerline is valid? [True, True] Translation: X:139.80, Y:40.40, Z:-0.30 [[ 8.26579010e-01 -5.62818734e-01 1.48785927e-03 1.39798845e+02] [ 5.62817848e-01 8.26580349e-01 9.98761096e-04 4.03959354e+01] [-1.79195669e-03 1.18387952e-05 9.99998394e-01 -2.97283969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21576923100002 meters 0.011525114825622658 Centerline is valid? [True, True] Translation: X:139.82, Y:40.42, Z:-0.30 [[ 8.30092839e-01 -5.57625210e-01 -5.82903937e-05 1.39820237e+02] [ 5.57625209e-01 8.30092841e-01 -3.95735253e-05 4.04165059e+01] [ 7.04536339e-05 3.45507003e-07 9.99999998e-01 -3.01171476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.245769231 meters 0.012045070623005217 Centerline is valid? [True, True] Translation: X:139.84, Y:40.43, Z:-0.30 [[ 8.31447377e-01 -5.55601475e-01 -1.50375100e-03 1.39842682e+02] [ 5.55600555e-01 8.31448736e-01 -1.01072918e-03 4.04339647e+01] [ 1.81185449e-03 4.88323989e-06 9.99998359e-01 -3.03668066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.275769231 meters 0.012868936393452674 Centerline is valid? [True, True] Translation: X:139.87, Y:40.45, Z:-0.31 [[ 8.32551328e-01 -5.53941436e-01 -2.67784590e-03 1.39865825e+02] [ 5.53938511e-01 8.32555635e-01 -1.80024589e-03 4.04508290e+01] [ 3.22668649e-03 1.54351312e-05 9.99994794e-01 -3.05785250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.305769231 meters 0.015861781893810184 Centerline is valid? [True, True] Translation: X:139.89, Y:40.47, Z:-0.31 [[ 8.34621370e-01 -5.50814121e-01 -3.31258925e-03 1.39887833e+02] [ 5.50809621e-01 8.34627943e-01 -2.22686918e-03 4.04682924e+01] [ 3.99137054e-03 3.39865813e-05 9.99992034e-01 -3.09259863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.335769231 meters 0.01665147947829915 Centerline is valid? [True, True] Translation: X:139.91, Y:40.48, Z:-0.31 [[ 8.35696209e-01 -5.49185925e-01 -2.58199458e-03 1.39913037e+02] [ 5.49183180e-01 8.35700197e-01 -1.73666406e-03 4.04816929e+01] [ 3.11152483e-03 3.33355739e-05 9.99995159e-01 -3.07349526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.365769231 meters 0.017015880122547955 Centerline is valid? [True, True] Translation: X:139.94, Y:40.50, Z:-0.31 [[ 8.36163126e-01 -5.48474059e-01 -2.72630014e-03 1.39937587e+02] [ 5.48470993e-01 8.36167570e-01 -1.83439070e-03 4.04968157e+01] [ 3.28575948e-03 3.85533202e-05 9.99994601e-01 -3.07101629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.395769231 meters 0.02152384166785575 Centerline is valid? [True, True] Translation: X:139.96, Y:40.52, Z:-0.31 [[ 8.37756075e-01 -5.46034717e-01 -3.29352226e-03 1.39958309e+02] [ 5.46030223e-01 8.37762547e-01 -2.21596021e-03 4.05164246e+01] [ 3.96918080e-03 5.80714326e-05 9.99992121e-01 -3.09248891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.425769231 meters 0.023414841571360697 Centerline is valid? [True, True] Translation: X:139.98, Y:40.53, Z:-0.31 [[ 8.38830345e-01 -5.44386307e-01 -2.68349091e-03 1.39980380e+02] [ 5.44383315e-01 8.38834635e-01 -1.80575270e-03 4.05342657e+01] [ 3.23403217e-03 5.38724836e-05 9.99994769e-01 -3.08198017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.455769231 meters 0.02650476727656824 Centerline is valid? [True, True] Translation: X:140.00, Y:40.55, Z:-0.30 [[ 8.41596267e-01 -5.40105605e-01 -1.28790834e-03 1.40001603e+02] [ 5.40104910e-01 8.41597252e-01 -8.66842444e-04 4.05542407e+01] [ 1.55208658e-03 3.39257473e-05 9.99998795e-01 -3.04263276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.485769231 meters 0.03300029739324975 Centerline is valid? [True, True] Translation: X:140.02, Y:40.58, Z:-0.31 [[ 8.43180980e-01 -5.37626883e-01 -1.78021484e-03 1.40019251e+02] [ 5.37625550e-01 8.43182858e-01 -1.19823917e-03 4.05783440e+01] [ 2.14525223e-03 5.32434880e-05 9.99997698e-01 -3.06055103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.515769231 meters 0.03786360921520261 Centerline is valid? [True, True] Translation: X:140.04, Y:40.60, Z:-0.31 [[ 8.45302530e-01 -5.34277124e-01 -3.40407428e-03 1.40037543e+02] [ 5.34272220e-01 8.45309376e-01 -2.29220149e-03 4.06025048e+01] [ 4.10216673e-03 1.18901391e-04 9.99991579e-01 -3.10505392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.545769231 meters 0.035654456832404015 Centerline is valid? [True, True] Translation: X:140.06, Y:40.62, Z:-0.31 [[ 8.45449126e-01 -5.34043733e-01 -3.61468207e-03 1.40062230e+02] [ 5.34038198e-01 8.45456844e-01 -2.43484223e-03 4.06175612e+01] [ 4.35636993e-03 1.28156943e-04 9.99990503e-01 -3.10030373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.575769231 meters 0.031366901886642 Centerline is valid? [True, True] Translation: X:140.09, Y:40.63, Z:-0.31 [[ 8.44316461e-01 -5.35842328e-01 -1.64708257e-03 1.40087826e+02] [ 5.35841181e-01 8.44318066e-01 -1.11005429e-03 4.06317741e+01] [ 1.98547564e-03 5.46624437e-05 9.99998027e-01 -3.05218882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.605769231 meters 0.030958917968396622 Centerline is valid? [True, True] Translation: X:140.11, Y:40.65, Z:-0.30 [[ 8.43594755e-01 -5.36980147e-01 -4.59632971e-04 1.40110313e+02] [ 5.36980058e-01 8.43594880e-01 -3.09851863e-04 4.06487061e+01] [ 5.54128320e-04 1.45756671e-05 9.99999846e-01 -3.03041103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.635769231 meters 0.028664249714347324 Centerline is valid? [True, True] Translation: X:140.13, Y:40.67, Z:-0.30 [[ 8.42520552e-01 -5.38662933e-01 1.16759594e-03 1.40133642e+02] [ 5.38662360e-01 8.42521361e-01 7.86573533e-04 4.06661162e+01] [-1.40742253e-03 -3.37643816e-05 9.99999009e-01 -2.99274239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.665769231 meters 0.030932033641464237 Centerline is valid? [True, True] Translation: X:140.15, Y:40.69, Z:-0.30 [[ 8.42475398e-01 -5.38733391e-01 1.24011383e-03 1.40152780e+02] [ 5.38732744e-01 8.42476310e-01 8.35811378e-04 4.06862058e+01] [-1.49504602e-03 -3.60605971e-05 9.99998882e-01 -2.98670460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.695769231 meters 0.029477049296014142 Centerline is valid? [True, True] Translation: X:140.17, Y:40.71, Z:-0.30 [[ 8.42064211e-01 -5.39376642e-01 8.38219119e-04 1.40173649e+02] [ 5.39376347e-01 8.42064628e-01 5.64865175e-04 4.07063280e+01] [-1.01050975e-03 -2.35371811e-05 9.99999489e-01 -2.99913227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72576923100002 meters 0.02802442650200386 Centerline is valid? [True, True] Translation: X:140.20, Y:40.72, Z:-0.30 [[ 8.41402162e-01 -5.40407958e-01 1.28070016e-03 1.40196991e+02] [ 5.40407269e-01 8.41403136e-01 8.63567299e-04 4.07237918e+01] [-1.54426377e-03 -3.45077180e-05 9.99998807e-01 -3.00240330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75576923100002 meters 0.02506520329419641 Centerline is valid? [True, True] Translation: X:140.22, Y:40.74, Z:-0.30 [[ 8.39855830e-01 -5.42805454e-01 2.10346110e-03 1.40219591e+02] [ 5.42803601e-01 8.39858462e-01 1.41911477e-03 4.07416846e+01] [-2.53691285e-03 -5.00855537e-05 9.99996781e-01 -2.98604694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78576923100002 meters 0.02537001964049508 Centerline is valid? [True, True] Translation: X:140.24, Y:40.76, Z:-0.30 [[ 8.39081489e-01 -5.44002672e-01 1.82979129e-03 1.40240651e+02] [ 5.44001272e-01 8.39083483e-01 1.23481598e-03 4.07604685e+01] [-2.20709084e-03 -4.07024373e-05 9.99997564e-01 -2.98898252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81576923100002 meters 0.02390819871430892 Centerline is valid? [True, True] Translation: X:140.26, Y:40.78, Z:-0.30 [[ 8.38422478e-01 -5.45019254e-01 1.32702285e-03 1.40263822e+02] [ 5.45018519e-01 8.38423528e-01 8.95532176e-04 4.07772429e+01] [-1.60068946e-03 -2.75822746e-05 9.99998719e-01 -2.99891286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84576923100002 meters 0.02109210607817707 Centerline is valid? [True, True] Translation: X:140.29, Y:40.79, Z:-0.30 [[ 8.36951877e-01 -5.47276302e-01 4.53323165e-04 1.40286602e+02] [ 5.47276216e-01 8.36952000e-01 3.05752095e-04 4.07944513e+01] [-5.46740606e-04 -7.80680331e-06 9.99999851e-01 -3.02139265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87576923100002 meters 0.015411058535051413 Centerline is valid? [True, True] Translation: X:140.31, Y:40.81, Z:-0.30 [[ 8.33647873e-01 -5.52296271e-01 2.29915277e-04 1.40314116e+02] [ 5.52296249e-01 8.33647905e-01 1.54933477e-04 4.08054876e+01] [-2.77237571e-04 -2.17861893e-06 9.99999962e-01 -3.02938401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90576923100002 meters 0.013762531754022658 Centerline is valid? [True, True] Translation: X:140.34, Y:40.82, Z:-0.30 [[ 8.31881682e-01 -5.54952961e-01 2.78486854e-04 1.40338619e+02] [ 5.54952930e-01 8.31881729e-01 1.87785666e-04 4.08197172e+01] [-3.35880337e-04 -1.66836057e-06 9.99999944e-01 -3.03334676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93576923100002 meters 0.01219903545861162 Centerline is valid? [True, True] Translation: X:140.36, Y:40.83, Z:-0.31 [[ 8.29978046e-01 -5.57795633e-01 -6.89860776e-04 1.40363790e+02] [ 5.57795437e-01 8.29978332e-01 -4.66837197e-04 4.08337899e+01] [ 8.32969246e-04 2.66343105e-06 9.99999653e-01 -3.05212652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96576923100002 meters 0.012266112358127669 Centerline is valid? [True, True] Translation: X:140.39, Y:40.85, Z:-0.31 [[ 8.29677208e-01 -5.58239485e-01 -2.09968630e-03 1.40387820e+02] [ 5.58237677e-01 8.29679865e-01 -1.42051793e-03 4.08496464e+01] [ 2.53505664e-03 6.44734874e-06 9.99996787e-01 -3.07734615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.995769231 meters 0.012559756411463743 Centerline is valid? [True, True] Translation: X:140.41, Y:40.87, Z:-0.31 [[ 8.29665301e-01 -5.58250465e-01 -3.45067135e-03 1.40411619e+02] [ 5.58245582e-01 8.29672476e-01 -2.33506357e-03 4.08656598e+01] [ 4.16647737e-03 1.09991780e-05 9.99991320e-01 -3.10334287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.025769231 meters 0.012614518438252259 Centerline is valid? [True, True] Translation: X:140.43, Y:40.88, Z:-0.31 [[ 8.29699000e-01 -5.58204389e-01 -2.72567660e-03 1.40433267e+02] [ 5.58201341e-01 8.29703477e-01 -1.84474075e-03 4.08813494e+01] [ 3.29124574e-03 9.10322508e-06 9.99994584e-01 -3.08935333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.055769231 meters 0.012495286720398997 Centerline is valid? [True, True] Translation: X:140.46, Y:40.90, Z:-0.31 [[ 8.30019677e-01 -5.57732040e-01 -1.51893260e-03 1.40455710e+02] [ 5.57731091e-01 8.30021067e-01 -1.02877367e-03 4.08989437e+01] [ 1.83452610e-03 6.74645728e-06 9.99998317e-01 -3.06393484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.085769231 meters 0.014131832671255397 Centerline is valid? [True, True] Translation: X:140.48, Y:40.92, Z:-0.30 [[ 8.31692942e-01 -5.55235737e-01 -3.55439283e-04 1.40475672e+02] [ 5.55235685e-01 8.31693018e-01 -2.40923649e-04 4.09188131e+01] [ 4.29385790e-04 3.02192497e-06 9.99999908e-01 -3.04774410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.115769231 meters 0.017161134549627016 Centerline is valid? [True, True] Translation: X:140.49, Y:40.94, Z:-0.30 [[ 8.33658233e-01 -5.52280557e-01 3.69861578e-04 1.40493899e+02] [ 5.52280501e-01 8.33658315e-01 2.50325180e-04 4.09408221e+01] [-4.46587910e-04 -4.41830984e-06 9.99999900e-01 -3.01975842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.145769231 meters 0.018090395282755377 Centerline is valid? [True, True] Translation: X:140.52, Y:40.96, Z:-0.30 [[ 8.34348830e-01 -5.51234199e-01 1.69920873e-03 1.40515248e+02] [ 5.51232998e-01 8.34350560e-01 1.15069345e-03 4.09605522e+01] [-2.05203734e-03 -2.34198050e-05 9.99997894e-01 -2.99021112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.175769231 meters 0.020063578937858196 Centerline is valid? [True, True] Translation: X:140.54, Y:40.98, Z:-0.30 [[ 8.35187429e-01 -5.49963421e-01 1.48097755e-03 1.40535169e+02] [ 5.49962507e-01 8.35188742e-01 1.00324628e-03 4.09814781e+01] [-1.78864454e-03 -2.34165589e-05 9.99998400e-01 -2.99837679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.205769231 meters 0.0178133442726807 Centerline is valid? [True, True] Translation: X:140.56, Y:40.99, Z:-0.30 [[ 8.34653410e-01 -5.50775378e-01 4.09928309e-04 1.40561094e+02] [ 5.50775308e-01 8.34653511e-01 2.77398581e-04 4.09947195e+01] [-4.94932410e-04 -5.75328102e-06 9.99999877e-01 -3.03131941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.235769231 meters 0.01726633859863023 Centerline is valid? [True, True] Translation: X:140.58, Y:41.01, Z:-0.31 [[ 8.33481432e-01 -5.52546938e-01 -7.63494264e-04 1.40584748e+02] [ 5.52546696e-01 8.33481782e-01 -5.17693940e-04 4.10086631e+01] [ 9.22408761e-04 9.62205349e-06 9.99999575e-01 -3.06096617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.265769231 meters 0.013210095262705022 Centerline is valid? [True, True] Translation: X:140.61, Y:41.02, Z:-0.31 [[ 8.30057772e-01 -5.57675012e-01 -1.63588042e-03 1.40613044e+02] [ 5.57673909e-01 8.30059384e-01 -1.10917302e-03 4.10167870e+01] [ 1.97643597e-03 8.38986267e-06 9.99998047e-01 -3.08219627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.295769231 meters 0.011702665732108397 Centerline is valid? [True, True] Translation: X:140.64, Y:41.03, Z:-0.30 [[ 8.27496614e-01 -5.61470356e-01 6.26408992e-04 1.40640602e+02] [ 5.61470196e-01 8.27496851e-01 4.24401909e-04 4.10274749e+01] [-7.56640560e-04 5.18836604e-07 9.99999714e-01 -3.02459802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.325769231 meters 0.011698667059767399 Centerline is valid? [True, True] Translation: X:140.66, Y:41.04, Z:-0.30 [[ 8.26877957e-01 -5.62379245e-01 1.55866005e-03 1.40664270e+02] [ 5.62378252e-01 8.26879426e-01 1.05697530e-03 4.10416086e+01] [-1.88324490e-03 2.56693914e-06 9.99998227e-01 -2.99400057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.355769231 meters 0.012294331085325719 Centerline is valid? [True, True] Translation: X:140.69, Y:41.06, Z:-0.30 [[ 8.25772873e-01 -5.63999608e-01 1.89844989e-03 1.40687236e+02] [ 5.63998138e-01 8.25775055e-01 1.28798276e-03 4.10551812e+01] [-2.29411434e-03 7.14097836e-06 9.99997368e-01 -2.99069582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.385769231 meters 0.013066683551974049 Centerline is valid? [True, True] Translation: X:140.71, Y:41.07, Z:-0.30 [[ 8.24741082e-01 -5.65507232e-01 1.92820151e-03 1.40711836e+02] [ 5.65505718e-01 8.24743336e-01 1.30847083e-03 4.10700621e+01] [-2.33022106e-03 1.12593288e-05 9.99997285e-01 -2.99307292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.415769231 meters 0.016426389409202952 Centerline is valid? [True, True] Translation: X:140.74, Y:41.08, Z:-0.30 [[ 8.22174880e-01 -5.69228101e-01 2.79932103e-03 1.40739193e+02] [ 5.69224929e-01 8.22179645e-01 1.90029878e-03 4.10783676e+01] [-3.38324823e-03 3.10653941e-05 9.99994276e-01 -2.97292178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.445769231 meters 0.01919727658753442 Centerline is valid? [True, True] Translation: X:140.77, Y:41.09, Z:-0.30 [[ 8.20698202e-01 -5.71355662e-01 2.67733558e-03 1.40766155e+02] [ 5.71352772e-01 8.20702569e-01 1.81777859e-03 4.10883966e+01] [-3.23589428e-03 3.78554770e-05 9.99994764e-01 -2.97639029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47576923100002 meters 0.022110871046516434 Centerline is valid? [True, True] Translation: X:140.80, Y:41.10, Z:-0.30 [[ 8.17840481e-01 -5.75443401e-01 1.35633364e-03 1.40795181e+02] [ 5.75442665e-01 8.17841605e-01 9.20907245e-04 4.10970862e+01] [-1.63919608e-03 2.73370233e-05 9.99998656e-01 -3.00778582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50576923100002 meters 0.025913368405608418 Centerline is valid? [True, True] Translation: X:140.82, Y:41.11, Z:-0.30 [[ 8.17099571e-01 -5.76496498e-01 2.80602878e-04 1.40822152e+02] [ 5.76496467e-01 8.17099619e-01 1.90480226e-04 4.11069667e+01] [-3.39091688e-04 6.12525677e-06 9.99999942e-01 -3.03739423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53576923100002 meters 0.025759337325610903 Centerline is valid? [True, True] Translation: X:140.85, Y:41.12, Z:-0.31 [[ 8.17408539e-01 -5.76055353e-01 -1.87358777e-03 1.40845778e+02] [ 5.76053946e-01 8.17410686e-01 -1.27366458e-03 4.11196760e+01] [ 2.26519197e-03 -3.81833215e-05 9.99997434e-01 -3.08381738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56576923100002 meters 0.022785001518828892 Centerline is valid? [True, True] Translation: X:140.87, Y:41.14, Z:-0.31 [[ 8.17925081e-01 -5.75321662e-01 -1.88337135e-03 1.40867586e+02] [ 5.75320237e-01 8.17927249e-01 -1.28085962e-03 4.11377540e+01] [ 2.27736703e-03 -3.58944440e-05 9.99997406e-01 -3.07863758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59576923100002 meters 0.02027505385915778 Centerline is valid? [True, True] Translation: X:140.89, Y:41.15, Z:-0.31 [[ 8.19338329e-01 -5.73308887e-01 -1.27407288e-03 1.40890981e+02] [ 5.73308232e-01 8.19339319e-01 -8.66877644e-04 4.11535235e+01] [ 1.54088666e-03 -2.01703903e-05 9.99998813e-01 -3.05675551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62576923100002 meters 0.018499848675857238 Centerline is valid? [True, True] Translation: X:140.91, Y:41.17, Z:-0.31 [[ 8.20263623e-01 -5.71984365e-01 -1.21430204e-03 1.40913471e+02] [ 5.71983768e-01 8.20264522e-01 -8.26580904e-04 4.11699778e+01] [ 1.46884023e-03 -1.65468093e-05 9.99998921e-01 -3.06013063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65576923100002 meters 0.015949155964876685 Centerline is valid? [True, True] Translation: X:140.94, Y:41.19, Z:-0.31 [[ 8.22052407e-01 -5.69410070e-01 -1.41872160e-03 1.40937297e+02] [ 5.69409252e-01 8.22053631e-01 -9.65463346e-04 4.11851278e+01] [ 1.71600979e-03 -1.41717373e-05 9.99998528e-01 -3.07936774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68576923100002 meters 0.014822720055755169 Centerline is valid? [True, True] Translation: X:140.96, Y:41.20, Z:-0.31 [[ 8.22679610e-01 -5.68503723e-01 -1.33280278e-03 1.40960805e+02] [ 5.68502998e-01 8.22680690e-01 -9.07662439e-04 4.11998944e+01] [ 1.61248059e-03 -1.09869957e-05 9.99998700e-01 -3.08110830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71576923100002 meters 0.013371856070420044 Centerline is valid? [True, True] Translation: X:140.98, Y:41.21, Z:-0.31 [[ 8.23823183e-01 -5.66845973e-01 -1.00316442e-03 1.40984644e+02] [ 5.66845561e-01 8.23823794e-01 -6.83388698e-04 4.12129299e+01] [ 1.21380685e-03 -5.64784745e-06 9.99999263e-01 -3.06925454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.745769231 meters 0.012606679510623853 Centerline is valid? [True, True] Translation: X:141.01, Y:41.23, Z:-0.31 [[ 8.24709111e-01 -5.65556107e-01 -1.08294059e-03 1.41007778e+02] [ 5.65555625e-01 8.24709822e-01 -7.38090914e-04 4.12291123e+01] [ 1.31054357e-03 -3.75284294e-06 9.99999141e-01 -3.06985521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.775769231 meters 0.012606679510623853 Centerline is valid? [True, True] Translation: X:141.03, Y:41.24, Z:-0.31 [[ 8.24608718e-01 -5.65702474e-01 -1.08280993e-03 1.41030385e+02] [ 5.65701993e-01 8.24609429e-01 -7.38282644e-04 4.12447690e+01] [ 1.31054360e-03 -3.75343094e-06 9.99999141e-01 -3.07044563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.805769231 meters 0.01186284581902654 Centerline is valid? [True, True] Translation: X:141.05, Y:41.26, Z:-0.31 [[ 8.25763684e-01 -5.64015397e-01 -9.85301461e-04 1.41052939e+02] [ 5.64014997e-01 8.25764271e-01 -6.72096528e-04 4.12622083e+01] [ 1.19269953e-03 -7.31895358e-07 9.99999289e-01 -3.06574074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.835769231 meters 0.013618996869227283 Centerline is valid? [True, True] Translation: X:141.07, Y:41.28, Z:-0.31 [[ 8.29224076e-01 -5.58916286e-01 -1.28642950e-04 1.41072073e+02] [ 5.58916279e-01 8.29224086e-01 -8.81617299e-05 4.12837530e+01] [ 1.55948860e-04 1.20518989e-06 9.99999988e-01 -3.05247136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.865769231 meters 0.018643964579866244 Centerline is valid? [True, True] Translation: X:141.09, Y:41.30, Z:-0.31 [[ 8.32236603e-01 -5.54420630e-01 -4.72220229e-05 1.41091523e+02] [ 5.54420629e-01 8.32236604e-01 -3.25664001e-05 4.13049515e+01] [ 5.73553800e-05 9.22086474e-07 9.99999998e-01 -3.05830491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.895769231 meters 0.021540864396371477 Centerline is valid? [True, True] Translation: X:141.11, Y:41.32, Z:-0.31 [[ 8.33626971e-01 -5.52327866e-01 -5.08664767e-05 1.41112555e+02] [ 5.52327865e-01 8.33626972e-01 -3.49770122e-05 4.13226591e+01] [ 6.17224454e-05 1.06280826e-06 9.99999998e-01 -3.05071481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.925769231 meters 0.02422536356981555 Centerline is valid? [True, True] Translation: X:141.13, Y:41.34, Z:-0.30 [[ 8.34804119e-01 -5.50546977e-01 3.29309819e-04 1.41134735e+02] [ 5.50546932e-01 8.34804184e-01 2.24356542e-04 4.13412295e+01] [-3.98428031e-04 -5.99325550e-06 9.99999921e-01 -3.03680074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.955769231 meters 0.02899940385140955 Centerline is valid? [True, True] Translation: X:141.15, Y:41.36, Z:-0.30 [[ 8.36922745e-01 -5.47318386e-01 1.70408932e-03 1.41153375e+02] [ 5.47317151e-01 8.36924479e-01 1.16299019e-03 4.13624752e+01] [-2.06271998e-03 -4.06556335e-05 9.99997872e-01 -2.99801603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.985769231 meters 0.030877968586624532 Centerline is valid? [True, True] Translation: X:141.18, Y:41.38, Z:-0.30 [[ 8.37620026e-01 -5.46248157e-01 2.37537650e-03 1.41175305e+02] [ 5.46245754e-01 8.37623392e-01 1.62163421e-03 4.13811379e+01] [-2.87548562e-03 -6.07739672e-05 9.99995864e-01 -2.99258165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.015769231 meters 0.02818314898571962 Centerline is valid? [True, True] Translation: X:141.20, Y:41.39, Z:-0.30 [[ 8.38254967e-01 -5.45271313e-01 2.79400360e-03 1.41200850e+02] [ 5.45267979e-01 8.38259620e-01 1.90812011e-03 4.13941514e+01] [-3.38254356e-03 -7.60104586e-05 9.99994276e-01 -2.99437728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.045769231 meters 0.02706122887852428 Centerline is valid? [True, True] Translation: X:141.22, Y:41.41, Z:-0.30 [[ 8.38220303e-01 -5.45327201e-01 2.22856179e-03 1.41224202e+02] [ 5.45325080e-01 8.38223264e-01 1.52242476e-03 4.14097845e+01] [-2.69825197e-03 -6.08367062e-05 9.99996358e-01 -3.00355091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.075769231 meters 0.028441743036022142 Centerline is valid? [True, True] Translation: X:141.24, Y:41.43, Z:-0.30 [[ 8.38325393e-01 -5.45169202e-01 1.03719591e-03 1.41242596e+02] [ 5.45168742e-01 8.38326034e-01 7.08719653e-04 4.14319618e+01] [-1.25588047e-03 -2.86908893e-05 9.99999211e-01 -3.01138159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.105769231 meters 0.028834113860226187 Centerline is valid? [True, True] Translation: X:141.26, Y:41.45, Z:-0.30 [[ 8.38281263e-01 -5.45237282e-01 9.11331766e-04 1.41262306e+02] [ 5.45236927e-01 8.38281758e-01 6.22749061e-04 4.14503901e+01] [-1.10349880e-03 -2.51471376e-05 9.99999391e-01 -3.00885513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.135769231 meters 0.02823850447311025 Centerline is valid? [True, True] Translation: X:141.28, Y:41.47, Z:-0.30 [[ 8.38134328e-01 -5.45462833e-01 1.07011503e-03 1.41284555e+02] [ 5.45462344e-01 8.38135011e-01 7.31305338e-04 4.14674915e+01] [-1.29580076e-03 -2.92246547e-05 9.99999160e-01 -3.00657163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.165769231 meters 0.03142478221763801 Centerline is valid? [True, True] Translation: X:141.30, Y:41.49, Z:-0.30 [[ 8.36814367e-01 -5.47486106e-01 8.24152018e-04 1.41302697e+02] [ 5.47485816e-01 8.36814772e-01 5.63511926e-04 4.14901252e+01] [-9.98177533e-04 -2.03433351e-05 9.99999502e-01 -3.02689977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.195769231 meters 0.02185037878530517 Centerline is valid? [True, True] Translation: X:141.33, Y:41.50, Z:-0.31 [[ 8.34597229e-01 -5.50860446e-01 -4.83824887e-04 1.41331896e+02] [ 5.50860346e-01 8.34597370e-01 -3.31414720e-04 4.14994865e+01] [ 5.86362238e-04 1.00778621e-05 9.99999828e-01 -3.05727427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22576923100002 meters 0.02474067138162614 Centerline is valid? [True, True] Translation: X:141.35, Y:41.52, Z:-0.31 [[ 8.33629915e-01 -5.52322478e-01 -1.02220089e-03 1.41350994e+02] [ 5.52322035e-01 8.33630542e-01 -6.99590370e-04 4.15202822e+01] [ 1.23853737e-03 1.86153828e-05 9.99999233e-01 -3.07836308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25576923100002 meters 0.0193229681969648 Centerline is valid? [True, True] Translation: X:141.38, Y:41.53, Z:-0.31 [[ 8.32553043e-01 -5.53944644e-01 -8.73369477e-04 1.41378428e+02] [ 5.53944321e-01 8.32553501e-01 -5.98233241e-04 4.15319355e+01] [ 1.05851492e-03 1.42628432e-05 9.99999440e-01 -3.06117169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28576923100002 meters 0.016284860979750126 Centerline is valid? [True, True] Translation: X:141.40, Y:41.55, Z:-0.30 [[ 8.30706522e-01 -5.56710583e-01 3.42294703e-05 1.41403240e+02] [ 5.56710583e-01 8.30706522e-01 2.30035738e-05 4.15472437e+01] [-4.12409773e-05 -5.33104208e-08 9.99999999e-01 -3.04340881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31576923100002 meters 0.015312014357964162 Centerline is valid? [True, True] Translation: X:141.43, Y:41.56, Z:-0.31 [[ 8.29429922e-01 -5.58610775e-01 -7.57082088e-05 1.41427069e+02] [ 5.58610773e-01 8.29429926e-01 -5.22896524e-05 4.15625288e+01] [ 9.20042173e-05 1.07918134e-06 9.99999996e-01 -3.05690943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34576923100002 meters 0.013790179372910097 Centerline is valid? [True, True] Translation: X:141.45, Y:41.58, Z:-0.31 [[ 8.28330130e-01 -5.60240275e-01 -1.73142101e-04 1.41452931e+02] [ 5.60240262e-01 8.28330148e-01 -1.19069289e-04 4.15761065e+01] [ 2.10126234e-04 1.62750398e-06 9.99999978e-01 -3.06083270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37576923100002 meters 0.012705718395161743 Centerline is valid? [True, True] Translation: X:141.48, Y:41.59, Z:-0.30 [[ 8.26939994e-01 -5.62289944e-01 5.15469728e-04 1.41477214e+02] [ 5.62289833e-01 8.26940154e-01 3.53099948e-04 4.15905936e+01] [-6.24807166e-04 -2.14908122e-06 9.99999805e-01 -3.04664445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40576923100002 meters 0.012488935909544136 Centerline is valid? [True, True] Translation: X:141.50, Y:41.61, Z:-0.30 [[ 8.26564172e-01 -5.62841768e-01 9.01973516e-04 1.41499861e+02] [ 5.62841429e-01 8.26564664e-01 6.17892271e-04 4.16063327e+01] [-1.09331501e-03 -3.05955135e-06 9.99999402e-01 -3.03889788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43576923100002 meters 0.012472210109682094 Centerline is valid? [True, True] Translation: X:141.52, Y:41.62, Z:-0.31 [[ 8.26519773e-01 -5.62907627e-01 -2.61713954e-04 1.41522820e+02] [ 5.62907598e-01 8.26519814e-01 -1.79981666e-04 4.16223513e+01] [ 3.17624822e-04 1.43763239e-06 9.99999950e-01 -3.05984206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46576923100002 meters 0.012872546660401078 Centerline is valid? [True, True] Translation: X:141.54, Y:41.64, Z:-0.31 [[ 8.26501213e-01 -5.62933356e-01 -1.33438849e-03 1.41544804e+02] [ 5.62932612e-01 8.26502291e-01 -9.15666818e-04 4.16384785e+01] [ 1.61833454e-03 5.62893787e-06 9.99998690e-01 -3.08591822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.495769231 meters 0.013054424029556649 Centerline is valid? [True, True] Translation: X:141.57, Y:41.66, Z:-0.31 [[ 8.26693805e-01 -5.62651744e-01 -6.05876080e-04 1.41566392e+02] [ 5.62651590e-01 8.26694027e-01 -4.16255208e-04 4.16560727e+01] [ 7.35080855e-04 3.21846220e-06 9.99999730e-01 -3.07168680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.525769231 meters 0.013152945184523021 Centerline is valid? [True, True] Translation: X:141.59, Y:41.67, Z:-0.30 [[ 8.27008362e-01 -5.62189237e-01 6.56929777e-04 1.41588582e+02] [ 5.62189056e-01 8.27008623e-01 4.50525094e-04 4.16734212e+01] [-7.96566949e-04 -3.26928850e-06 9.99999683e-01 -3.04219492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.555769231 meters 0.014766171441706326 Centerline is valid? [True, True] Translation: X:141.61, Y:41.69, Z:-0.30 [[ 8.28434747e-01 -5.60083647e-01 1.47599044e-03 1.41608764e+02] [ 5.60082731e-01 8.28436061e-01 1.01324545e-03 4.16944477e+01] [-1.79026592e-03 -1.27309821e-05 9.99998397e-01 -3.02326937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.585769231 meters 0.01541495966699157 Centerline is valid? [True, True] Translation: X:141.63, Y:41.71, Z:-0.31 [[ 8.28841349e-01 -5.59483359e-01 6.24759890e-04 1.41629940e+02] [ 5.59483194e-01 8.28841584e-01 4.28929528e-04 4.17134500e+01] [-7.57805910e-04 -5.97186963e-06 9.99999713e-01 -3.05005988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.615769231 meters 0.01596615653284881 Centerline is valid? [True, True] Translation: X:141.65, Y:41.73, Z:-0.31 [[ 8.28962371e-01 -5.59303872e-01 -7.52647506e-04 1.41651625e+02] [ 5.59303632e-01 8.28962713e-01 -5.17574551e-04 4.17325622e+01] [ 9.13398169e-04 8.09134250e-06 9.99999583e-01 -3.08190171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.645769231 meters 0.016645969121187435 Centerline is valid? [True, True] Translation: X:141.67, Y:41.75, Z:-0.31 [[ 8.29133467e-01 -5.59046951e-01 -2.04952719e-03 1.41672150e+02] [ 5.59045176e-01 8.29136000e-01 -1.40871571e-03 4.17513885e+01] [ 2.48687500e-03 2.22350516e-05 9.99996907e-01 -3.10512718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.675769231 meters 0.015420398425787355 Centerline is valid? [True, True] Translation: X:141.70, Y:41.77, Z:-0.31 [[ 8.28286920e-01 -5.60302488e-01 -1.37852907e-03 1.41696221e+02] [ 5.60301686e-01 8.28288067e-01 -9.48102590e-04 4.17671341e+01] [ 1.67304342e-03 1.29088135e-05 9.99998600e-01 -3.08953877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.705769231 meters 0.014610171430849344 Centerline is valid? [True, True] Translation: X:141.72, Y:41.78, Z:-0.31 [[ 8.27550052e-01 -5.61390400e-01 -1.31567949e-03 1.41720594e+02] [ 5.61389670e-01 8.27551098e-01 -9.05211244e-04 4.17828686e+01] [ 1.59696891e-03 1.04987381e-05 9.99998725e-01 -3.09158345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.735769231 meters 0.014025910034421349 Centerline is valid? [True, True] Translation: X:141.74, Y:41.80, Z:-0.31 [[ 8.26764580e-01 -5.62547660e-01 -6.78003393e-04 1.41743392e+02] [ 5.62547466e-01 8.26764858e-01 -4.66468762e-04 4.17984063e+01] [ 8.22960289e-04 4.25075949e-06 9.99999661e-01 -3.09473517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.765769231 meters 0.012425911702947727 Centerline is valid? [True, True] Translation: X:141.77, Y:41.81, Z:-0.31 [[ 8.25131555e-01 -5.64940630e-01 -4.16085146e-05 1.41770231e+02] [ 5.64940629e-01 8.25131556e-01 -2.90414055e-05 4.18101366e+01] [ 5.07391683e-05 4.56639670e-07 9.99999999e-01 -3.07503558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.795769231 meters 0.012125897981590382 Centerline is valid? [True, True] Translation: X:141.79, Y:41.82, Z:-0.31 [[ 8.24149899e-01 -5.66371221e-01 -7.63748309e-04 1.41793831e+02] [ 5.66370977e-01 8.24150253e-01 -5.25934550e-04 4.18233166e+01] [ 9.27317556e-04 8.84030444e-07 9.99999570e-01 -3.09209299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.825769231 meters 0.012256814870584345 Centerline is valid? [True, True] Translation: X:141.82, Y:41.84, Z:-0.31 [[ 8.24113866e-01 -5.66423103e-01 -1.09739121e-03 1.41815768e+02] [ 5.66422599e-01 8.24114597e-01 -7.55981286e-04 4.18399796e+01] [ 1.33258138e-03 1.42747783e-06 9.99999112e-01 -3.09339218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.855769231 meters 0.012428224772225705 Centerline is valid? [True, True] Translation: X:141.84, Y:41.86, Z:-0.31 [[ 8.24723539e-01 -5.65535878e-01 -5.04597259e-04 1.41835897e+02] [ 5.65535771e-01 8.24723693e-01 -3.47935224e-04 4.18583963e+01] [ 6.12923168e-04 1.58256902e-06 9.99999812e-01 -3.07406887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.885769231 meters 0.014152199693471583 Centerline is valid? [True, True] Translation: X:141.85, Y:41.88, Z:-0.30 [[ 8.26713200e-01 -5.62620644e-01 1.81532657e-03 1.41853267e+02] [ 5.62619255e-01 8.26715193e-01 1.25022820e-03 4.18818779e+01] [-2.20416225e-03 -1.22424715e-05 9.99997571e-01 -3.01667681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.915769231 meters 0.014045192401243502 Centerline is valid? [True, True] Translation: X:141.88, Y:41.90, Z:-0.30 [[ 8.27184957e-01 -5.61925073e-01 2.29336084e-03 1.41876323e+02] [ 5.61922852e-01 8.27188136e-01 1.58008947e-03 4.19000270e+01] [-2.78493277e-03 -1.83343727e-05 9.99996122e-01 -3.00447065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.945769231 meters 0.01560943199567372 Centerline is valid? [True, True] Translation: X:141.89, Y:41.92, Z:-0.30 [[ 8.27545303e-01 -5.61396140e-01 1.77374606e-03 1.41894257e+02] [ 5.61394809e-01 8.27547203e-01 1.22241719e-03 4.19215470e+01] [-2.15411888e-03 -1.58337687e-05 9.99997680e-01 -3.02711450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97576923100002 meters 0.015088658602799756 Centerline is valid? [True, True] Translation: X:141.92, Y:41.94, Z:-0.30 [[ 8.27081594e-01 -5.62080860e-01 1.06954239e-03 1.41916560e+02] [ 5.62080377e-01 8.27082285e-01 7.37092367e-04 4.19381194e+01] [-1.29890508e-03 -8.46673858e-06 9.99999156e-01 -3.04726847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00576923100002 meters 0.014291624853558782 Centerline is valid? [True, True] Translation: X:141.94, Y:41.95, Z:-0.31 [[ 8.26365610e-01 -5.63133850e-01 3.81452884e-04 1.41938175e+02] [ 5.63133788e-01 8.26365698e-01 2.62741827e-04 4.19534575e+01] [-4.63178395e-04 -2.31180286e-06 9.99999893e-01 -3.06136130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03576923100002 meters 0.012567749731764536 Centerline is valid? [True, True] Translation: X:141.96, Y:41.97, Z:-0.31 [[ 8.24725972e-01 -5.65531861e-01 -8.85995628e-04 1.41962052e+02] [ 5.65531530e-01 8.24726448e-01 -6.11831401e-04 4.19690063e+01] [ 1.07671418e-03 3.53478369e-06 9.99999420e-01 -3.06881772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06576923100002 meters 0.012418527782989396 Centerline is valid? [True, True] Translation: X:141.98, Y:41.99, Z:-0.31 [[ 8.24387102e-01 -5.66024585e-01 -1.44040427e-03 1.41983632e+02] [ 5.66023711e-01 8.24388361e-01 -9.94856822e-04 4.19861842e+01] [ 1.75056594e-03 4.84416092e-06 9.99998468e-01 -3.07835167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09576923100002 meters 0.012453469318337792 Centerline is valid? [True, True] Translation: X:142.00, Y:42.00, Z:-0.31 [[ 8.24252567e-01 -5.66220807e-01 -1.30531360e-03 1.42003734e+02] [ 5.66220090e-01 8.24253600e-01 -9.01567379e-04 4.20042859e+01] [ 1.58639564e-03 4.02444379e-06 9.99998742e-01 -3.08227263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12576923100002 meters 0.012515997701649555 Centerline is valid? [True, True] Translation: X:142.02, Y:42.02, Z:-0.31 [[ 8.24115226e-01 -5.66421508e-01 -8.76573789e-04 1.42024238e+02] [ 5.66421185e-01 8.24115693e-01 -6.05652624e-04 4.20217338e+01] [ 1.06545289e-03 2.61758566e-06 9.99999432e-01 -3.08587387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15576923100002 meters 0.011942783791498804 Centerline is valid? [True, True] Translation: X:142.05, Y:42.04, Z:-0.31 [[ 8.22687075e-01 -5.68494482e-01 -2.51584614e-05 1.42047523e+02] [ 5.68494482e-01 8.22687075e-01 -1.78175021e-05 4.20364337e+01] [ 3.08266926e-05 3.55782151e-07 1.00000000e+00 -3.06537707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18576923100002 meters 0.012262924739151223 Centerline is valid? [True, True] Translation: X:142.07, Y:42.05, Z:-0.30 [[ 8.21298200e-01 -5.70499008e-01 3.86476418e-04 1.42071750e+02] [ 5.70498945e-01 8.21298291e-01 2.66626331e-04 4.20500782e+01] [-4.69522478e-04 1.50466324e-06 9.99999890e-01 -3.04521296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21576923100002 meters 0.015874229885099428 Centerline is valid? [True, True] Translation: X:142.10, Y:42.06, Z:-0.31 [[ 8.18461955e-01 -5.74560434e-01 5.79608709e-04 1.42100113e+02] [ 5.74560295e-01 8.18462160e-01 4.00498569e-04 4.20574858e+01] [-7.04498428e-04 5.22730893e-06 9.99999752e-01 -3.05401088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.245769231 meters 0.017965096874337543 Centerline is valid? [True, True] Translation: X:142.13, Y:42.07, Z:-0.31 [[ 8.17240881e-01 -5.76296218e-01 1.08312639e-04 1.42125209e+02] [ 5.76296213e-01 8.17240888e-01 7.45131839e-05 4.20715797e+01] [-1.31459184e-04 1.52494391e-06 9.99999991e-01 -3.06491732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.275769231 meters 0.017164221020328413 Centerline is valid? [True, True] Translation: X:142.15, Y:42.09, Z:-0.31 [[ 8.16305046e-01 -5.77620967e-01 -2.99595681e-04 1.42147173e+02] [ 5.77620930e-01 8.16305101e-01 -2.07653378e-04 4.20900186e+01] [ 3.64506428e-04 -3.54423531e-06 9.99999934e-01 -3.06568229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.305769231 meters 0.020765575251275648 Centerline is valid? [True, True] Translation: X:142.17, Y:42.10, Z:-0.31 [[ 8.15709369e-01 -5.78461947e-01 2.29714602e-05 1.42172224e+02] [ 5.78461947e-01 8.15709370e-01 1.56824786e-05 4.21030608e+01] [-2.78097524e-05 4.95770851e-07 1.00000000e+00 -3.06283159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.335769231 meters 0.020515566957564655 Centerline is valid? [True, True] Translation: X:142.19, Y:42.12, Z:-0.30 [[ 8.15817410e-01 -5.78309219e-01 6.33683488e-04 1.42194514e+02] [ 5.78309053e-01 8.15817656e-01 4.38114769e-04 4.21206345e+01] [-7.70335987e-04 9.04324165e-06 9.99999703e-01 -3.04390244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.365769231 meters 0.017249365644472724 Centerline is valid? [True, True] Translation: X:142.21, Y:42.14, Z:-0.30 [[ 8.16213378e-01 -5.77747110e-01 1.99952936e-03 1.42213525e+02] [ 5.77745453e-01 8.16215827e-01 1.38385241e-03 4.21443922e+01] [-2.43156424e-03 2.57001438e-05 9.99997043e-01 -3.01437807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.395769231 meters 0.02172716650225423 Centerline is valid? [True, True] Translation: X:142.23, Y:42.16, Z:-0.30 [[ 8.16047217e-01 -5.77982283e-01 1.84937707e-03 1.42234165e+02] [ 5.77980865e-01 8.16049313e-01 1.28033700e-03 4.21637136e+01] [-2.24919499e-03 2.40891169e-05 9.99997470e-01 -2.97827943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.425769231 meters 0.017649426221573387 Centerline is valid? [True, True] Translation: X:142.26, Y:42.18, Z:-0.31 [[ 8.14706302e-01 -5.79873766e-01 -2.37689398e-04 1.42256777e+02] [ 5.79873743e-01 8.14706337e-01 -1.64891141e-04 4.21806859e+01] [ 2.89263106e-04 -3.49198928e-06 9.99999958e-01 -3.06385655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.455769231 meters 0.02106406752103723 Centerline is valid? [True, True] Translation: X:142.28, Y:42.19, Z:-0.31 [[ 8.13913375e-01 -5.80984894e-01 -1.25305453e-03 1.42282141e+02] [ 5.80984246e-01 8.13914340e-01 -8.68286613e-04 4.21928751e+01] [ 1.52434045e-03 -2.12948505e-05 9.99998838e-01 -3.09629707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.485769231 meters 0.027346359466717103 Centerline is valid? [True, True] Translation: X:142.31, Y:42.20, Z:-0.31 [[ 8.12860557e-01 -5.82457527e-01 -9.71826343e-04 1.42309209e+02] [ 5.82457138e-01 8.12861138e-01 -6.73663036e-04 4.22024677e+01] [ 1.18233997e-03 -1.84530796e-05 9.99999301e-01 -3.10568436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.515769231 meters 0.02310179628679779 Centerline is valid? [True, True] Translation: X:142.33, Y:42.22, Z:-0.31 [[ 8.12513915e-01 -5.82941790e-01 8.75943185e-05 1.42328273e+02] [ 5.82941786e-01 8.12513920e-01 6.02535851e-05 4.22248573e+01] [-1.06295936e-04 2.10551218e-06 9.99999994e-01 -3.07212434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.545769231 meters 0.02353767048630006 Centerline is valid? [True, True] Translation: X:142.35, Y:42.24, Z:-0.30 [[ 8.12267583e-01 -5.83282378e-01 1.74404319e-03 1.42348878e+02] [ 5.83281126e-01 8.12269454e-01 1.20898333e-03 4.22416762e+01] [-2.12181168e-03 3.52495067e-05 9.99997748e-01 -3.03411448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.575769231 meters 0.023312690502711442 Centerline is valid? [True, True] Translation: X:142.37, Y:42.26, Z:-0.30 [[ 8.12273438e-01 -5.83274032e-01 1.80721527e-03 1.42370426e+02] [ 5.83272687e-01 8.12275447e-01 1.25322398e-03 4.22588581e+01] [-2.19892960e-03 3.61387553e-05 9.99997582e-01 -3.03240414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.605769231 meters 0.023090773730936577 Centerline is valid? [True, True] Translation: X:142.39, Y:42.28, Z:-0.31 [[ 8.12435455e-01 -5.83050527e-01 8.45307382e-04 1.42391234e+02] [ 5.83050233e-01 8.12435894e-01 5.86193116e-04 4.22753618e+01] [-1.02853826e-03 1.66125952e-05 9.99999471e-01 -3.05512537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.635769231 meters 0.023401836142211672 Centerline is valid? [True, True] Translation: X:142.41, Y:42.29, Z:-0.31 [[ 8.12455166e-01 -5.83020737e-01 -1.85045621e-03 1.42412379e+02] [ 5.83019322e-01 8.12457272e-01 -1.28495538e-03 4.22919227e+01] [ 2.25257224e-03 -3.48830896e-05 9.99997462e-01 -3.12813393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.665769231 meters 0.02140058749363757 Centerline is valid? [True, True] Translation: X:142.43, Y:42.31, Z:-0.31 [[ 8.12490529e-01 -5.82971048e-01 -1.97412618e-03 1.42432104e+02] [ 5.82969436e-01 8.12492927e-01 -1.37142462e-03 4.23118671e+01] [ 2.40346441e-03 -3.65857104e-05 9.99997111e-01 -3.12029051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.695769231 meters 0.02140058749363757 Centerline is valid? [True, True] Translation: X:142.45, Y:42.33, Z:-0.31 [[ 8.12381404e-01 -5.83123107e-01 -1.97386942e-03 1.42454570e+02] [ 5.83121495e-01 8.12383801e-01 -1.37179421e-03 4.23277079e+01] [ 2.40346445e-03 -3.65855791e-05 9.99997111e-01 -3.12088100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72576923100002 meters 0.020129221207002057 Centerline is valid? [True, True] Translation: X:142.48, Y:42.35, Z:-0.31 [[ 8.12656222e-01 -5.82741554e-01 -1.46482971e-03 1.42476270e+02] [ 5.82740665e-01 8.12657542e-01 -1.01845693e-03 4.23476239e+01] [ 1.78390209e-03 -2.59604802e-05 9.99998409e-01 -3.10685781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75576923100002 meters 0.02184377290900939 Centerline is valid? [True, True] Translation: X:142.50, Y:42.36, Z:-0.31 [[ 8.13035942e-01 -5.82212862e-01 -8.60129209e-04 1.42498904e+02] [ 5.82212555e-01 8.13036397e-01 -5.97998109e-04 4.23634210e+01] [ 1.04747854e-03 -1.45840683e-05 9.99999451e-01 -3.10246523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78576923100002 meters 0.02234373133702929 Centerline is valid? [True, True] Translation: X:142.52, Y:42.38, Z:-0.31 [[ 8.12734491e-01 -5.82633797e-01 -7.11392326e-04 1.42518134e+02] [ 5.82633587e-01 8.12734802e-01 -4.95094755e-04 4.23843640e+01] [ 8.66632238e-04 -1.21004793e-05 9.99999624e-01 -3.10178558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81576923100002 meters 0.022576913013534355 Centerline is valid? [True, True] Translation: X:142.54, Y:42.41, Z:-0.31 [[ 8.11351610e-01 -5.84557334e-01 -1.13521875e-03 1.42538279e+02] [ 5.84556801e-01 8.11352403e-01 -7.90035339e-04 4.24054612e+01] [ 1.38288342e-03 -2.26033998e-05 9.99999044e-01 -3.11241555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84576923100002 meters 0.027298232926919498 Centerline is valid? [True, True] Translation: X:142.56, Y:42.42, Z:-0.31 [[ 8.10302901e-01 -5.86010412e-01 -1.00304226e-03 1.42563617e+02] [ 5.86009997e-01 8.10303521e-01 -6.97911038e-04 4.24178175e+01] [ 1.22175181e-03 -2.22734526e-05 9.99999253e-01 -3.12065638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87576923100002 meters 0.026382157568033856 Centerline is valid? [True, True] Translation: X:142.58, Y:42.44, Z:-0.31 [[ 8.09103995e-01 -5.87665266e-01 -5.11161369e-04 1.42584379e+02] [ 5.87665158e-01 8.09104156e-01 -3.56126545e-04 4.24378368e+01] [ 6.22865989e-04 -1.22483166e-05 9.99999806e-01 -3.10259158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90576923100002 meters 0.03014168122998408 Centerline is valid? [True, True] Translation: X:142.61, Y:42.46, Z:-0.31 [[ 8.06692021e-01 -5.90971910e-01 4.29882287e-04 1.42606575e+02] [ 5.90971834e-01 8.06692136e-01 2.98854197e-04 4.24562399e+01] [-5.23397096e-04 1.29650275e-05 9.99999863e-01 -3.07752474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93576923100002 meters 0.033190787631351526 Centerline is valid? [True, True] Translation: X:142.63, Y:42.47, Z:-0.31 [[ 8.05732264e-01 -5.92279489e-01 7.25575174e-04 1.42630091e+02] [ 5.92279274e-01 8.05732590e-01 5.04986509e-04 4.24710559e+01] [-8.83712716e-04 2.28592141e-05 9.99999609e-01 -3.07719045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96576923100002 meters 0.03529558505672607 Centerline is valid? [True, True] Translation: X:142.65, Y:42.49, Z:-0.31 [[ 8.03985947e-01 -5.94647960e-01 6.32664098e-04 1.42652925e+02] [ 5.94647798e-01 8.03986196e-01 4.40192708e-04 4.24889322e+01] [-7.70412897e-04 2.23035614e-05 9.99999703e-01 -3.07702363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.995769231 meters 0.042394696065333914 Centerline is valid? [True, True] Translation: X:142.68, Y:42.50, Z:-0.31 [[ 8.03394908e-01 -5.95446341e-01 5.26009187e-04 1.42679850e+02] [ 5.95446229e-01 8.03395080e-01 3.66217894e-04 4.24990358e+01] [-6.40656298e-04 1.89925954e-05 9.99999795e-01 -3.08269819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.025769231 meters 0.03849814026819437 Centerline is valid? [True, True] Translation: X:142.70, Y:42.52, Z:-0.31 [[ 8.02411844e-01 -5.96769077e-01 1.37897221e-03 1.42697721e+02] [ 5.96768306e-01 8.02413027e-01 9.60361789e-04 4.25235289e+01] [-1.67961948e-03 5.23212373e-05 9.99998588e-01 -3.06397535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.055769231 meters 0.04027690311792924 Centerline is valid? [True, True] Translation: X:142.72, Y:42.54, Z:-0.31 [[ 8.01291643e-01 -5.98271467e-01 1.71879440e-03 1.42721997e+02] [ 5.98270273e-01 8.01293484e-01 1.19752519e-03 4.25387180e+01] [-2.09370391e-03 6.87366694e-05 9.99997806e-01 -3.06688745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.085769231 meters 0.04011640511775737 Centerline is valid? [True, True] Translation: X:142.75, Y:42.56, Z:-0.31 [[ 7.99732009e-01 -6.00354740e-01 1.70274585e-03 1.42745745e+02] [ 6.00353572e-01 7.99733819e-01 1.18673202e-03 4.25553446e+01] [-2.07420363e-03 7.31819744e-05 9.99997846e-01 -3.07059893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.115769231 meters 0.04676234970912311 Centerline is valid? [True, True] Translation: X:142.78, Y:42.56, Z:-0.31 [[ 7.96089399e-01 -6.05178802e-01 5.34841951e-04 1.42775769e+02] [ 6.05178688e-01 7.96089579e-01 3.72623739e-04 4.25620000e+01] [-6.51286091e-04 2.70331411e-05 9.99999788e-01 -3.10145714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.145769231 meters 0.05218640897219325 Centerline is valid? [True, True] Translation: X:142.81, Y:42.57, Z:-0.31 [[ 7.92869333e-01 -6.09390025e-01 -1.42059037e-03 1.42805833e+02] [ 6.09389224e-01 7.92870601e-01 -9.91487589e-04 4.25698141e+01] [ 1.73054699e-03 -7.95723612e-05 9.99998499e-01 -3.13377846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.175769231 meters 0.05396203480598815 Centerline is valid? [True, True] Translation: X:142.83, Y:42.58, Z:-0.31 [[ 7.91881299e-01 -6.10673014e-01 -1.57441978e-03 1.42831920e+02] [ 6.10672032e-01 7.91882859e-01 -1.09916398e-03 4.25825493e+01] [ 1.91798582e-03 -9.10467227e-05 9.99998157e-01 -3.13843489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.205769231 meters 0.051597182545226834 Centerline is valid? [True, True] Translation: X:142.85, Y:42.60, Z:-0.31 [[ 7.91582672e-01 -6.11060815e-01 -1.24658051e-03 1.42854850e+02] [ 6.11060199e-01 7.91583650e-01 -8.70696619e-04 4.25993185e+01] [ 1.51882134e-03 -7.25073771e-05 9.99998844e-01 -3.12547331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.235769231 meters 0.05063283578926881 Centerline is valid? [True, True] Translation: X:142.88, Y:42.61, Z:-0.31 [[ 7.92945367e-01 -6.09292711e-01 -1.94335456e-04 1.42880301e+02] [ 6.09292696e-01 7.92945390e-01 -1.36147791e-04 4.26110983e+01] [ 2.37051261e-04 -1.04494134e-05 9.99999972e-01 -3.10688087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.265769231 meters 0.04943656367894892 Centerline is valid? [True, True] Translation: X:142.90, Y:42.63, Z:-0.31 [[ 7.94034069e-01 -6.07873249e-01 -1.03468418e-04 1.42903442e+02] [ 6.07873245e-01 7.94034076e-01 -7.27444767e-05 4.26261068e+01] [ 1.26376871e-04 -5.13409017e-06 9.99999992e-01 -3.09941865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.295769231 meters 0.045744739913315596 Centerline is valid? [True, True] Translation: X:142.93, Y:42.64, Z:-0.31 [[ 7.96536672e-01 -6.04589337e-01 -1.03121735e-03 1.42925731e+02] [ 6.04588909e-01 7.96537338e-01 -7.20852175e-04 4.26422966e+01] [ 1.25722267e-03 -4.92773835e-05 9.99999208e-01 -3.11905959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.325769231 meters 0.04111539692146313 Centerline is valid? [True, True] Translation: X:142.95, Y:42.66, Z:-0.31 [[ 7.97761717e-01 -6.02969767e-01 -1.92436679e-03 1.42947770e+02] [ 6.02968272e-01 7.97764033e-01 -1.34553974e-03 4.26617968e+01] [ 2.34651040e-03 -8.69120308e-05 9.99997243e-01 -3.14070073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.355769231 meters 0.04010678311305221 Centerline is valid? [True, True] Translation: X:142.97, Y:42.67, Z:-0.32 [[ 7.99236432e-01 -6.01011402e-01 -2.53397088e-03 1.42974027e+02] [ 6.01008798e-01 7.99240442e-01 -1.77225285e-03 4.26736460e+01] [ 3.09039617e-03 -1.06489747e-04 9.99995219e-01 -3.16017038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.385769231 meters 0.03972304112153182 Centerline is valid? [True, True] Translation: X:143.00, Y:42.69, Z:-0.32 [[ 7.99512428e-01 -6.00645779e-01 -2.12754691e-03 1.42998519e+02] [ 6.00643942e-01 7.99515254e-01 -1.48799275e-03 4.26871852e+01] [ 2.59476277e-03 -8.82294649e-05 9.99996630e-01 -3.15198926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.415769231 meters 0.041978945192148814 Centerline is valid? [True, True] Translation: X:143.02, Y:42.70, Z:-0.31 [[ 7.99432518e-01 -6.00753928e-01 -1.53825632e-03 1.43024504e+02] [ 6.00752968e-01 7.99433996e-01 -1.07622404e-03 4.26979103e+01] [ 1.87628021e-03 -6.37435546e-05 9.99998238e-01 -3.14182950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.445769231 meters 0.04293926720609111 Centerline is valid? [True, True] Translation: X:143.05, Y:42.71, Z:-0.31 [[ 7.99377268e-01 -6.00829287e-01 3.89006125e-04 1.43052001e+02] [ 6.00829226e-01 7.99377362e-01 2.71795723e-04 4.27059705e+01] [-4.74265520e-04 1.64589268e-05 9.99999887e-01 -3.08413712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47576923100002 meters 0.03878299342313592 Centerline is valid? [True, True] Translation: X:143.08, Y:42.72, Z:-0.31 [[ 8.00224338e-01 -5.99700210e-01 8.16621220e-04 1.43076315e+02] [ 5.99699939e-01 8.00224754e-01 5.71144938e-04 4.27206494e+01] [-9.95996254e-04 3.26836163e-05 9.99999503e-01 -3.07451403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50576923100002 meters 0.0389010315271622 Centerline is valid? [True, True] Translation: X:143.10, Y:42.73, Z:-0.31 [[ 8.01184044e-01 -5.98417806e-01 -5.06845960e-04 1.43101281e+02] [ 5.98417700e-01 8.01184204e-01 -3.55327506e-04 4.27338774e+01] [ 6.18711284e-04 -1.86228655e-05 9.99999808e-01 -3.10926663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53576923100002 meters 0.03282008010264201 Centerline is valid? [True, True] Translation: X:143.12, Y:42.76, Z:-0.31 [[ 8.02528034e-01 -5.96611242e-01 -1.94435310e-03 1.43122254e+02] [ 5.96609690e-01 8.02530387e-01 -1.36226383e-03 4.27551525e+01] [ 2.37314436e-03 -6.67649930e-05 9.99997182e-01 -3.14058971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56576923100002 meters 0.028601482504455843 Centerline is valid? [True, True] Translation: X:143.14, Y:42.77, Z:-0.32 [[ 8.06191578e-01 -5.91648400e-01 -2.70372297e-03 1.43144374e+02] [ 5.91645371e-01 8.06196109e-01 -1.89450762e-03 4.27722485e+01] [ 3.30061334e-03 -7.23090913e-05 9.99994550e-01 -3.15755828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59576923100002 meters 0.02311958279155913 Centerline is valid? [True, True] Translation: X:143.16, Y:42.79, Z:-0.31 [[ 8.08270156e-01 -5.88807784e-01 -2.17913682e-03 1.43164724e+02] [ 5.88805805e-01 8.08273092e-01 -1.52759269e-03 4.27945907e+01] [ 2.66079612e-03 -4.83808232e-05 9.99996459e-01 -3.13498065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62576923100002 meters 0.018395815481657397 Centerline is valid? [True, True] Translation: X:143.18, Y:42.82, Z:-0.32 [[ 8.11827755e-01 -5.83891470e-01 -2.53936689e-03 1.43183016e+02] [ 5.83888757e-01 8.11831725e-01 -1.78028115e-03 4.28171429e+01] [ 3.10102958e-03 -3.74261275e-05 9.99995191e-01 -3.15142928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65576923100002 meters 0.016888701845040377 Centerline is valid? [True, True] Translation: X:143.20, Y:42.84, Z:-0.32 [[ 8.12939476e-01 -5.82339344e-01 -3.20875098e-03 1.43204972e+02] [ 5.82334998e-01 8.12945808e-01 -2.25036174e-03 4.28362717e+01] [ 3.91901483e-03 -3.91600976e-05 9.99992320e-01 -3.16769611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68576923100002 meters 0.01623578133150565 Centerline is valid? [True, True] Translation: X:143.23, Y:42.85, Z:-0.32 [[ 8.13413471e-01 -5.81680703e-01 -2.46696293e-03 1.43227526e+02] [ 5.81678130e-01 8.13417211e-01 -1.73019244e-03 4.28518147e+01] [ 3.01308966e-03 -2.76165461e-05 9.99995460e-01 -3.15613803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71576923100002 meters 0.016504045140599412 Centerline is valid? [True, True] Translation: X:143.25, Y:42.87, Z:-0.31 [[ 8.12841221e-01 -5.82483463e-01 -1.47092613e-03 1.43251004e+02] [ 5.82482549e-01 8.12842552e-01 -1.03243857e-03 4.28663691e+01] [ 1.79700975e-03 -1.75801697e-05 9.99998385e-01 -3.12893863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.745769231 meters 0.017705526281173556 Centerline is valid? [True, True] Translation: X:143.28, Y:42.88, Z:-0.31 [[ 8.11924518e-01 -5.83762229e-01 -4.86997322e-04 1.43275265e+02] [ 5.83762129e-01 8.11924664e-01 -3.41933009e-04 4.28801452e+01] [ 5.95012712e-04 -6.66680061e-06 9.99999823e-01 -3.10661297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.775769231 meters 0.019124865055214636 Centerline is valid? [True, True] Translation: X:143.30, Y:42.89, Z:-0.31 [[ 8.10780365e-01 -5.85349646e-01 9.96376479e-04 1.43300743e+02] [ 5.85349229e-01 8.10780977e-01 6.98957071e-04 4.28933752e+01] [-1.21697737e-03 1.65275344e-05 9.99999259e-01 -3.07960007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.805769231 meters 0.02060234189930719 Centerline is valid? [True, True] Translation: X:143.33, Y:42.91, Z:-0.31 [[ 8.09918209e-01 -5.86540753e-01 1.56187402e-03 1.43326092e+02] [ 5.86539729e-01 8.09919714e-01 1.09630526e-03 4.29050183e+01] [-1.90802028e-03 2.81835698e-05 9.99998179e-01 -3.06274257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.835769231 meters 0.021192715108652227 Centerline is valid? [True, True] Translation: X:143.35, Y:42.92, Z:-0.30 [[ 8.09529641e-01 -5.87075392e-01 2.06001715e-03 1.43350228e+02] [ 5.87073612e-01 8.09532262e-01 1.44620259e-03 4.29195679e+01] [-2.51668030e-03 3.86378451e-05 9.99996832e-01 -3.04900260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.865769231 meters 0.021753543187221867 Centerline is valid? [True, True] Translation: X:143.37, Y:42.93, Z:-0.30 [[ 8.09190522e-01 -5.87541051e-01 2.49247219e-03 1.43374978e+02] [ 5.87538446e-01 8.09194360e-01 1.75027846e-03 4.29344268e+01] [-3.04525488e-03 4.81144942e-05 9.99995362e-01 -3.04165928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.895769231 meters 0.021922459303176524 Centerline is valid? [True, True] Translation: X:143.40, Y:42.95, Z:-0.31 [[ 8.09218025e-01 -5.87506963e-01 1.32539793e-03 1.43399574e+02] [ 5.87506226e-01 8.09219110e-01 9.30846871e-04 4.29459660e+01] [-1.61941635e-03 2.54214682e-05 9.99998688e-01 -3.07301527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.925769231 meters 0.02180687176254249 Centerline is valid? [True, True] Translation: X:143.42, Y:42.96, Z:-0.31 [[ 8.09251004e-01 -5.87463008e-01 1.63925168e-04 1.43423903e+02] [ 5.87462997e-01 8.09251021e-01 1.14749858e-04 4.29600974e+01] [-2.00067906e-04 3.43853248e-06 9.99999980e-01 -3.09988176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.955769231 meters 0.021380891977852083 Centerline is valid? [True, True] Translation: X:143.45, Y:42.97, Z:-0.31 [[ 8.09683429e-01 -5.86864497e-01 -1.67527731e-03 1.43448656e+02] [ 5.86863315e-01 8.09685162e-01 -1.17848012e-03 4.29712495e+01] [ 2.04805532e-03 -2.89629747e-05 9.99997902e-01 -3.14195471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.985769231 meters 0.02056664902428873 Centerline is valid? [True, True] Translation: X:143.47, Y:42.99, Z:-0.31 [[ 8.10151592e-01 -5.86216667e-01 -2.10166671e-03 1.43473311e+02] [ 5.86214803e-01 8.10154318e-01 -1.47844871e-03 4.29860970e+01] [ 2.56936563e-03 -3.42605630e-05 9.99996699e-01 -3.14989261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.015769231 meters 0.01954019178489941 Centerline is valid? [True, True] Translation: X:143.50, Y:43.00, Z:-0.31 [[ 8.10563364e-01 -5.85649109e-01 -1.46766983e-03 1.43497581e+02] [ 5.85648198e-01 8.10564693e-01 -1.03310065e-03 4.30011280e+01] [ 1.79467582e-03 -2.21446482e-05 9.99998389e-01 -3.13890003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.045769231 meters 0.01863437028588453 Centerline is valid? [True, True] Translation: X:143.52, Y:43.01, Z:-0.31 [[ 8.11032389e-01 -5.85000985e-01 5.57725664e-04 1.43523226e+02] [ 5.85000854e-01 8.11032581e-01 3.92175611e-04 4.30126234e+01] [-6.81756803e-04 8.20286696e-06 9.99999768e-01 -3.10162726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.075769231 meters 0.018048909740420213 Centerline is valid? [True, True] Translation: X:143.55, Y:43.02, Z:-0.31 [[ 8.11443471e-01 -5.84430851e-01 2.73031109e-04 1.43549110e+02] [ 5.84430819e-01 8.11443517e-01 1.91830065e-04 4.30224721e+01] [-3.33660732e-04 3.90854122e-06 9.99999944e-01 -3.10440122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.105769231 meters 0.017214485658198535 Centerline is valid? [True, True] Translation: X:143.57, Y:43.04, Z:-0.31 [[ 8.11876188e-01 -5.83828900e-01 -9.32683589e-04 1.43573243e+02] [ 5.83828530e-01 8.11876724e-01 -6.57330371e-04 4.30369732e+01] [ 1.14099256e-03 -1.08564132e-05 9.99999349e-01 -3.12852257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.135769231 meters 0.015987098685707073 Centerline is valid? [True, True] Translation: X:143.60, Y:43.05, Z:-0.32 [[ 8.12764336e-01 -5.82588953e-01 -2.06074427e-03 1.43596647e+02] [ 5.82587143e-01 8.12766948e-01 -1.45231766e-03 4.30533426e+01] [ 2.52100906e-03 -2.01711213e-05 9.99996822e-01 -3.15077019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.165769231 meters 0.013139612139603423 Centerline is valid? [True, True] Translation: X:143.62, Y:43.07, Z:-0.32 [[ 8.15177102e-01 -5.79207576e-01 -2.20812549e-03 1.43616645e+02] [ 5.79205485e-01 8.15180093e-01 -1.55636764e-03 4.30720669e+01] [ 2.70147987e-03 -1.02431338e-05 9.99996351e-01 -3.15428536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.195769231 meters 0.012280749275008891 Centerline is valid? [True, True] Translation: X:143.64, Y:43.09, Z:-0.31 [[ 8.16176612e-01 -5.77799714e-01 -1.79678564e-03 1.43638532e+02] [ 5.77798324e-01 8.16178590e-01 -1.26712045e-03 4.30900044e+01] [ 2.19863980e-03 -3.98565806e-06 9.99997583e-01 -3.14769087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22576923100002 meters 0.012106793772613046 Centerline is valid? [True, True] Translation: X:143.66, Y:43.11, Z:-0.31 [[ 8.18078675e-01 -5.75105039e-01 -1.21470721e-03 1.43659599e+02] [ 5.75104400e-01 8.18079577e-01 -8.57008001e-04 4.31068936e+01] [ 1.48659678e-03 2.51650980e-06 9.99998895e-01 -3.13546216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25576923100002 meters 0.012618686773330863 Centerline is valid? [True, True] Translation: X:143.68, Y:43.12, Z:-0.31 [[ 8.19074552e-01 -5.73686513e-01 -8.14922048e-04 1.43681837e+02] [ 5.73686224e-01 8.19074957e-01 -5.75343052e-04 4.31234731e+01] [ 9.97548790e-04 3.73929913e-06 9.99999502e-01 -3.12574541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28576923100002 meters 0.013496954517148869 Centerline is valid? [True, True] Translation: X:143.70, Y:43.14, Z:-0.31 [[ 8.19903918e-01 -5.72500798e-01 -6.33114455e-04 1.43704103e+02] [ 5.72500623e-01 8.19904163e-01 -4.47239574e-04 4.31402075e+01] [ 7.75138190e-04 4.23505958e-06 9.99999700e-01 -3.11902716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31576923100002 meters 0.015618506594904158 Centerline is valid? [True, True] Translation: X:143.73, Y:43.16, Z:-0.31 [[ 8.21267394e-01 -5.70542448e-01 -1.08747937e-03 1.43725125e+02] [ 5.70541931e-01 8.21268114e-01 -7.67816683e-04 4.31592025e+01] [ 1.33118414e-03 1.01302269e-05 9.99999114e-01 -3.12890802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34576923100002 meters 0.017808837377334196 Centerline is valid? [True, True] Translation: X:143.75, Y:43.18, Z:-0.31 [[ 8.22458864e-01 -5.68823766e-01 -9.69471119e-04 1.43745195e+02] [ 5.68823354e-01 8.22459436e-01 -6.84620518e-04 4.31787499e+01] [ 1.18677909e-03 1.16143998e-05 9.99999296e-01 -3.13084603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37576923100002 meters 0.020851802819633163 Centerline is valid? [True, True] Translation: X:143.77, Y:43.20, Z:-0.31 [[ 8.23959922e-01 -5.66647343e-01 -9.14315901e-04 1.43765473e+02] [ 5.66646975e-01 8.23960429e-01 -6.46064825e-04 4.32001060e+01] [ 1.11945104e-03 1.42371833e-05 9.99999373e-01 -3.12418463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40576923100002 meters 0.028069005127431997 Centerline is valid? [True, True] Translation: X:143.78, Y:43.23, Z:-0.31 [[ 8.27276788e-01 -5.61793348e-01 -1.16198520e-03 1.43781113e+02] [ 5.61792749e-01 8.27277604e-01 -8.20964199e-04 4.32262410e+01] [ 1.42249656e-03 2.63697655e-05 9.99998988e-01 -3.11885211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43576923100002 meters 0.034424222965177546 Centerline is valid? [True, True] Translation: X:143.80, Y:43.25, Z:-0.31 [[ 8.29959623e-01 -5.57823198e-01 5.50921588e-04 1.43796927e+02] [ 5.57823063e-01 8.29959806e-01 3.88840184e-04 4.32522875e+01] [-6.74146849e-04 -1.54048852e-05 9.99999773e-01 -3.07534931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46576923100002 meters 0.03628607872564976 Centerline is valid? [True, True] Translation: X:143.82, Y:43.27, Z:-0.30 [[ 8.30601700e-01 -5.56863687e-01 1.91040734e-03 1.43817143e+02] [ 5.56862054e-01 8.30603895e-01 1.34982651e-03 4.32717342e+01] [-2.33846114e-03 -5.73348399e-05 9.99997264e-01 -3.04163079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49576923100003 meters 0.03767630963785441 Centerline is valid? [True, True] Translation: X:143.84, Y:43.29, Z:-0.30 [[ 8.31125320e-01 -5.56080557e-01 2.26218144e-03 1.43838181e+02] [ 5.56078263e-01 8.31128395e-01 1.59878842e-03 4.32914118e+01] [-2.76921839e-03 -7.08436125e-05 9.99996163e-01 -3.03071876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.525769231 meters 0.04185372925352572 Centerline is valid? [True, True] Translation: X:143.85, Y:43.32, Z:-0.31 [[ 8.32571030e-01 -5.53917981e-01 5.92165252e-04 1.43854319e+02] [ 5.53917823e-01 8.32571240e-01 4.18358957e-04 4.33182021e+01] [-7.24756307e-04 -2.03026600e-05 9.99999737e-01 -3.07227792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.555769231 meters 0.044390900279357055 Centerline is valid? [True, True] Translation: X:143.87, Y:43.34, Z:-0.31 [[ 8.33303246e-01 -5.52816078e-01 -2.89943235e-04 1.43873257e+02] [ 5.52816040e-01 8.33303296e-01 -2.05471480e-04 4.33414174e+01] [ 3.55198591e-04 1.09347799e-05 9.99999937e-01 -3.09537363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.585769231 meters 0.044390900279357055 Centerline is valid? [True, True] Translation: X:143.90, Y:43.36, Z:-0.31 [[ 8.33211664e-01 -5.52954102e-01 -2.89883140e-04 1.43895577e+02] [ 5.52954064e-01 8.33211714e-01 -2.05556379e-04 4.33574757e+01] [ 3.55197271e-04 1.09799122e-05 9.99999937e-01 -3.09596430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.615769231 meters 0.04896264750845846 Centerline is valid? [True, True] Translation: X:143.91, Y:43.39, Z:-0.31 [[ 8.35003051e-01 -5.50245298e-01 -1.33332008e-04 1.43910208e+02] [ 5.50245289e-01 8.35003061e-01 -9.47887374e-05 4.33855257e+01] [ 1.63489692e-04 5.78357574e-06 9.99999987e-01 -3.08942098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.645769231 meters 0.051156842281188795 Centerline is valid? [True, True] Translation: X:143.93, Y:43.41, Z:-0.31 [[ 8.35594897e-01 -5.49346088e-01 -2.09266807e-04 1.43929919e+02] [ 5.49346068e-01 8.35594923e-01 -1.48551091e-04 4.34075238e+01] [ 2.56468243e-04 9.16863577e-06 9.99999967e-01 -3.09587680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.675769231 meters 0.052520666890215645 Centerline is valid? [True, True] Translation: X:143.95, Y:43.43, Z:-0.31 [[ 8.35809647e-01 -5.49018929e-01 -6.70987156e-04 1.43950747e+02] [ 5.49018724e-01 8.35809915e-01 -4.75617366e-04 4.34284745e+01] [ 8.21940655e-04 2.91410704e-05 9.99999662e-01 -3.11465633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.705769231 meters 0.049455891548019666 Centerline is valid? [True, True] Translation: X:143.97, Y:43.45, Z:-0.31 [[ 8.34460428e-01 -5.51066965e-01 -9.97218700e-04 1.43973348e+02] [ 5.51066513e-01 8.34461023e-01 -7.06902751e-04 4.34461223e+01] [ 1.22169089e-03 4.03485399e-05 9.99999253e-01 -3.12972437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.735769231 meters 0.03356268271350547 Centerline is valid? [True, True] Translation: X:144.01, Y:43.45, Z:-0.31 [[ 8.31778590e-01 -5.55105609e-01 -1.46286924e-03 1.44006208e+02] [ 5.55104643e-01 8.31779875e-01 -1.03717939e-03 4.34497318e+01] [ 1.79252929e-03 5.06581014e-05 9.99998392e-01 -3.11937779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.765769231 meters 0.04067561430604636 Centerline is valid? [True, True] Translation: X:144.02, Y:43.48, Z:-0.32 [[ 8.30392979e-01 -5.57174766e-01 -1.94464929e-03 1.44022023e+02] [ 5.57173063e-01 8.30395253e-01 -1.37867254e-03 4.34758928e+01] [ 2.38298909e-03 6.13337968e-05 9.99997159e-01 -3.15682712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.795769231 meters 0.03788802404670654 Centerline is valid? [True, True] Translation: X:144.05, Y:43.49, Z:-0.32 [[ 8.29178677e-01 -5.58978220e-01 -2.46383889e-03 1.44046665e+02] [ 5.58975494e-01 8.29182335e-01 -1.74737032e-03 4.34915003e+01] [ 3.01971364e-03 7.16566466e-05 9.99995438e-01 -3.17943730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.825769231 meters 0.025501345759942017 Centerline is valid? [True, True] Translation: X:144.08, Y:43.50, Z:-0.32 [[ 8.27007360e-01 -5.62186849e-01 -2.18493281e-03 1.44079257e+02] [ 5.62184714e-01 8.27010244e-01 -1.55014951e-03 4.34958982e+01] [ 2.67843549e-03 5.36492219e-05 9.99996412e-01 -3.15287050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.855769231 meters 0.03155755473193169 Centerline is valid? [True, True] Translation: X:144.10, Y:43.52, Z:-0.32 [[ 8.26288996e-01 -5.63243317e-01 -1.86019329e-03 1.44096752e+02] [ 5.63241773e-01 8.26291089e-01 -1.31973194e-03 4.35196938e+01] [ 2.28039133e-03 4.27414106e-05 9.99997399e-01 -3.16344796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.885769231 meters 0.031820203486987664 Centerline is valid? [True, True] Translation: X:144.12, Y:43.54, Z:-0.31 [[ 8.26189051e-01 -5.63391541e-01 -1.27422025e-03 1.44116103e+02] [ 5.63390815e-01 8.26190033e-01 -9.04657599e-04 4.35400879e+01] [ 1.56242451e-03 2.95342179e-05 9.99998779e-01 -3.13426372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.915769231 meters 0.03341946865049813 Centerline is valid? [True, True] Translation: X:144.14, Y:43.56, Z:-0.31 [[ 8.26731922e-01 -5.62595071e-01 -1.05595647e-03 1.44136489e+02] [ 5.62594572e-01 8.26732596e-01 -7.49948835e-04 4.35613897e+01] [ 1.29491115e-03 2.59312659e-05 9.99999161e-01 -3.12713821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.945769231 meters 0.03847946478500559 Centerline is valid? [True, True] Translation: X:144.15, Y:43.59, Z:-0.31 [[ 8.28438733e-01 -5.60077952e-01 -1.39758235e-03 1.44153570e+02] [ 5.60077074e-01 8.28439911e-01 -9.92755756e-04 4.35870870e+01] [ 1.71383361e-03 3.96834900e-05 9.99998531e-01 -3.14195754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97576923100002 meters 0.04103918853122421 Centerline is valid? [True, True] Translation: X:144.17, Y:43.61, Z:-0.32 [[ 8.29138004e-01 -5.59040831e-01 -1.87614017e-03 1.44173696e+02] [ 5.59039245e-01 8.29140124e-01 -1.33297462e-03 4.36080551e+01] [ 2.30077034e-03 5.63839311e-05 9.99997352e-01 -3.16308448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00576923100002 meters 0.04276759113585767 Centerline is valid? [True, True] Translation: X:144.19, Y:43.63, Z:-0.32 [[ 8.29588948e-01 -5.58369989e-01 -2.26542232e-03 1.44194390e+02] [ 5.58367673e-01 8.29592038e-01 -1.60997142e-03 4.36291069e+01] [ 2.77833605e-03 7.06759087e-05 9.99996138e-01 -3.17087248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03576923100002 meters 0.032365972499909225 Centerline is valid? [True, True] Translation: X:144.22, Y:43.64, Z:-0.31 [[ 8.29637830e-01 -5.58298866e-01 -1.85686695e-03 1.44220599e+02] [ 5.58297308e-01 8.29639905e-01 -1.32031805e-03 4.36405910e+01] [ 2.27766299e-03 5.87019853e-05 9.99997404e-01 -3.12642460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06576923100002 meters 0.03397911420197521 Centerline is valid? [True, True] Translation: X:144.24, Y:43.66, Z:-0.31 [[ 8.29330608e-01 -5.58756415e-01 -1.41832236e-03 1.44239730e+02] [ 5.58755507e-01 8.29331819e-01 -1.00853045e-03 4.36615967e+01] [ 1.73978272e-03 4.39097400e-05 9.99998486e-01 -3.11606072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09576923100002 meters 0.029064218902479608 Centerline is valid? [True, True] Translation: X:144.26, Y:43.68, Z:-0.31 [[ 8.28498652e-01 -5.59991051e-01 -8.12984797e-05 1.44262238e+02] [ 5.59991047e-01 8.28498656e-01 -5.82558064e-05 4.36792862e+01] [ 9.99784114e-05 2.73843626e-06 9.99999995e-01 -3.07906978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12576923100002 meters 0.02935995162253598 Centerline is valid? [True, True] Translation: X:144.28, Y:43.70, Z:-0.31 [[ 8.28362192e-01 -5.60192060e-01 9.67058572e-04 1.44281046e+02] [ 5.60191639e-01 8.28362756e-01 6.87643673e-04 4.36995982e+01] [-1.18628783e-03 -2.78798938e-05 9.99999296e-01 -3.05547844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15576923100002 meters 0.03031069838435507 Centerline is valid? [True, True] Translation: X:144.30, Y:43.73, Z:-0.30 [[ 8.29011914e-01 -5.59226912e-01 2.12319718e-03 1.44297478e+02] [ 5.59224876e-01 8.29014630e-01 1.51028462e-03 4.37266576e+01] [-2.60475333e-03 -6.46992618e-05 9.99996606e-01 -3.02482518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18576923100002 meters 0.03521591765659978 Centerline is valid? [True, True] Translation: X:144.31, Y:43.75, Z:-0.30 [[ 8.29675902e-01 -5.58242231e-01 1.87313754e-03 1.44313520e+02] [ 5.58240643e-01 8.29678015e-01 1.33281088e-03 4.37526791e+01] [-2.29813236e-03 -6.01395643e-05 9.99997357e-01 -3.03516222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21576923100002 meters 0.03652205967065616 Centerline is valid? [True, True] Translation: X:144.33, Y:43.78, Z:-0.31 [[ 8.30540261e-01 -5.56958547e-01 2.26800266e-04 1.44330249e+02] [ 5.56958524e-01 8.30540292e-01 1.61035415e-04 4.37792519e+01] [-2.78056810e-04 -7.42805412e-06 9.99999961e-01 -3.07927516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24576923100003 meters 0.03702460847806628 Centerline is valid? [True, True] Translation: X:144.35, Y:43.80, Z:-0.31 [[ 8.30475739e-01 -5.57054712e-01 3.08875366e-04 1.44348127e+02] [ 5.57054669e-01 8.30475796e-01 2.19705988e-04 4.37999962e+01] [-3.78901771e-04 -1.04000280e-05 9.99999928e-01 -3.07412499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.275769231 meters 0.03733978328925742 Centerline is valid? [True, True] Translation: X:144.37, Y:43.82, Z:-0.31 [[ 8.30408226e-01 -5.57153808e-01 1.34609361e-03 1.44366606e+02] [ 5.57152986e-01 8.30409316e-01 9.58341759e-04 4.38210256e+01] [-1.65175243e-03 -4.58348087e-05 9.99998635e-01 -3.05280118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.305769231 meters 0.03749930482142639 Centerline is valid? [True, True] Translation: X:144.38, Y:43.85, Z:-0.30 [[ 8.30494104e-01 -5.57017617e-01 3.30416333e-03 1.44383702e+02] [ 5.57012658e-01 8.30500669e-01 2.35324476e-03 4.38473932e+01] [-4.05490864e-03 -1.13895099e-04 9.99991772e-01 -2.99773516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.335769231 meters 0.03838437364385592 Centerline is valid? [True, True] Translation: X:144.40, Y:43.87, Z:-0.30 [[ 8.30617031e-01 -5.56832225e-01 3.63607420e-03 1.44402463e+02] [ 5.56826214e-01 8.30624980e-01 2.59032142e-03 4.38694623e+01] [-4.46258850e-03 -1.26903661e-04 9.99990035e-01 -2.98913278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.365769231 meters 0.03283714378344264 Centerline is valid? [True, True] Translation: X:144.42, Y:43.89, Z:-0.30 [[ 8.30300838e-01 -5.57307717e-01 2.93718738e-03 1.44423093e+02] [ 5.57303796e-01 8.30306027e-01 2.09291698e-03 4.38907492e+01] [-3.60516316e-03 -1.00845047e-04 9.99993496e-01 -3.01109728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.395769231 meters 0.03503063109670261 Centerline is valid? [True, True] Translation: X:144.44, Y:43.91, Z:-0.30 [[ 8.30095276e-01 -5.57618914e-01 1.72580107e-03 1.44440100e+02] [ 5.57617561e-01 8.30097068e-01 1.22999364e-03 4.39140523e+01] [-2.11845013e-03 -5.86749298e-05 9.99997754e-01 -3.04436954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.425769231 meters 0.03585210128972457 Centerline is valid? [True, True] Translation: X:144.46, Y:43.94, Z:-0.31 [[ 8.29270436e-01 -5.58846999e-01 -7.58650748e-04 1.44456213e+02] [ 5.58846738e-01 8.29270783e-01 -5.41378640e-04 4.39402669e+01] [ 9.31674728e-04 2.49798048e-05 9.99999566e-01 -3.11259011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.455769231 meters 0.03340163827701955 Centerline is valid? [True, True] Translation: X:144.48, Y:43.96, Z:-0.31 [[ 8.28600564e-01 -5.59839358e-01 -9.99434617e-04 1.44478235e+02] [ 5.59838904e-01 8.28601166e-01 -7.13305982e-04 4.39592747e+01] [ 1.22746945e-03 3.15233578e-05 9.99999246e-01 -3.12179956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.485769231 meters 0.027080172575175473 Centerline is valid? [True, True] Translation: X:144.50, Y:43.98, Z:-0.31 [[ 8.26370615e-01 -5.63126014e-01 -8.36158081e-04 1.44501172e+02] [ 5.63125698e-01 8.26371038e-01 -5.96702555e-04 4.39779449e+01] [ 1.02699555e-03 2.22353544e-05 9.99999472e-01 -3.11639367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.515769231 meters 0.025631703669985968 Centerline is valid? [True, True] Translation: X:144.52, Y:44.00, Z:-0.31 [[ 8.24860163e-01 -5.65335697e-01 -1.12325375e-03 1.44522722e+02] [ 5.65335129e-01 8.24860927e-01 -8.01580735e-04 4.39957444e+01] [ 1.37969033e-03 2.61772133e-05 9.99999048e-01 -3.12917702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.545769231 meters 0.02170310769683974 Centerline is valid? [True, True] Translation: X:144.55, Y:44.01, Z:-0.31 [[ 8.22527318e-01 -5.68724863e-01 -9.17007473e-04 1.44545833e+02] [ 5.68724487e-01 8.22527829e-01 -6.54780792e-04 4.40123177e+01] [ 1.12665428e-03 1.70504847e-05 9.99999365e-01 -3.11368573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.575769231 meters 0.019502033359254285 Centerline is valid? [True, True] Translation: X:144.57, Y:44.03, Z:-0.31 [[ 8.21581165e-01 -5.70091548e-01 -1.29081442e-04 1.44569450e+02] [ 5.70091540e-01 8.21581175e-01 -9.25513866e-05 4.40297428e+01] [ 1.58813646e-04 2.45023807e-06 9.99999987e-01 -3.08779545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.605769231 meters 0.018612950029089474 Centerline is valid? [True, True] Translation: X:144.59, Y:44.05, Z:-0.31 [[ 8.20797253e-01 -5.71219491e-01 4.01788220e-04 1.44590177e+02] [ 5.71219419e-01 8.20797352e-01 2.86720934e-04 4.40479841e+01] [-4.93567293e-04 -5.83052142e-06 9.99999878e-01 -3.07883669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.635769231 meters 0.016914950191726355 Centerline is valid? [True, True] Translation: X:144.61, Y:44.07, Z:-0.31 [[ 8.19658363e-01 -5.72852292e-01 6.47794319e-04 1.44610105e+02] [ 5.72852105e-01 8.19658619e-01 4.62249154e-04 4.40689476e+01] [-7.95770684e-04 -7.79604528e-06 9.99999683e-01 -3.09125396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.665769231 meters 0.01600756271863184 Centerline is valid? [True, True] Translation: X:144.63, Y:44.09, Z:-0.31 [[ 8.18826402e-01 -5.74041039e-01 4.56156129e-04 1.44631423e+02] [ 5.74040947e-01 8.18826529e-01 3.25636183e-04 4.40867131e+01] [-5.60441273e-04 -4.78720830e-06 9.99999843e-01 -3.09483545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.695769231 meters 0.013630215389418112 Centerline is valid? [True, True] Translation: X:144.65, Y:44.10, Z:-0.31 [[ 8.16751056e-01 -5.76989321e-01 1.01731722e-03 1.44653867e+02] [ 5.76988864e-01 8.16751690e-01 7.26562159e-04 4.41046101e+01] [-1.25011416e-03 -6.43970460e-06 9.99999219e-01 -3.07986205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72576923100002 meters 0.012744625319428346 Centerline is valid? [True, True] Translation: X:144.68, Y:44.12, Z:-0.31 [[ 8.15631298e-01 -5.78570976e-01 1.10049436e-03 1.44677390e+02] [ 5.78570442e-01 8.15632041e-01 7.86279816e-04 4.41221090e+01] [-1.35251714e-03 -4.60092050e-06 9.99999085e-01 -3.08344431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75576923100002 meters 0.01221307471291463 Centerline is valid? [True, True] Translation: X:144.70, Y:44.14, Z:-0.31 [[ 8.14398389e-01 -5.80305284e-01 1.01996919e-03 1.44700309e+02] [ 5.80304826e-01 8.14399028e-01 7.28899431e-04 4.41386576e+01] [-1.25364611e-03 -1.72147830e-06 9.99999214e-01 -3.09312962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78576923100002 meters 0.012676351116585962 Centerline is valid? [True, True] Translation: X:144.72, Y:44.15, Z:-0.31 [[ 8.11455585e-01 -5.84414017e-01 2.98507104e-04 1.44723756e+02] [ 5.84413979e-01 8.11455640e-01 2.13052701e-04 4.41539541e+01] [-3.66736259e-04 1.56892005e-06 9.99999933e-01 -3.10816576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81576923100002 meters 0.013701199639948031 Centerline is valid? [True, True] Translation: X:144.75, Y:44.17, Z:-0.31 [[ 8.09728825e-01 -5.86804246e-01 8.69642435e-05 1.44747754e+02] [ 5.86804243e-01 8.09728829e-01 6.17945648e-05 4.41699665e+01] [-1.06678768e-04 9.94146716e-07 9.99999994e-01 -3.10699796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84576923100002 meters 0.01762903729566271 Centerline is valid? [True, True] Translation: X:144.77, Y:44.18, Z:-0.31 [[ 8.06485876e-01 -5.91250980e-01 1.67667998e-03 1.44773330e+02] [ 5.91249763e-01 8.06487618e-01 1.19991752e-03 4.41826568e+01] [-2.06167405e-03 2.36201115e-05 9.99997874e-01 -3.07221071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87576923100002 meters 0.019059203883580088 Centerline is valid? [True, True] Translation: X:144.80, Y:44.20, Z:-0.31 [[ 8.04706199e-01 -5.93666327e-01 2.86804403e-03 1.44797651e+02] [ 5.93662779e-01 8.04711308e-01 2.05306791e-03 4.41980271e+01] [-3.52678475e-03 5.05345157e-05 9.99993780e-01 -3.05526567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90576923100002 meters 0.0256510153510165 Centerline is valid? [True, True] Translation: X:144.83, Y:44.21, Z:-0.31 [[ 8.01360776e-01 -5.98174084e-01 2.94490317e-03 1.44826771e+02] [ 5.98170371e-01 8.01366184e-01 2.10863636e-03 4.42057006e+01] [-3.62127743e-03 7.17753517e-05 9.99993441e-01 -3.06631122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93576923100002 meters 0.02720700127204743 Centerline is valid? [True, True] Translation: X:144.85, Y:44.22, Z:-0.31 [[ 7.99515351e-01 -6.00642905e-01 1.81787981e-03 1.44852720e+02] [ 6.00641497e-01 7.99517416e-01 1.30176099e-03 4.42196686e+01] [-2.23532007e-03 5.11161524e-05 9.99997500e-01 -3.09553501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96576923100002 meters 0.030451944350187322 Centerline is valid? [True, True] Translation: X:144.88, Y:44.23, Z:-0.31 [[ 7.97654900e-01 -6.03113833e-01 6.03426030e-04 1.44878979e+02] [ 6.03113679e-01 7.97655128e-01 4.32100002e-04 4.42307356e+01] [-7.41931356e-04 1.92678085e-05 9.99999725e-01 -3.11666446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99576923100003 meters 0.037107250180398524 Centerline is valid? [True, True] Translation: X:144.91, Y:44.24, Z:-0.31 [[ 7.94867706e-01 -6.06782757e-01 -1.29505805e-04 1.44909106e+02] [ 6.06782750e-01 7.94867716e-01 -9.30147759e-05 4.42363856e+01] [ 1.59379746e-04 -4.64744715e-06 9.99999987e-01 -3.12494801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.025769231 meters 0.03575688934921375 Centerline is valid? [True, True] Translation: X:144.93, Y:44.25, Z:-0.31 [[ 7.94173833e-01 -6.07690636e-01 1.17623103e-04 1.44931996e+02] [ 6.07690631e-01 7.94173841e-01 8.38880510e-05 4.42539693e+01] [-1.44391174e-04 4.85676244e-06 9.99999990e-01 -3.11662622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.055769231 meters 0.03518719101035812 Centerline is valid? [True, True] Translation: X:144.96, Y:44.27, Z:-0.31 [[ 7.94332560e-01 -6.07482960e-01 4.86859142e-04 1.44956061e+02] [ 6.07482860e-01 7.94332709e-01 3.48678323e-04 4.42701126e+01] [-5.98544281e-04 1.87920387e-05 9.99999821e-01 -3.10602932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.085769231 meters 0.03506512889806868 Centerline is valid? [True, True] Translation: X:144.98, Y:44.29, Z:-0.31 [[ 7.94658198e-01 -6.07056619e-01 7.80254793e-04 1.44980662e+02] [ 6.07056362e-01 7.94658581e-01 5.59249841e-04 4.42854689e+01] [-9.59532484e-04 2.92461654e-05 9.99999539e-01 -3.10061246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.115769231 meters 0.033090722468797254 Centerline is valid? [True, True] Translation: X:145.01, Y:44.30, Z:-0.31 [[ 7.94931167e-01 -6.06695875e-01 2.13435681e-03 1.45005763e+02] [ 6.06693948e-01 7.94934029e-01 1.53105821e-03 4.43001925e+01] [-2.62555956e-03 7.78154700e-05 9.99996550e-01 -3.07033601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.145769231 meters 0.03512873673821872 Centerline is valid? [True, True] Translation: X:145.03, Y:44.31, Z:-0.31 [[ 7.94593525e-01 -6.07136279e-01 2.58251424e-03 1.45032442e+02] [ 6.07133458e-01 7.94597716e-01 1.85317151e-03 4.43113236e+01] [-3.17718757e-03 9.54127168e-05 9.99994948e-01 -3.06794654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.175769231 meters 0.03410629201977939 Centerline is valid? [True, True] Translation: X:145.06, Y:44.33, Z:-0.31 [[ 7.93916955e-01 -6.08019753e-01 2.80151016e-03 1.45057775e+02] [ 6.08016438e-01 7.93921890e-01 2.01083052e-03 4.43252888e+01] [-3.44680492e-03 1.06931784e-04 9.99994054e-01 -3.06938666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.205769231 meters 0.03657907854452786 Centerline is valid? [True, True] Translation: X:145.09, Y:44.33, Z:-0.31 [[ 7.92965785e-01 -6.09258866e-01 2.98292464e-03 1.45087221e+02] [ 6.09255113e-01 7.92971387e-01 2.14163783e-03 4.43310660e+01] [-3.67018572e-03 1.19116568e-04 9.99993258e-01 -3.06354510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.235769231 meters 0.036438395537737076 Centerline is valid? [True, True] Translation: X:145.11, Y:44.35, Z:-0.31 [[ 7.92899753e-01 -6.09347769e-01 2.29740704e-03 1.45111806e+02] [ 6.09345543e-01 7.92903076e-01 1.64975676e-03 4.43450834e+01] [-2.82689671e-03 9.18230153e-05 9.99996000e-01 -3.07207252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.265769231 meters 0.03501649616767069 Centerline is valid? [True, True] Translation: X:145.14, Y:44.36, Z:-0.31 [[ 7.93724769e-01 -6.08276758e-01 6.13556266e-04 1.45138614e+02] [ 6.08276599e-01 7.93725006e-01 4.40444564e-04 4.43570682e+01] [-7.54907142e-04 2.36201588e-05 9.99999715e-01 -3.10623522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.295769231 meters 0.034447775070517134 Centerline is valid? [True, True] Translation: X:145.16, Y:44.37, Z:-0.31 [[ 7.94318150e-01 -6.07501975e-01 1.66526275e-04 1.45164995e+02] [ 6.07501963e-01 7.94318167e-01 1.19298280e-04 4.43706603e+01] [-2.04748786e-04 6.40424986e-06 9.99999979e-01 -3.12301868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.325769231 meters 0.03142063744380152 Centerline is valid? [True, True] Translation: X:145.19, Y:44.38, Z:-0.31 [[ 7.96225633e-01 -6.04999563e-01 5.20608707e-04 1.45190502e+02] [ 6.04999447e-01 7.96225803e-01 3.74083042e-04 4.43825054e+01] [-6.40842163e-04 1.71134734e-05 9.99999795e-01 -3.11177297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.355769231 meters 0.02843832292976319 Centerline is valid? [True, True] Translation: X:145.21, Y:44.40, Z:-0.31 [[ 7.97383342e-01 -6.03472184e-01 1.06225555e-03 1.45213871e+02] [ 6.03471702e-01 7.97384049e-01 7.63476625e-04 4.43996281e+01] [-1.30776254e-03 3.22576248e-05 9.99999144e-01 -3.10058957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.385769231 meters 0.02795949906970893 Centerline is valid? [True, True] Translation: X:145.24, Y:44.41, Z:-0.31 [[ 7.98587969e-01 -6.01877411e-01 9.16069957e-04 1.45238247e+02] [ 6.01877051e-01 7.98588494e-01 6.58684947e-04 4.44131699e+01] [-1.12801052e-03 2.53436103e-05 9.99999363e-01 -3.09915006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.415769231 meters 0.02277740405004454 Centerline is valid? [True, True] Translation: X:145.26, Y:44.43, Z:-0.31 [[ 8.00638173e-01 -5.99148087e-01 2.94892896e-04 1.45261307e+02] [ 5.99148049e-01 8.00638227e-01 2.11794597e-04 4.44301544e+01] [-3.62998853e-04 7.11366413e-06 9.99999934e-01 -3.11592651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.445769231 meters 0.021673408115826055 Centerline is valid? [True, True] Translation: X:145.28, Y:44.45, Z:-0.31 [[ 8.01607785e-01 -5.97850192e-01 3.26117378e-04 1.45284408e+02] [ 5.97850146e-01 8.01607852e-01 2.34481188e-04 4.44455858e+01] [-4.01602874e-04 7.00737585e-06 9.99999919e-01 -3.11570251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47576923100002 meters 0.021416026834068194 Centerline is valid? [True, True] Translation: X:145.31, Y:44.46, Z:-0.31 [[ 8.02746921e-01 -5.96319321e-01 8.05309197e-04 1.45309975e+02] [ 5.96319040e-01 8.02747324e-01 5.79331571e-04 4.44577902e+01] [-9.91926412e-04 1.51645727e-05 9.99999508e-01 -3.10734180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50576923100002 meters 0.021416026834068194 Centerline is valid? [True, True] Translation: X:145.33, Y:44.47, Z:-0.31 [[ 8.02638794e-01 -5.96464850e-01 8.05357064e-04 1.45332162e+02] [ 5.96464569e-01 8.02639198e-01 5.79265083e-04 4.44739952e+01] [-9.91922409e-04 1.54263261e-05 9.99999508e-01 -3.10793211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53576923100002 meters 0.019996120835207486 Centerline is valid? [True, True] Translation: X:145.36, Y:44.49, Z:-0.31 [[ 8.02790619e-01 -5.96261027e-01 -1.03257516e-04 1.45355404e+02] [ 5.96261022e-01 8.02790625e-01 -7.48614688e-05 4.44897335e+01] [ 1.27531142e-04 -1.47034730e-06 9.99999992e-01 -3.11932700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56576923100002 meters 0.019509097501608 Centerline is valid? [True, True] Translation: X:145.38, Y:44.50, Z:-0.32 [[ 8.03529360e-01 -5.95262764e-01 -1.67609766e-03 1.45381431e+02] [ 5.95261540e-01 8.03531108e-01 -1.20734413e-03 4.45016967e+01] [ 2.06548361e-03 -2.75800206e-05 9.99997867e-01 -3.16415876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59576923100002 meters 0.019029287709336318 Centerline is valid? [True, True] Translation: X:145.40, Y:44.52, Z:-0.32 [[ 8.03925544e-01 -5.94729315e-01 -8.72418633e-04 1.45404651e+02] [ 5.94728983e-01 8.03926017e-01 -6.28729029e-04 4.45170316e+01] [ 1.07528362e-03 -1.34013195e-05 9.99999422e-01 -3.15079901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62576923100002 meters 0.01837943294521011 Centerline is valid? [True, True] Translation: X:145.43, Y:44.53, Z:-0.31 [[ 8.04168206e-01 -5.94401699e-01 3.41514864e-04 1.45428535e+02] [ 5.94401649e-01 8.04168278e-01 2.45679037e-04 4.45334717e+01] [-4.20667457e-04 5.42972817e-06 9.99999912e-01 -3.12438323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65576923100002 meters 0.018171907727250587 Centerline is valid? [True, True] Translation: X:145.45, Y:44.55, Z:-0.31 [[ 8.04002816e-01 -5.94623082e-01 1.69146001e-03 1.45451899e+02] [ 5.94621834e-01 8.04004595e-01 1.21889752e-03 4.45483676e+01] [-2.08472622e-03 2.57820131e-05 9.99997827e-01 -3.09800695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68576923100002 meters 0.018516030291374035 Centerline is valid? [True, True] Translation: X:145.47, Y:44.56, Z:-0.31 [[ 8.03831842e-01 -5.94856551e-01 -2.30997210e-04 1.45474704e+02] [ 5.94856527e-01 8.03831876e-01 -1.66847180e-04 4.45626194e+01] [ 2.84933059e-04 -3.29312208e-06 9.99999959e-01 -3.13544472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71576923100002 meters 0.018912061163682697 Centerline is valid? [True, True] Translation: X:145.50, Y:44.58, Z:-0.32 [[ 8.03542077e-01 -5.95246230e-01 -1.43406341e-03 1.45498335e+02] [ 5.95245331e-01 8.03543356e-01 -1.03484921e-03 4.45791726e+01] [ 1.76832222e-03 -2.20746651e-05 9.99998436e-01 -3.16287027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74576923100003 meters 0.019272536408189905 Centerline is valid? [True, True] Translation: X:145.52, Y:44.59, Z:-0.32 [[ 8.03353602e-01 -5.95499052e-01 -1.96692973e-03 1.45520250e+02] [ 5.95497361e-01 8.03356010e-01 -1.41938048e-03 4.45944260e+01] [ 2.42538455e-03 -3.10370399e-05 9.99997058e-01 -3.17454183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.775769231 meters 0.019699531153886625 Centerline is valid? [True, True] Translation: X:145.54, Y:44.61, Z:-0.31 [[ 8.02893299e-01 -5.96122629e-01 4.02021848e-04 1.45543034e+02] [ 5.96122559e-01 8.02893399e-01 2.89677808e-04 4.46100541e+01] [-4.95464185e-04 7.07392216e-06 9.99999877e-01 -3.12810445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.805769231 meters 0.020080123656234194 Centerline is valid? [True, True] Translation: X:145.57, Y:44.63, Z:-0.31 [[ 8.02575622e-01 -5.96547997e-01 1.69071964e-03 1.45566197e+02] [ 5.96546749e-01 8.02577402e-01 1.22027736e-03 4.46263944e+01] [-2.08488739e-03 2.92284460e-05 9.99997826e-01 -3.10243489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.835769231 meters 0.020164886824347392 Centerline is valid? [True, True] Translation: X:145.59, Y:44.64, Z:-0.31 [[ 8.02000692e-01 -5.97322047e-01 1.12346717e-03 1.45589954e+02] [ 5.97321496e-01 8.02001479e-01 8.11029637e-04 4.46433857e+01] [-1.38546821e-03 2.06247588e-05 9.99999040e-01 -3.12336086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.865769231 meters 0.02194135984071395 Centerline is valid? [True, True] Translation: X:145.61, Y:44.66, Z:-0.32 [[ 8.01465031e-01 -5.98041486e-01 -4.30657242e-04 1.45614310e+02] [ 5.98041405e-01 8.01465146e-01 -3.11249884e-04 4.46565235e+01] [ 5.31297113e-04 -8.09496471e-06 9.99999859e-01 -3.16897284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.895769231 meters 0.023244415895240025 Centerline is valid? [True, True] Translation: X:145.64, Y:44.67, Z:-0.32 [[ 8.00635113e-01 -5.99147708e-01 -2.33216032e-03 1.45639475e+02] [ 5.99145339e-01 8.00638508e-01 -1.68567945e-03 4.46708537e+01] [ 2.87718834e-03 -4.76888303e-05 9.99995860e-01 -3.21570976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.925769231 meters 0.026019122582529582 Centerline is valid? [True, True] Translation: X:145.67, Y:44.68, Z:-0.32 [[ 7.99274138e-01 -6.00957711e-01 -3.26818224e-03 1.45666330e+02] [ 6.00953074e-01 7.99280816e-01 -2.36215969e-03 4.46805697e+01] [ 4.03175345e-03 -7.60110183e-05 9.99991870e-01 -3.23068923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.955769231 meters 0.03307421038777678 Centerline is valid? [True, True] Translation: X:145.69, Y:44.70, Z:-0.31 [[ 8.00248857e-01 -5.99668040e-01 -8.82584375e-05 1.45687846e+02] [ 5.99668037e-01 8.00248862e-01 -6.39415034e-05 4.46989001e+01] [ 1.08972390e-04 -1.75664891e-06 9.99999994e-01 -3.09233447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.985769231 meters 0.02124680807626651 Centerline is valid? [True, True] Translation: X:145.71, Y:44.72, Z:-0.31 [[ 8.01710370e-01 -5.97710527e-01 1.61515992e-03 1.45708099e+02] [ 5.97709388e-01 8.01711996e-01 1.16741514e-03 4.47202356e+01] [-1.99266940e-03 2.94674213e-05 9.99998014e-01 -3.09252934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.015769231 meters 0.018059064442676968 Centerline is valid? [True, True] Translation: X:145.73, Y:44.74, Z:-0.31 [[ 8.03617466e-01 -5.95141521e-01 2.35337081e-03 1.45727442e+02] [ 5.95139089e-01 8.03620911e-01 1.70173599e-03 4.47429840e+01] [-2.90399175e-03 3.30381957e-05 9.99995783e-01 -3.07877810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.045769231 meters 0.013088583751102402 Centerline is valid? [True, True] Translation: X:145.74, Y:44.77, Z:-0.31 [[ 8.07780474e-01 -5.89482016e-01 1.28767176e-03 1.45741383e+02] [ 5.89481280e-01 8.07781501e-01 9.31312300e-04 4.47712400e+01] [-1.58914928e-03 6.76250901e-06 9.99998737e-01 -3.12793846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.075769231 meters 0.01225144662512338 Centerline is valid? [True, True] Translation: X:145.76, Y:44.79, Z:-0.32 [[ 8.09223139e-01 -5.87501286e-01 3.88162417e-04 1.45760580e+02] [ 5.87501219e-01 8.09223232e-01 2.80420013e-04 4.47926477e+01] [-4.78857164e-04 1.12353018e-06 9.99999885e-01 -3.15048308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.105769231 meters 0.012353584311171076 Centerline is valid? [True, True] Translation: X:145.78, Y:44.82, Z:-0.32 [[ 8.11063606e-01 -5.84957887e-01 -3.13931298e-04 1.45777071e+02] [ 5.84957842e-01 8.11063666e-01 -2.27727264e-04 4.48182085e+01] [ 3.87829129e-04 1.06472131e-06 9.99999925e-01 -3.15900951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.135769231 meters 0.012815036235903826 Centerline is valid? [True, True] Translation: X:145.80, Y:44.84, Z:-0.32 [[ 8.11550180e-01 -5.84281918e-01 -9.72286461e-04 1.45797130e+02] [ 5.84281493e-01 8.11550762e-01 -7.04577147e-04 4.48389652e+01] [ 1.20073151e-03 3.71072515e-06 9.99999279e-01 -3.16905836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.165769231 meters 0.013075330396726358 Centerline is valid? [True, True] Translation: X:145.82, Y:44.86, Z:-0.32 [[ 8.11616035e-01 -5.84188493e-01 -1.79352754e-03 1.45817754e+02] [ 5.84187047e-01 8.11618017e-01 -1.29978208e-03 4.48587615e+01] [ 2.21497700e-03 7.16841988e-06 9.99997547e-01 -3.19071998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.195769231 meters 0.012664377558315688 Centerline is valid? [True, True] Translation: X:145.84, Y:44.88, Z:-0.32 [[ 8.10454016e-01 -5.85798441e-01 -2.11505080e-03 1.45838829e+02] [ 5.85796436e-01 8.10456776e-01 -1.53279277e-03 4.48754691e+01] [ 2.61206486e-03 3.26883682e-06 9.99996589e-01 -3.21396848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22576923100002 meters 0.014075290198002735 Centerline is valid? [True, True] Translation: X:145.87, Y:44.89, Z:-0.32 [[ 8.06687248e-01 -5.90977838e-01 -9.37292900e-04 1.45865857e+02] [ 5.90977448e-01 8.06687792e-01 -6.79524553e-04 4.48861992e+01] [ 1.15768669e-03 -5.75517444e-06 9.99999330e-01 -3.19606943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25576923100002 meters 0.01679801265094247 Centerline is valid? [True, True] Translation: X:145.89, Y:44.90, Z:-0.32 [[ 8.04379599e-01 -5.94115504e-01 -4.79022852e-04 1.45891671e+02] [ 5.94115402e-01 8.04379741e-01 -3.47671972e-04 4.48998229e+01] [ 5.91873586e-04 -4.93461263e-06 9.99999825e-01 -3.17879814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28576923100002 meters 0.01809310107900762 Centerline is valid? [True, True] Translation: X:145.92, Y:44.92, Z:-0.32 [[ 8.02244429e-01 -5.96995553e-01 -4.30988347e-04 1.45915404e+02] [ 5.96995471e-01 8.02244545e-01 -3.12996451e-04 4.49163359e+01] [ 5.32615540e-04 -6.19843267e-06 9.99999858e-01 -3.16792790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31576923100002 meters 0.026535907550813292 Centerline is valid? [True, True] Translation: X:145.95, Y:44.92, Z:-0.32 [[ 7.98883849e-01 -6.01482075e-01 -1.97718583e-03 1.45945021e+02] [ 6.01480366e-01 7.98886294e-01 -1.43474497e-03 4.49236126e+01] [ 2.44252004e-03 -4.30438720e-05 9.99997016e-01 -3.21599817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34576923100002 meters 0.026277712397073844 Centerline is valid? [True, True] Translation: X:145.97, Y:44.94, Z:-0.32 [[ 7.97436125e-01 -6.03398775e-01 -2.35485571e-03 1.45967483e+02] [ 6.03396357e-01 7.97439600e-01 -1.70931508e-03 4.49413135e+01] [ 2.90925382e-03 -5.78417600e-05 9.99995766e-01 -3.21275244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37576923100002 meters 0.029513780082432377 Centerline is valid? [True, True] Translation: X:145.99, Y:44.96, Z:-0.32 [[ 7.94765908e-01 -6.06915395e-01 -9.23914264e-04 1.45992597e+02] [ 6.06915025e-01 7.94766445e-01 -6.71086024e-04 4.49556110e+01] [ 1.14158849e-03 -2.73811546e-05 9.99999348e-01 -3.17151603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40576923100002 meters 0.036827883549238015 Centerline is valid? [True, True] Translation: X:146.02, Y:44.96, Z:-0.32 [[ 7.93507721e-01 -6.08559869e-01 -6.18329685e-04 1.46020928e+02] [ 6.08559704e-01 7.93507961e-01 -4.49068001e-04 4.49634204e+01] [ 7.63934292e-04 -1.99516045e-05 9.99999708e-01 -3.17574844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43576923100002 meters 0.03762757894038677 Centerline is valid? [True, True] Translation: X:146.05, Y:44.98, Z:-0.32 [[ 7.89851487e-01 -6.13297183e-01 -1.09285578e-03 1.46046665e+02] [ 6.13296670e-01 7.89852242e-01 -7.94083765e-04 4.49775883e+01] [ 1.35020392e-03 -4.30365695e-05 9.99999088e-01 -3.19258711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46576923100002 meters 0.04426961797680006 Centerline is valid? [True, True] Translation: X:146.08, Y:44.99, Z:-0.32 [[ 7.87404872e-01 -6.16435211e-01 -1.09416847e-03 1.46075032e+02] [ 6.16434701e-01 7.87405631e-01 -7.95055425e-04 4.49858595e+01] [ 1.35165457e-03 -4.84528968e-05 9.99999085e-01 -3.20149646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49576923100003 meters 0.05157030197592352 Centerline is valid? [True, True] Translation: X:146.11, Y:44.99, Z:-0.32 [[ 7.82951007e-01 -6.22083351e-01 -1.56791500e-04 1.46106976e+02] [ 6.22083341e-01 7.82951023e-01 -1.14166240e-04 4.49903625e+01] [ 1.93780982e-04 -8.15080757e-06 9.99999981e-01 -3.17475766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.525769231 meters 0.06351389632658794 Centerline is valid? [True, True] Translation: X:146.14, Y:44.99, Z:-0.32 [[ 7.81025732e-01 -6.24498532e-01 6.24146374e-04 1.46140629e+02] [ 6.24498368e-01 7.81025981e-01 4.53275055e-04 4.49902495e+01] [-7.70544140e-04 3.57589105e-05 9.99999702e-01 -3.15523836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.555769231 meters 0.05655857748955865 Centerline is valid? [True, True] Translation: X:146.16, Y:45.01, Z:-0.31 [[ 7.79652263e-01 -6.26211307e-01 1.32209619e-03 1.46160650e+02] [ 6.26210575e-01 7.79653380e-01 9.60716820e-04 4.50108618e+01] [-1.63238850e-03 7.88855746e-05 9.99998665e-01 -3.13304282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.585769231 meters 0.0602951584372547 Centerline is valid? [True, True] Translation: X:146.19, Y:45.02, Z:-0.31 [[ 7.78471862e-01 -6.27679180e-01 6.38116005e-04 1.46189925e+02] [ 6.27679010e-01 7.78472123e-01 4.63658924e-04 4.50176836e+01] [-7.87784574e-04 3.95865960e-05 9.99999689e-01 -3.14949941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.615769231 meters 0.06382815423445555 Centerline is valid? [True, True] Translation: X:146.22, Y:45.03, Z:-0.32 [[ 7.78533943e-01 -6.27602386e-01 -3.80762015e-04 1.46217362e+02] [ 6.27602325e-01 7.78534036e-01 -2.77359963e-04 4.50263271e+01] [ 4.70507963e-04 -2.30329800e-05 9.99999889e-01 -3.18186360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.645769231 meters 0.04826175476565225 Centerline is valid? [True, True] Translation: X:146.24, Y:45.05, Z:-0.32 [[ 7.79745265e-01 -6.26093537e-01 -2.05056955e-03 1.46235046e+02] [ 6.26091770e-01 7.79747952e-01 -1.49233992e-03 4.50503174e+01] [ 2.53327179e-03 -1.20199732e-04 9.99996784e-01 -3.20825625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.675769231 meters 0.058787995773136065 Centerline is valid? [True, True] Translation: X:146.27, Y:45.05, Z:-0.32 [[ 7.80490792e-01 -6.25163894e-01 -2.05628557e-03 1.46269345e+02] [ 6.25162113e-01 7.80493492e-01 -1.49698272e-03 4.50513739e+01] [ 2.54077705e-03 -1.17130606e-04 9.99996765e-01 -3.22359333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.705769231 meters 0.04826870081966077 Centerline is valid? [True, True] Translation: X:146.29, Y:45.07, Z:-0.32 [[ 7.83219061e-01 -6.21745641e-01 -5.10112109e-04 1.46290019e+02] [ 6.21745530e-01 7.83219227e-01 -3.71845785e-04 4.50704446e+01] [ 6.30723107e-04 -2.59232167e-05 9.99999801e-01 -3.17520037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.735769231 meters 0.040428070163629405 Centerline is valid? [True, True] Translation: X:146.31, Y:45.09, Z:-0.32 [[ 7.84674534e-01 -6.19907955e-01 -6.48588865e-05 1.46309718e+02] [ 6.19907953e-01 7.84674536e-01 -4.77312938e-05 4.50910772e+01] [ 8.04821254e-05 -2.75300883e-06 9.99999997e-01 -3.16060536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.765769231 meters 0.05060146177155965 Centerline is valid? [True, True] Translation: X:146.34, Y:45.09, Z:-0.32 [[ 7.86026312e-01 -6.18192581e-01 -7.54931617e-04 1.46343018e+02] [ 6.18192337e-01 7.86026674e-01 -5.50214217e-04 4.50920936e+01] [ 9.33534734e-04 -3.42100890e-05 9.99999564e-01 -3.18265850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.795769231 meters 0.03637184391816818 Centerline is valid? [True, True] Translation: X:146.36, Y:45.12, Z:-0.32 [[ 7.89118318e-01 -6.14232785e-01 -3.21959615e-03 1.46359557e+02] [ 6.14228315e-01 7.89124876e-01 -2.34670795e-03 4.51180383e+01] [ 3.98208837e-03 -1.25736891e-04 9.99992064e-01 -3.22659344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.825769231 meters 0.037012547928684164 Centerline is valid? [True, True] Translation: X:146.38, Y:45.13, Z:-0.33 [[ 7.90833960e-01 -6.12016699e-01 -4.14824756e-03 1.46384247e+02] [ 6.12009247e-01 7.90844826e-01 -3.02365838e-03 4.51303332e+01] [ 5.13114954e-03 -1.47554134e-04 9.99986825e-01 -3.26311786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.855769231 meters 0.027312544527916444 Centerline is valid? [True, True] Translation: X:146.41, Y:45.15, Z:-0.33 [[ 7.94024730e-01 -6.07869109e-01 -4.45793837e-03 1.46405131e+02] [ 6.07860431e-01 7.94037234e-01 -3.25065260e-03 4.51498080e+01] [ 5.51574036e-03 -1.28705783e-04 9.99984780e-01 -3.25184628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.885769231 meters 0.027148614525968416 Centerline is valid? [True, True] Translation: X:146.43, Y:45.16, Z:-0.33 [[ 7.95037482e-01 -6.06543454e-01 -4.52126324e-03 1.46430141e+02] [ 6.06534505e-01 7.95050328e-01 -3.29699105e-03 4.51631762e+01] [ 5.59440016e-03 -1.21070703e-04 9.99984344e-01 -3.25444911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.915769231 meters 0.025837116367282923 Centerline is valid? [True, True] Translation: X:146.45, Y:45.18, Z:-0.32 [[ 7.95823329e-01 -6.05515874e-01 -3.96929043e-03 1.46454551e+02] [ 6.05508958e-01 7.95833222e-01 -2.89567464e-03 4.51792986e+01] [ 4.91227015e-03 -9.89954803e-05 9.99987930e-01 -3.24275168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.945769231 meters 0.022386924346828953 Centerline is valid? [True, True] Translation: X:146.48, Y:45.20, Z:-0.32 [[ 7.97786049e-01 -6.02936058e-01 -2.35171479e-03 1.46478621e+02] [ 6.02933617e-01 7.97789513e-01 -1.71643542e-03 4.51953715e+01] [ 2.91107421e-03 -4.85796721e-05 9.99995762e-01 -3.21031699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97576923100002 meters 0.020699599327329107 Centerline is valid? [True, True] Translation: X:146.50, Y:45.21, Z:-0.32 [[ 7.98935203e-01 -6.01415448e-01 -1.41456567e-03 1.46501137e+02] [ 6.01414562e-01 7.98936455e-01 -1.03245775e-03 4.52110500e+01] [ 1.75108412e-03 -2.58735530e-05 9.99998467e-01 -3.18902840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00576923100002 meters 0.02423017942341936 Centerline is valid? [True, True] Translation: X:146.52, Y:45.23, Z:-0.31 [[ 8.01583692e-01 -5.97882344e-01 -5.37222056e-04 1.46521595e+02] [ 5.97882215e-01 8.01583872e-01 -3.92297973e-04 4.52291928e+01] [ 6.65176567e-04 -6.73585560e-06 9.99999779e-01 -3.13285115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03576923100002 meters 0.015406467374526925 Centerline is valid? [True, True] Translation: X:146.54, Y:45.25, Z:-0.32 [[ 8.02760800e-01 -5.96300070e-01 -1.15107800e-03 1.46543233e+02] [ 5.96299477e-01 8.02761625e-01 -8.40864926e-04 4.52487810e+01] [ 1.42544906e-03 -1.13738075e-05 9.99998984e-01 -3.18744141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06576923100002 meters 0.012759526064370013 Centerline is valid? [True, True] Translation: X:146.56, Y:45.27, Z:-0.32 [[ 8.05736128e-01 -5.92273005e-01 -1.40713779e-03 1.46561161e+02] [ 5.92272113e-01 8.05737357e-01 -1.02766677e-03 4.52714726e+01] [ 1.74244277e-03 -5.38023184e-06 9.99998482e-01 -3.20045193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09576923100002 meters 0.012064176362013932 Centerline is valid? [True, True] Translation: X:146.58, Y:45.29, Z:-0.32 [[ 8.06762408e-01 -5.90875419e-01 -8.10022253e-04 1.46581638e+02] [ 5.90875122e-01 8.06762815e-01 -5.92229552e-04 4.52906311e+01] [ 1.00342972e-03 -8.33458001e-07 9.99999497e-01 -3.18332799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12576923100002 meters 0.011966315102006223 Centerline is valid? [True, True] Translation: X:146.60, Y:45.31, Z:-0.32 [[ 8.07175674e-01 -5.90311022e-01 -5.73278129e-04 1.46602754e+02] [ 5.90310873e-01 8.07175877e-01 -4.19144455e-04 4.53067851e+01] [ 7.10161868e-04 -8.91049545e-08 9.99999748e-01 -3.18763915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15576923100002 meters 0.012020214778204653 Centerline is valid? [True, True] Translation: X:146.63, Y:45.32, Z:-0.32 [[ 8.06549356e-01 -5.91166353e-01 -6.92727690e-04 1.46625923e+02] [ 5.91166136e-01 8.06549653e-01 -5.06536451e-04 4.53211313e+01] [ 8.58166584e-04 -9.70503629e-07 9.99999632e-01 -3.19491135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18576923100002 meters 0.013083860801997776 Centerline is valid? [True, True] Translation: X:146.65, Y:45.33, Z:-0.32 [[ 8.04665284e-01 -5.93728031e-01 -8.98090726e-04 1.46652333e+02] [ 5.93727667e-01 8.04665785e-01 -6.56999552e-04 4.53344360e+01] [ 1.11274193e-03 -4.55658070e-06 9.99999381e-01 -3.19828836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21576923100002 meters 0.01368445706276115 Centerline is valid? [True, True] Translation: X:146.68, Y:45.35, Z:-0.32 [[ 8.03734026e-01 -5.94988214e-01 -8.00773563e-04 1.46676266e+02] [ 5.94987925e-01 8.03734425e-01 -5.86071109e-04 4.53505396e+01] [ 9.92314681e-04 -5.40530922e-06 9.99999508e-01 -3.19547491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24576923100003 meters 0.014353467425713399 Centerline is valid? [True, True] Translation: X:146.70, Y:45.37, Z:-0.32 [[ 8.03208845e-01 -5.95696655e-01 -1.02313970e-03 1.46699307e+02] [ 5.95696184e-01 8.03209497e-01 -7.48661146e-04 4.53656385e+01] [ 1.26777047e-03 -8.14916267e-06 9.99999196e-01 -3.20415718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.275769231 meters 0.014570062900442927 Centerline is valid? [True, True] Translation: X:146.72, Y:45.38, Z:-0.33 [[ 8.03385491e-01 -5.95451795e-01 -2.98524797e-03 1.46721245e+02] [ 5.95447789e-01 8.03391037e-01 -2.18448796e-03 4.53817662e+01] [ 3.69907874e-03 -2.25733706e-05 9.99993158e-01 -3.25706096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.305769231 meters 0.01414614821294715 Centerline is valid? [True, True] Translation: X:146.74, Y:45.40, Z:-0.33 [[ 8.03957011e-01 -5.94675407e-01 -3.77947189e-03 1.46742697e+02] [ 5.94668971e-01 8.03965895e-01 -2.76681972e-03 4.53995855e+01] [ 4.68392614e-03 -2.31305444e-05 9.99989030e-01 -3.27538995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.335769231 meters 0.01253415065501598 Centerline is valid? [True, True] Translation: X:146.76, Y:45.42, Z:-0.32 [[ 8.06079243e-01 -5.91800845e-01 -2.83097972e-03 1.46761106e+02] [ 5.91797214e-01 8.06084214e-01 -2.07292202e-03 4.54209771e+01] [ 3.50876507e-03 -4.42649740e-06 9.99993844e-01 -3.24357998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.365769231 meters 0.012195035505049197 Centerline is valid? [True, True] Translation: X:146.78, Y:45.44, Z:-0.32 [[ 8.07534829e-01 -5.89817054e-01 -1.82859233e-03 1.46781195e+02] [ 5.89815532e-01 8.07536899e-01 -1.33976969e-03 4.54409554e+01] [ 2.26687479e-03 3.37852610e-06 9.99997431e-01 -3.21014476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.395769231 meters 0.012195035505049197 Centerline is valid? [True, True] Translation: X:146.80, Y:45.46, Z:-0.32 [[ 8.07424206e-01 -5.89968481e-01 -1.82834101e-03 1.46803250e+02] [ 5.89966959e-01 8.07426276e-01 -1.34011271e-03 4.54573586e+01] [ 2.26687483e-03 3.37865848e-06 9.99997431e-01 -3.21073517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.425769231 meters 0.01293011408551125 Centerline is valid? [True, True] Translation: X:146.82, Y:45.48, Z:-0.32 [[ 8.09030195e-01 -5.87766028e-01 -1.11346816e-03 1.46822761e+02] [ 5.87765461e-01 8.09030961e-01 -8.16263055e-04 4.54774326e+01] [ 1.38060191e-03 5.92332933e-06 9.99999047e-01 -3.19154196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.455769231 meters 0.015178182431403894 Centerline is valid? [True, True] Translation: X:146.84, Y:45.50, Z:-0.32 [[ 8.11254251e-01 -5.84692826e-01 -9.15837636e-04 1.46840516e+02] [ 5.84692440e-01 8.11254768e-01 -6.71829935e-04 4.55013981e+01] [ 1.13579179e-03 9.54154893e-06 9.99999355e-01 -3.18312572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.485769231 meters 0.01748109019925199 Centerline is valid? [True, True] Translation: X:146.86, Y:45.52, Z:-0.32 [[ 8.12367624e-01 -5.83145208e-01 -7.14925052e-04 1.46859173e+02] [ 5.83144972e-01 8.12367938e-01 -5.24325717e-04 4.55227316e+01] [ 8.86540220e-04 9.04028713e-06 9.99999607e-01 -3.18062063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.515769231 meters 0.020198240817459977 Centerline is valid? [True, True] Translation: X:146.88, Y:45.55, Z:-0.32 [[ 8.14329541e-01 -5.80402129e-01 8.75788918e-04 1.46877648e+02] [ 5.80401774e-01 8.14330012e-01 6.41903563e-04 4.55468207e+01] [-1.08574339e-03 -1.44115921e-05 9.99999410e-01 -3.15098874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.545769231 meters 0.021388783515431057 Centerline is valid? [True, True] Translation: X:146.90, Y:45.57, Z:-0.31 [[ 8.14954960e-01 -5.79522655e-01 1.38067414e-03 1.46898538e+02] [ 5.79521771e-01 8.14956129e-01 1.01254247e-03 4.55673580e+01] [-1.71198016e-03 -2.50457849e-05 9.99998534e-01 -3.14031737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.575769231 meters 0.021586551283729112 Centerline is valid? [True, True] Translation: X:146.92, Y:45.59, Z:-0.31 [[ 8.14878104e-01 -5.79631032e-01 1.24201500e-03 1.46919490e+02] [ 5.79630317e-01 8.14879050e-01 9.11099727e-04 4.55864202e+01] [-1.54019368e-03 -2.25256679e-05 9.99998814e-01 -3.14393056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.605769231 meters 0.02082725647100176 Centerline is valid? [True, True] Translation: X:146.94, Y:45.61, Z:-0.32 [[ 8.14201785e-01 -5.80581615e-01 -6.64312618e-04 1.46940176e+02] [ 5.80581410e-01 8.14202056e-01 -4.88161070e-04 4.56066535e+01] [ 8.24302042e-04 1.17740580e-05 9.99999660e-01 -3.18802684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.635769231 meters 0.01632572084602593 Centerline is valid? [True, True] Translation: X:146.97, Y:45.62, Z:-0.32 [[ 8.12377119e-01 -5.83131643e-01 -9.50337655e-04 1.46965552e+02] [ 5.83131225e-01 8.12377675e-01 -6.98458188e-04 4.56207894e+01] [ 1.17932616e-03 1.32398897e-05 9.99999305e-01 -3.19245259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.665769231 meters 0.015885338133948938 Centerline is valid? [True, True] Translation: X:146.99, Y:45.64, Z:-0.32 [[ 8.10867119e-01 -5.85229788e-01 -7.81214673e-04 1.46987903e+02] [ 5.85229507e-01 8.10867495e-01 -5.74016784e-04 4.56378893e+01] [ 9.69393306e-04 8.26145788e-06 9.99999530e-01 -3.19918205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.695769231 meters 0.013517076996146103 Centerline is valid? [True, True] Translation: X:147.01, Y:45.65, Z:-0.32 [[ 8.08840980e-01 -5.88027074e-01 -6.54379253e-04 1.47013357e+02] [ 5.88026877e-01 8.08841245e-01 -4.81256334e-04 4.56519433e+01] [ 8.12280684e-04 4.46725653e-06 9.99999670e-01 -3.19600514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72576923100002 meters 0.012365308248173328 Centerline is valid? [True, True] Translation: X:147.04, Y:45.66, Z:-0.32 [[ 8.04294639e-01 -5.94229988e-01 -9.25137375e-04 1.47043526e+02] [ 5.94229598e-01 8.04295171e-01 -6.80512312e-04 4.56590402e+01] [ 1.14846435e-03 -2.41160616e-06 9.99999341e-01 -3.21827688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75576923100002 meters 0.013793691182725108 Centerline is valid? [True, True] Translation: X:147.07, Y:45.67, Z:-0.32 [[ 8.01766134e-01 -5.97636912e-01 -1.08976679e-03 1.47070562e+02] [ 5.97636374e-01 8.01766875e-01 -8.01791927e-04 4.56712655e+01] [ 1.35291936e-03 -8.43465933e-06 9.99999085e-01 -3.22121955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78576923100002 meters 0.022349596692668054 Centerline is valid? [True, True] Translation: X:147.10, Y:45.67, Z:-0.32 [[ 7.96864260e-01 -6.04156534e-01 -1.49424500e-03 1.47103427e+02] [ 6.04155535e-01 7.96865661e-01 -1.09909941e-03 4.56733507e+01] [ 1.85474062e-03 -2.69233532e-05 9.99998280e-01 -3.23802956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81576923100002 meters 0.0268190347090543 Centerline is valid? [True, True] Translation: X:147.13, Y:45.68, Z:-0.32 [[ 7.94292738e-01 -6.07532814e-01 -1.71069477e-03 1.47131761e+02] [ 6.07531511e-01 7.94294579e-01 -1.25891565e-03 4.56833009e+01] [ 2.12362814e-03 -3.93534202e-05 9.99997744e-01 -3.24041686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84576923100002 meters 0.03608758164735644 Centerline is valid? [True, True] Translation: X:147.17, Y:45.68, Z:-0.32 [[ 7.89689366e-01 -6.13504346e-01 -1.76733977e-03 1.47166164e+02] [ 6.13502969e-01 7.89691341e-01 -1.30080907e-03 4.56828565e+01] [ 2.19370493e-03 -5.70331081e-05 9.99997592e-01 -3.24107496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87576923100002 meters 0.03598306796747694 Centerline is valid? [True, True] Translation: X:147.19, Y:45.70, Z:-0.32 [[ 7.87211720e-01 -6.16681187e-01 -1.42184372e-03 1.47191679e+02] [ 6.16680300e-01 7.87213003e-01 -1.04710736e-03 4.56964623e+01] [ 1.76502528e-03 -5.25278300e-05 9.99998441e-01 -3.22482176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90576923100002 meters 0.04588306372488114 Centerline is valid? [True, True] Translation: X:147.22, Y:45.70, Z:-0.32 [[ 7.84685743e-01 -6.19893018e-01 -9.65248109e-04 1.47224063e+02] [ 6.19892612e-01 7.84686335e-01 -7.10829181e-04 4.56989183e+01] [ 1.19805505e-03 -4.05726476e-05 9.99999282e-01 -3.22382816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93576923100002 meters 0.0448871309064746 Centerline is valid? [True, True] Translation: X:147.25, Y:45.71, Z:-0.32 [[ 7.81183058e-01 -6.24301672e-01 -6.72599498e-04 1.47251065e+02] [ 6.24301475e-01 7.81183347e-01 -4.95829798e-04 4.57100581e+01] [ 8.34970899e-04 -3.25710209e-05 9.99999651e-01 -3.21065103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96576923100002 meters 0.04627011510009405 Centerline is valid? [True, True] Translation: X:147.28, Y:45.72, Z:-0.32 [[ 7.80303533e-01 -6.25400036e-01 -1.09106460e-03 1.47278335e+02] [ 6.25399522e-01 7.80304294e-01 -8.04274742e-04 4.57221102e+01] [ 1.35435585e-03 -5.47728571e-05 9.99999081e-01 -3.21822478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99576923100003 meters 0.04577481215069903 Centerline is valid? [True, True] Translation: X:147.31, Y:45.73, Z:-0.32 [[ 7.80808182e-01 -6.24767097e-01 -2.15793096e-03 1.47306269e+02] [ 6.24765081e-01 7.80811157e-01 -1.59082473e-03 4.57324599e+01] [ 2.67883152e-03 -1.06070938e-04 9.99996406e-01 -3.23583974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.025769231 meters 0.0441402703278016 Centerline is valid? [True, True] Translation: X:147.33, Y:45.75, Z:-0.32 [[ 7.81800092e-01 -6.23526490e-01 -1.82552609e-03 1.47330360e+02] [ 6.23525042e-01 7.81802219e-01 -1.34637968e-03 4.57476133e+01] [ 2.26670374e-03 -8.56614717e-05 9.99997427e-01 -3.22945858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.055769231 meters 0.041259219909082656 Centerline is valid? [True, True] Translation: X:147.36, Y:45.76, Z:-0.32 [[ 7.83302831e-01 -6.21639760e-01 -8.26379666e-04 1.47356338e+02] [ 6.21639462e-01 7.83303267e-01 -6.10000328e-04 4.57598266e+01] [ 1.02650635e-03 -3.58952272e-05 9.99999472e-01 -3.20775073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.085769231 meters 0.040989227700039294 Centerline is valid? [True, True] Translation: X:147.38, Y:45.77, Z:-0.32 [[ 7.83822210e-01 -6.20984803e-01 -7.85541087e-04 1.47381518e+02] [ 6.20984533e-01 7.83822603e-01 -5.79607442e-04 4.57726565e+01] [ 9.75652273e-04 -3.34996785e-05 9.99999523e-01 -3.20628068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.115769231 meters 0.03971542346595173 Centerline is valid? [True, True] Translation: X:147.41, Y:45.78, Z:-0.32 [[ 7.84591381e-01 -6.20012488e-01 -9.37711201e-04 1.47409043e+02] [ 6.20012102e-01 7.84591941e-01 -6.92364466e-04 4.57843900e+01] [ 1.16499527e-03 -3.81691003e-05 9.99999321e-01 -3.20343909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.145769231 meters 0.03772637266234799 Centerline is valid? [True, True] Translation: X:147.43, Y:45.80, Z:-0.32 [[ 7.85143069e-01 -6.19314259e-01 -4.57390658e-04 1.47432934e+02] [ 6.19314167e-01 7.85143202e-01 -3.38059237e-04 4.58005506e+01] [ 5.68482072e-04 -1.78436475e-05 9.99999838e-01 -3.18918341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.175769231 meters 0.03436017230948753 Centerline is valid? [True, True] Translation: X:147.46, Y:45.82, Z:-0.32 [[ 7.86965548e-01 -6.16996933e-01 1.06377456e-04 1.47456861e+02] [ 6.16996928e-01 7.86965555e-01 7.80521416e-05 4.58151826e+01] [-1.31873326e-04 4.21021720e-06 9.99999991e-01 -3.17453589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.205769231 meters 0.03205593253403187 Centerline is valid? [True, True] Translation: X:147.48, Y:45.83, Z:-0.32 [[ 7.88232280e-01 -6.15377653e-01 -4.65427308e-04 1.47479112e+02] [ 6.15377557e-01 7.88232418e-01 -3.44298429e-04 4.58323404e+01] [ 5.78738451e-04 -1.50263834e-05 9.99999832e-01 -3.18558093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.235769231 meters 0.026996067313577676 Centerline is valid? [True, True] Translation: X:147.50, Y:45.85, Z:-0.32 [[ 7.91750359e-01 -6.10843261e-01 -1.37106589e-03 1.47499697e+02] [ 6.10842421e-01 7.91751545e-01 -1.01372066e-03 4.58509388e+01] [ 1.70476797e-03 -3.48915079e-05 9.99998546e-01 -3.19822675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.265769231 meters 0.0246135311905146 Centerline is valid? [True, True] Translation: X:147.52, Y:45.87, Z:-0.32 [[ 7.93318255e-01 -6.08805146e-01 -1.56216636e-03 1.47521726e+02] [ 6.08804051e-01 7.93319792e-01 -1.15524311e-03 4.58701557e+01] [ 1.94261544e-03 -3.45777533e-05 9.99998113e-01 -3.20396234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.295769231 meters 0.022261955034430524 Centerline is valid? [True, True] Translation: X:147.54, Y:45.89, Z:-0.32 [[ 7.94966334e-01 -6.06651115e-01 -1.71793947e-03 1.47543002e+02] [ 6.06649785e-01 7.94968190e-01 -1.27085853e-03 4.58903759e+01] [ 2.13667498e-03 -3.18978661e-05 9.99997717e-01 -3.20598700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.325769231 meters 0.017664729602830158 Centerline is valid? [True, True] Translation: X:147.56, Y:45.91, Z:-0.32 [[ 7.99188009e-01 -6.01080922e-01 -5.01278136e-04 1.47558912e+02] [ 6.01080808e-01 7.99188166e-01 -3.70946474e-04 4.59147506e+01] [ 6.23584403e-04 -4.85269284e-06 9.99999806e-01 -3.18333334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.355769231 meters 0.01582199124714658 Centerline is valid? [True, True] Translation: X:147.58, Y:45.94, Z:-0.32 [[ 8.01463139e-01 -5.98044056e-01 -3.80701798e-04 1.47576879e+02] [ 5.98043989e-01 8.01463229e-01 -2.82148097e-04 4.59378341e+01] [ 4.73855484e-04 -1.54512198e-06 9.99999888e-01 -3.17882455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.385769231 meters 0.015200868742117724 Centerline is valid? [True, True] Translation: X:147.59, Y:45.96, Z:-0.32 [[ 8.03503966e-01 -5.95299195e-01 -4.94468539e-04 1.47594108e+02] [ 5.95299083e-01 8.03504118e-01 -3.66270186e-04 4.59605801e+01] [ 6.15347854e-04 -5.71203613e-08 9.99999811e-01 -3.18340099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.415769231 meters 0.01660261839330728 Centerline is valid? [True, True] Translation: X:147.61, Y:45.99, Z:-0.32 [[ 8.06851850e-01 -5.90753171e-01 -8.84934901e-04 1.47607261e+02] [ 5.90752808e-01 8.06852335e-01 -6.55248998e-04 4.59904098e+01] [ 1.10110221e-03 5.91108826e-06 9.99999394e-01 -3.18918382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.445769231 meters 0.017517005016374765 Centerline is valid? [True, True] Translation: X:147.62, Y:46.02, Z:-0.32 [[ 8.08231479e-01 -5.88863639e-01 -1.22099207e-03 1.47623996e+02] [ 5.88862944e-01 8.08232401e-01 -9.04556052e-04 4.60162481e+01] [ 1.51950552e-03 1.20936927e-05 9.99998845e-01 -3.19206749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47576923100002 meters 0.018370151173001927 Centerline is valid? [True, True] Translation: X:147.64, Y:46.04, Z:-0.32 [[ 8.08209289e-01 -5.88894556e-01 -9.72906121e-04 1.47642246e+02] [ 5.88894115e-01 8.08209875e-01 -7.20845253e-04 4.60369485e+01] [ 1.21081418e-03 9.65514076e-06 9.99999267e-01 -3.19947646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50576923100002 meters 0.017697372032841437 Centerline is valid? [True, True] Translation: X:147.66, Y:46.06, Z:-0.32 [[ 8.07623353e-01 -5.89698071e-01 -8.39629837e-04 1.47663960e+02] [ 5.89697743e-01 8.07623789e-01 -6.22573139e-04 4.60553980e+01] [ 1.04523521e-03 7.67678576e-06 9.99999454e-01 -3.19599121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53576923100002 meters 0.016588757526073573 Centerline is valid? [True, True] Translation: X:147.68, Y:46.07, Z:-0.32 [[ 8.06006683e-01 -5.91906377e-01 -2.60624730e-04 1.47684972e+02] [ 5.91906345e-01 8.06006725e-01 -1.93516243e-04 4.60729400e+01] [ 3.24608783e-04 1.70995396e-06 9.99999947e-01 -3.18291166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56576923100002 meters 0.016001347364815736 Centerline is valid? [True, True] Translation: X:147.71, Y:46.09, Z:-0.32 [[ 8.05039256e-01 -5.93221495e-01 -2.30895201e-04 1.47707983e+02] [ 5.93221470e-01 8.05039290e-01 -1.71689305e-04 4.60886141e+01] [ 2.87729495e-04 1.24463976e-06 9.99999959e-01 -3.17161457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59576923100002 meters 0.015807787047165844 Centerline is valid? [True, True] Translation: X:147.73, Y:46.10, Z:-0.32 [[ 8.03381629e-01 -5.95464298e-01 -4.76617198e-04 1.47729230e+02] [ 5.95464193e-01 8.03381771e-01 -3.53732611e-04 4.61045843e+01] [ 5.93540710e-04 3.73806125e-07 9.99999824e-01 -3.18953931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62576923100002 meters 0.01589988848536317 Centerline is valid? [True, True] Translation: X:147.75, Y:46.12, Z:-0.32 [[ 8.02899682e-01 -5.96113703e-01 -7.43670127e-04 1.47751400e+02] [ 5.96113447e-01 8.02900027e-01 -5.52136739e-04 4.61207077e+01] [ 9.26229041e-04 -1.35049091e-09 9.99999571e-01 -3.20266599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65576923100002 meters 0.01594317113198799 Centerline is valid? [True, True] Translation: X:147.77, Y:46.14, Z:-0.32 [[ 8.02622023e-01 -5.96487082e-01 -1.02395224e-03 1.47773739e+02] [ 5.96486598e-01 8.02622676e-01 -7.60437297e-04 4.61376333e+01] [ 1.27543831e-03 -4.30067062e-07 9.99999187e-01 -3.19925260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68576923100002 meters 0.015996258534875282 Centerline is valid? [True, True] Translation: X:147.79, Y:46.16, Z:-0.32 [[ 8.02777260e-01 -5.96277555e-01 -1.32204074e-03 1.47793228e+02] [ 5.96276747e-01 8.02778348e-01 -9.81648793e-04 4.61561562e+01] [ 1.64664082e-03 -2.56823952e-07 9.99998644e-01 -3.20106820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71576923100002 meters 0.016009724672605384 Centerline is valid? [True, True] Translation: X:147.81, Y:46.18, Z:-0.32 [[ 8.03830463e-01 -5.94854298e-01 -2.22498056e-03 1.47812116e+02] [ 5.94852002e-01 8.03833542e-01 -1.65275488e-03 4.61779735e+01] [ 2.77166235e-03 5.00057655e-06 9.99996159e-01 -3.22190384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74576923100003 meters 0.01622880038851791 Centerline is valid? [True, True] Translation: X:147.83, Y:46.20, Z:-0.32 [[ 8.04142980e-01 -5.94431182e-01 -2.37420825e-03 1.47832275e+02] [ 5.94428564e-01 8.04146485e-01 -1.76415122e-03 4.61968411e+01] [ 2.95787771e-03 7.33262075e-06 9.99995625e-01 -3.24141185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.775769231 meters 0.016203791976277235 Centerline is valid? [True, True] Translation: X:147.85, Y:46.21, Z:-0.32 [[ 8.04072775e-01 -5.94526942e-01 -2.16488769e-03 1.47854159e+02] [ 5.94524764e-01 8.04075690e-01 -1.60934853e-03 4.62147466e+01] [ 2.69753462e-03 6.95399613e-06 9.99996362e-01 -3.22665240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.805769231 meters 0.01588329795779865 Centerline is valid? [True, True] Translation: X:147.88, Y:46.23, Z:-0.32 [[ 8.02970846e-01 -5.96018247e-01 -2.64064916e-04 1.47876945e+02] [ 5.96018214e-01 8.02970890e-01 -1.96751086e-04 4.62331575e+01] [ 3.29303678e-04 5.97886566e-07 9.99999946e-01 -3.19930790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.835769231 meters 0.015939503533364017 Centerline is valid? [True, True] Translation: X:147.90, Y:46.25, Z:-0.32 [[ 8.02083461e-01 -5.97211944e-01 1.26071915e-04 1.47898543e+02] [ 5.97211936e-01 8.02083471e-01 9.33037475e-05 4.62485452e+01] [-1.56842312e-04 4.54259793e-07 9.99999988e-01 -3.19026349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.865769231 meters 0.016644045521250154 Centerline is valid? [True, True] Translation: X:147.92, Y:46.26, Z:-0.32 [[ 7.99747009e-01 -6.00337122e-01 -2.49062152e-04 1.47923491e+02] [ 6.00337093e-01 7.99747047e-01 -1.85740430e-04 4.62632365e+01] [ 3.10693596e-04 -9.75895390e-07 9.99999952e-01 -3.19444581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.895769231 meters 0.017943258630630832 Centerline is valid? [True, True] Translation: X:147.95, Y:46.28, Z:-0.32 [[ 7.98247507e-01 -6.02329252e-01 -6.24455372e-04 1.47947562e+02] [ 6.02329072e-01 7.98247751e-01 -4.64773632e-04 4.62775236e+01] [ 7.78416850e-04 -5.12323184e-06 9.99999697e-01 -3.20900237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.925769231 meters 0.020344775287241233 Centerline is valid? [True, True] Translation: X:147.97, Y:46.29, Z:-0.32 [[ 7.95811816e-01 -6.05540026e-01 -2.19781939e-03 1.47972252e+02] [ 6.05537817e-01 7.95814850e-01 -1.63602124e-03 4.62916467e+01] [ 2.73973365e-03 -2.88977224e-05 9.99996247e-01 -3.24371117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.955769231 meters 0.02068865791545725 Centerline is valid? [True, True] Translation: X:148.00, Y:46.31, Z:-0.33 [[ 7.95259784e-01 -6.06262902e-01 -2.67771549e-03 1.47995935e+02] [ 6.06259624e-01 7.95264291e-01 -1.99396716e-03 4.63082762e+01] [ 3.33835983e-03 -3.76688890e-05 9.99994427e-01 -3.25110681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.985769231 meters 0.021460512193986092 Centerline is valid? [True, True] Translation: X:148.02, Y:46.32, Z:-0.32 [[ 7.95132782e-01 -6.06432177e-01 -1.96789955e-03 1.48019090e+02] [ 6.06430407e-01 7.95135217e-01 -1.46581660e-03 4.63219319e+01] [ 2.45366459e-03 -2.78752883e-05 9.99996989e-01 -3.24645373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.015769231 meters 0.020293087748361846 Centerline is valid? [True, True] Translation: X:148.04, Y:46.34, Z:-0.32 [[ 7.95483151e-01 -6.05975179e-01 -7.98751745e-04 1.48041113e+02] [ 6.05974887e-01 7.95483552e-01 -5.95492650e-04 4.63403850e+01] [ 9.96247641e-04 -1.03191287e-05 9.99999504e-01 -3.20366047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.045769231 meters 0.020003073145914454 Centerline is valid? [True, True] Translation: X:148.06, Y:46.36, Z:-0.32 [[ 7.96164027e-01 -6.05076385e-01 -2.32588746e-03 1.48062251e+02] [ 6.05073902e-01 7.96167424e-01 -1.73371639e-03 4.63566176e+01] [ 2.90082667e-03 -2.70111791e-05 9.99995792e-01 -3.23724258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.075769231 meters 0.019810649224595436 Centerline is valid? [True, True] Translation: X:148.09, Y:46.37, Z:-0.32 [[ 7.95899495e-01 -6.05424239e-01 -2.34200676e-03 1.48085750e+02] [ 6.05421721e-01 7.95902940e-01 -1.74646790e-03 4.63723439e+01] [ 2.92136407e-03 -2.78888390e-05 9.99995732e-01 -3.24042146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.105769231 meters 0.020325384757076067 Centerline is valid? [True, True] Translation: X:148.11, Y:46.39, Z:-0.32 [[ 7.95304955e-01 -6.06207606e-01 -1.53880583e-03 1.48109986e+02] [ 6.06206519e-01 7.95306443e-01 -1.14812776e-03 4.63863600e+01] [ 1.91982597e-03 -1.97224334e-05 9.99998157e-01 -3.22686945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.135769231 meters 0.021768298698229865 Centerline is valid? [True, True] Translation: X:148.14, Y:46.40, Z:-0.32 [[ 7.93987064e-01 -6.07933218e-01 1.32089971e-03 1.48137091e+02] [ 6.07932421e-01 7.93988162e-01 9.85014149e-04 4.63977341e+01] [-1.64760156e-03 2.09292696e-05 9.99998642e-01 -3.16038867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.165769231 meters 0.022919162374230004 Centerline is valid? [True, True] Translation: X:148.16, Y:46.41, Z:-0.32 [[ 7.93061368e-01 -6.09139325e-01 1.71723604e-03 1.48162794e+02] [ 6.09137978e-01 7.93063227e-01 1.28113054e-03 4.64110114e+01] [-2.14226375e-03 3.00185482e-05 9.99997705e-01 -3.15075951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.195769231 meters 0.02609432218864396 Centerline is valid? [True, True] Translation: X:148.19, Y:46.42, Z:-0.32 [[ 7.90872353e-01 -6.11981142e-01 -5.29744217e-05 1.48193073e+02] [ 6.11981140e-01 7.90872355e-01 -3.99784954e-05 4.64187628e+01] [ 6.63620909e-05 -8.01460292e-07 9.99999998e-01 -3.19153913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22576923100002 meters 0.028401323345514866 Centerline is valid? [True, True] Translation: X:148.22, Y:46.43, Z:-0.32 [[ 7.89520291e-01 -6.13723970e-01 -7.73779743e-04 1.48220070e+02] [ 6.13723698e-01 7.89520670e-01 -5.78281438e-04 4.64313355e+01] [ 9.65820281e-04 -1.83220367e-05 9.99999533e-01 -3.20974620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25576923100002 meters 0.03193705100651789 Centerline is valid? [True, True] Translation: X:148.25, Y:46.44, Z:-0.32 [[ 7.87315501e-01 -6.16550320e-01 -7.23848643e-05 1.48249368e+02] [ 6.16550317e-01 7.87315504e-01 -5.45269853e-05 4.64391539e+01] [ 9.06083561e-05 -1.69897029e-06 9.99999996e-01 -3.19974495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28576923100002 meters 0.03329197401800871 Centerline is valid? [True, True] Translation: X:148.28, Y:46.45, Z:-0.32 [[ 7.86481402e-01 -6.17613591e-01 6.74970920e-04 1.48275420e+02] [ 6.17613386e-01 7.86481692e-01 5.03963581e-04 4.64510755e+01] [-8.42107028e-04 2.05130913e-05 9.99999645e-01 -3.18425521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31576923100002 meters 0.03329197401800871 Centerline is valid? [True, True] Translation: X:148.30, Y:46.47, Z:-0.32 [[ 7.86369837e-01 -6.17755634e-01 6.74893871e-04 1.48297333e+02] [ 6.17755429e-01 7.86370127e-01 5.04066716e-04 4.64677063e+01] [-8.42106433e-04 2.05364915e-05 9.99999645e-01 -3.18484580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34576923100002 meters 0.0337844153399406 Centerline is valid? [True, True] Translation: X:148.32, Y:46.48, Z:-0.32 [[ 7.86027557e-01 -6.18190047e-01 1.32093930e-03 1.48322634e+02] [ 6.18189260e-01 7.86028666e-01 9.87435006e-04 4.64797082e+01] [-1.64871865e-03 4.04393596e-05 9.99998640e-01 -3.16439863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37576923100002 meters 0.029317430533466925 Centerline is valid? [True, True] Translation: X:148.35, Y:46.50, Z:-0.32 [[ 7.86393537e-01 -6.17725567e-01 5.73126958e-04 1.48346071e+02] [ 6.17725419e-01 7.86393746e-01 4.28274559e-04 4.64961443e+01] [-7.15259600e-04 1.72427452e-05 9.99999744e-01 -3.18289457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40576923100002 meters 0.032474381088385955 Centerline is valid? [True, True] Translation: X:148.37, Y:46.50, Z:-0.32 [[ 7.86982170e-01 -6.16973756e-01 -1.56504127e-03 1.48374228e+02] [ 6.16972645e-01 7.86983725e-01 -1.17163594e-03 4.65037158e+01] [ 1.95453064e-03 -4.35310574e-05 9.99998089e-01 -3.24897076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43576923100002 meters 0.03184950965334497 Centerline is valid? [True, True] Translation: X:148.40, Y:46.52, Z:-0.33 [[ 7.87538643e-01 -6.16261967e-01 -2.01817287e-03 1.48397247e+02] [ 6.16260116e-01 7.87541227e-01 -1.51139608e-03 4.65173832e+01] [ 2.52081026e-03 -5.34366258e-05 9.99996821e-01 -3.26428189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46576923100002 meters 0.030967774497235045 Centerline is valid? [True, True] Translation: X:148.42, Y:46.53, Z:-0.33 [[ 7.87818896e-01 -6.15903335e-01 -2.11396646e-03 1.48421238e+02] [ 6.15901301e-01 7.87821731e-01 -1.58369145e-03 4.65320347e+01] [ 2.64082956e-03 -5.43326424e-05 9.99996512e-01 -3.26453804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49576923100003 meters 0.03030502771794649 Centerline is valid? [True, True] Translation: X:148.45, Y:46.54, Z:-0.33 [[ 7.88357408e-01 -6.15214426e-01 -1.95115984e-03 1.48446957e+02] [ 6.15212690e-01 7.88359821e-01 -1.46229214e-03 4.65420466e+01] [ 2.43783924e-03 -4.75694512e-05 9.99997027e-01 -3.25554767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.525769231 meters 0.025725126575596634 Centerline is valid? [True, True] Translation: X:148.47, Y:46.56, Z:-0.32 [[ 7.88809000e-01 -6.14635766e-01 -1.79881147e-03 1.48467169e+02] [ 6.14634288e-01 7.88811050e-01 -1.34871720e-03 4.65614354e+01] [ 2.24789219e-03 -4.17309406e-05 9.99997473e-01 -3.23797702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.555769231 meters 0.02277627297061451 Centerline is valid? [True, True] Translation: X:148.49, Y:46.58, Z:-0.32 [[ 7.91386869e-01 -6.11315107e-01 -8.14841142e-04 1.48490299e+02] [ 6.11314802e-01 7.91387288e-01 -6.11020513e-04 4.65762505e+01] [ 1.01838099e-03 -1.45708407e-05 9.99999481e-01 -3.22585971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.585769231 meters 0.020433164734497265 Centerline is valid? [True, True] Translation: X:148.51, Y:46.59, Z:-0.32 [[ 7.93032187e-01 -6.09179539e-01 -4.89410124e-04 1.48512151e+02] [ 6.09179428e-01 7.93032338e-01 -3.67446821e-04 4.65946073e+01] [ 6.11959140e-04 -6.74142353e-06 9.99999813e-01 -3.21835081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.615769231 meters 0.016729044485532654 Centerline is valid? [True, True] Translation: X:148.53, Y:46.62, Z:-0.32 [[ 7.96741527e-01 -6.04319745e-01 -7.65082390e-04 1.48530621e+02] [ 6.04319472e-01 7.96741894e-01 -5.74380898e-04 4.66168297e+01] [ 9.56682911e-04 -4.72107236e-06 9.99999542e-01 -3.21864998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.645769231 meters 0.01570985013901536 Centerline is valid? [True, True] Translation: X:148.55, Y:46.64, Z:-0.32 [[ 7.98772215e-01 -6.01631871e-01 -1.42877932e-03 1.48550039e+02] [ 6.01630914e-01 7.98773492e-01 -1.07269847e-03 4.66377270e+01] [ 1.78664063e-03 -2.75607048e-06 9.99998404e-01 -3.23232939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.675769231 meters 0.015712768124200423 Centerline is valid? [True, True] Translation: X:148.57, Y:46.66, Z:-0.33 [[ 8.00824040e-01 -5.98894110e-01 -2.58894573e-03 1.48569580e+02] [ 5.98890954e-01 8.00828225e-01 -1.94408553e-03 4.66585189e+01] [ 3.23760219e-03 6.37424734e-06 9.99994759e-01 -3.25073927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.705769231 meters 0.0178855796828146 Centerline is valid? [True, True] Translation: X:148.59, Y:46.68, Z:-0.33 [[ 8.04418454e-01 -5.94054544e-01 -3.18567409e-03 1.48587865e+02] [ 5.94049726e-01 8.04424762e-01 -2.39283221e-03 4.66826198e+01] [ 3.98410797e-03 3.23895647e-05 9.99992063e-01 -3.27068253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.735769231 meters 0.019261683172024292 Centerline is valid? [True, True] Translation: X:148.61, Y:46.70, Z:-0.33 [[ 8.05496819e-01 -5.92594400e-01 -2.59857423e-03 1.48607780e+02] [ 5.92591186e-01 8.05501010e-01 -1.95204390e-03 4.67029475e+01] [ 3.24992445e-03 3.24729639e-05 9.99994718e-01 -3.26831700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.765769231 meters 0.019008583740169758 Centerline is valid? [True, True] Translation: X:148.63, Y:46.72, Z:-0.32 [[ 8.05163301e-01 -5.93051333e-01 -1.47466606e-03 1.48628941e+02] [ 5.93050297e-01 8.05164651e-01 -1.10854476e-03 4.67212256e+01] [ 1.84477293e-03 1.80084143e-05 9.99998298e-01 -3.24587760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.795769231 meters 0.018467675057598727 Centerline is valid? [True, True] Translation: X:148.65, Y:46.74, Z:-0.32 [[ 8.04534183e-01 -5.93904424e-01 -1.51120688e-03 1.48650455e+02] [ 5.93903337e-01 8.04535602e-01 -1.13630029e-03 4.67371007e+01] [ 1.89067351e-03 1.66816174e-05 9.99998213e-01 -3.24627894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.825769231 meters 0.017953033122778836 Centerline is valid? [True, True] Translation: X:148.67, Y:46.75, Z:-0.32 [[ 8.04256327e-01 -5.94278326e-01 -2.24294514e-03 1.48672238e+02] [ 5.94275932e-01 8.04259455e-01 -1.68706466e-03 4.67544168e+01] [ 2.80649580e-03 2.39041179e-05 9.99996061e-01 -3.24796160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.855769231 meters 0.01947429994590787 Centerline is valid? [True, True] Translation: X:148.69, Y:46.78, Z:-0.32 [[ 8.05124013e-01 -5.93103380e-01 -1.92451106e-03 1.48690937e+02] [ 5.93101614e-01 8.05126313e-01 -1.44758697e-03 4.67755565e+01] [ 2.40804322e-03 2.40564163e-05 9.99997100e-01 -3.24567819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.885769231 meters 0.02254902108417468 Centerline is valid? [True, True] Translation: X:148.71, Y:46.80, Z:-0.32 [[ 8.07565294e-01 -5.89776000e-01 -1.60160971e-03 1.48706721e+02] [ 5.89774769e-01 8.07566882e-01 -1.20535263e-03 4.68026063e+01] [ 2.00429501e-03 2.88119578e-05 9.99997991e-01 -3.22456072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.915769231 meters 0.024717790639419406 Centerline is valid? [True, True] Translation: X:148.73, Y:46.83, Z:-0.32 [[ 8.08960650e-01 -5.87861521e-01 -1.22403539e-03 1.48725076e+02] [ 5.87860799e-01 8.08961576e-01 -9.21606694e-04 4.68264992e+01] [ 1.53197471e-03 2.59811277e-05 9.99998826e-01 -3.22110438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.945769231 meters 0.029640419299636147 Centerline is valid? [True, True] Translation: X:148.74, Y:46.86, Z:-0.32 [[ 8.11335514e-01 -5.84580755e-01 -1.55275198e-04 1.48736222e+02] [ 5.84580743e-01 8.11335529e-01 -1.17359031e-04 4.68575937e+01] [ 1.94586116e-04 4.44665902e-06 9.99999981e-01 -3.20602474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97576923100002 meters 0.03003936067866217 Centerline is valid? [True, True] Translation: X:148.76, Y:46.88, Z:-0.32 [[ 8.11403710e-01 -5.84486102e-01 1.24589951e-04 1.48755479e+02] [ 5.84486094e-01 8.11403720e-01 9.33551090e-05 4.68793175e+01] [-1.55657513e-04 -2.92758813e-06 9.99999988e-01 -3.20311393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00576923100002 meters 0.027605079371575494 Centerline is valid? [True, True] Translation: X:148.78, Y:46.90, Z:-0.32 [[ 8.10620539e-01 -5.85571796e-01 -1.15952044e-04 1.48777793e+02] [ 5.85571790e-01 8.10620547e-01 -8.77885170e-05 4.68973385e+01] [ 1.45399589e-04 3.26492905e-06 9.99999989e-01 -3.20722549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03576923100002 meters 0.023597889111667623 Centerline is valid? [True, True] Translation: X:148.80, Y:46.92, Z:-0.32 [[ 8.07155980e-01 -5.90336367e-01 -1.48235442e-03 1.48798904e+02] [ 5.90335309e-01 8.07157341e-01 -1.11764021e-03 4.69156391e+01] [ 1.85627691e-03 2.70238242e-05 9.99998277e-01 -3.24148844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06576923100002 meters 0.017188513876138373 Centerline is valid? [True, True] Translation: X:148.83, Y:46.93, Z:-0.33 [[ 8.02169273e-01 -5.97093737e-01 -1.87781577e-03 1.48825222e+02] [ 5.97092058e-01 8.02171471e-01 -1.41615377e-03 4.69277014e+01] [ 2.35190678e-03 1.47661577e-05 9.99997234e-01 -3.25002682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09576923100002 meters 0.015489746855784265 Centerline is valid? [True, True] Translation: X:148.85, Y:46.94, Z:-0.32 [[ 7.99324114e-01 -6.00898081e-01 -1.56790494e-03 1.48850154e+02] [ 6.00896916e-01 7.99325651e-01 -1.18296546e-03 4.69408886e+01] [ 1.96410831e-03 3.42357421e-06 9.99998071e-01 -3.23785136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12576923100002 meters 0.015672114055320385 Centerline is valid? [True, True] Translation: X:148.87, Y:46.95, Z:-0.32 [[ 7.96623516e-01 -6.04474503e-01 -1.24482145e-03 1.48874814e+02] [ 6.04473773e-01 7.96624489e-01 -9.39404139e-04 4.69534227e+01] [ 1.55950110e-03 -4.11049130e-06 9.99998784e-01 -3.23937990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15576923100002 meters 0.02041625634738509 Centerline is valid? [True, True] Translation: X:148.90, Y:46.96, Z:-0.32 [[ 7.91731239e-01 -6.10868221e-01 -1.28920756e-03 1.48904339e+02] [ 6.10867446e-01 7.91732288e-01 -9.73258803e-04 4.69615669e+01] [ 1.61524012e-03 -1.69755306e-05 9.99998695e-01 -3.23913305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18576923100002 meters 0.026261240283395403 Centerline is valid? [True, True] Translation: X:148.93, Y:46.97, Z:-0.32 [[ 7.88430001e-01 -6.15123835e-01 -8.94971021e-04 1.48932624e+02] [ 6.15123464e-01 7.88430509e-01 -6.76094402e-04 4.69697800e+01] [ 1.12150424e-03 -1.74645645e-05 9.99999371e-01 -3.24127805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21576923100002 meters 0.028666207242506445 Centerline is valid? [True, True] Translation: X:148.96, Y:46.98, Z:-0.32 [[ 7.86760370e-01 -6.17258277e-01 -5.82666600e-04 1.48957682e+02] [ 6.17258120e-01 7.86760586e-01 -4.40240139e-04 4.69830577e+01] [ 7.30160985e-04 -1.32921954e-05 9.99999733e-01 -3.22639100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24576923100003 meters 0.03259931711991165 Centerline is valid? [True, True] Translation: X:148.98, Y:46.99, Z:-0.32 [[ 7.84956173e-01 -6.19551117e-01 -4.68937114e-04 1.48984730e+02] [ 6.19551016e-01 7.84956313e-01 -3.54668977e-04 4.69932033e+01] [ 5.87830708e-04 -1.21308624e-05 9.99999827e-01 -3.23022915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.275769231 meters 0.03604321472793657 Centerline is valid? [True, True] Translation: X:149.02, Y:47.00, Z:-0.33 [[ 7.80144418e-01 -6.25597369e-01 -1.61824950e-03 1.49015482e+02] [ 6.25596176e-01 7.80146094e-01 -1.22325940e-03 4.70001727e+01] [ 2.02773889e-03 -5.80517068e-05 9.99997942e-01 -3.25312422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.305769231 meters 0.04581494126771037 Centerline is valid? [True, True] Translation: X:149.05, Y:47.00, Z:-0.33 [[ 7.77888232e-01 -6.28398242e-01 -2.35531665e-03 1.49047868e+02] [ 6.28395727e-01 7.77891792e-01 -1.78056317e-03 4.70021076e+01] [ 2.95108426e-03 -9.49917820e-05 9.99995641e-01 -3.27872640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.335769231 meters 0.041829104854176714 Centerline is valid? [True, True] Translation: X:149.07, Y:47.02, Z:-0.33 [[ 7.75926572e-01 -6.30817156e-01 -2.76959353e-03 1.49073483e+02] [ 6.30813691e-01 7.75931505e-01 -2.09449244e-03 4.70161094e+01] [ 3.47025664e-03 -1.21925177e-04 9.99993971e-01 -3.26797566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.365769231 meters 0.041563112113381845 Centerline is valid? [True, True] Translation: X:149.10, Y:47.03, Z:-0.33 [[ 7.76621533e-01 -6.29961253e-01 -2.79538309e-03 1.49098580e+02] [ 6.29957717e-01 7.76626555e-01 -2.11396276e-03 4.70291439e+01] [ 3.50268337e-03 -1.19224149e-04 9.99993858e-01 -3.26839656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.395769231 meters 0.03656881189287643 Centerline is valid? [True, True] Translation: X:149.12, Y:47.04, Z:-0.32 [[ 7.79520286e-01 -6.26374014e-01 -1.92820148e-03 1.49123545e+02] [ 6.26372319e-01 7.79522667e-01 -1.45908156e-03 4.70432107e+01] [ 2.41700753e-03 -7.03883577e-05 9.99997077e-01 -3.24733457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.425769231 meters 0.034588960026455375 Centerline is valid? [True, True] Translation: X:149.15, Y:47.06, Z:-0.32 [[ 7.81109754e-01 -6.24392572e-01 -1.21200083e-03 1.49146499e+02] [ 6.24391899e-01 7.81110693e-01 -9.17683585e-04 4.70584278e+01] [ 1.51970162e-03 -3.99518997e-05 9.99998844e-01 -3.23498571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.455769231 meters 0.030637577218505734 Centerline is valid? [True, True] Translation: X:149.17, Y:47.07, Z:-0.32 [[ 7.83600068e-01 -6.21265407e-01 -4.76428304e-04 1.49170415e+02] [ 6.21265302e-01 7.83600213e-01 -3.61193493e-04 4.70717025e+01] [ 5.97726342e-04 -1.29571287e-05 9.99999821e-01 -3.23177232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.485769231 meters 0.027882559800314007 Centerline is valid? [True, True] Translation: X:149.19, Y:47.09, Z:-0.32 [[ 7.84083698e-01 -6.20655063e-01 -2.18429263e-04 1.49193705e+02] [ 6.20655041e-01 7.84083728e-01 -1.65888939e-04 4.70879921e+01] [ 2.74226640e-04 -5.49841007e-06 9.99999962e-01 -3.22333441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.515769231 meters 0.028773875756122117 Centerline is valid? [True, True] Translation: X:149.22, Y:47.10, Z:-0.32 [[ 7.84244010e-01 -6.20452520e-01 -5.19754276e-05 1.49218861e+02] [ 6.20452519e-01 7.84244012e-01 -3.98090778e-05 4.70989060e+01] [ 6.54610605e-05 -1.02825417e-06 9.99999998e-01 -3.22269752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.545769231 meters 0.02722610150440927 Centerline is valid? [True, True] Translation: X:149.25, Y:47.11, Z:-0.32 [[ 7.84651359e-01 -6.19937107e-01 -4.76715579e-04 1.49245066e+02] [ 6.19937002e-01 7.84651504e-01 -3.61785878e-04 4.71107313e+01] [ 5.98340086e-04 -1.16578456e-05 9.99999821e-01 -3.23412526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.575769231 meters 0.02715998360135496 Centerline is valid? [True, True] Translation: X:149.27, Y:47.12, Z:-0.32 [[ 7.85502049e-01 -6.18858810e-01 -5.51872297e-04 1.49268798e+02] [ 6.18858668e-01 7.85502243e-01 -4.18701338e-04 4.71247616e+01] [ 6.92613939e-04 -1.26401956e-05 9.99999760e-01 -3.23892564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.605769231 meters 0.020285142388853396 Centerline is valid? [True, True] Translation: X:149.29, Y:47.15, Z:-0.32 [[ 7.89710893e-01 -6.13479146e-01 -2.07574264e-04 1.49287854e+02] [ 6.13479126e-01 7.89710920e-01 -1.57896421e-04 4.71467671e+01] [ 2.60789825e-04 -2.64995479e-06 9.99999966e-01 -3.21543717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.635769231 meters 0.01642032128278817 Centerline is valid? [True, True] Translation: X:149.31, Y:47.17, Z:-0.32 [[ 7.92644393e-01 -6.09684234e-01 -2.72152603e-05 1.49306717e+02] [ 6.09684233e-01 7.92644394e-01 -2.11331688e-05 4.71692609e+01] [ 3.44565833e-05 1.58372647e-07 9.99999999e-01 -3.20643954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.665769231 meters 0.014932933292113926 Centerline is valid? [True, True] Translation: X:149.32, Y:47.20, Z:-0.32 [[ 7.98657753e-01 -6.01785505e-01 -2.36373865e-05 1.49320342e+02] [ 6.01785504e-01 7.98657753e-01 -1.82643862e-05 4.71957395e+01] [ 2.98694248e-05 3.62357111e-07 1.00000000e+00 -3.21184048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.695769231 meters 0.017208374660442866 Centerline is valid? [True, True] Translation: X:149.34, Y:47.22, Z:-0.32 [[ 8.01389606e-01 -5.98142680e-01 1.84285642e-04 1.49338341e+02] [ 5.98142663e-01 8.01389627e-01 1.39612882e-04 4.72184233e+01] [-2.31193025e-04 -1.65520746e-06 9.99999973e-01 -3.21174996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72576923100002 meters 0.02009207224298505 Centerline is valid? [True, True] Translation: X:149.36, Y:47.24, Z:-0.32 [[ 8.03695777e-01 -5.95040408e-01 -1.00022924e-04 1.49356955e+02] [ 5.95040403e-01 8.03695784e-01 -7.63728808e-05 4.72418203e+01] [ 1.25832953e-04 1.86288052e-06 9.99999992e-01 -3.22165709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75576923100002 meters 0.026683509802185444 Centerline is valid? [True, True] Translation: X:149.37, Y:47.27, Z:-0.33 [[ 8.07756307e-01 -5.89513610e-01 -1.85799833e-03 1.49369649e+02] [ 5.89511922e-01 8.07758443e-01 -1.41128663e-03 4.72702275e+01] [ 2.33278651e-03 4.46635122e-05 9.99997278e-01 -3.26644942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78576923100002 meters 0.03107106752619649 Centerline is valid? [True, True] Translation: X:149.39, Y:47.30, Z:-0.33 [[ 8.09960271e-01 -5.86476183e-01 -3.16959421e-03 1.49386338e+02] [ 5.86471246e-01 8.09966467e-01 -2.40831701e-03 4.72951688e+01] [ 3.97968559e-03 9.17652378e-05 9.99992077e-01 -3.29470303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81576923100002 meters 0.030428878274003715 Centerline is valid? [True, True] Translation: X:149.41, Y:47.31, Z:-0.33 [[ 8.10180474e-01 -5.86170835e-01 -3.36926094e-03 1.49408591e+02] [ 5.86165249e-01 8.10187474e-01 -2.56084005e-03 4.73141163e+01] [ 4.23082276e-03 9.97989278e-05 9.99991045e-01 -3.29613960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84576923100002 meters 0.031120119736241108 Centerline is valid? [True, True] Translation: X:149.43, Y:47.33, Z:-0.33 [[ 8.10551345e-01 -5.85657208e-01 -3.48590026e-03 1.49429163e+02] [ 5.85651221e-01 8.10558834e-01 -2.65036947e-03 4.73345392e+01] [ 4.37773524e-03 1.06738795e-04 9.99990412e-01 -3.29915002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87576923100002 meters 0.032739462581519434 Centerline is valid? [True, True] Translation: X:149.45, Y:47.36, Z:-0.33 [[ 8.11137039e-01 -5.84842500e-01 -3.99426760e-03 1.49445750e+02] [ 5.84834627e-01 8.11146863e-01 -3.03734727e-03 4.73583525e+01] [ 5.01630741e-03 1.27718867e-04 9.99987410e-01 -3.32093934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90576923100002 meters 0.03154233903874259 Centerline is valid? [True, True] Translation: X:149.47, Y:47.38, Z:-0.33 [[ 8.10374732e-01 -5.85903471e-01 -3.14903484e-03 1.49466808e+02] [ 5.85898581e-01 8.10380845e-01 -2.39561873e-03 4.73779969e+01] [ 3.95551884e-03 9.63338435e-05 9.99992172e-01 -3.30624939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93576923100002 meters 0.029958696261260388 Centerline is valid? [True, True] Translation: X:149.49, Y:47.40, Z:-0.33 [[ 8.09402808e-01 -5.87251067e-01 -1.81068361e-03 1.49489867e+02] [ 5.87249453e-01 8.09404831e-01 -1.37811543e-03 4.73955474e+01] [ 2.27487583e-03 5.21275405e-05 9.99997411e-01 -3.27459953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96576923100002 meters 0.025876837515741446 Centerline is valid? [True, True] Translation: X:149.51, Y:47.41, Z:-0.32 [[ 8.06796840e-01 -5.90828803e-01 -4.28700562e-04 1.49512658e+02] [ 5.90828713e-01 8.06796954e-01 -3.26795963e-04 4.74105684e+01] [ 5.38954775e-04 1.03693485e-05 9.99999855e-01 -3.23886889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99576923100003 meters 0.026551010478021074 Centerline is valid? [True, True] Translation: X:149.53, Y:47.43, Z:-0.32 [[ 8.05830469e-01 -5.92145932e-01 -6.71510842e-04 1.49532214e+02] [ 5.92145711e-01 8.05830748e-01 -5.11560298e-04 4.74302281e+01] [ 8.44042434e-04 1.45986096e-05 9.99999644e-01 -3.24806641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.025769231 meters 0.024226956780685614 Centerline is valid? [True, True] Translation: X:149.56, Y:47.45, Z:-0.32 [[ 8.05396014e-01 -5.92736576e-01 -7.82834666e-04 1.49555233e+02] [ 5.92736276e-01 8.05396394e-01 -5.96656626e-04 4.74471539e+01] [ 9.84152423e-04 1.65303636e-05 9.99999516e-01 -3.24710093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.055769231 meters 0.024447966144747906 Centerline is valid? [True, True] Translation: X:149.57, Y:47.47, Z:-0.32 [[ 8.05341001e-01 -5.92811823e-01 -1.21212982e-04 1.49572571e+02] [ 5.92811816e-01 8.05341010e-01 -9.26734094e-05 4.74686825e+01] [ 1.52555678e-04 2.77720848e-06 9.99999988e-01 -3.22860175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.085769231 meters 0.026226966916476083 Centerline is valid? [True, True] Translation: X:149.59, Y:47.49, Z:-0.32 [[ 8.06206611e-01 -5.91633084e-01 1.09246355e-03 1.49588395e+02] [ 5.91632500e-01 8.06207351e-01 8.32141513e-04 4.74931947e+01] [-1.37307460e-03 -2.45410453e-05 9.99999057e-01 -3.20362110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.115769231 meters 0.027511901888480263 Centerline is valid? [True, True] Translation: X:149.61, Y:47.52, Z:-0.32 [[ 8.06844520e-01 -5.90763200e-01 8.73621728e-04 1.49607282e+02] [ 5.90762825e-01 8.06844992e-01 6.65442215e-04 4.75156555e+01] [-1.09799609e-03 -2.08051639e-05 9.99999397e-01 -3.20586374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.145769231 meters 0.02862915786951809 Centerline is valid? [True, True] Translation: X:149.63, Y:47.54, Z:-0.32 [[ 8.07351958e-01 -5.90069950e-01 5.20093206e-04 1.49626921e+02] [ 5.90069817e-01 8.07352125e-01 3.96115800e-04 4.75380645e+01] [-6.53634385e-04 -1.29135633e-05 9.99999786e-01 -3.22329207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.175769231 meters 0.029880000141797623 Centerline is valid? [True, True] Translation: X:149.64, Y:47.56, Z:-0.33 [[ 8.07779263e-01 -5.89484741e-01 -6.33985867e-04 1.49644203e+02] [ 5.89484543e-01 8.07779512e-01 -4.83689305e-04 4.75621505e+01] [ 7.97248259e-04 1.69893206e-05 9.99999682e-01 -3.25024769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.205769231 meters 0.02948495514215306 Centerline is valid? [True, True] Translation: X:149.66, Y:47.58, Z:-0.32 [[ 8.07565565e-01 -5.89777802e-01 -5.41276553e-05 1.49664934e+02] [ 5.89777800e-01 8.07565567e-01 -4.17716509e-05 4.75810142e+01] [ 6.83476231e-05 1.81005740e-06 9.99999998e-01 -3.23444054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.235769231 meters 0.02948495514215306 Centerline is valid? [True, True] Translation: X:149.69, Y:47.60, Z:-0.32 [[ 8.07460946e-01 -5.89921027e-01 -5.41208252e-05 1.49686672e+02] [ 5.89921025e-01 8.07460948e-01 -4.17805469e-05 4.75978550e+01] [ 6.83476759e-05 1.80914725e-06 9.99999998e-01 -3.23503107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.265769231 meters 0.029298161144203704 Centerline is valid? [True, True] Translation: X:149.70, Y:47.62, Z:-0.32 [[ 8.06925787e-01 -5.90651618e-01 1.20013999e-03 1.49704512e+02] [ 5.90650909e-01 8.06926679e-01 9.15771548e-04 4.76186730e+01] [-1.50932692e-03 -3.00959029e-05 9.99998861e-01 -3.21099480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.295769231 meters 0.027094347362081776 Centerline is valid? [True, True] Translation: X:149.73, Y:47.64, Z:-0.32 [[ 8.06598744e-01 -5.91098347e-01 1.10020634e-03 1.49727124e+02] [ 5.91097751e-01 8.06599494e-01 8.39640254e-04 4.76366581e+01] [-1.38373584e-03 -2.69232799e-05 9.99999042e-01 -3.20778318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.325769231 meters 0.027569398405693408 Centerline is valid? [True, True] Translation: X:149.75, Y:47.66, Z:-0.32 [[ 8.06828860e-01 -5.90785211e-01 -1.57816022e-04 1.49746460e+02] [ 5.90785199e-01 8.06828876e-01 -1.20978569e-04 4.76592676e+01] [ 1.98802873e-04 4.37363099e-06 9.99999980e-01 -3.23693192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.355769231 meters 0.030353951903257025 Centerline is valid? [True, True] Translation: X:149.77, Y:47.68, Z:-0.33 [[ 8.07009907e-01 -5.90537205e-01 -9.05274700e-04 1.49765344e+02] [ 5.90536800e-01 8.07010414e-01 -6.91865725e-04 4.76810040e+01] [ 1.13913856e-03 2.37444696e-05 9.99999351e-01 -3.25977211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.385769231 meters 0.029507504119685637 Centerline is valid? [True, True] Translation: X:149.79, Y:47.70, Z:-0.33 [[ 8.06980936e-01 -5.90576547e-01 -1.05412265e-03 1.49785395e+02] [ 5.90575998e-01 8.06981624e-01 -8.06106266e-04 4.77006456e+01] [ 1.32672507e-03 2.79728511e-05 9.99999120e-01 -3.26304034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.415769231 meters 0.03097168395710287 Centerline is valid? [True, True] Translation: X:149.80, Y:47.72, Z:-0.33 [[ 8.06746595e-01 -5.90896805e-01 -9.47540239e-04 1.49804011e+02] [ 5.90896361e-01 8.06747151e-01 -7.24817487e-04 4.77212520e+01] [ 1.19271773e-03 2.48459601e-05 9.99999288e-01 -3.26409605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.445769231 meters 0.029544271017775573 Centerline is valid? [True, True] Translation: X:149.83, Y:47.74, Z:-0.33 [[ 8.05752254e-01 -5.92251034e-01 -1.42064734e-03 1.49825118e+02] [ 5.92250038e-01 8.05753505e-01 -1.08682790e-03 4.77407761e+01] [ 1.78836652e-03 3.43355836e-05 9.99998400e-01 -3.27981100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47576923100002 meters 0.026062534163049877 Centerline is valid? [True, True] Translation: X:149.85, Y:47.76, Z:-0.33 [[ 8.05044253e-01 -5.93212443e-01 -1.65783547e-03 1.49849275e+02] [ 5.93211087e-01 8.05045959e-01 -1.26874728e-03 4.77557799e+01] [ 2.08727042e-03 3.79513239e-05 9.99997821e-01 -3.28466977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50576923100002 meters 0.02719113040615114 Centerline is valid? [True, True] Translation: X:149.87, Y:47.78, Z:-0.33 [[ 8.04321341e-01 -5.94191721e-01 -1.83805791e-03 1.49868331e+02] [ 5.94190057e-01 8.04323441e-01 -1.40689650e-03 4.77754764e+01] [ 2.31435931e-03 3.94411482e-05 9.99997321e-01 -3.29562158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53576923100002 meters 0.023727693496251024 Centerline is valid? [True, True] Translation: X:149.89, Y:47.79, Z:-0.33 [[ 8.03238005e-01 -5.95654532e-01 -2.09402737e-03 1.49891638e+02] [ 5.95652376e-01 8.03240734e-01 -1.60335372e-03 4.77925735e+01] [ 2.63705299e-03 4.05622681e-05 9.99996522e-01 -3.29779100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56576923100002 meters 0.02246107889800581 Centerline is valid? [True, True] Translation: X:149.91, Y:47.81, Z:-0.33 [[ 8.02381296e-01 -5.96807587e-01 -2.22711020e-03 1.49914417e+02] [ 5.96805150e-01 8.02384386e-01 -1.70588454e-03 4.78097254e+01] [ 2.80508329e-03 3.96190096e-05 9.99996065e-01 -3.30466894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59576923100002 meters 0.018107000216049655 Centerline is valid? [True, True] Translation: X:149.94, Y:47.82, Z:-0.33 [[ 7.99467248e-01 -6.00704670e-01 -2.45342691e-03 1.49940237e+02] [ 6.00701732e-01 7.99471012e-01 -1.87915614e-03 4.78213725e+01] [ 3.09026156e-03 2.85459948e-05 9.99995225e-01 -3.31481267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62576923100002 meters 0.016033838166603673 Centerline is valid? [True, True] Translation: X:149.97, Y:47.83, Z:-0.33 [[ 7.97375738e-01 -6.03478511e-01 -2.37060564e-03 1.49966317e+02] [ 6.03475777e-01 7.97379262e-01 -1.81655141e-03 4.78348377e+01] [ 2.98652151e-03 1.78709448e-05 9.99995540e-01 -3.31971898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65576923100002 meters 0.01409721326918314 Centerline is valid? [True, True] Translation: X:150.00, Y:47.84, Z:-0.33 [[ 7.92438329e-01 -6.09949263e-01 -1.84137818e-03 1.49997105e+02] [ 6.09947630e-01 7.92440469e-01 -1.41164695e-03 4.78416713e+01] [ 2.32021560e-03 -4.50110773e-06 9.99997308e-01 -3.29633179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68576923100002 meters 0.015598781119138129 Centerline is valid? [True, True] Translation: X:150.02, Y:47.85, Z:-0.33 [[ 7.89819316e-01 -6.13337754e-01 -1.49902902e-03 1.50023874e+02] [ 6.13336677e-01 7.89820739e-01 -1.14932595e-03 4.78529425e+01] [ 1.88888921e-03 -1.16496445e-05 9.99998216e-01 -3.28734953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71576923100002 meters 0.023003661115196417 Centerline is valid? [True, True] Translation: X:150.06, Y:47.85, Z:-0.33 [[ 7.85093579e-01 -6.19377146e-01 1.53567012e-04 1.50057459e+02] [ 6.19377135e-01 7.85093594e-01 1.17542028e-04 4.78539064e+01] [-1.93367324e-04 2.83440422e-06 9.99999981e-01 -3.25631266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74576923100003 meters 0.027139419844605616 Centerline is valid? [True, True] Translation: X:150.09, Y:47.86, Z:-0.32 [[ 7.82481791e-01 -6.22671753e-01 1.46117868e-03 1.50086264e+02] [ 6.22670746e-01 7.82483155e-01 1.12014145e-03 4.78630395e+01] [-1.84082814e-03 3.33429246e-05 9.99998305e-01 -3.21358404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.775769231 meters 0.027596116645489378 Centerline is valid? [True, True] Translation: X:150.11, Y:47.88, Z:-0.32 [[ 7.82109633e-01 -6.23138224e-01 1.81010052e-03 1.50109497e+02] [ 6.23136679e-01 7.82111726e-01 1.38819846e-03 4.78784226e+01] [-2.28074036e-03 4.22166364e-05 9.99997398e-01 -3.20590096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.805769231 meters 0.024656529469442145 Centerline is valid? [True, True] Translation: X:150.13, Y:47.90, Z:-0.32 [[ 7.82386238e-01 -6.22789914e-01 2.12088466e-03 1.50129926e+02] [ 6.22787790e-01 7.82389111e-01 1.62720648e-03 4.78977131e+01] [-2.67276484e-03 4.77571151e-05 9.99996427e-01 -3.20279184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.835769231 meters 0.02097401389732799 Centerline is valid? [True, True] Translation: X:150.15, Y:47.92, Z:-0.32 [[ 7.83572218e-01 -6.21296277e-01 2.34855044e-03 1.50151246e+02] [ 6.21293664e-01 7.83575736e-01 1.80259070e-03 4.79169149e+01] [-2.96021003e-03 4.66795150e-05 9.99995617e-01 -3.19674627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.865769231 meters 0.020305985343533003 Centerline is valid? [True, True] Translation: X:150.17, Y:47.93, Z:-0.32 [[ 7.84270093e-01 -6.20413519e-01 2.73625442e-03 1.50172975e+02] [ 6.20409963e-01 7.84274865e-01 2.10093545e-03 4.79336788e+01] [-3.44942432e-03 4.98986629e-05 9.99994049e-01 -3.19114818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.895769231 meters 0.020030766587837284 Centerline is valid? [True, True] Translation: X:150.20, Y:47.95, Z:-0.32 [[ 7.86153855e-01 -6.18022978e-01 3.11681421e-03 1.50195031e+02] [ 6.18018343e-01 7.86160032e-01 2.39394728e-03 4.79514203e+01] [-3.92982918e-03 4.42374731e-05 9.99992277e-01 -3.16699240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.925769231 meters 0.016381095054363918 Centerline is valid? [True, True] Translation: X:150.21, Y:47.98, Z:-0.32 [[ 7.87532877e-01 -6.16268286e-01 2.31675096e-03 1.50213226e+02] [ 6.16265716e-01 7.87536284e-01 1.77993316e-03 4.79752886e+01] [-2.92144180e-03 2.59783122e-05 9.99995732e-01 -3.18898636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.955769231 meters 0.01414667313981596 Centerline is valid? [True, True] Translation: X:150.23, Y:48.00, Z:-0.33 [[ 7.90024486e-01 -6.13075060e-01 -5.31121187e-04 1.50230157e+02] [ 6.13074923e-01 7.90024665e-01 -4.08631016e-04 4.79972821e+01] [ 6.70120322e-04 -2.78857228e-06 9.99999775e-01 -3.25620537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.985769231 meters 0.01366797772999281 Centerline is valid? [True, True] Translation: X:150.25, Y:48.02, Z:-0.33 [[ 7.90773687e-01 -6.12107209e-01 -1.31909751e-03 1.50250052e+02] [ 6.12106368e-01 7.90774788e-01 -1.01489702e-03 4.80171742e+01] [ 1.66433484e-03 -4.87413107e-06 9.99998615e-01 -3.26807071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.015769231 meters 0.012884784957881796 Centerline is valid? [True, True] Translation: X:150.27, Y:48.04, Z:-0.32 [[ 7.91824203e-01 -6.10748763e-01 6.16785611e-04 1.50269357e+02] [ 6.10748579e-01 7.91824443e-01 4.74038812e-04 4.80372445e+01] [-7.77904540e-04 1.34553071e-06 9.99999697e-01 -3.21638758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.045769231 meters 0.01273253265863379 Centerline is valid? [True, True] Translation: X:150.29, Y:48.06, Z:-0.32 [[ 7.92133208e-01 -6.10344490e-01 2.14138113e-03 1.50290659e+02] [ 6.10342266e-01 7.92136102e-01 1.64737521e-03 4.80558850e+01] [-2.70173168e-03 2.03480400e-06 9.99996350e-01 -3.18164537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.075769231 meters 0.012873121310601426 Centerline is valid? [True, True] Translation: X:150.31, Y:48.07, Z:-0.32 [[ 7.92853181e-01 -6.09411298e-01 1.30515613e-03 1.50310733e+02] [ 6.09410470e-01 7.92854255e-01 1.00426775e-03 4.80737526e+01] [-1.64681071e-03 -8.61065954e-07 9.99998644e-01 -3.20516385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.105769231 meters 0.012820900068327519 Centerline is valid? [True, True] Translation: X:150.33, Y:48.09, Z:-0.32 [[ 7.92614893e-01 -6.09722553e-01 -2.00979549e-04 1.50333234e+02] [ 6.09722533e-01 7.92614918e-01 -1.55309261e-04 4.80910968e+01] [ 2.53994948e-04 5.58673856e-07 9.99999968e-01 -3.24481160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.135769231 meters 0.013249696916448684 Centerline is valid? [True, True] Translation: X:150.36, Y:48.11, Z:-0.33 [[ 7.92052213e-01 -6.10449323e-01 -2.21729783e-03 1.50356455e+02] [ 6.10446933e-01 7.92055316e-01 -1.70812738e-03 4.81064133e+01] [ 2.79894774e-03 -6.16589964e-07 9.99996083e-01 -3.30870656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.165769231 meters 0.013153422966866423 Centerline is valid? [True, True] Translation: X:150.38, Y:48.12, Z:-0.33 [[ 7.91958601e-01 -6.10570582e-01 -2.26680276e-03 1.50378849e+02] [ 6.10568082e-01 7.91961845e-01 -1.74720746e-03 4.81225891e+01] [ 2.86201478e-03 -3.21440224e-07 9.99995904e-01 -3.29331913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.195769231 meters 0.012665616614093773 Centerline is valid? [True, True] Translation: X:150.40, Y:48.14, Z:-0.33 [[ 7.92452566e-01 -6.09932689e-01 -1.02194283e-03 1.50401542e+02] [ 6.09932180e-01 7.92453225e-01 -7.88286074e-04 4.81395935e+01] [ 1.29064334e-03 1.36350586e-06 9.99999167e-01 -3.25724950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22576923100002 meters 0.01262332323764738 Centerline is valid? [True, True] Translation: X:150.42, Y:48.16, Z:-0.32 [[ 7.92787945e-01 -6.09497455e-01 -3.55735720e-04 1.50423651e+02] [ 6.09497393e-01 7.92788025e-01 -2.74840992e-04 4.81574890e+01] [ 4.49537904e-04 1.07063149e-06 9.99999899e-01 -3.24087590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25576923100002 meters 0.012839629490168359 Centerline is valid? [True, True] Translation: X:150.44, Y:48.17, Z:-0.32 [[ 7.92920083e-01 -6.09325638e-01 9.26016563e-05 1.50444516e+02] [ 6.09325634e-01 7.92920089e-01 7.09751093e-05 4.81745064e+01] [-1.16672667e-04 1.46973316e-07 9.99999993e-01 -3.24344334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28576923100002 meters 0.012549931385493835 Centerline is valid? [True, True] Translation: X:150.47, Y:48.19, Z:-0.32 [[ 7.92389704e-01 -6.10015176e-01 2.07367916e-04 1.50468929e+02] [ 6.10015155e-01 7.92389731e-01 1.59538242e-04 4.81892153e+01] [-2.61636956e-04 8.11112420e-08 9.99999966e-01 -3.24025434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31576923100002 meters 0.012516817658217397 Centerline is valid? [True, True] Translation: X:150.49, Y:48.20, Z:-0.32 [[ 7.91638806e-01 -6.10989339e-01 1.68329155e-04 1.50492713e+02] [ 6.10989326e-01 7.91638824e-01 1.29444729e-04 4.82044180e+01] [-2.12345244e-04 3.73845780e-07 9.99999977e-01 -3.24275833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34576923100002 meters 0.012715337285601742 Centerline is valid? [True, True] Translation: X:150.52, Y:48.22, Z:-0.33 [[ 7.90590820e-01 -6.12344541e-01 -5.63893643e-04 1.50517793e+02] [ 6.12344386e-01 7.90591022e-01 -4.35950895e-04 4.82165832e+01] [ 7.12761402e-04 -6.38330462e-07 9.99999746e-01 -3.26317047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37576923100002 meters 0.012813004082326685 Centerline is valid? [True, True] Translation: X:150.54, Y:48.23, Z:-0.33 [[ 7.90151110e-01 -6.12911392e-01 -9.20697068e-04 1.50540845e+02] [ 6.12910979e-01 7.90151647e-01 -7.11838925e-04 4.82326547e+01] [ 1.16378449e-03 -1.84502409e-06 9.99999323e-01 -3.26558604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40576923100002 meters 0.012998926021858658 Centerline is valid? [True, True] Translation: X:150.56, Y:48.25, Z:-0.33 [[ 7.89702273e-01 -6.13488372e-01 -1.52859217e-03 1.50564051e+02] [ 6.13487234e-01 7.89703753e-01 -1.18197432e-03 4.82490721e+01] [ 1.93226248e-03 -4.36397234e-06 9.99998133e-01 -3.27740484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43576923100002 meters 0.013199120384858978 Centerline is valid? [True, True] Translation: X:150.59, Y:48.26, Z:-0.33 [[ 7.89258649e-01 -6.14057977e-01 -1.89377122e-03 1.50585876e+02] [ 6.14056230e-01 7.89260920e-01 -1.46470129e-03 4.82642261e+01] [ 2.39409113e-03 -6.85385935e-06 9.99997134e-01 -3.28512669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46576923100002 meters 0.014064819319055651 Centerline is valid? [True, True] Translation: X:150.61, Y:48.28, Z:-0.33 [[ 7.88256312e-01 -6.15340086e-01 -2.92667633e-03 1.50610418e+02] [ 6.15335922e-01 7.88261745e-01 -2.26373087e-03 4.82772455e+01] [ 3.69995134e-03 -1.64889284e-05 9.99993155e-01 -3.30853342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49576923100003 meters 0.014160337489557582 Centerline is valid? [True, True] Translation: X:150.63, Y:48.29, Z:-0.33 [[ 7.87717054e-01 -6.16029908e-01 -2.99933652e-03 1.50633625e+02] [ 6.16025535e-01 7.87722764e-01 -2.32104941e-03 4.82933447e+01] [ 3.79248151e-03 -1.93376878e-05 9.99992808e-01 -3.30216795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.525769231 meters 0.01499400745741026 Centerline is valid? [True, True] Translation: X:150.66, Y:48.31, Z:-0.33 [[ 7.86528359e-01 -6.17547825e-01 -2.79725847e-03 1.50658578e+02] [ 6.17544029e-01 7.86533332e-01 -2.16541906e-03 4.83052890e+01] [ 3.53738686e-03 -2.42667740e-05 9.99993743e-01 -3.29876118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.555769231 meters 0.01604160562004694 Centerline is valid? [True, True] Translation: X:150.68, Y:48.32, Z:-0.33 [[ 7.85515893e-01 -6.18836801e-01 -2.40758110e-03 1.50683211e+02] [ 6.18833993e-01 7.85519582e-01 -1.86416330e-03 4.83187320e+01] [ 3.04481495e-03 -2.55631258e-05 9.99995364e-01 -3.29262607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.585769231 meters 0.0176340985871689 Centerline is valid? [True, True] Translation: X:150.71, Y:48.33, Z:-0.33 [[ 7.84291458e-01 -6.20388956e-01 -2.11012081e-03 1.50708733e+02] [ 6.20386805e-01 7.84294296e-01 -1.63407079e-03 4.83312217e+01] [ 2.66871519e-03 -2.75033455e-05 9.99996439e-01 -3.29077424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.615769231 meters 0.02028257247215484 Centerline is valid? [True, True] Translation: X:150.74, Y:48.34, Z:-0.33 [[ 7.82030473e-01 -6.23239688e-01 -7.93979999e-04 1.50736597e+02] [ 6.23239385e-01 7.82030876e-01 -6.15232111e-04 4.83414113e+01] [ 1.00435394e-03 -1.37093478e-05 9.99999496e-01 -3.25235142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.645769231 meters 0.022364676192094313 Centerline is valid? [True, True] Translation: X:150.76, Y:48.35, Z:-0.32 [[ 7.80918622e-01 -6.24632483e-01 6.06061559e-04 1.50762948e+02] [ 6.24632307e-01 7.80918857e-01 4.69084852e-04 4.83524000e+01] [-7.66290536e-04 1.22485334e-05 9.99999706e-01 -3.22536982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.675769231 meters 0.021820118241452573 Centerline is valid? [True, True] Translation: X:150.79, Y:48.37, Z:-0.32 [[ 7.80966380e-01 -6.24572964e-01 3.56714965e-04 1.50785894e+02] [ 6.24572903e-01 7.80966461e-01 2.75964869e-04 4.83681803e+01] [-4.50942620e-04 7.27521595e-06 9.99999898e-01 -3.22681194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.705769231 meters 0.01959593922323687 Centerline is valid? [True, True] Translation: X:150.81, Y:48.39, Z:-0.32 [[ 7.81477787e-01 -6.23932961e-01 -3.59571295e-04 1.50807361e+02] [ 6.23932898e-01 7.81477869e-01 -2.79308284e-04 4.83866624e+01] [ 4.55266654e-04 -6.07514059e-06 9.99999896e-01 -3.23782093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.735769231 meters 0.017283075616485025 Centerline is valid? [True, True] Translation: X:150.83, Y:48.41, Z:-0.33 [[ 7.83642235e-01 -6.21209098e-01 -2.02567969e-03 1.50827593e+02] [ 6.21207113e-01 7.83644853e-01 -1.57095628e-03 4.84054162e+01] [ 2.56330579e-03 -2.72989400e-05 9.99996714e-01 -3.26220892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.765769231 meters 0.015480759755236492 Centerline is valid? [True, True] Translation: X:150.85, Y:48.43, Z:-0.33 [[ 7.84993235e-01 -6.19500575e-01 -2.15844385e-03 1.50847650e+02] [ 6.19498311e-01 7.84996202e-01 -1.67489784e-03 4.84259771e+01] [ 2.73197040e-03 -2.23688452e-05 9.99996268e-01 -3.26236835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.795769231 meters 0.012864455029753762 Centerline is valid? [True, True] Translation: X:150.86, Y:48.45, Z:-0.33 [[ 7.88228629e-01 -6.15380255e-01 -1.66429129e-03 1.50864383e+02] [ 6.15378900e-01 7.88230386e-01 -1.29137911e-03 4.84503377e+01] [ 2.10653417e-03 -6.26775891e-06 9.99997781e-01 -3.25127863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.825769231 meters 0.012412664666918554 Centerline is valid? [True, True] Translation: X:150.88, Y:48.47, Z:-0.33 [[ 7.89615279e-01 -6.13599757e-01 -1.74615967e-03 1.50882797e+02] [ 6.13598260e-01 7.89617210e-01 -1.35565835e-03 4.84701988e+01] [ 2.21062936e-03 -9.91989537e-07 9.99997557e-01 -3.26400270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.855769231 meters 0.012519908661525024 Centerline is valid? [True, True] Translation: X:150.90, Y:48.49, Z:-0.33 [[ 7.90609072e-01 -6.12316958e-01 -2.28883430e-03 1.50902265e+02] [ 6.12314378e-01 7.90612385e-01 -1.77758679e-03 4.84907285e+01] [ 2.89802728e-03 3.89008887e-06 9.99995801e-01 -3.27659088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.885769231 meters 0.01237747837350786 Centerline is valid? [True, True] Translation: X:150.92, Y:48.51, Z:-0.33 [[ 7.90010613e-01 -6.13088404e-01 -2.41675522e-03 1.50924501e+02] [ 6.13085529e-01 7.90014309e-01 -1.87763531e-03 4.85071092e+01] [ 3.06042765e-03 1.67417163e-06 9.99995317e-01 -3.27838286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.915769231 meters 0.012911213657473889 Centerline is valid? [True, True] Translation: X:150.95, Y:48.52, Z:-0.33 [[ 7.87715891e-01 -6.16034356e-01 -2.31215662e-03 1.50950290e+02] [ 6.16031735e-01 7.87719285e-01 -1.79709585e-03 4.85200220e+01] [ 2.92840314e-03 -8.76089684e-06 9.99995712e-01 -3.26410659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.945769231 meters 0.013931795236696867 Centerline is valid? [True, True] Translation: X:150.97, Y:48.53, Z:-0.33 [[ 7.86230303e-01 -6.17927350e-01 -2.77488618e-03 1.50974871e+02] [ 6.17923586e-01 7.86235200e-01 -2.15698492e-03 4.85331882e+01] [ 3.51457317e-03 -1.87807121e-05 9.99993824e-01 -3.27686260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97576923100002 meters 0.017462803483308545 Centerline is valid? [True, True] Translation: X:151.00, Y:48.54, Z:-0.33 [[ 7.83384318e-01 -6.21525064e-01 -3.95034422e-03 1.51003561e+02] [ 6.21517476e-01 7.83394277e-01 -3.07144643e-03 4.85417812e+01] [ 5.00365800e-03 -4.90850019e-05 9.99987480e-01 -3.31329832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00576923100002 meters 0.01917202753486075 Centerline is valid? [True, True] Translation: X:151.03, Y:48.56, Z:-0.33 [[ 7.82076501e-01 -6.23169659e-01 -3.99037794e-03 1.51029256e+02] [ 6.23161932e-01 7.82086679e-01 -3.10380784e-03 4.85550741e+01] [ 5.05502030e-03 -5.92364571e-05 9.99987222e-01 -3.31718546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03576923100002 meters 0.021916229674413482 Centerline is valid? [True, True] Translation: X:151.06, Y:48.56, Z:-0.33 [[ 7.80148872e-01 -6.25588211e-01 -2.66978085e-03 1.51057143e+02] [ 6.25584763e-01 7.80153439e-01 -2.07748995e-03 4.85637317e+01] [ 3.38249194e-03 -4.94227809e-05 9.99994278e-01 -3.27911734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06576923100002 meters 0.022665471393846948 Centerline is valid? [True, True] Translation: X:151.08, Y:48.58, Z:-0.33 [[ 7.79460511e-01 -6.26447715e-01 -2.13830156e-03 1.51082473e+02] [ 6.26445505e-01 7.79463443e-01 -1.66467890e-03 4.85771070e+01] [ 2.70956219e-03 -4.19779373e-05 9.99996328e-01 -3.25831668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09576923100002 meters 0.021974078754115386 Centerline is valid? [True, True] Translation: X:151.11, Y:48.59, Z:-0.32 [[ 7.78583968e-01 -6.27537656e-01 -1.86967493e-03 1.51107247e+02] [ 6.27535968e-01 7.78586212e-01 -1.45608897e-03 4.85917909e+01] [ 2.36945378e-03 -3.96007409e-05 9.99997192e-01 -3.24060140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12576923100002 meters 0.021974078754115386 Centerline is valid? [True, True] Translation: X:151.13, Y:48.61, Z:-0.32 [[ 7.78461807e-01 -6.27689191e-01 -1.86935927e-03 1.51128838e+02] [ 6.27687503e-01 7.78464050e-01 -1.45649429e-03 4.86088459e+01] [ 2.36945471e-03 -3.95482774e-05 9.99997192e-01 -3.24119197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15576923100002 meters 0.027137658436162004 Centerline is valid? [True, True] Translation: X:151.16, Y:48.61, Z:-0.32 [[ 7.76766195e-01 -6.29784680e-01 -2.35274379e-03 1.51161492e+02] [ 6.29782014e-01 7.76769756e-01 -1.83342596e-03 4.86119806e+01] [ 2.98220381e-03 -5.75724148e-05 9.99995552e-01 -3.24733468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18576923100002 meters 0.026824251953944594 Centerline is valid? [True, True] Translation: X:151.19, Y:48.63, Z:-0.33 [[ 7.76148013e-01 -6.30544330e-01 -2.84780042e-03 1.51185960e+02] [ 6.30540427e-01 7.76153234e-01 -2.22001011e-03 4.86262054e+01] [ 3.61014429e-03 -7.25968631e-05 9.99993481e-01 -3.25316063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21576923100002 meters 0.027681944752427065 Centerline is valid? [True, True] Translation: X:151.21, Y:48.64, Z:-0.32 [[ 7.75614952e-01 -6.31200303e-01 -2.76115570e-03 1.51214769e+02] [ 6.31196634e-01 7.75619863e-01 -2.15327554e-03 4.86356521e+01] [ 3.50075538e-03 -7.27194750e-05 9.99993870e-01 -3.23845156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24576923100003 meters 0.028328903527888177 Centerline is valid? [True, True] Translation: X:151.24, Y:48.65, Z:-0.32 [[ 7.75925764e-01 -6.30822059e-01 -1.65490334e-03 1.51240076e+02] [ 6.30820739e-01 7.75927528e-01 -1.29101568e-03 4.86478403e+01] [ 2.09848622e-03 -4.22150151e-05 9.99997797e-01 -3.20524460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.275769231 meters 0.025765149331958698 Centerline is valid? [True, True] Translation: X:151.26, Y:48.66, Z:-0.32 [[ 7.76499120e-01 -6.30118063e-01 -5.86329470e-04 1.51263389e+02] [ 6.30117897e-01 7.76499341e-01 -4.57928865e-04 4.86640448e+01] [ 7.43833696e-04 -1.38753321e-05 9.99999723e-01 -3.16855271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.305769231 meters 0.02307923090989198 Centerline is valid? [True, True] Translation: X:151.29, Y:48.68, Z:-0.31 [[ 7.78782840e-01 -6.27293523e-01 3.53218000e-04 1.51288030e+02] [ 6.27293462e-01 7.78782920e-01 2.75366416e-04 4.86762496e+01] [-4.47815714e-04 7.12070245e-06 9.99999900e-01 -3.14640145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.335769231 meters 0.019875239980384315 Centerline is valid? [True, True] Translation: X:151.31, Y:48.69, Z:-0.31 [[ 7.81600959e-01 -6.23778510e-01 5.57836579e-04 1.51310065e+02] [ 6.23778359e-01 7.81601158e-01 4.34961106e-04 4.86931634e+01] [-7.07325107e-04 8.00036821e-06 9.99999750e-01 -3.10765051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.365769231 meters 0.01564356893872099 Centerline is valid? [True, True] Translation: X:151.33, Y:48.71, Z:-0.31 [[ 7.83040302e-01 -6.21969600e-01 1.30417760e-03 1.51331859e+02] [ 6.21968768e-01 7.83041388e-01 1.01796348e-03 4.87091025e+01] [-1.65436738e-03 1.40513050e-05 9.99998631e-01 -3.10678046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.395769231 meters 0.012769856854619366 Centerline is valid? [True, True] Translation: X:151.35, Y:48.73, Z:-0.31 [[ 7.84798211e-01 -6.19747956e-01 2.05916862e-03 1.51351763e+02] [ 6.19745869e-01 7.84800912e-01 1.60815857e-03 4.87288110e+01] [-2.61269040e-03 1.40812777e-05 9.99996587e-01 -3.07881074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.425769231 meters 0.011715880430882071 Centerline is valid? [True, True] Translation: X:151.37, Y:48.75, Z:-0.31 [[ 7.89582848e-01 -6.13642644e-01 1.27715822e-03 1.51366490e+02] [ 6.13641834e-01 7.89583881e-01 9.97612818e-04 4.87542280e+01] [-1.62060131e-03 -3.98025550e-06 9.99998687e-01 -3.08983015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.455769231 meters 0.014567588164870466 Centerline is valid? [True, True] Translation: X:151.38, Y:48.78, Z:-0.31 [[ 7.92297813e-01 -6.10134490e-01 -2.80584237e-04 1.51383131e+02] [ 6.10134451e-01 7.92297863e-01 -2.19816487e-04 4.87787058e+01] [ 3.56423912e-04 2.96601253e-06 9.99999936e-01 -3.12924147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.485769231 meters 0.022627138522168997 Centerline is valid? [True, True] Translation: X:151.39, Y:48.81, Z:-0.32 [[ 7.97740828e-01 -6.02996783e-01 -2.10968547e-03 1.51393974e+02] [ 6.02994526e-01 7.97743617e-01 -1.65038213e-03 4.88112509e+01] [ 2.67816323e-03 4.44484213e-05 9.99996413e-01 -3.16359550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.515769231 meters 0.027921749831757485 Centerline is valid? [True, True] Translation: X:151.41, Y:48.84, Z:-0.32 [[ 7.99905690e-01 -6.00122761e-01 -1.88665071e-03 1.51408651e+02] [ 6.00120947e-01 7.99907913e-01 -1.47612708e-03 4.88369603e+01] [ 2.39500429e-03 4.85438410e-05 9.99997131e-01 -3.15382550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.545769231 meters 0.03128541290956104 Centerline is valid? [True, True] Translation: X:151.42, Y:48.86, Z:-0.31 [[ 8.01620963e-01 -5.97832592e-01 -1.52224062e-04 1.51423088e+02] [ 5.97832580e-01 8.01620978e-01 -1.19562800e-04 4.88643870e+01] [ 1.93504540e-04 4.83954328e-06 9.99999981e-01 -3.10546613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.575769231 meters 0.028609769455826523 Centerline is valid? [True, True] Translation: X:151.45, Y:48.88, Z:-0.31 [[ 8.01077279e-01 -5.98560760e-01 4.57678601e-04 1.51445063e+02] [ 5.98560653e-01 8.01077410e-01 3.57789922e-04 4.88818048e+01] [-5.80794996e-04 -1.26689754e-05 9.99999831e-01 -3.09093525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.605769231 meters 0.0249243704946775 Centerline is valid? [True, True] Translation: X:151.47, Y:48.90, Z:-0.31 [[ 7.99969548e-01 -6.00040369e-01 5.27378915e-04 1.51468988e+02] [ 6.00040227e-01 7.99969722e-01 4.12517893e-04 4.88975769e+01] [-6.69414552e-04 -1.35531880e-05 9.99999776e-01 -3.08948366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.635769231 meters 0.020929360443660536 Centerline is valid? [True, True] Translation: X:151.49, Y:48.91, Z:-0.31 [[ 7.96367994e-01 -6.04811596e-01 -9.75195695e-04 1.51492048e+02] [ 6.04811113e-01 7.96368591e-01 -7.64445486e-04 4.89124328e+01] [ 1.23896072e-03 1.89707243e-05 9.99999232e-01 -3.12918211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.665769231 meters 0.017898441594234586 Centerline is valid? [True, True] Translation: X:151.52, Y:48.93, Z:-0.32 [[ 7.94122024e-01 -6.07754140e-01 -2.26174856e-03 1.51516487e+02] [ 6.07751555e-01 7.94125245e-01 -1.77278416e-03 4.89273599e+01] [ 2.87352854e-03 3.32257376e-05 9.99995871e-01 -3.16307724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.695769231 meters 0.013884785624023213 Centerline is valid? [True, True] Translation: X:151.54, Y:48.94, Z:-0.32 [[ 7.90598897e-01 -6.12325060e-01 -3.37706008e-03 1.51542160e+02] [ 6.12319336e-01 7.90606109e-01 -2.64775315e-03 4.89395487e+01] [ 4.29120994e-03 2.54715299e-05 9.99990792e-01 -3.18689288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72576923100002 meters 0.012845288454787957 Centerline is valid? [True, True] Translation: X:151.57, Y:48.95, Z:-0.32 [[ 7.89514176e-01 -6.13721098e-01 -3.71210715e-03 1.51565677e+02] [ 6.13714192e-01 7.89522902e-01 -2.91155320e-03 4.89544185e+01] [ 4.71767523e-03 2.05396838e-05 9.99988871e-01 -3.18299775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75576923100002 meters 0.013109667823524355 Centerline is valid? [True, True] Translation: X:151.59, Y:48.97, Z:-0.32 [[ 7.89498199e-01 -6.13741700e-01 -3.70400701e-03 1.51586227e+02] [ 6.13734820e-01 7.89506887e-01 -2.90615636e-03 4.89719466e+01] [ 4.70796839e-03 2.11271321e-05 9.99988917e-01 -3.18567702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78576923100002 meters 0.013787326596321214 Centerline is valid? [True, True] Translation: X:151.61, Y:48.99, Z:-0.32 [[ 7.90423769e-01 -6.12549818e-01 -3.60345591e-03 1.51606031e+02] [ 6.12543289e-01 7.90431983e-01 -2.82836917e-03 4.89918263e+01] [ 4.58080382e-03 2.83374802e-05 9.99989508e-01 -3.17778190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81576923100002 meters 0.018519322489708702 Centerline is valid? [True, True] Translation: X:151.62, Y:49.02, Z:-0.32 [[ 7.93325560e-01 -6.08777760e-01 -4.91886675e-03 1.51621174e+02] [ 6.08765520e-01 7.93340806e-01 -3.86090487e-03 4.90168357e+01] [ 6.25277073e-03 6.85180410e-05 9.99980449e-01 -3.23067379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84576923100002 meters 0.020999850632612043 Centerline is valid? [True, True] Translation: X:151.64, Y:49.04, Z:-0.33 [[ 7.94597601e-01 -6.07109626e-01 -5.70557462e-03 1.51639738e+02] [ 6.07093103e-01 7.94618080e-01 -4.48018531e-03 4.90370505e+01] [ 7.25371638e-03 9.61295047e-05 9.99973687e-01 -3.25866251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87576923100002 meters 0.023198012476113625 Centerline is valid? [True, True] Translation: X:151.66, Y:49.06, Z:-0.32 [[ 7.96520900e-01 -6.04594170e-01 -4.51056756e-03 1.51658238e+02] [ 6.04583796e-01 7.96533666e-01 -3.54305762e-03 4.90597960e+01] [ 5.73493089e-03 9.51033905e-05 9.99983551e-01 -3.22563358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90576923100002 meters 0.027811642387849618 Centerline is valid? [True, True] Translation: X:151.67, Y:49.08, Z:-0.32 [[ 7.97381037e-01 -6.03470206e-01 -2.68198374e-03 1.51673999e+02] [ 6.03466529e-01 7.97385545e-01 -2.10758496e-03 4.90841444e+01] [ 3.41043979e-03 6.20608641e-05 9.99994183e-01 -3.19335995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93576923100002 meters 0.02887876738269294 Centerline is valid? [True, True] Translation: X:151.69, Y:49.11, Z:-0.31 [[ 7.99556787e-01 -6.00590173e-01 -6.23304950e-04 1.51691701e+02] [ 6.00589973e-01 7.99557030e-01 -4.90306101e-04 4.91073981e+01] [ 7.92840880e-04 1.76768677e-05 9.99999686e-01 -3.13682281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96576923100002 meters 0.031451131027241515 Centerline is valid? [True, True] Translation: X:151.71, Y:49.13, Z:-0.31 [[ 8.00764400e-01 -5.98978655e-01 -9.73344788e-04 1.51709643e+02] [ 5.98978166e-01 8.00764991e-01 -7.65646518e-04 4.91308792e+01] [ 1.23802635e-03 3.00901989e-05 9.99999233e-01 -3.14974096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99576923100003 meters 0.033599826279785645 Centerline is valid? [True, True] Translation: X:151.73, Y:49.15, Z:-0.32 [[ 8.01822902e-01 -5.97558867e-01 -1.85310396e-03 1.51727330e+02] [ 5.97557092e-01 8.01825041e-01 -1.45771263e-03 4.91542206e+01] [ 2.35693427e-03 6.14919586e-05 9.99997221e-01 -3.17799571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.025769231 meters 0.036071953217213314 Centerline is valid? [True, True] Translation: X:151.74, Y:49.18, Z:-0.32 [[ 8.02701911e-01 -5.96373870e-01 -2.80166274e-03 1.51741637e+02] [ 5.96369805e-01 8.02706794e-01 -2.20432348e-03 4.91813849e+01] [ 3.56351464e-03 9.85876097e-05 9.99993646e-01 -3.21634263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.055769231 meters 0.035661933954515466 Centerline is valid? [True, True] Translation: X:151.76, Y:49.20, Z:-0.32 [[ 8.02266931e-01 -5.96960800e-01 -2.36087547e-03 1.51761407e+02] [ 5.96957913e-01 8.02270401e-01 -1.85829819e-03 4.92010122e+01] [ 3.00339169e-03 8.15078903e-05 9.99995486e-01 -3.20959989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.085769231 meters 0.03142819607838788 Centerline is valid? [True, True] Translation: X:151.78, Y:49.22, Z:-0.32 [[ 7.99872797e-01 -6.00167043e-01 -1.74044382e-03 1.51781769e+02] [ 6.00165480e-01 7.99874689e-01 -1.37056971e-03 4.92192127e+01] [ 2.21470773e-03 5.17271233e-05 9.99997546e-01 -3.19809138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.115769231 meters 0.028883530370098106 Centerline is valid? [True, True] Translation: X:151.80, Y:49.24, Z:-0.32 [[ 7.98291088e-01 -6.02269874e-01 -1.52878152e-03 1.51802999e+02] [ 6.02268672e-01 7.98292551e-01 -1.20382118e-03 4.92365874e+01] [ 1.94544013e-03 4.02625007e-05 9.99998107e-01 -3.20377280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.145769231 meters 0.024389534589654593 Centerline is valid? [True, True] Translation: X:151.82, Y:49.26, Z:-0.32 [[ 7.95730923e-01 -6.05648331e-01 -1.54832098e-03 1.51822877e+02] [ 6.05647104e-01 7.95732429e-01 -1.21941831e-03 4.92552512e+01] [ 1.97058788e-03 3.25927411e-05 9.99998058e-01 -3.21620303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.175769231 meters 0.023203887168358348 Centerline is valid? [True, True] Translation: X:151.84, Y:49.27, Z:-0.32 [[ 7.95047044e-01 -6.06546488e-01 -1.24779015e-03 1.51843716e+02] [ 6.06545691e-01 7.95048022e-01 -9.83362664e-04 4.92741991e+01] [ 1.58850826e-03 2.49778424e-05 9.99998738e-01 -3.21876054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.205769231 meters 0.023080465914504925 Centerline is valid? [True, True] Translation: X:151.86, Y:49.29, Z:-0.32 [[ 7.94786022e-01 -6.06888740e-01 -1.11223947e-03 1.51863502e+02] [ 6.06888107e-01 7.94786800e-01 -8.76911693e-04 4.92937665e+01] [ 1.41618108e-03 2.19522499e-05 9.99998997e-01 -3.21887593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.235769231 meters 0.021654618665782964 Centerline is valid? [True, True] Translation: X:151.88, Y:49.31, Z:-0.32 [[ 7.93858019e-01 -6.08101271e-01 -1.51326032e-03 1.51883372e+02] [ 6.08100101e-01 7.93859461e-01 -1.19330864e-03 4.93137779e+01] [ 1.92696852e-03 2.71038758e-05 9.99998143e-01 -3.24243964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.265769231 meters 0.01862140771751432 Centerline is valid? [True, True] Translation: X:151.90, Y:49.33, Z:-0.33 [[ 7.91813043e-01 -6.10757499e-01 -2.71699530e-03 1.51904460e+02] [ 6.10753742e-01 7.91817704e-01 -2.14249172e-03 4.93310862e+01] [ 3.45990787e-03 3.70378448e-05 9.99994014e-01 -3.28185705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.295769231 meters 0.01668748239362847 Centerline is valid? [True, True] Translation: X:151.93, Y:49.35, Z:-0.33 [[ 7.90359621e-01 -6.12635053e-01 -3.15619085e-03 1.51927498e+02] [ 6.12629994e-01 7.90365922e-01 -2.48981217e-03 4.93472797e+01] [ 4.01989190e-03 3.42698220e-05 9.99991920e-01 -3.30118428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.325769231 meters 0.01461084276937103 Centerline is valid? [True, True] Translation: X:151.95, Y:49.36, Z:-0.33 [[ 7.88843297e-01 -6.14586710e-01 -3.07060614e-03 1.51951242e+02] [ 6.14581935e-01 7.88849273e-01 -2.42266397e-03 4.93631096e+01] [ 3.91118250e-03 2.39631728e-05 9.99992351e-01 -3.30235741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.355769231 meters 0.011717900822820993 Centerline is valid? [True, True] Translation: X:151.98, Y:49.38, Z:-0.33 [[ 7.86054977e-01 -6.18153700e-01 -1.89106616e-03 1.51977108e+02] [ 6.18151897e-01 7.86057252e-01 -1.49291738e-03 4.93757271e+01] [ 2.40933868e-03 4.54900275e-06 9.99997098e-01 -3.25640124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.385769231 meters 0.011713026944991795 Centerline is valid? [True, True] Translation: X:152.00, Y:49.39, Z:-0.33 [[ 7.84953409e-01 -6.19552488e-01 -1.69113839e-03 1.51999217e+02] [ 6.19551049e-01 7.84955231e-01 -1.33556893e-03 4.93906049e+01] [ 2.15492298e-03 6.12825784e-07 9.99997678e-01 -3.26466438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.415769231 meters 0.01280208613349944 Centerline is valid? [True, True] Translation: X:152.03, Y:49.40, Z:-0.33 [[ 7.82749782e-01 -6.22332596e-01 -2.21772042e-03 1.52025556e+02] [ 6.22330130e-01 7.82752924e-01 -1.75195541e-03 4.94003480e+01] [ 2.82622611e-03 -8.81152455e-06 9.99996006e-01 -3.28876618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.445769231 meters 0.013571248774599153 Centerline is valid? [True, True] Translation: X:152.05, Y:49.42, Z:-0.33 [[ 7.80998832e-01 -6.24527660e-01 -2.45491268e-03 1.52050984e+02] [ 6.24524648e-01 7.81002690e-01 -1.93990319e-03 4.94152756e+01] [ 3.12881661e-03 -1.80913513e-05 9.99995105e-01 -3.28448971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47576923100002 meters 0.01903993467479713 Centerline is valid? [True, True] Translation: X:152.08, Y:49.42, Z:-0.33 [[ 7.78137645e-01 -6.28089962e-01 -2.19225322e-03 1.52081000e+02] [ 6.28087573e-01 7.78140732e-01 -1.73265344e-03 4.94223069e+01] [ 2.79414376e-03 -2.86841364e-05 9.99996096e-01 -3.30702614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50576923100002 meters 0.01799708246999937 Centerline is valid? [True, True] Translation: X:152.10, Y:49.44, Z:-0.33 [[ 7.77208130e-01 -6.29239256e-01 -2.34118585e-03 1.52103610e+02] [ 6.29236534e-01 7.77211655e-01 -1.85109693e-03 4.94398917e+01] [ 2.98437979e-03 -3.44720928e-05 9.99995546e-01 -3.29103612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53576923100002 meters 0.021309920344298457 Centerline is valid? [True, True] Translation: X:152.13, Y:49.45, Z:-0.33 [[ 7.76864459e-01 -6.29662758e-01 -2.53439684e-03 1.52129518e+02] [ 6.29659570e-01 7.76868592e-01 -2.00421037e-03 4.94506794e+01] [ 3.23086994e-03 -3.88074182e-05 9.99994780e-01 -3.30675896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56576923100002 meters 0.018263448432548592 Centerline is valid? [True, True] Translation: X:152.15, Y:49.47, Z:-0.32 [[ 7.76978180e-01 -6.29526471e-01 -1.15359785e-03 1.52151904e+02] [ 6.29525809e-01 7.76979036e-01 -9.12966154e-04 4.94670100e+01] [ 1.47105771e-03 -1.68648422e-05 9.99998918e-01 -3.24928218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59576923100002 meters 0.01723299655548894 Centerline is valid? [True, True] Translation: X:152.17, Y:49.48, Z:-0.32 [[ 7.77493506e-01 -6.28890966e-01 1.08377048e-05 1.52174969e+02] [ 6.28890966e-01 7.77493506e-01 8.10411316e-06 4.94838037e+01] [-1.35228487e-05 5.14839309e-07 1.00000000e+00 -3.22136673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62576923100002 meters 0.014946720588103207 Centerline is valid? [True, True] Translation: X:152.20, Y:49.50, Z:-0.32 [[ 7.79174498e-01 -6.26807008e-01 2.76279379e-04 1.52197091e+02] [ 6.26806970e-01 7.79174547e-01 2.18203906e-04 4.95005798e+01] [-3.52041597e-04 3.15492154e-06 9.99999938e-01 -3.22394471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65576923100002 meters 0.013489426313472355 Centerline is valid? [True, True] Translation: X:152.22, Y:49.52, Z:-0.33 [[ 7.80367290e-01 -6.25320877e-01 -8.32474750e-04 1.52218529e+02] [ 6.25320529e-01 7.80367734e-01 -6.59680428e-04 4.95193071e+01] [ 1.06214838e-03 -5.77052288e-06 9.99999436e-01 -3.25132103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68576923100002 meters 0.011900799356017447 Centerline is valid? [True, True] Translation: X:152.24, Y:49.54, Z:-0.33 [[ 7.83881095e-01 -6.20901625e-01 -3.40597842e-03 1.52235959e+02] [ 6.20895760e-01 7.83888495e-01 -2.69856235e-03 4.95413598e+01] [ 4.34544904e-03 5.94453818e-07 9.99990558e-01 -3.29471810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71576923100002 meters 0.012915183173227238 Centerline is valid? [True, True] Translation: X:152.25, Y:49.56, Z:-0.33 [[ 7.85367966e-01 -6.19018511e-01 -3.63879718e-03 1.52254195e+02] [ 6.19011793e-01 7.85376395e-01 -2.88411439e-03 4.95621963e+01] [ 4.64314561e-03 1.26326829e-05 9.99989220e-01 -3.31884682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74576923100003 meters 0.01549464661925099 Centerline is valid? [True, True] Translation: X:152.27, Y:49.59, Z:-0.32 [[ 7.87811689e-01 -6.15914154e-01 -1.58041573e-03 1.52270367e+02] [ 6.15912879e-01 7.87813274e-01 -1.25330061e-03 4.95867253e+01] [ 2.01699808e-03 1.39664702e-05 9.99997966e-01 -3.24742913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.775769231 meters 0.01638367751024398 Centerline is valid? [True, True] Translation: X:152.29, Y:49.61, Z:-0.32 [[ 7.88314338e-01 -6.15272706e-01 -4.28126428e-05 1.52291102e+02] [ 6.15272705e-01 7.88314339e-01 -3.44078219e-05 4.96061307e+01] [ 5.49200139e-05 7.82728739e-07 9.99999998e-01 -3.20666603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.805769231 meters 0.01395090623381494 Centerline is valid? [True, True] Translation: X:152.32, Y:49.62, Z:-0.32 [[ 7.87732848e-01 -6.16015953e-01 1.14217900e-03 1.52316584e+02] [ 6.16015288e-01 7.87733676e-01 9.05589695e-04 4.96191681e+01] [-1.45759057e-03 -9.76302168e-06 9.99998938e-01 -3.16846395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.835769231 meters 0.014420733714498875 Centerline is valid? [True, True] Translation: X:152.34, Y:49.64, Z:-0.32 [[ 7.86983589e-01 -6.16973002e-01 1.07035434e-03 1.52337851e+02] [ 6.16972418e-01 7.86984317e-01 8.48952059e-04 4.96364295e+01] [-1.36613258e-03 -7.73223104e-06 9.99999067e-01 -3.17483671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.865769231 meters 0.013340831630672246 Centerline is valid? [True, True] Translation: X:152.36, Y:49.65, Z:-0.32 [[ 7.86122668e-01 -6.18069711e-01 9.92233380e-04 1.52362131e+02] [ 6.18069209e-01 7.86123294e-01 7.87200715e-04 4.96516029e+01] [-1.26656269e-03 -5.56742524e-06 9.99999198e-01 -3.17788539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.895769231 meters 0.012561747407102973 Centerline is valid? [True, True] Translation: X:152.39, Y:49.67, Z:-0.32 [[ 7.85318743e-01 -6.19091470e-01 4.73133824e-04 1.52385677e+02] [ 6.19091356e-01 7.85318886e-01 3.75255782e-04 4.96671152e+01] [-6.03878581e-04 -1.78233852e-06 9.99999818e-01 -3.17892697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.925769231 meters 0.0129703009095147 Centerline is valid? [True, True] Translation: X:152.41, Y:49.69, Z:-0.32 [[ 7.85583469e-01 -6.18755668e-01 1.91494550e-04 1.52406170e+02] [ 6.18755649e-01 7.85583492e-01 1.51657957e-04 4.96859910e+01] [-2.44274178e-04 -6.51649911e-07 9.99999970e-01 -3.18520437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.955769231 meters 0.01523486569621913 Centerline is valid? [True, True] Translation: X:152.43, Y:49.71, Z:-0.32 [[ 7.86829634e-01 -6.17170155e-01 -3.57204071e-04 1.52425600e+02] [ 6.17170089e-01 7.86829715e-01 -2.84278891e-04 4.97075522e+01] [ 4.56507225e-04 3.22338700e-06 9.99999896e-01 -3.19943697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.985769231 meters 0.01605282411239859 Centerline is valid? [True, True] Translation: X:152.45, Y:49.73, Z:-0.32 [[ 7.87171388e-01 -6.16734170e-01 -4.10959840e-04 1.52447328e+02] [ 6.16734083e-01 7.87171495e-01 -3.27128051e-04 4.97257881e+01] [ 5.25246919e-04 4.05290148e-06 9.99999862e-01 -3.19665472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.015769231 meters 0.01403178560740831 Centerline is valid? [True, True] Translation: X:152.47, Y:49.74, Z:-0.32 [[ 7.86726523e-01 -6.17301108e-01 -8.48607333e-04 1.52473096e+02] [ 6.17300739e-01 7.86726980e-01 -6.75277590e-04 4.97388381e+01] [ 1.08447189e-03 7.41285669e-06 9.99999412e-01 -3.19257321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.045769231 meters 0.01403178560740831 Centerline is valid? [True, True] Translation: X:152.49, Y:49.76, Z:-0.32 [[ 7.86618404e-01 -6.17438877e-01 -8.48488766e-04 1.52494488e+02] [ 6.17438507e-01 7.86618862e-01 -6.75426617e-04 4.97561195e+01] [ 1.08447192e-03 7.41336996e-06 9.99999412e-01 -3.19316362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.075769231 meters 0.013414658208809679 Centerline is valid? [True, True] Translation: X:152.52, Y:49.77, Z:-0.32 [[ 7.86384854e-01 -6.17736289e-01 -8.59157827e-04 1.52517936e+02] [ 6.17735910e-01 7.86385324e-01 -6.84205520e-04 4.97723198e+01] [ 1.09828768e-03 7.31621571e-06 9.99999397e-01 -3.18591010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.105769231 meters 0.01326122668331521 Centerline is valid? [True, True] Translation: X:152.54, Y:49.79, Z:-0.32 [[ 7.86160367e-01 -6.18019547e-01 -1.92796760e-03 1.52540345e+02] [ 6.18017640e-01 7.86162731e-01 -1.53534351e-03 4.97890357e+01] [ 2.46456857e-03 1.55082321e-05 9.99996963e-01 -3.21155853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.135769231 meters 0.014524491251102755 Centerline is valid? [True, True] Translation: X:152.56, Y:49.81, Z:-0.32 [[ 7.86228435e-01 -6.17929463e-01 -2.83306051e-03 1.52559259e+02] [ 6.17925343e-01 7.86233539e-01 -2.25660354e-03 4.98087520e+01] [ 3.62186901e-03 2.35859835e-05 9.99993441e-01 -3.24328852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.165769231 meters 0.015048861294580065 Centerline is valid? [True, True] Translation: X:152.58, Y:49.83, Z:-0.33 [[ 7.86468618e-01 -6.17621278e-01 -3.32718448e-03 1.52579134e+02] [ 6.17615589e-01 7.86475655e-01 -2.65105947e-03 4.98283397e+01] [ 4.25410034e-03 3.00540772e-05 9.99990951e-01 -3.25642043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.195769231 meters 0.01554861121454417 Centerline is valid? [True, True] Translation: X:152.60, Y:49.85, Z:-0.33 [[ 7.86677536e-01 -6.17356227e-01 -3.12141104e-03 1.52597237e+02] [ 6.17351213e-01 7.86683728e-01 -2.48809697e-03 4.98485894e+01] [ 3.99160544e-03 3.03231048e-05 9.99992033e-01 -3.25301874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22576923100002 meters 0.015333499085070423 Centerline is valid? [True, True] Translation: X:152.62, Y:49.87, Z:-0.32 [[ 7.86359433e-01 -6.17764464e-01 -2.43090681e-03 1.52617998e+02] [ 6.17761423e-01 7.86363190e-01 -1.93850778e-03 4.98657069e+01] [ 3.10911686e-03 2.26434285e-05 9.99995166e-01 -3.23674748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25576923100002 meters 0.012863580809518167 Centerline is valid? [True, True] Translation: X:152.64, Y:49.88, Z:-0.32 [[ 7.84485932e-01 -6.20145805e-01 -1.00141545e-03 1.52642686e+02] [ 6.20145290e-01 7.84486571e-01 -7.99094645e-04 4.98804974e+01] [ 1.28115216e-03 5.85543531e-06 9.99999179e-01 -3.20133149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28576923100002 meters 0.0117363970028636 Centerline is valid? [True, True] Translation: X:152.67, Y:49.90, Z:-0.32 [[ 7.83140682e-01 -6.21844126e-01 -7.45647954e-04 1.52667152e+02] [ 6.21843841e-01 7.83141037e-01 -5.95407025e-04 4.98954734e+01] [ 9.54197873e-04 2.61087590e-06 9.99999545e-01 -3.19528840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31576923100002 meters 0.011630936904839805 Centerline is valid? [True, True] Translation: X:152.69, Y:49.91, Z:-0.32 [[ 7.80786423e-01 -6.24796974e-01 -1.14147346e-03 1.52692475e+02] [ 6.24796309e-01 7.80787257e-01 -9.11470020e-04 4.99063943e+01] [ 1.46073164e-03 -1.52498828e-06 9.99998933e-01 -3.21299436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34576923100002 meters 0.01169525279619627 Centerline is valid? [True, True] Translation: X:152.72, Y:49.92, Z:-0.32 [[ 7.80225753e-01 -6.25496801e-01 -1.23541609e-03 1.52715379e+02] [ 6.25496022e-01 7.80226731e-01 -9.86911336e-04 4.99225236e+01] [ 1.58121454e-03 -2.73421186e-06 9.99998750e-01 -3.20890200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37576923100002 meters 0.011615052353683314 Centerline is valid? [True, True] Translation: X:152.74, Y:49.94, Z:-0.32 [[ 7.80640620e-01 -6.24979345e-01 -1.01981868e-03 1.52736726e+02] [ 6.24978813e-01 7.80641287e-01 -8.15109132e-04 4.99406115e+01] [ 1.30553893e-03 -1.05776780e-06 9.99999148e-01 -3.20171571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40576923100002 meters 0.01160086259154654 Centerline is valid? [True, True] Translation: X:152.76, Y:49.96, Z:-0.32 [[ 7.81428203e-01 -6.23993631e-01 -1.38260637e-03 1.52755848e+02] [ 6.23992653e-01 7.81429426e-01 -1.10523060e-03 4.99591713e+01] [ 1.77006616e-03 9.22144640e-07 9.99998433e-01 -3.21863456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43576923100002 meters 0.013167647062152316 Centerline is valid? [True, True] Translation: X:152.77, Y:49.98, Z:-0.32 [[ 7.84275497e-01 -6.20409532e-01 -1.98925958e-03 1.52772855e+02] [ 6.20407495e-01 7.84278019e-01 -1.58998549e-03 4.99829919e+01] [ 2.54657472e-03 1.28351100e-05 9.99996757e-01 -3.24535990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46576923100002 meters 0.014681577913216016 Centerline is valid? [True, True] Translation: X:152.79, Y:50.00, Z:-0.33 [[ 7.85712912e-01 -6.18588153e-01 -1.97916754e-03 1.52791797e+02] [ 6.18586130e-01 7.85715404e-01 -1.58218313e-03 5.00039973e+01] [ 2.53378216e-03 1.88561279e-05 9.99996790e-01 -3.25177223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49576923100003 meters 0.017277730917454614 Centerline is valid? [True, True] Translation: X:152.81, Y:50.03, Z:-0.33 [[ 7.88107735e-01 -6.15533141e-01 -2.26952231e-03 1.52809396e+02] [ 6.15530467e-01 7.88111002e-01 -1.81484049e-03 5.00273043e+01] [ 2.90572997e-03 3.33296962e-05 9.99995778e-01 -3.26998147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.525769231 meters 0.01922669282533643 Centerline is valid? [True, True] Translation: X:152.83, Y:50.05, Z:-0.33 [[ 7.88765442e-01 -6.14689415e-01 -2.44956567e-03 1.52828239e+02] [ 6.14686295e-01 7.88769245e-01 -1.95902145e-03 5.00487488e+01] [ 3.13633182e-03 3.94939777e-05 9.99995081e-01 -3.28227029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.555769231 meters 0.019714032057472138 Centerline is valid? [True, True] Translation: X:152.85, Y:50.07, Z:-0.33 [[ 7.89059164e-01 -6.14316496e-01 -9.37456624e-04 1.52846626e+02] [ 6.14316038e-01 7.89059720e-01 -7.50409255e-04 5.00701183e+01] [ 1.20069805e-03 1.62226597e-05 9.99999279e-01 -3.25432408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.585769231 meters 0.01830190051072434 Centerline is valid? [True, True] Translation: X:152.87, Y:50.09, Z:-0.32 [[ 7.88169754e-01 -6.15457899e-01 1.18292061e-04 1.52868596e+02] [ 6.15457892e-01 7.88169763e-01 9.42075870e-05 5.00878000e+01] [-1.51215029e-04 -1.44778835e-06 9.99999989e-01 -3.24093236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.615769231 meters 0.016091429307703572 Centerline is valid? [True, True] Translation: X:152.89, Y:50.10, Z:-0.32 [[ 7.86530053e-01 -6.17551534e-01 7.61151200e-04 1.52892034e+02] [ 6.17551234e-01 7.86530421e-01 6.08997111e-04 5.01032818e+01] [-9.74755673e-04 -8.94466732e-06 9.99999525e-01 -3.23426517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.645769231 meters 0.011653503784251812 Centerline is valid? [True, True] Translation: X:152.92, Y:50.11, Z:-0.33 [[ 7.81466623e-01 -6.23947044e-01 5.45516973e-05 1.52922355e+02] [ 6.23947043e-01 7.81466625e-01 4.32876285e-05 5.01122028e+01] [-6.96395186e-05 2.09533363e-07 9.99999998e-01 -3.26444312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.675769231 meters 0.012302988854004118 Centerline is valid? [True, True] Translation: X:152.95, Y:50.12, Z:-0.33 [[ 7.78698754e-01 -6.27397366e-01 -8.91699185e-04 1.52948000e+02] [ 6.27396960e-01 7.78699264e-01 -7.14542138e-04 5.01240913e+01] [ 1.14266736e-03 -3.03628511e-06 9.99999347e-01 -3.29059780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.705769231 meters 0.017082311058795516 Centerline is valid? [True, True] Translation: X:152.98, Y:50.13, Z:-0.33 [[ 7.73986269e-01 -6.33199204e-01 -2.00577216e-03 1.52978370e+02] [ 6.33197164e-01 7.73988868e-01 -1.60729111e-03 5.01320919e+01] [ 2.57018078e-03 -2.60279992e-05 9.99996697e-01 -3.32077595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.735769231 meters 0.019657079706581856 Centerline is valid? [True, True] Translation: X:153.00, Y:50.14, Z:-0.33 [[ 7.72157219e-01 -6.35428300e-01 -2.02572927e-03 1.53003729e+02] [ 6.35426227e-01 7.72159876e-01 -1.62349781e-03 5.01448647e+01] [ 2.59580332e-03 -3.36059556e-05 9.99996630e-01 -3.32289704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.765769231 meters 0.0241092375890787 Centerline is valid? [True, True] Translation: X:153.03, Y:50.15, Z:-0.33 [[ 7.69463784e-01 -6.38688289e-01 -1.65992406e-03 1.53031683e+02] [ 6.38686903e-01 7.69465573e-01 -1.33107084e-03 5.01541160e+01] [ 2.12739377e-03 -3.59609478e-05 9.99997736e-01 -3.32850903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.795769231 meters 0.025367293599043786 Centerline is valid? [True, True] Translation: X:153.06, Y:50.17, Z:-0.33 [[ 7.68492400e-01 -6.39858111e-01 -1.01480809e-03 1.53056319e+02] [ 6.39857593e-01 7.68493069e-01 -8.14214720e-04 5.01691780e+01] [ 1.30085487e-03 -2.36148365e-05 9.99999154e-01 -3.31165710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.825769231 meters 0.02571813946672301 Centerline is valid? [True, True] Translation: X:153.08, Y:50.18, Z:-0.33 [[ 7.68056036e-01 -6.40382585e-01 -2.64872358e-04 1.53079854e+02] [ 6.40382549e-01 7.68056082e-01 -2.12972414e-04 5.01840454e+01] [ 3.39820651e-04 -6.04488803e-06 9.99999942e-01 -3.29939381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.855769231 meters 0.024589893933988274 Centerline is valid? [True, True] Translation: X:153.10, Y:50.20, Z:-0.33 [[ 7.68916984e-01 -6.39348630e-01 -3.23589593e-05 1.53104719e+02] [ 6.39348629e-01 7.68916985e-01 -2.62986401e-05 5.01967223e+01] [ 4.16953529e-05 -4.67185184e-07 9.99999999e-01 -3.29570071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.885769231 meters 0.022675461546980233 Centerline is valid? [True, True] Translation: X:153.13, Y:50.21, Z:-0.33 [[ 7.70025979e-01 -6.38012531e-01 -5.42091215e-05 1.53127019e+02] [ 6.38012529e-01 7.70025981e-01 -4.39855025e-05 5.02138741e+01] [ 6.98057336e-05 -7.16119097e-07 9.99999998e-01 -3.29966295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.915769231 meters 0.01704918570569524 Centerline is valid? [True, True] Translation: X:153.15, Y:50.23, Z:-0.33 [[ 7.73570614e-01 -6.33709832e-01 5.94999047e-04 1.53146226e+02] [ 6.33709652e-01 7.73570843e-01 4.77347572e-04 5.02329094e+01] [-7.62773764e-04 7.79458512e-06 9.99999709e-01 -3.28077487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.945769231 meters 0.013610389591010304 Centerline is valid? [True, True] Translation: X:153.17, Y:50.25, Z:-0.33 [[ 7.75971848e-01 -6.30765757e-01 1.50002943e-03 1.53165524e+02] [ 6.30764608e-01 7.75973298e-01 1.20426239e-03 5.02545868e+01] [-1.92359026e-03 1.16917613e-05 9.99998150e-01 -3.25047903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97576923100002 meters 0.012439903331618271 Centerline is valid? [True, True] Translation: X:153.18, Y:50.28, Z:-0.32 [[ 7.82055224e-01 -6.23204805e-01 2.32322556e-03 1.53177507e+02] [ 6.23202012e-01 7.82058675e-01 1.86607509e-03 5.02820948e+01] [-2.97984566e-03 -1.15349306e-05 9.99995560e-01 -3.21849519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00576923100002 meters 0.015910380558144664 Centerline is valid? [True, True] Translation: X:153.19, Y:50.31, Z:-0.32 [[ 7.84925119e-01 -6.19587150e-01 2.07889207e-03 1.53194877e+02] [ 6.19584898e-01 7.84927872e-01 1.67038606e-03 5.03050353e+01] [-2.66673007e-03 -2.30778436e-05 9.99996444e-01 -3.22543006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03576923100002 meters 0.022950229134632644 Centerline is valid? [True, True] Translation: X:153.21, Y:50.33, Z:-0.33 [[ 7.88963378e-01 -6.14439381e-01 1.01742942e-03 1.53208768e+02] [ 6.14438838e-01 7.88964034e-01 8.17584625e-04 5.03305267e+01] [-1.30507141e-03 -1.98961757e-05 9.99999148e-01 -3.25166465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06576923100002 meters 0.02552234061025187 Centerline is valid? [True, True] Translation: X:153.23, Y:50.35, Z:-0.33 [[ 7.90256389e-01 -6.12776105e-01 5.33979606e-04 1.53228060e+02] [ 6.12775955e-01 7.90256569e-01 4.28975604e-04 5.03518441e+01] [-6.84846891e-04 -1.17908495e-05 9.99999765e-01 -3.26518180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09576923100002 meters 0.025954367298141604 Centerline is valid? [True, True] Translation: X:153.25, Y:50.37, Z:-0.33 [[ 7.91304300e-01 -6.11422504e-01 1.60987422e-04 1.53248894e+02] [ 6.11422490e-01 7.91304317e-01 1.29071084e-04 5.03713437e+01] [-2.06307007e-04 -3.70317337e-06 9.99999979e-01 -3.26782901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12576923100002 meters 0.032070473522328086 Centerline is valid? [True, True] Translation: X:153.26, Y:50.40, Z:-0.33 [[ 7.93162270e-01 -6.09010198e-01 4.39016992e-04 1.53263616e+02] [ 6.09010096e-01 7.93162391e-01 3.52835558e-04 5.03970630e+01] [-5.63092220e-04 -1.24900718e-05 9.99999841e-01 -3.26345245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15576923100002 meters 0.03323273335351739 Centerline is valid? [True, True] Translation: X:153.28, Y:50.42, Z:-0.33 [[ 7.93469854e-01 -6.08609340e-01 5.11889063e-04 1.53283198e+02] [ 6.08609201e-01 7.93470019e-01 4.11640038e-04 5.04163157e+01] [-6.56696596e-04 -1.50835666e-05 9.99999784e-01 -3.25773558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18576923100002 meters 0.034450884489421234 Centerline is valid? [True, True] Translation: X:153.30, Y:50.44, Z:-0.33 [[ 7.93902555e-01 -6.08045006e-01 -5.43328439e-05 1.53302330e+02] [ 6.08045005e-01 7.93902557e-01 -4.41918217e-05 5.04375125e+01] [ 7.00056002e-05 2.04718582e-06 9.99999998e-01 -3.26772790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21576923100002 meters 0.035368308241238565 Centerline is valid? [True, True] Translation: X:153.32, Y:50.46, Z:-0.33 [[ 7.94132608e-01 -6.07744284e-01 -5.35769131e-04 1.53322292e+02] [ 6.07744130e-01 7.94132788e-01 -4.32007902e-04 5.04578557e+01] [ 6.88022167e-04 1.74610175e-05 9.99999763e-01 -3.28319866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24576923100003 meters 0.03689716016051513 Centerline is valid? [True, True] Translation: X:153.34, Y:50.48, Z:-0.33 [[ 7.94559722e-01 -6.07185758e-01 -5.50622914e-04 1.53339747e+02] [ 6.07185596e-01 7.94559912e-01 -4.44089921e-04 5.04795791e+01] [ 7.07147969e-04 1.85256615e-05 9.99999750e-01 -3.28246961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.275769231 meters 0.031241101367580817 Centerline is valid? [True, True] Translation: X:153.37, Y:50.49, Z:-0.33 [[ 7.94514011e-01 -6.07245607e-01 -5.09065857e-04 1.53365771e+02] [ 6.07245468e-01 7.94514174e-01 -4.10853204e-04 5.04926774e+01] [ 6.53948842e-04 1.73006929e-05 9.99999786e-01 -3.26696359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.305769231 meters 0.030100842833386023 Centerline is valid? [True, True] Translation: X:153.39, Y:50.51, Z:-0.33 [[ 7.93772292e-01 -6.08214538e-01 -7.90215570e-04 1.53386346e+02] [ 6.08214204e-01 7.93772685e-01 -6.37627265e-04 5.05125980e+01] [ 1.01506571e-03 2.55105219e-05 9.99999484e-01 -3.26813435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.335769231 meters 0.035573842340578386 Centerline is valid? [True, True] Translation: X:153.40, Y:50.54, Z:-0.33 [[ 7.93313684e-01 -6.08812673e-01 -7.26455903e-04 1.53401426e+02] [ 6.08812391e-01 7.93314016e-01 -5.86328631e-04 5.05373830e+01] [ 9.33271951e-04 2.28671712e-05 9.99999564e-01 -3.27698833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.365769231 meters 0.02936579568529995 Centerline is valid? [True, True] Translation: X:153.43, Y:50.55, Z:-0.33 [[ 7.93053938e-01 -6.09151210e-01 -5.03794604e-04 1.53427272e+02] [ 6.09151074e-01 7.93054098e-01 -4.07010861e-04 5.05498335e+01] [ 6.47467534e-04 1.58945416e-05 9.99999790e-01 -3.25583416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.395769231 meters 0.026963550883016583 Centerline is valid? [True, True] Translation: X:153.45, Y:50.57, Z:-0.32 [[ 7.91764602e-01 -6.10826337e-01 -4.45884817e-06 1.53449842e+02] [ 6.10826337e-01 7.91764602e-01 -4.05087637e-06 5.05676271e+01] [ 6.00474009e-06 4.83758619e-07 1.00000000e+00 -3.24483390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.425769231 meters 0.024793051205325888 Centerline is valid? [True, True] Translation: X:153.47, Y:50.58, Z:-0.32 [[ 7.90194505e-01 -6.12856089e-01 -2.41588210e-04 1.53472795e+02] [ 6.12856058e-01 7.90194542e-01 -1.95193391e-04 5.05836569e+01] [ 3.10527143e-04 6.18194672e-06 9.99999952e-01 -3.24381721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.455769231 meters 0.02037128454858863 Centerline is valid? [True, True] Translation: X:153.50, Y:50.60, Z:-0.32 [[ 7.87075466e-01 -6.16856717e-01 -5.12886239e-05 1.53497346e+02] [ 6.16856715e-01 7.87075467e-01 -4.17348440e-05 5.05965243e+01] [ 6.61124364e-05 1.21073973e-06 9.99999998e-01 -3.23353873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.485769231 meters 0.018430404312501404 Centerline is valid? [True, True] Translation: X:153.52, Y:50.61, Z:-0.32 [[ 7.86411794e-01 -6.17702586e-01 -7.76940277e-05 1.53521109e+02] [ 6.17702583e-01 7.86411798e-01 -6.32788396e-05 5.06123288e+01] [ 1.00187003e-04 1.77142423e-06 9.99999995e-01 -3.22403883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.515769231 meters 0.02065750622736216 Centerline is valid? [True, True] Translation: X:153.54, Y:50.63, Z:-0.32 [[ 7.86956405e-01 -6.17007533e-01 -1.14963603e-03 1.53539519e+02] [ 6.17006834e-01 7.86957244e-01 -9.29080591e-04 5.06332364e+01] [ 1.47796412e-03 2.18126366e-05 9.99998908e-01 -3.24699574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.545769231 meters 0.02187106980341627 Centerline is valid? [True, True] Translation: X:153.56, Y:50.65, Z:-0.33 [[ 7.87392717e-01 -6.16450065e-01 -1.42363093e-03 1.53558624e+02] [ 6.16448991e-01 7.87394004e-01 -1.15076393e-03 5.06528983e+01] [ 1.83034696e-03 2.85072909e-05 9.99998325e-01 -3.25669338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.575769231 meters 0.022810523340192516 Centerline is valid? [True, True] Translation: X:153.58, Y:50.67, Z:-0.32 [[ 7.88056287e-01 -6.15602839e-01 -6.58438911e-04 1.53578403e+02] [ 6.15602609e-01 7.88056562e-01 -5.32707708e-04 5.06749162e+01] [ 8.46823481e-04 1.44669468e-05 9.99999641e-01 -3.24217550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.605769231 meters 0.02323941000788436 Centerline is valid? [True, True] Translation: X:153.60, Y:50.69, Z:-0.32 [[ 7.88116075e-01 -6.15526639e-01 8.96863574e-05 1.53598458e+02] [ 6.15526635e-01 7.88116081e-01 7.20659766e-05 5.06933774e+01] [-1.15041789e-04 -1.59201284e-06 9.99999993e-01 -3.22423962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.635769231 meters 0.024019161763441328 Centerline is valid? [True, True] Translation: X:153.62, Y:50.71, Z:-0.32 [[ 7.88188455e-01 -6.15433804e-01 4.38715491e-04 1.53618165e+02] [ 6.15433702e-01 7.88188577e-01 3.54430497e-04 5.07123922e+01] [-5.63919047e-04 -9.35772752e-06 9.99999841e-01 -3.21908905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.665769231 meters 0.023874195599793372 Centerline is valid? [True, True] Translation: X:153.64, Y:50.73, Z:-0.32 [[ 7.88109812e-01 -6.15534645e-01 1.55043288e-04 1.53638933e+02] [ 6.15534633e-01 7.88109828e-01 1.24967320e-04 5.07315071e+01] [-1.99112853e-04 -3.05345785e-06 9.99999980e-01 -3.22871002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.695769231 meters 0.021802053578541265 Centerline is valid? [True, True] Translation: X:153.66, Y:50.75, Z:-0.32 [[ 7.87607907e-01 -6.16176727e-01 -1.60740841e-04 1.53662261e+02] [ 6.16176713e-01 7.87607923e-01 -1.30635209e-04 5.07475810e+01] [ 2.07095135e-04 3.84456059e-06 9.99999979e-01 -3.24057274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72576923100002 meters 0.021678280704079463 Centerline is valid? [True, True] Translation: X:153.68, Y:50.76, Z:-0.32 [[ 7.86384747e-01 -6.17736660e-01 6.69781258e-04 1.53683475e+02] [ 6.17736422e-01 7.86385032e-01 5.42043243e-04 5.07649555e+01] [-8.61545939e-04 -1.25062610e-05 9.99999629e-01 -3.23815640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75576923100002 meters 0.01957903806367483 Centerline is valid? [True, True] Translation: X:153.71, Y:50.78, Z:-0.32 [[ 7.85530863e-01 -6.18820555e-01 1.54428388e-03 1.53706660e+02] [ 6.18819292e-01 7.85532380e-01 1.25034203e-03 5.07804867e+01] [-1.98682235e-03 -2.65495963e-05 9.99998026e-01 -3.21562039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78576923100002 meters 0.018959972607756528 Centerline is valid? [True, True] Translation: X:153.73, Y:50.80, Z:-0.32 [[ 7.84981322e-01 -6.19514724e-01 2.41485506e-03 1.53728008e+02] [ 6.19511637e-01 7.84985035e-01 1.95611784e-03 5.07978240e+01] [-3.10746889e-03 -3.94851573e-05 9.99995171e-01 -3.19783481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81576923100002 meters 0.019244622281356042 Centerline is valid? [True, True] Translation: X:153.75, Y:50.82, Z:-0.32 [[ 7.84903120e-01 -6.19616079e-01 1.73398262e-03 1.53748657e+02] [ 6.19614488e-01 7.84905035e-01 1.40484491e-03 5.08165395e+01] [-2.23147618e-03 -2.82664046e-05 9.99997510e-01 -3.22485592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84576923100002 meters 0.02053770175301956 Centerline is valid? [True, True] Translation: X:153.77, Y:50.84, Z:-0.33 [[ 7.85577428e-01 -6.18762740e-01 8.81274417e-04 1.53768872e+02] [ 6.18762328e-01 7.85577922e-01 7.14127193e-04 5.08362769e+01] [-1.13418502e-03 -1.57027942e-05 9.99999357e-01 -3.25682503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87576923100002 meters 0.023005844447325466 Centerline is valid? [True, True] Translation: X:153.79, Y:50.86, Z:-0.33 [[ 7.86159434e-01 -6.18022986e-01 9.65974296e-04 1.53787590e+02] [ 6.18022491e-01 7.86160027e-01 7.82949513e-04 5.08572621e+01] [-1.24329117e-03 -1.85293054e-05 9.99999227e-01 -3.25858696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90576923100002 meters 0.023823258571063932 Centerline is valid? [True, True] Translation: X:153.81, Y:50.88, Z:-0.33 [[ 7.86450815e-01 -6.17651587e-01 1.27785776e-03 1.53808147e+02] [ 6.17650719e-01 7.86451853e-01 1.03592369e-03 5.08762885e+01] [-1.64481352e-03 -2.54332707e-05 9.99998647e-01 -3.25611742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93576923100002 meters 0.023823258571063932 Centerline is valid? [True, True] Translation: X:153.83, Y:50.89, Z:-0.33 [[ 7.86344350e-01 -6.17787124e-01 1.27768013e-03 1.53829365e+02] [ 6.17786255e-01 7.86345388e-01 1.03614272e-03 5.08937771e+01] [-1.64481351e-03 -2.54317532e-05 9.99998647e-01 -3.25670790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96576923100002 meters 0.02113098612741881 Centerline is valid? [True, True] Translation: X:153.85, Y:50.91, Z:-0.33 [[ 7.86327801e-01 -6.17808602e-01 1.05852446e-03 1.53854152e+02] [ 6.17808006e-01 7.86328513e-01 8.58621945e-04 5.09082839e+01] [-1.36281199e-03 -2.11934220e-05 9.99999071e-01 -3.26515782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99576923100003 meters 0.020033317960636936 Centerline is valid? [True, True] Translation: X:153.88, Y:50.92, Z:-0.33 [[ 7.85058197e-01 -6.19421706e-01 -6.14234236e-04 1.53878422e+02] [ 6.19421505e-01 7.85058437e-01 -4.99029058e-04 5.09220544e+01] [ 7.91319200e-04 1.12969581e-05 9.99999687e-01 -3.31634973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.025769231 meters 0.016724519434175834 Centerline is valid? [True, True] Translation: X:153.91, Y:50.93, Z:-0.33 [[ 7.82882737e-01 -6.22167938e-01 -1.29483989e-03 1.53907354e+02] [ 6.22167049e-01 7.82883807e-01 -1.05196860e-03 5.09330157e+01] [ 1.66821032e-03 1.79613472e-05 9.99998608e-01 -3.34882943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.055769231 meters 0.014651293695613644 Centerline is valid? [True, True] Translation: X:153.93, Y:50.95, Z:-0.34 [[ 7.81115078e-01 -6.24385265e-01 -1.50856401e-03 1.53933596e+02] [ 6.24384062e-01 7.81116534e-01 -1.22607010e-03 5.09458555e+01] [ 1.94390440e-03 1.57785151e-05 9.99998110e-01 -3.36106494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.085769231 meters 0.012721999380977043 Centerline is valid? [True, True] Translation: X:153.96, Y:50.96, Z:-0.34 [[ 7.79260164e-01 -6.26698285e-01 -1.68994826e-03 1.53960252e+02] [ 6.26696779e-01 7.79261996e-01 -1.37399066e-03 5.09573426e+01] [ 2.17799005e-03 1.16110578e-05 9.99997628e-01 -3.36057709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.115769231 meters 0.011603167123341203 Centerline is valid? [True, True] Translation: X:153.99, Y:50.96, Z:-0.34 [[ 7.76712970e-01 -6.29852382e-01 -1.71415367e-03 1.53989055e+02] [ 6.29850839e-01 7.76714862e-01 -1.39402108e-03 5.09644015e+01] [ 2.20943613e-03 3.09312385e-06 9.99997559e-01 -3.35782433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.145769231 meters 0.011625074200728249 Centerline is valid? [True, True] Translation: X:154.01, Y:50.98, Z:-0.34 [[ 7.76242360e-01 -6.30431296e-01 -2.04437804e-03 1.54011963e+02] [ 6.30429102e-01 7.76245052e-01 -1.66313672e-03 5.09783018e+01] [ 2.63543177e-03 2.16176024e-06 9.99996527e-01 -3.36441686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.175769231 meters 0.012314420543936524 Centerline is valid? [True, True] Translation: X:154.03, Y:51.00, Z:-0.34 [[ 7.78042894e-01 -6.28206698e-01 -2.36655214e-03 1.54033874e+02] [ 6.28203746e-01 7.78046493e-01 -1.92592689e-03 5.09964144e+01] [ 3.05116776e-03 1.17768084e-05 9.99995345e-01 -3.37131645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.205769231 meters 0.013860388427226877 Centerline is valid? [True, True] Translation: X:154.05, Y:51.02, Z:-0.34 [[ 7.79884663e-01 -6.25920243e-01 -1.93937419e-03 1.54053027e+02] [ 6.25918254e-01 7.79887074e-01 -1.57836456e-03 5.10163021e+01] [ 2.50042319e-03 1.70526086e-05 9.99996874e-01 -3.37076457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.235769231 meters 0.01584008012387946 Centerline is valid? [True, True] Translation: X:154.07, Y:51.04, Z:-0.33 [[ 7.81878664e-01 -6.23429375e-01 -1.25262332e-03 1.54073069e+02] [ 6.23428541e-01 7.81879668e-01 -1.01977576e-03 5.10366518e+01] [ 1.61515887e-03 1.64197824e-05 9.99998695e-01 -3.34911571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.265769231 meters 0.02326828024364906 Centerline is valid? [True, True] Translation: X:154.09, Y:51.06, Z:-0.33 [[ 7.85094689e-01 -6.19375513e-01 -5.51086736e-04 1.54087978e+02] [ 6.19375350e-01 7.85094882e-01 -4.48788164e-04 5.10617746e+01] [ 7.10623776e-04 1.10116640e-05 9.99999747e-01 -3.33686997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.295769231 meters 0.02176540253881916 Centerline is valid? [True, True] Translation: X:154.11, Y:51.08, Z:-0.33 [[ 7.85787008e-01 -6.18496831e-01 -6.70009219e-04 1.54112050e+02] [ 6.18496590e-01 7.85787293e-01 -5.46033765e-04 5.10782391e+01] [ 8.64204884e-04 1.46678210e-05 9.99999626e-01 -3.32971619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.325769231 meters 0.0212021613355467 Centerline is valid? [True, True] Translation: X:154.14, Y:51.10, Z:-0.33 [[ 7.85262631e-01 -6.19162797e-01 1.76852037e-04 1.54135218e+02] [ 6.19162780e-01 7.85262651e-01 1.43587044e-04 5.10951400e+01] [-2.27779055e-04 -3.25334130e-06 9.99999974e-01 -3.31785454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.355769231 meters 0.020278539900708714 Centerline is valid? [True, True] Translation: X:154.16, Y:51.11, Z:-0.33 [[ 7.84500113e-01 -6.20128547e-01 3.96638809e-04 1.54158052e+02] [ 6.20128463e-01 7.84500213e-01 3.22709213e-04 5.11109398e+01] [-5.11284426e-04 -7.19839923e-06 9.99999869e-01 -3.31574455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.385769231 meters 0.01825674170168036 Centerline is valid? [True, True] Translation: X:154.18, Y:51.12, Z:-0.33 [[ 7.82990362e-01 -6.22033712e-01 -3.92239595e-04 1.54182844e+02] [ 6.22033630e-01 7.82990460e-01 -3.19820544e-04 5.11239065e+01] [ 5.06059021e-04 6.43018468e-06 9.99999872e-01 -3.31991195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.415769231 meters 0.01755936078326076 Centerline is valid? [True, True] Translation: X:154.21, Y:51.14, Z:-0.33 [[ 7.82284643e-01 -6.22920630e-01 -7.91558725e-04 1.54206047e+02] [ 6.22920295e-01 7.82285043e-01 -6.45831780e-04 5.11395576e+01] [ 1.02152649e-03 1.21462886e-05 9.99999478e-01 -3.32602886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.445769231 meters 0.017073914784321294 Centerline is valid? [True, True] Translation: X:154.23, Y:51.16, Z:-0.33 [[ 7.81809088e-01 -6.23517184e-01 -9.33253331e-04 1.54229371e+02] [ 6.23516719e-01 7.81809645e-01 -7.61642309e-04 5.11557630e+01] [ 1.20452352e-03 1.35598233e-05 9.99999274e-01 -3.32965553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47576923100002 meters 0.018211653168159408 Centerline is valid? [True, True] Translation: X:154.25, Y:51.17, Z:-0.33 [[ 7.82367639e-01 -6.22816729e-01 -4.46595501e-04 1.54251780e+02] [ 6.22816623e-01 7.82367766e-01 -3.64802753e-04 5.11720605e+01] [ 5.76607181e-04 7.26276693e-06 9.99999834e-01 -3.31657003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50576923100002 meters 0.020063191695475505 Centerline is valid? [True, True] Translation: X:154.27, Y:51.19, Z:-0.33 [[ 7.83464023e-01 -6.21437095e-01 2.48238342e-04 1.54272237e+02] [ 6.21437062e-01 7.83464063e-01 2.02135011e-04 5.11911968e+01] [-3.20100014e-04 -4.10100300e-06 9.99999949e-01 -3.28826910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53576923100002 meters 0.025035744164285244 Centerline is valid? [True, True] Translation: X:154.29, Y:51.21, Z:-0.32 [[ 7.86173766e-01 -6.18004272e-01 1.23667517e-03 1.54289137e+02] [ 6.18003449e-01 7.86174738e-01 1.00914043e-03 5.12140756e+01] [-1.59589588e-03 -2.90902120e-05 9.99998726e-01 -3.24941212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56576923100002 meters 0.027646947382516156 Centerline is valid? [True, True] Translation: X:154.31, Y:51.24, Z:-0.33 [[ 7.87487757e-01 -6.16330153e-01 4.18795854e-04 1.54308937e+02] [ 6.16330058e-01 7.87487868e-01 3.41566602e-04 5.12353272e+01] [-5.40314451e-04 -1.08630441e-05 9.99999854e-01 -3.26492760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59576923100002 meters 0.030325356729352736 Centerline is valid? [True, True] Translation: X:154.33, Y:51.26, Z:-0.33 [[ 7.88809404e-01 -6.14637715e-01 -4.50686070e-04 1.54327974e+02] [ 6.14637605e-01 7.88809533e-01 -3.68308559e-04 5.12552008e+01] [ 5.81881800e-04 1.35166477e-05 9.99999831e-01 -3.28378963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62576923100002 meters 0.03408241528880217 Centerline is valid? [True, True] Translation: X:154.35, Y:51.28, Z:-0.33 [[ 7.90415352e-01 -6.12571245e-01 -2.04139154e-04 1.54346553e+02] [ 6.12571222e-01 7.90415378e-01 -1.67248240e-04 5.12762918e+01] [ 2.63806189e-04 7.14580517e-06 9.99999965e-01 -3.28784078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65576923100002 meters 0.035618142641975124 Centerline is valid? [True, True] Translation: X:154.37, Y:51.30, Z:-0.32 [[ 7.91186089e-01 -6.11573375e-01 1.60621163e-03 1.54366360e+02] [ 6.11571970e-01 7.91187717e-01 1.31238606e-03 5.12965296e+01] [-2.07343528e-03 -5.60275843e-05 9.99997849e-01 -3.24422625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68576923100002 meters 0.03669232969998977 Centerline is valid? [True, True] Translation: X:154.39, Y:51.32, Z:-0.32 [[ 7.91496640e-01 -6.11171266e-01 1.65913454e-03 1.54386987e+02] [ 6.11169765e-01 7.91498376e-01 1.35609831e-03 5.13166295e+01] [-2.14201062e-03 -5.93343909e-05 9.99997704e-01 -3.24217663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71576923100002 meters 0.03813994484476658 Centerline is valid? [True, True] Translation: X:154.41, Y:51.34, Z:-0.33 [[ 7.91717379e-01 -6.10886997e-01 8.17618451e-04 1.54406276e+02] [ 6.10886632e-01 7.91717801e-01 6.68289314e-04 5.13368200e+01] [-1.05557233e-03 -2.96240820e-05 9.99999442e-01 -3.26113305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74576923100003 meters 0.032958836015760835 Centerline is valid? [True, True] Translation: X:154.43, Y:51.35, Z:-0.33 [[ 7.91022670e-01 -6.11784741e-01 -1.60181518e-03 1.54430374e+02] [ 6.11783339e-01 7.91024290e-01 -1.31107980e-03 5.13517383e+01] [ 2.06917333e-03 5.71300061e-05 9.99997858e-01 -3.30903557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77576923100003 meters 0.036249267154629235 Centerline is valid? [True, True] Translation: X:154.45, Y:51.37, Z:-0.33 [[ 7.90316381e-01 -6.12694863e-01 -2.24103331e-03 1.54447815e+02] [ 6.12692122e-01 7.90319555e-01 -1.83435570e-03 5.13737879e+01] [ 2.89503276e-03 7.66579052e-05 9.99995806e-01 -3.33619443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.805769231 meters 0.03028889154026064 Centerline is valid? [True, True] Translation: X:154.47, Y:51.39, Z:-0.33 [[ 7.89144807e-01 -6.14203823e-01 -2.03412215e-03 1.54473903e+02] [ 6.14201567e-01 7.89147426e-01 -1.66569069e-03 5.13872633e+01] [ 2.62829585e-03 6.51101484e-05 9.99996544e-01 -3.32237729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.835769231 meters 0.029081379115488616 Centerline is valid? [True, True] Translation: X:154.50, Y:51.40, Z:-0.33 [[ 7.88479576e-01 -6.15058732e-01 -1.64759195e-03 1.54496718e+02] [ 6.15057253e-01 7.88481296e-01 -1.34979678e-03 5.14045993e+01] [ 2.12929973e-03 5.09238148e-05 9.99997732e-01 -3.31267950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.865769231 meters 0.028851569735876312 Centerline is valid? [True, True] Translation: X:154.52, Y:51.42, Z:-0.33 [[ 7.87871096e-01 -6.15838712e-01 -1.34780142e-03 1.54516584e+02] [ 6.15837723e-01 7.87872248e-01 -1.10445606e-03 5.14228105e+01] [ 1.74206213e-03 4.01420473e-05 9.99998482e-01 -3.30476480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.895769231 meters 0.03320108402307183 Centerline is valid? [True, True] Translation: X:154.53, Y:51.45, Z:-0.33 [[ 7.88298964e-01 -6.15290596e-01 -1.49206654e-03 1.54529129e+02] [ 6.15289383e-01 7.88300375e-01 -1.22272164e-03 5.14511541e+01] [ 1.92852574e-03 4.58174969e-05 9.99998139e-01 -3.31535546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.925769231 meters 0.03489996236237425 Centerline is valid? [True, True] Translation: X:154.55, Y:51.47, Z:-0.33 [[ 7.89045770e-01 -6.14332308e-01 -1.60868535e-03 1.54546767e+02] [ 6.14330895e-01 7.89047408e-01 -1.31890311e-03 5.14742211e+01] [ 2.07957380e-03 5.24098062e-05 9.99997836e-01 -3.31801388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.955769231 meters 0.03786093618102791 Centerline is valid? [True, True] Translation: X:154.56, Y:51.50, Z:-0.33 [[ 7.90093384e-01 -6.12985612e-01 -1.04094996e-03 1.54562057e+02] [ 6.12985019e-01 7.90094069e-01 -8.53623182e-04 5.14992202e+01] [ 1.34570712e-03 3.63552962e-05 9.99999094e-01 -3.31894144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.985769231 meters 0.03256951488397127 Centerline is valid? [True, True] Translation: X:154.59, Y:51.51, Z:-0.33 [[ 7.90009794e-01 -6.13091965e-01 -1.66354292e-03 1.54586585e+02] [ 6.13090449e-01 7.90011544e-01 -1.36473954e-03 5.15132388e+01] [ 2.15092896e-03 5.82553275e-05 9.99997685e-01 -3.32762898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.015769231 meters 0.03681369292627271 Centerline is valid? [True, True] Translation: X:154.60, Y:51.54, Z:-0.34 [[ 7.88965153e-01 -6.14431992e-01 -2.70455668e-03 1.54602732e+02] [ 6.14427992e-01 7.88969783e-01 -2.21902296e-03 5.15380819e+01] [ 3.49725220e-03 8.89764573e-05 9.99993881e-01 -3.37533127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.045769231 meters 0.026667217643251667 Centerline is valid? [True, True] Translation: X:154.63, Y:51.55, Z:-0.34 [[ 7.86123024e-01 -6.18061538e-01 -3.24433654e-03 1.54629818e+02] [ 6.18055808e-01 7.86129714e-01 -2.66283238e-03 5.15500917e+01] [ 4.19626363e-03 8.81328006e-05 9.99991192e-01 -3.37818098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.075769231 meters 0.02753358713010433 Centerline is valid? [True, True] Translation: X:154.65, Y:51.57, Z:-0.34 [[ 7.84196096e-01 -6.20507549e-01 -2.61999712e-03 1.54649091e+02] [ 6.20503825e-01 7.84200471e-01 -2.15052003e-03 5.15699157e+01] [ 3.38901689e-03 6.07111787e-05 9.99994255e-01 -3.38387005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.105769231 meters 0.01955427827433038 Centerline is valid? [True, True] Translation: X:154.68, Y:51.58, Z:-0.33 [[ 7.80855485e-01 -6.24711184e-01 -8.04676935e-04 1.54677499e+02] [ 6.24710834e-01 7.80855900e-01 -6.61112290e-04 5.15804670e+01] [ 1.04134097e-03 1.35427588e-05 9.99999458e-01 -3.32290161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.135769231 meters 0.01763554428201734 Centerline is valid? [True, True] Translation: X:154.70, Y:51.60, Z:-0.33 [[ 7.79697667e-01 -6.26156147e-01 1.64257307e-04 1.54700401e+02] [ 6.26156133e-01 7.79697685e-01 1.34424914e-04 5.15972574e+01] [-2.12242028e-04 -1.96007155e-06 9.99999977e-01 -3.29814691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.165769231 meters 0.015604380307190295 Centerline is valid? [True, True] Translation: X:154.72, Y:51.61, Z:-0.33 [[ 7.78495140e-01 -6.27650117e-01 8.04256643e-04 1.54722424e+02] [ 6.27649770e-01 7.78495556e-01 6.60279868e-04 5.16149009e+01] [-1.04053496e-03 -9.23317163e-06 9.99999459e-01 -3.29188670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.195769231 meters 0.017442608157141347 Centerline is valid? [True, True] Translation: X:154.74, Y:51.64, Z:-0.33 [[ 7.78295421e-01 -6.27897319e-01 1.09291324e-03 1.54739732e+02] [ 6.27896678e-01 7.78296188e-01 8.97781923e-04 5.16357576e+01] [-1.41432507e-03 -1.25029662e-05 9.99999000e-01 -3.29729821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22576923100002 meters 0.017568772501415073 Centerline is valid? [True, True] Translation: X:154.76, Y:51.66, Z:-0.33 [[ 7.78244417e-01 -6.27960199e-01 1.27122853e-03 1.54759718e+02] [ 6.27959330e-01 7.78245455e-01 1.04469006e-03 5.16551870e+01] [-1.64535160e-03 -1.47443894e-05 9.99998646e-01 -3.29822388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25576923100002 meters 0.015244540970338201 Centerline is valid? [True, True] Translation: X:154.78, Y:51.67, Z:-0.33 [[ 7.77502057e-01 -6.28879916e-01 7.76885682e-04 1.54781416e+02] [ 6.28879592e-01 7.77502445e-01 6.38459851e-04 5.16722555e+01] [-1.00554509e-03 -7.83629630e-06 9.99999494e-01 -3.30504584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28576923100002 meters 0.01576328194387407 Centerline is valid? [True, True] Translation: X:154.80, Y:51.69, Z:-0.33 [[ 7.76790361e-01 -6.29759267e-01 2.52118169e-05 1.54801181e+02] [ 6.29759266e-01 7.76790362e-01 2.02158646e-05 5.16905155e+01] [-3.23154245e-05 1.73886580e-07 9.99999999e-01 -3.33228895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31576923100002 meters 0.012905932972096223 Centerline is valid? [True, True] Translation: X:154.83, Y:51.70, Z:-0.33 [[ 7.75260374e-01 -6.31641507e-01 -5.99688046e-04 1.54827452e+02] [ 6.31641313e-01 7.75260606e-01 -4.94093677e-04 5.17032856e+01] [ 7.77004592e-04 4.26350391e-06 9.99999698e-01 -3.34194277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34576923100002 meters 0.01300857464917542 Centerline is valid? [True, True] Translation: X:154.85, Y:51.72, Z:-0.33 [[ 7.74549181e-01 -6.32513686e-01 -5.68874323e-05 1.54848710e+02] [ 6.32513685e-01 7.74549183e-01 -4.71793445e-05 5.17201710e+01] [ 7.39036952e-05 5.60643187e-07 9.99999997e-01 -3.33690639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37576923100002 meters 0.011328929812141583 Centerline is valid? [True, True] Translation: X:154.88, Y:51.73, Z:-0.33 [[ 7.72225961e-01 -6.35347815e-01 4.67249737e-04 1.54875334e+02] [ 6.35347699e-01 7.72226103e-01 3.84334154e-04 5.17323492e+01] [-6.05008309e-04 7.32339286e-08 9.99999817e-01 -3.31710172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40576923100002 meters 0.011543000924727116 Centerline is valid? [True, True] Translation: X:154.90, Y:51.75, Z:-0.33 [[ 7.71241642e-01 -6.36542391e-01 -3.38620780e-04 1.54898635e+02] [ 6.36542329e-01 7.71241716e-01 -2.79483850e-04 5.17482345e+01] [ 4.39061789e-04 3.12361913e-09 9.99999904e-01 -3.33604077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43576923100002 meters 0.011676637526869446 Centerline is valid? [True, True] Translation: X:154.92, Y:51.77, Z:-0.34 [[ 7.71178278e-01 -6.36616786e-01 -1.76992621e-03 1.54921196e+02] [ 6.36615113e-01 7.71180309e-01 -1.45931079e-03 5.17652726e+01] [ 2.29395399e-03 -1.37299641e-06 9.99997369e-01 -3.35835413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46576923100002 meters 0.01161628022827607 Centerline is valid? [True, True] Translation: X:154.94, Y:51.78, Z:-0.34 [[ 7.71708244e-01 -6.35974534e-01 -1.66679616e-03 1.54941522e+02] [ 6.35973048e-01 7.71710044e-01 -1.37474778e-03 5.17826639e+01] [ 2.16058792e-03 8.66758289e-07 9.99997666e-01 -3.35336158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49576923100003 meters 0.011838842951543102 Centerline is valid? [True, True] Translation: X:154.96, Y:51.80, Z:-0.34 [[ 7.72547477e-01 -6.34956074e-01 -1.08643233e-03 1.54961029e+02] [ 6.34955441e-01 7.72548241e-01 -8.96542241e-04 5.18010721e+01] [ 1.40858633e-03 2.78532462e-06 9.99999008e-01 -3.35106815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52576923100003 meters 0.012403930104592476 Centerline is valid? [True, True] Translation: X:154.98, Y:51.82, Z:-0.33 [[ 7.74027466e-01 -6.33150982e-01 -1.14711959e-03 1.54981374e+02] [ 6.33150274e-01 7.74028316e-01 -9.47030352e-04 5.18206637e+01] [ 1.48751624e-03 6.72842064e-06 9.99998894e-01 -3.33098506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.555769231 meters 0.012987156313018576 Centerline is valid? [True, True] Translation: X:155.00, Y:51.84, Z:-0.33 [[ 7.74247528e-01 -6.32880749e-01 -1.65028090e-03 1.55001909e+02] [ 6.32879282e-01 7.74249287e-01 -1.36264823e-03 5.18386271e+01] [ 2.14012264e-03 1.05984320e-05 9.99997710e-01 -3.34677902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.585769231 meters 0.012441001462114333 Centerline is valid? [True, True] Translation: X:155.03, Y:51.85, Z:-0.33 [[ 7.73527957e-01 -6.33760170e-01 -1.59542248e-03 1.55025464e+02] [ 6.33758800e-01 7.73529603e-01 -1.31789691e-03 5.18542250e+01] [ 2.06933708e-03 8.31707169e-06 9.99997859e-01 -3.33225826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.615769231 meters 0.011978518419840732 Centerline is valid? [True, True] Translation: X:155.05, Y:51.87, Z:-0.33 [[ 7.72779873e-01 -6.34673133e-01 -1.13235704e-03 1.55047124e+02] [ 6.34672443e-01 7.72780703e-01 -9.35776557e-04 5.18698568e+01] [ 1.46897591e-03 4.47348085e-06 9.99998921e-01 -3.31411318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.645769231 meters 0.011701397232080812 Centerline is valid? [True, True] Translation: X:155.07, Y:51.89, Z:-0.33 [[ 7.72078892e-01 -6.35526611e-01 -3.32713339e-04 1.55069546e+02] [ 6.35526551e-01 7.72078964e-01 -2.75453880e-04 5.18861724e+01] [ 4.31939241e-04 1.22396541e-06 9.99999907e-01 -3.29117069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.675769231 meters 0.011413991936220134 Centerline is valid? [True, True] Translation: X:155.09, Y:51.90, Z:-0.33 [[ 7.70223730e-01 -6.37773778e-01 1.14904558e-04 1.55093976e+02] [ 6.37773771e-01 7.70223739e-01 9.44512542e-05 5.19007046e+01] [-1.48740752e-04 5.34516200e-07 9.99999989e-01 -3.27856115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.705769231 meters 0.012066714782943976 Centerline is valid? [True, True] Translation: X:155.12, Y:51.92, Z:-0.33 [[ 7.68488985e-01 -6.39862789e-01 -5.39387145e-04 1.55118674e+02] [ 6.39862633e-01 7.68489174e-01 -4.46567880e-04 5.19156143e+01] [ 7.00255351e-04 -1.95118205e-06 9.99999755e-01 -3.28337107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.735769231 meters 0.012086889340094718 Centerline is valid? [True, True] Translation: X:155.14, Y:51.93, Z:-0.33 [[ 7.68411422e-01 -6.39955991e-01 -4.66194159e-04 1.55139241e+02] [ 6.39955874e-01 7.68411563e-01 -3.86131252e-04 5.19327639e+01] [ 6.05335990e-04 -1.63602621e-06 9.99999817e-01 -3.27529744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.765769231 meters 0.011687875565846152 Centerline is valid? [True, True] Translation: X:155.16, Y:51.95, Z:-0.33 [[ 7.68935154e-01 -6.39326547e-01 -5.43772087e-04 1.55159721e+02] [ 6.39326388e-01 7.68935346e-01 -4.50534242e-04 5.19521461e+01] [ 7.06164079e-04 -1.21622781e-06 9.99999751e-01 -3.27064890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.795769231 meters 0.011289276204462817 Centerline is valid? [True, True] Translation: X:155.18, Y:51.97, Z:-0.33 [[ 7.70266657e-01 -6.37721928e-01 1.39757523e-04 1.55178964e+02] [ 6.37721918e-01 7.70266669e-01 1.15327081e-04 5.19719883e+01] [-1.81197171e-04 2.93830651e-07 9.99999984e-01 -3.25718132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.825769231 meters 0.011258111283351906 Centerline is valid? [True, True] Translation: X:155.20, Y:51.99, Z:-0.32 [[ 7.70233465e-01 -6.37761612e-01 7.32588553e-04 1.55200050e+02] [ 6.37761324e-01 7.70233813e-01 6.06159821e-04 5.19892886e+01] [-9.50849939e-04 3.32065792e-07 9.99999548e-01 -3.24856748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.855769231 meters 0.011258111283351906 Centerline is valid? [True, True] Translation: X:155.22, Y:52.01, Z:-0.32 [[ 7.70116814e-01 -6.37902466e-01 7.32498434e-04 1.55221097e+02] [ 6.37902178e-01 7.70117162e-01 6.06268684e-04 5.20069860e+01] [-9.50849904e-04 3.64639501e-07 9.99999548e-01 -3.24915791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.885769231 meters 0.011843456759677726 Centerline is valid? [True, True] Translation: X:155.25, Y:52.02, Z:-0.33 [[ 7.68294342e-01 -6.40096550e-01 -4.59973508e-04 1.55246593e+02] [ 6.40096436e-01 7.68294479e-01 -3.81683018e-04 5.20199829e+01] [ 5.97709090e-04 -1.18250034e-06 9.99999821e-01 -3.27634642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.915769231 meters 0.01318319310304363 Centerline is valid? [True, True] Translation: X:155.27, Y:52.03, Z:-0.33 [[ 7.66501616e-01 -6.42240503e-01 -1.55243805e-03 1.55272543e+02] [ 6.42239212e-01 7.66503188e-01 -1.28743415e-03 5.20337105e+01] [ 2.01679107e-03 -1.02162373e-05 9.99997966e-01 -3.30425549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.945769231 meters 0.015263779096487169 Centerline is valid? [True, True] Translation: X:155.30, Y:52.05, Z:-0.33 [[ 7.64416226e-01 -6.44720480e-01 -1.82645598e-03 1.55298433e+02] [ 6.44718700e-01 7.64418408e-01 -1.51512367e-03 5.20468739e+01] [ 2.37300783e-03 -1.93652043e-05 9.99997184e-01 -3.31657495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97576923100002 meters 0.02015070308634284 Centerline is valid? [True, True] Translation: X:155.33, Y:52.05, Z:-0.33 [[ 7.60807773e-01 -6.48976846e-01 -7.65551927e-04 1.55327936e+02] [ 6.48976535e-01 7.60808158e-01 -6.35318753e-04 5.20541740e+01] [ 9.94745312e-04 -1.34697908e-05 9.99999505e-01 -3.30086773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00576923100002 meters 0.02127689277980119 Centerline is valid? [True, True] Translation: X:155.35, Y:52.07, Z:-0.33 [[ 7.59240904e-01 -6.50809115e-01 -8.63458032e-04 1.55353176e+02] [ 6.50808720e-01 7.59241395e-01 -7.16973396e-04 5.20686221e+01] [ 1.12218590e-03 -1.75904875e-05 9.99999370e-01 -3.30149821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03576923100002 meters 0.023996843934410112 Centerline is valid? [True, True] Translation: X:155.38, Y:52.08, Z:-0.33 [[ 7.57417480e-01 -6.52928718e-01 -1.68831366e-03 1.55380571e+02] [ 6.52927215e-01 7.57419360e-01 -1.40167824e-03 5.20778960e+01] [ 2.19395742e-03 -4.06903369e-05 9.99997592e-01 -3.32180726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06576923100002 meters 0.02418578859178876 Centerline is valid? [True, True] Translation: X:155.40, Y:52.09, Z:-0.33 [[ 7.57071563e-01 -6.53329614e-01 -1.75016627e-03 1.55403265e+02] [ 6.53327999e-01 7.57073585e-01 -1.45373442e-03 5.20942150e+01] [ 2.27477240e-03 -4.28516388e-05 9.99997412e-01 -3.32659728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09576923100002 meters 0.034468252070385036 Centerline is valid? [True, True] Translation: X:155.42, Y:52.11, Z:-0.33 [[ 7.57578820e-01 -6.52740349e-01 -2.08998198e-03 1.55424903e+02] [ 6.52738040e-01 7.57581702e-01 -1.73656424e-03 5.21115750e+01] [ 2.71685765e-03 -4.86264543e-05 9.99996308e-01 -3.28841116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12576923100002 meters 0.020891786610694588 Centerline is valid? [True, True] Translation: X:155.44, Y:52.13, Z:-0.34 [[ 7.59652651e-01 -6.50324066e-01 -2.54134997e-03 1.55443932e+02] [ 6.50320639e-01 7.59656901e-01 -2.11175619e-03 5.21307262e+01] [ 3.30387992e-03 -4.84911434e-05 9.99994541e-01 -3.36193962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15576923100002 meters 0.01856578794549749 Centerline is valid? [True, True] Translation: X:155.46, Y:52.15, Z:-0.34 [[ 7.61507701e-01 -6.48149358e-01 -2.90361435e-03 1.55463619e+02] [ 6.48144866e-01 7.61513236e-01 -2.41334313e-03 5.21497997e+01] [ 3.77534756e-03 -4.41833577e-05 9.99992872e-01 -3.37997347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18576923100002 meters 0.01702226099946685 Centerline is valid? [True, True] Translation: X:155.48, Y:52.17, Z:-0.34 [[ 7.62418474e-01 -6.47077841e-01 -2.88757894e-03 1.55482908e+02] [ 6.47073388e-01 7.62423941e-01 -2.40111978e-03 5.21701162e+01] [ 3.75527072e-03 -3.78174027e-05 9.99992948e-01 -3.38283599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21576923100002 meters 0.015838576510760535 Centerline is valid? [True, True] Translation: X:155.50, Y:52.19, Z:-0.34 [[ 7.63193960e-01 -6.46165352e-01 -2.30593714e-03 1.55502550e+02] [ 6.46162505e-01 7.63197443e-01 -1.91830024e-03 5.21904693e+01] [ 2.99942448e-03 -2.59749634e-05 9.99995501e-01 -3.38008949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24576923100003 meters 0.01517961113339816 Centerline is valid? [True, True] Translation: X:155.52, Y:52.21, Z:-0.33 [[ 7.63505976e-01 -6.45800620e-01 -4.29122273e-04 1.55522481e+02] [ 6.45800521e-01 7.63506096e-01 -3.57561527e-04 5.22084013e+01] [ 5.58550928e-04 -4.12702472e-06 9.99999844e-01 -3.34030457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27576923100003 meters 0.017206240358003555 Centerline is valid? [True, True] Translation: X:155.55, Y:52.22, Z:-0.33 [[ 7.62530326e-01 -6.46952456e-01 1.45210337e-04 1.55545856e+02] [ 6.46952445e-01 7.62530340e-01 1.20315325e-04 5.22228721e+01] [-1.88565583e-04 2.20009855e-06 9.99999982e-01 -3.33249947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.305769231 meters 0.02173446350595223 Centerline is valid? [True, True] Translation: X:155.57, Y:52.24, Z:-0.33 [[ 7.58990332e-01 -6.51101656e-01 5.55699505e-04 1.55571174e+02] [ 6.51101492e-01 7.58990536e-01 4.62188106e-04 5.22363252e+01] [-7.22702106e-04 1.10204722e-05 9.99999739e-01 -3.33332757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.335769231 meters 0.024209897622312574 Centerline is valid? [True, True] Translation: X:155.60, Y:52.25, Z:-0.34 [[ 7.57005323e-01 -6.53408686e-01 1.74303588e-04 1.55595226e+02] [ 6.53408670e-01 7.57005343e-01 1.44677511e-04 5.22510599e+01] [-2.26482290e-04 4.36982904e-06 9.99999974e-01 -3.35000233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.365769231 meters 0.027117938619237166 Centerline is valid? [True, True] Translation: X:155.62, Y:52.26, Z:-0.34 [[ 7.55301772e-01 -6.55376731e-01 -7.57328599e-04 1.55621059e+02] [ 6.55376428e-01 7.55302151e-01 -6.31498921e-04 5.22642528e+01] [ 9.85881619e-04 -1.93630573e-05 9.99999514e-01 -3.37775868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.395769231 meters 0.031973789921213955 Centerline is valid? [True, True] Translation: X:155.65, Y:52.27, Z:-0.34 [[ 7.52548041e-01 -6.58536413e-01 -1.11287397e-03 1.55650434e+02] [ 6.58535760e-01 7.52548863e-01 -9.27856306e-04 5.22711702e+01] [ 1.44851920e-03 -3.46108600e-05 9.99998950e-01 -3.37462288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.425769231 meters 0.03370142925312264 Centerline is valid? [True, True] Translation: X:155.68, Y:52.28, Z:-0.34 [[ 7.51621326e-01 -6.59594736e-01 -4.08786201e-04 1.55675718e+02] [ 6.59594647e-01 7.51621437e-01 -3.41366446e-04 5.22834121e+01] [ 5.32415982e-04 -1.30548893e-05 9.99999858e-01 -3.35380284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.455769231 meters 0.03317422998622682 Centerline is valid? [True, True] Translation: X:155.70, Y:52.30, Z:-0.33 [[ 7.51836546e-01 -6.59349534e-01 4.70974013e-06 1.55697966e+02] [ 6.59349534e-01 7.51836546e-01 3.42720735e-06 5.23009333e+01] [-5.80068236e-06 5.28665222e-07 1.00000000e+00 -3.34076644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.485769231 meters 0.02900786165362977 Centerline is valid? [True, True] Translation: X:155.72, Y:52.32, Z:-0.33 [[ 7.52606855e-01 -6.58470126e-01 1.23022522e-04 1.55717574e+02] [ 6.58470118e-01 7.52606865e-01 1.02167167e-04 5.23219719e+01] [-1.59861622e-04 4.11494426e-06 9.99999987e-01 -3.34009011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.515769231 meters 0.02544334848251481 Centerline is valid? [True, True] Translation: X:155.74, Y:52.34, Z:-0.34 [[ 7.55375895e-01 -6.55290837e-01 -1.08488581e-03 1.55736834e+02] [ 6.55290212e-01 7.55376673e-01 -9.05665880e-04 5.23408622e+01] [ 1.41297199e-03 -2.67968784e-05 9.99999001e-01 -3.37131908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.545769231 meters 0.025356026741441003 Centerline is valid? [True, True] Translation: X:155.76, Y:52.36, Z:-0.34 [[ 7.56904727e-01 -6.53523197e-01 -1.63241039e-03 1.55758827e+02] [ 6.53521777e-01 7.56906487e-01 -1.36295654e-03 5.23574658e+01] [ 2.12630573e-03 -3.51874957e-05 9.99997739e-01 -3.38987065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.575769231 meters 0.019962652264034902 Centerline is valid? [True, True] Translation: X:155.78, Y:52.38, Z:-0.34 [[ 7.58747539e-01 -6.51383695e-01 -1.20600163e-03 1.55778778e+02] [ 6.51382916e-01 7.58748497e-01 -1.00756395e-03 5.23774668e+01] [ 1.57136266e-03 -2.10821950e-05 9.99998765e-01 -3.35698556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.605769231 meters 0.019170681262877475 Centerline is valid? [True, True] Translation: X:155.80, Y:52.39, Z:-0.33 [[ 7.59089095e-01 -6.50986722e-01 -1.85138642e-04 1.55801537e+02] [ 6.50986704e-01 7.59089117e-01 -1.55142109e-04 5.23947318e+01] [ 2.41532181e-04 -2.75611078e-06 9.99999971e-01 -3.32598183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.635769231 meters 0.017508920458403854 Centerline is valid? [True, True] Translation: X:155.82, Y:52.41, Z:-0.33 [[ 7.60020248e-01 -6.49897112e-01 1.72241712e-03 1.55823527e+02] [ 6.49895520e-01 7.60022199e-01 1.43881807e-03 5.24129102e+01] [-2.24415895e-03 2.58603019e-05 9.99997482e-01 -3.27747981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.665769231 meters 0.01783129528139813 Centerline is valid? [True, True] Translation: X:155.85, Y:52.43, Z:-0.33 [[ 7.60547506e-01 -6.49279288e-01 1.97418654e-03 1.55845342e+02] [ 6.49277193e-01 7.60550067e-01 1.64980046e-03 5.24295865e+01] [-2.57264898e-03 2.70426717e-05 9.99996690e-01 -3.27620705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.695769231 meters 0.017336430951777518 Centerline is valid? [True, True] Translation: X:155.87, Y:52.45, Z:-0.33 [[ 7.60779609e-01 -6.49007229e-01 2.00082847e-03 1.55865587e+02] [ 6.49005074e-01 7.60782240e-01 1.67270346e-03 5.24455873e+01] [-2.60779140e-03 2.59891417e-05 9.99996599e-01 -3.27849470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72576923100002 meters 0.016842897094415273 Centerline is valid? [True, True] Translation: X:155.89, Y:52.46, Z:-0.33 [[ 7.59829228e-01 -6.50119854e-01 1.92878847e-03 1.55889241e+02] [ 6.50117854e-01 7.59831675e-01 1.61297521e-03 5.24618316e+01] [-2.51418178e-03 2.83541166e-05 9.99996839e-01 -3.26585689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75576923100002 meters 0.02107629430254919 Centerline is valid? [True, True] Translation: X:155.92, Y:52.47, Z:-0.33 [[ 7.58620908e-01 -6.51532121e-01 -4.62633404e-04 1.55917453e+02] [ 6.51532006e-01 7.58621049e-01 -3.87624092e-04 5.24707791e+01] [ 6.03512985e-04 -7.36072851e-06 9.99999818e-01 -3.32590708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78576923100002 meters 0.020951391021572712 Centerline is valid? [True, True] Translation: X:155.94, Y:52.49, Z:-0.34 [[ 7.57938470e-01 -6.52323834e-01 -1.70067035e-03 1.55940874e+02] [ 6.52322280e-01 7.57940377e-01 -1.42418179e-03 5.24866207e+01] [ 2.21803445e-03 -2.99429979e-05 9.99997540e-01 -3.36521943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81576923100002 meters 0.020621871129113827 Centerline is valid? [True, True] Translation: X:155.96, Y:52.50, Z:-0.34 [[ 7.57482415e-01 -6.52849244e-01 -2.87320131e-03 1.55964933e+02] [ 6.52844810e-01 7.57487863e-01 -2.40660183e-03 5.25025370e+01] [ 3.74756330e-03 -5.27959957e-05 9.99992976e-01 -3.38215103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84576923100002 meters 0.0211858938105054 Centerline is valid? [True, True] Translation: X:155.99, Y:52.51, Z:-0.34 [[ 7.57856027e-01 -6.52415293e-01 -2.92019748e-03 1.55989906e+02] [ 6.52410706e-01 7.57861652e-01 -2.44696531e-03 5.25144853e+01] [ 3.80954328e-03 -5.07206893e-05 9.99992742e-01 -3.37929615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87576923100002 meters 0.020790896726463236 Centerline is valid? [True, True] Translation: X:156.01, Y:52.53, Z:-0.34 [[ 7.58753173e-01 -6.51372556e-01 -2.72318261e-03 1.56011066e+02] [ 6.51368557e-01 7.58758058e-01 -2.28285383e-03 5.25307809e+01] [ 3.55322509e-03 -4.16729473e-05 9.99993686e-01 -3.37673668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90576923100002 meters 0.014324236666068585 Centerline is valid? [True, True] Translation: X:156.03, Y:52.56, Z:-0.34 [[ 7.62190654e-01 -6.47346596e-01 -2.79151494e-03 1.56027318e+02] [ 6.47342363e-01 7.62195765e-01 -2.34092222e-03 5.25551301e+01] [ 3.64306889e-03 -2.28368382e-05 9.99993364e-01 -3.35868288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93576923100002 meters 0.012946977872133848 Centerline is valid? [True, True] Translation: X:156.05, Y:52.57, Z:-0.34 [[ 7.64272442e-01 -6.44885107e-01 -3.29124520e-03 1.56045685e+02] [ 6.44879197e-01 7.64279529e-01 -2.76098660e-03 5.25749637e+01] [ 4.29595048e-03 -1.23095905e-05 9.99990772e-01 -3.38075460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96576923100002 meters 0.012619840943426684 Centerline is valid? [True, True] Translation: X:156.06, Y:52.60, Z:-0.34 [[ 7.66143191e-01 -6.42657506e-01 -3.99267812e-03 1.56063582e+02] [ 6.42648771e-01 7.66153595e-01 -3.35065280e-03 5.25959058e+01] [ 5.21232687e-03 1.19013847e-06 9.99986416e-01 -3.40000115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99576923100003 meters 0.014764198189573613 Centerline is valid? [True, True] Translation: X:156.08, Y:52.62, Z:-0.34 [[ 7.69233066e-01 -6.38956861e-01 -3.82376760e-03 1.56077937e+02] [ 6.38948797e-01 7.69242569e-01 -3.21009478e-03 5.26212236e+01] [ 4.99251689e-03 2.61193415e-05 9.99987537e-01 -3.41257668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02576923100003 meters 0.016186139422494604 Centerline is valid? [True, True] Translation: X:156.10, Y:52.64, Z:-0.34 [[ 7.70424794e-01 -6.37524798e-01 -2.78719851e-03 1.56095541e+02] [ 6.37520501e-01 7.70429836e-01 -2.34092165e-03 5.26423343e+01] [ 3.63973649e-03 2.66078950e-05 9.99993376e-01 -3.38195044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.055769231 meters 0.01897228944025494 Centerline is valid? [True, True] Translation: X:156.11, Y:52.67, Z:-0.33 [[ 7.73289251e-01 -6.34052616e-01 -1.00703244e-03 1.56111255e+02] [ 6.34052051e-01 7.73289907e-01 -8.46348605e-04 5.26673532e+01] [ 1.31535756e-03 1.59612982e-05 9.99999135e-01 -3.32246734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.085769231 meters 0.022000016354465562 Centerline is valid? [True, True] Translation: X:156.13, Y:52.69, Z:-0.33 [[ 7.75062183e-01 -6.31884156e-01 -1.01266253e-03 1.56127364e+02] [ 6.31883583e-01 7.75062845e-01 -8.51383494e-04 5.26915846e+01] [ 1.32285284e-03 1.99903231e-05 9.99999125e-01 -3.32881657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.115769231 meters 0.030094859425397073 Centerline is valid? [True, True] Translation: X:156.14, Y:52.72, Z:-0.34 [[ 7.79505386e-01 -6.26393143e-01 -1.72732858e-03 1.56136492e+02] [ 6.26391462e-01 7.79507298e-01 -1.45244988e-03 5.27245119e+01] [ 2.25626988e-03 5.02086322e-05 9.99997453e-01 -3.36523514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.145769231 meters 0.033933089656773115 Centerline is valid? [True, True] Translation: X:156.15, Y:52.75, Z:-0.34 [[ 7.81284360e-01 -6.24172291e-01 -1.92362743e-03 1.56151461e+02] [ 6.24170197e-01 7.81286726e-01 -1.61802675e-03 5.27488735e+01] [ 2.51283204e-03 6.34680759e-05 9.99996841e-01 -3.37806614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.175769231 meters 0.03631352383260778 Centerline is valid? [True, True] Translation: X:156.17, Y:52.77, Z:-0.34 [[ 7.82420257e-01 -6.22747824e-01 -1.92071408e-03 1.56168554e+02] [ 6.22745731e-01 7.82422612e-01 -1.61606571e-03 5.27722533e+01] [ 2.50921153e-03 6.83260565e-05 9.99996850e-01 -3.37974837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.205769231 meters 0.03414469252386334 Centerline is valid? [True, True] Translation: X:156.19, Y:52.79, Z:-0.34 [[ 7.82731901e-01 -6.22355850e-01 -1.99186778e-03 1.56187660e+02] [ 6.22353596e-01 7.82734432e-01 -1.67645176e-03 5.27946094e+01] [ 2.60245305e-03 7.25661987e-05 9.99996611e-01 -3.39191422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.235769231 meters 0.03669838396457778 Centerline is valid? [True, True] Translation: X:156.20, Y:52.82, Z:-0.34 [[ 7.82147046e-01 -6.23089252e-01 -2.40468575e-03 1.56203966e+02] [ 6.23085969e-01 7.82150738e-01 -2.02457173e-03 5.28182041e+01] [ 3.14231562e-03 8.51868445e-05 9.99995059e-01 -3.41256726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.265769231 meters 0.03494396544497526 Centerline is valid? [True, True] Translation: X:156.22, Y:52.84, Z:-0.34 [[ 7.80816519e-01 -6.24751437e-01 -3.34750151e-03 1.56221805e+02] [ 6.24745086e-01 7.80823687e-01 -2.81908419e-03 5.28401343e+01] [ 4.37503537e-03 1.09852388e-04 9.99990423e-01 -3.44676851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.295769231 meters 0.03459397284959786 Centerline is valid? [True, True] Translation: X:156.24, Y:52.86, Z:-0.34 [[ 7.80200581e-01 -6.25520126e-01 -3.40959471e-03 1.56239884e+02] [ 6.25513540e-01 7.80208024e-01 -2.87239115e-03 5.28609591e+01] [ 4.45693162e-03 1.08293584e-04 9.99990062e-01 -3.44729254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.325769231 meters 0.031027569237829445 Centerline is valid? [True, True] Translation: X:156.26, Y:52.88, Z:-0.34 [[ 7.79848557e-01 -6.25962162e-01 -2.75674264e-03 1.56261155e+02] [ 6.25957857e-01 7.79853425e-01 -2.32332903e-03 5.28794996e+01] [ 3.60417125e-03 8.62400720e-05 9.99993501e-01 -3.42019693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.355769231 meters 0.029540758219127924 Centerline is valid? [True, True] Translation: X:156.28, Y:52.90, Z:-0.34 [[ 7.78779051e-01 -6.27297709e-01 -8.79739432e-04 1.56276918e+02] [ 6.27297271e-01 7.78779547e-01 -7.41729950e-04 5.29030558e+01] [ 1.15040858e-03 2.57856015e-05 9.99999338e-01 -3.38874356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.385769231 meters 0.029415675704320524 Centerline is valid? [True, True] Translation: X:156.29, Y:52.92, Z:-0.34 [[ 7.76899225e-01 -6.29620803e-01 -2.28903040e-03 1.56293623e+02] [ 6.29617848e-01 7.76902595e-01 -1.92987287e-03 5.29247658e+01] [ 2.99344177e-03 5.81023450e-05 9.99995518e-01 -3.43934251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.415769231 meters 0.026348550199977644 Centerline is valid? [True, True] Translation: X:156.32, Y:52.94, Z:-0.35 [[ 7.75210298e-01 -6.31695916e-01 -3.04362803e-03 1.56317131e+02] [ 6.31690704e-01 7.75216270e-01 -2.56696134e-03 5.29412661e+01] [ 3.98100896e-03 6.73033317e-05 9.99992073e-01 -3.45816807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.445769231 meters 0.02163288112048713 Centerline is valid? [True, True] Translation: X:156.34, Y:52.96, Z:-0.35 [[ 7.73303638e-01 -6.34028198e-01 -3.11888157e-03 1.56342092e+02] [ 6.34022741e-01 7.73309925e-01 -2.63134791e-03 5.29553920e+01] [ 4.08021085e-03 5.73890743e-05 9.99991674e-01 -3.45010665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47576923100002 meters 0.016577947281548825 Centerline is valid? [True, True] Translation: X:156.37, Y:52.97, Z:-0.34 [[ 7.69825484e-01 -6.38250205e-01 -2.32390171e-03 1.56365013e+02] [ 6.38247191e-01 7.69828991e-01 -1.96148239e-03 5.29711102e+01] [ 3.04092345e-03 2.67753892e-05 9.99995376e-01 -3.41870139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50576923100002 meters 0.015073676782399565 Centerline is valid? [True, True] Translation: X:156.39, Y:52.99, Z:-0.34 [[ 7.68602895e-01 -6.39723780e-01 -1.75354461e-03 1.56386890e+02] [ 6.39722067e-01 7.68604895e-01 -1.48065884e-03 5.29894398e+01] [ 2.29499564e-03 1.62574888e-05 9.99997366e-01 -3.40602686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53576923100002 meters 0.01286448161793005 Centerline is valid? [True, True] Translation: X:156.41, Y:53.01, Z:-0.34 [[ 7.66469223e-01 -6.42280615e-01 -7.35772612e-04 1.56409029e+02] [ 6.42280314e-01 7.66469576e-01 -6.21793994e-04 5.30052543e+01] [ 9.63313551e-04 4.01369515e-06 9.99999536e-01 -3.37112056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56576923100002 meters 0.012215395365097808 Centerline is valid? [True, True] Translation: X:156.43, Y:53.02, Z:-0.34 [[ 7.65460621e-01 -6.43482624e-01 -3.86825899e-04 1.56431255e+02] [ 6.43482541e-01 7.65460719e-01 -3.27249168e-04 5.30229217e+01] [ 5.06679184e-04 1.58063865e-06 9.99999872e-01 -3.35678550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59576923100002 meters 0.011995766887459725 Centerline is valid? [True, True] Translation: X:156.45, Y:53.04, Z:-0.34 [[ 7.64469946e-01 -6.44658709e-01 -9.22747973e-04 1.56450791e+02] [ 6.44658236e-01 7.64470503e-01 -7.80269548e-04 5.30420980e+01] [ 1.20842117e-03 1.63553782e-06 9.99999270e-01 -3.36615862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62576923100002 meters 0.011978349527953252 Centerline is valid? [True, True] Translation: X:156.47, Y:53.06, Z:-0.34 [[ 7.64230401e-01 -6.44941725e-01 -1.43678300e-03 1.56471095e+02] [ 6.44940581e-01 7.64231752e-01 -1.21503986e-03 5.30614718e+01] [ 1.88166509e-03 1.93074001e-06 9.99998230e-01 -3.37674827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65576923100002 meters 0.012119546739511254 Centerline is valid? [True, True] Translation: X:156.49, Y:53.08, Z:-0.34 [[ 7.64293960e-01 -6.44866235e-01 -1.51044538e-03 1.56490984e+02] [ 6.44864969e-01 7.64295452e-01 -1.27775407e-03 5.30812406e+01] [ 1.97840699e-03 2.54640591e-06 9.99998043e-01 -3.37656914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68576923100002 meters 0.012281600302230937 Centerline is valid? [True, True] Translation: X:156.51, Y:53.10, Z:-0.34 [[ 7.65019408e-01 -6.44006164e-01 -1.16858249e-03 1.56508741e+02] [ 6.44005405e-01 7.65020301e-01 -9.89057955e-04 5.31027929e+01] [ 1.53094874e-03 4.07509457e-06 9.99998828e-01 -3.35072151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71576923100002 meters 0.012831994470895523 Centerline is valid? [True, True] Translation: X:156.53, Y:53.12, Z:-0.33 [[ 7.65692732e-01 -6.43205837e-01 -9.44136378e-04 1.56526822e+02] [ 6.43205340e-01 7.65693314e-01 -7.99480529e-04 5.31231920e+01] [ 1.23714946e-03 4.88287003e-06 9.99999235e-01 -3.33832198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74576923100003 meters 0.012831994470895523 Centerline is valid? [True, True] Translation: X:156.55, Y:53.14, Z:-0.33 [[ 7.65583619e-01 -6.43335706e-01 -9.44016219e-04 1.56547668e+02] [ 6.43335209e-01 7.65584201e-01 -7.99622445e-04 5.31411243e+01] [ 1.23714957e-03 4.85897370e-06 9.99999235e-01 -3.33891237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77576923100003 meters 0.014022870818269645 Centerline is valid? [True, True] Translation: X:156.56, Y:53.17, Z:-0.33 [[ 7.67284928e-01 -6.41305954e-01 -7.15625616e-04 1.56563839e+02] [ 6.41305667e-01 7.67285262e-01 -6.06518174e-04 5.31656527e+01] [ 9.38052704e-04 6.43749019e-06 9.99999560e-01 -3.32040201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.805769231 meters 0.01604871867087215 Centerline is valid? [True, True] Translation: X:156.58, Y:53.19, Z:-0.33 [[ 7.68072675e-01 -6.40362382e-01 -6.21128213e-04 1.56580275e+02] [ 6.40362166e-01 7.68072926e-01 -5.26758100e-04 5.31881971e+01] [ 8.14387836e-04 6.84149502e-06 9.99999668e-01 -3.33362186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.835769231 meters 0.01736962937749823 Centerline is valid? [True, True] Translation: X:156.60, Y:53.21, Z:-0.33 [[ 7.69691402e-01 -6.38414033e-01 -1.63349755e-03 1.56599205e+02] [ 6.38412532e-01 7.69693135e-01 -1.38483102e-03 5.32099816e+01] [ 2.14138740e-03 2.30472206e-05 9.99997707e-01 -3.34536669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.865769231 meters 0.021191295401717724 Centerline is valid? [True, True] Translation: X:156.62, Y:53.23, Z:-0.34 [[ 7.70540279e-01 -6.37386990e-01 -2.34595548e-03 1.56615747e+02] [ 6.37383887e-01 7.70543849e-01 -1.98926936e-03 5.32334127e+01] [ 3.07559597e-03 3.75379469e-05 9.99995270e-01 -3.36389587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.895769231 meters 0.02113971024755408 Centerline is valid? [True, True] Translation: X:156.63, Y:53.25, Z:-0.34 [[ 7.71748974e-01 -6.35921205e-01 -2.78246063e-03 1.56634930e+02] [ 6.35916827e-01 7.71753988e-01 -2.36012836e-03 5.32539237e+01] [ 3.64823076e-03 5.20131017e-05 9.99993344e-01 -3.35060901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.925769231 meters 0.020942248219124878 Centerline is valid? [True, True] Translation: X:156.66, Y:53.27, Z:-0.33 [[ 7.72231323e-01 -6.35338150e-01 -2.05383903e-03 1.56655091e+02] [ 6.35335761e-01 7.72234054e-01 -1.74290420e-03 5.32735112e+01] [ 2.69337796e-03 4.10478361e-05 9.99996372e-01 -3.33416203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.955769231 meters 0.026333833902743402 Centerline is valid? [True, True] Translation: X:156.67, Y:53.30, Z:-0.33 [[ 7.72730141e-01 -6.34734443e-01 -5.61936162e-04 1.56669598e+02] [ 6.34734264e-01 7.72730345e-01 -4.77358928e-04 5.32988027e+01] [ 7.37221278e-04 1.21894958e-05 9.99999728e-01 -3.32262876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.985769231 meters 0.02510343349931685 Centerline is valid? [True, True] Translation: X:156.69, Y:53.32, Z:-0.33 [[ 7.73757628e-01 -6.33478608e-01 1.99646676e-03 1.56689178e+02] [ 6.33476344e-01 7.73760202e-01 1.69440001e-03 5.33190973e+01] [-2.61815268e-03 -4.63404739e-05 9.99996572e-01 -3.25414151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.015769231 meters 0.026508431630915787 Centerline is valid? [True, True] Translation: X:156.71, Y:53.34, Z:-0.32 [[ 7.74291503e-01 -6.32824768e-01 2.34133213e-03 1.56707197e+02] [ 6.32821649e-01 7.74295040e-01 1.98784201e-03 5.33412027e+01] [-3.07083752e-03 -5.75235199e-05 9.99995283e-01 -3.24579352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.045769231 meters 0.02926189299301544 Centerline is valid? [True, True] Translation: X:156.72, Y:53.37, Z:-0.33 [[ 7.75502044e-01 -6.31344082e-01 1.10893205e-03 1.56720551e+02] [ 6.31343381e-01 7.75502836e-01 9.41574589e-04 5.33676071e+01] [-1.45443750e-03 -3.00761080e-05 9.99998942e-01 -3.28817300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.075769231 meters 0.02918051657429133 Centerline is valid? [True, True] Translation: X:156.74, Y:53.39, Z:-0.33 [[ 7.75187509e-01 -6.31730840e-01 6.86823284e-04 1.56739430e+02] [ 6.31730571e-01 7.75187813e-01 5.83182837e-04 5.33881666e+01] [-9.00831623e-04 -1.81887860e-05 9.99999594e-01 -3.30608742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.105769231 meters 0.02555961399446603 Centerline is valid? [True, True] Translation: X:156.76, Y:53.41, Z:-0.33 [[ 7.73026289e-01 -6.34373535e-01 7.58148816e-04 1.56759338e+02] [ 6.34373209e-01 7.73026660e-01 6.44151508e-04 5.34065188e+01] [-9.94701916e-04 -1.69967524e-05 9.99999505e-01 -3.31023794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.135769231 meters 0.026215098280412356 Centerline is valid? [True, True] Translation: X:156.78, Y:53.43, Z:-0.33 [[ 7.71643417e-01 -6.36054902e-01 7.73482294e-04 1.56777246e+02] [ 6.36054563e-01 7.71643805e-01 6.57277087e-04 5.34270933e+01] [-1.01491713e-03 -1.52065957e-05 9.99999485e-01 -3.31845913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.165769231 meters 0.021564690942925843 Centerline is valid? [True, True] Translation: X:156.80, Y:53.44, Z:-0.33 [[ 7.70408634e-01 -6.37549951e-01 7.72568959e-04 1.56801292e+02] [ 6.37549613e-01 7.70409021e-01 6.56560283e-04 5.34424695e+01] [-1.01378407e-03 -1.32686701e-05 9.99999486e-01 -3.31756228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.195769231 meters 0.019516562574366996 Centerline is valid? [True, True] Translation: X:156.82, Y:53.46, Z:-0.33 [[ 7.69024071e-01 -6.39219768e-01 2.56087106e-04 1.56821385e+02] [ 6.39219731e-01 7.69024114e-01 2.17393841e-04 5.34627795e+01] [-3.35899601e-04 -3.48516562e-06 9.99999944e-01 -3.34196480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22576923100002 meters 0.01533627548017217 Centerline is valid? [True, True] Translation: X:156.85, Y:53.48, Z:-0.34 [[ 7.66983090e-01 -6.41667283e-01 -1.92197959e-04 1.56845094e+02] [ 6.41667262e-01 7.66983115e-01 -1.64036274e-04 5.34787222e+01] [ 2.52669300e-04 2.48591020e-06 9.99999968e-01 -3.36363361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25576923100002 meters 0.013932114623721133 Centerline is valid? [True, True] Translation: X:156.87, Y:53.50, Z:-0.33 [[ 7.65582324e-01 -6.43337894e-01 2.43931864e-04 1.56867189e+02] [ 6.43337861e-01 7.65582363e-01 2.07132166e-04 5.34967768e+01] [-3.20005904e-04 -1.64612107e-06 9.99999949e-01 -3.34997734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28576923100002 meters 0.013509355053579369 Centerline is valid? [True, True] Translation: X:156.89, Y:53.52, Z:-0.33 [[ 7.64439012e-01 -6.44695575e-01 7.82278476e-04 1.56887365e+02] [ 6.44695231e-01 7.64439413e-01 6.65753214e-04 5.35154652e+01] [-1.02721265e-03 -4.59652617e-06 9.99999472e-01 -3.34614721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31576923100002 meters 0.01277757666946243 Centerline is valid? [True, True] Translation: X:156.91, Y:53.53, Z:-0.33 [[ 7.63556054e-01 -6.45740610e-01 1.10323718e-03 1.56908773e+02] [ 6.45739927e-01 7.63556851e-01 9.39375588e-04 5.35330096e+01] [-1.44897727e-03 -4.86162274e-06 9.99998950e-01 -3.33353607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34576923100002 meters 0.012317285129794842 Centerline is valid? [True, True] Translation: X:156.93, Y:53.55, Z:-0.33 [[ 7.62674714e-01 -6.46781926e-01 6.48136077e-04 1.56931112e+02] [ 6.46781691e-01 7.62674989e-01 5.51882124e-04 5.35507123e+01] [-8.51264559e-04 -1.70399351e-06 9.99999638e-01 -3.34869270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37576923100002 meters 0.0120111153009737 Centerline is valid? [True, True] Translation: X:156.95, Y:53.57, Z:-0.33 [[ 7.61250719e-01 -6.48456883e-01 1.00710571e-03 1.56953057e+02] [ 6.48456315e-01 7.61251385e-01 8.58110212e-04 5.35674243e+01] [-1.32310809e-03 -1.72956129e-07 9.99999125e-01 -3.34775642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40576923100002 meters 0.011991256690475342 Centerline is valid? [True, True] Translation: X:156.97, Y:53.59, Z:-0.34 [[ 7.60771535e-01 -6.49018950e-01 1.03673503e-03 1.56974527e+02] [ 6.49018348e-01 7.60772241e-01 8.83699191e-04 5.35856670e+01] [-1.36225675e-03 5.66863872e-07 9.99999072e-01 -3.35349595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43576923100002 meters 0.012108910344880548 Centerline is valid? [True, True] Translation: X:157.00, Y:53.60, Z:-0.34 [[ 7.60466520e-01 -6.49376845e-01 6.20339106e-04 1.56995300e+02] [ 6.49376629e-01 7.60466773e-01 5.28865522e-04 5.36034255e+01] [-8.15180302e-04 6.49194363e-07 9.99999668e-01 -3.37042973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46576923100002 meters 0.012182037497128163 Centerline is valid? [True, True] Translation: X:157.02, Y:53.62, Z:-0.34 [[ 7.60564246e-01 -6.49262606e-01 3.10446092e-04 1.57016539e+02] [ 6.49262552e-01 7.60564309e-01 2.64412959e-04 5.36221338e+01] [-4.07787664e-04 4.57978790e-07 9.99999917e-01 -3.36780153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49576923100003 meters 0.012131931975916825 Centerline is valid? [True, True] Translation: X:157.04, Y:53.64, Z:-0.34 [[ 7.60880357e-01 -6.48891944e-01 5.72267500e-04 1.57035976e+02] [ 6.48891760e-01 7.60880573e-01 4.88102351e-04 5.36416120e+01] [-7.52152906e-04 -4.78258533e-08 9.99999717e-01 -3.35513531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52576923100003 meters 0.012534488334532724 Centerline is valid? [True, True] Translation: X:157.05, Y:53.67, Z:-0.33 [[ 7.62574913e-01 -6.46898239e-01 1.47309601e-03 1.57051281e+02] [ 6.46897017e-01 7.62576336e-01 1.25766215e-03 5.36656806e+01] [-1.93692759e-03 -6.12018680e-06 9.99998124e-01 -3.31825782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.555769231 meters 0.013330552547355752 Centerline is valid? [True, True] Translation: X:157.07, Y:53.69, Z:-0.33 [[ 7.63548133e-01 -6.45749617e-01 1.29608233e-03 1.57069989e+02] [ 6.45748669e-01 7.63549233e-01 1.10686209e-03 5.36873322e+01] [-1.70437844e-03 -8.19904430e-06 9.99998548e-01 -3.31856954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.585769231 meters 0.01398473922873908 Centerline is valid? [True, True] Translation: X:157.09, Y:53.71, Z:-0.33 [[ 7.64120393e-01 -6.45073245e-01 7.30866171e-04 1.57089136e+02] [ 6.45072943e-01 7.64120742e-01 6.24188933e-04 5.37075197e+01] [-9.61117581e-04 -5.49350093e-06 9.99999538e-01 -3.33352918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.615769231 meters 0.013906720738946306 Centerline is valid? [True, True] Translation: X:157.11, Y:53.73, Z:-0.33 [[ 7.63836722e-01 -6.45409247e-01 6.04981082e-04 1.57107866e+02] [ 6.45409040e-01 7.63836962e-01 5.16746034e-04 5.37286654e+01] [-7.95619580e-04 -4.24933762e-06 9.99999683e-01 -3.32950451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.645769231 meters 0.013485255217593887 Centerline is valid? [True, True] Translation: X:157.13, Y:53.75, Z:-0.33 [[ 7.63336698e-01 -6.45998562e-01 1.71552795e-03 1.57125858e+02] [ 6.45996897e-01 7.63338626e-01 1.46686612e-03 5.37492650e+01] [-2.25712215e-03 -1.14870090e-05 9.99997453e-01 -3.28770490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.675769231 meters 0.013415956148102879 Centerline is valid? [True, True] Translation: X:157.14, Y:53.77, Z:-0.33 [[ 7.63068330e-01 -6.46314409e-01 2.09961321e-03 1.57144954e+02] [ 6.46311914e-01 7.63071218e-01 1.79599073e-03 5.37677555e+01] [-2.76292910e-03 -1.34586148e-05 9.99996183e-01 -3.27667982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.705769231 meters 0.013237411026891969 Centerline is valid? [True, True] Translation: X:157.16, Y:53.79, Z:-0.33 [[ 7.62724815e-01 -6.46720961e-01 1.68956951e-03 1.57164751e+02] [ 6.46719346e-01 7.62726686e-01 1.44564301e-03 5.37869842e+01] [-2.22360739e-03 -9.95051172e-06 9.99997528e-01 -3.28298230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.735769231 meters 0.01370632507937102 Centerline is valid? [True, True] Translation: X:157.18, Y:53.81, Z:-0.33 [[ 7.62820397e-01 -6.46610381e-01 2.38587165e-04 1.57180871e+02] [ 6.46610349e-01 7.62820435e-01 2.03810370e-04 5.38102014e+01] [-3.13785066e-04 -1.19777783e-06 9.99999951e-01 -3.31868292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.765769231 meters 0.014132869910550093 Centerline is valid? [True, True] Translation: X:157.20, Y:53.83, Z:-0.33 [[ 7.63144405e-01 -6.46227893e-01 -3.56990149e-04 1.57199114e+02] [ 6.46227821e-01 7.63144488e-01 -3.06292060e-04 5.38313161e+01] [ 4.70369537e-04 3.04810544e-06 9.99999889e-01 -3.33057962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.795769231 meters 0.014198396654633603 Centerline is valid? [True, True] Translation: X:157.22, Y:53.85, Z:-0.33 [[ 7.63103961e-01 -6.46275632e-01 -3.89823322e-04 1.57218553e+02] [ 6.46275546e-01 7.63104061e-01 -3.34543368e-04 5.38511053e+01] [ 5.13682987e-04 3.35808890e-06 9.99999868e-01 -3.32484499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.825769231 meters 0.013628701904578877 Centerline is valid? [True, True] Translation: X:157.24, Y:53.87, Z:-0.33 [[ 7.62320157e-01 -6.47199766e-01 -6.64157526e-04 1.57239007e+02] [ 6.47199515e-01 7.62320446e-01 -5.69732601e-04 5.38688841e+01] [ 8.75031668e-04 4.47621724e-06 9.99999617e-01 -3.33563691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.855769231 meters 0.01254226528468938 Centerline is valid? [True, True] Translation: X:157.26, Y:53.88, Z:-0.33 [[ 7.60138199e-01 -6.49760335e-01 -1.19408125e-03 1.57261113e+02] [ 6.49759527e-01 7.60139137e-01 -1.02442823e-03 5.38839554e+01] [ 1.57330072e-03 2.84135960e-06 9.99998762e-01 -3.34860500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.885769231 meters 0.012420492249205176 Centerline is valid? [True, True] Translation: X:157.28, Y:53.90, Z:-0.34 [[ 7.59250175e-01 -6.50798002e-01 -1.06377274e-03 1.57282225e+02] [ 6.50797362e-01 7.59250920e-01 -9.13043802e-04 5.39006177e+01] [ 1.40187751e-03 9.28176046e-07 9.99999017e-01 -3.35135904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.915769231 meters 0.012267178022131522 Centerline is valid? [True, True] Translation: X:157.30, Y:53.92, Z:-0.33 [[ 7.58912308e-01 -6.51192529e-01 -6.31776985e-04 1.57303927e+02] [ 6.51192303e-01 7.58912571e-01 -5.42672510e-04 5.39182758e+01] [ 8.32847780e-04 4.32536923e-07 9.99999653e-01 -3.33370977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.945769231 meters 0.012292111479927578 Centerline is valid? [True, True] Translation: X:157.32, Y:53.94, Z:-0.33 [[ 7.59375157e-01 -6.50653016e-01 -1.57290143e-04 1.57323674e+02] [ 6.50653001e-01 7.59375173e-01 -1.35561901e-04 5.39378779e+01] [ 2.07645989e-04 6.01036484e-07 9.99999978e-01 -3.32409125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97576923100002 meters 0.012666575256944573 Centerline is valid? [True, True] Translation: X:157.34, Y:53.96, Z:-0.33 [[ 7.60317685e-01 -6.49551341e-01 -2.69025727e-04 1.57341447e+02] [ 6.49551300e-01 7.60317733e-01 -2.31370219e-04 5.39589626e+01] [ 3.54831867e-04 1.16885852e-06 9.99999937e-01 -3.33093001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00576923100002 meters 0.014428917513736384 Centerline is valid? [True, True] Translation: X:157.36, Y:53.98, Z:-0.34 [[ 7.62855587e-01 -6.46568319e-01 -8.73512901e-04 1.57357416e+02] [ 6.46567883e-01 7.62856087e-01 -7.50797319e-04 5.39847195e+01] [ 1.15180639e-03 7.96454224e-06 9.99999337e-01 -3.35272146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03576923100002 meters 0.015628541872506604 Centerline is valid? [True, True] Translation: X:157.38, Y:54.01, Z:-0.34 [[ 7.63789917e-01 -6.45463649e-01 -1.28043427e-03 1.57376830e+02] [ 6.45462712e-01 7.63790991e-01 -1.10028492e-03 5.40054561e+01] [ 1.68817808e-03 1.39139500e-05 9.99998575e-01 -3.36790682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06576923100002 meters 0.016352621254884837 Centerline is valid? [True, True] Translation: X:157.40, Y:54.03, Z:-0.34 [[ 7.64162869e-01 -6.45019685e-01 -2.17160235e-03 1.57396433e+02] [ 6.45016984e-01 7.64165954e-01 -1.86685565e-03 5.40261005e+01] [ 2.86362323e-03 2.58613681e-05 9.99995899e-01 -3.40197816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09576923100002 meters 0.01593481461535926 Centerline is valid? [True, True] Translation: X:157.42, Y:54.05, Z:-0.34 [[ 7.63642250e-01 -6.45634456e-01 -2.58138989e-03 1.57417074e+02] [ 6.45630640e-01 7.63646612e-01 -2.21991931e-03 5.40453645e+01] [ 3.40452604e-03 2.85997681e-05 9.99994204e-01 -3.41297398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12576923100002 meters 0.015651717389665056 Centerline is valid? [True, True] Translation: X:157.44, Y:54.06, Z:-0.34 [[ 7.62991734e-01 -6.46400813e-01 -3.09882476e-03 1.57435391e+02] [ 6.46395317e-01 7.62998026e-01 -2.66564511e-03 5.40649937e+01] [ 4.08747234e-03 3.07993691e-05 9.99991646e-01 -3.43658986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15576923100002 meters 0.015826892324945975 Centerline is valid? [True, True] Translation: X:157.45, Y:54.09, Z:-0.34 [[ 7.63088169e-01 -6.46287380e-01 -3.01148929e-03 1.57454494e+02] [ 6.46282185e-01 7.63094110e-01 -2.59156682e-03 5.40851003e+01] [ 3.97294667e-03 3.13221057e-05 9.99992107e-01 -3.43721467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18576923100002 meters 0.015503809763310412 Centerline is valid? [True, True] Translation: X:157.47, Y:54.11, Z:-0.34 [[ 7.63304208e-01 -6.46035009e-01 -2.33534684e-03 1.57473844e+02] [ 6.46031880e-01 7.63307780e-01 -2.01065803e-03 5.41051688e+01] [ 3.08154389e-03 2.60352231e-05 9.99995252e-01 -3.41390189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21576923100002 meters 0.01637454527435081 Centerline is valid? [True, True] Translation: X:157.49, Y:54.13, Z:-0.34 [[ 7.63912359e-01 -6.45320004e-01 -1.11779876e-05 1.57489176e+02] [ 6.45320004e-01 7.63912359e-01 -9.92347071e-06 5.41294077e+01] [ 1.49428170e-05 3.67282906e-07 1.00000000e+00 -3.36991500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24576923100003 meters 0.01611709493008147 Centerline is valid? [True, True] Translation: X:157.51, Y:54.15, Z:-0.34 [[ 7.63560827e-01 -6.45735667e-01 5.58029317e-04 1.57508929e+02] [ 6.45735489e-01 7.63561031e-01 4.80060612e-04 5.41495226e+01] [-7.36081701e-04 -6.21614446e-06 9.99999729e-01 -3.36380204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27576923100003 meters 0.014481780369483863 Centerline is valid? [True, True] Translation: X:157.53, Y:54.17, Z:-0.34 [[ 7.61453540e-01 -6.48218233e-01 -1.27657648e-03 1.57530297e+02] [ 6.48217299e-01 7.61454610e-01 -1.10016791e-03 5.41656435e+01] [ 1.68520394e-03 1.02277911e-05 9.99998580e-01 -3.42122529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.305769231 meters 0.013438702508484921 Centerline is valid? [True, True] Translation: X:157.55, Y:54.18, Z:-0.35 [[ 7.59595629e-01 -6.50390891e-01 -2.48396117e-03 1.57553495e+02] [ 6.50387366e-01 7.59599690e-01 -2.14126708e-03 5.41818902e+01] [ 3.27947674e-03 1.09601463e-05 9.99994622e-01 -3.45134775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.335769231 meters 0.013367297944695001 Centerline is valid? [True, True] Translation: X:157.58, Y:54.19, Z:-0.35 [[ 7.55783419e-01 -6.54815070e-01 -2.94065732e-03 1.57577995e+02] [ 6.54810160e-01 7.55789140e-01 -2.53567062e-03 5.41946921e+01] [ 3.88291220e-03 -9.15447630e-06 9.99992461e-01 -3.46689228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.365769231 meters 0.01437818243886309 Centerline is valid? [True, True] Translation: X:157.60, Y:54.21, Z:-0.35 [[ 7.53713277e-01 -6.57199661e-01 -2.21405992e-03 1.57601235e+02] [ 6.57196886e-01 7.53716529e-01 -1.90990808e-03 5.42087602e+01] [ 2.92396450e-03 -1.55502050e-05 9.99995725e-01 -3.45108469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.395769231 meters 0.016868732207746928 Centerline is valid? [True, True] Translation: X:157.63, Y:54.22, Z:-0.34 [[ 7.50922252e-01 -6.60387230e-01 -2.11616550e-03 1.57626017e+02] [ 6.60384707e-01 7.50925233e-01 -1.82568533e-03 5.42233081e+01] [ 2.79474135e-03 -2.65355908e-05 9.99996094e-01 -3.42479969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.425769231 meters 0.0169796431046085 Centerline is valid? [True, True] Translation: X:157.65, Y:54.24, Z:-0.34 [[ 7.50537703e-01 -6.60821592e-01 -2.82504866e-03 1.57646730e+02] [ 6.60817094e-01 7.50543018e-01 -2.43828596e-03 5.42428818e+01] [ 3.73159256e-03 -3.68149031e-05 9.99993037e-01 -3.42924085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.455769231 meters 0.016087250008883076 Centerline is valid? [True, True] Translation: X:157.66, Y:54.26, Z:-0.35 [[ 7.51629067e-01 -6.59573965e-01 -3.99126336e-03 1.57664470e+02] [ 6.59564966e-01 7.51639663e-01 -3.44570381e-03 5.42630567e+01] [ 5.27268837e-03 -4.26063474e-05 9.99986098e-01 -3.45373803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.485769231 meters 0.015327081633080343 Centerline is valid? [True, True] Translation: X:157.68, Y:54.28, Z:-0.34 [[ 7.52416920e-01 -6.58678748e-01 -3.32943787e-03 1.57684572e+02] [ 6.58672474e-01 7.52424286e-01 -2.87518732e-03 5.42816194e+01] [ 4.39897470e-03 -2.96694885e-05 9.99990324e-01 -3.44449181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.515769231 meters 0.014554573463806918 Centerline is valid? [True, True] Translation: X:157.71, Y:54.30, Z:-0.34 [[ 7.52641510e-01 -6.58427380e-01 -2.03544525e-03 1.57705338e+02] [ 6.58425031e-01 7.52644262e-01 -1.75866231e-03 5.43007452e+01] [ 2.68991760e-03 -1.65458482e-05 9.99996382e-01 -3.40233894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.545769231 meters 0.01406459166723436 Centerline is valid? [True, True] Translation: X:157.73, Y:54.32, Z:-0.34 [[ 7.52891064e-01 -6.58144477e-01 -9.45201352e-04 1.57726435e+02] [ 6.58143970e-01 7.52891657e-01 -8.17255216e-04 5.43184846e+01] [ 1.24950622e-03 -6.77442121e-06 9.99999219e-01 -3.36428349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.575769231 meters 0.014471830379361434 Centerline is valid? [True, True] Translation: X:157.75, Y:54.34, Z:-0.34 [[ 7.52711639e-01 -6.58347752e-01 -1.85084301e-03 1.57747774e+02] [ 6.58345807e-01 7.52713915e-01 -1.60031169e-03 5.43355913e+01] [ 2.44671689e-03 -1.39214930e-05 9.99997007e-01 -3.38936788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.605769231 meters 0.014742164190240064 Centerline is valid? [True, True] Translation: X:157.77, Y:54.35, Z:-0.34 [[ 7.52220946e-01 -6.58903091e-01 -3.21931340e-03 1.57770049e+02] [ 6.58897210e-01 7.52227835e-01 -2.78409859e-03 5.43532396e+01] [ 4.25610831e-03 -2.69393382e-05 9.99990942e-01 -3.40881174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.635769231 meters 0.015157008824664543 Centerline is valid? [True, True] Translation: X:157.79, Y:54.37, Z:-0.34 [[ 7.51757232e-01 -6.59434182e-01 -2.76102666e-03 1.57791533e+02] [ 6.59429856e-01 7.51762302e-01 -2.38865283e-03 5.43694886e+01] [ 3.65079508e-03 -2.50163715e-05 9.99993336e-01 -3.40028508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.665769231 meters 0.015157008824664543 Centerline is valid? [True, True] Translation: X:157.81, Y:54.39, Z:-0.34 [[ 7.51636024e-01 -6.59572336e-01 -2.76056499e-03 1.57812185e+02] [ 6.59568010e-01 7.51641093e-01 -2.38918643e-03 5.43876148e+01] [ 3.65079536e-03 -2.49817607e-05 9.99993336e-01 -3.40087549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.695769231 meters 0.01559616477138689 Centerline is valid? [True, True] Translation: X:157.83, Y:54.40, Z:-0.34 [[ 7.51252288e-01 -6.60010847e-01 -2.38347113e-03 1.57833736e+02] [ 6.60007622e-01 7.51256069e-01 -2.06352841e-03 5.44037563e+01] [ 3.15254829e-03 -2.28786692e-05 9.99995030e-01 -3.38841984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72576923100002 meters 0.014308005083119683 Centerline is valid? [True, True] Translation: X:157.85, Y:54.42, Z:-0.34 [[ 7.52175056e-01 -6.58958116e-01 -2.62423643e-03 1.57854446e+02] [ 6.58954197e-01 7.52179633e-01 -2.27285010e-03 5.44228910e+01] [ 3.47161022e-03 -1.96704606e-05 9.99993974e-01 -3.37993112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75576923100002 meters 0.013814106755417489 Centerline is valid? [True, True] Translation: X:157.87, Y:54.44, Z:-0.34 [[ 7.52994534e-01 -6.58021002e-01 -2.75545728e-03 1.57874097e+02] [ 6.58016672e-01 7.52999575e-01 -2.38719216e-03 5.44409341e+01] [ 3.64568074e-03 -1.55941810e-05 9.99993354e-01 -3.38838421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78576923100002 meters 0.013000334327988252 Centerline is valid? [True, True] Translation: X:157.89, Y:54.46, Z:-0.34 [[ 7.54897207e-01 -6.55837455e-01 -2.72755350e-03 1.57891723e+02] [ 6.55833195e-01 7.54902134e-01 -2.36371121e-03 5.44616591e+01] [ 3.60924630e-03 -4.46113232e-06 9.99993487e-01 -3.38408614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81576923100002 meters 0.012679316323026277 Centerline is valid? [True, True] Translation: X:157.91, Y:54.48, Z:-0.34 [[ 7.55397400e-01 -6.55263596e-01 -2.09454546e-03 1.57911363e+02] [ 6.55261080e-01 7.55400304e-01 -1.81598837e-03 5.44813104e+01] [ 2.77217134e-03 -6.81227428e-07 9.99996158e-01 -3.36196040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84576923100002 meters 0.012547035345157354 Centerline is valid? [True, True] Translation: X:157.93, Y:54.50, Z:-0.33 [[ 7.55249605e-01 -6.55436113e-01 -1.23935222e-03 1.57931158e+02] [ 6.55435231e-01 7.55250622e-01 -1.07518059e-03 5.45006796e+01] [ 1.64073372e-03 -2.85391026e-07 9.99998654e-01 -3.33954886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87576923100002 meters 0.01267236453729076 Centerline is valid? [True, True] Translation: X:157.95, Y:54.52, Z:-0.34 [[ 7.54843277e-01 -6.55903251e-01 -1.59761035e-03 1.57952244e+02] [ 6.55901786e-01 7.54844968e-01 -1.38625050e-03 5.45181016e+01] [ 2.11519434e-03 -1.47361398e-06 9.99997763e-01 -3.35588390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90576923100002 meters 0.0130019128890407 Centerline is valid? [True, True] Translation: X:157.97, Y:54.53, Z:-0.34 [[ 7.54183371e-01 -6.56660531e-01 -2.09529689e-03 1.57973694e+02] [ 6.56658013e-01 7.54186282e-01 -1.81828110e-03 5.45346710e+01] [ 2.77423760e-03 -4.57612960e-06 9.99996152e-01 -3.38363514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93576923100002 meters 0.013257946025032002 Centerline is valid? [True, True] Translation: X:157.99, Y:54.55, Z:-0.34 [[ 7.53153177e-01 -6.57842177e-01 -1.99066051e-03 1.57994905e+02] [ 6.57839907e-01 7.53155807e-01 -1.72832262e-03 5.45530811e+01] [ 2.63624104e-03 -7.84425279e-06 9.99996525e-01 -3.37437599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96576923100002 meters 0.0131331024663356 Centerline is valid? [True, True] Translation: X:158.01, Y:54.57, Z:-0.34 [[ 7.53059263e-01 -6.57951288e-01 -1.36006284e-03 1.58014718e+02] [ 6.57950227e-01 7.53060491e-01 -1.18143933e-03 5.45736696e+01] [ 1.80153911e-03 -5.15982432e-06 9.99998377e-01 -3.35421007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99576923100003 meters 0.012540383688620949 Centerline is valid? [True, True] Translation: X:158.03, Y:54.60, Z:-0.33 [[ 7.53811398e-01 -6.57090830e-01 1.31305192e-04 1.58031923e+02] [ 6.57090820e-01 7.53811410e-01 1.13554274e-04 5.45974317e+01] [-1.73594824e-04 6.80930353e-07 9.99999985e-01 -3.31454620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02576923100003 meters 0.012453046239786391 Centerline is valid? [True, True] Translation: X:158.05, Y:54.62, Z:-0.33 [[ 7.54047678e-01 -6.56819457e-01 5.48793310e-04 1.58051271e+02] [ 6.56819284e-01 7.54047877e-01 4.76311529e-04 5.46172061e+01] [-7.26667110e-04 1.29642678e-06 9.99999736e-01 -3.31540728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.055769231 meters 0.012801164226921541 Centerline is valid? [True, True] Translation: X:158.07, Y:54.64, Z:-0.33 [[ 7.53583720e-01 -6.57351933e-01 1.16782989e-04 1.58070815e+02] [ 6.57351925e-01 7.53583729e-01 1.01132504e-04 5.46364858e+01] [-1.54485407e-04 5.55713741e-07 9.99999988e-01 -3.34973649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.085769231 meters 0.012985599612025696 Centerline is valid? [True, True] Translation: X:158.09, Y:54.66, Z:-0.34 [[ 7.52825622e-01 -6.58219995e-01 -1.46273320e-04 1.58091321e+02] [ 6.58219982e-01 7.52825636e-01 -1.27711549e-04 5.46558429e+01] [ 1.94180600e-04 -1.35495429e-07 9.99999981e-01 -3.36227370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.115769231 meters 0.01359316565597489 Centerline is valid? [True, True] Translation: X:158.11, Y:54.67, Z:-0.34 [[ 7.51634816e-01 -6.59579315e-01 -4.81031332e-04 1.58112873e+02] [ 6.59579182e-01 7.51634970e-01 -4.18917789e-04 5.46743370e+01] [ 6.37869479e-04 -2.40505756e-06 9.99999797e-01 -3.37479652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.145769231 meters 0.01568632629200999 Centerline is valid? [True, True] Translation: X:158.14, Y:54.69, Z:-0.34 [[ 7.48954805e-01 -6.62620685e-01 -7.27226411e-04 1.58137002e+02] [ 6.62620382e-01 7.48955158e-01 -6.33209724e-04 5.46904044e+01] [ 9.64237832e-04 -7.62957781e-06 9.99999535e-01 -3.37787262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.175769231 meters 0.01710781752498658 Centerline is valid? [True, True] Translation: X:158.16, Y:54.71, Z:-0.34 [[ 7.47688675e-01 -6.64048893e-01 -8.44694463e-04 1.58159556e+02] [ 6.64048485e-01 7.47689152e-01 -7.35322209e-04 5.47073577e+01] [ 1.11985878e-03 -1.11259908e-05 9.99999373e-01 -3.38402557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.205769231 meters 0.020620090296239943 Centerline is valid? [True, True] Translation: X:158.18, Y:54.72, Z:-0.34 [[ 7.44844706e-01 -6.67237836e-01 -1.82443861e-04 1.58183406e+02] [ 6.67237817e-01 7.44844729e-01 -1.59226989e-04 5.47227109e+01] [ 2.42134620e-04 -3.13406361e-06 9.99999971e-01 -3.37182800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.235769231 meters 0.02261258393410069 Centerline is valid? [True, True] Translation: X:158.21, Y:54.74, Z:-0.34 [[ 7.43436652e-01 -6.68806267e-01 3.47706137e-04 1.58206024e+02] [ 6.68806199e-01 7.43436734e-01 3.02445404e-04 5.47388476e+01] [-4.60774896e-04 7.69902153e-06 9.99999894e-01 -3.36367279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.265769231 meters 0.024910029325539866 Centerline is valid? [True, True] Translation: X:158.23, Y:54.75, Z:-0.33 [[ 7.42247264e-01 -6.70125682e-01 7.53873055e-04 1.58228899e+02] [ 6.70125361e-01 7.42247647e-01 6.56196866e-04 5.47537950e+01] [-9.99294874e-04 1.81291250e-05 9.99999501e-01 -3.34897391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.295769231 meters 0.027869309236819233 Centerline is valid? [True, True] Translation: X:158.25, Y:54.77, Z:-0.33 [[ 7.39755181e-01 -6.72875750e-01 7.05016717e-04 1.58253517e+02] [ 6.72875471e-01 7.39755517e-01 6.13695325e-04 5.47682975e+01] [-9.34480708e-04 2.04041591e-05 9.99999563e-01 -3.34812441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.325769231 meters 0.02981475117360296 Centerline is valid? [True, True] Translation: X:158.28, Y:54.79, Z:-0.34 [[ 7.38548967e-01 -6.74199813e-01 -1.91803672e-04 1.58276428e+02] [ 6.74199792e-01 7.38548991e-01 -1.67631066e-04 5.47850027e+01] [ 2.54673242e-04 -5.51024564e-06 9.99999968e-01 -3.36681928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.355769231 meters 0.032316792008597356 Centerline is valid? [True, True] Translation: X:158.30, Y:54.80, Z:-0.34 [[ 7.36976187e-01 -6.75918192e-01 -8.35009292e-04 1.58298870e+02] [ 6.75917800e-01 7.36976660e-01 -7.28451931e-04 5.48009418e+01] [ 1.10775627e-03 -2.75459170e-05 9.99999386e-01 -3.38095580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.385769231 meters 0.03340053723317148 Centerline is valid? [True, True] Translation: X:158.32, Y:54.82, Z:-0.34 [[ 7.36351148e-01 -6.76598665e-01 -1.11080221e-03 1.58321707e+02] [ 6.76597972e-01 7.36351985e-01 -9.69180022e-04 5.48183767e+01] [ 1.47368732e-03 -3.79096986e-05 9.99998913e-01 -3.38376778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.415769231 meters 0.034308086731958565 Centerline is valid? [True, True] Translation: X:158.34, Y:54.84, Z:-0.34 [[ 7.35878386e-01 -6.77112644e-01 -1.21198696e-03 1.58344097e+02] [ 6.77111819e-01 7.35879383e-01 -1.05778305e-03 5.48354774e+01] [ 1.60811450e-03 -4.22510114e-05 9.99998706e-01 -3.38628979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.445769231 meters 0.03530537653797735 Centerline is valid? [True, True] Translation: X:158.36, Y:54.85, Z:-0.34 [[ 7.35536491e-01 -6.77484005e-01 -1.22241356e-03 1.58364199e+02] [ 6.77483165e-01 7.35537505e-01 -1.06733723e-03 5.48530606e+01] [ 1.62223492e-03 -4.30991253e-05 9.99998683e-01 -3.36933695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47576923100002 meters 0.031137878114827808 Centerline is valid? [True, True] Translation: X:158.38, Y:54.88, Z:-0.34 [[ 7.35876497e-01 -6.77114407e-01 -1.36433923e-03 1.58380642e+02] [ 6.77113360e-01 7.35877760e-01 -1.19161291e-03 5.48767304e+01] [ 1.81084516e-03 -4.69323858e-05 9.99998359e-01 -3.35453589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50576923100002 meters 0.032180691893639694 Centerline is valid? [True, True] Translation: X:158.40, Y:54.89, Z:-0.33 [[ 7.37125014e-01 -6.75755600e-01 -1.04055593e-03 1.58402317e+02] [ 6.75754990e-01 7.37125748e-01 -9.08703884e-04 5.48937269e+01] [ 1.38108230e-03 -3.33324951e-05 9.99999046e-01 -3.34249401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53576923100002 meters 0.027593028947304407 Centerline is valid? [True, True] Translation: X:158.42, Y:54.92, Z:-0.33 [[ 7.37727651e-01 -6.75098111e-01 -6.73465521e-04 1.58419679e+02] [ 6.75097855e-01 7.37727958e-01 -5.88690425e-04 5.49172308e+01] [ 8.94258137e-04 -2.03619242e-05 9.99999600e-01 -3.32082667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56576923100002 meters 0.027826230133426704 Centerline is valid? [True, True] Translation: X:158.44, Y:54.94, Z:-0.33 [[ 7.38443620e-01 -6.74315132e-01 -3.48760657e-04 1.58441080e+02] [ 6.74315064e-01 7.38443703e-01 -3.04818450e-04 5.49355110e+01] [ 4.63083805e-04 -1.00833249e-05 9.99999893e-01 -3.32170295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59576923100002 meters 0.02496493549126432 Centerline is valid? [True, True] Translation: X:158.46, Y:54.96, Z:-0.33 [[ 7.39843895e-01 -6.72777046e-01 -1.43442269e-03 1.58460844e+02] [ 6.72775879e-01 7.39845284e-01 -1.25381781e-03 5.49573371e+01] [ 1.90479071e-03 -3.74155296e-05 9.99998185e-01 -3.34481836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62576923100002 meters 0.024732817114280513 Centerline is valid? [True, True] Translation: X:158.48, Y:54.97, Z:-0.34 [[ 7.40159005e-01 -6.72428427e-01 -2.15808137e-03 1.58481249e+02] [ 6.72425782e-01 7.40162149e-01 -1.88676650e-03 5.49748641e+01] [ 2.86604558e-03 -5.46423417e-05 9.99995891e-01 -3.35972007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65576923100002 meters 0.023762064822757483 Centerline is valid? [True, True] Translation: X:158.50, Y:54.99, Z:-0.33 [[ 7.40687412e-01 -6.71847953e-01 -1.57648526e-03 1.58502512e+02] [ 6.71846539e-01 7.40689089e-01 -1.37896967e-03 5.49927400e+01] [ 2.09414338e-03 -3.77706911e-05 9.99997807e-01 -3.33549663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68576923100002 meters 0.023597720238487253 Centerline is valid? [True, True] Translation: X:158.52, Y:55.01, Z:-0.33 [[ 7.40769657e-01 -6.71757387e-01 -1.52557558e-03 1.58523360e+02] [ 6.71756062e-01 7.40771227e-01 -1.33497356e-03 5.50109047e+01] [ 2.02688085e-03 -3.59067430e-05 9.99997945e-01 -3.33145433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71576923100002 meters 0.023186536607201515 Centerline is valid? [True, True] Translation: X:158.54, Y:55.03, Z:-0.33 [[ 7.40944875e-01 -6.71562997e-01 -1.95807286e-03 1.58544599e+02] [ 6.71560811e-01 7.40947461e-01 -1.71392702e-03 5.50294598e+01] [ 2.60183908e-03 -4.50395598e-05 9.99996614e-01 -3.34441997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74576923100003 meters 0.024332988684131925 Centerline is valid? [True, True] Translation: X:158.57, Y:55.05, Z:-0.34 [[ 7.42095501e-01 -6.70286357e-01 -3.23520497e-03 1.58565884e+02] [ 6.70280377e-01 7.42102550e-01 -2.83207954e-03 5.50470515e+01] [ 4.29915814e-03 -6.68209240e-05 9.99990756e-01 -3.39233763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77576923100003 meters 0.022978587116657633 Centerline is valid? [True, True] Translation: X:158.58, Y:55.07, Z:-0.34 [[ 7.42956004e-01 -6.69330797e-01 -3.55812127e-03 1.58583403e+02] [ 6.69323547e-01 7.42964522e-01 -3.11591625e-03 5.50676373e+01] [ 4.72913657e-03 -6.65456567e-05 9.99988815e-01 -3.40058647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.805769231 meters 0.03118288043420053 Centerline is valid? [True, True] Translation: X:158.60, Y:55.09, Z:-0.33 [[ 7.44360426e-01 -6.67771847e-01 -2.88386604e-03 1.58599826e+02] [ 6.67767072e-01 7.44366011e-01 -2.52576501e-03 5.50935204e+01] [ 3.83328663e-03 -4.56712640e-05 9.99992652e-01 -3.32658601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.835769231 meters 0.019562513733412033 Centerline is valid? [True, True] Translation: X:158.62, Y:55.11, Z:-0.34 [[ 7.43903130e-01 -6.68284186e-01 -2.09274376e-03 1.58619773e+02] [ 6.68281671e-01 7.43906073e-01 -1.83377363e-03 5.51110695e+01] [ 2.78228671e-03 -3.43923570e-05 9.99996129e-01 -3.37652999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.865769231 meters 0.021044993062849675 Centerline is valid? [True, True] Translation: X:158.64, Y:55.13, Z:-0.34 [[ 7.42731165e-01 -6.69587822e-01 -1.60163357e-03 1.58643079e+02] [ 6.69586351e-01 7.42732891e-01 -1.40398316e-03 5.51279441e+01] [ 2.12967596e-03 -2.96499279e-05 9.99997732e-01 -3.37119965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.895769231 meters 0.02725830402963369 Centerline is valid? [True, True] Translation: X:158.67, Y:55.14, Z:-0.34 [[ 7.38493302e-01 -6.74257756e-01 -2.03020868e-03 1.58672270e+02] [ 6.74255408e-01 7.38496090e-01 -1.78021346e-03 5.51372892e+01] [ 2.69962390e-03 -5.42034684e-05 9.99996355e-01 -3.39941929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.925769231 meters 0.032598857822710464 Centerline is valid? [True, True] Translation: X:158.70, Y:55.15, Z:-0.34 [[ 7.35279315e-01 -6.77759269e-01 -2.58887283e-03 1.58699031e+02] [ 6.77755472e-01 7.35283867e-01 -2.27044427e-03 5.51475419e+01] [ 3.44237108e-03 -8.52120241e-05 9.99994071e-01 -3.42324378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.955769231 meters 0.042582392419882445 Centerline is valid? [True, True] Translation: X:158.73, Y:55.15, Z:-0.34 [[ 7.29067069e-01 -6.84436836e-01 -2.72534461e-03 1.58732298e+02] [ 6.84432670e-01 7.29072152e-01 -2.39115240e-03 5.51518007e+01] [ 3.62356564e-03 -1.22004416e-04 9.99993427e-01 -3.42311162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.985769231 meters 0.04680670766029632 Centerline is valid? [True, True] Translation: X:158.76, Y:55.16, Z:-0.34 [[ 7.26724070e-01 -6.86925732e-01 -2.27273272e-03 1.58758398e+02] [ 6.86922845e-01 7.26727615e-01 -1.99450773e-03 5.51629396e+01] [ 3.02173632e-03 -1.11735252e-04 9.99995428e-01 -3.41272649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.015769231 meters 0.050504094620320406 Centerline is valid? [True, True] Translation: X:158.79, Y:55.17, Z:-0.34 [[ 7.24655724e-01 -6.89108533e-01 -1.87417558e-03 1.58788593e+02] [ 6.89106575e-01 7.24658140e-01 -1.64546649e-03 5.51712818e+01] [ 2.49204159e-03 -9.91100079e-05 9.99996890e-01 -3.40720573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.045769231 meters 0.05024579304168006 Centerline is valid? [True, True] Translation: X:158.81, Y:55.19, Z:-0.34 [[ 7.24945463e-01 -6.88803163e-01 -2.06853194e-03 1.58813007e+02] [ 6.88800776e-01 7.24948406e-01 -1.81664067e-03 5.51866916e+01] [ 2.75088677e-03 -1.07840995e-04 9.99996210e-01 -3.41677361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.075769231 meters 0.04596414997548529 Centerline is valid? [True, True] Translation: X:158.84, Y:55.20, Z:-0.34 [[ 7.27816846e-01 -6.85766475e-01 -2.64202094e-03 1.58835003e+02] [ 6.85762560e-01 7.27821631e-01 -2.32051961e-03 5.52014611e+01] [ 3.51425454e-03 -1.22885782e-04 9.99993817e-01 -3.43302150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.105769231 meters 0.041906124501047665 Centerline is valid? [True, True] Translation: X:158.86, Y:55.22, Z:-0.34 [[ 7.29755019e-01 -6.83703798e-01 -2.59403437e-03 1.58855667e+02] [ 6.83700008e-01 7.29759621e-01 -2.27935582e-03 5.52208856e+01] [ 3.45142577e-03 -1.10169967e-04 9.99994038e-01 -3.42920599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.135769231 meters 0.039688197312307695 Centerline is valid? [True, True] Translation: X:158.88, Y:55.24, Z:-0.34 [[ 7.31618357e-01 -6.81710311e-01 -2.37285768e-03 1.58876678e+02] [ 6.81707127e-01 7.31622200e-01 -2.08552912e-03 5.52373058e+01] [ 3.15776206e-03 -9.17826025e-05 9.99995010e-01 -3.43294933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.165769231 meters 0.0332002784682779 Centerline is valid? [True, True] Translation: X:158.90, Y:55.26, Z:-0.34 [[ 7.33860767e-01 -6.79296461e-01 -2.16635993e-03 1.58896965e+02] [ 6.79293795e-01 7.33863961e-01 -1.90446744e-03 5.52565299e+01] [ 2.88351147e-03 -7.39809263e-05 9.99995840e-01 -3.42508774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.195769231 meters 0.031896441042396674 Centerline is valid? [True, True] Translation: X:158.92, Y:55.27, Z:-0.34 [[ 7.34792740e-01 -6.78288958e-01 -1.92844959e-03 1.58918429e+02] [ 6.78286841e-01 7.34795268e-01 -1.69570141e-03 5.52736247e+01] [ 2.56719117e-03 -6.20528993e-05 9.99996703e-01 -3.41719953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22576923100002 meters 0.02682807126834783 Centerline is valid? [True, True] Translation: X:158.94, Y:55.29, Z:-0.34 [[ 7.37815301e-01 -6.75002286e-01 -7.03832031e-04 1.58938278e+02] [ 6.75002002e-01 7.37815636e-01 -6.19549146e-04 5.52929803e+01] [ 9.37495368e-04 -1.79751904e-05 9.99999560e-01 -3.37363551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25576923100002 meters 0.022762990229452187 Centerline is valid? [True, True] Translation: X:158.96, Y:55.31, Z:-0.34 [[ 7.40057630e-01 -6.72543375e-01 -3.36433765e-04 1.58957387e+02] [ 6.72543309e-01 7.40057707e-01 -2.96474562e-04 5.53144474e+01] [ 4.48372403e-04 -6.85801559e-06 9.99999899e-01 -3.35848221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28576923100002 meters 0.01922370945573889 Centerline is valid? [True, True] Translation: X:158.98, Y:55.34, Z:-0.34 [[ 7.42442400e-01 -6.69909862e-01 -2.43827096e-04 1.58975742e+02] [ 6.69909827e-01 7.42442440e-01 -2.15103629e-04 5.53357929e+01] [ 3.25127626e-04 -3.64011280e-06 9.99999947e-01 -3.35435737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31576923100002 meters 0.014676163114632556 Centerline is valid? [True, True] Translation: X:158.99, Y:55.36, Z:-0.34 [[ 7.46210748e-01 -6.65709452e-01 -6.67497342e-04 1.58990301e+02] [ 6.65709192e-01 7.46211046e-01 -5.87897170e-04 5.53597264e+01] [ 8.89462593e-04 -5.66392929e-06 9.99999604e-01 -3.36617299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34576923100002 meters 0.013225252750345955 Centerline is valid? [True, True] Translation: X:159.01, Y:55.38, Z:-0.34 [[ 7.47187154e-01 -6.64613277e-01 -7.41018223e-04 1.59007699e+02] [ 6.64612956e-01 7.47187521e-01 -6.53129763e-04 5.53817265e+01] [ 9.87758281e-04 -4.48014262e-06 9.99999512e-01 -3.35649316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37576923100002 meters 0.01305072937631576 Centerline is valid? [True, True] Translation: X:159.03, Y:55.40, Z:-0.34 [[ 7.47735520e-01 -6.63996387e-01 -6.24075486e-04 1.59026703e+02] [ 6.63996159e-01 7.47735781e-01 -5.50121108e-04 5.54012195e+01] [ 8.31921999e-04 -3.03863295e-06 9.99999654e-01 -3.35697404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40576923100002 meters 0.013004151438977745 Centerline is valid? [True, True] Translation: X:159.05, Y:55.42, Z:-0.33 [[ 7.47871265e-01 -6.63843776e-01 -1.10831018e-04 1.59046233e+02] [ 6.63843769e-01 7.47871273e-01 -9.81400649e-05 5.54203457e+01] [ 1.48037006e-04 -1.78346098e-07 9.99999989e-01 -3.34544097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43576923100002 meters 0.013245063524355278 Centerline is valid? [True, True] Translation: X:159.07, Y:55.44, Z:-0.33 [[ 7.46626265e-01 -6.65243616e-01 3.91013513e-04 1.59066837e+02] [ 6.65243527e-01 7.46626367e-01 3.44136548e-04 5.54396172e+01] [-5.20875641e-04 3.17782288e-06 9.99999864e-01 -3.31678336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46576923100002 meters 0.014548621974800441 Centerline is valid? [True, True] Translation: X:159.09, Y:55.46, Z:-0.33 [[ 7.45392401e-01 -6.66625858e-01 -3.65108944e-04 1.59088633e+02] [ 6.66625780e-01 7.45392491e-01 -3.22146775e-04 5.54569714e+01] [ 4.86900835e-04 -3.26527629e-06 9.99999881e-01 -3.33590496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49576923100003 meters 0.015988179335088542 Centerline is valid? [True, True] Translation: X:159.11, Y:55.47, Z:-0.34 [[ 7.43980873e-01 -6.68199646e-01 -1.30133309e-03 1.59111137e+02] [ 6.68198660e-01 7.43982011e-01 -1.14821084e-03 5.54732547e+01] [ 1.73540249e-03 -1.53021217e-05 9.99998494e-01 -3.36070827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52576923100003 meters 0.01804488380685198 Centerline is valid? [True, True] Translation: X:159.13, Y:55.49, Z:-0.34 [[ 7.42273412e-01 -6.70095305e-01 -1.56963948e-03 1.59134251e+02] [ 6.70093874e-01 7.42275071e-01 -1.38502405e-03 5.54893152e+01] [ 2.09320237e-03 -2.37392780e-05 9.99997809e-01 -3.36843718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.555769231 meters 0.01804488380685198 Centerline is valid? [True, True] Translation: X:159.15, Y:55.51, Z:-0.34 [[ 7.42147705e-01 -6.70234527e-01 -1.56927851e-03 1.59154734e+02] [ 6.70233096e-01 7.42149364e-01 -1.38543312e-03 5.55076479e+01] [ 2.09320416e-03 -2.35863777e-05 9.99997809e-01 -3.36902764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.585769231 meters 0.022071119763315286 Centerline is valid? [True, True] Translation: X:159.18, Y:55.52, Z:-0.33 [[ 7.39410962e-01 -6.73254256e-01 3.68212232e-04 1.59179806e+02] [ 6.73254178e-01 7.39411054e-01 3.24546578e-04 5.55206294e+01] [-4.90762560e-04 7.92712622e-06 9.99999880e-01 -3.32443869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.615769231 meters 0.02198794489304792 Centerline is valid? [True, True] Translation: X:159.20, Y:55.54, Z:-0.33 [[ 7.38619719e-01 -6.74120730e-01 1.46707827e-03 1.59200736e+02] [ 6.74119487e-01 7.38621175e-01 1.29513341e-03 5.55397977e+01] [-1.95669136e-03 3.23749776e-05 9.99998085e-01 -3.29616432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.645769231 meters 0.023248312862073572 Centerline is valid? [True, True] Translation: X:159.22, Y:55.56, Z:-0.33 [[ 7.37600274e-01 -6.75237220e-01 7.30192112e-04 1.59223526e+02] [ 6.75236912e-01 7.37600635e-01 6.44590228e-04 5.55564432e+01] [-9.73841479e-04 1.76027382e-05 9.99999526e-01 -3.31769854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.675769231 meters 0.024364873671661062 Centerline is valid? [True, True] Translation: X:159.25, Y:55.57, Z:-0.33 [[ 7.36635065e-01 -6.76290435e-01 -1.71555063e-04 1.59246682e+02] [ 6.76290418e-01 7.36635085e-01 -1.52118182e-04 5.55728269e+01] [ 2.29249550e-04 -3.96545818e-06 9.99999974e-01 -3.34682914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.705769231 meters 0.026840198274691352 Centerline is valid? [True, True] Translation: X:159.27, Y:55.59, Z:-0.34 [[ 7.35294620e-01 -6.77747105e-01 -8.27317295e-04 1.59270405e+02] [ 6.77746710e-01 7.35295085e-01 -7.31655009e-04 5.55873136e+01] [ 1.10419940e-03 -2.27295837e-05 9.99999390e-01 -3.36751037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.735769231 meters 0.029928908653804695 Centerline is valid? [True, True] Translation: X:159.30, Y:55.60, Z:-0.34 [[ 7.32399031e-01 -6.80875405e-01 -5.86049762e-04 1.59296767e+02] [ 6.80875207e-01 7.32399265e-01 -5.18759797e-04 5.55999666e+01] [ 7.82433201e-04 -1.90875801e-05 9.99999694e-01 -3.36429896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.765769231 meters 0.035386548180495726 Centerline is valid? [True, True] Translation: X:159.32, Y:55.61, Z:-0.34 [[ 7.30725032e-01 -6.82671477e-01 -7.63076581e-04 1.59323911e+02] [ 6.82671143e-01 7.30725430e-01 -6.75143812e-04 5.56102133e+01] [ 1.01850089e-03 -2.75858782e-05 9.99999481e-01 -3.38053477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.795769231 meters 0.03979943131399578 Centerline is valid? [True, True] Translation: X:159.35, Y:55.62, Z:-0.34 [[ 7.26629292e-01 -6.87024426e-01 -2.70370581e-03 1.59354415e+02] [ 6.87020271e-01 7.26634313e-01 -2.39221286e-03 5.56183554e+01] [ 3.60811408e-03 -1.19248763e-04 9.99993484e-01 -3.44458548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.825769231 meters 0.044267174101153495 Centerline is valid? [True, True] Translation: X:159.38, Y:55.63, Z:-0.35 [[ 7.24408588e-01 -6.89359563e-01 -3.94853191e-03 1.59381422e+02] [ 6.89350731e-01 7.24419324e-01 -3.49457037e-03 5.56284748e+01] [ 5.26940832e-03 -1.90426572e-04 9.99986098e-01 -3.48465288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.855769231 meters 0.04771353231486903 Centerline is valid? [True, True] Translation: X:159.41, Y:55.64, Z:-0.35 [[ 7.22420947e-01 -6.91439316e-01 -4.43255892e-03 1.59408560e+02] [ 6.91428217e-01 7.22434509e-01 -3.92434276e-03 5.56408087e+01] [ 5.91567840e-03 -2.29768898e-04 9.99982476e-01 -3.50015872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.885769231 meters 0.04683210533313179 Centerline is valid? [True, True] Translation: X:159.43, Y:55.66, Z:-0.35 [[ 7.21291950e-01 -6.92616399e-01 -4.52170810e-03 1.59431706e+02] [ 6.92604864e-01 7.21306082e-01 -4.00465637e-03 5.56577005e+01] [ 6.03522623e-03 -2.43230623e-04 9.99981758e-01 -3.49229555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.915769231 meters 0.04937318916501548 Centerline is valid? [True, True] Translation: X:159.46, Y:55.67, Z:-0.35 [[ 7.21515031e-01 -6.92389492e-01 -3.58493771e-03 1.59459983e+02] [ 6.92382235e-01 7.21523912e-01 -3.17576480e-03 5.56667767e+01] [ 4.78548446e-03 -1.90785145e-04 9.99988531e-01 -3.47441538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.945769231 meters 0.045288838982653255 Centerline is valid? [True, True] Translation: X:159.48, Y:55.68, Z:-0.35 [[ 7.23808335e-01 -6.89995528e-01 -2.76855237e-03 1.59481545e+02] [ 6.89991178e-01 7.23813618e-01 -2.45386137e-03 5.56833087e+01] [ 3.69706928e-03 -1.34151400e-04 9.99993157e-01 -3.45305595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97576923100002 meters 0.04133281239342633 Centerline is valid? [True, True] Translation: X:159.50, Y:55.70, Z:-0.35 [[ 7.25004111e-01 -6.88740434e-01 -2.37785544e-03 1.59501448e+02] [ 6.88737215e-01 7.25008002e-01 -2.10838582e-03 5.57033431e+01] [ 3.17609479e-03 -1.09129143e-04 9.99994950e-01 -3.45206607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00576923100002 meters 0.03952469342332463 Centerline is valid? [True, True] Translation: X:159.52, Y:55.72, Z:-0.35 [[ 7.25781829e-01 -6.87920396e-01 -2.50311592e-03 1.59523933e+02] [ 6.87916822e-01 7.25786137e-01 -2.22011405e-03 5.57215276e+01] [ 3.34398857e-03 -1.10617118e-04 9.99994403e-01 -3.45983439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03576923100002 meters 0.04116856773643567 Centerline is valid? [True, True] Translation: X:159.55, Y:55.73, Z:-0.35 [[ 7.26921269e-01 -6.86716748e-01 -2.36144147e-03 1.59551248e+02] [ 6.86713560e-01 7.26925098e-01 -2.09477004e-03 5.57315851e+01] [ 3.15510474e-03 -9.89009844e-05 9.99995018e-01 -3.46440276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06576923100002 meters 0.039314139508272575 Centerline is valid? [True, True] Translation: X:159.57, Y:55.75, Z:-0.34 [[ 7.27131856e-01 -6.86496071e-01 -1.55206615e-03 1.59572422e+02] [ 6.86494692e-01 7.27133510e-01 -1.37760568e-03 5.57497235e+01] [ 2.07428020e-03 -6.37841966e-05 9.99997847e-01 -3.43638999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09576923100002 meters 0.03830764581711666 Centerline is valid? [True, True] Translation: X:159.59, Y:55.77, Z:-0.34 [[ 7.27417405e-01 -6.86195213e-01 -2.20698777e-04 1.59594121e+02] [ 6.86195185e-01 7.27417439e-01 -1.96406805e-04 5.57672380e+01] [ 2.95313548e-04 -8.57270994e-06 9.99999956e-01 -3.39435643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12576923100002 meters 0.03556434099189731 Centerline is valid? [True, True] Translation: X:159.62, Y:55.78, Z:-0.33 [[ 7.28485826e-01 -6.85058857e-01 1.66241209e-03 1.59616221e+02] [ 6.85057271e-01 7.28487720e-01 1.47555028e-03 5.57848469e+01] [-2.22188558e-03 6.39300205e-05 9.99997530e-01 -3.34946761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15576923100002 meters 0.03531307176638462 Centerline is valid? [True, True] Translation: X:159.64, Y:55.80, Z:-0.34 [[ 7.29580709e-01 -6.83892819e-01 1.61281359e-03 1.59638100e+02] [ 6.83891322e-01 7.29582489e-01 1.43204506e-03 5.58008303e+01] [-2.15604589e-03 5.81967729e-05 9.99997674e-01 -3.35018317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18576923100002 meters 0.02717201805896492 Centerline is valid? [True, True] Translation: X:159.65, Y:55.83, Z:-0.33 [[ 7.33058548e-01 -6.80164269e-01 1.31599584e-03 1.59654307e+02] [ 6.80163266e-01 7.33059728e-01 1.16880438e-03 5.58250827e+01] [-1.75968253e-03 3.82899840e-05 9.99998451e-01 -3.34691747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21576923100002 meters 0.025918393914682335 Centerline is valid? [True, True] Translation: X:159.67, Y:55.84, Z:-0.33 [[ 7.35261241e-01 -6.77782303e-01 1.43431900e-03 1.59673777e+02] [ 6.77781105e-01 7.35262639e-01 1.27444340e-03 5.58441476e+01] [-1.91839636e-03 3.51054802e-05 9.99998159e-01 -3.34216408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24576923100003 meters 0.02145855349385875 Centerline is valid? [True, True] Translation: X:159.69, Y:55.87, Z:-0.33 [[ 7.37592167e-01 -6.75244399e-01 1.67238081e-03 1.59690255e+02] [ 6.75242764e-01 7.37594062e-01 1.48642528e-03 5.58683072e+01] [-2.23723850e-03 3.28874014e-05 9.99997497e-01 -3.33528267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27576923100003 meters 0.015415498425562982 Centerline is valid? [True, True] Translation: X:159.70, Y:55.90, Z:-0.33 [[ 7.41402960e-01 -6.71057135e-01 1.99310602e-03 1.59703554e+02] [ 6.71054795e-01 7.41405639e-01 1.77221003e-03 5.58954243e+01] [-2.66695423e-03 2.35615879e-05 9.99996443e-01 -3.32313794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.305769231 meters 0.014328976363559811 Centerline is valid? [True, True] Translation: X:159.72, Y:55.92, Z:-0.33 [[ 7.42462839e-01 -6.69884660e-01 1.86413798e-03 1.59722088e+02] [ 6.69882608e-01 7.42465179e-01 1.65810849e-03 5.59153746e+01] [-2.49479898e-03 1.76696686e-05 9.99996888e-01 -3.31964359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.335769231 meters 0.014504064570866256 Centerline is valid? [True, True] Translation: X:159.74, Y:55.93, Z:-0.33 [[ 7.42739898e-01 -6.69578433e-01 1.47155659e-03 1.59742081e+02] [ 6.69577153e-01 7.42741356e-01 1.30918480e-03 5.59340865e+01] [-1.96958784e-03 1.29368862e-05 9.99998060e-01 -3.32873921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.365769231 meters 0.014528664938460957 Centerline is valid? [True, True] Translation: X:159.76, Y:55.95, Z:-0.33 [[ 7.42109909e-01 -6.70277802e-01 7.42527992e-04 1.59761848e+02] [ 6.70277476e-01 7.42110281e-01 6.60596704e-04 5.59533220e+01] [-9.93820963e-04 7.46442848e-06 9.99999506e-01 -3.34777842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.395769231 meters 0.01868924510238223 Centerline is valid? [True, True] Translation: X:159.79, Y:55.97, Z:-0.34 [[ 7.39392036e-01 -6.73274819e-01 -6.60089718e-04 1.59787125e+02] [ 6.73274561e-01 7.39392331e-01 -5.88441005e-04 5.59663399e+01] [ 8.84247786e-04 -9.33302224e-06 9.99999609e-01 -3.39000169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.425769231 meters 0.020316059790716615 Centerline is valid? [True, True] Translation: X:159.81, Y:55.98, Z:-0.34 [[ 7.37387065e-01 -6.75469613e-01 -1.05754824e-03 1.59809903e+02] [ 6.75468955e-01 7.37387823e-01 -9.42775958e-04 5.59832945e+01] [ 1.41663970e-03 -1.91502057e-05 9.99998996e-01 -3.39545857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.455769231 meters 0.02818025781240461 Centerline is valid? [True, True] Translation: X:159.84, Y:55.99, Z:-0.34 [[ 7.34120555e-01 -6.79015936e-01 -2.09040616e-03 1.59837052e+02] [ 6.79013381e-01 7.34123529e-01 -1.86328623e-03 5.59933725e+01] [ 2.79981739e-03 -5.15370351e-05 9.99996079e-01 -3.43316090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.485769231 meters 0.02743337166819606 Centerline is valid? [True, True] Translation: X:159.86, Y:56.01, Z:-0.34 [[ 7.33180144e-01 -6.80029725e-01 -2.53945033e-03 1.59856580e+02] [ 6.80025958e-01 7.33184539e-01 -2.26457746e-03 5.60127841e+01] [ 3.40186571e-03 -6.65489139e-05 9.99994211e-01 -3.43503216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.515769231 meters 0.030455978199707367 Centerline is valid? [True, True] Translation: X:159.88, Y:56.03, Z:-0.34 [[ 7.32818727e-01 -6.80420491e-01 -2.16100007e-03 1.59878349e+02] [ 6.80417761e-01 7.32821911e-01 -1.92806022e-03 5.60273416e+01] [ 2.89551989e-03 -5.74641926e-05 9.99995806e-01 -3.43530375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.545769231 meters 0.025247883214562353 Centerline is valid? [True, True] Translation: X:159.89, Y:56.05, Z:-0.34 [[ 7.34044615e-01 -6.79100015e-01 -1.29371927e-03 1.59894258e+02] [ 6.79099033e-01 7.34045754e-01 -1.15484393e-03 5.60519706e+01] [ 1.73390367e-03 -3.08565347e-05 9.99998496e-01 -3.39462170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.575769231 meters 0.02437208565767181 Centerline is valid? [True, True] Translation: X:159.91, Y:56.07, Z:-0.34 [[ 7.34490127e-01 -6.78618644e-01 -9.95205638e-04 1.59913008e+02] [ 6.78618062e-01 7.34490800e-01 -8.88922935e-04 5.60717942e+01] [ 1.33420906e-03 -2.24594022e-05 9.99999110e-01 -3.39120655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.605769231 meters 0.02442637454753901 Centerline is valid? [True, True] Translation: X:159.93, Y:56.09, Z:-0.34 [[ 7.34412558e-01 -6.78702753e-01 -8.76359137e-04 1.59931617e+02] [ 6.78702301e-01 7.34413081e-01 -7.83202523e-04 5.60897013e+01] [ 1.17517132e-03 -1.95931947e-05 9.99999309e-01 -3.39699074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.635769231 meters 0.025753266031996506 Centerline is valid? [True, True] Translation: X:159.95, Y:56.11, Z:-0.34 [[ 7.32088188e-01 -6.81208618e-01 -1.30535378e-03 1.59954486e+02] [ 6.81207620e-01 7.32089351e-01 -1.16660255e-03 5.61072746e+01] [ 1.75033531e-03 -3.51610010e-05 9.99998468e-01 -3.42820192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.665769231 meters 0.029375084754378514 Centerline is valid? [True, True] Translation: X:159.98, Y:56.12, Z:-0.34 [[ 7.30274038e-01 -6.83152527e-01 -1.56645579e-03 1.59978820e+02] [ 6.83151094e-01 7.30275717e-01 -1.40010382e-03 5.61203386e+01] [ 2.10042909e-03 -4.76665175e-05 9.99997793e-01 -3.44373356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.695769231 meters 0.03271279301110109 Centerline is valid? [True, True] Translation: X:160.00, Y:56.13, Z:-0.34 [[ 7.26353351e-01 -6.87319557e-01 -1.62369052e-03 1.60003365e+02] [ 6.87318026e-01 7.26355163e-01 -1.45199638e-03 5.61342465e+01] [ 2.17736150e-03 -6.13293279e-05 9.99997628e-01 -3.44503933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72576923100002 meters 0.0411700120747463 Centerline is valid? [True, True] Translation: X:160.03, Y:56.14, Z:-0.35 [[ 7.24439834e-01 -6.89336528e-01 -1.44155069e-03 1.60031279e+02] [ 6.89335325e-01 7.24441266e-01 -1.28919415e-03 5.61435274e+01] [ 1.93300742e-03 -5.97682140e-05 9.99998130e-01 -3.45222480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75576923100002 meters 0.041072568125351226 Centerline is valid? [True, True] Translation: X:160.05, Y:56.16, Z:-0.34 [[ 7.22722389e-01 -6.91137284e-01 -1.26636758e-03 1.60052009e+02] [ 6.91136357e-01 7.22723496e-01 -1.13326474e-03 5.61614245e+01] [ 1.69847512e-03 -5.61968784e-05 9.99998556e-01 -3.44374979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78576923100002 meters 0.04531023376147226 Centerline is valid? [True, True] Translation: X:160.08, Y:56.17, Z:-0.34 [[ 7.20806705e-01 -6.93135893e-01 -5.72681940e-04 1.60077894e+02] [ 6.93135704e-01 7.20806932e-01 -5.12995956e-04 5.61729842e+01] [ 7.68369023e-04 -2.71753748e-05 9.99999704e-01 -3.44051669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81576923100002 meters 0.042220704650635585 Centerline is valid? [True, True] Translation: X:160.10, Y:56.19, Z:-0.34 [[ 7.20465157e-01 -6.93491028e-01 3.90079958e-04 1.60097311e+02] [ 6.93490940e-01 7.20465262e-01 3.48636614e-04 5.61932730e+01] [-5.22815423e-04 1.93363839e-05 9.99999863e-01 -3.41879027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84576923100002 meters 0.041975597796798894 Centerline is valid? [True, True] Translation: X:160.12, Y:56.21, Z:-0.34 [[ 7.20188686e-01 -6.93777676e-01 8.90671832e-04 1.60119274e+02] [ 6.93777219e-01 7.20189236e-01 7.97032518e-04 5.62103767e+01] [-1.19441563e-03 4.39140246e-05 9.99999286e-01 -3.40707743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87576923100002 meters 0.04255188524766677 Centerline is valid? [True, True] Translation: X:160.14, Y:56.22, Z:-0.34 [[ 7.20040874e-01 -6.93931500e-01 -4.61317134e-04 1.60144453e+02] [ 6.93931377e-01 7.20041022e-01 -4.13834938e-04 5.62224103e+01] [ 6.19340360e-04 -2.21443637e-05 9.99999808e-01 -3.44746603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90576923100002 meters 0.0430936573345187 Centerline is valid? [True, True] Translation: X:160.17, Y:56.24, Z:-0.35 [[ 7.19879416e-01 -6.94097199e-01 -1.64470085e-03 1.60168345e+02] [ 6.94095638e-01 7.19881290e-01 -1.47446735e-03 5.62378709e+01] [ 2.20741303e-03 -8.01409850e-05 9.99997560e-01 -3.48361991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93576923100002 meters 0.04285100353275867 Centerline is valid? [True, True] Translation: X:160.19, Y:56.25, Z:-0.35 [[ 7.19238073e-01 -6.94758150e-01 -2.77630352e-03 1.60191638e+02] [ 6.94753704e-01 7.19243418e-01 -2.48943795e-03 5.62546533e+01] [ 3.72639534e-03 -1.38348600e-04 9.99993047e-01 -3.50670937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96576923100002 meters 0.04479483282241562 Centerline is valid? [True, True] Translation: X:160.22, Y:56.27, Z:-0.35 [[ 7.19416414e-01 -6.94565920e-01 -4.26683211e-03 1.60219012e+02] [ 6.94555410e-01 7.19429037e-01 -3.82663123e-03 5.62651521e+01] [ 5.72753056e-03 -2.10610008e-04 9.99983575e-01 -3.53431923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99576923100003 meters 0.04318285720163011 Centerline is valid? [True, True] Translation: X:160.24, Y:56.28, Z:-0.35 [[ 7.19735407e-01 -6.94236791e-01 -4.02769944e-03 1.60241007e+02] [ 6.94227413e-01 7.19746650e-01 -3.61368467e-03 5.62822351e+01] [ 5.40767603e-03 -1.95242555e-04 9.99985359e-01 -3.50941533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02576923100003 meters 0.042836439223474666 Centerline is valid? [True, True] Translation: X:160.26, Y:56.30, Z:-0.35 [[ 7.20431080e-01 -6.93520108e-01 -2.98662105e-03 1.60263545e+02] [ 6.93514941e-01 7.20437257e-01 -2.68068472e-03 5.62978530e+01] [ 4.01078183e-03 -1.40017732e-04 9.99991947e-01 -3.48380347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.055769231 meters 0.03956362592712372 Centerline is valid? [True, True] Translation: X:160.29, Y:56.31, Z:-0.34 [[ 7.22577797e-01 -6.91289598e-01 -1.40588016e-04 1.60285194e+02] [ 6.91289586e-01 7.22577810e-01 -1.26671419e-04 5.63127211e+01] [ 1.89152415e-04 -5.65707696e-06 9.99999982e-01 -3.41467106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.085769231 meters 0.03769473957935599 Centerline is valid? [True, True] Translation: X:160.31, Y:56.33, Z:-0.34 [[ 7.23912286e-01 -6.89891440e-01 8.95941597e-04 1.60306518e+02] [ 6.89890973e-01 7.23912839e-01 8.04036159e-04 5.63299675e+01] [-1.20328129e-03 3.60503655e-05 9.99999275e-01 -3.39610723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.115769231 meters 0.033148834087170405 Centerline is valid? [True, True] Translation: X:160.33, Y:56.35, Z:-0.34 [[ 7.25118640e-01 -6.88622943e-01 1.18315283e-03 1.60325380e+02] [ 6.88622125e-01 7.25119604e-01 1.06235651e-03 5.63504552e+01] [-1.58949038e-03 4.44107096e-05 9.99998736e-01 -3.38739157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.145769231 meters 0.028803124058869416 Centerline is valid? [True, True] Translation: X:160.35, Y:56.37, Z:-0.34 [[ 7.27664565e-01 -6.85932073e-01 1.21377363e-03 1.60346333e+02] [ 6.85931207e-01 7.27665576e-01 1.09029013e-03 5.63696948e+01] [-1.63108626e-03 3.91997162e-05 9.99998669e-01 -3.38623534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.175769231 meters 0.030268522162613613 Centerline is valid? [True, True] Translation: X:160.37, Y:56.39, Z:-0.34 [[ 7.28882305e-01 -6.84638790e-01 5.58495255e-04 1.60369226e+02] [ 6.84638607e-01 7.28882519e-01 5.01708799e-04 5.63854927e+01] [-7.50566733e-04 1.66807472e-05 9.99999718e-01 -3.39376580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.205769231 meters 0.026070992711627803 Centerline is valid? [True, True] Translation: X:160.39, Y:56.41, Z:-0.34 [[ 7.30226459e-01 -6.83203151e-01 -1.66516716e-03 1.60387649e+02] [ 6.83201511e-01 7.30228356e-01 -1.49795842e-03 5.64063435e+01] [ 2.23936219e-03 -4.37958434e-05 9.99997492e-01 -3.43264362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.235769231 meters 0.025030049026569506 Centerline is valid? [True, True] Translation: X:160.41, Y:56.43, Z:-0.34 [[ 7.30575567e-01 -6.82828213e-01 -2.22993008e-03 1.60408431e+02] [ 6.82825267e-01 7.30578968e-01 -2.00660096e-03 5.64253002e+01] [ 2.99930376e-03 -5.66789662e-05 9.99995500e-01 -3.44749428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.265769231 meters 0.027015103141987108 Centerline is valid? [True, True] Translation: X:160.43, Y:56.44, Z:-0.35 [[ 7.30665736e-01 -6.82732613e-01 -1.93935854e-03 1.60430684e+02] [ 6.82730382e-01 7.30668309e-01 -1.74609328e-03 5.64402806e+01] [ 2.60914266e-03 -4.82484626e-05 9.99996595e-01 -3.45866386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.295769231 meters 0.024715198688022747 Centerline is valid? [True, True] Translation: X:160.45, Y:56.46, Z:-0.34 [[ 7.30533914e-01 -6.82876416e-01 -4.12810462e-06 1.60450546e+02] [ 6.82876416e-01 7.30533914e-01 -4.33223599e-06 5.64593523e+01] [ 5.97410217e-06 3.45860029e-07 1.00000000e+00 -3.40935887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.325769231 meters 0.02390638134232559 Centerline is valid? [True, True] Translation: X:160.47, Y:56.48, Z:-0.34 [[ 7.30396855e-01 -6.83022960e-01 2.66112428e-04 1.60470934e+02] [ 6.83022918e-01 7.30396903e-01 2.39139995e-04 5.64786937e+01] [-3.57705800e-04 7.09378708e-06 9.99999936e-01 -3.39776584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.355769231 meters 0.024193648966742 Centerline is valid? [True, True] Translation: X:160.49, Y:56.50, Z:-0.34 [[ 7.31608416e-01 -6.81725087e-01 -1.76315697e-04 1.60491863e+02] [ 6.81725069e-01 7.31608437e-01 -1.59220095e-04 5.64965594e+01] [ 2.37538385e-04 -3.71206889e-06 9.99999972e-01 -3.40237625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.385769231 meters 0.02105191574263987 Centerline is valid? [True, True] Translation: X:160.51, Y:56.52, Z:-0.34 [[ 7.32607057e-01 -6.80651760e-01 -2.84094698e-04 1.60509849e+02] [ 6.80651712e-01 7.32607112e-01 -2.56606603e-04 5.65189330e+01] [ 3.82789533e-04 -5.37773417e-06 9.99999927e-01 -3.40678695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.415769231 meters 0.01835139728974704 Centerline is valid? [True, True] Translation: X:160.53, Y:56.54, Z:-0.34 [[ 7.33632099e-01 -6.79546685e-01 -4.96337694e-04 1.60527787e+02] [ 6.79546537e-01 7.33632267e-01 -4.48108742e-04 5.65406978e+01] [ 6.68640158e-04 -8.53760419e-06 9.99999776e-01 -3.41184654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.445769231 meters 0.017081941096130076 Centerline is valid? [True, True] Translation: X:160.55, Y:56.56, Z:-0.34 [[ 7.35687339e-01 -6.77319335e-01 -1.63027086e-03 1.60546241e+02] [ 6.77317739e-01 7.35689145e-01 -1.47073612e-03 5.65613466e+01] [ 2.19553059e-03 -2.22094276e-05 9.99997590e-01 -3.44628640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47576923100002 meters 0.017081941096130076 Centerline is valid? [True, True] Translation: X:160.57, Y:56.58, Z:-0.34 [[ 7.35561871e-01 -6.77455591e-01 -1.62991880e-03 1.60566536e+02] [ 6.77453994e-01 7.35563677e-01 -1.47112637e-03 5.65799276e+01] [ 2.19553184e-03 -2.20905347e-05 9.99997590e-01 -3.44687703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50576923100002 meters 0.016193918722920676 Centerline is valid? [True, True] Translation: X:160.59, Y:56.60, Z:-0.34 [[ 7.36129026e-01 -6.76839319e-01 -1.61031225e-03 1.60585127e+02] [ 6.76837758e-01 7.36130787e-01 -1.45398507e-03 5.66004526e+01] [ 2.16951469e-03 -1.95995204e-05 9.99997646e-01 -3.44790619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53576923100002 meters 0.015692245866973764 Centerline is valid? [True, True] Translation: X:160.60, Y:56.62, Z:-0.34 [[ 7.36516266e-01 -6.76419335e-01 -8.20576627e-04 1.60603529e+02] [ 6.76418929e-01 7.36516723e-01 -7.41487579e-04 5.66196984e+01] [ 1.10592494e-03 -8.93589991e-06 9.99999388e-01 -3.44476655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56576923100002 meters 0.014868802869894839 Centerline is valid? [True, True] Translation: X:160.62, Y:56.64, Z:-0.34 [[ 7.36745252e-01 -6.76169891e-01 8.43660151e-04 1.60623508e+02] [ 6.76169463e-01 7.36745735e-01 7.61514815e-04 5.66399960e+01] [-1.13647641e-03 9.41480643e-06 9.99999354e-01 -3.42434585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59576923100002 meters 0.014619936610167323 Centerline is valid? [True, True] Translation: X:160.64, Y:56.66, Z:-0.34 [[ 7.36587721e-01 -6.76340369e-01 1.49444915e-03 1.60644842e+02] [ 6.76339023e-01 7.36589237e-01 1.34986903e-03 5.66583019e+01] [-2.01376608e-03 1.64573226e-05 9.99997972e-01 -3.41160583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62576923100002 meters 0.014933125916660378 Centerline is valid? [True, True] Translation: X:160.67, Y:56.67, Z:-0.34 [[ 7.36269460e-01 -6.76688070e-01 7.34054041e-04 1.60667627e+02] [ 6.76687745e-01 7.36269825e-01 6.63092515e-04 5.66732484e+01] [-9.89168635e-04 8.51060654e-06 9.99999511e-01 -3.43403329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65576923100002 meters 0.015979459617503633 Centerline is valid? [True, True] Translation: X:160.69, Y:56.69, Z:-0.35 [[ 7.35897183e-01 -6.77093284e-01 -1.43973129e-04 1.60689612e+02] [ 6.77093271e-01 7.35897197e-01 -1.30768120e-04 5.66886768e+01] [ 1.94491638e-04 -1.25134593e-06 9.99999981e-01 -3.45685593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68576923100002 meters 0.015546233749787511 Centerline is valid? [True, True] Translation: X:160.71, Y:56.71, Z:-0.35 [[ 7.35619577e-01 -6.77393769e-01 -1.23282875e-03 1.60712131e+02] [ 6.77392850e-01 7.35620610e-01 -1.11577719e-03 5.67059068e+01] [ 1.66271475e-03 -1.43218368e-05 9.99998618e-01 -3.48738813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71576923100002 meters 0.015771037969703316 Centerline is valid? [True, True] Translation: X:160.73, Y:56.72, Z:-0.35 [[ 7.35839219e-01 -6.77155036e-01 -1.30450577e-03 1.60733914e+02] [ 6.77154006e-01 7.35840375e-01 -1.18112698e-03 5.67224673e+01] [ 1.75971410e-03 -1.42317510e-05 9.99998452e-01 -3.50757626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74576923100003 meters 0.014584768737414471 Centerline is valid? [True, True] Translation: X:160.75, Y:56.74, Z:-0.35 [[ 7.36513844e-01 -6.76421522e-01 -1.13234874e-03 1.60754313e+02] [ 6.76420744e-01 7.36514715e-01 -1.02568507e-03 5.67415080e+01] [ 1.52778696e-03 -1.05129262e-05 9.99998833e-01 -3.49894349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77576923100003 meters 0.013586624068696894 Centerline is valid? [True, True] Translation: X:160.77, Y:56.76, Z:-0.35 [[ 7.37819958e-01 -6.74997399e-01 -4.70316908e-04 1.60773907e+02] [ 6.74997264e-01 7.37820108e-01 -4.26512821e-04 5.67605769e+01] [ 6.34904317e-04 -2.77295486e-06 9.99999798e-01 -3.48567418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.805769231 meters 0.011826255988027896 Centerline is valid? [True, True] Translation: X:160.79, Y:56.78, Z:-0.34 [[ 7.40928209e-01 -6.71582988e-01 1.29595546e-03 1.60791646e+02] [ 6.71581963e-01 7.40929342e-01 1.17360507e-03 5.67830677e+01] [-1.74838463e-03 7.83205769e-07 9.99998472e-01 -3.42434574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.835769231 meters 0.012022909696876914 Centerline is valid? [True, True] Translation: X:160.81, Y:56.80, Z:-0.34 [[ 7.42029008e-01 -6.70366509e-01 1.30175798e-03 1.60810186e+02] [ 6.70365472e-01 7.42030150e-01 1.17930028e-03 5.68027531e+01] [-1.75650708e-03 -2.42141301e-06 9.99998457e-01 -3.41939498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.865769231 meters 0.013039168146058305 Centerline is valid? [True, True] Translation: X:160.83, Y:56.82, Z:-0.35 [[ 7.43754998e-01 -6.68452153e-01 -4.70450231e-04 1.60829037e+02] [ 6.68452017e-01 7.43755147e-01 -4.27101634e-04 5.68238173e+01] [ 6.35396787e-04 3.18556895e-06 9.99999798e-01 -3.47310939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.895769231 meters 0.01384864518296388 Centerline is valid? [True, True] Translation: X:160.85, Y:56.84, Z:-0.35 [[ 7.44535748e-01 -6.67580669e-01 -1.60352636e-03 1.60849149e+02] [ 6.67579083e-01 7.44537474e-01 -1.45503687e-03 5.68437906e+01] [ 2.16523995e-03 1.28463103e-05 9.99997656e-01 -3.49452192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.925769231 meters 0.014833302081942631 Centerline is valid? [True, True] Translation: X:160.87, Y:56.86, Z:-0.35 [[ 7.45423440e-01 -6.66587984e-01 -2.08670635e-03 1.60867773e+02] [ 6.66585294e-01 7.45426361e-01 -1.89388846e-03 5.68637232e+01] [ 2.81792921e-03 2.07810857e-05 9.99996029e-01 -3.49680533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.955769231 meters 0.017106038075520677 Centerline is valid? [True, True] Translation: X:160.88, Y:56.89, Z:-0.34 [[ 7.47271677e-01 -6.64518411e-01 -5.66952477e-04 1.60882709e+02] [ 6.64518211e-01 7.47271892e-01 -5.15092042e-04 5.68878729e+01] [ 7.65955796e-04 8.16344783e-06 9.99999707e-01 -3.43966143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.985769231 meters 0.017817167695868795 Centerline is valid? [True, True] Translation: X:160.90, Y:56.91, Z:-0.34 [[ 7.48208455e-01 -6.63463420e-01 6.31828280e-04 1.60901199e+02] [ 6.63463172e-01 7.48208721e-01 5.73178718e-04 5.69093983e+01] [-8.53022542e-04 -9.66236778e-06 9.99999636e-01 -3.39696330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.015769231 meters 0.021627433605316933 Centerline is valid? [True, True] Translation: X:160.91, Y:56.94, Z:-0.33 [[ 7.50795866e-01 -6.60529592e-01 2.49513502e-03 1.60914411e+02] [ 6.60525708e-01 7.50800010e-01 2.26569973e-03 5.69351563e+01] [-3.36990912e-03 -5.29771689e-05 9.99994320e-01 -3.34551764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.045769231 meters 0.02348593786483156 Centerline is valid? [True, True] Translation: X:160.93, Y:56.96, Z:-0.33 [[ 7.52060722e-01 -6.59087736e-01 2.83301626e-03 1.60932497e+02] [ 6.59082717e-01 7.52066055e-01 2.57317017e-03 5.69579691e+01] [-3.82656027e-03 -6.79881569e-05 9.99992676e-01 -3.34621532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.075769231 meters 0.026215955525751965 Centerline is valid? [True, True] Translation: X:160.95, Y:56.98, Z:-0.34 [[ 7.53163745e-01 -6.57828058e-01 2.57285745e-03 1.60949213e+02] [ 6.57823908e-01 7.53168136e-01 2.33764213e-03 5.69809459e+01] [-3.47556083e-03 -6.81401545e-05 9.99993958e-01 -3.35239964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.105769231 meters 0.024760271785165346 Centerline is valid? [True, True] Translation: X:160.97, Y:57.00, Z:-0.34 [[ 7.53726837e-01 -6.57184230e-01 2.17782362e-03 1.60971284e+02] [ 6.57181252e-01 7.53729981e-01 1.97932882e-03 5.70000737e+01] [-2.94227464e-03 -6.06483975e-05 9.99995670e-01 -3.36974507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.135769231 meters 0.0252108368326118 Centerline is valid? [True, True] Translation: X:160.99, Y:57.02, Z:-0.34 [[ 7.52519957e-01 -6.58568664e-01 1.01467528e-03 1.60990617e+02] [ 6.58568018e-01 7.52520640e-01 9.22317606e-04 5.70197425e+01] [-1.37097357e-03 -2.58297169e-05 9.99999060e-01 -3.39654418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.165769231 meters 0.021898580231841346 Centerline is valid? [True, True] Translation: X:161.02, Y:57.03, Z:-0.34 [[ 7.50788496e-01 -6.60542517e-01 4.67169458e-04 1.61015073e+02] [ 6.60542381e-01 7.50788641e-01 4.24411776e-04 5.70343996e+01] [-6.31087545e-04 -1.00582526e-05 9.99999801e-01 -3.40900394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.195769231 meters 0.018951323666027156 Centerline is valid? [True, True] Translation: X:161.04, Y:57.05, Z:-0.34 [[ 7.48084083e-01 -6.63603513e-01 -7.63186022e-04 1.61039753e+02] [ 6.63603150e-01 7.48084472e-01 -6.94658040e-04 5.70472675e+01] [ 1.03190513e-03 1.32099750e-05 9.99999467e-01 -3.43687520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22576923100002 meters 0.01854727826440176 Centerline is valid? [True, True] Translation: X:161.06, Y:57.06, Z:-0.34 [[ 7.47483688e-01 -6.64279735e-01 -7.55103867e-04 1.61060599e+02] [ 6.64279379e-01 7.47484069e-01 -6.87797038e-04 5.70639110e+01] [ 1.02131774e-03 1.25171390e-05 9.99999478e-01 -3.43976625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25576923100002 meters 0.01854896224382828 Centerline is valid? [True, True] Translation: X:161.08, Y:57.08, Z:-0.34 [[ 7.47409533e-01 -6.64363465e-01 -4.19692909e-04 1.61081768e+02] [ 6.64363355e-01 7.47409651e-01 -3.82640150e-04 5.70819519e+01] [ 5.67894666e-04 7.16030671e-06 9.99999839e-01 -3.42828210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28576923100002 meters 0.020955182811720863 Centerline is valid? [True, True] Translation: X:161.10, Y:57.10, Z:-0.34 [[ 7.48832957e-01 -6.62758728e-01 -2.66441270e-04 1.61101460e+02] [ 6.62758683e-01 7.48833005e-01 -2.43159585e-04 5.71021733e+01] [ 3.60676154e-04 5.49964591e-06 9.99999935e-01 -3.42777534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31576923100002 meters 0.021180831119105674 Centerline is valid? [True, True] Translation: X:161.12, Y:57.12, Z:-0.34 [[ 7.49867066e-01 -6.61587995e-01 -8.40892294e-04 1.61122073e+02] [ 6.61587552e-01 7.49867538e-01 -7.66636174e-04 5.71210376e+01] [ 1.13775512e-03 1.85513451e-05 9.99999353e-01 -3.43875748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34576923100002 meters 0.02436092951870789 Centerline is valid? [True, True] Translation: X:161.14, Y:57.14, Z:-0.35 [[ 7.51357296e-01 -6.59889800e-01 -2.76862507e-03 1.61140393e+02] [ 6.59884977e-01 7.51362394e-01 -2.52396379e-03 5.71417438e+01] [ 3.74577872e-03 6.94245156e-05 9.99992982e-01 -3.51978933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37576923100002 meters 0.025269802438394055 Centerline is valid? [True, True] Translation: X:161.16, Y:57.16, Z:-0.35 [[ 7.51143970e-01 -6.60130624e-01 -3.20869810e-03 1.61161070e+02] [ 6.60124143e-01 7.51150819e-01 -2.92623658e-03 5.71594466e+01] [ 4.34191459e-03 7.98858757e-05 9.99990571e-01 -3.54656320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40576923100002 meters 0.023414385721566743 Centerline is valid? [True, True] Translation: X:161.19, Y:57.17, Z:-0.35 [[ 7.50605844e-01 -6.60744372e-01 -2.78241650e-03 1.61185470e+02] [ 6.60739499e-01 7.50610998e-01 -2.53847847e-03 5.71746556e+01] [ 3.76579779e-03 6.69442916e-05 9.99992907e-01 -3.53072998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43576923100002 meters 0.02348079033946554 Centerline is valid? [True, True] Translation: X:161.21, Y:57.19, Z:-0.35 [[ 7.50298128e-01 -6.61097928e-01 -1.49956551e-03 1.61208414e+02] [ 6.61096512e-01 7.50299626e-01 -1.36885248e-03 5.71903838e+01] [ 2.03006898e-03 3.56899247e-05 9.99997939e-01 -3.48655571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46576923100002 meters 0.02379000109515031 Centerline is valid? [True, True] Translation: X:161.23, Y:57.21, Z:-0.35 [[ 7.50788770e-01 -6.60540501e-01 -1.57173080e-03 1.61229022e+02] [ 6.60538943e-01 7.50790414e-01 -1.43518739e-03 5.72094506e+01] [ 2.12803982e-03 3.93331768e-05 9.99997735e-01 -3.48724620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49576923100003 meters 0.02738734835939691 Centerline is valid? [True, True] Translation: X:161.24, Y:57.23, Z:-0.35 [[ 7.52873442e-01 -6.58161525e-01 -2.23317658e-03 1.61244839e+02] [ 6.58158368e-01 7.52876752e-01 -2.03965958e-03 5.72342602e+01] [ 3.02373219e-03 6.58216781e-05 9.99995426e-01 -3.51621295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52576923100003 meters 0.030271917950968716 Centerline is valid? [True, True] Translation: X:161.26, Y:57.26, Z:-0.35 [[ 7.54284851e-01 -6.56544161e-01 -2.03193811e-03 1.61260721e+02] [ 6.56541540e-01 7.54287585e-01 -1.85626795e-03 5.72567689e+01] [ 2.75138758e-03 6.61030151e-05 9.99996213e-01 -3.52339627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.555769231 meters 0.031103892335969448 Centerline is valid? [True, True] Translation: X:161.28, Y:57.28, Z:-0.35 [[ 7.55695231e-01 -6.54922173e-01 -1.29054626e-03 1.61279963e+02] [ 6.54921112e-01 7.55696331e-01 -1.17965633e-03 5.72775753e+01] [ 1.74784416e-03 4.62546730e-05 9.99998471e-01 -3.50841312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.585769231 meters 0.03450355291151414 Centerline is valid? [True, True] Translation: X:161.30, Y:57.30, Z:-0.35 [[ 7.56784979e-01 -6.53663768e-01 -4.17462611e-04 1.61296737e+02] [ 6.53663657e-01 7.56785094e-01 -3.82099247e-04 5.72999015e+01] [ 5.65693914e-04 1.62868337e-05 9.99999840e-01 -3.49239096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.615769231 meters 0.03657100772456793 Centerline is valid? [True, True] Translation: X:161.32, Y:57.32, Z:-0.35 [[ 7.57885139e-01 -6.52387958e-01 2.60251318e-04 1.61315144e+02] [ 6.52387915e-01 7.57885184e-01 2.37460155e-04 5.73223154e+01] [-3.52156764e-04 -1.01827081e-05 9.99999938e-01 -3.46973046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.645769231 meters 0.03770792875658342 Centerline is valid? [True, True] Translation: X:161.33, Y:57.34, Z:-0.35 [[ 7.58223446e-01 -6.51994790e-01 2.14545507e-05 1.61332388e+02] [ 6.51994790e-01 7.58223446e-01 1.91458122e-05 5.73434352e+01] [-2.87503132e-05 -5.28548404e-07 1.00000000e+00 -3.47803806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.675769231 meters 0.03986306372940518 Centerline is valid? [True, True] Translation: X:161.35, Y:57.37, Z:-0.35 [[ 7.59297814e-01 -6.50743272e-01 1.54142061e-04 1.61346750e+02] [ 6.50743256e-01 7.59297830e-01 1.40513192e-04 5.73691702e+01] [-2.08477746e-04 -6.38445293e-06 9.99999978e-01 -3.48394704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.705769231 meters 0.03974285141272458 Centerline is valid? [True, True] Translation: X:161.37, Y:57.39, Z:-0.35 [[ 7.60208108e-01 -6.49679512e-01 4.05436678e-04 1.61365324e+02] [ 6.49679407e-01 7.60208216e-01 3.70583939e-04 5.73912043e+01] [-5.48977086e-04 -1.83170545e-05 9.99999849e-01 -3.46884582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.735769231 meters 0.043525670083595244 Centerline is valid? [True, True] Translation: X:161.38, Y:57.42, Z:-0.35 [[ 7.61290961e-01 -6.48410406e-01 1.33657504e-04 1.61379358e+02] [ 6.48410394e-01 7.61290973e-01 1.22032226e-04 5.74165069e+01] [-1.80879217e-04 -6.23711585e-06 9.99999984e-01 -3.47182586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.765769231 meters 0.042967201998889135 Centerline is valid? [True, True] Translation: X:161.40, Y:57.44, Z:-0.35 [[ 7.62669294e-01 -6.46787972e-01 -9.30898826e-04 1.61396199e+02] [ 6.46787412e-01 7.62669861e-01 -8.53027360e-04 5.74401508e+01] [ 1.26169631e-03 4.84841318e-05 9.99999203e-01 -3.49565355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.795769231 meters 0.047337759839342575 Centerline is valid? [True, True] Translation: X:161.41, Y:57.46, Z:-0.35 [[ 7.62707150e-01 -6.46742766e-01 -1.26395222e-03 1.61411115e+02] [ 6.46741732e-01 7.62708195e-01 -1.15839766e-03 5.74646442e+01] [ 1.71321202e-03 6.60675292e-05 9.99998530e-01 -3.51415229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.825769231 meters 0.04298254844912501 Centerline is valid? [True, True] Translation: X:161.43, Y:57.48, Z:-0.35 [[ 7.62415130e-01 -6.47086412e-01 -1.53157283e-03 1.61434707e+02] [ 6.47084893e-01 7.62416664e-01 -1.40414609e-03 5.74804032e+01] [ 2.07630050e-03 7.94845818e-05 9.99997841e-01 -3.51012437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.855769231 meters 0.045631033861275004 Centerline is valid? [True, True] Translation: X:161.45, Y:57.50, Z:-0.35 [[ 7.61385089e-01 -6.48297029e-01 -1.92555030e-03 1.61451342e+02] [ 6.48294632e-01 7.61387518e-01 -1.76574117e-03 5.75040757e+01] [ 2.61081472e-03 9.60850762e-05 9.99996587e-01 -3.52439556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.885769231 meters 0.03908015012565715 Centerline is valid? [True, True] Translation: X:161.48, Y:57.52, Z:-0.35 [[ 7.60436387e-01 -6.49410410e-01 -1.61919891e-03 1.61477216e+02] [ 6.49408716e-01 7.60438106e-01 -1.48538929e-03 5.75185159e+01] [ 2.19592782e-03 7.80221820e-05 9.99997586e-01 -3.50475420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.915769231 meters 0.0397617478332857 Centerline is valid? [True, True] Translation: X:161.49, Y:57.54, Z:-0.34 [[ 7.59169496e-01 -6.50892975e-01 1.12356540e-04 1.61494680e+02] [ 6.50892967e-01 7.59169504e-01 1.02548960e-04 5.75408252e+01] [-1.52046056e-04 -4.71996019e-06 9.99999988e-01 -3.44560504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.945769231 meters 0.03990092806134472 Centerline is valid? [True, True] Translation: X:161.51, Y:57.56, Z:-0.34 [[ 7.59358370e-01 -6.50672171e-01 7.69582793e-04 1.61513637e+02] [ 6.50671789e-01 7.59358759e-01 7.05746451e-04 5.75622997e+01] [-1.04359901e-03 -3.51686620e-05 9.99999455e-01 -3.42102158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97576923100002 meters 0.04162746473068064 Centerline is valid? [True, True] Translation: X:161.53, Y:57.59, Z:-0.34 [[ 7.60143986e-01 -6.49754049e-01 8.91873212e-04 1.61531015e+02] [ 6.49753535e-01 7.60144508e-01 8.18306665e-04 5.75851402e+01] [-1.20965059e-03 -4.25331181e-05 9.99999267e-01 -3.42289066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00576923100002 meters 0.044592076083165136 Centerline is valid? [True, True] Translation: X:161.55, Y:57.61, Z:-0.34 [[ 7.61917199e-01 -6.47673990e-01 7.64608213e-04 1.61546236e+02] [ 6.47673611e-01 7.61917582e-01 7.01622106e-04 5.76105031e+01] [-1.03699083e-03 -3.93613875e-05 9.99999462e-01 -3.44012198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03576923100002 meters 0.04523092435861561 Centerline is valid? [True, True] Translation: X:161.57, Y:57.63, Z:-0.34 [[ 7.62210846e-01 -6.47328452e-01 7.07660097e-04 1.61565739e+02] [ 6.47328127e-01 7.62211174e-01 6.49591595e-04 5.76319186e+01] [-9.59885555e-04 -3.70374741e-05 9.99999539e-01 -3.44198412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06576923100002 meters 0.044401362157767126 Centerline is valid? [True, True] Translation: X:161.58, Y:57.65, Z:-0.34 [[ 7.61211065e-01 -6.48503742e-01 7.82416630e-04 1.61583503e+02] [ 6.48503345e-01 7.61211466e-01 7.18484056e-04 5.76538285e+01] [-1.06152411e-03 -3.95182120e-05 9.99999436e-01 -3.44642896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09576923100002 meters 0.04188798889607918 Centerline is valid? [True, True] Translation: X:161.61, Y:57.67, Z:-0.35 [[ 7.60433130e-01 -6.49416218e-01 1.72412801e-04 1.61605330e+02] [ 6.49416199e-01 7.60433150e-01 1.58012005e-04 5.76730125e+01] [-2.33723968e-04 -8.18989790e-06 9.99999973e-01 -3.45926804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12576923100002 meters 0.044702024072686905 Centerline is valid? [True, True] Translation: X:161.62, Y:57.70, Z:-0.35 [[ 7.59827062e-01 -6.50124585e-01 -9.27152049e-04 1.61622133e+02] [ 6.50124028e-01 7.59827626e-01 -8.52517380e-04 5.76963782e+01] [ 1.25871825e-03 4.50019519e-05 9.99999207e-01 -3.48633108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15576923100002 meters 0.04179614176361084 Centerline is valid? [True, True] Translation: X:161.64, Y:57.72, Z:-0.35 [[ 7.59423855e-01 -6.50592070e-01 -2.31667284e-03 1.61642025e+02] [ 6.50588589e-01 7.59427381e-01 -2.13107673e-03 5.77161898e+01] [ 3.14580640e-03 1.11189593e-04 9.99995046e-01 -3.51467610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18576923100002 meters 0.042676732002885534 Centerline is valid? [True, True] Translation: X:161.66, Y:57.74, Z:-0.35 [[ 7.59676388e-01 -6.50298195e-01 -2.01100044e-03 1.61659049e+02] [ 6.50295569e-01 7.59679043e-01 -1.85057646e-03 5.77392472e+01] [ 2.73114142e-03 9.80945705e-05 9.99996266e-01 -3.50930550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21576923100002 meters 0.04905094053983631 Centerline is valid? [True, True] Translation: X:161.67, Y:57.77, Z:-0.35 [[ 7.61699875e-01 -6.47930012e-01 -2.14569766e-05 1.61666403e+02] [ 6.47930012e-01 7.61699875e-01 -2.01199828e-05 5.77710078e+01] [ 2.93801171e-05 1.42276929e-06 1.00000000e+00 -3.47588872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24576923100003 meters 0.051147550890404805 Centerline is valid? [True, True] Translation: X:161.68, Y:57.80, Z:-0.35 [[ 7.62709763e-01 -6.46740702e-01 5.31267316e-04 1.61681884e+02] [ 6.46740518e-01 7.62709947e-01 4.88533651e-04 5.77955287e+01] [-7.21157463e-04 -2.90172859e-05 9.99999740e-01 -3.46414558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27576923100003 meters 0.05179249046233054 Centerline is valid? [True, True] Translation: X:161.70, Y:57.82, Z:-0.35 [[ 7.63084125e-01 -6.46298990e-01 4.83454489e-04 1.61699112e+02] [ 6.46298837e-01 7.63084278e-01 4.44704712e-04 5.78192559e+01] [-6.56328725e-04 -2.68910319e-05 9.99999784e-01 -3.46403389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.305769231 meters 0.04633047930193365 Centerline is valid? [True, True] Translation: X:161.72, Y:57.84, Z:-0.35 [[ 7.61414542e-01 -6.48265290e-01 9.58944629e-05 1.61717384e+02] [ 6.48265284e-01 7.61414548e-01 8.78043152e-05 5.78407711e+01] [-1.29935929e-04 -4.69043107e-06 9.99999992e-01 -3.47303464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.335769231 meters 0.04633047930193365 Centerline is valid? [True, True] Translation: X:161.74, Y:57.86, Z:-0.35 [[ 7.61296037e-01 -6.48404454e-01 9.58792078e-05 1.61737488e+02] [ 6.48404448e-01 7.61296043e-01 8.78209253e-05 5.78595489e+01] [-1.29935941e-04 -4.68921761e-06 9.99999992e-01 -3.47362550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.365769231 meters 0.046826471350666275 Centerline is valid? [True, True] Translation: X:161.75, Y:57.88, Z:-0.35 [[ 7.59670610e-01 -6.50308053e-01 1.59654457e-05 1.61752912e+02] [ 6.50308053e-01 7.59670610e-01 1.43436570e-05 5.78822318e+01] [-2.14562755e-05 -5.13996726e-07 1.00000000e+00 -3.48228691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.395769231 meters 0.04125794073103892 Centerline is valid? [True, True] Translation: X:161.77, Y:57.90, Z:-0.35 [[ 7.57559396e-01 -6.52766177e-01 2.82598961e-04 1.61774689e+02] [ 6.52766125e-01 7.57559448e-01 2.60053896e-04 5.78997025e+01] [-3.83839901e-04 -1.25352436e-05 9.99999926e-01 -3.47638815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.425769231 meters 0.03323965287878744 Centerline is valid? [True, True] Translation: X:161.80, Y:57.92, Z:-0.34 [[ 7.52676036e-01 -6.58389100e-01 1.60566953e-03 1.61795748e+02] [ 6.58387438e-01 7.52677746e-01 1.48058574e-03 5.79180426e+01] [-2.18335324e-03 -5.72487614e-05 9.99997615e-01 -3.44873918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.455769231 meters 0.02976502551101707 Centerline is valid? [True, True] Translation: X:161.82, Y:57.94, Z:-0.34 [[ 7.50003299e-01 -6.61429991e-01 2.32801632e-03 1.61815328e+02] [ 6.61426508e-01 7.50006908e-01 2.14752136e-03 5.79362644e+01] [-3.16646336e-03 -7.08363982e-05 9.99994984e-01 -3.42610711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.485769231 meters 0.02139781057535149 Centerline is valid? [True, True] Translation: X:161.84, Y:57.95, Z:-0.34 [[ 7.45490614e-01 -6.66513913e-01 1.71677998e-03 1.61839523e+02] [ 6.66512032e-01 7.45492590e-01 1.58394298e-03 5.79524371e+01] [-2.33556679e-03 -3.65601165e-05 9.99997272e-01 -3.43307557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.515769231 meters 0.019670016522142734 Centerline is valid? [True, True] Translation: X:161.86, Y:57.97, Z:-0.35 [[ 7.43384881e-01 -6.68863672e-01 5.54160174e-04 1.61859900e+02] [ 6.68863477e-01 7.43385087e-01 5.11224790e-04 5.79707484e+01] [-7.53894100e-04 -9.37927885e-06 9.99999716e-01 -3.46066293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.545769231 meters 0.015528392372384783 Centerline is valid? [True, True] Translation: X:161.88, Y:57.99, Z:-0.35 [[ 7.40974557e-01 -6.71533049e-01 2.65886101e-04 1.61884991e+02] [ 6.71533004e-01 7.40974604e-01 2.45063050e-04 5.79865061e+01] [-3.61582786e-04 -3.03419254e-06 9.99999935e-01 -3.46789782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.575769231 meters 0.011537430823878756 Centerline is valid? [True, True] Translation: X:161.91, Y:58.00, Z:-0.34 [[ 7.35613604e-01 -6.77400120e-01 1.30506727e-03 1.61912241e+02] [ 6.77399049e-01 7.35614761e-01 1.20500127e-03 5.79979712e+01] [-1.77629475e-03 -2.36400511e-06 9.99998422e-01 -3.44070548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.605769231 meters 0.01174831664479025 Centerline is valid? [True, True] Translation: X:161.94, Y:58.01, Z:-0.34 [[ 7.32565475e-01 -6.80692803e-01 2.26576577e-03 1.61938028e+02] [ 6.80689584e-01 7.32568978e-01 2.09320835e-03 5.80109063e+01] [-3.08466158e-03 8.87099079e-06 9.99995242e-01 -3.41772907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.635769231 meters 0.017407998726592152 Centerline is valid? [True, True] Translation: X:161.97, Y:58.02, Z:-0.34 [[ 7.26427624e-01 -6.87236407e-01 3.00457243e-03 1.61972043e+02] [ 6.87230799e-01 7.26433836e-01 2.77693652e-03 5.80161082e+01] [-4.09103496e-03 4.75913149e-05 9.99991631e-01 -3.39958783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.665769231 meters 0.023322279460881314 Centerline is valid? [True, True] Translation: X:162.00, Y:58.03, Z:-0.34 [[ 7.23611454e-01 -6.90204671e-01 1.99388193e-03 1.62000327e+02] [ 6.90202211e-01 7.23614200e-01 1.84330036e-03 5.80259427e+01] [-2.71505579e-03 4.23484589e-05 9.99996313e-01 -3.42382520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.695769231 meters 0.023629303095108373 Centerline is valid? [True, True] Translation: X:162.02, Y:58.04, Z:-0.35 [[ 7.21021613e-01 -6.92912452e-01 4.10055754e-04 1.62023016e+02] [ 6.92912348e-01 7.21021729e-01 3.78786837e-04 5.80424105e+01] [-5.58125225e-04 1.10191995e-05 9.99999844e-01 -3.46263416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72576923100002 meters 0.032834816535530505 Centerline is valid? [True, True] Translation: X:162.06, Y:58.05, Z:-0.35 [[ 7.17622062e-01 -6.96431374e-01 -1.38505636e-03 1.62056871e+02] [ 6.96430194e-01 7.17623397e-01 -1.28238410e-03 5.80461962e+01] [ 1.88704137e-03 -4.43279425e-05 9.99998219e-01 -3.51534228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75576923100002 meters 0.03212428506190326 Centerline is valid? [True, True] Translation: X:162.08, Y:58.06, Z:-0.35 [[ 7.16975505e-01 -6.97097084e-01 -1.33449343e-03 1.62080072e+02] [ 6.97095989e-01 7.16976746e-01 -1.23599425e-03 5.80629906e+01] [ 1.81840874e-03 -4.40924146e-05 9.99998346e-01 -3.49505473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78576923100002 meters 0.031239868089366928 Centerline is valid? [True, True] Translation: X:162.10, Y:58.08, Z:-0.35 [[ 7.17216239e-01 -6.96850176e-01 -8.36616037e-04 1.62101770e+02] [ 6.96849745e-01 7.17216726e-01 -7.75444122e-04 5.80790792e+01] [ 1.14040339e-03 -2.68345552e-05 9.99999349e-01 -3.46865628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81576923100002 meters 0.026305144465218904 Centerline is valid? [True, True] Translation: X:162.12, Y:58.10, Z:-0.35 [[ 7.18938875e-01 -6.95072122e-01 -1.28025624e-03 1.62121724e+02] [ 6.95071110e-01 7.18940014e-01 -1.18673493e-03 5.80985837e+01] [ 1.74529381e-03 -3.66792470e-05 9.99998476e-01 -3.47113975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84576923100002 meters 0.026015850058881983 Centerline is valid? [True, True] Translation: X:162.14, Y:58.12, Z:-0.35 [[ 7.20185718e-01 -6.93778979e-01 -1.80541178e-03 1.62142970e+02] [ 6.93776962e-01 7.20187980e-01 -1.67350295e-03 5.81158439e+01] [ 2.46127703e-03 -4.73201756e-05 9.99996970e-01 -3.49502607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87576923100002 meters 0.02220555823000253 Centerline is valid? [True, True] Translation: X:162.16, Y:58.14, Z:-0.35 [[ 7.22952984e-01 -6.90894194e-01 -2.04858720e-03 1.62161692e+02] [ 6.90891583e-01 7.22955885e-01 -1.89977266e-03 5.81356137e+01] [ 2.79358007e-03 -4.19053406e-05 9.99996097e-01 -3.51298411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90576923100002 meters 0.01949639377272507 Centerline is valid? [True, True] Translation: X:162.18, Y:58.16, Z:-0.35 [[ 7.24341616e-01 -6.89439006e-01 -1.75541293e-03 1.62179988e+02] [ 6.89437083e-01 7.24343742e-01 -1.62849196e-03 5.81565007e+01] [ 2.39426825e-03 -3.06622732e-05 9.99997133e-01 -3.50562053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93576923100002 meters 0.018169933582626533 Centerline is valid? [True, True] Translation: X:162.20, Y:58.18, Z:-0.35 [[ 7.25720492e-01 -6.87988241e-01 -1.39551047e-03 1.62198719e+02] [ 6.87987022e-01 7.25721834e-01 -1.29521633e-03 5.81762650e+01] [ 1.90384602e-03 -2.01280569e-05 9.99998187e-01 -3.49572637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96576923100002 meters 0.015619941471383942 Centerline is valid? [True, True] Translation: X:162.22, Y:58.20, Z:-0.35 [[ 7.26862853e-01 -6.86781641e-01 -1.17036725e-03 1.62215913e+02] [ 6.86780782e-01 7.26863795e-01 -1.08675425e-03 5.81982660e+01] [ 1.59706045e-03 -1.38644428e-05 9.99998725e-01 -3.48878981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99576923100003 meters 0.013035764385177787 Centerline is valid? [True, True] Translation: X:162.23, Y:58.22, Z:-0.35 [[ 7.29312140e-01 -6.84181118e-01 -2.09203911e-05 1.62231333e+02] [ 6.84181118e-01 7.29312140e-01 -1.99572821e-05 5.82210505e+01] [ 2.89118907e-05 2.41751552e-07 1.00000000e+00 -3.46300791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02576923100003 meters 0.011921713045379185 Centerline is valid? [True, True] Translation: X:162.25, Y:58.24, Z:-0.35 [[ 7.30550777e-01 -6.82858213e-01 4.72719384e-04 1.62247157e+02] [ 6.82858072e-01 7.30550930e-01 4.38449424e-04 5.82424352e+01] [-6.44744376e-04 2.49068025e-06 9.99999792e-01 -3.45089577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.055769231 meters 0.011418552898591913 Centerline is valid? [True, True] Translation: X:162.26, Y:58.27, Z:-0.34 [[ 7.33672939e-01 -6.79502067e-01 9.79463852e-04 1.62259262e+02] [ 6.79501458e-01 7.33673593e-01 9.09555531e-04 5.82711482e+01] [-1.33665163e-03 -1.76916338e-06 9.99999107e-01 -3.44728224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.085769231 meters 0.01232361120259428 Centerline is valid? [True, True] Translation: X:162.27, Y:58.29, Z:-0.35 [[ 7.35082561e-01 -6.77977178e-01 7.58270201e-04 1.62274433e+02] [ 6.77976812e-01 7.35082952e-01 7.04270456e-04 5.82943012e+01] [-1.03487079e-03 -3.60731716e-06 9.99999465e-01 -3.46121905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.115769231 meters 0.01369741188746605 Centerline is valid? [True, True] Translation: X:162.29, Y:58.32, Z:-0.35 [[ 7.36407132e-01 -6.76538642e-01 -2.99181116e-05 1.62290734e+02] [ 6.76538642e-01 7.36407133e-01 -2.83281709e-05 5.83181606e+01] [ 4.11970130e-05 6.20308510e-07 9.99999999e-01 -3.48656302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.145769231 meters 0.01320575879408181 Centerline is valid? [True, True] Translation: X:162.31, Y:58.34, Z:-0.35 [[ 7.35688559e-01 -6.77319928e-01 -2.44829572e-04 1.62310908e+02] [ 6.77319889e-01 7.35688600e-01 -2.28300825e-04 5.83364860e+01] [ 3.34751023e-04 2.13036687e-06 9.99999944e-01 -3.50047595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.175769231 meters 0.01223297494467001 Centerline is valid? [True, True] Translation: X:162.33, Y:58.35, Z:-0.35 [[ 7.34483150e-01 -6.78626868e-01 -2.76424121e-04 1.62332796e+02] [ 6.78626819e-01 7.34483202e-01 -2.57765478e-04 5.83536195e+01] [ 3.77955452e-04 1.73557813e-06 9.99999929e-01 -3.50002238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.205769231 meters 0.011323312924715992 Centerline is valid? [True, True] Translation: X:162.36, Y:58.37, Z:-0.35 [[ 7.31475140e-01 -6.81867781e-01 6.69031279e-04 1.62356129e+02] [ 6.81867497e-01 7.31475446e-01 6.22258750e-04 5.83688768e+01] [-9.13678147e-04 1.02387744e-06 9.99999583e-01 -3.48360622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.235769231 meters 0.011655396987694687 Centerline is valid? [True, True] Translation: X:162.38, Y:58.39, Z:-0.35 [[ 7.30017352e-01 -6.83428347e-01 5.99350365e-04 1.62378169e+02] [ 6.83428120e-01 7.30017598e-01 5.57595036e-04 5.83864348e+01] [-8.18612568e-04 2.55884098e-06 9.99999665e-01 -3.48299404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.265769231 meters 0.013445005909071809 Centerline is valid? [True, True] Translation: X:162.40, Y:58.40, Z:-0.35 [[ 7.27948584e-01 -6.85630858e-01 -1.08885149e-03 1.62399631e+02] [ 6.85630107e-01 7.27949399e-01 -1.01494142e-03 5.84030815e+01] [ 1.48850394e-03 -7.72418791e-06 9.99998892e-01 -3.53406601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.295769231 meters 0.014034596422319351 Centerline is valid? [True, True] Translation: X:162.42, Y:58.42, Z:-0.36 [[ 7.27311870e-01 -6.86303784e-01 -2.13559554e-03 1.62420440e+02] [ 6.86300897e-01 7.27315005e-01 -1.99078035e-03 5.84221083e+01] [ 2.91953077e-03 -1.77429508e-05 9.99995738e-01 -3.56048890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.325769231 meters 0.014364753590117772 Centerline is valid? [True, True] Translation: X:162.44, Y:58.44, Z:-0.36 [[ 7.26922910e-01 -6.86715370e-01 -2.25474066e-03 1.62440854e+02] [ 6.86712151e-01 7.26926406e-01 -2.10274271e-03 5.84405001e+01] [ 3.08301626e-03 -1.98259634e-05 9.99995247e-01 -3.56572646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.355769231 meters 0.015148617063744658 Centerline is valid? [True, True] Translation: X:162.46, Y:58.46, Z:-0.35 [[ 7.25881112e-01 -6.87819700e-01 -8.18814145e-04 1.62462466e+02] [ 6.87819276e-01 7.25881574e-01 -7.64104347e-04 5.84554372e+01] [ 1.11992812e-03 -8.54723903e-06 9.99999373e-01 -3.52471678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.385769231 meters 0.015760197216446906 Centerline is valid? [True, True] Translation: X:162.48, Y:58.47, Z:-0.35 [[ 7.24996890e-01 -6.88751998e-01 -4.42656241e-04 1.62484372e+02] [ 6.88751873e-01 7.24997025e-01 -4.13523099e-04 5.84729867e+01] [ 6.05739318e-04 -5.07735403e-06 9.99999817e-01 -3.50685833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.415769231 meters 0.01864357661481779 Centerline is valid? [True, True] Translation: X:162.51, Y:58.49, Z:-0.35 [[ 7.23046197e-01 -6.90798994e-01 -9.72650689e-04 1.62508793e+02] [ 6.90798397e-01 7.23046851e-01 -9.08375917e-04 5.84868102e+01] [ 1.33077719e-03 -1.51077853e-05 9.99999114e-01 -3.51414835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.445769231 meters 0.019930149065308562 Centerline is valid? [True, True] Translation: X:162.53, Y:58.50, Z:-0.35 [[ 7.21890914e-01 -6.92005430e-01 -1.41167046e-03 1.62531395e+02] [ 6.92004175e-01 7.21892294e-01 -1.31856657e-03 5.85036206e+01] [ 1.93152925e-03 -2.50206264e-05 9.99998134e-01 -3.52335751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47576923100002 meters 0.021691314708052876 Centerline is valid? [True, True] Translation: X:162.55, Y:58.52, Z:-0.35 [[ 7.20654360e-01 -6.93293041e-01 -1.43250600e-03 1.62554097e+02] [ 6.93291750e-01 7.20655783e-01 -1.33822391e-03 5.85181326e+01] [ 1.96012506e-03 -2.87476974e-05 9.99998079e-01 -3.52407288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50576923100002 meters 0.02167160981772706 Centerline is valid? [True, True] Translation: X:162.58, Y:58.54, Z:-0.35 [[ 7.19601251e-01 -6.94386384e-01 -1.26042438e-03 1.62576304e+02] [ 6.94385386e-01 7.19602354e-01 -1.17807325e-03 5.85355103e+01] [ 1.72504238e-03 -2.74772892e-05 9.99998512e-01 -3.51603739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53576923100002 meters 0.023279288106249917 Centerline is valid? [True, True] Translation: X:162.60, Y:58.55, Z:-0.35 [[ 7.18539770e-01 -6.95483679e-01 -1.74690089e-03 1.62600832e+02] [ 6.95481762e-01 7.18541892e-01 -1.63327285e-03 5.85493209e+01] [ 2.39113608e-03 -4.13662153e-05 9.99997140e-01 -3.52263687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56576923100002 meters 0.02190274888085949 Centerline is valid? [True, True] Translation: X:162.62, Y:58.57, Z:-0.35 [[ 7.19102477e-01 -6.94900649e-01 -2.17152083e-03 1.62623331e+02] [ 6.94897683e-01 7.19105755e-01 -2.03079765e-03 5.85663439e+01] [ 2.97275573e-03 -4.86331746e-05 9.99995580e-01 -3.52732335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59576923100002 meters 0.021674646493078095 Centerline is valid? [True, True] Translation: X:162.64, Y:58.58, Z:-0.35 [[ 7.19868645e-01 -6.94107519e-01 -1.97109668e-03 1.62643981e+02] [ 6.94105071e-01 7.19871343e-01 -1.84416184e-03 5.85835773e+01] [ 2.69898261e-03 -4.05939090e-05 9.99996357e-01 -3.52095073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62576923100002 meters 0.01962479057771608 Centerline is valid? [True, True] Translation: X:162.66, Y:58.60, Z:-0.35 [[ 7.21115547e-01 -6.92813336e-01 -1.43188901e-03 1.62663072e+02] [ 6.92812040e-01 7.21116968e-01 -1.34030381e-03 5.86038168e+01] [ 1.96113982e-03 -2.55160316e-05 9.99998077e-01 -3.50245869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65576923100002 meters 0.01473152169424615 Centerline is valid? [True, True] Translation: X:162.68, Y:58.63, Z:-0.35 [[ 7.24281638e-01 -6.89504046e-01 -5.28650892e-04 1.62678864e+02] [ 6.89503868e-01 7.24281831e-01 -4.95381778e-04 5.86281566e+01] [ 7.24459977e-04 -5.71090903e-06 9.99999738e-01 -3.47969820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68576923100002 meters 0.013418544332791603 Centerline is valid? [True, True] Translation: X:162.70, Y:58.65, Z:-0.35 [[ 7.25485039e-01 -6.88237843e-01 -3.60637693e-04 1.62698436e+02] [ 6.88237760e-01 7.25485128e-01 -3.38207828e-04 5.86489204e+01] [ 4.94404710e-04 -2.83975868e-06 9.99999878e-01 -3.47729801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71576923100002 meters 0.01295019248629609 Centerline is valid? [True, True] Translation: X:162.72, Y:58.67, Z:-0.35 [[ 7.25991908e-01 -6.87703071e-01 -4.85580303e-04 1.62718526e+02] [ 6.87702920e-01 7.25992070e-01 -4.55442509e-04 5.86676071e+01] [ 6.65736661e-04 -3.28741673e-06 9.99999778e-01 -3.49014617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74576923100003 meters 0.013641028444931872 Centerline is valid? [True, True] Translation: X:162.74, Y:58.68, Z:-0.35 [[ 7.25249377e-01 -6.88485563e-01 -9.85515808e-04 1.62741744e+02] [ 6.88484942e-01 7.25250047e-01 -9.24108093e-04 5.86829786e+01] [ 1.35098047e-03 -8.30397564e-06 9.99999087e-01 -3.51122752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77576923100003 meters 0.014609679113863508 Centerline is valid? [True, True] Translation: X:162.76, Y:58.70, Z:-0.35 [[ 7.24064123e-01 -6.89731586e-01 -1.21839445e-03 1.62763827e+02] [ 6.89730640e-01 7.24065148e-01 -1.14274274e-03 5.86998042e+01] [ 1.67038272e-03 -1.29449629e-05 9.99998605e-01 -3.52327652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.805769231 meters 0.01738850528032196 Centerline is valid? [True, True] Translation: X:162.79, Y:58.71, Z:-0.35 [[ 7.21821297e-01 -6.92078257e-01 -1.30447969e-03 1.62787968e+02] [ 6.92077176e-01 7.21822475e-01 -1.22332819e-03 5.87135419e+01] [ 1.78824160e-03 -1.97762782e-05 9.99998401e-01 -3.54383751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.835769231 meters 0.01831375858955619 Centerline is valid? [True, True] Translation: X:162.81, Y:58.73, Z:-0.35 [[ 7.20940218e-01 -6.92996363e-01 -1.11527922e-03 1.62810570e+02] [ 6.92995573e-01 7.20941080e-01 -1.04664079e-03 5.87303942e+01] [ 1.52936887e-03 -1.83181235e-05 9.99998830e-01 -3.53371891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.865769231 meters 0.018403061336903875 Centerline is valid? [True, True] Translation: X:162.83, Y:58.75, Z:-0.35 [[ 7.20782904e-01 -6.93160698e-01 -5.02164291e-04 1.62831078e+02] [ 6.93160537e-01 7.20783079e-01 -4.71873563e-04 5.87465100e+01] [ 6.89035732e-04 -7.96207308e-06 9.99999763e-01 -3.51807200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.895769231 meters 0.015796658875732325 Centerline is valid? [True, True] Translation: X:162.85, Y:58.77, Z:-0.35 [[ 7.22677747e-01 -6.91184833e-01 -6.33591314e-04 1.62849912e+02] [ 6.91184576e-01 7.22678025e-01 -5.95315746e-04 5.87670437e+01] [ 8.69355733e-04 -7.70710179e-06 9.99999622e-01 -3.52080025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.925769231 meters 0.014201458646786912 Centerline is valid? [True, True] Translation: X:162.87, Y:58.79, Z:-0.35 [[ 7.24044575e-01 -6.89752163e-01 -1.18653448e-03 1.62867506e+02] [ 6.89751262e-01 7.24045547e-01 -1.11490652e-03 5.87878057e+01] [ 1.62811420e-03 -1.11716378e-05 9.99998675e-01 -3.54387356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.955769231 meters 0.01197241570894737 Centerline is valid? [True, True] Translation: X:162.88, Y:58.81, Z:-0.36 [[ 7.27163841e-01 -6.86460367e-01 -2.21629453e-03 1.62882261e+02] [ 6.86457207e-01 7.27167219e-01 -2.08290818e-03 5.88101923e+01] [ 3.04145064e-03 -6.77583670e-06 9.99995375e-01 -3.57798036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.985769231 meters 0.01160918627523456 Centerline is valid? [True, True] Translation: X:162.90, Y:58.83, Z:-0.36 [[ 7.28376624e-01 -6.85173157e-01 -2.28857884e-03 1.62899931e+02] [ 6.85169779e-01 7.28380220e-01 -2.15166993e-03 5.88306812e+01] [ 3.14122204e-03 -8.38976831e-07 9.99995066e-01 -3.58237310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.015769231 meters 0.011691752378122509 Centerline is valid? [True, True] Translation: X:162.92, Y:58.85, Z:-0.36 [[ 7.29129147e-01 -6.84372143e-01 -2.33602445e-03 1.62919220e+02] [ 6.84368616e-01 7.29132889e-01 -2.19716346e-03 5.88504466e+01] [ 3.20694972e-03 3.31409709e-06 9.99994858e-01 -3.57598406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.045769231 meters 0.011601269245641985 Centerline is valid? [True, True] Translation: X:162.94, Y:58.87, Z:-0.36 [[ 7.29488703e-01 -6.83991414e-01 -1.40639335e-03 1.62938923e+02] [ 6.83990133e-01 7.29490059e-01 -1.32363050e-03 5.88670592e+01] [ 1.93130186e-03 3.61432341e-06 9.99998135e-01 -3.55298198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.075769231 meters 0.011343495997346718 Centerline is valid? [True, True] Translation: X:162.96, Y:58.88, Z:-0.35 [[ 7.29123634e-01 -6.84381761e-01 -5.75914452e-04 1.62959996e+02] [ 6.84381546e-01 7.29123861e-01 -5.42580750e-04 5.88839050e+01] [ 7.91245338e-04 1.46322531e-06 9.99999687e-01 -3.53168969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.105769231 meters 0.011063153441119945 Centerline is valid? [True, True] Translation: X:162.98, Y:58.90, Z:-0.35 [[ 7.27786014e-01 -6.85803658e-01 9.27694580e-04 1.62984721e+02] [ 6.85803103e-01 7.27786605e-01 8.72808340e-04 5.88989907e+01] [-1.27373884e-03 9.98118641e-07 9.99999189e-01 -3.48791521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.135769231 meters 0.011159936587603133 Centerline is valid? [True, True] Translation: X:163.01, Y:58.91, Z:-0.35 [[ 7.26757507e-01 -6.86892799e-01 1.34524896e-03 1.63006975e+02] [ 6.86891631e-01 7.26758752e-01 1.26639473e-03 5.89145152e+01] [-1.84754887e-03 3.67837892e-06 9.99998293e-01 -3.47732247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.165769231 meters 0.011723893962800165 Centerline is valid? [True, True] Translation: X:163.03, Y:58.93, Z:-0.35 [[ 7.25547198e-01 -6.88171275e-01 1.24895135e-03 1.63029924e+02] [ 6.88170270e-01 7.25548273e-01 1.17618036e-03 5.89299216e+01] [-1.71558803e-03 6.11682192e-06 9.99998528e-01 -3.47580901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.195769231 meters 0.012616848599853167 Centerline is valid? [True, True] Translation: X:163.05, Y:58.94, Z:-0.35 [[ 7.24443255e-01 -6.89334274e-01 4.78051950e-04 1.63053938e+02] [ 6.89334127e-01 7.24443413e-01 4.49992794e-04 5.89431672e+01] [-6.56517042e-04 3.54327877e-06 9.99999784e-01 -3.48745640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22576923100002 meters 0.011976881656603345 Centerline is valid? [True, True] Translation: X:163.07, Y:58.96, Z:-0.35 [[ 7.24768232e-01 -6.88992718e-01 2.12010851e-04 1.63073528e+02] [ 6.88992689e-01 7.24768263e-01 1.99357860e-04 5.89625680e+01] [-2.91014850e-04 1.58568269e-06 9.99999958e-01 -3.48992317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25576923100002 meters 0.011535072032790217 Centerline is valid? [True, True] Translation: X:163.09, Y:58.98, Z:-0.35 [[ 7.25930578e-01 -6.87767962e-01 -1.60649366e-04 1.63091831e+02] [ 6.87767945e-01 7.25930596e-01 -1.52134993e-04 5.89823988e+01] [ 2.21253864e-04 -5.00413181e-08 9.99999976e-01 -3.50584223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28576923100002 meters 0.011535072032790217 Centerline is valid? [True, True] Translation: X:163.11, Y:59.00, Z:-0.35 [[ 7.25795154e-01 -6.87910873e-01 -1.60622721e-04 1.63111052e+02] [ 6.87910856e-01 7.25795172e-01 -1.52163171e-04 5.90008966e+01] [ 2.21253895e-04 -5.48216372e-08 9.99999976e-01 -3.50641469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31576923100002 meters 0.01230289821865269 Centerline is valid? [True, True] Translation: X:163.12, Y:59.03, Z:-0.35 [[ 7.29577546e-01 -6.83897043e-01 -1.19938281e-03 1.63122132e+02] [ 6.83896104e-01 7.29578532e-01 -1.13295228e-03 5.90267822e+01] [ 1.64986666e-03 6.32331479e-06 9.99998639e-01 -3.51790225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34576923100002 meters 0.014437241418351367 Centerline is valid? [True, True] Translation: X:163.14, Y:59.05, Z:-0.35 [[ 7.31647532e-01 -6.81682131e-01 -1.16636230e-03 1.63137733e+02] [ 6.81681241e-01 7.31648462e-01 -1.10205896e-03 5.90505427e+01] [ 1.60462108e-03 1.12314135e-05 9.99998713e-01 -3.51635069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37576923100002 meters 0.017318985589742767 Centerline is valid? [True, True] Translation: X:163.15, Y:59.07, Z:-0.35 [[ 7.34617881e-01 -6.78481001e-01 -3.17639461e-04 1.63154237e+02] [ 6.78480934e-01 7.34617949e-01 -3.00602415e-04 5.90745092e+01] [ 4.37296676e-04 5.31559047e-06 9.99999904e-01 -3.48520649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40576923100002 meters 0.01788720363294778 Centerline is valid? [True, True] Translation: X:163.17, Y:59.09, Z:-0.35 [[ 7.34819608e-01 -6.78262591e-01 -3.00236664e-05 1.63173120e+02] [ 6.78262591e-01 7.34819609e-01 -2.89513284e-05 5.90937832e+01] [ 4.16985818e-05 9.10074003e-07 9.99999999e-01 -3.48267685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43576923100002 meters 0.018873911812755145 Centerline is valid? [True, True] Translation: X:163.19, Y:59.11, Z:-0.35 [[ 7.34313240e-01 -6.78810772e-01 4.12381483e-05 1.63191464e+02] [ 6.78810771e-01 7.34313241e-01 3.84240040e-05 5.91134572e+01] [-5.63643462e-05 -2.22355627e-07 9.99999998e-01 -3.48967405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46576923100002 meters 0.015449085553983541 Centerline is valid? [True, True] Translation: X:163.21, Y:59.13, Z:-0.35 [[ 7.31857076e-01 -6.81458154e-01 6.87671584e-05 1.63214196e+02] [ 6.81458151e-01 7.31857079e-01 6.45544450e-05 5.91286066e+01] [-9.43188847e-05 -3.82686810e-07 9.99999996e-01 -3.50037351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49576923100003 meters 0.01392946463586206 Centerline is valid? [True, True] Translation: X:163.23, Y:59.15, Z:-0.35 [[ 7.30535422e-01 -6.82874769e-01 2.16542600e-04 1.63234945e+02] [ 6.82874739e-01 7.30535454e-01 2.04323041e-04 5.91455457e+01] [-2.97719096e-04 -1.39374720e-06 9.99999956e-01 -3.50167447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52576923100003 meters 0.012299910925189977 Centerline is valid? [True, True] Translation: X:163.25, Y:59.16, Z:-0.35 [[ 7.28658979e-01 -6.84876572e-01 -4.16349824e-04 1.63254859e+02] [ 6.84876458e-01 7.28659098e-01 -3.94678794e-04 5.91623301e+01] [ 5.73683347e-04 2.43805440e-06 9.99999835e-01 -3.51236288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.555769231 meters 0.012072670402194325 Centerline is valid? [True, True] Translation: X:163.27, Y:59.18, Z:-0.35 [[ 7.27991298e-01 -6.85585088e-01 -1.32522482e-03 1.63273725e+02] [ 6.85583939e-01 7.27992505e-01 -1.25517117e-03 5.91809120e+01] [ 1.82528037e-03 5.20083529e-06 9.99998334e-01 -3.54235969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.585769231 meters 0.011821193614015301 Centerline is valid? [True, True] Translation: X:163.29, Y:59.20, Z:-0.36 [[ 7.27515297e-01 -6.86087524e-01 -2.32414010e-03 1.63294146e+02] [ 6.86083991e-01 7.27519009e-01 -2.20194504e-03 5.92004663e+01] [ 3.20158312e-03 7.39339135e-06 9.99994875e-01 -3.55913073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.615769231 meters 0.01256268308753249 Centerline is valid? [True, True] Translation: X:163.31, Y:59.22, Z:-0.36 [[ 7.27601391e-01 -6.85989667e-01 -3.79365826e-03 1.63311858e+02] [ 6.85980249e-01 7.27611281e-01 -3.59470141e-03 5.92215280e+01] [ 5.22623657e-03 1.31351155e-05 9.99986343e-01 -3.62040805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.645769231 meters 0.01216936956136285 Centerline is valid? [True, True] Translation: X:163.33, Y:59.24, Z:-0.36 [[ 7.27081532e-01 -6.86543119e-01 -3.31538754e-03 1.63332639e+02] [ 6.86535925e-01 7.27089091e-01 -3.14288631e-03 5.92403614e+01] [ 4.56830908e-03 9.00194089e-06 9.99989565e-01 -3.60959009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.675769231 meters 0.01159380245566008 Centerline is valid? [True, True] Translation: X:163.36, Y:59.26, Z:-0.36 [[ 7.24991585e-01 -6.88755911e-01 -1.58015945e-03 1.63355048e+02] [ 6.88754280e-01 7.24993307e-01 -1.49879651e-03 5.92573308e+01] [ 2.17790998e-03 -1.72672827e-06 9.99997628e-01 -3.56272631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.705769231 meters 0.01183881342132094 Centerline is valid? [True, True] Translation: X:163.38, Y:59.27, Z:-0.36 [[ 7.23691671e-01 -6.90122200e-01 -1.30912334e-03 1.63376555e+02] [ 6.90121082e-01 7.23692856e-01 -1.24233811e-03 5.92745983e+01] [ 1.80476832e-03 -4.38386984e-06 9.99998371e-01 -3.55483990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.735769231 meters 0.012277517764406668 Centerline is valid? [True, True] Translation: X:163.40, Y:59.29, Z:-0.36 [[ 7.22766557e-01 -6.91090484e-01 -1.56396244e-03 1.63397582e+02] [ 6.91088890e-01 7.22768250e-01 -1.48461366e-03 5.92932156e+01] [ 2.15638477e-03 -7.80796408e-06 9.99997675e-01 -3.56300509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.765769231 meters 0.012681117213683757 Centerline is valid? [True, True] Translation: X:163.42, Y:59.31, Z:-0.36 [[ 7.22533126e-01 -6.91329639e-01 -3.03520618e-03 1.63415590e+02] [ 6.91323632e-01 7.22539501e-01 -2.88188763e-03 5.93134805e+01] [ 4.18539070e-03 -1.60504835e-05 9.99991241e-01 -3.60494149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.795769231 meters 0.01264353078414144 Centerline is valid? [True, True] Translation: X:163.43, Y:59.33, Z:-0.36 [[ 7.22702145e-01 -6.91153624e-01 -2.87720726e-03 1.63433879e+02] [ 6.91148220e-01 7.22707872e-01 -2.73299275e-03 5.93337170e+01] [ 3.96829818e-03 -1.34369571e-05 9.99992126e-01 -3.61388965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.825769231 meters 0.01199551330252988 Centerline is valid? [True, True] Translation: X:163.45, Y:59.35, Z:-0.36 [[ 7.23119084e-01 -6.90721442e-01 -1.63703745e-03 1.63453052e+02] [ 6.90719690e-01 7.23120937e-01 -1.55580599e-03 5.93548336e+01] [ 2.25840461e-03 -5.70099573e-06 9.99997450e-01 -3.57543458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.855769231 meters 0.011757589556852306 Centerline is valid? [True, True] Translation: X:163.47, Y:59.37, Z:-0.36 [[ 7.23310156e-01 -6.90522307e-01 -1.16748973e-03 1.63473488e+02] [ 6.90521414e-01 7.23311098e-01 -1.11014160e-03 5.93738249e+01] [ 1.61103582e-03 -3.19996281e-06 9.99998702e-01 -3.55875632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.885769231 meters 0.011496406429817 Centerline is valid? [True, True] Translation: X:163.49, Y:59.39, Z:-0.36 [[ 7.23669457e-01 -6.90145828e-01 -1.11920932e-03 1.63492589e+02] [ 6.90145007e-01 7.23670323e-01 -1.06471425e-03 5.93922941e+01] [ 1.54474667e-03 -1.91554568e-06 9.99998807e-01 -3.55255486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.915769231 meters 0.011248746131323926 Centerline is valid? [True, True] Translation: X:163.51, Y:59.41, Z:-0.35 [[ 7.24613819e-01 -6.89154877e-01 -6.07151634e-04 1.63510840e+02] [ 6.89154635e-01 7.24614073e-01 -5.78056372e-04 5.94142629e+01] [ 8.38320987e-04 4.46272575e-07 9.99999649e-01 -3.53124941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.945769231 meters 0.01129718981627774 Centerline is valid? [True, True] Translation: X:163.53, Y:59.44, Z:-0.35 [[ 7.25266011e-01 -6.88468723e-01 -1.75089303e-04 1.63529156e+02] [ 6.88468703e-01 7.25266032e-01 -1.67184181e-04 5.94357829e+01] [ 2.42087403e-04 7.09499164e-07 9.99999971e-01 -3.51804085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97576923100002 meters 0.012295470615456914 Centerline is valid? [True, True] Translation: X:163.54, Y:59.46, Z:-0.35 [[ 7.27073933e-01 -6.86559169e-01 5.85150683e-05 1.63544116e+02] [ 6.86559167e-01 7.27073935e-01 5.52682404e-05 5.94594431e+01] [-8.04896983e-05 -1.00403903e-08 9.99999997e-01 -3.51247988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00576923100002 meters 0.023642788535493887 Centerline is valid? [True, True] Translation: X:163.56, Y:59.48, Z:-0.35 [[ 7.27400228e-01 -6.86213385e-01 3.14192253e-04 1.63563763e+02] [ 6.86213320e-01 7.27400296e-01 2.98585292e-04 5.94798729e+01] [-4.33436761e-04 -1.58810040e-06 9.99999906e-01 -3.46110964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03576923100002 meters 0.012968755646998328 Centerline is valid? [True, True] Translation: X:163.58, Y:59.50, Z:-0.35 [[ 7.27795390e-01 -6.85793886e-01 7.84927890e-04 1.63580935e+02] [ 6.85793479e-01 7.27795813e-01 7.47076688e-04 5.95014649e+01] [-1.08360786e-03 -5.42054088e-06 9.99999413e-01 -3.49162486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06576923100002 meters 0.012229843544703698 Centerline is valid? [True, True] Translation: X:163.60, Y:59.52, Z:-0.35 [[ 7.26754586e-01 -6.86896845e-01 7.03551709e-04 1.63601912e+02] [ 6.86896519e-01 7.26754927e-01 6.69876362e-04 5.95200857e+01] [-9.71445631e-04 -3.56849914e-06 9.99999528e-01 -3.48573745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09576923100002 meters 0.011366573312140226 Centerline is valid? [True, True] Translation: X:163.63, Y:59.54, Z:-0.35 [[ 7.24921822e-01 -6.88831139e-01 -1.16495904e-04 1.63625159e+02] [ 6.88831130e-01 7.24921832e-01 -1.11613300e-04 5.95360377e+01] [ 1.61333140e-04 6.64911769e-07 9.99999987e-01 -3.50316556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12576923100002 meters 0.012604147347222755 Centerline is valid? [True, True] Translation: X:163.65, Y:59.55, Z:-0.35 [[ 7.20689214e-01 -6.93255656e-01 -1.91122176e-03 1.63652928e+02] [ 6.93253260e-01 7.20691748e-01 -1.82260199e-03 5.95479770e+01] [ 2.64093089e-03 -1.14311169e-05 9.99996513e-01 -3.54794193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15576923100002 meters 0.013827272505230581 Centerline is valid? [True, True] Translation: X:163.68, Y:59.56, Z:-0.36 [[ 7.18984712e-01 -6.95023342e-01 -1.88118233e-03 1.63675550e+02] [ 6.95021024e-01 7.18987172e-01 -1.79497166e-03 5.95640868e+01] [ 2.60009317e-03 -1.69040904e-05 9.99996620e-01 -3.55291165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18576923100002 meters 0.01606546309254637 Centerline is valid? [True, True] Translation: X:163.70, Y:59.58, Z:-0.35 [[ 7.16408726e-01 -6.97679774e-01 -1.21258879e-03 1.63701629e+02] [ 6.97678814e-01 7.16409752e-01 -1.15759267e-03 5.95781496e+01] [ 1.67633943e-03 -1.66880220e-05 9.99998595e-01 -3.53290268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21576923100002 meters 0.01652287058263521 Centerline is valid? [True, True] Translation: X:163.72, Y:59.60, Z:-0.35 [[ 7.15689751e-01 -6.98418163e-01 -4.99479261e-04 1.63723052e+02] [ 6.98418000e-01 7.15689925e-01 -4.77367976e-04 5.95959930e+01] [ 6.90874740e-04 -7.19793924e-06 9.99999761e-01 -3.51274053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24576923100003 meters 0.016823370324977934 Centerline is valid? [True, True] Translation: X:163.74, Y:59.61, Z:-0.35 [[ 7.15652544e-01 -6.98456429e-01 -2.30554388e-04 1.63743531e+02] [ 6.98456395e-01 7.15652581e-01 -2.20566642e-04 5.96142725e+01] [ 3.19053032e-04 -3.18310790e-06 9.99999949e-01 -3.50595287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27576923100003 meters 0.014718631295099182 Centerline is valid? [True, True] Translation: X:163.76, Y:59.64, Z:-0.35 [[ 7.17304822e-01 -6.96758309e-01 -1.28481636e-03 1.63762458e+02] [ 6.96757228e-01 7.17305972e-01 -1.22784558e-03 5.96356011e+01] [ 1.77711806e-03 -1.44655281e-05 9.99998421e-01 -3.53136239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.305769231 meters 0.01431297844642073 Centerline is valid? [True, True] Translation: X:163.78, Y:59.65, Z:-0.36 [[ 7.17911543e-01 -6.96129509e-01 -2.59304641e-03 1.63781991e+02] [ 6.96125097e-01 7.17916225e-01 -2.47852708e-03 5.96536916e+01] [ 3.58696593e-03 -2.57214803e-05 9.99993566e-01 -3.56743056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.335769231 meters 0.014525334590253037 Centerline is valid? [True, True] Translation: X:163.80, Y:59.67, Z:-0.36 [[ 7.17928429e-01 -6.96107198e-01 -3.67970968e-03 1.63803312e+02] [ 6.96098310e-01 7.17937858e-01 -3.51789205e-03 5.96697703e+01] [ 5.09063286e-03 -3.58449817e-05 9.99987042e-01 -3.60445849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.365769231 meters 0.014937847249760234 Centerline is valid? [True, True] Translation: X:163.82, Y:59.69, Z:-0.36 [[ 7.17267501e-01 -6.96790746e-01 -3.16039274e-03 1.63824864e+02] [ 6.96784190e-01 7.17274463e-01 -3.02272870e-03 5.96874154e+01] [ 4.37307839e-03 -3.40066375e-05 9.99990437e-01 -3.60324208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.395769231 meters 0.015024362959090454 Centerline is valid? [True, True] Translation: X:163.85, Y:59.70, Z:-0.36 [[ 7.16463573e-01 -6.97620495e-01 -2.36510384e-03 1.63846366e+02] [ 6.97616824e-01 7.16467476e-01 -2.26313961e-03 5.97049452e+01] [ 3.27333255e-03 -2.84791405e-05 9.99994642e-01 -3.58608756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.425769231 meters 0.0171087517607495 Centerline is valid? [True, True] Translation: X:163.87, Y:59.72, Z:-0.36 [[ 7.14943625e-01 -6.99181338e-01 -1.03477401e-03 1.63873822e+02] [ 6.99180635e-01 7.14944373e-01 -9.90940097e-04 5.97158231e+01] [ 1.43265268e-03 -1.50276447e-05 9.99998974e-01 -3.56685442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.455769231 meters 0.018423178039841937 Centerline is valid? [True, True] Translation: X:163.90, Y:59.73, Z:-0.36 [[ 7.14075100e-01 -7.00068354e-01 -1.02567690e-03 1.63896176e+02] [ 7.00067664e-01 7.14075836e-01 -9.82708159e-04 5.97303363e+01] [ 1.42037397e-03 -1.63158059e-05 9.99998991e-01 -3.56856095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.485769231 meters 0.019548870470501706 Centerline is valid? [True, True] Translation: X:163.92, Y:59.75, Z:-0.36 [[ 7.13093086e-01 -7.01066924e-01 -1.84864705e-03 1.63919966e+02] [ 7.01064689e-01 7.13095482e-01 -1.77089986e-03 5.97452592e+01] [ 2.55978118e-03 -3.32047154e-05 9.99996723e-01 -3.58873212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.515769231 meters 0.01958889725862952 Centerline is valid? [True, True] Translation: X:163.94, Y:59.76, Z:-0.36 [[ 7.13190825e-01 -7.00966295e-01 -2.25837087e-03 1.63940130e+02] [ 7.00962956e-01 7.13194399e-01 -2.16407631e-03 5.97618965e+01] [ 3.12760201e-03 -3.96349535e-05 9.99995108e-01 -3.60608477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.545769231 meters 0.0183078540622179 Centerline is valid? [True, True] Translation: X:163.96, Y:59.78, Z:-0.36 [[ 7.13889312e-01 -7.00256081e-01 -1.86326635e-03 1.63962099e+02] [ 7.00253802e-01 7.13891743e-01 -1.78642836e-03 5.97788790e+01] [ 2.58112778e-03 -2.94472357e-05 9.99996668e-01 -3.59842553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.575769231 meters 0.018322032377807274 Centerline is valid? [True, True] Translation: X:163.98, Y:59.80, Z:-0.36 [[ 7.13719223e-01 -7.00431237e-01 -9.75925759e-04 1.63983697e+02] [ 7.00430612e-01 7.13719890e-01 -9.36353809e-04 5.97962324e+01] [ 1.35238908e-03 -1.52745629e-05 9.99999085e-01 -3.57682790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.605769231 meters 0.017431849282088793 Centerline is valid? [True, True] Translation: X:164.00, Y:59.81, Z:-0.35 [[ 7.13283855e-01 -7.00875244e-01 1.86233214e-04 1.64004616e+02] [ 7.00875222e-01 7.13283879e-01 1.77998086e-04 5.98142098e+01] [-2.57591601e-04 3.56308472e-06 9.99999967e-01 -3.53787570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.635769231 meters 0.01929185025553747 Centerline is valid? [True, True] Translation: X:164.03, Y:59.82, Z:-0.35 [[ 7.12636694e-01 -7.01530793e-01 1.86778130e-03 1.64030419e+02] [ 7.01528506e-01 7.12639141e-01 1.79179069e-03 5.98248824e+01] [-2.58805040e-03 3.34060315e-05 9.99996650e-01 -3.48703469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.665769231 meters 0.019052634377273447 Centerline is valid? [True, True] Translation: X:164.05, Y:59.84, Z:-0.35 [[ 7.12623936e-01 -7.01544294e-01 1.65204693e-03 1.64051310e+02] [ 7.01542503e-01 7.12625850e-01 1.58547043e-03 5.98422798e+01] [-2.28956908e-03 2.91369635e-05 9.99997379e-01 -3.48732120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.695769231 meters 0.016461439528136515 Centerline is valid? [True, True] Translation: X:164.07, Y:59.86, Z:-0.35 [[ 7.14386309e-01 -6.99751525e-01 6.64635999e-05 1.64069195e+02] [ 6.99751522e-01 7.14386312e-01 6.32938249e-05 5.98634958e+01] [-9.17706365e-05 1.29176322e-06 9.99999996e-01 -3.52695165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72576923100002 meters 0.01404969641062037 Centerline is valid? [True, True] Translation: X:164.09, Y:59.89, Z:-0.35 [[ 7.15850014e-01 -6.98254019e-01 -2.87186161e-04 1.64086585e+02] [ 6.98253964e-01 7.15850072e-01 -2.76528409e-04 5.98853744e+01] [ 3.98669307e-04 -2.57600944e-06 9.99999921e-01 -3.52622999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75576923100002 meters 0.012542904906108421 Centerline is valid? [True, True] Translation: X:164.11, Y:59.91, Z:-0.35 [[ 7.17444579e-01 -6.96615427e-01 -4.71470170e-04 1.64106038e+02] [ 6.96615279e-01 7.17444734e-01 -4.53734501e-04 5.99060134e+01] [ 6.54332243e-04 -2.90396608e-06 9.99999786e-01 -3.52498311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78576923100002 meters 0.011073860923669115 Centerline is valid? [True, True] Translation: X:164.12, Y:59.93, Z:-0.35 [[ 7.20407650e-01 -6.93550876e-01 -2.60556418e-06 1.64124936e+02] [ 6.93550876e-01 7.20407650e-01 -2.92419168e-06 5.99257769e+01] [ 3.90514403e-06 2.99518732e-07 1.00000000e+00 -3.49764541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81576923100002 meters 0.0111806503605425 Centerline is valid? [True, True] Translation: X:164.14, Y:59.95, Z:-0.35 [[ 7.21867320e-01 -6.92031315e-01 4.79740724e-04 1.64143484e+02] [ 6.92031162e-01 7.21867480e-01 4.60853266e-04 5.99466576e+01] [-6.65234119e-04 -6.79381300e-07 9.99999779e-01 -3.48092064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84576923100002 meters 0.013021818877868121 Centerline is valid? [True, True] Translation: X:164.16, Y:59.97, Z:-0.35 [[ 7.24861654e-01 -6.88894344e-01 4.06738469e-04 1.64159137e+02] [ 6.88894233e-01 7.24861768e-01 3.90764605e-04 5.99693683e+01] [-5.64024692e-04 -3.05049192e-06 9.99999841e-01 -3.48758255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87576923100002 meters 0.014534348189340664 Centerline is valid? [True, True] Translation: X:164.18, Y:59.99, Z:-0.35 [[ 7.26146032e-01 -6.87540286e-01 -5.44193789e-04 1.64177028e+02] [ 6.87540086e-01 7.26146236e-01 -5.24416298e-04 5.99896525e+01] [ 7.55721603e-04 6.64776933e-06 9.99999714e-01 -3.50444450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90576923100002 meters 0.016320039244741662 Centerline is valid? [True, True] Translation: X:164.19, Y:60.01, Z:-0.35 [[ 7.27466933e-01 -6.86141367e-01 -1.37353217e-03 1.64194975e+02] [ 6.86140091e-01 7.27468229e-01 -1.32316338e-03 6.00108541e+01] [ 1.90707815e-03 2.01221220e-05 9.99998181e-01 -3.52613407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93576923100002 meters 0.021224806721770573 Centerline is valid? [True, True] Translation: X:164.21, Y:60.04, Z:-0.36 [[ 7.30848434e-01 -6.82534973e-01 -2.56447835e-03 1.64207538e+02] [ 6.82530504e-01 7.30852932e-01 -2.47046885e-03 6.00367947e+01] [ 3.56043791e-03 5.52035888e-05 9.99993660e-01 -3.55152044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96576923100002 meters 0.023811816186537407 Centerline is valid? [True, True] Translation: X:164.22, Y:60.06, Z:-0.35 [[ 7.32487591e-01 -6.80775751e-01 -2.51125258e-03 1.64223662e+02] [ 6.80771452e-01 7.32491893e-01 -2.42014307e-03 6.00608266e+01] [ 3.48704687e-03 6.31357016e-05 9.99993918e-01 -3.54978475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99576923100003 meters 0.02872975813212972 Centerline is valid? [True, True] Translation: X:164.24, Y:60.09, Z:-0.35 [[ 7.35442216e-01 -6.77586065e-01 -1.36828270e-03 1.64235523e+02] [ 6.77584782e-01 7.35443487e-01 -1.31940400e-03 6.00880363e+01] [ 1.90030437e-03 4.32178631e-05 9.99998193e-01 -3.52947582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02576923100003 meters 0.03038920045044229 Centerline is valid? [True, True] Translation: X:164.25, Y:60.11, Z:-0.35 [[ 7.36177507e-01 -6.76788093e-01 -7.45958528e-04 1.64252452e+02] [ 6.76787711e-01 7.36177884e-01 -7.19504285e-04 6.01099191e+01] [ 1.03611010e-03 2.48273066e-05 9.99999463e-01 -3.51762930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.055769231 meters 0.030181964409335217 Centerline is valid? [True, True] Translation: X:164.27, Y:60.13, Z:-0.35 [[ 7.36124235e-01 -6.76846382e-01 -2.93500449e-04 1.64271964e+02] [ 6.76846322e-01 7.36124293e-01 -2.83600857e-04 6.01304606e+01] [ 4.08007025e-04 1.01107642e-05 9.99999917e-01 -3.51631429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.085769231 meters 0.02567645803410618 Centerline is valid? [True, True] Translation: X:164.30, Y:60.15, Z:-0.35 [[ 7.33977036e-01 -6.79174047e-01 -5.69672444e-04 1.64295945e+02] [ 6.79173825e-01 7.33977257e-01 -5.50173315e-04 6.01462870e+01] [ 7.91790055e-04 1.69079666e-05 9.99999686e-01 -3.53247090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.115769231 meters 0.021132577714569018 Centerline is valid? [True, True] Translation: X:164.32, Y:60.16, Z:-0.36 [[ 7.29611657e-01 -6.83860457e-01 -1.30582502e-03 1.64320538e+02] [ 6.83859295e-01 7.29612825e-01 -1.26093208e-03 6.01597820e+01] [ 1.81504827e-03 2.69901645e-05 9.99998352e-01 -3.56652629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.145769231 meters 0.021132577714569018 Centerline is valid? [True, True] Translation: X:164.34, Y:60.18, Z:-0.36 [[ 7.29473988e-01 -6.84007307e-01 -1.30556263e-03 1.64339563e+02] [ 6.84006145e-01 7.29475156e-01 -1.26120382e-03 6.01784886e+01] [ 1.81504813e-03 2.70025198e-05 9.99998352e-01 -3.56709883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.175769231 meters 0.017556149855984644 Centerline is valid? [True, True] Translation: X:164.36, Y:60.19, Z:-0.36 [[ 7.26968435e-01 -6.86669606e-01 -1.32170268e-03 1.64364128e+02] [ 6.86668418e-01 7.26969636e-01 -1.27718756e-03 6.01934814e+01] [ 1.83784359e-03 2.09035534e-05 9.99998311e-01 -3.56555170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.205769231 meters 0.014616568420651855 Centerline is valid? [True, True] Translation: X:164.39, Y:60.21, Z:-0.36 [[ 7.24660987e-01 -6.89104081e-01 -1.42125154e-03 1.64388440e+02] [ 6.89102712e-01 7.24662380e-01 -1.37382104e-03 6.02085240e+01] [ 1.97663321e-03 1.61662238e-05 9.99998046e-01 -3.56547452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.235769231 meters 0.012514823960116757 Centerline is valid? [True, True] Translation: X:164.41, Y:60.22, Z:-0.36 [[ 7.22069787e-01 -6.91818832e-01 -1.38789684e-03 1.64413736e+02] [ 6.91817530e-01 7.22071121e-01 -1.34211194e-03 6.02224946e+01] [ 1.93065854e-03 8.92712123e-06 9.99998136e-01 -3.57349178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.265769231 meters 0.012155193688974657 Centerline is valid? [True, True] Translation: X:164.43, Y:60.24, Z:-0.36 [[ 7.21559984e-01 -6.92350852e-01 -1.21971032e-03 1.64434943e+02] [ 6.92349847e-01 7.21561014e-01 -1.18000411e-03 6.02408910e+01] [ 1.69707227e-03 6.97749341e-06 9.99998560e-01 -3.56832289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.295769231 meters 0.012760499706880141 Centerline is valid? [True, True] Translation: X:164.45, Y:60.26, Z:-0.36 [[ 7.22184746e-01 -6.91699650e-01 -8.87409868e-04 1.64452889e+02] [ 6.91699116e-01 7.22185291e-01 -8.59052824e-04 6.02608626e+01] [ 1.23508089e-03 6.57422392e-06 9.99999237e-01 -3.56158239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.325769231 meters 0.013478863185245096 Centerline is valid? [True, True] Translation: X:164.47, Y:60.28, Z:-0.35 [[ 7.23134120e-01 -6.90707389e-01 -5.89414544e-04 1.64471764e+02] [ 6.90707153e-01 7.23134360e-01 -5.70956762e-04 6.02819434e+01] [ 8.20589963e-04 5.76547363e-06 9.99999663e-01 -3.54560306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.355769231 meters 0.015246683207154806 Centerline is valid? [True, True] Translation: X:164.49, Y:60.30, Z:-0.35 [[ 7.24489943e-01 -6.89285367e-01 6.80788758e-05 1.64488905e+02] [ 6.89285364e-01 7.24489946e-01 6.53158665e-05 6.03031898e+01] [-9.43437322e-05 -3.94915752e-07 9.99999996e-01 -3.52889402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.385769231 meters 0.017956220143572798 Centerline is valid? [True, True] Translation: X:164.51, Y:60.33, Z:-0.35 [[ 7.27245575e-01 -6.86376435e-01 1.12425588e-03 1.64506201e+02] [ 6.86375572e-01 7.27246443e-01 1.08831605e-03 6.03254046e+01] [-1.56460558e-03 -1.98112603e-05 9.99998776e-01 -3.48911562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.415769231 meters 0.02084011432026084 Centerline is valid? [True, True] Translation: X:164.52, Y:60.35, Z:-0.35 [[ 7.28566114e-01 -6.84974289e-01 1.28083826e-03 1.64522726e+02] [ 6.84973167e-01 7.28567239e-01 1.24020074e-03 6.03481720e+01] [-1.78268242e-03 -2.62283912e-05 9.99998411e-01 -3.48701825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.445769231 meters 0.026669606312324203 Centerline is valid? [True, True] Translation: X:164.53, Y:60.37, Z:-0.35 [[ 7.32127348e-01 -6.81166592e-01 1.27271867e-03 1.64534408e+02] [ 6.81165477e-01 7.32128454e-01 1.23277367e-03 6.03737364e+01] [-1.77151779e-03 -3.56152955e-05 9.99998430e-01 -3.48619365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47576923100002 meters 0.028541104475684705 Centerline is valid? [True, True] Translation: X:164.55, Y:60.40, Z:-0.35 [[ 7.34089829e-01 -6.79051864e-01 8.29952168e-04 1.64551838e+02] [ 6.79051388e-01 7.34090298e-01 8.03955358e-04 6.03963763e+01] [-1.15518722e-03 -2.65952797e-05 9.99999332e-01 -3.49430229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50576923100002 meters 0.029784261215382357 Centerline is valid? [True, True] Translation: X:164.57, Y:60.42, Z:-0.35 [[ 7.35591241e-01 -6.77425557e-01 3.75942190e-04 1.64569439e+02] [ 6.77425459e-01 7.35591337e-01 3.64002213e-04 6.04190660e+01] [-5.23124219e-04 -1.30840291e-05 9.99999863e-01 -3.50388300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53576923100002 meters 0.03447392561727056 Centerline is valid? [True, True] Translation: X:164.58, Y:60.45, Z:-0.35 [[ 7.37415638e-01 -6.75439212e-01 -2.18173824e-04 1.64581199e+02] [ 6.75439179e-01 7.37415670e-01 -2.12019601e-04 6.04454883e+01] [ 3.04091149e-04 8.98342098e-06 9.99999954e-01 -3.52390541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56576923100002 meters 0.034717739850159385 Centerline is valid? [True, True] Translation: X:164.60, Y:60.47, Z:-0.35 [[ 7.37386795e-01 -6.75470708e-01 -1.95784656e-04 1.64599922e+02] [ 6.75470681e-01 7.37386820e-01 -1.90509075e-04 6.04665279e+01] [ 2.73052324e-04 8.23208084e-06 9.99999963e-01 -3.52460605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59576923100002 meters 0.02998689617403291 Centerline is valid? [True, True] Translation: X:164.62, Y:60.48, Z:-0.35 [[ 7.35982084e-01 -6.77000459e-01 -8.66407572e-04 1.64623347e+02] [ 6.76999936e-01 7.35982594e-01 -8.41513730e-04 6.04828513e+01] [ 1.20736607e-03 3.27811582e-05 9.99999271e-01 -3.52387220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62576923100002 meters 0.031041861269721197 Centerline is valid? [True, True] Translation: X:164.64, Y:60.50, Z:-0.35 [[ 7.35032916e-01 -6.78030411e-01 -1.17272080e-03 1.64641374e+02] [ 6.78029455e-01 7.35033850e-01 -1.13893023e-03 6.05039845e+01] [ 1.63421881e-03 4.20119628e-05 9.99998664e-01 -3.53305409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65576923100002 meters 0.027853498895981477 Centerline is valid? [True, True] Translation: X:164.66, Y:60.52, Z:-0.35 [[ 7.32796459e-01 -6.80446724e-01 -1.26703900e-03 1.64662111e+02] [ 6.80445612e-01 7.32797553e-01 -1.23106384e-03 6.05235390e+01] [ 1.76615644e-03 3.99680920e-05 9.99998440e-01 -3.54062463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68576923100002 meters 0.026631109708454146 Centerline is valid? [True, True] Translation: X:164.68, Y:60.54, Z:-0.35 [[ 7.31840884e-01 -6.81474777e-01 -1.02385968e-03 1.64681781e+02] [ 6.81474051e-01 7.31841600e-01 -9.95255220e-04 6.05439999e+01] [ 1.42754443e-03 3.06346591e-05 9.99998981e-01 -3.53906483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71576923100002 meters 0.026295008562120376 Centerline is valid? [True, True] Translation: X:164.70, Y:60.57, Z:-0.35 [[ 7.31393051e-01 -6.81955465e-01 -9.73883268e-04 1.64700405e+02] [ 6.81954808e-01 7.31393699e-01 -9.47012411e-04 6.05657419e+01] [ 1.35811237e-03 2.84939203e-05 9.99999077e-01 -3.53170994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74576923100003 meters 0.02696225017354232 Centerline is valid? [True, True] Translation: X:164.72, Y:60.59, Z:-0.35 [[ 7.32338797e-01 -6.80939175e-01 -1.31365279e-03 1.64715731e+02] [ 6.80937979e-01 7.32339974e-01 -1.27735450e-03 6.05900316e+01] [ 1.83184117e-03 4.09401810e-05 9.99998321e-01 -3.53620085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77576923100003 meters 0.028479339982482952 Centerline is valid? [True, True] Translation: X:164.73, Y:60.62, Z:-0.36 [[ 7.33014934e-01 -6.80210536e-01 -1.65337743e-03 1.64731287e+02] [ 6.80208637e-01 7.33016796e-01 -1.60833885e-03 6.06151518e+01] [ 2.30596246e-03 5.42947932e-05 9.99997340e-01 -3.55361276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80576923100003 meters 0.03019653261781307 Centerline is valid? [True, True] Translation: X:164.75, Y:60.64, Z:-0.36 [[ 7.32696164e-01 -6.80554553e-01 -1.35352310e-03 1.64748454e+02] [ 6.80553279e-01 7.32697413e-01 -1.31731758e-03 6.06366484e+01] [ 1.88822935e-03 4.40489497e-05 9.99998216e-01 -3.55061676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.835769231 meters 0.027079562302327866 Centerline is valid? [True, True] Translation: X:164.77, Y:60.65, Z:-0.35 [[ 7.32007643e-01 -6.81295943e-01 -8.05732428e-04 1.64771303e+02] [ 6.81295491e-01 7.32008086e-01 -7.84683812e-04 6.06533879e+01] [ 1.12440455e-03 2.54526768e-05 9.99999368e-01 -3.53261938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.865769231 meters 0.024999655725611296 Centerline is valid? [True, True] Translation: X:164.79, Y:60.67, Z:-0.35 [[ 7.30510717e-01 -6.82901202e-01 -2.00918399e-04 1.64793345e+02] [ 6.82901174e-01 7.30510744e-01 -1.96136656e-04 6.06709807e+01] [ 2.80715007e-04 6.07251811e-06 9.99999961e-01 -3.52388116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.895769231 meters 0.023488280190641052 Centerline is valid? [True, True] Translation: X:164.82, Y:60.69, Z:-0.35 [[ 7.29711004e-01 -6.83755652e-01 2.42327477e-04 1.64815149e+02] [ 6.83755612e-01 7.29711044e-01 2.35434240e-04 6.06887354e+01] [-3.37808529e-04 -6.10618319e-06 9.99999943e-01 -3.52138557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.925769231 meters 0.026358146249009777 Centerline is valid? [True, True] Translation: X:164.83, Y:60.71, Z:-0.35 [[ 7.29681158e-01 -6.83785588e-01 1.63653940e-03 1.64833038e+02] [ 6.83783732e-01 7.29682991e-01 1.59386640e-03 6.07097860e+01] [-2.28401784e-03 -4.39752594e-05 9.99997391e-01 -3.49552209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.955769231 meters 0.025660403444325106 Centerline is valid? [True, True] Translation: X:164.85, Y:60.73, Z:-0.35 [[ 7.30453308e-01 -6.82959308e-01 2.13272639e-03 1.64854541e+02] [ 6.82956149e-01 7.30456419e-01 2.07810119e-03 6.07286575e+01] [-2.97712223e-03 -6.13972829e-05 9.99995566e-01 -3.47634067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.985769231 meters 0.027018117856456345 Centerline is valid? [True, True] Translation: X:164.87, Y:60.75, Z:-0.35 [[ 7.31217421e-01 -6.82140601e-01 2.29864844e-03 1.64873444e+02] [ 6.82136924e-01 7.31221031e-01 2.24059602e-03 6.07497887e+01] [-3.20922160e-03 -7.03698713e-05 9.99994848e-01 -3.47020265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.015769231 meters 0.03031423077965824 Centerline is valid? [True, True] Translation: X:164.89, Y:60.77, Z:-0.35 [[ 7.33209785e-01 -6.80001073e-01 1.39679521e-03 1.64890754e+02] [ 6.79999711e-01 7.33211114e-01 1.36178508e-03 6.07718709e+01] [-1.95016109e-03 -4.86538109e-05 9.99998097e-01 -3.49715834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.045769231 meters 0.03239650046238784 Centerline is valid? [True, True] Translation: X:164.91, Y:60.79, Z:-0.35 [[ 7.34591700e-01 -6.78509042e-01 7.17119467e-04 1.64909829e+02] [ 6.78508682e-01 7.34592050e-01 6.99249972e-04 6.07923507e+01] [-1.00123769e-03 -2.70914415e-05 9.99999498e-01 -3.51951957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.075769231 meters 0.034598179164581404 Centerline is valid? [True, True] Translation: X:164.93, Y:60.81, Z:-0.35 [[ 7.35025928e-01 -6.78038612e-01 7.24837178e-04 1.64927024e+02] [ 6.78038244e-01 7.35026285e-01 7.06857068e-04 6.08133296e+01] [-1.01205076e-03 -2.80909452e-05 9.99999487e-01 -3.51858346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.105769231 meters 0.03481836019431969 Centerline is valid? [True, True] Translation: X:164.95, Y:60.83, Z:-0.35 [[ 7.35485464e-01 -6.77540124e-01 7.15400025e-04 1.64946426e+02] [ 6.77539766e-01 7.35485812e-01 6.97870649e-04 6.08341553e+01] [-9.99001934e-04 -2.85617526e-05 9.99999501e-01 -3.51395126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.135769231 meters 0.03743186740871809 Centerline is valid? [True, True] Translation: X:164.96, Y:60.86, Z:-0.35 [[ 7.36429922e-01 -6.76513793e-01 2.38616485e-04 1.64961456e+02] [ 6.76513753e-01 7.36429961e-01 2.32484774e-04 6.08577782e+01] [-3.33003485e-04 -9.78141023e-06 9.99999945e-01 -3.51717569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.165769231 meters 0.037438798904915215 Centerline is valid? [True, True] Translation: X:164.98, Y:60.88, Z:-0.35 [[ 7.36397559e-01 -6.76549060e-01 -6.27961359e-05 1.64981007e+02] [ 6.76549057e-01 7.36397562e-01 -6.18913834e-05 6.08778606e+01] [ 8.81154786e-05 3.09199712e-06 9.99999996e-01 -3.52380313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.195769231 meters 0.03632501452165621 Centerline is valid? [True, True] Translation: X:165.00, Y:60.89, Z:-0.35 [[ 7.34883783e-01 -6.78193040e-01 -1.63893166e-04 1.65002007e+02] [ 6.78193021e-01 7.34883801e-01 -1.60426848e-04 6.08947323e+01] [ 2.29242804e-04 6.74388770e-06 9.99999974e-01 -3.52928092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22576923100002 meters 0.031799662443242366 Centerline is valid? [True, True] Translation: X:165.03, Y:60.91, Z:-0.35 [[ 7.33504591e-01 -6.79684465e-01 -2.08289230e-04 1.65027527e+02] [ 6.79684434e-01 7.33504621e-01 -2.04061350e-04 6.09093918e+01] [ 2.91478442e-04 8.10898944e-06 9.99999957e-01 -3.52774814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25576923100002 meters 0.02878818457585089 Centerline is valid? [True, True] Translation: X:165.05, Y:60.93, Z:-0.35 [[ 7.32488187e-01 -6.80779651e-01 -3.51488802e-04 1.65051883e+02] [ 6.80779564e-01 7.32488271e-01 -3.44186624e-04 6.09255024e+01] [ 4.91776675e-04 1.28262428e-05 9.99999879e-01 -3.52822697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28576923100002 meters 0.030858916128881045 Centerline is valid? [True, True] Translation: X:165.07, Y:60.94, Z:-0.35 [[ 7.31441768e-01 -6.81903543e-01 -7.06152325e-04 1.65070915e+02] [ 6.81903193e-01 7.31442108e-01 -6.90984697e-04 6.09446853e+01] [ 9.87694458e-04 2.38875430e-05 9.99999512e-01 -3.53992063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31576923100002 meters 0.03194321137974142 Centerline is valid? [True, True] Translation: X:165.09, Y:60.96, Z:-0.35 [[ 7.33841350e-01 -6.79320162e-01 -9.94879467e-04 1.65090769e+02] [ 6.79319465e-01 7.33842023e-01 -9.73882119e-04 6.09646993e+01] [ 1.39166212e-03 3.88339810e-05 9.99999031e-01 -3.52184672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34576923100002 meters 0.03667527669382409 Centerline is valid? [True, True] Translation: X:165.11, Y:60.99, Z:-0.35 [[ 7.36111528e-01 -6.76859653e-01 -9.10549297e-04 1.65105272e+02] [ 6.76859067e-01 7.36112090e-01 -8.91502264e-04 6.09885320e+01] [ 1.27368826e-03 3.99315464e-05 9.99999188e-01 -3.51837583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37576923100002 meters 0.03822503776802966 Centerline is valid? [True, True] Translation: X:165.12, Y:61.01, Z:-0.35 [[ 7.38504909e-01 -6.74247240e-01 -1.07655928e-03 1.65122837e+02] [ 6.74246417e-01 7.38505692e-01 -1.05454060e-03 6.10108449e+01] [ 1.50606625e-03 5.29171700e-05 9.99998864e-01 -3.52241766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40576923100002 meters 0.04918019902953038 Centerline is valid? [True, True] Translation: X:165.13, Y:61.04, Z:-0.35 [[ 7.43355884e-01 -6.68894350e-01 -1.54178163e-03 1.65127968e+02] [ 6.68892652e-01 7.43357478e-01 -1.51024678e-03 6.10442396e+01] [ 2.15629044e-03 9.13644304e-05 9.99997671e-01 -3.54326728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43576923100002 meters 0.05346776817003732 Centerline is valid? [True, True] Translation: X:165.14, Y:61.07, Z:-0.35 [[ 7.45221082e-01 -6.66816021e-01 -1.39037333e-03 1.65140330e+02] [ 6.66814635e-01 7.45222374e-01 -1.36245855e-03 6.10698360e+01] [ 1.94464650e-03 8.82115540e-05 9.99998105e-01 -3.54535012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46576923100002 meters 0.053738790332611114 Centerline is valid? [True, True] Translation: X:165.15, Y:61.10, Z:-0.35 [[ 7.46684911e-01 -6.65177896e-01 -1.02316292e-04 1.65153856e+02] [ 6.65177888e-01 7.46684918e-01 -1.00829705e-04 6.10958599e+01] [ 1.43467723e-04 7.22948423e-06 9.99999990e-01 -3.51915650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49576923100003 meters 0.055988992399854935 Centerline is valid? [True, True] Translation: X:165.17, Y:61.12, Z:-0.35 [[ 7.46066791e-01 -6.65871051e-01 2.94425558e-04 1.65167426e+02] [ 6.65870989e-01 7.46066849e-01 2.88253896e-04 6.11209083e+01] [-4.11601073e-04 -1.90072221e-05 9.99999915e-01 -3.51047629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52576923100003 meters 0.04556819900314025 Centerline is valid? [True, True] Translation: X:165.19, Y:61.14, Z:-0.35 [[ 7.42469483e-01 -6.69879390e-01 8.18925995e-04 1.65188642e+02] [ 6.69878911e-01 7.42469933e-01 8.02423917e-04 6.11390630e+01] [-1.14555517e-03 -4.71940171e-05 9.99999343e-01 -3.51377557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55576923100003 meters 0.04279885100045265 Centerline is valid? [True, True] Translation: X:165.21, Y:61.16, Z:-0.35 [[ 7.40056586e-01 -6.72543888e-01 9.83773308e-04 1.65207860e+02] [ 6.72543199e-01 7.40057238e-01 9.64445207e-04 6.11596100e+01] [-1.37668029e-03 -5.21139808e-05 9.99999051e-01 -3.51578540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.585769231 meters 0.04081355537068449 Centerline is valid? [True, True] Translation: X:165.23, Y:61.18, Z:-0.35 [[ 7.37354483e-01 -6.75505299e-01 9.78602876e-04 1.65226612e+02] [ 6.75504619e-01 7.37355131e-01 9.59659456e-04 6.11796777e+01] [-1.36983290e-03 -4.65584385e-05 9.99999061e-01 -3.51240091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.615769231 meters 0.02917245669920976 Centerline is valid? [True, True] Translation: X:165.25, Y:61.19, Z:-0.35 [[ 7.30781822e-01 -6.82610897e-01 5.41236646e-04 1.65253814e+02] [ 6.82610691e-01 7.30782022e-01 5.30753488e-04 6.11928384e+01] [-7.57824125e-04 -1.84110804e-05 9.99999713e-01 -3.53466231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.645769231 meters 0.025156889739424523 Centerline is valid? [True, True] Translation: X:165.28, Y:61.21, Z:-0.36 [[ 7.27129400e-01 -6.86500343e-01 3.37415821e-04 1.65275117e+02] [ 6.86500264e-01 7.27129479e-01 3.30727883e-04 6.12094539e+01] [-4.72389795e-04 -8.84591734e-06 9.99999888e-01 -3.55574914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.675769231 meters 0.016420809554228772 Centerline is valid? [True, True] Translation: X:165.30, Y:61.22, Z:-0.36 [[ 7.20651973e-01 -6.93296615e-01 7.33551006e-04 1.65303117e+02] [ 6.93296241e-01 7.20652346e-01 7.20111360e-04 6.12208749e+01] [-1.02788602e-03 -1.03815169e-05 9.99999472e-01 -3.55671019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.705769231 meters 0.013580743788385873 Centerline is valid? [True, True] Translation: X:165.33, Y:61.24, Z:-0.36 [[ 7.18036815e-01 -6.96004765e-01 7.06236727e-04 1.65327516e+02] [ 6.96004420e-01 7.18037162e-01 6.93365058e-04 6.12367660e+01] [-9.89689601e-04 -6.31775431e-06 9.99999510e-01 -3.55169157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.735769231 meters 0.011709051008860024 Centerline is valid? [True, True] Translation: X:165.35, Y:61.25, Z:-0.36 [[ 7.14810663e-01 -6.99317568e-01 -8.09281619e-04 1.65352934e+02] [ 6.99317115e-01 7.14811121e-01 -7.96036002e-04 6.12506710e+01] [ 1.13516546e-03 3.07053469e-06 9.99999356e-01 -3.57470593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.765769231 meters 0.011663514204416778 Centerline is valid? [True, True] Translation: X:165.37, Y:61.27, Z:-0.36 [[ 7.14137431e-01 -7.00004178e-01 -1.37116922e-03 1.65373951e+02] [ 7.00002878e-01 7.14138748e-01 -1.34890415e-03 6.12682234e+01] [ 1.92344361e-03 3.48054211e-06 9.99998150e-01 -3.59343096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.795769231 meters 0.011600550798913683 Centerline is valid? [True, True] Translation: X:165.40, Y:61.29, Z:-0.36 [[ 7.13988458e-01 -7.00156425e-01 -1.20953524e-03 1.65395111e+02] [ 7.00155413e-01 7.13989482e-01 -1.19038573e-03 6.12866720e+01] [ 1.69705165e-03 3.05902697e-06 9.99998560e-01 -3.59285799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.825769231 meters 0.011843499296774893 Centerline is valid? [True, True] Translation: X:165.41, Y:61.31, Z:-0.36 [[ 7.14806506e-01 -6.99321835e-01 -7.93307824e-04 1.65414753e+02] [ 6.99321399e-01 7.14806947e-01 -7.81291220e-04 6.13053775e+01] [ 1.11343595e-03 3.69491029e-06 9.99999380e-01 -3.58172530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.855769231 meters 0.01176022655910554 Centerline is valid? [True, True] Translation: X:165.44, Y:61.32, Z:-0.36 [[ 7.14875968e-01 -6.99251177e-01 -3.77101490e-04 1.65435206e+02] [ 6.99251078e-01 7.14876067e-01 -3.71819609e-04 6.13246177e+01] [ 5.29576129e-04 2.11627931e-06 9.99999860e-01 -3.57074326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.885769231 meters 0.011936755217009673 Centerline is valid? [True, True] Translation: X:165.46, Y:61.34, Z:-0.36 [[ 7.14949751e-01 -6.99175717e-01 -4.13456264e-04 1.65456089e+02] [ 6.99175598e-01 7.14949871e-01 -4.07806204e-04 6.13420162e+01] [ 5.80728698e-04 2.48241360e-06 9.99999831e-01 -3.56388280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.915769231 meters 0.01211965252082059 Centerline is valid? [True, True] Translation: X:165.48, Y:61.36, Z:-0.36 [[ 7.14958834e-01 -6.99166012e-01 -8.67554300e-04 1.65476113e+02] [ 6.99165489e-01 7.14959361e-01 -8.55367200e-04 6.13602779e+01] [ 1.21830974e-03 4.98830937e-06 9.99999258e-01 -3.57131262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.945769231 meters 0.012433430595035305 Centerline is valid? [True, True] Translation: X:165.50, Y:61.38, Z:-0.36 [[ 7.15157378e-01 -6.98962460e-01 -1.18487834e-03 1.65497844e+02] [ 6.98961483e-01 7.15158360e-01 -1.16839650e-03 6.13780565e+01] [ 1.66404095e-03 7.40305939e-06 9.99998615e-01 -3.57607205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97576923100002 meters 0.012530914373927697 Centerline is valid? [True, True] Translation: X:165.52, Y:61.40, Z:-0.36 [[ 7.15184333e-01 -6.98935514e-01 -7.18222137e-04 1.65517462e+02] [ 6.98935155e-01 7.15184694e-01 -7.08862202e-04 6.13960704e+01] [ 1.00911045e-03 4.97644087e-06 9.99999491e-01 -3.56072412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00576923100002 meters 0.01173775809868741 Centerline is valid? [True, True] Translation: X:165.54, Y:61.41, Z:-0.35 [[ 7.14650247e-01 -6.99481047e-01 1.13577897e-03 1.65540902e+02] [ 6.99480151e-01 7.14651149e-01 1.11978495e-03 6.14119905e+01] [-1.59495410e-03 -5.79974383e-06 9.99998728e-01 -3.51357354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03576923100002 meters 0.011593480893529495 Centerline is valid? [True, True] Translation: X:165.56, Y:61.43, Z:-0.35 [[ 7.14166568e-01 -6.99974120e-01 1.53083073e-03 1.65561664e+02] [ 6.99972492e-01 7.14168209e-01 1.51006445e-03 6.14302011e+01] [-2.15027667e-03 -6.89814666e-06 9.99997688e-01 -3.50335922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06576923100002 meters 0.01155881445423613 Centerline is valid? [True, True] Translation: X:165.58, Y:61.45, Z:-0.35 [[ 7.13862488e-01 -7.00284539e-01 1.38344291e-03 1.65582814e+02] [ 7.00283208e-01 7.13863828e-01 1.36514290e-03 6.14475404e+01] [-1.94357831e-03 -5.72246920e-06 9.99998111e-01 -3.50502743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09576923100002 meters 0.01155881445423613 Centerline is valid? [True, True] Translation: X:165.60, Y:61.47, Z:-0.35 [[ 7.13728555e-01 -7.00421043e-01 1.38316244e-03 1.65602251e+02] [ 7.00419712e-01 7.13729895e-01 1.36542700e-03 6.14670027e+01] [-1.94357819e-03 -5.75000133e-06 9.99998111e-01 -3.50561780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12576923100002 meters 0.01159691752073659 Centerline is valid? [True, True] Translation: X:165.62, Y:61.49, Z:-0.35 [[ 7.13815324e-01 -7.00332475e-01 1.45166397e-03 1.65622199e+02] [ 7.00331008e-01 7.13816800e-01 1.43362720e-03 6.14863301e+01] [-2.04023782e-03 -6.69977275e-06 9.99997919e-01 -3.50443786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15576923100002 meters 0.01265446453072378 Centerline is valid? [True, True] Translation: X:165.64, Y:61.51, Z:-0.35 [[ 7.14902446e-01 -6.99223732e-01 8.15861260e-04 1.65639112e+02] [ 6.99223268e-01 7.14902911e-01 8.05763989e-04 6.15070989e+01] [-1.14667089e-03 -5.57347031e-06 9.99999343e-01 -3.52611585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18576923100002 meters 0.013164605473259894 Centerline is valid? [True, True] Translation: X:165.66, Y:61.53, Z:-0.36 [[ 7.15444970e-01 -6.98669086e-01 5.56880320e-05 1.65657222e+02] [ 6.98669084e-01 7.15444972e-01 5.44920712e-05 6.15279810e+01] [-7.79136482e-05 -7.85719036e-08 9.99999997e-01 -3.55283169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21576923100002 meters 0.013977154702410415 Centerline is valid? [True, True] Translation: X:165.67, Y:61.55, Z:-0.36 [[ 7.15908020e-01 -6.98194494e-01 -3.93617684e-04 1.65674846e+02] [ 6.98194385e-01 7.15908128e-01 -3.89943175e-04 6.15486338e+01] [ 5.54050278e-04 4.34178918e-06 9.99999847e-01 -3.57506067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24576923100003 meters 0.01483522420791762 Centerline is valid? [True, True] Translation: X:165.69, Y:61.57, Z:-0.36 [[ 7.16805874e-01 -6.97272706e-01 3.35269033e-04 1.65693031e+02] [ 6.97272627e-01 7.16805952e-01 3.31187287e-04 6.15707467e+01] [-4.71250694e-04 -3.62307343e-06 9.99999889e-01 -3.55988736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27576923100003 meters 0.015547927775230315 Centerline is valid? [True, True] Translation: X:165.71, Y:61.59, Z:-0.36 [[ 7.17217348e-01 -6.96849098e-01 7.81151820e-04 1.65710847e+02] [ 6.96848670e-01 7.17217774e-01 7.72664811e-04 6.15916785e+01] [-1.09868675e-03 -9.82400068e-06 9.99999396e-01 -3.55050637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30576923100003 meters 0.017079700039760833 Centerline is valid? [True, True] Translation: X:165.73, Y:61.61, Z:-0.36 [[ 7.18369304e-01 -6.95661571e-01 7.22604159e-04 1.65728057e+02] [ 6.95661203e-01 7.18369667e-01 7.15006572e-04 6.16146598e+01] [-1.01649950e-03 -1.09510947e-05 9.99999483e-01 -3.55958975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.335769231 meters 0.016576958598344738 Centerline is valid? [True, True] Translation: X:165.75, Y:61.63, Z:-0.36 [[ 7.18735394e-01 -6.95283647e-01 2.91090923e-04 1.65747735e+02] [ 6.95283587e-01 7.18735453e-01 2.87772779e-04 6.16345437e+01] [-4.09301073e-04 -4.44174039e-06 9.99999916e-01 -3.57199994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.365769231 meters 0.020195230341562162 Centerline is valid? [True, True] Translation: X:165.76, Y:61.66, Z:-0.36 [[ 7.20481770e-01 -6.93473062e-01 -1.06422469e-03 1.65760178e+02] [ 6.93472260e-01 7.20482555e-01 -1.05490376e-03 6.16611621e+01] [ 1.49830266e-03 2.20286282e-05 9.99998877e-01 -3.61348816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.395769231 meters 0.02234660036007838 Centerline is valid? [True, True] Translation: X:165.78, Y:61.68, Z:-0.36 [[ 7.21624337e-01 -6.92282826e-01 -1.67512951e-03 1.65775551e+02] [ 6.92280835e-01 7.21626280e-01 -1.66060545e-03 6.16847117e+01] [ 2.35842611e-03 3.86732493e-05 9.99997218e-01 -3.63777716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.425769231 meters 0.02419430161182523 Centerline is valid? [True, True] Translation: X:165.79, Y:61.71, Z:-0.36 [[ 7.22659166e-01 -6.91201883e-01 -1.91996045e-03 1.65790613e+02] [ 6.91199263e-01 7.22661715e-01 -1.90383322e-03 6.17073183e+01] [ 2.70341502e-03 4.87472756e-05 9.99996345e-01 -3.64717498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.455769231 meters 0.023042843639047628 Centerline is valid? [True, True] Translation: X:165.81, Y:61.73, Z:-0.36 [[ 7.23509774e-01 -6.90313445e-01 -9.77054217e-04 1.65809066e+02] [ 6.90312765e-01 7.23510433e-01 -9.69510846e-04 6.17282566e+01] [ 1.37617529e-03 2.69775740e-05 9.99999053e-01 -3.61652413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.485769231 meters 0.024640400561787137 Centerline is valid? [True, True] Translation: X:165.82, Y:61.75, Z:-0.36 [[ 7.22227940e-01 -6.91654294e-01 -1.06816206e-03 1.65824593e+02] [ 6.91653482e-01 7.22228729e-01 -1.05999637e-03 6.17516703e+01] [ 1.50460837e-03 2.67609819e-05 9.99998868e-01 -3.62626018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.515769231 meters 0.02237419091007903 Centerline is valid? [True, True] Translation: X:165.85, Y:61.77, Z:-0.36 [[ 7.20819613e-01 -6.93121539e-01 -1.27149354e-03 1.65846209e+02] [ 6.93120391e-01 7.20820734e-01 -1.26224723e-03 6.17704246e+01] [ 1.79140965e-03 2.85544621e-05 9.99998395e-01 -3.63122408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.545769231 meters 0.018386840594314224 Centerline is valid? [True, True] Translation: X:165.87, Y:61.79, Z:-0.36 [[ 7.19036811e-01 -6.94970967e-01 -1.19156664e-03 1.65869961e+02] [ 6.94969960e-01 7.19037798e-01 -1.18335088e-03 6.17872216e+01] [ 1.67917596e-03 2.27698179e-05 9.99998590e-01 -3.61763216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.575769231 meters 0.013869615082926138 Centerline is valid? [True, True] Translation: X:165.89, Y:61.80, Z:-0.36 [[ 7.14910659e-01 -6.99215773e-01 2.28800072e-04 1.65892573e+02] [ 6.99215736e-01 7.14910696e-01 2.26781165e-04 6.18023648e+01] [-3.22140586e-04 -2.14766172e-06 9.99999948e-01 -3.56762733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.605769231 meters 0.012317607965963838 Centerline is valid? [True, True] Translation: X:165.91, Y:61.82, Z:-0.35 [[ 7.12957505e-01 -7.01205573e-01 1.52952184e-03 1.65914549e+02] [ 7.01203929e-01 7.12959146e-01 1.51871206e-03 6.18204620e+01] [-2.15541595e-03 -1.02704405e-05 9.99997677e-01 -3.52886184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.635769231 meters 0.010984067432312823 Centerline is valid? [True, True] Translation: X:165.94, Y:61.83, Z:-0.35 [[ 7.08581451e-01 -7.05621222e-01 3.31955246e-03 1.65940732e+02] [ 7.05613514e-01 7.08589226e-01 3.29802005e-03 6.18344959e+01] [-4.67935204e-03 5.40524537e-06 9.99989052e-01 -3.47898469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.665769231 meters 0.011903868329912387 Centerline is valid? [True, True] Translation: X:165.96, Y:61.85, Z:-0.35 [[ 7.06577940e-01 -7.07626551e-01 3.50418506e-03 1.65963178e+02] [ 7.07617980e-01 7.06586629e-01 3.48286461e-03 6.18500948e+01] [-4.94057779e-03 1.87090555e-05 9.99987795e-01 -3.47102533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.695769231 meters 0.01320567686163758 Centerline is valid? [True, True] Translation: X:165.99, Y:61.87, Z:-0.35 [[ 7.04531580e-01 -7.09670257e-01 1.83829317e-03 1.65985063e+02] [ 7.09667904e-01 7.04533978e-01 1.82754950e-03 6.18673223e+01] [-2.59209753e-03 1.70113233e-05 9.99996640e-01 -3.52787706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72576923100002 meters 0.013274947595902106 Centerline is valid? [True, True] Translation: X:166.00, Y:61.89, Z:-0.36 [[ 7.04580664e-01 -7.09623845e-01 2.94026215e-04 1.66003638e+02] [ 7.09623785e-01 7.04580725e-01 2.91851472e-04 6.18851749e+01] [-4.14269968e-04 3.01509173e-06 9.99999914e-01 -3.56427762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75576923100002 meters 0.012569276964479235 Centerline is valid? [True, True] Translation: X:166.02, Y:61.91, Z:-0.36 [[ 7.05295266e-01 -7.08913368e-01 -6.51044611e-04 1.66022686e+02] [ 7.08913071e-01 7.05295567e-01 -6.48563110e-04 6.19062775e+01] [ 9.18953937e-04 -4.10554304e-06 9.99999578e-01 -3.58141867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78576923100002 meters 0.011448200309989174 Centerline is valid? [True, True] Translation: X:166.04, Y:61.93, Z:-0.36 [[ 7.08267744e-01 -7.05942371e-01 -1.47378707e-03 1.66038547e+02] [ 7.05940844e-01 7.08269277e-01 -1.46804651e-03 6.19281016e+01] [ 2.08019434e-03 -6.36496759e-07 9.99997836e-01 -3.58446393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81576923100002 meters 0.011444624784994858 Centerline is valid? [True, True] Translation: X:166.06, Y:61.95, Z:-0.36 [[ 7.09745618e-01 -7.04457288e-01 -1.04242167e-03 1.66055224e+02] [ 7.04456522e-01 7.09746384e-01 -1.03876756e-03 6.19488667e+01] [ 1.47162239e-03 2.91997908e-06 9.99998917e-01 -3.57389088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84576923100002 meters 0.012848379999814799 Centerline is valid? [True, True] Translation: X:166.07, Y:61.97, Z:-0.35 [[ 7.12591446e-01 -7.01578909e-01 6.82349642e-04 1.66071188e+02] [ 7.01578581e-01 7.12591772e-01 6.79308100e-04 6.19725131e+01] [-9.62824977e-04 -5.34724722e-06 9.99999536e-01 -3.54000534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87576923100002 meters 0.014108009008738286 Centerline is valid? [True, True] Translation: X:166.09, Y:62.00, Z:-0.35 [[ 7.13999993e-01 -7.00143334e-01 1.82272624e-03 1.66088998e+02] [ 7.00140978e-01 7.14002319e-01 1.81628701e-03 6.19951245e+01] [-2.57309201e-03 -2.06635815e-05 9.99996689e-01 -3.52326760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90576923100002 meters 0.017646233075009222 Centerline is valid? [True, True] Translation: X:166.10, Y:62.02, Z:-0.35 [[ 7.16766430e-01 -6.97305929e-01 3.21348173e-03 1.66103473e+02] [ 6.97298573e-01 7.16773631e-01 3.20351221e-03 6.20200073e+01] [-4.53716703e-03 -5.54137863e-05 9.99989705e-01 -3.49564729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93576923100002 meters 0.020504656234200253 Centerline is valid? [True, True] Translation: X:166.12, Y:62.04, Z:-0.35 [[ 7.17782823e-01 -6.96259411e-01 3.26366128e-03 1.66118898e+02] [ 6.96251807e-01 7.17790240e-01 3.25448744e-03 6.20431390e+01] [-4.60859172e-03 -6.36851181e-05 9.99989378e-01 -3.48896494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96576923100002 meters 0.020857778018033547 Centerline is valid? [True, True] Translation: X:166.14, Y:62.06, Z:-0.35 [[ 7.18606787e-01 -6.95411562e-01 2.65425624e-03 1.66138170e+02] [ 6.95406524e-01 7.18611686e-01 2.64760844e-03 6.20645852e+01] [-3.74855708e-03 -5.68022853e-05 9.99992973e-01 -3.50547990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99576923100003 meters 0.022605306978935476 Centerline is valid? [True, True] Translation: X:166.15, Y:62.09, Z:-0.36 [[ 7.19232209e-01 -6.94769722e-01 -2.50467828e-04 1.66152813e+02] [ 6.94769677e-01 7.19232253e-01 -2.50295405e-04 6.20888210e+01] [ 3.54042209e-04 6.00306569e-06 9.99999937e-01 -3.58850304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02576923100003 meters 0.021436886167055004 Centerline is valid? [True, True] Translation: X:166.17, Y:62.11, Z:-0.36 [[ 7.18905281e-01 -6.95106361e-01 -1.53111974e-03 1.66171213e+02] [ 6.95104680e-01 7.18906910e-01 -1.52907914e-03 6.21093504e+01] [ 2.16360520e-03 3.49745733e-05 9.99997659e-01 -3.62638756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05576923100003 meters 0.020192842197571788 Centerline is valid? [True, True] Translation: X:166.19, Y:62.13, Z:-0.36 [[ 7.17794078e-01 -6.96254687e-01 -1.03559750e-03 1.66187282e+02] [ 6.96253918e-01 7.17794825e-01 -1.03472897e-03 6.21336356e+01] [ 1.46378142e-03 2.16835111e-05 9.99998928e-01 -3.62148455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.085769231 meters 0.0200358427163536 Centerline is valid? [True, True] Translation: X:166.20, Y:62.15, Z:-0.36 [[ 7.17007430e-01 -6.97065404e-01 4.08898910e-04 1.66203635e+02] [ 6.97065285e-01 7.17007547e-01 4.07924317e-04 6.21549402e+01] [-5.77533534e-04 -7.45553082e-06 9.99999833e-01 -3.57931483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.115769231 meters 0.01598192370218529 Centerline is valid? [True, True] Translation: X:166.22, Y:62.18, Z:-0.36 [[ 7.14282170e-01 -6.99857491e-01 6.88606826e-04 1.66223786e+02] [ 6.99857153e-01 7.14282502e-01 6.87640526e-04 6.21751325e+01] [-9.73110180e-04 -9.24295477e-06 9.99999526e-01 -3.56912585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.145769231 meters 0.01335530399961704 Centerline is valid? [True, True] Translation: X:166.25, Y:62.19, Z:-0.36 [[ 7.11918461e-01 -7.02262134e-01 2.06262358e-05 1.66245177e+02] [ 7.02262134e-01 7.11918461e-01 2.00304566e-05 6.21938893e+01] [-2.87508293e-05 2.24972579e-07 1.00000000e+00 -3.58262295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.175769231 meters 0.01146670779000708 Centerline is valid? [True, True] Translation: X:166.27, Y:62.21, Z:-0.36 [[ 7.05854420e-01 -7.08356904e-01 1.87939245e-04 1.66269792e+02] [ 7.08356879e-01 7.05854445e-01 1.87375926e-04 6.22093782e+01] [-2.65386783e-04 8.67931886e-07 9.99999965e-01 -3.59208460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.205769231 meters 0.013174432720278548 Centerline is valid? [True, True] Translation: X:166.29, Y:62.23, Z:-0.36 [[ 7.02432074e-01 -7.11750684e-01 3.79324190e-04 1.66293231e+02] [ 7.11750584e-01 7.02432177e-01 3.78960480e-04 6.22257125e+01] [-5.36174898e-04 3.79021760e-06 9.99999856e-01 -3.58912970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.235769231 meters 0.017505342062405893 Centerline is valid? [True, True] Translation: X:166.32, Y:62.24, Z:-0.36 [[ 6.99104375e-01 -7.15019613e-01 1.59373043e-04 1.66317809e+02] [ 7.15019596e-01 6.99104393e-01 1.58952941e-04 6.22396101e+01] [-2.25072865e-04 2.83015288e-06 9.99999975e-01 -3.59686809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.265769231 meters 0.02405337591970276 Centerline is valid? [True, True] Translation: X:166.34, Y:62.25, Z:-0.36 [[ 6.93187686e-01 -7.20756946e-01 -5.07058090e-04 1.66344095e+02] [ 7.20756767e-01 6.93187871e-01 -5.08304008e-04 6.22528367e+01] [ 7.17850163e-04 -1.31154708e-05 9.99999742e-01 -3.60958669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.295769231 meters 0.028147021954640496 Centerline is valid? [True, True] Translation: X:166.37, Y:62.27, Z:-0.36 [[ 6.89462940e-01 -7.24320476e-01 -8.38207880e-04 1.66368115e+02] [ 7.24319990e-01 6.89463449e-01 -8.39885891e-04 6.22678768e+01] [ 1.18626024e-03 -2.80605281e-05 9.99999296e-01 -3.59601896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.325769231 meters 0.03281018485166419 Centerline is valid? [True, True] Translation: X:166.39, Y:62.28, Z:-0.36 [[ 6.88710290e-01 -7.25036580e-01 -3.07691557e-04 1.66392491e+02] [ 7.25036514e-01 6.88710359e-01 -3.08797023e-04 6.22819894e+01] [ 4.35799500e-04 -1.04159264e-05 9.99999905e-01 -3.57864846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.355769231 meters 0.03033289508331635 Centerline is valid? [True, True] Translation: X:166.41, Y:62.30, Z:-0.36 [[ 6.88314351e-01 -7.25412408e-01 4.39648057e-04 1.66409516e+02] [ 7.25412275e-01 6.88314491e-01 4.40122524e-04 6.23026793e+01] [-6.21886469e-04 1.59834479e-05 9.99999806e-01 -3.55435443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.385769231 meters 0.03283211839741418 Centerline is valid? [True, True] Translation: X:166.43, Y:62.32, Z:-0.36 [[ 6.88512580e-01 -7.25224065e-01 6.94658212e-04 1.66430200e+02] [ 7.25223732e-01 6.88512930e-01 6.95832691e-04 6.23190555e+01] [-9.82915773e-04 2.46930599e-05 9.99999517e-01 -3.56317852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.415769231 meters 0.02719321993939321 Centerline is valid? [True, True] Translation: X:166.45, Y:62.34, Z:-0.36 [[ 6.90034589e-01 -7.23776391e-01 4.39409905e-05 1.66445006e+02] [ 7.23776389e-01 6.90034591e-01 4.34929975e-05 6.23438206e+01] [-6.18000081e-05 1.79177878e-06 9.99999998e-01 -3.57713931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.445769231 meters 0.026322363815238288 Centerline is valid? [True, True] Translation: X:166.46, Y:62.36, Z:-0.36 [[ 6.90574841e-01 -7.23260865e-01 3.31265799e-04 1.66463896e+02] [ 7.23260789e-01 6.90574921e-01 3.31772282e-04 6.23636924e+01] [-4.68721760e-04 1.04779716e-05 9.99999890e-01 -3.56177578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47576923100002 meters 0.026323274336371882 Centerline is valid? [True, True] Translation: X:166.48, Y:62.38, Z:-0.36 [[ 6.90849671e-01 -7.22998103e-01 6.89583968e-04 1.66482956e+02] [ 7.22997772e-01 6.90850015e-01 6.91616033e-04 6.23819182e+01] [-9.76436175e-04 2.07649639e-05 9.99999523e-01 -3.55519186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50576923100002 meters 0.024549170388615524 Centerline is valid? [True, True] Translation: X:166.50, Y:62.40, Z:-0.36 [[ 6.91092556e-01 -7.22766261e-01 -1.04624284e-04 1.66501650e+02] [ 7.22766253e-01 6.91092564e-01 -1.05663163e-04 6.24024469e+01] [ 1.48674834e-04 -2.59587628e-06 9.99999989e-01 -3.58525783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53576923100002 meters 0.02569847932142027 Centerline is valid? [True, True] Translation: X:166.52, Y:62.42, Z:-0.36 [[ 6.91114204e-01 -7.22744403e-01 -1.29761582e-03 1.66521988e+02] [ 7.22743227e-01 6.91115422e-01 -1.30436961e-03 6.24196888e+01] [ 1.83952814e-03 -3.63746784e-05 9.99998307e-01 -3.62736933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56576923100002 meters 0.02487291682597733 Centerline is valid? [True, True] Translation: X:166.54, Y:62.44, Z:-0.37 [[ 6.92411451e-01 -7.21498413e-01 -2.53441164e-03 1.66541171e+02] [ 7.21493917e-01 6.92416086e-01 -2.54790086e-03 6.24386059e+01] [ 3.59317381e-03 -6.43668538e-05 9.99993542e-01 -3.66983285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59576923100002 meters 0.02232806519714866 Centerline is valid? [True, True] Translation: X:166.56, Y:62.46, Z:-0.36 [[ 6.93814832e-01 -7.20150622e-01 -2.01493772e-03 1.66559055e+02] [ 7.20147772e-01 6.93817756e-01 -2.02651535e-03 6.24604570e+01] [ 2.85739586e-03 -4.50265050e-05 9.99995917e-01 -3.64888069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62576923100002 meters 0.017436042787630748 Centerline is valid? [True, True] Translation: X:166.57, Y:62.48, Z:-0.36 [[ 6.96692479e-01 -7.17369704e-01 -5.45915882e-04 1.66574270e+02] [ 7.17369493e-01 6.96692693e-01 -5.49703509e-04 6.24849063e+01] [ 7.74676249e-04 -8.64909952e-06 9.99999700e-01 -3.61518516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65576923100002 meters 0.01653719285343329 Centerline is valid? [True, True] Translation: X:166.59, Y:62.50, Z:-0.36 [[ 6.97620949e-01 -7.16466877e-01 -4.74408046e-04 1.66590796e+02] [ 7.16466718e-01 6.97621110e-01 -4.78084337e-04 6.25047435e+01] [ 6.73488660e-04 -6.37592691e-06 9.99999773e-01 -3.62463615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68576923100002 meters 0.015359359308528423 Centerline is valid? [True, True] Translation: X:166.61, Y:62.53, Z:-0.36 [[ 6.97941633e-01 -7.16154390e-01 -6.05514015e-04 1.66608977e+02] [ 7.16154130e-01 6.97941896e-01 -6.10169541e-04 6.25260266e+01] [ 8.59589194e-04 -7.77863701e-06 9.99999631e-01 -3.63365706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71576923100002 meters 0.01693523294784166 Centerline is valid? [True, True] Translation: X:166.63, Y:62.54, Z:-0.36 [[ 6.96580714e-01 -7.17477923e-01 -8.59894777e-04 1.66632419e+02] [ 7.17477399e-01 6.96581245e-01 -8.66497316e-04 6.25407137e+01] [ 1.22067927e-03 -1.33697492e-05 9.99999255e-01 -3.64390504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74576923100003 meters 0.018849018904783483 Centerline is valid? [True, True] Translation: X:166.65, Y:62.56, Z:-0.36 [[ 6.95184156e-01 -7.18831426e-01 -6.09131401e-04 1.66654962e+02] [ 7.18831163e-01 6.95184423e-01 -6.14297337e-04 6.25562550e+01] [ 8.65034892e-04 -1.08128582e-05 9.99999626e-01 -3.63513425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77576923100003 meters 0.021601551295537532 Centerline is valid? [True, True] Translation: X:166.68, Y:62.57, Z:-0.36 [[ 6.92458966e-01 -7.21457224e-01 -2.32233507e-04 1.66679325e+02] [ 7.21457186e-01 6.92459005e-01 -2.34641317e-04 6.25714606e+01] [ 3.30095856e-04 -5.06704886e-06 9.99999946e-01 -3.62001868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80576923100003 meters 0.02314309122521197 Centerline is valid? [True, True] Translation: X:166.70, Y:62.59, Z:-0.36 [[ 6.91460744e-01 -7.22414031e-01 -8.47428761e-05 1.66700040e+02] [ 7.22414026e-01 6.91460749e-01 -8.58457768e-05 6.25882442e+01] [ 1.20612566e-04 -1.86045769e-06 9.99999993e-01 -3.62500045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.835769231 meters 0.02241062913254118 Centerline is valid? [True, True] Translation: X:166.72, Y:62.61, Z:-0.36 [[ 6.90827431e-01 -7.23019666e-01 -1.52230865e-04 1.66720442e+02] [ 7.23019649e-01 6.90827448e-01 -1.54130170e-04 6.26072192e+01] [ 2.16604404e-04 -3.58855721e-06 9.99999977e-01 -3.62923434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.865769231 meters 0.023420006880606966 Centerline is valid? [True, True] Translation: X:166.74, Y:62.62, Z:-0.36 [[ 6.91129596e-01 -7.22730738e-01 -4.02350959e-04 1.66741688e+02] [ 7.22730624e-01 6.91129713e-01 -4.06570044e-04 6.26243935e+01] [ 5.71917371e-04 -9.79876923e-06 9.99999836e-01 -3.63042112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.895769231 meters 0.02236540105946258 Centerline is valid? [True, True] Translation: X:166.76, Y:62.64, Z:-0.36 [[ 6.91530498e-01 -7.22347037e-01 -5.72454173e-04 1.66760803e+02] [ 7.22346806e-01 6.91530735e-01 -5.78471956e-04 6.26440983e+01] [ 8.13727158e-04 -1.34794436e-05 9.99999669e-01 -3.62737184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.925769231 meters 0.019503731239344905 Centerline is valid? [True, True] Translation: X:166.78, Y:62.66, Z:-0.36 [[ 6.93641750e-01 -7.20320078e-01 -3.30221591e-04 1.66779419e+02] [ 7.20320000e-01 6.93641828e-01 -3.33989045e-04 6.26639188e+01] [ 4.69634523e-04 -6.19647129e-06 9.99999890e-01 -3.61269653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.955769231 meters 0.017957792363359277 Centerline is valid? [True, True] Translation: X:166.80, Y:62.68, Z:-0.36 [[ 6.95187427e-01 -7.18828514e-01 9.58554842e-05 1.66798223e+02] [ 7.18828508e-01 6.95187433e-01 9.62588000e-05 6.26834001e+01] [-1.35831098e-04 1.98574722e-06 9.99999991e-01 -3.60218142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.985769231 meters 0.017957792363359277 Centerline is valid? [True, True] Translation: X:166.82, Y:62.70, Z:-0.36 [[ 6.95038336e-01 -7.18972671e-01 9.58692983e-05 1.66816811e+02] [ 7.18972665e-01 6.95038343e-01 9.62451851e-05 6.27025315e+01] [-1.35830496e-04 2.03331153e-06 9.99999991e-01 -3.60275397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.015769231 meters 0.013744484084262407 Centerline is valid? [True, True] Translation: X:166.83, Y:62.73, Z:-0.36 [[ 6.98275135e-01 -7.15829230e-01 5.90644789e-04 1.66833949e+02] [ 7.15828981e-01 6.98275385e-01 5.96642724e-04 6.27258099e+01] [-8.39527019e-04 6.17987909e-06 9.99999648e-01 -3.58962066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.045769231 meters 0.012758094381455453 Centerline is valid? [True, True] Translation: X:166.85, Y:62.75, Z:-0.36 [[ 6.99475208e-01 -7.14656528e-01 6.92751895e-04 1.66851596e+02] [ 7.14656185e-01 6.99475551e-01 6.99838869e-04 6.27453283e+01] [-9.84707430e-04 5.55948810e-06 9.99999515e-01 -3.58537545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.075769231 meters 0.011204230248287846 Centerline is valid? [True, True] Translation: X:166.87, Y:62.77, Z:-0.36 [[ 7.02334533e-01 -7.11845391e-01 1.53064895e-03 1.66867721e+02] [ 7.11843708e-01 7.02336201e-01 1.54783264e-03 6.27669974e+01] [-2.17684770e-03 2.48650502e-06 9.99997631e-01 -3.55194089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.105769231 meters 0.011329506081423054 Centerline is valid? [True, True] Translation: X:166.88, Y:62.79, Z:-0.35 [[ 7.04161015e-01 -7.10036849e-01 2.22215321e-03 1.66884505e+02] [ 7.10033290e-01 7.04164521e-01 2.24833855e-03 6.27886559e+01] [-3.16116467e-03 -5.38960454e-06 9.99995003e-01 -3.53342546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.135769231 meters 0.014921076053294435 Centerline is valid? [True, True] Translation: X:166.90, Y:62.82, Z:-0.36 [[ 7.08108273e-01 -7.06102468e-01 1.40656873e-03 1.66895469e+02] [ 7.06101033e-01 7.08109670e-01 1.42350336e-03 6.28156466e+01] [-2.00114416e-03 -1.48148706e-05 9.99997998e-01 -3.56413211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.165769231 meters 0.016129579200199036 Centerline is valid? [True, True] Translation: X:166.91, Y:62.84, Z:-0.36 [[ 7.09451426e-01 -7.04754227e-01 -3.91753722e-04 1.66912772e+02] [ 7.04754115e-01 7.09451534e-01 -3.97287266e-04 6.28372961e+01] [ 5.57920160e-04 5.76596931e-06 9.99999844e-01 -3.61539046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.195769231 meters 0.016689653767411543 Centerline is valid? [True, True] Translation: X:166.93, Y:62.86, Z:-0.37 [[ 7.09926824e-01 -7.04272513e-01 -2.03263938e-03 1.66931627e+02] [ 7.04269501e-01 7.09929734e-01 -2.05979407e-03 6.28577988e+01] [ 2.89368748e-03 3.07771426e-05 9.99995813e-01 -3.66503919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22576923100002 meters 0.015021125700294312 Centerline is valid? [True, True] Translation: X:166.95, Y:62.87, Z:-0.37 [[ 7.08218695e-01 -7.05990003e-01 -2.09640471e-03 1.66952992e+02] [ 7.05986805e-01 7.08221798e-01 -2.12519606e-03 6.28742738e+01] [ 2.98508669e-03 2.50695186e-05 9.99995544e-01 -3.67348343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25576923100002 meters 0.013594786600039236 Centerline is valid? [True, True] Translation: X:166.97, Y:62.89, Z:-0.36 [[ 7.06521146e-01 -7.07690953e-01 -1.17718358e-03 1.66973874e+02] [ 7.07689946e-01 7.06522126e-01 -1.19391023e-03 6.28906888e+01] [ 1.67662571e-03 1.04418409e-05 9.99998594e-01 -3.64972209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28576923100002 meters 0.011419568622193236 Centerline is valid? [True, True] Translation: X:167.00, Y:62.90, Z:-0.36 [[ 7.02133210e-01 -7.12045276e-01 -6.92643660e-04 1.67001664e+02] [ 7.12044929e-01 7.02133552e-01 -7.03029226e-04 6.29023845e+01] [ 9.86916993e-04 4.26761382e-07 9.99999513e-01 -3.63482558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31576923100002 meters 0.012047372103734412 Centerline is valid? [True, True] Translation: X:167.02, Y:62.92, Z:-0.37 [[ 6.99976097e-01 -7.14164708e-01 -1.49411599e-03 1.67024157e+02] [ 7.14163098e-01 6.99977692e-01 -1.51663257e-03 6.29171095e+01] [ 2.12897332e-03 -5.43595650e-06 9.99997734e-01 -3.66604037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34576923100002 meters 0.014814427463021612 Centerline is valid? [True, True] Translation: X:167.05, Y:62.93, Z:-0.37 [[ 6.96341852e-01 -7.17706353e-01 -2.36975971e-03 1.67051253e+02] [ 7.17702321e-01 6.96345884e-01 -2.40588391e-03 6.29300248e+01] [ 3.37689059e-03 -2.54643864e-05 9.99994298e-01 -3.69678857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37576923100002 meters 0.015462800499542897 Centerline is valid? [True, True] Translation: X:167.07, Y:62.95, Z:-0.37 [[ 6.95678460e-01 -7.18351924e-01 -1.41203278e-03 1.67072057e+02] [ 7.18350492e-01 6.95679893e-01 -1.43454179e-03 6.29462793e+01] [ 2.01282867e-03 -1.63546181e-05 9.99997974e-01 -3.67260940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40576923100002 meters 0.015081273969801601 Centerline is valid? [True, True] Translation: X:167.09, Y:62.96, Z:-0.36 [[ 6.95519236e-01 -7.18507476e-01 5.03541438e-06 1.67092063e+02] [ 7.18507475e-01 6.95519236e-01 4.47170579e-06 6.29645919e+01] [-6.71518164e-06 5.07825480e-07 1.00000000e+00 -3.62845632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43576923100002 meters 0.015235645753427979 Centerline is valid? [True, True] Translation: X:167.11, Y:62.98, Z:-0.36 [[ 6.95019744e-01 -7.18989163e-01 1.46285147e-03 1.67114260e+02] [ 7.18987627e-01 6.95021283e-01 1.48606558e-03 6.29809678e+01] [-2.08517795e-03 1.89271840e-05 9.99997826e-01 -3.58679814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46576923100002 meters 0.015409476741444696 Centerline is valid? [True, True] Translation: X:167.13, Y:63.00, Z:-0.36 [[ 6.94587730e-01 -7.19406431e-01 1.50729802e-03 1.67134726e+02] [ 7.19404800e-01 6.94589366e-01 1.53188433e-03 6.29987488e+01] [-2.14900061e-03 2.03293770e-05 9.99997691e-01 -3.58598518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49576923100003 meters 0.016141777627040284 Centerline is valid? [True, True] Translation: X:167.16, Y:63.01, Z:-0.36 [[ 6.94246692e-01 -7.19736579e-01 8.86770803e-04 1.67156951e+02] [ 7.19736015e-01 6.94247259e-01 9.01338364e-04 6.30134727e+01] [-1.26436439e-03 1.24897057e-05 9.99999201e-01 -3.60765911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52576923100003 meters 0.016572368986764598 Centerline is valid? [True, True] Translation: X:167.18, Y:63.03, Z:-0.36 [[ 6.94052106e-01 -7.19924545e-01 5.68156430e-04 1.67177150e+02] [ 7.19924314e-01 6.94052339e-01 5.77515642e-04 6.30306689e+01] [-8.10097985e-04 8.20367999e-06 9.99999672e-01 -3.61506907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55576923100003 meters 0.016370573493284007 Centerline is valid? [True, True] Translation: X:167.20, Y:63.05, Z:-0.36 [[ 6.94025317e-01 -7.19950488e-01 3.92154542e-04 1.67196604e+02] [ 7.19950378e-01 6.94025428e-01 3.98614917e-04 6.30498096e+01] [-5.59148228e-04 5.68296656e-06 9.99999844e-01 -3.61319254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.585769231 meters 0.014828868768205241 Centerline is valid? [True, True] Translation: X:167.21, Y:63.07, Z:-0.36 [[ 6.95204873e-01 -7.18810467e-01 1.30275987e-03 1.67213892e+02] [ 7.18809244e-01 6.95206093e-01 1.32619367e-03 6.30691148e+01] [-1.85896849e-03 1.44595377e-05 9.99998272e-01 -3.58559769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.615769231 meters 0.012195702829726764 Centerline is valid? [True, True] Translation: X:167.23, Y:63.09, Z:-0.36 [[ 6.97227425e-01 -7.16848535e-01 1.44781621e-03 1.67230749e+02] [ 7.16847019e-01 6.97228928e-01 1.47455583e-03 6.30908246e+01] [-2.06649253e-03 9.76197080e-06 9.99997865e-01 -3.57285551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.645769231 meters 0.011682666161555895 Centerline is valid? [True, True] Translation: X:167.25, Y:63.11, Z:-0.36 [[ 6.98427337e-01 -7.15680621e-01 7.08990312e-04 1.67247977e+02] [ 7.15680257e-01 6.98427697e-01 7.22041181e-04 6.31102197e+01] [-1.01192935e-03 3.11706932e-06 9.99999488e-01 -3.59023938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.675769231 meters 0.011280989064284156 Centerline is valid? [True, True] Translation: X:167.27, Y:63.13, Z:-0.36 [[ 6.99252496e-01 -7.14874777e-01 -8.09670358e-06 1.67265646e+02] [ 7.14874777e-01 6.99252496e-01 -8.90453079e-06 6.31309598e+01] [ 1.20272646e-05 4.38386223e-07 1.00000000e+00 -3.60761141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.705769231 meters 0.011287959428509912 Centerline is valid? [True, True] Translation: X:167.28, Y:63.15, Z:-0.36 [[ 7.00411375e-01 -7.13739241e-01 4.48218899e-04 1.67282834e+02] [ 7.13739095e-01 7.00411519e-01 4.56648115e-04 6.31516352e+01] [-6.39865359e-04 6.98168208e-08 9.99999795e-01 -3.59698195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.735769231 meters 0.011205123689547361 Centerline is valid? [True, True] Translation: X:167.30, Y:63.17, Z:-0.36 [[ 7.00347087e-01 -7.13799989e-01 1.87969612e-03 1.67302397e+02] [ 7.13797413e-01 7.00349609e-01 1.91791639e-03 6.31708970e+01] [-2.68545314e-03 -1.48492440e-06 9.99996394e-01 -3.55546857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.765769231 meters 0.011164225604012732 Centerline is valid? [True, True] Translation: X:167.32, Y:63.19, Z:-0.36 [[ 6.99977643e-01 -7.14163072e-01 1.55114700e-03 1.67321301e+02] [ 7.14161317e-01 6.99979361e-01 1.58324057e-03 6.31895076e+01] [-2.21646284e-03 -4.63815460e-07 9.99997544e-01 -3.57105047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.795769231 meters 0.011196727150055987 Centerline is valid? [True, True] Translation: X:167.34, Y:63.21, Z:-0.36 [[ 6.99591717e-01 -7.14542671e-01 4.48823380e-04 1.67340880e+02] [ 7.14542524e-01 6.99591861e-01 4.57803299e-04 6.32083738e+01] [-6.41113175e-04 4.27994512e-07 9.99999794e-01 -3.60322008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.825769231 meters 0.011763254220873463 Centerline is valid? [True, True] Translation: X:167.36, Y:63.22, Z:-0.37 [[ 6.98403300e-01 -7.15702768e-01 -1.54240560e-03 1.67361797e+02] [ 7.15701032e-01 6.98405003e-01 -1.57649652e-03 6.32241928e+01] [ 2.20552672e-03 -2.87090934e-06 9.99997568e-01 -3.66120162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.855769231 meters 0.012013677705937045 Centerline is valid? [True, True] Translation: X:167.38, Y:63.24, Z:-0.37 [[ 6.97700696e-01 -7.16387755e-01 -1.52421402e-03 1.67383054e+02] [ 7.16386059e-01 6.97702361e-01 -1.55868188e-03 6.32419834e+01] [ 2.18006833e-03 -4.43224106e-06 9.99997624e-01 -3.65877098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.885769231 meters 0.012049213992541956 Centerline is valid? [True, True] Translation: X:167.41, Y:63.26, Z:-0.37 [[ 6.97064890e-01 -7.17007511e-01 -8.76023159e-04 1.67405385e+02] [ 7.17006951e-01 6.97065441e-01 -8.96463659e-04 6.32585768e+01] [ 1.25341665e-03 -3.22135187e-06 9.99999214e-01 -3.65535156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.915769231 meters 0.011853209179051824 Centerline is valid? [True, True] Translation: X:167.42, Y:63.28, Z:-0.36 [[ 6.97221831e-01 -7.16855366e-01 -3.18820035e-04 1.67424863e+02] [ 7.16855292e-01 6.97221904e-01 -3.26792172e-04 6.32781882e+01] [ 4.56551034e-04 -7.01192434e-07 9.99999896e-01 -3.64339578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.945769231 meters 0.011363261215312987 Centerline is valid? [True, True] Translation: X:167.44, Y:63.30, Z:-0.36 [[ 6.98070077e-01 -7.16029439e-01 1.01052479e-04 1.67443148e+02] [ 7.16029432e-01 6.98070084e-01 1.02796421e-04 6.32988184e+01] [-1.44146977e-04 5.97443602e-07 9.99999990e-01 -3.63859115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97576923100002 meters 0.012201600902358374 Centerline is valid? [True, True] Translation: X:167.46, Y:63.32, Z:-0.37 [[ 7.01140394e-01 -7.13022562e-01 -9.86770402e-04 1.67457694e+02] [ 7.13021845e-01 7.01141088e-01 -1.01094880e-03 6.33232051e+01] [ 1.41269458e-03 5.22818559e-06 9.99999002e-01 -3.67212104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00576923100002 meters 0.013204941163072213 Centerline is valid? [True, True] Translation: X:167.48, Y:63.35, Z:-0.37 [[ 7.02704217e-01 -7.11479826e-01 -1.80032433e-03 1.67475491e+02] [ 7.11477435e-01 7.02706523e-01 -1.84458474e-03 6.33453386e+01] [ 2.57748448e-03 1.53073418e-05 9.99996678e-01 -3.69057491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03576923100002 meters 0.01554469258493445 Centerline is valid? [True, True] Translation: X:167.49, Y:63.37, Z:-0.37 [[ 7.05241227e-01 -7.08965593e-01 -1.61259328e-03 1.67492039e+02] [ 7.08963666e-01 7.05243070e-01 -1.65292572e-03 6.33686484e+01] [ 2.30913770e-03 2.24413233e-05 9.99997334e-01 -3.67614328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06576923100002 meters 0.016737264350680382 Centerline is valid? [True, True] Translation: X:167.51, Y:63.39, Z:-0.37 [[ 7.06189421e-01 -7.08022496e-01 -8.03696838e-04 1.67508890e+02] [ 7.08022016e-01 7.06189879e-01 -8.24453538e-04 6.33897011e+01] [ 1.15129422e-03 1.31853108e-05 9.99999337e-01 -3.65412915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09576923100002 meters 0.019631186047929405 Centerline is valid? [True, True] Translation: X:167.52, Y:63.41, Z:-0.36 [[ 7.07175376e-01 -7.07038152e-01 1.97626624e-04 1.67523848e+02] [ 7.07038123e-01 7.07175404e-01 2.02046577e-04 6.34130209e+01] [-2.82611326e-04 -3.15280721e-06 9.99999960e-01 -3.62919057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12576923100002 meters 0.020854353935776775 Centerline is valid? [True, True] Translation: X:167.54, Y:63.44, Z:-0.36 [[ 7.08773370e-01 -7.05433995e-01 1.78558215e-03 1.67541381e+02] [ 7.05431619e-01 7.08775618e-01 1.83116544e-03 6.34350693e+01] [-2.55734345e-03 -3.82751959e-05 9.99996729e-01 -3.59429893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15576923100002 meters 0.021094218787006715 Centerline is valid? [True, True] Translation: X:167.56, Y:63.46, Z:-0.36 [[ 7.09031927e-01 -7.05173927e-01 1.85992085e-03 1.67559932e+02] [ 7.05171347e-01 7.09034365e-01 1.90812760e-03 6.34554448e+01] [-2.66430963e-03 -4.13605022e-05 9.99996450e-01 -3.59589402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18576923100002 meters 0.02489829461762417 Centerline is valid? [True, True] Translation: X:167.57, Y:63.48, Z:-0.36 [[ 7.09933660e-01 -7.04268166e-01 7.41210835e-04 1.67573507e+02] [ 7.04267756e-01 7.09934046e-01 7.60440881e-04 6.34792453e+01] [-1.06176511e-03 -1.78516861e-05 9.99999436e-01 -3.61809089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21576923100002 meters 0.023629805582348885 Centerline is valid? [True, True] Translation: X:167.59, Y:63.50, Z:-0.36 [[ 7.10713264e-01 -7.03481805e-01 7.71163313e-05 1.67593662e+02] [ 7.03481800e-01 7.10713269e-01 7.86189670e-05 6.34981994e+01] [-1.10114613e-04 -1.62560711e-06 9.99999994e-01 -3.62120608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24576923100003 meters 0.025849682242357834 Centerline is valid? [True, True] Translation: X:167.61, Y:63.52, Z:-0.36 [[ 7.11837704e-01 -7.02343928e-01 -3.00023118e-04 1.67610022e+02] [ 7.02343860e-01 7.11837767e-01 -3.08809361e-04 6.35204757e+01] [ 4.30458167e-04 9.10275173e-06 9.99999907e-01 -3.62593661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27576923100003 meters 0.030839228027941794 Centerline is valid? [True, True] Translation: X:167.62, Y:63.55, Z:-0.36 [[ 7.14636492e-01 -6.99496004e-01 1.57301342e-04 1.67621316e+02] [ 6.99495985e-01 7.14636510e-01 1.61051202e-04 6.35468105e+01] [-2.25067954e-04 -5.06140873e-06 9.99999975e-01 -3.60917563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30576923100003 meters 0.03279591551611893 Centerline is valid? [True, True] Translation: X:167.64, Y:63.57, Z:-0.36 [[ 7.15892266e-01 -6.98209827e-01 1.14108078e-03 1.67637037e+02] [ 6.98208843e-01 7.15893174e-01 1.17253850e-03 6.35710080e+01] [-1.63556984e-03 -4.26985485e-05 9.99998662e-01 -3.58511486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.335769231 meters 0.03802407962735119 Centerline is valid? [True, True] Translation: X:167.65, Y:63.60, Z:-0.36 [[ 7.18777353e-01 -6.95237374e-01 2.02758592e-03 1.67646609e+02] [ 6.95234254e-01 7.18780207e-01 2.08468113e-03 6.35995082e+01] [-2.90673686e-03 -8.87743949e-05 9.99995771e-01 -3.55840678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.365769231 meters 0.04039237224324362 Centerline is valid? [True, True] Translation: X:167.66, Y:63.62, Z:-0.36 [[ 7.19854171e-01 -6.94123531e-01 1.57989580e-03 1.67661996e+02] [ 6.94121633e-01 7.19855901e-01 1.62487001e-03 6.36246768e+01] [-2.26515782e-03 -7.30296032e-05 9.99997432e-01 -3.56670336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.395769231 meters 0.04075379767852992 Centerline is valid? [True, True] Translation: X:167.68, Y:63.65, Z:-0.36 [[ 7.20590999e-01 -6.93359978e-01 7.43383043e-04 1.67678486e+02] [ 6.93359558e-01 7.20591382e-01 7.64522915e-04 6.36480184e+01] [-1.06576501e-03 -3.54765935e-05 9.99999431e-01 -3.59192316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.425769231 meters 0.04374786473560922 Centerline is valid? [True, True] Translation: X:167.69, Y:63.68, Z:-0.36 [[ 7.20935734e-01 -6.93001873e-01 -2.66296856e-04 1.67689940e+02] [ 6.93001819e-01 7.20935783e-01 -2.74653766e-04 6.36755822e+01] [ 3.82318507e-04 1.34635087e-05 9.99999927e-01 -3.62760689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.455769231 meters 0.03816860177358398 Centerline is valid? [True, True] Translation: X:167.71, Y:63.69, Z:-0.36 [[ 7.19741481e-01 -6.94242119e-01 -2.82903421e-04 1.67712774e+02] [ 6.94242058e-01 7.19741537e-01 -2.91912020e-04 6.36926621e+01] [ 4.06274962e-04 1.36977365e-05 9.99999917e-01 -3.63207820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.485769231 meters 0.037911257790257585 Centerline is valid? [True, True] Translation: X:167.73, Y:63.71, Z:-0.36 [[ 7.18491446e-01 -6.95535549e-01 -5.85538769e-04 1.67730809e+02] [ 6.95535287e-01 7.18491684e-01 -6.03490384e-04 6.37132248e+01] [ 8.40453751e-04 2.63398027e-05 9.99999646e-01 -3.63652713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.515769231 meters 0.03456349145701351 Centerline is valid? [True, True] Translation: X:167.75, Y:63.73, Z:-0.36 [[ 7.17210019e-01 -6.96856766e-01 -6.60743603e-04 1.67751762e+02] [ 6.96856434e-01 7.17210323e-01 -6.81427141e-04 6.37316947e+01] [ 9.48749247e-04 2.82829417e-05 9.99999550e-01 -3.63696377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.545769231 meters 0.034203856117758794 Centerline is valid? [True, True] Translation: X:167.77, Y:63.75, Z:-0.36 [[ 7.16122898e-01 -6.97973579e-01 -9.37138176e-04 1.67769614e+02] [ 6.97972911e-01 7.16123510e-01 -9.66571119e-04 6.37531278e+01] [ 1.34574778e-03 3.80866492e-05 9.99999094e-01 -3.64551605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.575769231 meters 0.03175666682639053 Centerline is valid? [True, True] Translation: X:167.79, Y:63.77, Z:-0.37 [[ 7.14531056e-01 -6.99603048e-01 -9.72754163e-04 1.67788397e+02] [ 6.99602329e-01 7.14531717e-01 -1.00367041e-03 6.37735243e+01] [ 1.39723458e-03 3.66126036e-05 9.99999023e-01 -3.65539973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.605769231 meters 0.0305989885916658 Centerline is valid? [True, True] Translation: X:167.81, Y:63.79, Z:-0.37 [[ 7.13338947e-01 -7.00818182e-01 -1.19277057e-03 1.67807230e+02] [ 7.00817103e-01 7.13339943e-01 -1.23060843e-03 6.37936615e+01] [ 1.71328365e-03 4.19269071e-05 9.99998531e-01 -3.66800830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.635769231 meters 0.029911412938532566 Centerline is valid? [True, True] Translation: X:167.83, Y:63.81, Z:-0.37 [[ 7.12435474e-01 -7.01736778e-01 -1.09062216e-03 1.67825897e+02] [ 7.01735876e-01 7.12436308e-01 -1.12587116e-03 6.38138306e+01] [ 1.56706402e-03 3.67818543e-05 9.99998771e-01 -3.67134884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.665769231 meters 0.029920402861948185 Centerline is valid? [True, True] Translation: X:167.84, Y:63.83, Z:-0.37 [[ 7.11851227e-01 -7.02329955e-01 -6.81947220e-04 1.67843879e+02] [ 7.02329602e-01 7.11851553e-01 -7.04449556e-04 6.38346511e+01] [ 9.80201213e-04 2.25115611e-05 9.99999519e-01 -3.66213007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.695769231 meters 0.028672634467495562 Centerline is valid? [True, True] Translation: X:167.86, Y:63.86, Z:-0.36 [[ 7.11402184e-01 -7.02785118e-01 9.85566372e-05 1.67863274e+02] [ 7.02785111e-01 7.11402191e-01 1.01205752e-04 6.38551537e+01] [-1.41239304e-04 -2.73385548e-06 9.99999990e-01 -3.64522479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72576923100002 meters 0.028406093155099593 Centerline is valid? [True, True] Translation: X:167.88, Y:63.88, Z:-0.36 [[ 7.11139291e-01 -7.03051098e-01 2.49938159e-04 1.67882907e+02] [ 7.03051050e-01 7.11139335e-01 2.57607780e-04 6.38753178e+01] [-3.58852289e-04 -7.47572900e-06 9.99999936e-01 -3.64044637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75576923100002 meters 0.02696481307794665 Centerline is valid? [True, True] Translation: X:167.90, Y:63.90, Z:-0.37 [[ 7.09734672e-01 -7.04469076e-01 -1.24680743e-04 1.67900951e+02] [ 7.04469065e-01 7.09734683e-01 -1.29372621e-04 6.38950237e+01] [ 1.79629258e-04 3.98650844e-06 9.99999984e-01 -3.65363910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78576923100002 meters 0.026039913044984115 Centerline is valid? [True, True] Translation: X:167.92, Y:63.91, Z:-0.37 [[ 7.08846245e-01 -7.05362360e-01 -9.70519259e-04 1.67919424e+02] [ 7.05361647e-01 7.08846909e-01 -1.00385619e-03 6.39146669e+01] [ 1.39603195e-03 2.70126294e-05 9.99999025e-01 -3.67465211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81576923100002 meters 0.025038386896899197 Centerline is valid? [True, True] Translation: X:167.94, Y:63.93, Z:-0.37 [[ 7.07931045e-01 -7.06279019e-01 -1.89284075e-03 1.67938957e+02] [ 7.06276306e-01 7.07933574e-01 -1.95805699e-03 6.39336797e+01] [ 2.72294009e-03 4.93007572e-05 9.99996292e-01 -3.70326929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84576923100002 meters 0.023912825464474756 Centerline is valid? [True, True] Translation: X:167.96, Y:63.95, Z:-0.37 [[ 7.06933150e-01 -7.07277288e-01 -2.08804671e-03 1.67958762e+02] [ 7.07273989e-01 7.06936231e-01 -2.16087122e-03 6.39513233e+01] [ 3.00445101e-03 5.07703767e-05 9.99995485e-01 -3.70713061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87576923100002 meters 0.022813154133713077 Centerline is valid? [True, True] Translation: X:167.98, Y:63.97, Z:-0.37 [[ 7.07006905e-01 -7.07204928e-01 -1.55765569e-03 1.67978858e+02] [ 7.07203090e-01 7.07008620e-01 -1.61266496e-03 6.39709354e+01] [ 2.24176060e-03 3.85863463e-05 9.99997487e-01 -3.68578300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90576923100002 meters 0.022813154133713077 Centerline is valid? [True, True] Translation: X:168.00, Y:63.99, Z:-0.37 [[ 7.06875320e-01 -7.07336452e-01 -1.55735473e-03 1.67997826e+02] [ 7.07334614e-01 7.06877034e-01 -1.61295565e-03 6.39908481e+01] [ 2.24176062e-03 3.85876325e-05 9.99997487e-01 -3.68637349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93576923100002 meters 0.025158399047959624 Centerline is valid? [True, True] Translation: X:168.01, Y:64.01, Z:-0.37 [[ 7.08400169e-01 -7.05810429e-01 -9.15936084e-04 1.68013045e+02] [ 7.05809791e-01 7.08400761e-01 -9.49182553e-04 6.40149596e+01] [ 1.31879276e-03 2.59244255e-05 9.99999130e-01 -3.65207322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96576923100002 meters 0.026702381023586984 Centerline is valid? [True, True] Translation: X:168.03, Y:64.04, Z:-0.36 [[ 7.09445828e-01 -7.04759847e-01 -4.18960124e-04 1.68029930e+02] [ 7.04759713e-01 7.09445951e-01 -4.34606921e-04 6.40377746e+01] [ 6.03523071e-04 1.30638497e-05 9.99999818e-01 -3.63045257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99576923100003 meters 0.03426504583552136 Centerline is valid? [True, True] Translation: X:168.04, Y:64.07, Z:-0.36 [[ 7.12331264e-01 -7.01842735e-01 9.72529777e-04 1.68037561e+02] [ 7.01842013e-01 7.12331927e-01 1.00739713e-03 6.40685528e+01] [-1.39979837e-03 -3.50382164e-05 9.99999020e-01 -3.58951633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02576923100003 meters 0.038848736053015795 Centerline is valid? [True, True] Translation: X:168.05, Y:64.10, Z:-0.36 [[ 7.13932103e-01 -7.00214100e-01 1.07989895e-03 1.68048169e+02] [ 7.00213207e-01 7.13932918e-01 1.11912906e-03 6.40950940e+01] [-1.55460535e-03 -4.28226584e-05 9.99998791e-01 -3.58661543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05576923100003 meters 0.04078378693702474 Centerline is valid? [True, True] Translation: X:168.06, Y:64.12, Z:-0.36 [[ 7.15718605e-01 -6.98388634e-01 4.41422971e-04 1.68062293e+02] [ 6.98388485e-01 7.15718741e-01 4.57275053e-04 6.41203104e+01] [-6.35290393e-04 -1.89955434e-05 9.99999798e-01 -3.60942164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.085769231 meters 0.04775748284427067 Centerline is valid? [True, True] Translation: X:168.07, Y:64.15, Z:-0.37 [[ 7.18860640e-01 -6.95149884e-01 -2.45357346e-03 1.68067321e+02] [ 6.95145231e-01 7.18864816e-01 -2.54627958e-03 6.41520171e+01] [ 3.53383359e-03 1.24830282e-04 9.99993748e-01 -3.68938355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.115769231 meters 0.048861677472859626 Centerline is valid? [True, True] Translation: X:168.08, Y:64.18, Z:-0.37 [[ 7.19440117e-01 -6.94547764e-01 -3.05295293e-03 1.68081657e+02] [ 6.94540552e-01 7.19446577e-01 -3.16917518e-03 6.41769751e+01] [ 4.39758008e-03 1.59632149e-04 9.99990318e-01 -3.70270411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.145769231 meters 0.049853034068381076 Centerline is valid? [True, True] Translation: X:168.09, Y:64.21, Z:-0.36 [[ 7.19309586e-01 -6.94689282e-01 -7.21625079e-04 1.68089933e+02] [ 6.94688878e-01 7.19309947e-01 -7.49896634e-04 6.42050004e+01] [ 1.04001725e-03 3.81029213e-05 9.99999458e-01 -3.62954755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.175769231 meters 0.04925393938972846 Centerline is valid? [True, True] Translation: X:168.11, Y:64.23, Z:-0.36 [[ 7.18770636e-01 -6.95246860e-01 7.58896774e-04 1.68105697e+02] [ 6.95246415e-01 7.18771036e-01 7.87716663e-04 6.42283833e+01] [-1.09313056e-03 -3.85673449e-05 9.99999402e-01 -3.58884450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.205769231 meters 0.04703358672111839 Centerline is valid? [True, True] Translation: X:168.12, Y:64.25, Z:-0.36 [[ 7.17356063e-01 -6.96706203e-01 8.63820302e-04 1.68119521e+02] [ 6.96705626e-01 7.17356582e-01 8.97023320e-04 6.42519336e+01] [-1.24462889e-03 -4.16566526e-05 9.99999225e-01 -3.59768559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.235769231 meters 0.04614224275992249 Centerline is valid? [True, True] Translation: X:168.14, Y:64.27, Z:-0.36 [[ 7.16420116e-01 -6.97669003e-01 4.24098971e-04 1.68136412e+02] [ 6.97668865e-01 7.16420241e-01 4.40259023e-04 6.42745856e+01] [-6.10988160e-04 -1.95297727e-05 9.99999813e-01 -3.61945064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.265769231 meters 0.044883963121519446 Centerline is valid? [True, True] Translation: X:168.15, Y:64.30, Z:-0.36 [[ 7.15336260e-01 -6.98780354e-01 2.28349812e-04 1.68153146e+02] [ 6.98780314e-01 7.15336297e-01 2.36889105e-04 6.42972080e+01] [-3.28880362e-04 -9.88901268e-06 9.99999946e-01 -3.62650833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.295769231 meters 0.04118315770029646 Centerline is valid? [True, True] Translation: X:168.17, Y:64.32, Z:-0.36 [[ 7.13234608e-01 -7.00925367e-01 1.53043872e-04 1.68168946e+02] [ 7.00925349e-01 7.13234625e-01 1.58622209e-04 6.43201121e+01] [-2.20338519e-04 -5.86251953e-06 9.99999976e-01 -3.62890442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.325769231 meters 0.029622422408872105 Centerline is valid? [True, True] Translation: X:168.20, Y:64.33, Z:-0.36 [[ 7.11806447e-01 -7.02375665e-01 7.81313087e-05 1.68197687e+02] [ 7.02375661e-01 7.11806452e-01 8.07556556e-05 6.43322229e+01] [-1.12335177e-04 -2.60486682e-06 9.99999994e-01 -3.62273912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.355769231 meters 0.03395391723764654 Centerline is valid? [True, True] Translation: X:168.21, Y:64.36, Z:-0.37 [[ 7.08736525e-01 -7.05472908e-01 -7.17578701e-04 1.68208833e+02] [ 7.05472513e-01 7.08736888e-01 -7.46961938e-04 6.43588415e+01] [ 1.03553590e-03 2.31671589e-05 9.99999464e-01 -3.66964929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.385769231 meters 0.0306315052739779 Centerline is valid? [True, True] Translation: X:168.23, Y:64.38, Z:-0.37 [[ 7.06784265e-01 -7.07428488e-01 -9.67645455e-04 1.68230436e+02] [ 7.07427771e-01 7.06784927e-01 -1.00772428e-03 6.43771833e+01] [ 1.39681009e-03 2.77043963e-05 9.99999024e-01 -3.68211536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.415769231 meters 0.025914861233802336 Centerline is valid? [True, True] Translation: X:168.25, Y:64.39, Z:-0.37 [[ 7.03921685e-01 -7.10277543e-01 -2.72656906e-04 1.68253013e+02] [ 7.10277486e-01 7.03921737e-01 -2.84460855e-04 6.43938333e+01] [ 3.93975279e-04 6.57610260e-06 9.99999922e-01 -3.66240549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.445769231 meters 0.02392413723220563 Centerline is valid? [True, True] Translation: X:168.27, Y:64.41, Z:-0.36 [[ 7.02785707e-01 -7.11401576e-01 2.16878488e-04 1.68274243e+02] [ 7.11401540e-01 7.02785741e-01 2.25388661e-04 6.44122054e+01] [-3.12760957e-04 -4.11223895e-06 9.99999951e-01 -3.64566584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47576923100002 meters 0.01778660601089075 Centerline is valid? [True, True] Translation: X:168.30, Y:64.43, Z:-0.36 [[ 7.01726807e-01 -7.12445821e-01 6.63154876e-04 1.68300081e+02] [ 7.12445487e-01 7.01727121e-01 6.90429191e-04 6.44260164e+01] [-9.57247154e-04 -1.20309732e-05 9.99999542e-01 -3.61959046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50576923100002 meters 0.01845919674401052 Centerline is valid? [True, True] Translation: X:168.32, Y:64.45, Z:-0.36 [[ 7.00527870e-01 -7.13624418e-01 9.45420667e-04 1.68317710e+02] [ 7.13623738e-01 7.00528508e-01 9.84989769e-04 6.44463056e+01] [-1.36520688e-03 -1.53381549e-05 9.99999068e-01 -3.61140834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53576923100002 meters 0.01808207726396076 Centerline is valid? [True, True] Translation: X:168.34, Y:64.46, Z:-0.36 [[ 7.00025770e-01 -7.14117072e-01 8.53603033e-04 1.68336430e+02] [ 7.14116518e-01 7.00026291e-01 8.89453077e-04 6.44643461e+01] [-1.23271819e-03 -1.30680495e-05 9.99999240e-01 -3.60995427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56576923100002 meters 0.015617900276584766 Centerline is valid? [True, True] Translation: X:168.36, Y:64.48, Z:-0.36 [[ 6.98794858e-01 -7.15321827e-01 6.56197041e-04 1.68360484e+02] [ 7.15321500e-01 6.98795166e-01 6.83934633e-04 6.44802255e+01] [-9.47780691e-04 -8.53815301e-06 9.99999551e-01 -3.61378043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59576923100002 meters 0.015474593564611566 Centerline is valid? [True, True] Translation: X:168.38, Y:64.50, Z:-0.36 [[ 6.97980206e-01 -7.16116967e-01 3.47008172e-04 1.68380228e+02] [ 7.16116876e-01 6.97980293e-01 3.61513624e-04 6.44987007e+01] [-5.01090906e-04 -3.83094624e-06 9.99999874e-01 -3.62503811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62576923100002 meters 0.014135232432754679 Centerline is valid? [True, True] Translation: X:168.40, Y:64.52, Z:-0.36 [[ 6.96623901e-01 -7.17436476e-01 -2.09486555e-04 1.68403163e+02] [ 7.17436443e-01 6.96623932e-01 -2.19279322e-04 6.45157207e+01] [ 3.03252332e-04 2.46192821e-06 9.99999954e-01 -3.63726465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65576923100002 meters 0.01347798186167663 Centerline is valid? [True, True] Translation: X:168.42, Y:64.53, Z:-0.36 [[ 6.95944043e-01 -7.18095980e-01 -2.30650340e-04 1.68424262e+02] [ 7.18095939e-01 6.95944081e-01 -2.41475804e-04 6.45336309e+01] [ 3.33922543e-04 2.42457494e-06 9.99999944e-01 -3.63752791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68576923100002 meters 0.012767622585574422 Centerline is valid? [True, True] Translation: X:168.45, Y:64.55, Z:-0.36 [[ 6.94954302e-01 -7.19053898e-01 -1.00295113e-04 1.68446172e+02] [ 7.19053890e-01 6.94954309e-01 -1.05383165e-04 6.45515971e+01] [ 1.45476696e-04 1.11889257e-06 9.99999989e-01 -3.62989850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71576923100002 meters 0.012577874911580274 Centerline is valid? [True, True] Translation: X:168.47, Y:64.57, Z:-0.36 [[ 6.94130375e-01 -7.19849249e-01 2.85609079e-04 1.68466470e+02] [ 7.19849187e-01 6.94130434e-01 2.98047834e-04 6.45700750e+01] [-4.12799463e-04 -1.28859101e-06 9.99999915e-01 -3.62524417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74576923100003 meters 0.011707969358488928 Centerline is valid? [True, True] Translation: X:168.49, Y:64.59, Z:-0.36 [[ 6.93041997e-01 -7.20897092e-01 4.17376121e-04 1.68488846e+02] [ 7.20896960e-01 6.93042122e-01 4.35755332e-04 6.45869499e+01] [-6.03393984e-04 -1.11156871e-06 9.99999818e-01 -3.61581025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77576923100003 meters 0.012302011985657646 Centerline is valid? [True, True] Translation: X:168.51, Y:64.61, Z:-0.36 [[ 6.93567683e-01 -7.20391211e-01 -6.09265784e-04 1.68506988e+02] [ 7.20390929e-01 6.93567951e-01 -6.37602715e-04 6.46063521e+01] [ 8.81890613e-04 3.31109369e-06 9.99999611e-01 -3.64623263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80576923100003 meters 0.012930538025815598 Centerline is valid? [True, True] Translation: X:168.53, Y:64.63, Z:-0.37 [[ 6.94394115e-01 -7.19594116e-01 -1.05902452e-03 1.68525265e+02] [ 7.19593262e-01 6.94394922e-01 -1.10852096e-03 6.46269947e+01] [ 1.53306641e-03 7.68352475e-06 9.99998825e-01 -3.66053537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.835769231 meters 0.013954666379800936 Centerline is valid? [True, True] Translation: X:168.54, Y:64.65, Z:-0.37 [[ 6.95439010e-01 -7.18583050e-01 -1.72708794e-03 1.68542886e+02] [ 7.18580775e-01 6.95441155e-01 -1.80819933e-03 6.46482030e+01] [ 2.50042942e-03 1.64401591e-05 9.99996874e-01 -3.68252008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.865769231 meters 0.01635311075917735 Centerline is valid? [True, True] Translation: X:168.56, Y:64.67, Z:-0.37 [[ 6.97569504e-01 -7.16513325e-01 -2.33307580e-03 1.68558387e+02] [ 7.16509159e-01 6.97573404e-01 -2.44331371e-03 6.46722299e+01] [ 3.37815846e-03 3.27109571e-05 9.99994293e-01 -3.70436588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.895769231 meters 0.01686181131100782 Centerline is valid? [True, True] Translation: X:168.58, Y:64.69, Z:-0.37 [[ 6.98437594e-01 -7.15667144e-01 -2.33793350e-03 1.68576832e+02] [ 7.15662954e-01 6.98441506e-01 -2.44930433e-03 6.46939692e+01] [ 3.38579643e-03 3.75138279e-05 9.99994267e-01 -3.70397129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.925769231 meters 0.02020574370986365 Centerline is valid? [True, True] Translation: X:168.59, Y:64.72, Z:-0.37 [[ 7.00587556e-01 -7.13563609e-01 -2.01319632e-03 1.68590851e+02] [ 7.13560490e-01 7.00590447e-01 -2.10994662e-03 6.47184191e+01] [ 2.91600723e-03 4.16649897e-05 9.99995748e-01 -3.68479476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.955769231 meters 0.021781041663385053 Centerline is valid? [True, True] Translation: X:168.61, Y:64.74, Z:-0.37 [[ 7.01613870e-01 -7.12556019e-01 -1.37733685e-03 1.68606839e+02] [ 7.12554556e-01 7.01615221e-01 -1.44415428e-03 6.47412981e+01] [ 1.99540132e-03 3.18110262e-05 9.99998009e-01 -3.66799505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.985769231 meters 0.02430571506887863 Centerline is valid? [True, True] Translation: X:168.62, Y:64.77, Z:-0.36 [[ 7.02751630e-01 -7.11435166e-01 -3.87983591e-04 1.68620976e+02] [ 7.11435050e-01 7.02751737e-01 -4.07319841e-04 6.47653375e+01] [ 5.62437802e-04 1.02195571e-05 9.99999842e-01 -3.64317035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.015769231 meters 0.0261018816956998 Centerline is valid? [True, True] Translation: X:168.63, Y:64.79, Z:-0.36 [[ 7.04857007e-01 -7.09348708e-01 1.00477712e-03 1.68634694e+02] [ 7.09347927e-01 7.04857723e-01 1.05331572e-03 6.47916659e+01] [-1.45539306e-03 -2.97003956e-05 9.99998940e-01 -3.61200579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.045769231 meters 0.025621395123191174 Centerline is valid? [True, True] Translation: X:168.65, Y:64.81, Z:-0.36 [[ 7.04879111e-01 -7.09326432e-01 1.20467268e-03 1.68652465e+02] [ 7.09325308e-01 7.04880140e-01 1.26341360e-03 6.48138366e+01] [-1.74532251e-03 -3.60490389e-05 9.99998476e-01 -3.60727511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.075769231 meters 0.025485222085311402 Centerline is valid? [True, True] Translation: X:168.67, Y:64.84, Z:-0.36 [[ 7.04255738e-01 -7.09946138e-01 5.80150370e-04 1.68665655e+02] [ 7.09945878e-01 7.04255976e-01 6.08353384e-04 6.48382094e+01] [-8.40472501e-04 -1.65609976e-05 9.99999647e-01 -3.61798892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.105769231 meters 0.025570519441108348 Centerline is valid? [True, True] Translation: X:168.68, Y:64.86, Z:-0.36 [[ 7.03399212e-01 -7.10794997e-01 -1.40212668e-04 1.68681298e+02] [ 7.10794982e-01 7.03399226e-01 -1.47815756e-04 6.48607560e+01] [ 2.03692182e-04 4.31102599e-06 9.99999979e-01 -3.63972386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.135769231 meters 0.02330397314636248 Centerline is valid? [True, True] Translation: X:168.70, Y:64.88, Z:-0.36 [[ 7.02068368e-01 -7.12109294e-01 -6.00624403e-04 1.68700587e+02] [ 7.12109014e-01 7.02068625e-01 -6.31487331e-04 6.48816497e+01] [ 8.71367546e-04 1.56372280e-05 9.99999620e-01 -3.64979405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.165769231 meters 0.019601153002822738 Centerline is valid? [True, True] Translation: X:168.72, Y:64.90, Z:-0.36 [[ 6.99094600e-01 -7.15029078e-01 -3.98300087e-04 1.68719394e+02] [ 7.15028955e-01 6.99094713e-01 -4.19135145e-04 6.49014557e+01] [ 5.78143301e-04 8.21902178e-06 9.99999833e-01 -3.64973615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.195769231 meters 0.017416354606225704 Centerline is valid? [True, True] Translation: X:168.74, Y:64.92, Z:-0.36 [[ 6.97260876e-01 -7.16817449e-01 -1.30080530e-04 1.68739957e+02] [ 7.16817435e-01 6.97260888e-01 -1.37307118e-04 6.49212929e+01] [ 1.89124204e-04 2.49488941e-06 9.99999982e-01 -3.64466429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22576923100002 meters 0.01334510382439413 Centerline is valid? [True, True] Translation: X:168.76, Y:64.94, Z:-0.36 [[ 6.93146049e-01 -7.20797165e-01 3.52228904e-05 1.68761418e+02] [ 7.20797164e-01 6.93146050e-01 3.66893709e-05 6.49384061e+01] [-5.08602020e-05 -4.25329799e-08 9.99999999e-01 -3.63755907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25576923100002 meters 0.011923860357203124 Centerline is valid? [True, True] Translation: X:168.78, Y:64.96, Z:-0.36 [[ 6.90791120e-01 -7.23054374e-01 -1.07777625e-05 1.68783034e+02] [ 7.23054374e-01 6.90791120e-01 -1.19188584e-05 6.49566167e+01] [ 1.60631652e-05 4.40533237e-07 1.00000000e+00 -3.63589695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28576923100002 meters 0.011648552837568138 Centerline is valid? [True, True] Translation: X:168.80, Y:64.97, Z:-0.36 [[ 6.88177217e-01 -7.25542496e-01 -4.51638904e-04 1.68804246e+02] [ 7.25542340e-01 6.88177366e-01 -4.75859569e-04 6.49730251e+01] [ 6.56064010e-04 -2.07433143e-07 9.99999785e-01 -3.64278974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31576923100002 meters 0.014879954751290558 Centerline is valid? [True, True] Translation: X:168.83, Y:64.99, Z:-0.37 [[ 6.83101989e-01 -7.30322136e-01 -1.11805386e-03 1.68831263e+02] [ 7.30321187e-01 6.83102904e-01 -1.17749128e-03 6.49863700e+01] [ 1.62369379e-03 -1.21917862e-05 9.99998682e-01 -3.66658915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34576923100002 meters 0.017508732445092403 Centerline is valid? [True, True] Translation: X:168.86, Y:65.00, Z:-0.37 [[ 6.80647137e-01 -7.32610900e-01 -8.62487618e-04 1.68855032e+02] [ 7.32610337e-01 6.80647683e-01 -9.08796080e-04 6.50020465e+01] [ 1.25284411e-03 -1.32978948e-05 9.99999215e-01 -3.66025243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37576923100002 meters 0.02291859039732921 Centerline is valid? [True, True] Translation: X:168.88, Y:65.01, Z:-0.36 [[ 6.76498595e-01 -7.36443875e-01 2.64968065e-04 1.68883054e+02] [ 7.36443822e-01 6.76498647e-01 2.78593934e-04 6.50120983e+01] [-3.84419334e-04 6.66568936e-06 9.99999926e-01 -3.62103992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40576923100002 meters 0.02522817127772054 Centerline is valid? [True, True] Translation: X:168.91, Y:65.03, Z:-0.36 [[ 6.74791676e-01 -7.38008136e-01 4.30638148e-04 1.68906011e+02] [ 7.38007997e-01 6.74791813e-01 4.53337803e-04 6.50281240e+01] [-6.25158084e-04 1.19058210e-05 9.99999805e-01 -3.61310173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43576923100002 meters 0.027199048300741026 Centerline is valid? [True, True] Translation: X:168.93, Y:65.05, Z:-0.36 [[ 6.73529057e-01 -7.39160565e-01 5.19408735e-04 1.68929114e+02] [ 7.39160362e-01 6.73529257e-01 5.46920234e-04 6.50450871e+01] [-7.54098848e-04 1.55596796e-05 9.99999716e-01 -3.61345147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46576923100002 meters 0.02864733972077276 Centerline is valid? [True, True] Translation: X:168.95, Y:65.06, Z:-0.36 [[ 6.72587866e-01 -7.40016732e-01 8.93897970e-04 1.68953794e+02] [ 7.40016133e-01 6.72588459e-01 9.41968124e-04 6.50591143e+01] [-1.29829763e-03 2.79425884e-05 9.99999157e-01 -3.61268075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49576923100003 meters 0.02855535054906946 Centerline is valid? [True, True] Translation: X:168.98, Y:65.08, Z:-0.36 [[ 6.72634382e-01 -7.39974881e-01 4.03467413e-04 1.68975112e+02] [ 7.39974760e-01 6.72634503e-01 4.24979727e-04 6.50768579e+01] [-5.85860425e-04 1.26997258e-05 9.99999828e-01 -3.62203726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52576923100003 meters 0.028151833772049207 Centerline is valid? [True, True] Translation: X:169.00, Y:65.09, Z:-0.37 [[ 6.73106687e-01 -7.39542965e-01 -1.89522741e-03 1.68996336e+02] [ 7.39540260e-01 6.73109353e-01 -2.00067921e-03 6.50925654e+01] [ 2.75528353e-03 -5.49264135e-05 9.99996203e-01 -3.68491703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55576923100003 meters 0.027047524043222207 Centerline is valid? [True, True] Translation: X:169.02, Y:65.11, Z:-0.37 [[ 6.73778212e-01 -7.38928864e-01 -2.65616464e-03 1.69015463e+02] [ 7.38923545e-01 6.73783443e-01 -2.80477112e-03 6.51120533e+01] [ 3.86220610e-03 -7.29089161e-05 9.99992539e-01 -3.70561167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.585769231 meters 0.025278665246507816 Centerline is valid? [True, True] Translation: X:169.03, Y:65.13, Z:-0.37 [[ 6.75054691e-01 -7.37763345e-01 -2.53213061e-03 1.69033302e+02] [ 7.37758499e-01 6.75059437e-01 -2.67464752e-03 6.51318664e+01] [ 3.68259557e-03 -6.25675240e-05 9.99993217e-01 -3.70147428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.615769231 meters 0.01915874161882268 Centerline is valid? [True, True] Translation: X:169.05, Y:65.16, Z:-0.37 [[ 6.79029214e-01 -7.34110377e-01 -1.13213635e-03 1.69046909e+02] [ 7.34109402e-01 6.79030157e-01 -1.19664131e-03 6.51570167e+01] [ 1.64722153e-03 -1.85575335e-05 9.99998643e-01 -3.65802566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.645769231 meters 0.016252213932439245 Centerline is valid? [True, True] Translation: X:169.06, Y:65.18, Z:-0.37 [[ 6.81066177e-01 -7.32221259e-01 -9.43281497e-04 1.69062545e+02] [ 7.32220580e-01 6.81066830e-01 -9.97434590e-04 6.51808371e+01] [ 1.37278055e-03 -1.13711612e-05 9.99999058e-01 -3.65178853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.675769231 meters 0.013173450852599798 Centerline is valid? [True, True] Translation: X:169.08, Y:65.20, Z:-0.36 [[ 6.83939123e-01 -7.29538946e-01 -4.50194923e-04 1.69076557e+02] [ 7.29538790e-01 6.83939271e-01 -4.76475777e-04 6.52045677e+01] [ 6.55513623e-04 -2.55423491e-06 9.99999785e-01 -3.64871459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.705769231 meters 0.012824802622380463 Centerline is valid? [True, True] Translation: X:169.09, Y:65.22, Z:-0.36 [[ 6.84273455e-01 -7.29225506e-01 -1.64599087e-05 1.69094787e+02] [ 7.29225505e-01 6.84273456e-01 -1.78284304e-05 6.52247964e+01] [ 2.42640247e-05 1.96536468e-07 1.00000000e+00 -3.64265820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.735769231 meters 0.012730690565006043 Centerline is valid? [True, True] Translation: X:169.11, Y:65.24, Z:-0.36 [[ 6.84227469e-01 -7.29268639e-01 1.52390767e-04 1.69113122e+02] [ 7.29268621e-01 6.84227486e-01 1.60727037e-04 6.52436806e+01] [-2.21483139e-04 1.15995021e-06 9.99999975e-01 -3.63571467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.765769231 meters 0.01386203165134488 Centerline is valid? [True, True] Translation: X:169.13, Y:65.26, Z:-0.37 [[ 6.82983820e-01 -7.30433322e-01 -5.12956881e-04 1.69134549e+02] [ 7.30433120e-01 6.82984013e-01 -5.43418009e-04 6.52614203e+01] [ 7.47271971e-04 -3.53498748e-06 9.99999721e-01 -3.65959475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.795769231 meters 0.01386203165134488 Centerline is valid? [True, True] Translation: X:169.15, Y:65.28, Z:-0.37 [[ 6.82843010e-01 -7.30564960e-01 -5.12852101e-04 1.69152659e+02] [ 7.30564758e-01 6.82843202e-01 -5.43516951e-04 6.52809789e+01] [ 7.47272011e-04 -3.53492085e-06 9.99999721e-01 -3.66016722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.825769231 meters 0.013998416629255593 Centerline is valid? [True, True] Translation: X:169.18, Y:65.30, Z:-0.36 [[ 6.81082762e-01 -7.32206193e-01 -6.01596446e-04 1.69175520e+02] [ 7.32205915e-01 6.81083028e-01 -6.37693094e-04 6.52987561e+01] [ 8.76659961e-04 -6.17070262e-06 9.99999616e-01 -3.64569346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.855769231 meters 0.01533366780792315 Centerline is valid? [True, True] Translation: X:169.20, Y:65.31, Z:-0.36 [[ 6.80106887e-01 -7.33112961e-01 8.97931465e-05 1.69198015e+02] [ 7.33112955e-01 6.80106893e-01 9.44771303e-05 6.53147170e+01] [-1.30331347e-04 1.57397200e-06 9.99999992e-01 -3.62825463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.885769231 meters 0.01572751961923838 Centerline is valid? [True, True] Translation: X:169.22, Y:65.33, Z:-0.36 [[ 6.79224291e-01 -7.33930418e-01 7.10064480e-04 1.69219827e+02] [ 7.33930032e-01 6.79224662e-01 7.51976612e-04 6.53330300e+01] [-1.03419182e-03 1.03768653e-05 9.99999465e-01 -3.60711083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.915769231 meters 0.016871731930252442 Centerline is valid? [True, True] Translation: X:169.24, Y:65.35, Z:-0.36 [[ 6.78688666e-01 -7.34426007e-01 3.66997912e-04 1.69242926e+02] [ 7.34425904e-01 6.78688765e-01 3.88579441e-04 6.53474227e+01] [-5.34460207e-04 5.80831093e-06 9.99999857e-01 -3.61650368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.945769231 meters 0.016279567812500163 Centerline is valid? [True, True] Translation: X:169.26, Y:65.37, Z:-0.36 [[ 6.78702000e-01 -7.34413667e-01 -4.00740419e-04 1.69262778e+02] [ 7.34413544e-01 6.78702119e-01 -4.25715582e-04 6.53658083e+01] [ 5.84634713e-04 -5.37517389e-06 9.99999829e-01 -3.64223672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97576923100002 meters 0.015106602646695855 Centerline is valid? [True, True] Translation: X:169.28, Y:65.38, Z:-0.37 [[ 6.79922411e-01 -7.33282433e-01 -1.54558212e-03 1.69283979e+02] [ 7.33280598e-01 6.79924167e-01 -1.64071094e-03 6.53831207e+01] [ 2.25398314e-03 -1.77892447e-05 9.99997460e-01 -3.66862473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00576923100002 meters 0.013933196443905862 Centerline is valid? [True, True] Translation: X:169.30, Y:65.40, Z:-0.37 [[ 6.81117204e-01 -7.32172438e-01 -1.69567486e-03 1.69302547e+02] [ 7.32170224e-01 6.81119315e-01 -1.80074353e-03 6.54029649e+01] [ 2.47341168e-03 -1.50052407e-05 9.99996941e-01 -3.66678526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03576923100002 meters 0.012990279963535701 Centerline is valid? [True, True] Translation: X:169.32, Y:65.42, Z:-0.37 [[ 6.82356516e-01 -7.31017835e-01 -1.58426442e-03 1.69320052e+02] [ 7.31015897e-01 6.82358355e-01 -1.68326383e-03 6.54218542e+01] [ 2.31153195e-03 -9.53642652e-06 9.99997328e-01 -3.66565669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06576923100002 meters 0.011779949901678383 Centerline is valid? [True, True] Translation: X:169.34, Y:65.44, Z:-0.36 [[ 6.84942284e-01 -7.28596421e-01 -1.14985516e-03 1.69337864e+02] [ 7.28595396e-01 6.84943250e-01 -1.22239861e-03 6.54419004e+01] [ 1.67822078e-03 -5.06680308e-07 9.99998592e-01 -3.64923487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09576923100002 meters 0.011851925619012764 Centerline is valid? [True, True] Translation: X:169.36, Y:65.46, Z:-0.36 [[ 6.86434644e-01 -7.27190627e-01 -1.12761492e-03 1.69355490e+02] [ 7.27189638e-01 6.86435570e-01 -1.19915798e-03 6.54640449e+01] [ 1.64605144e-03 3.15369494e-06 9.99998645e-01 -3.64841523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12576923100002 meters 0.014363407230616534 Centerline is valid? [True, True] Translation: X:169.37, Y:65.49, Z:-0.37 [[ 6.89875967e-01 -7.23925581e-01 -1.70383160e-03 1.69369111e+02] [ 7.23923313e-01 6.89878071e-01 -1.81239824e-03 6.54884187e+01] [ 2.48747751e-03 1.68865738e-05 9.99996906e-01 -3.67408675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15576923100002 meters 0.01569834482279621 Centerline is valid? [True, True] Translation: X:169.39, Y:65.51, Z:-0.37 [[ 6.91354969e-01 -7.22512596e-01 -1.96327826e-03 1.69386626e+02] [ 7.22509577e-01 6.91357756e-01 -2.08901605e-03 6.55098398e+01] [ 2.86666807e-03 2.57642799e-05 9.99995891e-01 -3.68194326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18576923100002 meters 0.016765311415534567 Centerline is valid? [True, True] Translation: X:169.41, Y:65.53, Z:-0.37 [[ 6.92276726e-01 -7.21628925e-01 -2.15137297e-03 1.69405183e+02] [ 7.21625293e-01 6.92280068e-01 -2.28990828e-03 6.55309685e+01] [ 3.14181668e-03 3.27650571e-05 9.99995064e-01 -3.69191980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21576923100002 meters 0.018078047776128828 Centerline is valid? [True, True] Translation: X:169.42, Y:65.55, Z:-0.37 [[ 6.92773017e-01 -7.21152305e-01 -2.21371529e-03 1.69422865e+02] [ 7.21148454e-01 6.92776553e-01 -2.35689013e-03 6.55507004e+01] [ 3.23328680e-03 3.63725258e-05 9.99994772e-01 -3.71001656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24576923100003 meters 0.018015721529468058 Centerline is valid? [True, True] Translation: X:169.44, Y:65.57, Z:-0.37 [[ 6.92566732e-01 -7.21350365e-01 -2.22987209e-03 1.69441784e+02] [ 7.21346456e-01 6.92570321e-01 -2.37523023e-03 6.55701797e+01] [ 3.25771642e-03 3.64951032e-05 9.99994693e-01 -3.71689514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27576923100003 meters 0.017405804077617135 Centerline is valid? [True, True] Translation: X:169.46, Y:65.59, Z:-0.37 [[ 6.91958154e-01 -7.21930968e-01 -3.09683194e-03 1.69462967e+02] [ 7.21923428e-01 6.91965083e-01 -3.29972835e-03 6.55873320e+01] [ 4.52507565e-03 4.75984119e-05 9.99989761e-01 -3.73721276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30576923100003 meters 0.0172250785071329 Centerline is valid? [True, True] Translation: X:169.48, Y:65.61, Z:-0.37 [[ 6.91775115e-01 -7.22105506e-01 -3.29063102e-03 1.69482847e+02] [ 7.22096988e-01 6.91782939e-01 -3.50771027e-03 6.56063448e+01] [ 4.80933930e-03 5.03919237e-05 9.99988434e-01 -3.73518586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.335769231 meters 0.017348017867346154 Centerline is valid? [True, True] Translation: X:169.50, Y:65.63, Z:-0.37 [[ 6.92041216e-01 -7.21853227e-01 -2.62190924e-03 1.69502051e+02] [ 7.21847813e-01 6.92046181e-01 -2.79599970e-03 6.56272781e+01] [ 3.83278369e-03 4.23275853e-05 9.99992654e-01 -3.71173697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.365769231 meters 0.019886185110161783 Centerline is valid? [True, True] Translation: X:169.52, Y:65.65, Z:-0.37 [[ 6.94224279e-01 -7.19757464e-01 -1.35766769e-03 1.69515623e+02] [ 7.19756006e-01 6.94225606e-01 -1.44872089e-03 6.56522704e+01] [ 1.98525535e-03 2.85477464e-05 9.99998029e-01 -3.67241412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.395769231 meters 0.022351827778871906 Centerline is valid? [True, True] Translation: X:169.53, Y:65.68, Z:-0.37 [[ 6.95829105e-01 -7.18206878e-01 -8.57893382e-04 1.69530772e+02] [ 7.18206295e-01 6.95829634e-01 -9.15905957e-04 6.56758466e+01] [ 1.25475760e-03 2.11695953e-05 9.99999213e-01 -3.66050561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.425769231 meters 0.025168473807056415 Centerline is valid? [True, True] Translation: X:169.54, Y:65.70, Z:-0.36 [[ 6.97645632e-01 -7.16442864e-01 4.41945603e-04 1.69544270e+02] [ 7.16442709e-01 6.97645772e-01 4.71148749e-04 6.57009961e+01] [-6.45872640e-04 -1.20661612e-05 9.99999791e-01 -3.62537150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.455769231 meters 0.025388549857512988 Centerline is valid? [True, True] Translation: X:169.56, Y:65.72, Z:-0.36 [[ 6.97827035e-01 -7.16264690e-01 1.52413388e-03 1.69561652e+02] [ 7.16262844e-01 6.97828698e-01 1.62682823e-03 6.57234112e+01] [-2.22882398e-03 -4.35642573e-05 9.99997515e-01 -3.60145843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.485769231 meters 0.02453166332864504 Centerline is valid? [True, True] Translation: X:169.58, Y:65.74, Z:-0.36 [[ 6.97766675e-01 -7.16322534e-01 1.92225429e-03 1.69580350e+02] [ 7.16319595e-01 6.97769320e-01 2.05269723e-03 6.57447959e+01] [-2.81168335e-03 -5.53553105e-05 9.99996046e-01 -3.59113329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.515769231 meters 0.024650815723803194 Centerline is valid? [True, True] Translation: X:169.60, Y:65.77, Z:-0.36 [[ 6.96577972e-01 -7.17480954e-01 4.58481220e-04 1.69596918e+02] [ 7.17480787e-01 6.96578122e-01 4.89459295e-04 6.57665039e+01] [-6.70545709e-04 -1.19950966e-05 9.99999775e-01 -3.63341465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.545769231 meters 0.022460209511687264 Centerline is valid? [True, True] Translation: X:169.62, Y:65.79, Z:-0.37 [[ 6.94797146e-01 -7.19205667e-01 -3.66316191e-04 1.69618324e+02] [ 7.19205560e-01 6.94797243e-01 -3.92060945e-04 6.57855802e+01] [ 5.36487933e-04 8.94618470e-06 9.99999856e-01 -3.65929807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.575769231 meters 0.015914506907960726 Centerline is valid? [True, True] Translation: X:169.65, Y:65.80, Z:-0.37 [[ 6.89898222e-01 -7.23905903e-01 -8.28570898e-04 1.69646017e+02] [ 7.23905361e-01 6.89898719e-01 -8.86485278e-04 6.57983538e+01] [ 1.21336193e-03 1.17777024e-05 9.99999264e-01 -3.66152811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.605769231 meters 0.013402725877912728 Centerline is valid? [True, True] Translation: X:169.67, Y:65.81, Z:-0.36 [[ 6.86976892e-01 -7.26679257e-01 -8.40060823e-05 1.69668887e+02] [ 7.26679251e-01 6.86976897e-01 -9.04357826e-05 6.58140372e+01] [ 1.23428045e-04 1.08181587e-06 9.99999992e-01 -3.64730781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.635769231 meters 0.011568794391713695 Centerline is valid? [True, True] Translation: X:169.69, Y:65.83, Z:-0.36 [[ 6.83953136e-01 -7.29525797e-01 4.69511449e-04 1.69693605e+02] [ 7.29525624e-01 6.83953297e-01 5.01783512e-04 6.58290529e+01] [-6.87187920e-04 -6.75773170e-07 9.99999764e-01 -3.63408297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.665769231 meters 0.012215907335890461 Centerline is valid? [True, True] Translation: X:169.72, Y:65.84, Z:-0.37 [[ 6.80079601e-01 -7.33138228e-01 -2.72505113e-04 1.69719573e+02] [ 7.33138170e-01 6.80079656e-01 -2.92423046e-04 6.58405737e+01] [ 3.99711697e-04 -9.12951595e-07 9.99999920e-01 -3.65539225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.695769231 meters 0.012795063923896297 Centerline is valid? [True, True] Translation: X:169.74, Y:65.86, Z:-0.37 [[ 6.79503459e-01 -7.33671318e-01 -1.20266279e-03 1.69739236e+02] [ 7.33670187e-01 6.79504523e-01 -1.28871982e-03 6.58579088e+01] [ 1.76271158e-03 -6.66825564e-06 9.99998446e-01 -3.68139283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72576923100002 meters 0.012396686897762112 Centerline is valid? [True, True] Translation: X:169.76, Y:65.88, Z:-0.37 [[ 6.80476736e-01 -7.32765003e-01 -2.61963429e-03 1.69755682e+02] [ 7.32759625e-01 6.80481779e-01 -2.80740974e-03 6.58799607e+01] [ 3.83978501e-03 -9.18522216e-06 9.99992628e-01 -3.71075943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75576923100002 meters 0.012150716646550461 Centerline is valid? [True, True] Translation: X:169.77, Y:65.90, Z:-0.37 [[ 6.81784536e-01 -7.31548078e-01 -2.69379058e-03 1.69771829e+02] [ 7.31542376e-01 6.81789858e-01 -2.88810007e-03 6.59020467e+01] [ 3.94938315e-03 -1.55999244e-06 9.99992201e-01 -3.70887906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78576923100002 meters 0.013031708144426462 Centerline is valid? [True, True] Translation: X:169.78, Y:65.93, Z:-0.37 [[ 6.85113563e-01 -7.28432611e-01 -2.31003967e-03 1.69782756e+02] [ 7.28428397e-01 6.85117457e-01 -2.47790813e-03 6.59272455e+01] [ 3.38763760e-03 1.49499729e-05 9.99994262e-01 -3.70771281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81576923100002 meters 0.014103898811580215 Centerline is valid? [True, True] Translation: X:169.80, Y:65.95, Z:-0.37 [[ 6.86757188e-01 -7.26883184e-01 -2.32421405e-03 1.69798388e+02] [ 7.26878906e-01 6.86761120e-01 -2.49391522e-03 6.59512301e+01] [ 3.40896488e-03 2.32920388e-05 9.99994189e-01 -3.70210150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84576923100002 meters 0.01575700938216018 Centerline is valid? [True, True] Translation: X:169.81, Y:65.97, Z:-0.37 [[ 6.88421267e-01 -7.25306681e-01 -2.52515820e-03 1.69812471e+02] [ 7.25301621e-01 6.88425898e-01 -2.70962600e-03 6.59748974e+01] [ 3.70369414e-03 3.38628274e-05 9.99993141e-01 -3.70804464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87576923100002 meters 0.018722707934818093 Centerline is valid? [True, True] Translation: X:169.83, Y:66.00, Z:-0.37 [[ 6.89884001e-01 -7.23913812e-01 -2.97618869e-03 1.69825056e+02] [ 7.23906763e-01 6.89890419e-01 -3.19496187e-03 6.60000474e+01] [ 4.36612109e-03 4.96699595e-05 9.99990467e-01 -3.73096920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90576923100002 meters 0.02061366864172001 Centerline is valid? [True, True] Translation: X:169.84, Y:66.03, Z:-0.37 [[ 6.92123726e-01 -7.21772666e-01 -2.99435982e-03 1.69837884e+02] [ 7.21765506e-01 6.92130200e-01 -3.21566856e-03 6.60263254e+01] [ 4.39346853e-03 6.44148780e-05 9.99990347e-01 -3.72202750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93576923100002 meters 0.021416699010696993 Centerline is valid? [True, True] Translation: X:169.85, Y:66.05, Z:-0.37 [[ 6.92781108e-01 -7.21145052e-01 -2.03711516e-03 1.69854113e+02] [ 7.21141732e-01 6.92784102e-01 -2.18871104e-03 6.60498901e+01] [ 2.98965913e-03 4.72489022e-05 9.99995530e-01 -3.70324052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96576923100002 meters 0.021878038637404996 Centerline is valid? [True, True] Translation: X:169.87, Y:66.07, Z:-0.37 [[ 6.93148253e-01 -7.20795047e-01 5.32670337e-06 1.69867713e+02] [ 7.20795047e-01 6.93148253e-01 5.12892912e-06 6.60749907e+01] [-7.38910189e-06 2.84353150e-07 1.00000000e+00 -3.65482862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99576923100003 meters 0.02178307178940538 Centerline is valid? [True, True] Translation: X:169.88, Y:66.10, Z:-0.37 [[ 6.92643236e-01 -7.21280353e-01 -1.67334264e-06 1.69884538e+02] [ 7.21280353e-01 6.92643236e-01 -2.39124769e-06 6.60968412e+01] [ 2.88378940e-06 4.49332369e-07 1.00000000e+00 -3.66108473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02576923100003 meters 0.020833931096891876 Centerline is valid? [True, True] Translation: X:169.90, Y:66.12, Z:-0.37 [[ 6.91923785e-01 -7.21970173e-01 -7.38268451e-04 1.69903261e+02] [ 7.21969736e-01 6.91924179e-01 -7.94430126e-04 6.61183036e+01] [ 1.08438065e-03 1.66776213e-05 9.99999412e-01 -3.68311652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05576923100003 meters 0.019423495943043295 Centerline is valid? [True, True] Translation: X:169.92, Y:66.14, Z:-0.37 [[ 6.90364770e-01 -7.23458931e-01 -1.91266188e-03 1.69920463e+02] [ 7.23456005e-01 6.90367419e-01 -2.05810438e-03 6.61391082e+01] [ 2.80939344e-03 3.71160299e-05 9.99996053e-01 -3.71000220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.085769231 meters 0.018730579805476516 Centerline is valid? [True, True] Translation: X:169.94, Y:66.16, Z:-0.37 [[ 6.89615136e-01 -7.24174168e-01 -1.65516183e-03 1.69938103e+02] [ 7.24171977e-01 6.89617121e-01 -1.78142756e-03 6.61589262e+01] [ 2.43149176e-03 2.98775903e-05 9.99997043e-01 -3.69993055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.115769231 meters 0.016911691334134844 Centerline is valid? [True, True] Translation: X:169.96, Y:66.18, Z:-0.37 [[ 6.88226786e-01 -7.25495607e-01 1.22238445e-04 1.69958279e+02] [ 7.25495596e-01 6.88226797e-01 1.30993771e-04 6.61788292e+01] [-1.79163179e-04 -1.46996864e-06 9.99999984e-01 -3.65091960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.145769231 meters 0.016078196726051187 Centerline is valid? [True, True] Translation: X:169.98, Y:66.20, Z:-0.36 [[ 6.87329043e-01 -7.26345943e-01 5.98891953e-04 1.69977885e+02] [ 7.26345657e-01 6.87329303e-01 6.44272936e-04 6.61980893e+01] [-8.79601022e-04 -7.82493077e-06 9.99999613e-01 -3.63784291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.175769231 meters 0.015319676187370275 Centerline is valid? [True, True] Translation: X:170.00, Y:66.22, Z:-0.36 [[ 6.86591037e-01 -7.27043644e-01 5.36927545e-04 1.69997427e+02] [ 7.27043414e-01 6.86591247e-01 5.77785211e-04 6.62163571e+01] [-7.88724817e-04 -6.33251153e-06 9.99999689e-01 -3.64042225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.205769231 meters 0.0147267687947684 Centerline is valid? [True, True] Translation: X:170.02, Y:66.23, Z:-0.37 [[ 6.85512364e-01 -7.28060558e-01 -7.89114411e-04 1.70017690e+02] [ 7.28060060e-01 6.85512818e-01 -8.51210011e-04 6.62338516e+01] [ 1.16068048e-03 8.99230182e-06 9.99999326e-01 -3.67756786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.235769231 meters 0.014587323217693965 Centerline is valid? [True, True] Translation: X:170.04, Y:66.25, Z:-0.37 [[ 6.85098927e-01 -7.28449055e-01 -1.19757895e-03 1.70036491e+02] [ 7.28447910e-01 6.85099974e-01 -1.29201219e-03 6.62525272e+01] [ 1.76162637e-03 1.27822862e-05 9.99998448e-01 -3.68654396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.265769231 meters 0.013738007121513813 Centerline is valid? [True, True] Translation: X:170.06, Y:66.27, Z:-0.37 [[ 6.84353406e-01 -7.29149858e-01 -9.48657794e-04 1.70057472e+02] [ 7.29149139e-01 6.84354063e-01 -1.02401838e-03 6.62698360e+01] [ 1.39588067e-03 9.07745336e-06 9.99999026e-01 -3.67325284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.295769231 meters 0.013209913158861034 Centerline is valid? [True, True] Translation: X:170.08, Y:66.29, Z:-0.37 [[ 6.83574981e-01 -7.29879931e-01 -7.30005572e-04 1.70077790e+02] [ 7.29879505e-01 6.83575370e-01 -7.88485712e-04 6.62880362e+01] [ 1.07451373e-03 6.17300037e-06 9.99999423e-01 -3.66505407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.325769231 meters 0.012773319074492381 Centerline is valid? [True, True] Translation: X:170.10, Y:66.31, Z:-0.37 [[ 6.82777380e-01 -7.30626401e-01 -3.33261808e-04 1.70097179e+02] [ 7.30626312e-01 6.82777461e-01 -3.60514814e-04 6.63057346e+01] [ 4.90945292e-04 2.66151441e-06 9.99999879e-01 -3.66031174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.355769231 meters 0.01242568074466677 Centerline is valid? [True, True] Translation: X:170.12, Y:66.32, Z:-0.37 [[ 6.82094501e-01 -7.31264021e-01 -1.55561373e-04 1.70118501e+02] [ 7.31264001e-01 6.82094518e-01 -1.68691085e-04 6.63230962e+01] [ 2.29465281e-04 1.30682970e-06 9.99999974e-01 -3.65090109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.385769231 meters 0.012632032708447186 Centerline is valid? [True, True] Translation: X:170.14, Y:66.34, Z:-0.37 [[ 6.82410389e-01 -7.30969012e-01 -6.03286362e-04 1.70137238e+02] [ 7.30968721e-01 6.82410656e-01 -6.52478512e-04 6.63432673e+01] [ 8.88630615e-04 4.27465459e-06 9.99999605e-01 -3.66007996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.415769231 meters 0.01413624004441936 Centerline is valid? [True, True] Translation: X:170.15, Y:66.37, Z:-0.37 [[ 6.83964156e-01 -7.29514140e-01 -1.46742947e-03 1.70152909e+02] [ 7.29512414e-01 6.83965730e-01 -1.58689796e-03 6.63653837e+01] [ 2.16133597e-03 1.48733066e-05 9.99997664e-01 -3.69013498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.445769231 meters 0.015172225590395896 Centerline is valid? [True, True] Translation: X:170.17, Y:66.39, Z:-0.37 [[ 6.85036802e-01 -7.28506770e-01 -1.57037843e-03 1.70169487e+02] [ 7.28504790e-01 6.85038602e-01 -1.69846003e-03 6.63874784e+01] [ 2.31310947e-03 1.94794211e-05 9.99997325e-01 -3.69304087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47576923100002 meters 0.017461857854546615 Centerline is valid? [True, True] Translation: X:170.18, Y:66.41, Z:-0.37 [[ 6.86507552e-01 -7.27120979e-01 -1.56950153e-03 1.70183710e+02] [ 7.27118997e-01 6.86509346e-01 -1.69798029e-03 6.64109588e+01] [ 2.31211456e-03 2.44619136e-05 9.99997327e-01 -3.70337589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50576923100002 meters 0.020103684414756864 Centerline is valid? [True, True] Translation: X:170.20, Y:66.44, Z:-0.37 [[ 6.89839380e-01 -7.23958944e-01 -2.25344045e-03 1.70197158e+02] [ 7.23954838e-01 6.89843059e-01 -2.43875287e-03 6.64372495e+01] [ 3.32007720e-03 5.09586539e-05 9.99994487e-01 -3.71065480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53576923100002 meters 0.026712319706716024 Centerline is valid? [True, True] Translation: X:170.20, Y:66.47, Z:-0.38 [[ 6.91826176e-01 -7.22058682e-01 -2.79317431e-03 1.70204284e+02] [ 7.22052358e-01 6.91831811e-01 -3.02293284e-03 6.64673208e+01] [ 4.11514174e-03 7.45259740e-05 9.99991530e-01 -3.75255061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56576923100002 meters 0.02274537114351628 Centerline is valid? [True, True] Translation: X:170.23, Y:66.49, Z:-0.37 [[ 6.91605033e-01 -7.22270781e-01 -2.71984865e-03 1.70225781e+02] [ 7.22264780e-01 6.91610378e-01 -2.94508061e-03 6.64859860e+01] [ 4.00822123e-03 7.23816879e-05 9.99991964e-01 -3.73703580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59576923100002 meters 0.022301585346567187 Centerline is valid? [True, True] Translation: X:170.24, Y:66.51, Z:-0.37 [[ 6.90471009e-01 -7.23356075e-01 -2.40310835e-03 1.70243397e+02] [ 7.23351395e-01 6.90475188e-01 -2.60268281e-03 6.65070714e+01] [ 3.54195312e-03 5.87852483e-05 9.99993726e-01 -3.73846190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62576923100002 meters 0.01971087087681958 Centerline is valid? [True, True] Translation: X:170.27, Y:66.53, Z:-0.37 [[ 6.88627567e-01 -7.25112836e-01 -1.85739879e-03 1.70265109e+02] [ 7.25110044e-01 6.88630070e-01 -2.01256420e-03 6.65260595e+01] [ 2.73839679e-03 3.90886698e-05 9.99996250e-01 -3.72482307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65576923100002 meters 0.014436355384331913 Centerline is valid? [True, True] Translation: X:170.29, Y:66.54, Z:-0.37 [[ 6.83595707e-01 -7.29860174e-01 -1.01780060e-03 1.70289068e+02] [ 7.29859340e-01 6.83596464e-01 -1.10341196e-03 6.65400588e+01] [ 1.50110133e-03 1.14364033e-05 9.99998873e-01 -3.71207070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68576923100002 meters 0.012508680199907593 Centerline is valid? [True, True] Translation: X:170.31, Y:66.56, Z:-0.37 [[ 6.80811882e-01 -7.32457832e-01 -8.40076245e-04 1.70311654e+02] [ 7.32457265e-01 6.80812400e-01 -9.11271206e-04 6.65577954e+01] [ 1.23940206e-03 5.08431579e-06 9.99999232e-01 -3.71506005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71576923100002 meters 0.012508680199907593 Centerline is valid? [True, True] Translation: X:170.33, Y:66.58, Z:-0.37 [[ 6.80670601e-01 -7.32589126e-01 -8.39900039e-04 1.70330146e+02] [ 7.32588559e-01 6.80671119e-01 -9.11433668e-04 6.65781326e+01] [ 1.23940209e-03 5.08494319e-06 9.99999232e-01 -3.71565045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74576923100003 meters 0.011840239757890869 Centerline is valid? [True, True] Translation: X:170.36, Y:66.59, Z:-0.37 [[ 6.76520493e-01 -7.36423768e-01 -2.38850747e-04 1.70355451e+02] [ 7.36423722e-01 6.76520535e-01 -2.59732491e-04 6.65927928e+01] [ 3.52860615e-04 -1.81003044e-07 9.99999938e-01 -3.69661310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77576923100003 meters 0.012080588040312524 Centerline is valid? [True, True] Translation: X:170.38, Y:66.61, Z:-0.37 [[ 6.75351200e-01 -7.37496230e-01 -2.60337665e-04 1.70376951e+02] [ 7.37496175e-01 6.75351250e-01 -2.83190929e-04 6.66099190e+01] [ 3.84671609e-04 -7.44698257e-07 9.99999926e-01 -3.68799316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80576923100003 meters 0.012555258345258676 Centerline is valid? [True, True] Translation: X:170.40, Y:66.63, Z:-0.37 [[ 6.74403594e-01 -7.38362812e-01 -3.87427075e-04 1.70398102e+02] [ 7.38362692e-01 6.74403705e-01 -4.21377410e-04 6.66265886e+01] [ 5.72411664e-04 -1.88325866e-06 9.99999836e-01 -3.68896367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.835769231 meters 0.013662876743676252 Centerline is valid? [True, True] Translation: X:170.42, Y:66.64, Z:-0.37 [[ 6.72928270e-01 -7.39706760e-01 -1.20536790e-03 1.70421652e+02] [ 7.39705600e-01 6.72929349e-01 -1.30993350e-03 6.66412576e+01] [ 1.78009410e-03 -1.01261037e-05 9.99998416e-01 -3.70897105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.865769231 meters 0.013684493317583483 Centerline is valid? [True, True] Translation: X:170.44, Y:66.66, Z:-0.37 [[ 6.72622229e-01 -7.39984896e-01 -1.30022060e-03 1.70441430e+02] [ 7.39983546e-01 6.72623486e-01 -1.41360886e-03 6.66594706e+01] [ 1.92060812e-03 -1.13171076e-05 9.99998156e-01 -3.71231066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.895769231 meters 0.01296364774500836 Centerline is valid? [True, True] Translation: X:170.46, Y:66.68, Z:-0.37 [[ 6.73428521e-01 -7.39251208e-01 -1.29547139e-03 1.70461888e+02] [ 7.39249866e-01 6.73429767e-01 -1.40906204e-03 6.66776431e+01] [ 1.91405981e-03 -8.77448262e-06 9.99998168e-01 -3.70949316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.925769231 meters 0.012556359147169623 Centerline is valid? [True, True] Translation: X:170.48, Y:66.70, Z:-0.37 [[ 6.74272092e-01 -7.38482307e-01 -1.01407720e-03 1.70479814e+02] [ 7.38481482e-01 6.74272855e-01 -1.10335540e-03 6.66969123e+01] [ 1.49857317e-03 -4.91547638e-06 9.99998877e-01 -3.70718489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.955769231 meters 0.011781951712783643 Centerline is valid? [True, True] Translation: X:170.50, Y:66.72, Z:-0.37 [[ 6.75435722e-01 -7.37418719e-01 -4.67669088e-04 1.70496944e+02] [ 7.37418543e-01 6.75435884e-01 -5.09468430e-04 6.67184267e+01] [ 6.91572041e-04 -7.54680326e-07 9.99999761e-01 -3.68551406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.985769231 meters 0.011768682063799295 Centerline is valid? [True, True] Translation: X:170.51, Y:66.74, Z:-0.37 [[ 6.78050014e-01 -7.35015581e-01 5.22772711e-04 1.70510582e+02] [ 7.35015362e-01 6.78050216e-01 5.68327514e-04 6.67430500e+01] [-7.72195728e-04 -1.10850547e-06 9.99999702e-01 -3.65663916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.015769231 meters 0.01232443956012654 Centerline is valid? [True, True] Translation: X:170.53, Y:66.76, Z:-0.37 [[ 6.78947796e-01 -7.34186542e-01 -1.03338132e-04 1.70525687e+02] [ 7.34186534e-01 6.78947804e-01 -1.13240579e-04 6.67646296e+01] [ 1.53300907e-04 1.01497623e-06 9.99999988e-01 -3.67629435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.045769231 meters 0.013127115908836804 Centerline is valid? [True, True] Translation: X:170.54, Y:66.79, Z:-0.37 [[ 6.79801998e-01 -7.33394528e-01 -1.30777168e-03 1.70542288e+02] [ 7.33393143e-01 6.79803256e-01 -1.42535466e-03 6.67864702e+01] [ 1.93437475e-03 9.84816344e-06 9.99998129e-01 -3.70514722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.075769231 meters 0.013411747415772415 Centerline is valid? [True, True] Translation: X:170.56, Y:66.81, Z:-0.37 [[ 6.79766525e-01 -7.33427700e-01 -1.13122662e-03 1.70559365e+02] [ 7.33426663e-01 6.79767466e-01 -1.23327928e-03 6.68068258e+01] [ 1.67349224e-03 8.67020550e-06 9.99998600e-01 -3.70614543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.105769231 meters 0.012959044778732708 Centerline is valid? [True, True] Translation: X:170.58, Y:66.83, Z:-0.37 [[ 6.79396804e-01 -7.33770916e-01 -4.75076504e-04 1.70577514e+02] [ 7.33770733e-01 6.79396970e-01 -5.18586453e-04 6.68274435e+01] [ 7.03289194e-04 3.72874442e-06 9.99999753e-01 -3.69107258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.135769231 meters 0.012533176030849892 Centerline is valid? [True, True] Translation: X:170.60, Y:66.85, Z:-0.37 [[ 6.78804218e-01 -7.34319293e-01 -9.79602076e-05 1.70596027e+02] [ 7.34319285e-01 6.78804225e-01 -1.07518413e-04 6.68479294e+01] [ 1.45448648e-04 1.04988271e-06 9.99999989e-01 -3.68463883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.165769231 meters 0.012287909600690984 Centerline is valid? [True, True] Translation: X:170.61, Y:66.87, Z:-0.37 [[ 6.78151856e-01 -7.34921799e-01 9.89013644e-05 1.70614405e+02] [ 7.34921791e-01 6.78151863e-01 1.07237996e-04 6.68679864e+01] [-1.45881686e-04 -3.88783301e-08 9.99999989e-01 -3.68109419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.195769231 meters 0.011828418800973671 Centerline is valid? [True, True] Translation: X:170.64, Y:66.89, Z:-0.37 [[ 6.76614888e-01 -7.36337075e-01 -7.23223038e-05 1.70635243e+02] [ 7.36337071e-01 6.76614892e-01 -7.96281716e-05 6.68861114e+01] [ 1.07567523e-04 6.24013117e-07 9.99999994e-01 -3.69914307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22576923100002 meters 0.011811170238742239 Centerline is valid? [True, True] Translation: X:170.66, Y:66.90, Z:-0.37 [[ 6.75486905e-01 -7.37371591e-01 -7.59683352e-04 1.70655711e+02] [ 7.37371124e-01 6.75487333e-01 -8.30308740e-04 6.69043158e+01] [ 1.12540256e-03 6.94114622e-07 9.99999367e-01 -3.72113251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25576923100002 meters 0.012052336830049403 Centerline is valid? [True, True] Translation: X:170.68, Y:66.92, Z:-0.37 [[ 6.74455692e-01 -7.38313779e-01 -1.51078596e-03 1.70675604e+02] [ 7.38311933e-01 6.74457384e-01 -1.65134502e-03 6.69220118e+01] [ 2.23817153e-03 -1.67225886e-06 9.99997495e-01 -3.74642922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28576923100002 meters 0.012418364650832486 Centerline is valid? [True, True] Translation: X:170.70, Y:66.94, Z:-0.38 [[ 6.73395097e-01 -7.39279609e-01 -2.16864337e-03 1.70697095e+02] [ 7.39275806e-01 6.73398589e-01 -2.37106190e-03 6.69397409e+01] [ 3.21323910e-03 -6.56411969e-06 9.99994838e-01 -3.76103341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31576923100002 meters 0.012245976563091787 Centerline is valid? [True, True] Translation: X:170.72, Y:66.96, Z:-0.37 [[ 6.73559859e-01 -7.39130174e-01 -1.92414736e-03 1.70715658e+02] [ 7.39127177e-01 6.73562608e-01 -2.10471919e-03 6.69597472e+01] [ 2.85169518e-03 -4.53524633e-06 9.99995934e-01 -3.74285512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34576923100002 meters 0.012021268664489004 Centerline is valid? [True, True] Translation: X:170.73, Y:66.98, Z:-0.37 [[ 6.74719211e-01 -7.38073621e-01 -1.14716193e-03 1.70731223e+02] [ 7.38072553e-01 6.74720187e-01 -1.25535282e-03 6.69815506e+01] [ 1.70055611e-03 3.21929682e-07 9.99998554e-01 -3.71678639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37576923100002 meters 0.01212265703842604 Centerline is valid? [True, True] Translation: X:170.75, Y:67.00, Z:-0.37 [[ 6.75544399e-01 -7.37318541e-01 -1.06496060e-03 1.70747134e+02] [ 7.37317619e-01 6.75545239e-01 -1.16607098e-03 6.70037118e+01] [ 1.57919481e-03 2.51850668e-06 9.99998753e-01 -3.71376669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40576923100002 meters 0.012348980015447961 Centerline is valid? [True, True] Translation: X:170.76, Y:67.03, Z:-0.37 [[ 6.76341555e-01 -7.36587549e-01 -9.40495887e-04 1.70763188e+02] [ 7.36586828e-01 6.76342208e-01 -1.03030019e-03 6.70260915e+01] [ 1.39500336e-03 4.07794976e-06 9.99999027e-01 -3.71493689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43576923100002 meters 0.012963696825551116 Centerline is valid? [True, True] Translation: X:170.78, Y:67.05, Z:-0.37 [[ 6.77393594e-01 -7.35620023e-01 -1.04953233e-03 1.70779689e+02] [ 7.35619123e-01 6.77394407e-01 -1.15018000e-03 6.70481249e+01] [ 1.55704276e-03 7.06851227e-06 9.99998788e-01 -3.71552636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46576923100002 meters 0.012819259094161104 Centerline is valid? [True, True] Translation: X:170.80, Y:67.07, Z:-0.37 [[ 6.76954162e-01 -7.36024111e-01 -1.25333799e-03 1.70798598e+02] [ 7.36022829e-01 6.76955322e-01 -1.37398812e-03 6.70677369e+01] [ 1.85974221e-03 7.64160784e-06 9.99998271e-01 -3.71696734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49576923100003 meters 0.012582715116587777 Centerline is valid? [True, True] Translation: X:170.82, Y:67.09, Z:-0.37 [[ 6.76119681e-01 -7.36790001e-01 -1.63427803e-03 1.70817971e+02] [ 7.36787821e-01 6.76121657e-01 -1.79216803e-03 6.70861647e+01] [ 2.42542225e-03 7.60392808e-06 9.99997059e-01 -3.72194290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52576923100003 meters 0.012102585653001454 Centerline is valid? [True, True] Translation: X:170.84, Y:67.10, Z:-0.37 [[ 6.74362161e-01 -7.38399958e-01 -1.08552035e-03 1.70840073e+02] [ 7.38398997e-01 6.74363034e-01 -1.19102778e-03 6.71041681e+01] [ 1.61148966e-03 1.63693072e-06 9.99998702e-01 -3.69630932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55576923100003 meters 0.011906852276667023 Centerline is valid? [True, True] Translation: X:170.86, Y:67.12, Z:-0.37 [[ 6.73843891e-01 -7.38873731e-01 -1.45328094e-04 1.70859175e+02] [ 7.38873713e-01 6.73843906e-01 -1.60091868e-04 6.71238941e+01] [ 2.16216127e-04 4.97819189e-07 9.99999977e-01 -3.67748119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.585769231 meters 0.011840512058077774 Centerline is valid? [True, True] Translation: X:170.88, Y:67.14, Z:-0.36 [[ 6.73719103e-01 -7.38986899e-01 9.65971630e-04 1.70877098e+02] [ 7.38986140e-01 6.73719795e-01 1.05952546e-03 6.71439539e+01] [-1.43376964e-03 1.71023776e-08 9.99998972e-01 -3.64588798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.615769231 meters 0.011996734525581792 Centerline is valid? [True, True] Translation: X:170.89, Y:67.17, Z:-0.37 [[ 6.74342244e-01 -7.38418808e-01 4.49150274e-04 1.70893948e+02] [ 7.38418644e-01 6.74342394e-01 4.92486877e-04 6.71651782e+01] [-6.66542644e-04 -4.43769729e-07 9.99999778e-01 -3.66008063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.645769231 meters 0.01277147650769433 Centerline is valid? [True, True] Translation: X:170.91, Y:67.19, Z:-0.37 [[ 6.75745506e-01 -7.37133532e-01 -1.47222747e-03 1.70911038e+02] [ 7.37131756e-01 6.75747110e-01 -1.61773855e-03 6.71870839e+01] [ 2.18734279e-03 7.95393744e-06 9.99997608e-01 -3.71979352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.675769231 meters 0.013277611301684145 Centerline is valid? [True, True] Translation: X:170.93, Y:67.21, Z:-0.37 [[ 6.76146132e-01 -7.36764698e-01 -2.04631578e-03 1.70928678e+02] [ 7.36761265e-01 6.76149228e-01 -2.24946096e-03 6.72070314e+01] [ 3.04093826e-03 1.33181273e-05 9.99995376e-01 -3.73269865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.705769231 meters 0.013509561944255576 Centerline is valid? [True, True] Translation: X:170.95, Y:67.23, Z:-0.37 [[ 6.76459256e-01 -7.36477641e-01 -1.88682247e-03 1.70946788e+02] [ 7.36474718e-01 6.76461887e-01 -2.07502578e-03 6.72268208e+01] [ 2.80457357e-03 1.40733510e-05 9.99996067e-01 -3.73320944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.735769231 meters 0.013463128795419116 Centerline is valid? [True, True] Translation: X:170.97, Y:67.25, Z:-0.37 [[ 6.76515607e-01 -7.36427961e-01 -7.01502986e-04 1.70965862e+02] [ 7.36427556e-01 6.76515971e-01 -7.72227399e-04 6.72462060e+01] [ 1.04326782e-03 5.81775799e-06 9.99999456e-01 -3.70550495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.765769231 meters 0.013420566131561621 Centerline is valid? [True, True] Translation: X:170.98, Y:67.27, Z:-0.37 [[ 6.76388581e-01 -7.36544929e-01 -2.35403296e-04 1.70984267e+02] [ 7.36544883e-01 6.76388622e-01 -2.59697778e-04 6.72656609e+01] [ 3.50503192e-04 2.27151889e-06 9.99999939e-01 -3.69518967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.795769231 meters 0.014440932588977108 Centerline is valid? [True, True] Translation: X:171.00, Y:67.29, Z:-0.37 [[ 6.77470995e-01 -7.35549480e-01 -1.16884860e-04 1.70999633e+02] [ 7.35549469e-01 6.77471005e-01 -1.29379673e-04 6.72872397e+01] [ 1.74351255e-04 1.67637910e-06 9.99999985e-01 -3.70010706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.825769231 meters 0.014743905485481422 Centerline is valid? [True, True] Translation: X:171.02, Y:67.31, Z:-0.37 [[ 6.78258390e-01 -7.34823483e-01 6.80521350e-05 1.71017218e+02] [ 7.34823479e-01 6.78258394e-01 7.43154210e-05 6.73094782e+01] [-1.00765648e-04 -3.98751257e-07 9.99999995e-01 -3.70057831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.855769231 meters 0.016199040806353572 Centerline is valid? [True, True] Translation: X:171.03, Y:67.33, Z:-0.37 [[ 6.78874061e-01 -7.34254730e-01 1.41804029e-05 1.71032229e+02] [ 7.34254730e-01 6.78874061e-01 1.49612518e-05 6.73328939e+01] [-2.06120777e-05 2.55222076e-07 1.00000000e+00 -3.70271997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.885769231 meters 0.016686067650223024 Centerline is valid? [True, True] Translation: X:171.05, Y:67.36, Z:-0.37 [[ 6.79719371e-01 -7.33472121e-01 4.73770024e-04 1.71048180e+02] [ 7.33471936e-01 6.79719536e-01 5.21544353e-04 6.73567295e+01] [-7.04568984e-04 -7.00678247e-06 9.99999752e-01 -3.69735270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.915769231 meters 0.016495061298972172 Centerline is valid? [True, True] Translation: X:171.07, Y:67.38, Z:-0.37 [[ 6.79716600e-01 -7.33474735e-01 3.95857798e-04 1.71065733e+02] [ 7.33474606e-01 6.79716715e-01 4.35833493e-04 6.73781210e+01] [-5.88744018e-04 -5.89161715e-06 9.99999827e-01 -3.70124630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.945769231 meters 0.017079649758937096 Centerline is valid? [True, True] Translation: X:171.08, Y:67.40, Z:-0.37 [[ 6.79471145e-01 -7.33702230e-01 3.15275945e-05 1.71079980e+02] [ 7.33702229e-01 6.79471146e-01 3.41157024e-05 6.74014410e+01] [-4.64528577e-05 -4.87690271e-08 9.99999999e-01 -3.70971388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97576923100002 meters 0.017794069550640265 Centerline is valid? [True, True] Translation: X:171.09, Y:67.42, Z:-0.37 [[ 6.79335573e-01 -7.33827747e-01 1.29331784e-04 1.71093628e+02] [ 7.33827733e-01 6.79335585e-01 1.42010983e-04 6.74239772e+01] [-1.92071283e-04 -1.56586249e-06 9.99999982e-01 -3.70923996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00576923100002 meters 0.017989238033450244 Centerline is valid? [True, True] Translation: X:171.11, Y:67.45, Z:-0.37 [[ 6.79288736e-01 -7.33871114e-01 -4.52804608e-05 1.71108943e+02] [ 7.33871112e-01 6.79288737e-01 -5.06387867e-05 6.74468020e+01] [ 6.79208498e-05 1.16833531e-06 9.99999998e-01 -3.71010130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03576923100002 meters 0.01787168346309207 Centerline is valid? [True, True] Translation: X:171.12, Y:67.47, Z:-0.37 [[ 6.79821774e-01 -7.33376905e-01 8.18967658e-04 1.71122747e+02] [ 7.33376349e-01 6.79822267e-01 9.03851998e-04 6.74720497e+01] [-1.21961663e-03 -1.38467580e-05 9.99999256e-01 -3.68783664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06576923100002 meters 0.01790936591669558 Centerline is valid? [True, True] Translation: X:171.14, Y:67.50, Z:-0.37 [[ 6.79813853e-01 -7.33383614e-01 1.26482590e-03 1.71138799e+02] [ 7.33382284e-01 6.79815030e-01 1.39678168e-03 6.74952455e+01] [-1.88422445e-03 -2.19506289e-05 9.99998225e-01 -3.67293042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09576923100002 meters 0.01746400955956539 Centerline is valid? [True, True] Translation: X:171.15, Y:67.52, Z:-0.37 [[ 6.78620635e-01 -7.34487056e-01 1.67283027e-03 1.71152081e+02] [ 7.34484731e-01 6.78622696e-01 1.84825016e-03 6.75198082e+01] [-2.49273641e-03 -2.55924078e-05 9.99996893e-01 -3.66577392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12576923100002 meters 0.01649086918795295 Centerline is valid? [True, True] Translation: X:171.17, Y:67.54, Z:-0.37 [[ 6.77446133e-01 -7.35571377e-01 1.21937865e-03 1.71168356e+02] [ 7.35570142e-01 6.77447230e-01 1.34759127e-03 6.75402053e+01] [-1.81731425e-03 -1.59819693e-05 9.99998349e-01 -3.68174483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15576923100002 meters 0.014575179417943347 Centerline is valid? [True, True] Translation: X:171.19, Y:67.56, Z:-0.37 [[ 6.76007812e-01 -7.36894210e-01 6.01266686e-04 1.71188281e+02] [ 7.36893910e-01 6.76008079e-01 6.64471977e-04 6.75603676e+01] [-8.96106690e-04 -6.11848750e-06 9.99999598e-01 -3.69929150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18576923100002 meters 0.012638469713638415 Centerline is valid? [True, True] Translation: X:171.21, Y:67.58, Z:-0.37 [[ 6.72844338e-01 -7.39784060e-01 -2.02582610e-04 1.71207321e+02] [ 7.39784026e-01 6.72844369e-01 -2.24790839e-04 6.75800703e+01] [ 3.02603248e-04 1.38186466e-06 9.99999954e-01 -3.71694728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21576923100002 meters 0.012199016912335787 Centerline is valid? [True, True] Translation: X:171.22, Y:67.60, Z:-0.37 [[ 6.71332761e-01 -7.41156025e-01 2.66713207e-04 1.71224674e+02] [ 7.41155966e-01 6.71332814e-01 2.94548219e-04 6.75994281e+01] [-3.97359515e-04 -6.37846089e-08 9.99999921e-01 -3.70124569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24576923100003 meters 0.012224427966752572 Centerline is valid? [True, True] Translation: X:171.24, Y:67.62, Z:-0.37 [[ 6.68662848e-01 -7.43564038e-01 1.58649840e-03 1.71243526e+02] [ 7.43561963e-01 6.68664730e-01 1.75642633e-03 6.76189594e+01] [-2.36685098e-03 5.20283077e-06 9.99997199e-01 -3.66682119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27576923100003 meters 0.012974743691390893 Centerline is valid? [True, True] Translation: X:171.26, Y:67.64, Z:-0.37 [[ 6.67131965e-01 -7.44937397e-01 1.79327060e-03 1.71261890e+02] [ 7.44934749e-01 6.67134375e-01 1.98623066e-03 6.76378041e+01] [-2.67596996e-03 1.07916156e-05 9.99996420e-01 -3.66839930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30576923100003 meters 0.01378453479430155 Centerline is valid? [True, True] Translation: X:171.28, Y:67.66, Z:-0.37 [[ 6.65384736e-01 -7.46498611e-01 1.72541746e-03 1.71280595e+02] [ 7.46496164e-01 6.65386973e-01 1.91169799e-03 6.76580703e+01] [-2.57515020e-03 1.60028466e-05 9.99996684e-01 -3.67661559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.335769231 meters 0.016996079954589516 Centerline is valid? [True, True] Translation: X:171.30, Y:67.67, Z:-0.37 [[ 6.62025796e-01 -7.49479294e-01 1.62259289e-03 1.71302748e+02] [ 7.49477137e-01 6.62027784e-01 1.79843455e-03 6.76747135e+01] [-2.42209103e-03 2.54862073e-05 9.99997066e-01 -3.68862674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.365769231 meters 0.017694110784887796 Centerline is valid? [True, True] Translation: X:171.32, Y:67.69, Z:-0.37 [[ 6.60618405e-01 -7.50720335e-01 1.51696480e-03 1.71322762e+02] [ 7.50718451e-01 6.60620146e-01 1.68200015e-03 6.76948610e+01] [-2.26484922e-03 2.76532129e-05 9.99997435e-01 -3.69367182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.395769231 meters 0.020006697943643563 Centerline is valid? [True, True] Translation: X:171.34, Y:67.71, Z:-0.37 [[ 6.59156646e-01 -7.52003570e-01 1.77399297e-03 1.71343760e+02] [ 7.52000996e-01 6.59159032e-01 1.96777782e-03 6.77120809e+01] [-2.64911943e-03 3.69706543e-05 9.99996490e-01 -3.68331879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.425769231 meters 0.024680966059289468 Centerline is valid? [True, True] Translation: X:171.37, Y:67.73, Z:-0.37 [[ 6.55792094e-01 -7.54936422e-01 2.77990499e-03 1.71367482e+02] [ 7.54930123e-01 6.55797982e-01 3.08486674e-03 6.77267730e+01] [-4.15193434e-03 7.56027934e-05 9.99991378e-01 -3.65853987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.455769231 meters 0.027341205528716283 Centerline is valid? [True, True] Translation: X:171.39, Y:67.74, Z:-0.37 [[ 6.53907936e-01 -7.56567756e-01 3.10514255e-03 1.71389351e+02] [ 7.56559908e-01 6.53915302e-01 3.44720371e-03 6.77441066e+01] [-4.63854340e-03 9.50724990e-05 9.99989237e-01 -3.65538800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.485769231 meters 0.032572928975309945 Centerline is valid? [True, True] Translation: X:171.42, Y:67.76, Z:-0.37 [[ 6.50447176e-01 -7.59544283e-01 3.30959486e-03 1.71415195e+02] [ 7.59535400e-01 6.50455584e-01 3.67546191e-03 6.77564596e+01] [-4.94442054e-03 1.23060635e-04 9.99987769e-01 -3.66419452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.515769231 meters 0.03479048709859058 Centerline is valid? [True, True] Translation: X:171.44, Y:67.77, Z:-0.37 [[ 6.48717416e-01 -7.61022476e-01 3.24111474e-03 1.71437725e+02] [ 7.61013970e-01 6.48725499e-01 3.60060107e-03 6.77736887e+01] [-4.84273212e-03 1.30760974e-04 9.99988265e-01 -3.67334237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.545769231 meters 0.03230911452266916 Centerline is valid? [True, True] Translation: X:171.46, Y:67.80, Z:-0.37 [[ 6.47578249e-01 -7.61990999e-01 3.48271026e-03 1.71456335e+02] [ 7.61981183e-01 6.47587597e-01 3.87047985e-03 6.77951219e+01] [-5.20463077e-03 1.47321122e-04 9.99986445e-01 -3.67694253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.575769231 meters 0.038980135708883215 Centerline is valid? [True, True] Translation: X:171.49, Y:67.80, Z:-0.37 [[ 6.46159216e-01 -7.63193858e-01 3.66101366e-03 1.71486141e+02] [ 7.63183021e-01 6.46169567e-01 4.07028418e-03 6.78046868e+01] [-5.47205149e-03 1.63971835e-04 9.99985015e-01 -3.66047626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.605769231 meters 0.038980135708883215 Centerline is valid? [True, True] Translation: X:171.50, Y:67.82, Z:-0.37 [[ 6.46008416e-01 -7.63321511e-01 3.66020228e-03 1.71503791e+02] [ 7.63310672e-01 6.46018765e-01 4.07101377e-03 6.78246849e+01] [-5.47205174e-03 1.63962303e-04 9.99985015e-01 -3.66104897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.635769231 meters 0.039628406903012094 Centerline is valid? [True, True] Translation: X:171.52, Y:67.84, Z:-0.37 [[ 6.45711918e-01 -7.63573106e-01 3.49723553e-03 1.71524497e+02] [ 7.63563206e-01 6.45721370e-01 3.89137122e-03 6.78416587e+01] [-5.22958612e-03 1.57655597e-04 9.99986313e-01 -3.65929582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.665769231 meters 0.03754741614477371 Centerline is valid? [True, True] Translation: X:171.54, Y:67.86, Z:-0.37 [[ 6.46937573e-01 -7.62539901e-01 2.16225020e-03 1.71543738e+02] [ 7.62536109e-01 6.46941180e-01 2.40659647e-03 6.78612993e+01] [-3.23397453e-03 9.18761776e-05 9.99994766e-01 -3.68564407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.695769231 meters 0.03581886572933005 Centerline is valid? [True, True] Translation: X:171.56, Y:67.88, Z:-0.37 [[ 6.48107586e-01 -7.61546777e-01 1.75018783e-03 1.71560659e+02] [ 7.61544288e-01 6.48109945e-01 1.94847917e-03 6.78810868e+01] [-2.61817217e-03 7.00214192e-05 9.99996570e-01 -3.69767438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72576923100002 meters 0.03155190636320709 Centerline is valid? [True, True] Translation: X:171.58, Y:67.90, Z:-0.37 [[ 6.51094215e-01 -7.58993149e-01 2.39235095e-03 1.71577130e+02] [ 7.58988475e-01 6.51098605e-01 2.66474833e-03 6.79017092e+01] [-3.58018209e-03 8.07645807e-05 9.99993588e-01 -3.67800452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75576923100002 meters 0.027544522885620964 Centerline is valid? [True, True] Translation: X:171.59, Y:67.93, Z:-0.37 [[ 6.52004829e-01 -7.58209766e-01 2.76636584e-03 1.71592870e+02] [ 7.58203505e-01 6.52010692e-01 3.08265810e-03 6.79251857e+01] [-4.14100158e-03 8.75603065e-05 9.99991422e-01 -3.66735754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78576923100002 meters 0.023134480401880264 Centerline is valid? [True, True] Translation: X:171.61, Y:67.95, Z:-0.37 [[ 6.53906232e-01 -7.56571657e-01 2.44306405e-03 1.71608512e+02] [ 7.56566758e-01 6.53910792e-01 2.72331930e-03 6.79487757e+01] [-3.65793214e-03 6.75455880e-05 9.99993307e-01 -3.66708408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81576923100002 meters 0.021804569850393234 Centerline is valid? [True, True] Translation: X:171.63, Y:67.97, Z:-0.37 [[ 6.55400561e-01 -7.55278180e-01 2.23039521e-03 1.71625486e+02] [ 7.55274087e-01 6.55404354e-01 2.48711951e-03 6.79699939e+01] [-3.34027783e-03 5.45001786e-05 9.99994420e-01 -3.66772492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84576923100002 meters 0.018658541219330943 Centerline is valid? [True, True] Translation: X:171.64, Y:67.99, Z:-0.37 [[ 6.57701318e-01 -7.53274866e-01 2.43972732e-03 1.71640850e+02] [ 7.53269951e-01 6.57705841e-01 2.72160367e-03 6.79942922e+01] [-3.65473855e-03 4.77709564e-05 9.99993320e-01 -3.66467174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87576923100002 meters 0.01590905744759919 Centerline is valid? [True, True] Translation: X:171.66, Y:68.02, Z:-0.37 [[ 6.60493859e-01 -7.50827054e-01 2.56844004e-03 1.71655147e+02] [ 7.50821584e-01 6.60498852e-01 2.86625167e-03 6.80180564e+01] [-3.84851099e-03 3.52985957e-05 9.99992594e-01 -3.66042399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90576923100002 meters 0.011964391475130115 Centerline is valid? [True, True] Translation: X:171.66, Y:68.05, Z:-0.37 [[ 6.66123060e-01 -7.45838025e-01 2.38944477e-03 1.71663366e+02] [ 7.45833255e-01 6.66127345e-01 2.66745070e-03 6.80482167e+01] [-3.58116067e-03 5.27695018e-06 9.99993588e-01 -3.66150606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93576923100002 meters 0.012118929272774843 Centerline is valid? [True, True] Translation: X:171.68, Y:68.07, Z:-0.37 [[ 6.68464139e-01 -7.43740804e-01 2.30478139e-03 1.71675469e+02] [ 7.43736350e-01 6.68468112e-01 2.57396385e-03 6.80720149e+01] [-3.45503481e-03 -6.45282591e-06 9.99994031e-01 -3.66060520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96576923100002 meters 0.015042525681682937 Centerline is valid? [True, True] Translation: X:171.68, Y:68.10, Z:-0.37 [[ 6.72539983e-01 -7.40058440e-01 1.86440681e-03 1.71684766e+02] [ 7.40055509e-01 6.72542567e-01 2.08292080e-03 6.81009185e+01] [-2.79537606e-03 -2.10829905e-05 9.99996093e-01 -3.68360883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99576923100003 meters 0.0174575420098694 Centerline is valid? [True, True] Translation: X:171.70, Y:68.13, Z:-0.37 [[ 6.74234408e-01 -7.38515692e-01 1.59226184e-03 1.71698207e+02] [ 7.38513549e-01 6.74236287e-01 1.77946091e-03 6.81251045e+01] [-2.38772052e-03 -2.38668355e-05 9.99997149e-01 -3.69170994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02576923100003 meters 0.019895590915861024 Centerline is valid? [True, True] Translation: X:171.71, Y:68.15, Z:-0.37 [[ 6.76192090e-01 -7.36723340e-01 1.72566398e-03 1.71711551e+02] [ 7.36720814e-01 6.76194291e-01 1.92935387e-03 6.81503505e+01] [-2.58828416e-03 -3.32812543e-05 9.99996650e-01 -3.69567533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05576923100003 meters 0.020129493901405664 Centerline is valid? [True, True] Translation: X:171.73, Y:68.17, Z:-0.37 [[ 6.76228658e-01 -7.36688917e-01 2.05957831e-03 1.71728683e+02] [ 7.36685316e-01 6.76231794e-01 2.30366940e-03 6.81710181e+01] [-3.08984005e-03 -4.05461676e-05 9.99995226e-01 -3.69521974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.085769231 meters 0.01916185608416647 Centerline is valid? [True, True] Translation: X:171.75, Y:68.19, Z:-0.37 [[ 6.75254218e-01 -7.37580318e-01 2.64885484e-03 1.71747855e+02] [ 7.37574363e-01 6.75259411e-01 2.96418640e-03 6.81907301e+01] [-3.97498971e-03 -4.78519428e-05 9.99992099e-01 -3.68405338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.115769231 meters 0.015045271139719303 Centerline is valid? [True, True] Translation: X:171.77, Y:68.21, Z:-0.37 [[ 6.71482828e-01 -7.41013398e-01 3.15534599e-03 1.71773062e+02] [ 7.41004979e-01 6.71490240e-01 3.53245372e-03 6.82052193e+01] [-4.73637957e-03 -3.38549242e-05 9.99988783e-01 -3.67703108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.145769231 meters 0.01327247240303504 Centerline is valid? [True, True] Translation: X:171.80, Y:68.22, Z:-0.37 [[ 6.69318009e-01 -7.42969608e-01 3.09246247e-03 1.71795742e+02] [ 7.42961536e-01 6.69325153e-01 3.46338971e-03 6.82219139e+01] [-4.64305621e-03 -2.05284392e-05 9.99989221e-01 -3.67886782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.175769231 meters 0.01201834628204362 Centerline is valid? [True, True] Translation: X:171.82, Y:68.23, Z:-0.37 [[ 6.65522163e-01 -7.46374429e-01 2.33706709e-03 1.71822726e+02] [ 7.46369837e-01 6.65526267e-01 2.61820763e-03 6.82334453e+01] [-3.50954276e-03 1.84117797e-06 9.99993842e-01 -3.70333560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.205769231 meters 0.012091252821663031 Centerline is valid? [True, True] Translation: X:171.84, Y:68.25, Z:-0.37 [[ 6.63946598e-01 -7.47776028e-01 2.43473523e-03 1.71844975e+02] [ 7.47771049e-01 6.63951062e-01 2.72859858e-03 6.82505592e+01] [-3.65692565e-03 8.98077775e-06 9.99993313e-01 -3.70912246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.235769231 meters 0.01269566108193103 Centerline is valid? [True, True] Translation: X:171.87, Y:68.27, Z:-0.37 [[ 6.62824757e-01 -7.48770461e-01 2.47747131e-03 1.71866277e+02] [ 7.48765309e-01 6.62829387e-01 2.77762313e-03 6.82671163e+01] [-3.72194294e-03 1.39671997e-05 9.99993073e-01 -3.70275362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.265769231 meters 0.012569236682688728 Centerline is valid? [True, True] Translation: X:171.89, Y:68.28, Z:-0.37 [[ 6.62782347e-01 -7.48805841e-01 3.06150307e-03 1.71888638e+02] [ 7.48797967e-01 6.62789417e-01 3.43401566e-03 6.82833419e+01] [-4.60054282e-03 1.64423231e-05 9.99989417e-01 -3.67333657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.295769231 meters 0.012449457491317845 Centerline is valid? [True, True] Translation: X:171.91, Y:68.30, Z:-0.37 [[ 6.63131726e-01 -7.48494702e-01 3.46323913e-03 1.71907861e+02] [ 7.48484613e-01 6.63140770e-01 3.88642876e-03 6.83015266e+01] [-5.20558640e-03 1.49669830e-05 9.99986451e-01 -3.65198806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.325769231 meters 0.011940237259497754 Centerline is valid? [True, True] Translation: X:171.93, Y:68.32, Z:-0.36 [[ 6.64982080e-01 -7.46844104e-01 4.76620003e-03 1.71927706e+02] [ 7.46824935e-01 6.64999161e-01 5.35096835e-03 6.83211646e+01] [-7.16585818e-03 1.21896145e-06 9.99974325e-01 -3.62464639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.355769231 meters 0.012289959402091672 Centerline is valid? [True, True] Translation: X:171.94, Y:68.34, Z:-0.36 [[ 6.66133821e-01 -7.45814845e-01 5.09409890e-03 1.71944337e+02] [ 7.45792897e-01 6.66153299e-01 5.72164103e-03 6.83417069e+01] [-7.66073560e-03 -1.22358266e-05 9.99970656e-01 -3.59950654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.385769231 meters 0.012570556953010025 Centerline is valid? [True, True] Translation: X:171.96, Y:68.36, Z:-0.36 [[ 6.67321014e-01 -7.44753197e-01 5.03389375e-03 1.71961321e+02] [ 7.44731716e-01 6.67340000e-01 5.65650755e-03 6.83623473e+01] [-7.57202074e-03 -2.58060237e-05 9.99971332e-01 -3.61858070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.415769231 meters 0.014951833700624065 Centerline is valid? [True, True] Translation: X:171.97, Y:68.39, Z:-0.37 [[ 6.70557931e-01 -7.41848537e-01 3.57883673e-03 1.71974337e+02] [ 7.41837631e-01 6.70567480e-01 4.02295654e-03 6.83866542e+01] [-5.38427596e-03 -4.27096542e-05 9.99985504e-01 -3.65643706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.445769231 meters 0.016533317337662435 Centerline is valid? [True, True] Translation: X:171.99, Y:68.41, Z:-0.37 [[ 6.72089855e-01 -7.40465322e-01 2.51669283e-03 1.71990109e+02] [ 7.40459915e-01 6.72094566e-01 2.82992829e-03 6.84099058e+01] [-3.78691934e-03 -3.84559365e-05 9.99992829e-01 -3.68584869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47576923100002 meters 0.019077410606914272 Centerline is valid? [True, True] Translation: X:172.01, Y:68.43, Z:-0.37 [[ 6.74209312e-01 -7.38538401e-01 1.68337946e-03 1.72005070e+02] [ 7.38535975e-01 6.74211413e-01 1.89341618e-03 6.84340409e+01] [-2.53331420e-03 -3.33225337e-05 9.99996791e-01 -3.71057568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50576923100002 meters 0.019700169195864738 Centerline is valid? [True, True] Translation: X:172.02, Y:68.45, Z:-0.37 [[ 6.74411033e-01 -7.38353441e-01 1.98873956e-03 1.72020687e+02] [ 7.38350051e-01 6.74413964e-01 2.23782282e-03 6.84544731e+01] [-2.99353791e-03 -4.08264431e-05 9.99995519e-01 -3.69774581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53576923100002 meters 0.018888007015297765 Centerline is valid? [True, True] Translation: X:172.04, Y:68.48, Z:-0.37 [[ 6.74301681e-01 -7.38452598e-01 2.23683072e-03 1.72038815e+02] [ 7.38448306e-01 6.74305390e-01 2.51798487e-03 6.84753640e+01] [-3.36771948e-03 -4.60975774e-05 9.99994328e-01 -3.69600452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56576923100002 meters 0.0185566607110197 Centerline is valid? [True, True] Translation: X:172.06, Y:68.50, Z:-0.37 [[ 6.73832698e-01 -7.38880997e-01 2.08976068e-03 1.72056215e+02] [ 7.38877250e-01 6.73835938e-01 2.35330928e-03 6.84971367e+01] [-3.14697136e-03 -4.16601167e-05 9.99995047e-01 -3.70186347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59576923100002 meters 0.019004953457558836 Centerline is valid? [True, True] Translation: X:172.07, Y:68.52, Z:-0.37 [[ 6.72645052e-01 -7.39962791e-01 1.92419865e-03 1.72071605e+02] [ 7.39959617e-01 6.72647803e-01 2.16766890e-03 6.85190223e+01] [-2.89830232e-03 -3.42424606e-05 9.99995799e-01 -3.71595092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62576923100002 meters 0.017553881839062476 Centerline is valid? [True, True] Translation: X:172.09, Y:68.54, Z:-0.37 [[ 6.72034591e-01 -7.40516028e-01 2.34974019e-03 1.72090925e+02] [ 7.40511293e-01 6.72038698e-01 2.64827514e-03 6.85379459e+01] [-3.54020653e-03 -3.97233591e-05 9.99993733e-01 -3.70716472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65576923100002 meters 0.01649118540937186 Centerline is valid? [True, True] Translation: X:172.11, Y:68.56, Z:-0.37 [[ 6.71244618e-01 -7.41231421e-01 2.57739214e-03 1.72109576e+02] [ 7.41225726e-01 6.71249565e-01 2.90606767e-03 6.85594590e+01] [-3.88414202e-03 -4.02529265e-05 9.99992456e-01 -3.70205028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68576923100002 meters 0.01763009737629636 Centerline is valid? [True, True] Translation: X:172.12, Y:68.58, Z:-0.37 [[ 6.71128225e-01 -7.41338577e-01 2.00504252e-03 1.72124407e+02] [ 7.41335128e-01 6.71131219e-01 2.26144921e-03 6.85823919e+01] [-3.02214617e-03 -3.13139393e-05 9.99995433e-01 -3.71406919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71576923100002 meters 0.017521157191009707 Centerline is valid? [True, True] Translation: X:172.14, Y:68.61, Z:-0.37 [[ 6.71812086e-01 -7.40720590e-01 1.23628284e-03 1.72141221e+02] [ 7.40719278e-01 6.71813223e-01 1.39470327e-03 6.86052837e+01] [-1.86363659e-03 -2.12399820e-05 9.99998263e-01 -3.74090056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74576923100003 meters 0.018955435917448967 Centerline is valid? [True, True] Translation: X:172.16, Y:68.63, Z:-0.37 [[ 6.71932163e-01 -7.40611885e-01 1.09754223e-03 1.72156747e+02] [ 7.40610850e-01 6.71933059e-01 1.23856329e-03 6.86268862e+01] [-1.65476960e-03 -1.93788248e-05 9.99998631e-01 -3.74436554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77576923100003 meters 0.019469606877521136 Centerline is valid? [True, True] Translation: X:172.17, Y:68.65, Z:-0.37 [[ 6.72016979e-01 -7.40534553e-01 1.32460465e-03 1.72172595e+02] [ 7.40533044e-01 6.72018284e-01 1.49562979e-03 6.86472519e+01] [-1.99772409e-03 -2.41751009e-05 9.99998004e-01 -3.73660886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80576923100003 meters 0.018447167383641428 Centerline is valid? [True, True] Translation: X:172.19, Y:68.67, Z:-0.37 [[ 6.71835234e-01 -7.40696610e-01 2.43932649e-03 1.72190379e+02] [ 7.40691484e-01 6.71839661e-01 2.75602926e-03 6.86679626e+01] [-3.68021781e-03 -4.48092087e-05 9.99993227e-01 -3.70979505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.835769231 meters 0.0180159965344197 Centerline is valid? [True, True] Translation: X:172.21, Y:68.69, Z:-0.37 [[ 6.71461685e-01 -7.41033233e-01 2.99206178e-03 1.72208810e+02] [ 7.41025517e-01 6.71468349e-01 3.38211534e-03 6.86885539e+01] [-4.51533465e-03 -5.37667381e-05 9.99989804e-01 -3.69863961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.865769231 meters 0.016250840364110456 Centerline is valid? [True, True] Translation: X:172.23, Y:68.71, Z:-0.37 [[ 6.70106759e-01 -7.42260053e-01 2.63560552e-03 1.72230291e+02] [ 7.42254070e-01 6.70111940e-01 2.98032045e-03 6.87063433e+01] [-3.97832354e-03 -4.08439533e-05 9.99992086e-01 -3.70310650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.895769231 meters 0.01583092580639365 Centerline is valid? [True, True] Translation: X:172.25, Y:68.73, Z:-0.37 [[ 6.68840528e-01 -7.43403365e-01 1.94552067e-03 1.72248370e+02] [ 7.43400108e-01 6.68843357e-01 2.20063494e-03 6.87253110e+01] [-2.93720800e-03 -2.55735614e-05 9.99995686e-01 -3.72289245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.925769231 meters 0.013335090158184142 Centerline is valid? [True, True] Translation: X:172.27, Y:68.74, Z:-0.37 [[ 6.66059992e-01 -7.45895866e-01 1.85582775e-03 1.72270938e+02] [ 7.45892910e-01 6.66062577e-01 2.09987806e-03 6.87431458e+01] [-2.80238778e-03 -1.43960033e-05 9.99996073e-01 -3.72674883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.955769231 meters 0.012344080901665364 Centerline is valid? [True, True] Translation: X:172.29, Y:68.76, Z:-0.37 [[ 6.64608116e-01 -7.47187155e-01 2.72166020e-03 1.72292375e+02] [ 7.47180803e-01 6.64613688e-01 3.08107422e-03 6.87609923e+01] [-4.11099171e-03 -1.41346812e-05 9.99991550e-01 -3.70662497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.985769231 meters 0.011835487939783696 Centerline is valid? [True, True] Translation: X:172.31, Y:68.78, Z:-0.37 [[ 6.63355993e-01 -7.48296027e-01 3.44714586e-03 1.72313826e+02] [ 7.48285842e-01 6.63364949e-01 3.90422569e-03 6.87788978e+01] [-5.20823231e-03 -1.04410668e-05 9.99986437e-01 -3.68223812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.015769231 meters 0.011528563246555532 Centerline is valid? [True, True] Translation: X:172.34, Y:68.79, Z:-0.37 [[ 6.61777636e-01 -7.49692405e-01 3.41426559e-03 1.72338085e+02] [ 7.49682424e-01 6.61786444e-01 3.86863817e-03 6.87943421e+01] [-5.15980333e-03 -5.63321179e-07 9.99986688e-01 -3.66871842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.045769231 meters 0.011489976954124773 Centerline is valid? [True, True] Translation: X:172.36, Y:68.81, Z:-0.37 [[ 6.61370783e-01 -7.50054806e-01 2.54454583e-03 1.72357488e+02] [ 7.50049261e-01 6.61375678e-01 2.88424219e-03 6.88139664e+01] [-3.84624044e-03 9.81199050e-07 9.99992603e-01 -3.68970805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.075769231 meters 0.011455910440131509 Centerline is valid? [True, True] Translation: X:172.38, Y:68.83, Z:-0.37 [[ 6.61472294e-01 -7.49967494e-01 1.77813130e-03 1.72375706e+02] [ 7.49964784e-01 6.61474684e-01 2.01617489e-03 6.88337681e+01] [-2.68825447e-03 -1.07974726e-07 9.99996387e-01 -3.71273697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.105769231 meters 0.01174544913349427 Centerline is valid? [True, True] Translation: X:172.39, Y:68.85, Z:-0.37 [[ 6.62304419e-01 -7.49233271e-01 1.53692766e-03 1.72394846e+02] [ 7.49231243e-01 6.62306202e-01 1.74334469e-03 6.88519819e+01] [-2.32408857e-03 -3.11067095e-06 9.99997299e-01 -3.72865103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.135769231 meters 0.01176496076841532 Centerline is valid? [True, True] Translation: X:172.41, Y:68.87, Z:-0.37 [[ 6.62591987e-01 -7.48977841e-01 2.01304283e-03 1.72414340e+02] [ 7.48974357e-01 6.62595045e-01 2.28464860e-03 6.88709611e+01] [-3.04498338e-03 -6.07239715e-06 9.99995364e-01 -3.71938838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.165769231 meters 0.011798116907398947 Centerline is valid? [True, True] Translation: X:172.44, Y:68.89, Z:-0.37 [[ 6.63137682e-01 -7.48493057e-01 2.56088174e-03 1.72436223e+02] [ 7.48487409e-01 6.63142627e-01 2.90777693e-03 6.88888325e+01] [-3.87468069e-03 -1.14687171e-05 9.99992493e-01 -3.70630215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.195769231 meters 0.012238745321329668 Centerline is valid? [True, True] Translation: X:172.45, Y:68.91, Z:-0.37 [[ 6.63249916e-01 -7.48394486e-01 2.28957827e-03 1.72454456e+02] [ 7.48389967e-01 6.63253868e-01 2.60071485e-03 6.89083347e+01] [-3.46493230e-03 -1.14265068e-05 9.99993997e-01 -3.71094591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22576923100002 meters 0.01229687847676468 Centerline is valid? [True, True] Translation: X:172.48, Y:68.93, Z:-0.37 [[ 6.63538524e-01 -7.48140414e-01 1.59639902e-03 1.72475666e+02] [ 7.48138215e-01 6.63540444e-01 1.81389851e-03 6.89253747e+01] [-2.41632610e-03 -9.26442899e-06 9.99997081e-01 -3.73094567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25576923100002 meters 0.012417047265218351 Centerline is valid? [True, True] Translation: X:172.49, Y:68.94, Z:-0.37 [[ 6.63496110e-01 -7.48178627e-01 1.28617485e-03 1.72493901e+02] [ 7.48177199e-01 6.63497357e-01 1.46190368e-03 6.89439567e+01] [-1.94713870e-03 -7.68070838e-06 9.99998104e-01 -3.74249609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28576923100002 meters 0.012774703299226626 Centerline is valid? [True, True] Translation: X:172.51, Y:68.96, Z:-0.37 [[ 6.63876262e-01 -7.47841730e-01 1.02747222e-03 1.72512701e+02] [ 7.47840818e-01 6.63877057e-01 1.16825100e-03 6.89635354e+01] [-1.55578208e-03 -7.18844136e-06 9.99998790e-01 -3.74804142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31576923100002 meters 0.013611233206579325 Centerline is valid? [True, True] Translation: X:172.53, Y:68.98, Z:-0.37 [[ 6.65146026e-01 -7.46712224e-01 1.27186929e-03 1.72531429e+02] [ 7.46710823e-01 6.65147242e-01 1.44692329e-03 6.89830353e+01] [-1.92641566e-03 -1.26967142e-05 9.99998144e-01 -3.74626219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34576923100002 meters 0.014475435240746164 Centerline is valid? [True, True] Translation: X:172.55, Y:69.00, Z:-0.37 [[ 6.65827116e-01 -7.46104450e-01 1.54974884e-03 1.72548867e+02] [ 7.46102365e-01 6.65828919e-01 1.76398518e-03 6.90030857e+01] [-2.34798478e-03 -1.82378948e-05 9.99997243e-01 -3.73832542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37576923100002 meters 0.01604813641122482 Centerline is valid? [True, True] Translation: X:172.57, Y:69.02, Z:-0.37 [[ 6.67066465e-01 -7.44996760e-01 1.46913133e-03 1.72566666e+02] [ 7.44994882e-01 6.67068082e-01 1.67295356e-03 6.90229471e+01] [-2.22635560e-03 -2.14758901e-05 9.99997521e-01 -3.74472503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40576923100002 meters 0.016447810678374874 Centerline is valid? [True, True] Translation: X:172.59, Y:69.04, Z:-0.37 [[ 6.67374248e-01 -7.44721323e-01 1.32829886e-03 1.72585276e+02] [ 7.44719786e-01 6.67375570e-01 1.51313359e-03 6.90431385e+01] [-2.01333705e-03 -2.06159503e-05 9.99997973e-01 -3.74634025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43576923100002 meters 0.016954989459791195 Centerline is valid? [True, True] Translation: X:172.60, Y:69.06, Z:-0.37 [[ 6.67706156e-01 -7.44423581e-01 1.42148258e-03 1.72602778e+02] [ 7.44421819e-01 6.67707669e-01 1.62002349e-03 6.90633435e+01] [-2.15511850e-03 -2.35170098e-05 9.99997677e-01 -3.74586298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46576923100002 meters 0.020084928381178323 Centerline is valid? [True, True] Translation: X:172.62, Y:69.09, Z:-0.37 [[ 6.70215193e-01 -7.42165991e-01 1.11183701e-03 1.72617453e+02] [ 7.42164909e-01 6.70216115e-01 1.26753666e-03 6.90878236e+01] [-1.68589368e-03 -2.43559086e-05 9.99998579e-01 -3.74477549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49576923100003 meters 0.02301427945986018 Centerline is valid? [True, True] Translation: X:172.63, Y:69.11, Z:-0.37 [[ 6.72156160e-01 -7.40408561e-01 1.12269352e-03 1.72630931e+02] [ 7.40407454e-01 6.72157096e-01 1.28039664e-03 6.91122436e+01] [-1.70264305e-03 -2.93758366e-05 9.99998550e-01 -3.73925802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52576923100003 meters 0.02301427945986018 Centerline is valid? [True, True] Translation: X:172.65, Y:69.13, Z:-0.37 [[ 6.72001397e-01 -7.40549028e-01 1.12244315e-03 1.72648325e+02] [ 7.40547921e-01 6.72002334e-01 1.28061608e-03 6.91324556e+01] [-1.70264341e-03 -2.93528525e-05 9.99998550e-01 -3.73983058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55576923100003 meters 0.029645780468691665 Centerline is valid? [True, True] Translation: X:172.66, Y:69.16, Z:-0.37 [[ 6.76428965e-01 -7.36505676e-01 1.80125667e-03 1.72655918e+02] [ 7.36502808e-01 6.76431360e-01 2.05630640e-03 6.91615985e+01] [-2.73290783e-03 -6.43146168e-05 9.99996264e-01 -3.72495600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.585769231 meters 0.03217446937890184 Centerline is valid? [True, True] Translation: X:172.67, Y:69.19, Z:-0.37 [[ 6.77871269e-01 -7.35178548e-01 1.74513937e-03 1.72670051e+02] [ 7.35175850e-01 6.77873512e-01 1.99282971e-03 6.91864232e+01] [-2.64806941e-03 -6.78976870e-05 9.99996492e-01 -3.72250436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.615769231 meters 0.03397759322223004 Centerline is valid? [True, True] Translation: X:172.68, Y:69.21, Z:-0.37 [[ 6.78670254e-01 -7.34441383e-01 1.59400545e-03 1.72684877e+02] [ 7.34439129e-01 6.78672123e-01 1.82086268e-03 6.92111872e+01] [-2.41912396e-03 -6.50653661e-05 9.99997072e-01 -3.72577693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.645769231 meters 0.03374981134672969 Centerline is valid? [True, True] Translation: X:172.70, Y:69.24, Z:-0.37 [[ 6.78329052e-01 -7.34757268e-01 1.20612494e-03 1.72698227e+02] [ 7.34755977e-01 6.78330123e-01 1.37812889e-03 6.92355653e+01] [-1.83074110e-03 -4.86173556e-05 9.99998323e-01 -3.74368801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.675769231 meters 0.03238698908935654 Centerline is valid? [True, True] Translation: X:172.72, Y:69.26, Z:-0.38 [[ 6.76911934e-01 -7.36063237e-01 1.07040048e-03 1.72715612e+02] [ 7.36062221e-01 6.76912779e-01 1.22350354e-03 6.92562566e+01] [-1.62514374e-03 -4.03227899e-05 9.99998679e-01 -3.75210184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.705769231 meters 0.024024217978892842 Centerline is valid? [True, True] Translation: X:172.74, Y:69.27, Z:-0.37 [[ 6.71991500e-01 -7.40557412e-01 1.46381376e-03 1.72740674e+02] [ 7.40555521e-01 6.71993093e-01 1.67397794e-03 6.92706436e+01] [-2.22334951e-03 -4.08635824e-05 9.99997528e-01 -3.74208550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.735769231 meters 0.020922767153638677 Centerline is valid? [True, True] Translation: X:172.76, Y:69.29, Z:-0.37 [[ 6.68705813e-01 -7.43524821e-01 1.83745400e-03 1.72761026e+02] [ 7.43521850e-01 6.68708336e-01 2.10225990e-03 6.92892727e+01] [-2.79180323e-03 -3.96062174e-05 9.99996102e-01 -3.73513050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.765769231 meters 0.01676618078916368 Centerline is valid? [True, True] Translation: X:172.78, Y:69.31, Z:-0.37 [[ 6.65412044e-01 -7.46474143e-01 1.77918156e-03 1.72783709e+02] [ 7.46471366e-01 6.65414422e-01 2.03633354e-03 6.93071982e+01] [-2.70396341e-03 -2.68927729e-05 9.99996344e-01 -3.73433183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.795769231 meters 0.01207025804899917 Centerline is valid? [True, True] Translation: X:172.81, Y:69.32, Z:-0.38 [[ 6.60261661e-01 -7.51034825e-01 1.10922992e-03 1.72808544e+02] [ 7.51033752e-01 6.60262593e-01 1.26974824e-03 6.93201528e+01] [-1.68600817e-03 -5.29697187e-06 9.99998579e-01 -3.76741779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.825769231 meters 0.011378687427291385 Centerline is valid? [True, True] Translation: X:172.83, Y:69.34, Z:-0.38 [[ 6.58082259e-01 -7.52945731e-01 6.83103725e-04 1.72829749e+02] [ 7.52945325e-01 6.58082614e-01 7.82028074e-04 6.93375152e+01] [-1.03836338e-03 -2.99045752e-07 9.99999461e-01 -3.77778186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.855769231 meters 0.011510166971777827 Centerline is valid? [True, True] Translation: X:172.85, Y:69.36, Z:-0.38 [[ 6.56630652e-01 -7.54212275e-01 -1.77928669e-04 1.72848763e+02] [ 7.54212247e-01 6.56630676e-01 -2.04690168e-04 6.93555317e+01] [ 2.71213259e-04 2.09857270e-07 9.99999963e-01 -3.80098915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.885769231 meters 0.011433184101041697 Centerline is valid? [True, True] Translation: X:172.87, Y:69.38, Z:-0.38 [[ 6.56964319e-01 -7.53921431e-01 -5.99547708e-04 1.72865005e+02] [ 7.53921116e-01 6.56964593e-01 -6.88267394e-04 6.93770272e+01] [ 9.12781154e-04 1.55442433e-07 9.99999583e-01 -3.79799446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.915769231 meters 0.011558910503586761 Centerline is valid? [True, True] Translation: X:172.88, Y:69.40, Z:-0.38 [[ 6.58229018e-01 -7.52817745e-01 -5.73682652e-05 1.72879480e+02] [ 7.52817742e-01 6.58229020e-01 -6.65473042e-05 6.93991637e+01] [ 8.78594484e-05 6.15518843e-07 9.99999996e-01 -3.79349146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.945769231 meters 0.01166207227068412 Centerline is valid? [True, True] Translation: X:172.90, Y:69.42, Z:-0.38 [[ 6.58407171e-01 -7.52661907e-01 2.25868852e-04 1.72895940e+02] [ 7.52661863e-01 6.58407210e-01 2.58550242e-04 6.94198072e+01] [-3.43314599e-04 -2.28463019e-07 9.99999941e-01 -3.79622600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97576923100002 meters 0.011654233384444282 Centerline is valid? [True, True] Translation: X:172.91, Y:69.44, Z:-0.38 [[ 6.58139784e-01 -7.52895759e-01 3.11502371e-05 1.72912917e+02] [ 7.52895758e-01 6.58139784e-01 3.50639035e-05 6.94394905e+01] [-4.69006746e-05 3.75931565e-07 9.99999999e-01 -3.80311373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00576923100002 meters 0.011335375210072522 Centerline is valid? [True, True] Translation: X:172.93, Y:69.46, Z:-0.38 [[ 6.56987339e-01 -7.53901564e-01 2.62634517e-04 1.72932786e+02] [ 7.53901504e-01 6.56987391e-01 3.00992817e-04 6.94558013e+01] [-3.99466522e-04 2.52087846e-07 9.99999920e-01 -3.80506575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03576923100002 meters 0.011369502071998116 Centerline is valid? [True, True] Translation: X:172.95, Y:69.47, Z:-0.38 [[ 6.55964565e-01 -7.54791642e-01 2.57477846e-04 1.72952669e+02] [ 7.54791584e-01 6.55964616e-01 2.95240261e-04 6.94741446e+01] [-3.91741237e-04 6.74961951e-07 9.99999923e-01 -3.78939003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06576923100002 meters 0.011462164931531424 Centerline is valid? [True, True] Translation: X:172.97, Y:69.49, Z:-0.38 [[ 6.54576861e-01 -7.55995186e-01 6.41846370e-04 1.72973618e+02] [ 7.55994826e-01 6.54577176e-01 7.37332294e-04 6.94916180e+01] [-9.77557648e-04 2.59187596e-06 9.99999522e-01 -3.76389705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09576923100002 meters 0.011397953193868205 Centerline is valid? [True, True] Translation: X:172.99, Y:69.51, Z:-0.38 [[ 6.54397444e-01 -7.56150590e-01 5.20798536e-04 1.72992116e+02] [ 7.56150353e-01 6.54397651e-01 5.98395990e-04 6.95113460e+01] [-7.93286820e-04 2.21319038e-06 9.99999685e-01 -3.76110838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12576923100002 meters 0.01141833315634857 Centerline is valid? [True, True] Translation: X:173.01, Y:69.53, Z:-0.38 [[ 6.54597668e-01 -7.55976974e-01 8.41005537e-04 1.73009901e+02] [ 7.55976356e-01 6.54598208e-01 9.67160375e-04 6.95305454e+01] [-1.28167169e-03 2.67937561e-06 9.99999179e-01 -3.75571358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15576923100002 meters 0.011071100860217653 Centerline is valid? [True, True] Translation: X:173.03, Y:69.55, Z:-0.37 [[ 6.56223160e-01 -7.54564315e-01 1.96459334e-03 1.73025550e+02] [ 7.54560926e-01 6.56226100e-01 2.26130341e-03 6.95528648e+01] [-2.99551628e-03 -1.51429892e-06 9.99995513e-01 -3.72313799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18576923100002 meters 0.011378644013650237 Centerline is valid? [True, True] Translation: X:173.04, Y:69.57, Z:-0.37 [[ 6.57459235e-01 -7.53485485e-01 2.64165539e-03 1.73040452e+02] [ 7.53479344e-01 6.57464542e-01 3.04221384e-03 6.95745984e+01] [-4.02905872e-03 -9.69881600e-06 9.99991883e-01 -3.70351261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21576923100002 meters 0.012367733428285545 Centerline is valid? [True, True] Translation: X:173.06, Y:69.60, Z:-0.37 [[ 6.58738460e-01 -7.52364496e-01 3.36246212e-03 1.73055263e+02] [ 7.52354523e-01 6.58747041e-01 3.87399963e-03 6.95959247e+01] [-5.12967175e-03 -2.21889677e-05 9.99986843e-01 -3.67541810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24576923100003 meters 0.013387222440609222 Centerline is valid? [True, True] Translation: X:173.07, Y:69.62, Z:-0.37 [[ 6.60341370e-01 -7.50957498e-01 3.48025660e-03 1.73073736e+02] [ 7.50946786e-01 6.60350540e-01 4.01117522e-03 6.96168442e+01] [-5.31041143e-03 -3.52574339e-05 9.99985899e-01 -3.66688967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27576923100003 meters 0.014086778567313116 Centerline is valid? [True, True] Translation: X:173.09, Y:69.64, Z:-0.37 [[ 6.60325615e-01 -7.50973863e-01 2.88783907e-03 1.73090291e+02] [ 7.50966482e-01 6.60331929e-01 3.32966076e-03 6.96370872e+01] [-4.40742055e-03 -2.99899354e-05 9.99990287e-01 -3.67710175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30576923100003 meters 0.013826119321110629 Centerline is valid? [True, True] Translation: X:173.11, Y:69.66, Z:-0.37 [[ 6.60258029e-01 -7.51036411e-01 1.90925338e-03 1.73108256e+02] [ 7.51033182e-01 6.60260789e-01 2.20208004e-03 6.96575436e+01] [-2.91444743e-03 -2.00283836e-05 9.99995753e-01 -3.71218081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.335769231 meters 0.01355273583605733 Centerline is valid? [True, True] Translation: X:173.13, Y:69.68, Z:-0.37 [[ 6.60185203e-01 -7.51100504e-01 1.87885615e-03 1.73126714e+02] [ 7.51097376e-01 6.60187877e-01 2.16792105e-03 6.96774319e+01] [-2.86872465e-03 -2.00254754e-05 9.99995885e-01 -3.71805050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.365769231 meters 0.013951451329501005 Centerline is valid? [True, True] Translation: X:173.14, Y:69.70, Z:-0.37 [[ 6.60285427e-01 -7.51011459e-01 2.22331841e-03 1.73144013e+02] [ 7.51007074e-01 6.60289169e-01 2.56663811e-03 6.96968983e+01] [-3.39560770e-03 -2.49858847e-05 9.99994235e-01 -3.71663828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.395769231 meters 0.014594556232926114 Centerline is valid? [True, True] Translation: X:173.16, Y:69.72, Z:-0.37 [[ 6.60542703e-01 -7.50785487e-01 2.11887999e-03 1.73161096e+02] [ 7.50781500e-01 6.60546101e-01 2.44704822e-03 6.97164861e+01] [-3.23682621e-03 -2.55639508e-05 9.99994761e-01 -3.71708622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.425769231 meters 0.01464589737237553 Centerline is valid? [True, True] Translation: X:173.18, Y:69.74, Z:-0.37 [[ 6.60306819e-01 -7.50993535e-01 1.90119024e-03 1.73177831e+02] [ 7.50990324e-01 6.60309556e-01 2.19637686e-03 6.97364523e+01] [-2.90483890e-03 -2.25071483e-05 9.99995781e-01 -3.72503248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.455769231 meters 0.015175629539881393 Centerline is valid? [True, True] Translation: X:173.19, Y:69.76, Z:-0.37 [[ 6.60392720e-01 -7.50919722e-01 1.01308151e-03 1.73194889e+02] [ 7.50918810e-01 6.60393497e-01 1.17055916e-03 6.97556622e+01] [-1.54802840e-03 -1.22867875e-05 9.99998802e-01 -3.74730305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.485769231 meters 0.014832182158475494 Centerline is valid? [True, True] Translation: X:173.21, Y:69.78, Z:-0.38 [[ 6.60456659e-01 -7.50863826e-01 7.18625611e-04 1.73213367e+02] [ 7.50863367e-01 6.60457050e-01 8.30494880e-04 6.97755290e+01] [-1.09820991e-03 -8.91622818e-06 9.99999397e-01 -3.76172713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.515769231 meters 0.015066555620089404 Centerline is valid? [True, True] Translation: X:173.23, Y:69.80, Z:-0.38 [[ 6.60596369e-01 -7.50741253e-01 -8.94566884e-05 1.73230636e+02] [ 7.50741246e-01 6.60596375e-01 -1.04204150e-04 6.97964008e+01] [ 1.37325118e-04 1.67805746e-06 9.99999991e-01 -3.79402204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.545769231 meters 0.016221635987478198 Centerline is valid? [True, True] Translation: X:173.25, Y:69.82, Z:-0.38 [[ 6.60760993e-01 -7.50596286e-01 -3.55703800e-04 1.73246236e+02] [ 7.50596172e-01 6.60761088e-01 -4.12504018e-04 6.98180539e+01] [ 5.44659214e-04 5.57665362e-06 9.99999852e-01 -3.80232985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.575769231 meters 0.015607568055404522 Centerline is valid? [True, True] Translation: X:173.26, Y:69.84, Z:-0.38 [[ 6.60809361e-01 -7.50553649e-01 -4.57016411e-04 1.73264274e+02] [ 7.50553462e-01 6.60809519e-01 -5.29980362e-04 6.98378111e+01] [ 6.99779489e-04 7.20073468e-06 9.99999755e-01 -3.79451615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.605769231 meters 0.015437851652009199 Centerline is valid? [True, True] Translation: X:173.28, Y:69.86, Z:-0.38 [[ 6.60474414e-01 -7.50848264e-01 -6.58021576e-04 1.73281070e+02] [ 7.50847876e-01 6.60474742e-01 -7.63152647e-04 6.98575168e+01] [ 1.00761847e-03 9.96869533e-06 9.99999492e-01 -3.79048582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.635769231 meters 0.015504916727688722 Centerline is valid? [True, True] Translation: X:173.30, Y:69.88, Z:-0.38 [[ 6.60368777e-01 -7.50941363e-01 -3.85009109e-04 1.73298380e+02] [ 7.50941230e-01 6.60368889e-01 -4.46972058e-04 6.98787507e+01] [ 5.89897844e-04 6.04717792e-06 9.99999826e-01 -3.78391912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.665769231 meters 0.01604818710255575 Centerline is valid? [True, True] Translation: X:173.31, Y:69.90, Z:-0.37 [[ 6.60706652e-01 -7.50643311e-01 1.15767872e-03 1.73314367e+02] [ 7.50642112e-01 6.60707666e-01 1.34179186e-03 6.98999917e+01] [-1.77209429e-03 -1.75284141e-05 9.99998430e-01 -3.74211918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.695769231 meters 0.015829481065563217 Centerline is valid? [True, True] Translation: X:173.33, Y:69.92, Z:-0.37 [[ 6.60695959e-01 -7.50651640e-01 1.72194790e-03 1.73331339e+02] [ 7.50648984e-01 6.60698202e-01 1.99704054e-03 6.99210541e+01] [-2.63676964e-03 -2.68581768e-05 9.99996523e-01 -3.72235100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72576923100002 meters 0.016087275569483802 Centerline is valid? [True, True] Translation: X:173.35, Y:69.94, Z:-0.37 [[ 6.60319346e-01 -7.50982109e-01 2.05736074e-03 1.73347166e+02] [ 7.50978316e-01 6.60322551e-01 2.38721680e-03 6.99417831e+01] [-3.15127880e-03 -3.12921297e-05 9.99995034e-01 -3.71126815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75576923100002 meters 0.014295846757587717 Centerline is valid? [True, True] Translation: X:173.37, Y:69.96, Z:-0.37 [[ 6.58604478e-01 -7.52487851e-01 1.47492267e-03 1.73365308e+02] [ 7.52485904e-01 6.58606129e-01 1.71195921e-03 6.99624980e+01] [-2.25962162e-03 -1.76454789e-05 9.99997447e-01 -3.72603632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78576923100002 meters 0.012585077128661705 Centerline is valid? [True, True] Translation: X:173.39, Y:69.98, Z:-0.38 [[ 6.56567430e-01 -7.54267194e-01 4.58338117e-04 1.73385119e+02] [ 7.54267007e-01 6.56567590e-01 5.31742677e-04 6.99816976e+01] [-7.02006010e-04 -3.41560365e-06 9.99999754e-01 -3.75020940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81576923100002 meters 0.011592444476047221 Centerline is valid? [True, True] Translation: X:173.40, Y:70.00, Z:-0.37 [[ 6.55115660e-01 -7.55528450e-01 4.82429781e-04 1.73403709e+02] [ 7.55528243e-01 6.55115838e-01 5.59967256e-04 7.00012484e+01] [-7.39118583e-04 -2.35399383e-06 9.99999727e-01 -3.74522490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84576923100002 meters 0.011268050021724953 Centerline is valid? [True, True] Translation: X:173.42, Y:70.02, Z:-0.37 [[ 6.53970023e-01 -7.56520144e-01 6.94110600e-04 1.73420835e+02] [ 7.56519714e-01 6.53970391e-01 8.06307567e-04 7.00204104e+01] [-1.06391570e-03 -2.19262540e-06 9.99999434e-01 -3.74088407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87576923100002 meters 0.010860911149542313 Centerline is valid? [True, True] Translation: X:173.44, Y:70.04, Z:-0.37 [[ 6.51095517e-01 -7.58995365e-01 8.14293454e-04 1.73443865e+02] [ 7.58994775e-01 6.51096027e-01 9.46481891e-04 7.00364316e+01] [-1.24855860e-03 1.79436088e-06 9.99999221e-01 -3.73937802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90576923100002 meters 0.011481015514034807 Centerline is valid? [True, True] Translation: X:173.46, Y:70.05, Z:-0.37 [[ 6.49193679e-01 -7.60622722e-01 8.01596996e-04 1.73464813e+02] [ 7.60622151e-01 6.49194173e-01 9.32109109e-04 7.00530087e+01] [-1.22937547e-03 4.59309025e-06 9.99999244e-01 -3.74410207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93576923100002 meters 0.014035179592152528 Centerline is valid? [True, True] Translation: X:173.49, Y:70.07, Z:-0.37 [[ 6.45395075e-01 -7.63847803e-01 1.31579077e-03 1.73489303e+02] [ 7.63846268e-01 6.45396416e-01 1.53122286e-03 7.00682896e+01] [-2.01882787e-03 1.68181830e-05 9.99997962e-01 -3.72946752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96576923100002 meters 0.01530071637954212 Centerline is valid? [True, True] Translation: X:173.51, Y:70.09, Z:-0.37 [[ 6.44062708e-01 -7.64970906e-01 1.65542149e-03 1.73510114e+02] [ 7.64968478e-01 6.44064835e-01 1.92742260e-03 7.00877887e+01] [-2.54062099e-03 2.49642395e-05 9.99996772e-01 -3.72715252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99576923100003 meters 0.017055732085148535 Centerline is valid? [True, True] Translation: X:173.53, Y:70.10, Z:-0.37 [[ 6.42984923e-01 -7.65876830e-01 1.75223695e-03 1.73530510e+02] [ 7.65874111e-01 6.42987310e-01 2.04095337e-03 7.01044594e+01] [-2.68978502e-03 2.96906752e-05 9.99996382e-01 -3.72533998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02576923100003 meters 0.019016894916789612 Centerline is valid? [True, True] Translation: X:173.55, Y:70.12, Z:-0.37 [[ 6.41565281e-01 -7.67067798e-01 9.91670262e-04 1.73552847e+02] [ 7.67066928e-01 6.41566048e-01 1.15517271e-03 7.01202731e+01] [-1.52231776e-03 1.95587537e-05 9.99998841e-01 -3.74863293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05576923100003 meters 0.01843638300225699 Centerline is valid? [True, True] Translation: X:173.57, Y:70.14, Z:-0.38 [[ 6.40817736e-01 -7.67692583e-01 8.53514319e-04 1.73570187e+02] [ 7.67691939e-01 6.40818304e-01 9.94572855e-04 7.01407613e+01] [-1.31047380e-03 1.78961375e-05 9.99999141e-01 -3.75537721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08576923100003 meters 0.019074286704587055 Centerline is valid? [True, True] Translation: X:173.59, Y:70.16, Z:-0.37 [[ 6.40465569e-01 -7.67986173e-01 1.04487992e-03 1.73588872e+02] [ 7.67985207e-01 6.40466421e-01 1.21824022e-03 7.01586696e+01] [-1.60480215e-03 2.22114081e-05 9.99998712e-01 -3.74687922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.115769231 meters 0.018395688642964855 Centerline is valid? [True, True] Translation: X:173.61, Y:70.18, Z:-0.37 [[ 6.41021533e-01 -7.67521501e-01 1.46276341e-03 1.73606038e+02] [ 7.67519605e-01 6.41023201e-01 1.70652522e-03 7.01783294e+01] [-2.24746009e-03 2.87801834e-05 9.99997474e-01 -3.73528766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.145769231 meters 0.01684827381127943 Centerline is valid? [True, True] Translation: X:173.62, Y:70.20, Z:-0.37 [[ 6.42004496e-01 -7.66698753e-01 1.80272747e-03 1.73622697e+02] [ 7.66695866e-01 6.42007026e-01 2.10423962e-03 7.01997468e+01] [-2.77068159e-03 3.12123991e-05 9.99996161e-01 -3.72926051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.175769231 meters 0.01396222446860109 Centerline is valid? [True, True] Translation: X:173.64, Y:70.22, Z:-0.37 [[ 6.44652989e-01 -7.64472901e-01 1.92572183e-03 1.73635929e+02] [ 7.64469593e-01 6.44655865e-01 2.24882034e-03 7.02230672e+01] [-2.96059008e-03 2.24470315e-05 9.99995617e-01 -3.73311086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.205769231 meters 0.012528547728495494 Centerline is valid? [True, True] Translation: X:173.65, Y:70.25, Z:-0.37 [[ 6.45993942e-01 -7.63340749e-01 1.65151294e-03 1.73650799e+02] [ 7.63338311e-01 6.45996053e-01 1.92935503e-03 7.02465634e+01] [-2.53962616e-03 1.43114393e-05 9.99996775e-01 -3.74261448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.235769231 meters 0.011164224235170585 Centerline is valid? [True, True] Translation: X:173.66, Y:70.27, Z:-0.38 [[ 6.48181871e-01 -7.61485311e-01 6.18627895e-04 1.73663430e+02] [ 7.61484968e-01 6.48182167e-01 7.22557606e-04 7.02696955e+01] [-9.51200573e-04 2.72710169e-06 9.99999548e-01 -3.77489752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.265769231 meters 0.01110557341584586 Centerline is valid? [True, True] Translation: X:173.68, Y:70.29, Z:-0.38 [[ 6.48590652e-01 -7.61137400e-01 1.56843149e-04 1.73679542e+02] [ 7.61137378e-01 6.48590671e-01 1.82763160e-04 7.02910599e+01] [-2.40834880e-04 8.40705978e-07 9.99999971e-01 -3.78157614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.295769231 meters 0.011141396589492031 Centerline is valid? [True, True] Translation: X:173.70, Y:70.31, Z:-0.38 [[ 6.48461712e-01 -7.61247002e-01 -6.40504602e-04 1.73695405e+02] [ 7.61246632e-01 6.48462028e-01 -7.50238391e-04 7.03117592e+01] [ 9.86459639e-04 -1.08109967e-06 9.99999513e-01 -3.80192820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.325769231 meters 0.011370432352212086 Centerline is valid? [True, True] Translation: X:173.71, Y:70.33, Z:-0.38 [[ 6.47703899e-01 -7.61891905e-01 -6.20006074e-04 1.73712209e+02] [ 7.61891559e-01 6.47704195e-01 -7.26602988e-04 7.03316799e+01] [ 9.55173470e-04 -1.75380647e-06 9.99999544e-01 -3.80366510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.355769231 meters 0.011412029356860543 Centerline is valid? [True, True] Translation: X:173.73, Y:70.35, Z:-0.38 [[ 6.47241239e-01 -7.62285190e-01 -2.61654869e-04 1.73729641e+02] [ 7.62285128e-01 6.47241292e-01 -3.07210891e-04 7.03515948e+01] [ 4.03536147e-04 -6.16057671e-07 9.99999919e-01 -3.79039060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.385769231 meters 0.011046724284114129 Centerline is valid? [True, True] Translation: X:173.75, Y:70.37, Z:-0.37 [[ 6.47366969e-01 -7.62177718e-01 1.06479017e-03 1.73745741e+02] [ 7.62176698e-01 6.47367844e-01 1.24696874e-03 7.03720145e+01] [-1.63972271e-03 4.31187717e-06 9.99998656e-01 -3.74418833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.415769231 meters 0.011046724284114129 Centerline is valid? [True, True] Translation: X:173.76, Y:70.39, Z:-0.37 [[ 6.47196170e-01 -7.62322756e-01 1.06451013e-03 1.73762279e+02] [ 7.62321736e-01 6.47197045e-01 1.24720774e-03 7.03918647e+01] [-1.63972265e-03 4.31113771e-06 9.99998656e-01 -3.74474285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.445769231 meters 0.010802028449093073 Centerline is valid? [True, True] Translation: X:173.78, Y:70.41, Z:-0.37 [[ 6.47273650e-01 -7.62256087e-01 1.57493389e-03 1.73777838e+02] [ 7.62253850e-01 6.47275566e-01 1.84642486e-03 7.04140106e+01] [-2.42686481e-03 5.35726248e-06 9.99997055e-01 -3.73140223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47576923100002 meters 0.010652771018598814 Centerline is valid? [True, True] Translation: X:173.79, Y:70.44, Z:-0.37 [[ 6.48087814e-01 -7.61563734e-01 1.69241986e-03 1.73791285e+02] [ 7.61561147e-01 6.48090024e-01 1.98510617e-03 7.04363875e+01] [-2.60862530e-03 2.35808954e-06 9.99996598e-01 -3.72977350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50576923100002 meters 0.010680485399843738 Centerline is valid? [True, True] Translation: X:173.81, Y:70.46, Z:-0.37 [[ 6.48230657e-01 -7.61442943e-01 1.28812792e-03 1.73807442e+02] [ 7.61441443e-01 6.48231937e-01 1.51142114e-03 7.04570865e+01] [-1.98586662e-03 1.08446763e-06 9.99998028e-01 -3.74312197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53576923100002 meters 0.010648822349382622 Centerline is valid? [True, True] Translation: X:173.82, Y:70.48, Z:-0.38 [[ 6.47940480e-01 -7.61690433e-01 9.04705974e-04 1.73823935e+02] [ 7.61689693e-01 6.47941112e-01 1.06178719e-03 7.04757863e+01] [-1.39494934e-03 1.13031444e-06 9.99999027e-01 -3.75831251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56576923100002 meters 0.010789742492165124 Centerline is valid? [True, True] Translation: X:173.84, Y:70.50, Z:-0.38 [[ 6.47212225e-01 -7.62309737e-01 4.48303958e-04 1.73841751e+02] [ 7.62309555e-01 6.47212380e-01 5.26070949e-04 7.04962174e+01] [-6.91176879e-04 1.26684140e-06 9.99999761e-01 -3.77159448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59576923100002 meters 0.010698070674041684 Centerline is valid? [True, True] Translation: X:173.86, Y:70.52, Z:-0.38 [[ 6.47261640e-01 -7.62267717e-01 5.44441692e-04 1.73857445e+02] [ 7.62267449e-01 6.47261869e-01 6.39343456e-04 7.05159974e+01] [-8.39747224e-04 1.18768616e-06 9.99999647e-01 -3.77156521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62576923100002 meters 0.010712332650051266 Centerline is valid? [True, True] Translation: X:173.87, Y:70.54, Z:-0.38 [[ 6.47382281e-01 -7.62165062e-01 7.74319880e-04 1.73873542e+02] [ 7.62164519e-01 6.47382744e-01 9.09804090e-04 7.05359501e+01] [-1.19470222e-03 1.16809214e-06 9.99999286e-01 -3.77129252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65576923100002 meters 0.01070777874147058 Centerline is valid? [True, True] Translation: X:173.89, Y:70.56, Z:-0.38 [[ 6.47822392e-01 -7.61791184e-01 5.83707292e-04 1.73890437e+02] [ 7.61790875e-01 6.47822655e-01 6.85994144e-04 7.05556358e+01] [-9.00723099e-04 2.60522143e-07 9.99999594e-01 -3.77281392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68576923100002 meters 0.01073130083061236 Centerline is valid? [True, True] Translation: X:173.91, Y:70.58, Z:-0.38 [[ 6.48118376e-01 -7.61539223e-01 7.63012051e-04 1.73907440e+02] [ 7.61538694e-01 6.48118825e-01 8.97369026e-04 7.05768854e+01] [-1.17790419e-03 -5.38155081e-07 9.99999306e-01 -3.77552522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71576923100002 meters 0.010956895408918489 Centerline is valid? [True, True] Translation: X:173.92, Y:70.60, Z:-0.38 [[ 6.49160020e-01 -7.60650508e-01 1.43987437e-03 1.73923003e+02] [ 7.60648620e-01 6.49161617e-01 1.69476368e-03 7.05991846e+01] [-2.22383402e-03 -4.93436986e-06 9.99997527e-01 -3.76324969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74576923100003 meters 0.011587834759797034 Centerline is valid? [True, True] Translation: X:173.94, Y:70.62, Z:-0.38 [[ 6.49805194e-01 -7.60099321e-01 1.49387889e-03 1.73938450e+02] [ 7.60097286e-01 6.49806911e-01 1.75910419e-03 7.06204043e+01] [-2.30782673e-03 -7.58174700e-06 9.99997337e-01 -3.76057451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77576923100003 meters 0.012068748736230683 Centerline is valid? [True, True] Translation: X:173.96, Y:70.64, Z:-0.38 [[ 6.50349471e-01 -7.59634239e-01 1.17845422e-03 1.73955025e+02] [ 7.59632970e-01 6.50350539e-01 1.38814374e-03 7.06412053e+01] [-1.82088985e-03 -7.58587084e-06 9.99998342e-01 -3.76953435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80576923100003 meters 0.01329982560900923 Centerline is valid? [True, True] Translation: X:173.97, Y:70.66, Z:-0.38 [[ 6.51419462e-01 -7.58717719e-01 -3.28457531e-04 1.73971927e+02] [ 7.58717620e-01 6.51419545e-01 -3.87917305e-04 7.06622511e+01] [ 5.08283389e-04 3.49036605e-06 9.99999871e-01 -3.81378504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83576923100003 meters 0.015290605700064082 Centerline is valid? [True, True] Translation: X:173.99, Y:70.68, Z:-0.38 [[ 6.52912929e-01 -7.57432806e-01 -5.01242946e-04 1.73987475e+02] [ 7.57432575e-01 6.52913121e-01 -5.91919027e-04 7.06836802e+01] [ 7.75606987e-04 6.81385036e-06 9.99999699e-01 -3.82587050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.865769231 meters 0.01565039224147788 Centerline is valid? [True, True] Translation: X:174.00, Y:70.70, Z:-0.38 [[ 6.53631697e-01 -7.56812764e-01 2.11723102e-04 1.74004457e+02] [ 7.56812723e-01 6.53631731e-01 2.49161039e-04 7.07049608e+01] [-3.26957193e-04 -2.62481496e-06 9.99999947e-01 -3.80308144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.895769231 meters 0.01913318471960428 Centerline is valid? [True, True] Translation: X:174.02, Y:70.73, Z:-0.38 [[ 6.54773447e-01 -7.55824711e-01 8.59494531e-04 1.74016472e+02] [ 7.55824031e-01 6.54774011e-01 1.01394059e-03 7.07286717e+01] [-1.32913604e-03 -1.42747539e-05 9.99999117e-01 -3.78176427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.925769231 meters 0.01939733500877514 Centerline is valid? [True, True] Translation: X:174.03, Y:70.75, Z:-0.38 [[ 6.56347701e-01 -7.54457100e-01 1.47646196e-03 1.74033433e+02] [ 7.54455087e-01 6.56349361e-01 1.74302505e-03 7.07508689e+01] [-2.28411249e-03 -3.01062472e-05 9.99997391e-01 -3.75184893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.955769231 meters 0.025263690723205043 Centerline is valid? [True, True] Translation: X:174.04, Y:70.78, Z:-0.37 [[ 6.60301862e-01 -7.50998325e-01 1.72272014e-03 1.74043730e+02] [ 7.50995570e-01 6.60304107e-01 2.03459718e-03 7.07779539e+01] [-2.66549826e-03 -4.96931152e-05 9.99996446e-01 -3.74289501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.985769231 meters 0.03131489534119985 Centerline is valid? [True, True] Translation: X:174.05, Y:70.80, Z:-0.38 [[ 6.64060392e-01 -7.47678866e-01 3.29612426e-04 1.74054670e+02] [ 7.47678765e-01 6.64060474e-01 3.89029996e-04 7.08030804e+01] [-5.09752090e-04 -1.18951995e-05 9.99999870e-01 -3.79279264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.015769231 meters 0.03463275329689984 Centerline is valid? [True, True] Translation: X:174.07, Y:70.83, Z:-0.38 [[ 6.65696613e-01 -7.46222492e-01 1.07661258e-04 1.74068578e+02] [ 7.46222481e-01 6.65696622e-01 1.26834299e-04 7.08271167e+01] [-1.66316343e-04 -4.09391238e-06 9.99999986e-01 -3.80457127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.045769231 meters 0.036324452184401446 Centerline is valid? [True, True] Translation: X:174.08, Y:70.85, Z:-0.38 [[ 6.67041100e-01 -7.45020908e-01 1.32180087e-04 1.74084519e+02] [ 7.45020891e-01 6.67041113e-01 1.55714092e-04 7.08507292e+01] [-2.04179807e-04 -5.39077289e-06 9.99999979e-01 -3.80423454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.075769231 meters 0.04209035664461999 Centerline is valid? [True, True] Translation: X:174.09, Y:70.88, Z:-0.38 [[ 6.69563994e-01 -7.42754175e-01 5.42287310e-04 1.74094713e+02] [ 7.42753899e-01 6.69564213e-01 6.40869815e-04 7.08772728e+01] [-8.39104906e-04 -2.63173398e-05 9.99999648e-01 -3.79015810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.105769231 meters 0.04108436801103682 Centerline is valid? [True, True] Translation: X:174.11, Y:70.90, Z:-0.38 [[ 6.70469025e-01 -7.41936944e-01 9.25866549e-04 1.74113005e+02] [ 7.41936138e-01 6.70469663e-01 1.09506586e-03 7.08984566e+01] [-1.43323525e-03 -4.72738870e-05 9.99998972e-01 -3.77855577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.135769231 meters 0.04628607124993687 Centerline is valid? [True, True] Translation: X:174.12, Y:70.92, Z:-0.38 [[ 6.71450613e-01 -7.41048530e-01 1.07272472e-03 1.74123818e+02] [ 7.41047445e-01 6.71451467e-01 1.26933974e-03 7.09241476e+01] [-1.66092494e-03 -5.73590321e-05 9.99998619e-01 -3.77877292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.165769231 meters 0.04098025269823949 Centerline is valid? [True, True] Translation: X:174.14, Y:70.94, Z:-0.38 [[ 6.73524167e-01 -7.39164061e-01 1.29900927e-03 1.74144021e+02] [ 7.39162465e-01 6.73525415e-01 1.53766185e-03 7.09432977e+01] [-2.01150014e-03 -7.54735241e-05 9.99997974e-01 -3.77683187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.195769231 meters 0.0426408758338539 Centerline is valid? [True, True] Translation: X:174.16, Y:70.97, Z:-0.38 [[ 6.74489692e-01 -7.38283225e-01 1.23882788e-03 1.74159415e+02] [ 7.38281772e-01 6.74490825e-01 1.46698016e-03 7.09679487e+01] [-1.91862489e-03 -7.48589509e-05 9.99998157e-01 -3.78023432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22576923100002 meters 0.05058926516576628 Centerline is valid? [True, True] Translation: X:174.17, Y:71.00, Z:-0.38 [[ 6.74964608e-01 -7.37848929e-01 1.31802418e-03 1.74167298e+02] [ 7.37847281e-01 6.74965890e-01 1.56136123e-03 7.09974818e+01] [-2.04167007e-03 -8.13630160e-05 9.99997912e-01 -3.78554678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25576923100002 meters 0.05033130295116443 Centerline is valid? [True, True] Translation: X:174.18, Y:71.02, Z:-0.38 [[ 6.74281196e-01 -7.38474279e-01 7.79817214e-04 1.74184671e+02] [ 7.38473702e-01 6.74281645e-01 9.23868673e-04 7.10189639e+01] [-1.20806969e-03 -4.70727689e-05 9.99999269e-01 -3.79889037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28576923100002 meters 0.04284683995224846 Centerline is valid? [True, True] Translation: X:174.21, Y:71.03, Z:-0.38 [[ 6.73208753e-01 -7.39452480e-01 7.14395407e-05 1.74209807e+02] [ 7.39452475e-01 6.73208757e-01 8.41004051e-05 7.10339508e+01] [-1.10281978e-04 -3.79098358e-06 9.99999994e-01 -3.81791375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31576923100002 meters 0.046758700395589534 Centerline is valid? [True, True] Translation: X:174.22, Y:71.06, Z:-0.39 [[ 6.71092872e-01 -7.41372465e-01 -1.10658724e-03 1.74223175e+02] [ 7.41371305e-01 6.71093782e-01 -1.31325529e-03 7.10574634e+01] [ 1.71623512e-03 6.09242369e-05 9.99998525e-01 -3.86565267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34576923100002 meters 0.04807950883989236 Centerline is valid? [True, True] Translation: X:174.24, Y:71.08, Z:-0.39 [[ 6.69883491e-01 -7.42465012e-01 -1.34681396e-03 1.74238263e+02] [ 7.42463293e-01 6.69884841e-01 -1.59908438e-03 7.10789413e+01] [ 2.08947446e-03 7.12402955e-05 9.99997815e-01 -3.87824303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37576923100002 meters 0.04418886232895519 Centerline is valid? [True, True] Translation: X:174.26, Y:71.10, Z:-0.38 [[ 6.67817757e-01 -7.44324720e-01 -3.92764819e-04 1.74257199e+02] [ 7.44324574e-01 6.67817872e-01 -4.66979159e-04 7.10981405e+01] [ 6.09879498e-04 1.95124680e-05 9.99999814e-01 -3.84164374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40576923100002 meters 0.03656297218430173 Centerline is valid? [True, True] Translation: X:174.28, Y:71.11, Z:-0.38 [[ 6.67262713e-01 -7.44822425e-01 -1.64850208e-04 1.74281298e+02] [ 7.44822399e-01 6.67262733e-01 -1.96454682e-04 7.11140210e+01] [ 2.56322253e-04 8.30275642e-06 9.99999967e-01 -3.81970611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43576923100002 meters 0.037971904181700794 Centerline is valid? [True, True] Translation: X:174.30, Y:71.14, Z:-0.38 [[ 6.67411534e-01 -7.44689033e-01 -2.98247781e-04 1.74296253e+02] [ 7.44688948e-01 6.67411600e-01 -3.55033342e-04 7.11367791e+01] [ 4.63443465e-04 1.48515216e-05 9.99999892e-01 -3.82366073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46576923100002 meters 0.0404193333091794 Centerline is valid? [True, True] Translation: X:174.31, Y:71.16, Z:-0.39 [[ 6.68864202e-01 -7.43383593e-01 -1.22968713e-03 1.74310181e+02] [ 7.43382158e-01 6.68865330e-01 -1.46229727e-03 7.11612330e+01] [ 1.90954288e-03 6.39508281e-05 9.99998175e-01 -3.85040944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49576923100003 meters 0.04182107936704071 Centerline is valid? [True, True] Translation: X:174.32, Y:71.19, Z:-0.38 [[ 6.69401594e-01 -7.42900467e-01 -6.33986074e-04 1.74323838e+02] [ 7.42900084e-01 6.69401894e-01 -7.54531565e-04 7.11851111e+01] [ 9.84933330e-04 3.40963246e-05 9.99999514e-01 -3.83410388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52576923100003 meters 0.04219582705345519 Centerline is valid? [True, True] Translation: X:174.34, Y:71.21, Z:-0.38 [[ 6.69135131e-01 -7.43140751e-01 -1.80381972e-05 1.74339644e+02] [ 7.43140750e-01 6.69135132e-01 -2.21693190e-05 7.12061120e+01] [ 2.85449158e-05 1.42935078e-06 1.00000000e+00 -3.81526108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55576923100003 meters 0.04209642969225499 Centerline is valid? [True, True] Translation: X:174.36, Y:71.23, Z:-0.38 [[ 6.69062606e-01 -7.43206014e-01 2.23618312e-04 1.74356948e+02] [ 7.43205967e-01 6.69062643e-01 2.65461822e-04 7.12271108e+01] [-3.46907482e-04 -1.14161150e-05 9.99999940e-01 -3.80393285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58576923100003 meters 0.0422255360839275 Centerline is valid? [True, True] Translation: X:174.37, Y:71.25, Z:-0.38 [[ 6.68743681e-01 -7.43492922e-01 4.05298819e-04 1.74373740e+02] [ 7.43492766e-01 6.68743803e-01 4.81883775e-04 7.12488116e+01] [-6.29318250e-04 -2.09199891e-05 9.99999802e-01 -3.79895160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.615769231 meters 0.04251061569678766 Centerline is valid? [True, True] Translation: X:174.39, Y:71.27, Z:-0.38 [[ 6.68401708e-01 -7.43800482e-01 3.20673014e-05 1.74387508e+02] [ 7.43800481e-01 6.68401708e-01 3.74903548e-05 7.12712119e+01] [-4.93191830e-05 -1.20694303e-06 9.99999999e-01 -3.81279781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.645769231 meters 0.04315472586127849 Centerline is valid? [True, True] Translation: X:174.40, Y:71.29, Z:-0.38 [[ 6.68185319e-01 -7.43994594e-01 -6.50185845e-04 1.74400157e+02] [ 7.43994191e-01 6.68185635e-01 -7.75481577e-04 7.12943052e+01] [ 1.01139894e-03 3.44309132e-05 9.99999488e-01 -3.84189711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.675769231 meters 0.04199270739884414 Centerline is valid? [True, True] Translation: X:174.42, Y:71.32, Z:-0.38 [[ 6.67579461e-01 -7.44538490e-01 -3.18352516e-04 1.74417159e+02] [ 7.44538393e-01 6.67579536e-01 -3.80176037e-04 7.13151037e+01] [ 4.95581317e-04 1.67720428e-05 9.99999877e-01 -3.82863869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.705769231 meters 0.04201311659953848 Centerline is valid? [True, True] Translation: X:174.43, Y:71.34, Z:-0.38 [[ 6.66836380e-01 -7.45203973e-01 5.30585748e-04 1.74433216e+02] [ 7.45203705e-01 6.66836590e-01 6.32251477e-04 7.13367988e+01] [-8.24970304e-04 -2.62138204e-05 9.99999659e-01 -3.80388849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.735769231 meters 0.03645017761359743 Centerline is valid? [True, True] Translation: X:174.46, Y:71.35, Z:-0.38 [[ 6.66265437e-01 -7.45713723e-01 1.18764679e-03 1.74456243e+02] [ 7.45712381e-01 6.66266493e-01 1.41609254e-03 7.13539399e+01] [-1.84728890e-03 -5.78506046e-05 9.99998292e-01 -3.78471863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.765769231 meters 0.034421531914731164 Centerline is valid? [True, True] Translation: X:174.48, Y:71.37, Z:-0.38 [[ 6.64804398e-01 -7.47016020e-01 1.47555383e-03 1.74475587e+02] [ 7.47013950e-01 6.64806032e-01 1.76019870e-03 7.13740640e+01] [-2.29585371e-03 -6.79285421e-05 9.99997362e-01 -3.78290475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.795769231 meters 0.032512047881277116 Centerline is valid? [True, True] Translation: X:174.50, Y:71.39, Z:-0.38 [[ 6.63584851e-01 -7.48099660e-01 1.43001813e-03 1.74495821e+02] [ 7.48097716e-01 6.63586389e-01 1.70651728e-03 7.13940920e+01] [-2.22558557e-03 -6.26257148e-05 9.99997521e-01 -3.79685998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.825769231 meters 0.03341044630605068 Centerline is valid? [True, True] Translation: X:174.51, Y:71.41, Z:-0.38 [[ 6.63159794e-01 -7.48477451e-01 7.69408973e-04 1.74512367e+02] [ 7.48476889e-01 6.63160240e-01 9.18227385e-04 7.14149176e+01] [-1.19751393e-03 -3.30466500e-05 9.99999282e-01 -3.81657965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.855769231 meters 0.03135506833576506 Centerline is valid? [True, True] Translation: X:174.53, Y:71.43, Z:-0.38 [[ 6.62984678e-01 -7.48632951e-01 1.46842192e-04 1.74533314e+02] [ 7.48632930e-01 6.62984694e-01 1.74792902e-04 7.14340375e+01] [-2.28209852e-04 -5.95411570e-06 9.99999974e-01 -3.83006820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.885769231 meters 0.03412546810014408 Centerline is valid? [True, True] Translation: X:174.55, Y:71.46, Z:-0.38 [[ 6.62961689e-01 -7.48653061e-01 -6.27255917e-04 1.74549542e+02] [ 7.48652686e-01 6.62961985e-01 -7.50094365e-04 7.14555256e+01] [ 9.77407270e-04 2.76869997e-05 9.99999522e-01 -3.84596525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.915769231 meters 0.03469166798659736 Centerline is valid? [True, True] Translation: X:174.57, Y:71.48, Z:-0.38 [[ 6.63151497e-01 -7.48484928e-01 -6.36732207e-04 1.74568227e+02] [ 7.48484541e-01 6.63151802e-01 -7.61841171e-04 7.14769024e+01] [ 9.92476744e-04 2.86318995e-05 9.99999507e-01 -3.84278427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.945769231 meters 0.03647574190283307 Centerline is valid? [True, True] Translation: X:174.59, Y:71.50, Z:-0.39 [[ 6.64801762e-01 -7.47018595e-01 -1.35497989e-03 1.74585777e+02] [ 7.47016838e-01 6.64803140e-01 -1.62115357e-03 7.14984335e+01] [ 2.11182674e-03 6.55529572e-05 9.99997768e-01 -3.85673863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97576923100002 meters 0.03817418562351007 Centerline is valid? [True, True] Translation: X:174.60, Y:71.52, Z:-0.39 [[ 6.66000248e-01 -7.45950178e-01 -1.41477023e-03 1.74601808e+02] [ 7.45948260e-01 6.66001747e-01 -1.69337703e-03 7.15209149e+01] [ 2.20541434e-03 7.24441307e-05 9.99997565e-01 -3.85804152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00576923100002 meters 0.04140532586300812 Centerline is valid? [True, True] Translation: X:174.62, Y:71.54, Z:-0.38 [[ 6.67493745e-01 -7.44614653e-01 -1.05768681e-03 1.74615490e+02] [ 7.44613579e-01 6.67494581e-01 -1.26628514e-03 7.15445735e+01] [ 1.64889468e-03 5.76694448e-05 9.99998639e-01 -3.84545944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03576923100002 meters 0.05420584498096972 Centerline is valid? [True, True] Translation: X:174.62, Y:71.58, Z:-0.38 [[ 6.70165142e-01 -7.42212019e-01 -4.73344837e-05 1.74618700e+02] [ 7.42212016e-01 6.70165143e-01 -5.73346853e-05 7.15770184e+01] [ 7.42764135e-05 3.29148488e-06 9.99999997e-01 -3.81843220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06576923100002 meters 0.05635163371609994 Centerline is valid? [True, True] Translation: X:174.63, Y:71.60, Z:-0.38 [[ 6.71045315e-01 -7.41416335e-01 5.68656048e-05 1.74633450e+02] [ 7.41416332e-01 6.71045318e-01 6.74882133e-05 7.16004354e+01] [-8.81962616e-05 -3.12656127e-06 9.99999996e-01 -3.82148612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09576923100002 meters 0.05073921330045557 Centerline is valid? [True, True] Translation: X:174.66, Y:71.62, Z:-0.38 [[ 6.72404563e-01 -7.40183794e-01 -2.34487127e-04 1.74655448e+02] [ 7.40183740e-01 6.72404604e-01 -2.81563781e-04 7.16187278e+01] [ 3.66079172e-04 1.57612124e-05 9.99999933e-01 -3.82055911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12576923100002 meters 0.05276834664721319 Centerline is valid? [True, True] Translation: X:174.67, Y:71.64, Z:-0.38 [[ 6.73164624e-01 -7.39492516e-01 -4.54733994e-04 1.74670017e+02] [ 7.39492316e-01 6.73164777e-01 -5.45692107e-04 7.16425552e+01] [ 7.09646137e-04 3.10683284e-05 9.99999748e-01 -3.82776652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15576923100002 meters 0.05495552375283993 Centerline is valid? [True, True] Translation: X:174.68, Y:71.67, Z:-0.38 [[ 6.74345949e-01 -7.38415158e-01 -7.72101596e-04 1.74682611e+02] [ 7.38414579e-01 6.74346388e-01 -9.26465109e-04 7.16680761e+01] [ 1.20477980e-03 5.46269186e-05 9.99999273e-01 -3.82682133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18576923100002 meters 0.05576524064092079 Centerline is valid? [True, True] Translation: X:174.70, Y:71.69, Z:-0.38 [[ 6.74612146e-01 -7.38172042e-01 -6.99615731e-04 1.74697688e+02] [ 7.38171566e-01 6.74612507e-01 -8.39859543e-04 7.16912344e+01] [ 1.09193036e-03 5.01430087e-05 9.99999403e-01 -3.82577152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21576923100002 meters 0.0528403827530589 Centerline is valid? [True, True] Translation: X:174.72, Y:71.71, Z:-0.38 [[ 6.74613427e-01 -7.38170736e-01 -8.29987229e-04 1.74717051e+02] [ 7.38170066e-01 6.74613935e-01 -9.96599598e-04 7.17119340e+01] [ 1.29558161e-03 5.96477422e-05 9.99999159e-01 -3.82894825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24576923100003 meters 0.04744094460414122 Centerline is valid? [True, True] Translation: X:174.74, Y:71.73, Z:-0.38 [[ 6.74223813e-01 -7.38527071e-01 -1.24733271e-04 1.74738813e+02] [ 7.38527056e-01 6.74223824e-01 -1.50383799e-04 7.17298515e+01] [ 1.95160650e-04 9.27344315e-06 9.99999981e-01 -3.80825143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27576923100003 meters 0.05692091868354893 Centerline is valid? [True, True] Translation: X:174.75, Y:71.76, Z:-0.38 [[ 6.73749025e-01 -7.38959666e-01 9.29031932e-04 1.74745700e+02] [ 7.38958827e-01 6.73749663e-01 1.11506524e-03 7.17590765e+01] [-1.44992319e-03 -6.47577725e-05 9.99998947e-01 -3.78112753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30576923100003 meters 0.05251273934153198 Centerline is valid? [True, True] Translation: X:174.77, Y:71.78, Z:-0.38 [[ 6.73049880e-01 -7.39595115e-01 1.70992230e-03 1.74765213e+02] [ 7.39592274e-01 6.73052042e-01 2.05366046e-03 7.17787937e+01] [-2.66974394e-03 -1.17570609e-04 9.99996429e-01 -3.76607614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33576923100003 meters 0.05251273934153198 Centerline is valid? [True, True] Translation: X:174.78, Y:71.80, Z:-0.38 [[ 6.72900611e-01 -7.39730927e-01 1.70954457e-03 1.74782094e+02] [ 7.39728085e-01 6.72902773e-01 2.05397486e-03 7.17994431e+01] [-2.66974601e-03 -1.17522807e-04 9.99996429e-01 -3.76664915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.365769231 meters 0.052783893554727186 Centerline is valid? [True, True] Translation: X:174.80, Y:71.82, Z:-0.38 [[ 6.72377307e-01 -7.40207532e-01 1.25150252e-03 1.74797051e+02] [ 7.40206009e-01 6.72378466e-01 1.50408156e-03 7.18213204e+01] [-1.95481585e-03 -8.49406256e-05 9.99998086e-01 -3.78962516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.395769231 meters 0.047958984972670565 Centerline is valid? [True, True] Translation: X:174.82, Y:71.84, Z:-0.38 [[ 6.71938964e-01 -7.40606232e-01 6.62071895e-04 1.74818645e+02] [ 7.40605806e-01 6.71939289e-01 7.95743639e-04 7.18399186e+01] [-1.03420482e-03 -4.43568677e-05 9.99999464e-01 -3.80796443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.425769231 meters 0.05382757459257009 Centerline is valid? [True, True] Translation: X:174.83, Y:71.87, Z:-0.38 [[ 6.72432102e-01 -7.40158672e-01 4.55236427e-04 1.74826755e+02] [ 7.40158471e-01 6.72432256e-01 5.47183354e-04 7.18689529e+01] [-7.11118163e-04 -3.09965558e-05 9.99999747e-01 -3.80801139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.455769231 meters 0.04917726680992113 Centerline is valid? [True, True] Translation: X:174.85, Y:71.89, Z:-0.38 [[ 6.72832647e-01 -7.39794160e-01 9.11415204e-04 1.74846660e+02] [ 7.39793350e-01 6.72833261e-01 1.09648596e-03 7.18895016e+01] [-1.42440438e-03 -6.34926462e-05 9.99998984e-01 -3.79246765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.485769231 meters 0.05900434860014835 Centerline is valid? [True, True] Translation: X:174.85, Y:71.92, Z:-0.38 [[ 6.72296727e-01 -7.40280836e-01 1.18090018e-03 1.74849060e+02] [ 7.40279476e-01 6.72297759e-01 1.42140034e-03 7.19231710e+01] [-1.84615197e-03 -8.14066316e-05 9.99998293e-01 -3.79113494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.515769231 meters 0.04498258414133995 Centerline is valid? [True, True] Translation: X:174.88, Y:71.93, Z:-0.38 [[ 6.70678951e-01 -7.41747676e-01 3.61391494e-04 1.74879848e+02] [ 7.41747549e-01 6.70679048e-01 4.34678317e-04 7.19347049e+01] [-5.64799334e-04 -2.34683432e-05 9.99999840e-01 -3.81516613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.545769231 meters 0.04320052577044642 Centerline is valid? [True, True] Translation: X:174.90, Y:71.96, Z:-0.38 [[ 6.68242965e-01 -7.43942731e-01 -7.43736788e-04 1.74897375e+02] [ 7.43942192e-01 6.68243377e-01 -8.96856323e-04 7.19556546e+01] [ 1.16420692e-03 4.60207520e-05 9.99999321e-01 -3.84553857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.575769231 meters 0.03650043203558156 Centerline is valid? [True, True] Translation: X:174.92, Y:71.97, Z:-0.39 [[ 6.61962917e-01 -7.49535257e-01 -1.41246142e-03 1.74917831e+02] [ 7.49533326e-01 6.61964420e-01 -1.70299738e-03 7.19729115e+01] [ 2.21145578e-03 6.86342080e-05 9.99997552e-01 -3.86426030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.605769231 meters 0.03121555217424065 Centerline is valid? [True, True] Translation: X:174.94, Y:71.99, Z:-0.38 [[ 6.58292418e-01 -7.52762104e-01 -5.54767190e-04 1.74939224e+02] [ 7.52761806e-01 6.58292651e-01 -6.69632708e-04 7.19908979e+01] [ 8.69273290e-04 2.32065828e-05 9.99999622e-01 -3.83763130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.635769231 meters 0.022358287529076735 Centerline is valid? [True, True] Translation: X:174.96, Y:72.01, Z:-0.38 [[ 6.51559476e-01 -7.58596801e-01 1.06896085e-03 1.74964346e+02] [ 7.58595707e-01 6.51560352e-01 1.28884367e-03 7.20060672e+01] [-1.67420519e-03 -2.88491919e-05 9.99998598e-01 -3.79588697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.665769231 meters 0.01890794882583458 Centerline is valid? [True, True] Translation: X:174.99, Y:72.02, Z:-0.38 [[ 6.48630833e-01 -7.61102555e-01 9.71517472e-04 1.74985176e+02] [ 7.61101653e-01 6.48631560e-01 1.17174199e-03 7.20247209e+01] [-1.52197272e-03 -2.06044310e-05 9.99998842e-01 -3.80102784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.695769231 meters 0.014953899443231826 Centerline is valid? [True, True] Translation: X:175.01, Y:72.04, Z:-0.38 [[ 6.44792359e-01 -7.64357628e-01 -4.79397347e-04 1.75007399e+02] [ 7.64357408e-01 6.44792538e-01 -5.79386824e-04 7.20420993e+01] [ 7.51970570e-04 7.15328333e-06 9.99999717e-01 -3.83283848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72576923100002 meters 0.014051426446655234 Centerline is valid? [True, True] Translation: X:175.03, Y:72.06, Z:-0.38 [[ 6.43512775e-01 -7.65434916e-01 -8.35385334e-04 1.75025637e+02] [ 7.65434250e-01 6.43513318e-01 -1.00940267e-03 7.20603821e+01] [ 1.31021364e-03 1.01309702e-05 9.99999142e-01 -3.84240297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75576923100002 meters 0.012891712448149368 Centerline is valid? [True, True] Translation: X:175.05, Y:72.08, Z:-0.38 [[ 6.42234051e-01 -7.66508215e-01 -7.61320186e-04 1.75045529e+02] [ 7.66507662e-01 6.42234503e-01 -9.20517201e-04 7.20796528e+01] [ 1.19453009e-03 7.62973573e-06 9.99999287e-01 -3.83297899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78576923100002 meters 0.011222628568370595 Centerline is valid? [True, True] Translation: X:175.07, Y:72.10, Z:-0.38 [[ 6.39712494e-01 -7.68613881e-01 7.91767530e-04 1.75065668e+02] [ 7.68613286e-01 6.39712984e-01 9.56265236e-04 7.20964724e+01] [-1.24150270e-03 -3.17177561e-06 9.99999229e-01 -3.78761257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81576923100002 meters 0.010863230965852209 Centerline is valid? [True, True] Translation: X:175.08, Y:72.12, Z:-0.38 [[ 6.38607249e-01 -7.69531733e-01 1.30158581e-03 1.75084927e+02] [ 7.69530125e-01 6.38608575e-01 1.57320816e-03 7.21163613e+01] [-2.04183746e-03 -3.05264342e-06 9.99997915e-01 -3.77789880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84576923100002 meters 0.010757728468123812 Centerline is valid? [True, True] Translation: X:175.10, Y:72.13, Z:-0.38 [[ 6.37660390e-01 -7.70316179e-01 1.48727091e-03 1.75103998e+02] [ 7.70314079e-01 6.37662124e-01 1.79856720e-03 7.21342127e+01] [-2.33384174e-03 -1.20933725e-06 9.99997277e-01 -3.78434024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87576923100002 meters 0.01074899595696016 Centerline is valid? [True, True] Translation: X:175.12, Y:72.15, Z:-0.38 [[ 6.37613476e-01 -7.70354891e-01 1.54809340e-03 1.75121727e+02] [ 7.70352614e-01 6.37615355e-01 1.87303252e-03 7.21548311e+01] [-2.42998789e-03 -1.69297722e-06 9.99997048e-01 -3.77567515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90576923100002 meters 0.010848905494133632 Centerline is valid? [True, True] Translation: X:175.14, Y:72.18, Z:-0.38 [[ 6.37583113e-01 -7.70379692e-01 1.70419464e-03 1.75137986e+02] [ 7.70376930e-01 6.37585391e-01 2.06287913e-03 7.21758871e+01] [-2.67576979e-03 -2.38466178e-06 9.99996420e-01 -3.76782133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93576923100002 meters 0.011261984922553984 Centerline is valid? [True, True] Translation: X:175.15, Y:72.20, Z:-0.38 [[ 6.39112756e-01 -7.69112469e-01 9.46086420e-04 1.75151621e+02] [ 7.69111617e-01 6.39113456e-01 1.14540751e-03 7.21992647e+01] [-1.48560376e-03 -4.39849599e-06 9.99998896e-01 -3.78501705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96576923100002 meters 0.012165703951946947 Centerline is valid? [True, True] Translation: X:175.17, Y:72.22, Z:-0.38 [[ 6.40138544e-01 -7.68259413e-01 3.44269487e-04 1.75165773e+02] [ 7.68259300e-01 6.40138637e-01 4.16491729e-04 7.22209165e+01] [-5.40353891e-04 -2.12417395e-06 9.99999854e-01 -3.80809664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99576923100003 meters 0.01390572662470779 Centerline is valid? [True, True] Translation: X:175.18, Y:72.25, Z:-0.38 [[ 6.41956623e-01 -7.66740894e-01 -3.10353792e-04 1.75179389e+02] [ 7.66740801e-01 6.41956698e-01 -3.76931415e-04 7.22456178e+01] [ 4.88242426e-04 4.01270295e-06 9.99999881e-01 -3.82617507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02576923100003 meters 0.01436342325008582 Centerline is valid? [True, True] Translation: X:175.19, Y:72.27, Z:-0.38 [[ 6.42213054e-01 -7.66526028e-01 -4.91598040e-04 1.75194665e+02] [ 7.66525796e-01 6.42213242e-01 -5.97022383e-04 7.22676751e+01] [ 7.73343967e-04 6.59298920e-06 9.99999701e-01 -3.83318332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05576923100003 meters 0.013846538077060083 Centerline is valid? [True, True] Translation: X:175.21, Y:72.29, Z:-0.38 [[ 6.42157149e-01 -7.66572888e-01 -4.51356201e-04 1.75211167e+02] [ 7.66572692e-01 6.42157307e-01 -5.48490255e-04 7.22890335e+01] [ 7.10299442e-04 6.21960020e-06 9.99999748e-01 -3.83431511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08576923100003 meters 0.013532023737646013 Centerline is valid? [True, True] Translation: X:175.23, Y:72.31, Z:-0.38 [[ 6.41057499e-01 -7.67492854e-01 -3.64182457e-05 1.75226902e+02] [ 7.67492853e-01 6.41057500e-01 -4.50008781e-05 7.23104771e+01] [ 5.78840418e-05 8.97407109e-07 9.99999998e-01 -3.82881415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.115769231 meters 0.013136086119876269 Centerline is valid? [True, True] Translation: X:175.24, Y:72.33, Z:-0.38 [[ 6.40352578e-01 -7.68081085e-01 1.50137871e-04 1.75244167e+02] [ 7.68081064e-01 6.40352595e-01 1.81654667e-04 7.23308816e+01] [-2.35666689e-04 -1.00497883e-06 9.99999972e-01 -3.82383013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.145769231 meters 0.01226625418708412 Centerline is valid? [True, True] Translation: X:175.26, Y:72.35, Z:-0.38 [[ 6.39094159e-01 -7.69128115e-01 -7.73602593e-04 1.75263585e+02] [ 7.69127539e-01 6.39094628e-01 -9.40794336e-04 7.23503147e+01] [ 1.21799664e-03 6.25710591e-06 9.99999258e-01 -3.84707708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.175769231 meters 0.012103461625394824 Centerline is valid? [True, True] Translation: X:175.28, Y:72.37, Z:-0.39 [[ 6.38474357e-01 -7.69642521e-01 -9.40464588e-04 1.75281125e+02] [ 7.69641671e-01 6.38475050e-01 -1.14412647e-03 7.23697981e+01] [ 1.48103156e-03 6.67467776e-06 9.99998903e-01 -3.85273605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.205769231 meters 0.011732672681914724 Centerline is valid? [True, True] Translation: X:175.30, Y:72.39, Z:-0.38 [[ 6.37729585e-01 -7.70260103e-01 -5.91023231e-04 1.75299057e+02] [ 7.70259767e-01 6.37729859e-01 -7.19567263e-04 7.23899178e+01] [ 9.31167116e-04 3.64791607e-06 9.99999566e-01 -3.84303365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.235769231 meters 0.01128651156180904 Centerline is valid? [True, True] Translation: X:175.32, Y:72.41, Z:-0.38 [[ 6.36826512e-01 -7.71007037e-01 3.77827968e-04 1.75315512e+02] [ 7.71006900e-01 6.36826624e-01 4.58989376e-04 7.24105199e+01] [-5.94494949e-04 -9.88632927e-07 9.99999823e-01 -3.81620777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.265769231 meters 0.011273494951113237 Centerline is valid? [True, True] Translation: X:175.33, Y:72.43, Z:-0.38 [[ 6.36685609e-01 -7.71123060e-01 8.13802606e-04 1.75332264e+02] [ 7.71122424e-01 6.36686129e-01 9.89967241e-04 7.24312546e+01] [-1.28152340e-03 -2.75645734e-06 9.99999179e-01 -3.80676883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.295769231 meters 0.011092394219262895 Centerline is valid? [True, True] Translation: X:175.35, Y:72.45, Z:-0.38 [[ 6.36271462e-01 -7.71464697e-01 9.21078866e-04 1.75351433e+02] [ 7.71463882e-01 6.36272128e-01 1.12104277e-03 7.24511468e+01] [-1.45090173e-03 -2.70844200e-06 9.99998947e-01 -3.79586006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.325769231 meters 0.01097379476266484 Centerline is valid? [True, True] Translation: X:175.37, Y:72.47, Z:-0.38 [[ 6.35566060e-01 -7.72045773e-01 1.05235134e-03 1.75368516e+02] [ 7.72044710e-01 6.35566931e-01 1.28147320e-03 7.24707025e+01] [-1.65819568e-03 -1.99859143e-06 9.99998625e-01 -3.79201312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.355769231 meters 0.01092808681469118 Centerline is valid? [True, True] Translation: X:175.39, Y:72.49, Z:-0.38 [[ 6.34810988e-01 -7.72666290e-01 1.34693635e-03 1.75386472e+02] [ 7.72664547e-01 6.34812417e-01 1.64116539e-03 7.24916208e+01] [-2.12312510e-03 -1.09985794e-06 9.99997746e-01 -3.78578726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.385769231 meters 0.010854766703646157 Centerline is valid? [True, True] Translation: X:175.40, Y:72.51, Z:-0.38 [[ 6.34154734e-01 -7.73202304e-01 2.44355791e-03 1.75403701e+02] [ 7.73196564e-01 6.34159442e-01 2.97923011e-03 7.25120285e+01] [-3.85315291e-03 5.77018650e-08 9.99992577e-01 -3.76035319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.415769231 meters 0.010898731334590614 Centerline is valid? [True, True] Translation: X:175.42, Y:72.53, Z:-0.38 [[ 6.34042095e-01 -7.73295646e-01 2.11309806e-03 1.75419341e+02] [ 7.73291351e-01 6.34045616e-01 2.57737618e-03 7.25324560e+01] [-3.33287434e-03 -1.24537463e-07 9.99994446e-01 -3.77021805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.445769231 meters 0.010966561902833308 Centerline is valid? [True, True] Translation: X:175.43, Y:72.55, Z:-0.38 [[ 6.33927326e-01 -7.73391929e-01 1.03405370e-03 1.75434306e+02] [ 7.73390900e-01 6.33928170e-01 1.26144194e-03 7.25540564e+01] [-1.63110478e-03 6.52033410e-08 9.99998670e-01 -3.80589154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47576923100002 meters 0.01106045880905162 Centerline is valid? [True, True] Translation: X:175.45, Y:72.57, Z:-0.38 [[ 6.33771428e-01 -7.73520107e-01 6.49151211e-04 1.75451222e+02] [ 7.73519702e-01 6.33771760e-01 7.91981805e-04 7.25746112e+01] [-1.02402756e-03 1.95811763e-07 9.99999476e-01 -3.82371196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50576923100002 meters 0.011145941009430236 Centerline is valid? [True, True] Translation: X:175.47, Y:72.59, Z:-0.38 [[ 6.33352061e-01 -7.73863680e-01 4.13962368e-04 1.75468937e+02] [ 7.73863516e-01 6.33352196e-01 5.05016772e-04 7.25942910e+01] [-6.52998112e-04 4.96960352e-07 9.99999787e-01 -3.83852499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53576923100002 meters 0.0113019158931518 Centerline is valid? [True, True] Translation: X:175.49, Y:72.61, Z:-0.38 [[ 6.32366569e-01 -7.74669299e-01 -3.30908162e-06 1.75489378e+02] [ 7.74669299e-01 6.32366569e-01 -4.76702568e-06 7.26132394e+01] [ 5.78542098e-06 4.51063737e-07 1.00000000e+00 -3.84465268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56576923100002 meters 0.01141125090502015 Centerline is valid? [True, True] Translation: X:175.51, Y:72.63, Z:-0.39 [[ 6.31978251e-01 -7.74986068e-01 -2.92386546e-04 1.75506846e+02] [ 7.74985985e-01 6.31978318e-01 -3.58248301e-04 7.26338607e+01] [ 4.62419399e-04 -1.90340498e-07 9.99999893e-01 -3.85103005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59576923100002 meters 0.011413379306756132 Centerline is valid? [True, True] Translation: X:175.52, Y:72.66, Z:-0.39 [[ 6.32448095e-01 -7.74602489e-01 -6.25643955e-04 1.75521938e+02] [ 7.74602110e-01 6.32448405e-01 -7.66094781e-04 7.26565921e+01] [ 9.89106445e-04 -1.09942304e-07 9.99999511e-01 -3.85111581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62576923100002 meters 0.011381848535814323 Centerline is valid? [True, True] Translation: X:175.54, Y:72.68, Z:-0.39 [[ 6.33280544e-01 -7.73922231e-01 -3.63379835e-04 1.75536641e+02] [ 7.73922103e-01 6.33280649e-01 -4.45246790e-04 7.26789454e+01] [ 5.74707807e-04 7.38443522e-07 9.99999835e-01 -3.85150496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65576923100002 meters 0.012137163275069137 Centerline is valid? [True, True] Translation: X:175.55, Y:72.70, Z:-0.38 [[ 6.35785521e-01 -7.71865343e-01 8.15158387e-04 1.75550625e+02] [ 7.71864698e-01 6.35786043e-01 9.97252175e-04 7.27029825e+01] [-1.28801072e-03 -4.84651062e-06 9.99999170e-01 -3.83152359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68576923100002 meters 0.013028561343668352 Centerline is valid? [True, True] Translation: X:175.57, Y:72.72, Z:-0.38 [[ 6.36934773e-01 -7.70916947e-01 1.07470084e-03 1.75566205e+02] [ 7.70915825e-01 6.36935680e-01 1.31556893e-03 7.27248501e+01] [-1.69870970e-03 -9.42771738e-06 9.99998557e-01 -3.82310554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71576923100002 meters 0.01382571152189605 Centerline is valid? [True, True] Translation: X:175.58, Y:72.75, Z:-0.38 [[ 6.37494606e-01 -7.70454270e-01 9.19207834e-04 1.75581016e+02] [ 7.70453448e-01 6.37495268e-01 1.12559557e-03 7.27460601e+01] [-1.45321056e-03 -9.35425743e-06 9.99998944e-01 -3.81923844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74576923100003 meters 0.014133310283568795 Centerline is valid? [True, True] Translation: X:175.60, Y:72.77, Z:-0.38 [[ 6.37828394e-01 -7.70178336e-01 5.20650666e-04 1.75596443e+02] [ 7.70178072e-01 6.37828606e-01 6.37535309e-04 7.27688073e+01] [-8.23101772e-04 -5.64439589e-06 9.99999661e-01 -3.82385265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77576923100003 meters 0.013968342689076802 Centerline is valid? [True, True] Translation: X:175.61, Y:72.79, Z:-0.38 [[ 6.37507290e-01 -7.70444221e-01 3.97424944e-04 1.75612140e+02] [ 7.70444067e-01 6.37507414e-01 4.86682483e-04 7.27906188e+01] [-6.28323054e-04 -4.06994025e-06 9.99999803e-01 -3.82527891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80576923100003 meters 0.014064729250625695 Centerline is valid? [True, True] Translation: X:175.63, Y:72.81, Z:-0.38 [[ 6.37404558e-01 -7.70529043e-01 6.50038710e-04 1.75626561e+02] [ 7.70528631e-01 6.37404890e-01 7.96835597e-04 7.28138090e+01] [-1.02832282e-03 -7.03320508e-06 9.99999471e-01 -3.82831311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83576923100003 meters 0.014471323011927623 Centerline is valid? [True, True] Translation: X:175.64, Y:72.84, Z:-0.38 [[ 6.37166162e-01 -7.70726356e-01 4.08431780e-04 1.75641547e+02] [ 7.70726193e-01 6.37166293e-01 5.00589079e-04 7.28354652e+01] [-6.46056160e-04 -4.16935158e-06 9.99999791e-01 -3.83485821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.865769231 meters 0.013856345557439967 Centerline is valid? [True, True] Translation: X:175.66, Y:72.86, Z:-0.38 [[ 6.36653723e-01 -7.71149812e-01 6.19234256e-05 1.75658640e+02] [ 7.71149809e-01 6.36653726e-01 7.53293000e-05 7.28559746e+01] [-9.75139552e-05 -2.06441525e-07 9.99999995e-01 -3.84110871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.895769231 meters 0.013558473996776666 Centerline is valid? [True, True] Translation: X:175.68, Y:72.88, Z:-0.38 [[ 6.36073789e-01 -7.71628168e-01 -3.26270560e-04 1.75675140e+02] [ 7.71628063e-01 6.36073872e-01 -4.01561910e-04 7.28771082e+01] [ 5.17388659e-04 3.66348525e-06 9.99999866e-01 -3.84186871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.925769231 meters 0.012891518300419649 Centerline is valid? [True, True] Translation: X:175.69, Y:72.90, Z:-0.38 [[ 6.35396524e-01 -7.72185737e-01 6.66860093e-04 1.75691993e+02] [ 7.72185303e-01 6.35396874e-01 8.18908072e-04 7.28987032e+01] [-1.05606995e-03 -5.39177952e-06 9.99999442e-01 -3.81207559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.955769231 meters 0.012904323905725558 Centerline is valid? [True, True] Translation: X:175.71, Y:72.92, Z:-0.38 [[ 6.34826705e-01 -7.72653650e-01 1.18011709e-03 1.75707767e+02] [ 7.72652288e-01 6.34827801e-01 1.45039532e-03 7.29201754e+01] [-1.86982437e-03 -8.92951170e-06 9.99998252e-01 -3.80370999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.985769231 meters 0.011601359551620397 Centerline is valid? [True, True] Translation: X:175.73, Y:72.94, Z:-0.38 [[ 6.32919162e-01 -7.74215882e-01 1.76133111e-03 1.75727045e+02] [ 7.74212852e-01 6.32921613e-01 2.16609838e-03 7.29399330e+01] [-2.79181229e-03 -7.31998346e-06 9.99996103e-01 -3.79251249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.015769231 meters 0.011475344076045573 Centerline is valid? [True, True] Translation: X:175.74, Y:72.96, Z:-0.38 [[ 6.31957257e-01 -7.75000915e-01 1.89926037e-03 1.75744096e+02] [ 7.74997392e-01 6.31960111e-01 2.33676561e-03 7.29597625e+01] [-3.01125228e-03 -4.81415195e-06 9.99995466e-01 -3.78815905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.045769231 meters 0.011360556483872863 Centerline is valid? [True, True] Translation: X:175.76, Y:72.98, Z:-0.38 [[ 6.31285351e-01 -7.75548570e-01 1.79464054e-03 1.75762369e+02] [ 7.75545425e-01 6.31287902e-01 2.20882960e-03 7.29803745e+01] [-2.84598950e-03 -2.57650914e-06 9.99995950e-01 -3.79589915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.075769231 meters 0.01130240412084439 Centerline is valid? [True, True] Translation: X:175.78, Y:73.00, Z:-0.38 [[ 6.30521981e-01 -7.76171057e-01 7.22409545e-04 1.75780600e+02] [ 7.76170548e-01 6.30522395e-01 8.89073925e-04 7.29994454e+01] [-1.14556884e-03 1.32359043e-07 9.99999344e-01 -3.83281107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.105769231 meters 0.01138869560912268 Centerline is valid? [True, True] Translation: X:175.80, Y:73.02, Z:-0.38 [[ 6.30160856e-01 -7.76464604e-01 1.23186525e-04 1.75798171e+02] [ 7.76464589e-01 6.30160868e-01 1.51070298e-04 7.30205514e+01] [-1.94928067e-04 4.51386114e-07 9.99999981e-01 -3.84378266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.135769231 meters 0.011507767651259831 Centerline is valid? [True, True] Translation: X:175.81, Y:73.04, Z:-0.38 [[ 6.30188982e-01 -7.76441464e-01 7.07022511e-04 1.75814457e+02] [ 7.76440976e-01 6.30189378e-01 8.70895624e-04 7.30410362e+01] [-1.12175755e-03 1.32421517e-07 9.99999371e-01 -3.83733982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.165769231 meters 0.01135658305114995 Centerline is valid? [True, True] Translation: X:175.83, Y:73.06, Z:-0.38 [[ 6.30014011e-01 -7.76582829e-01 1.20685922e-03 1.75831172e+02] [ 7.76581403e-01 6.30015167e-01 1.48783317e-03 7.30609187e+01] [-1.91576531e-03 -1.31318947e-07 9.99998165e-01 -3.82629269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.195769231 meters 0.01133921709180625 Centerline is valid? [True, True] Translation: X:175.85, Y:73.08, Z:-0.38 [[ 6.29744233e-01 -7.76801587e-01 1.22296073e-03 1.75850621e+02] [ 7.76800122e-01 6.29745421e-01 1.50818104e-03 7.30799893e+01] [-1.94171135e-03 2.27734657e-07 9.99998115e-01 -3.81791788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22576923100002 meters 0.01133921709180625 Centerline is valid? [True, True] Translation: X:175.87, Y:73.10, Z:-0.38 [[ 6.29582009e-01 -7.76933072e-01 1.22264475e-03 1.75867211e+02] [ 7.76931608e-01 6.29583197e-01 1.50843716e-03 7.31008475e+01] [-1.94171130e-03 2.26454371e-07 9.99998115e-01 -3.81849034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25576923100002 meters 0.011390831342032923 Centerline is valid? [True, True] Translation: X:175.89, Y:73.12, Z:-0.38 [[ 6.29662956e-01 -7.76867519e-01 1.19173179e-03 1.75885008e+02] [ 7.76866126e-01 6.29664084e-01 1.47091128e-03 7.31218666e+01] [-1.89309390e-03 -3.62283384e-07 9.99998208e-01 -3.81295791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28576923100002 meters 0.011411875980043777 Centerline is valid? [True, True] Translation: X:175.90, Y:73.14, Z:-0.38 [[ 6.29976977e-01 -7.76613112e-01 1.04074006e-03 1.75901544e+02] [ 7.76612049e-01 6.29977836e-01 1.28497113e-03 7.31424175e+01] [-1.65356860e-03 -1.25096138e-06 9.99998633e-01 -3.81655817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31576923100002 meters 0.012058706831029956 Centerline is valid? [True, True] Translation: X:175.92, Y:73.17, Z:-0.38 [[ 6.31470331e-01 -7.75399241e-01 1.11243084e-03 1.75915950e+02] [ 7.75398023e-01 6.31471311e-01 1.37418086e-03 7.31654250e+01] [-1.76800695e-03 -5.17776979e-06 9.99998437e-01 -3.81537217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34576923100002 meters 0.012884646462595664 Centerline is valid? [True, True] Translation: X:175.93, Y:73.19, Z:-0.38 [[ 6.32599264e-01 -7.74478188e-01 1.30665565e-03 1.75929396e+02] [ 7.74476504e-01 6.32600613e-01 1.61492125e-03 7.31881874e+01] [-2.07731245e-03 -9.62389439e-06 9.99997842e-01 -3.80976805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37576923100002 meters 0.015441347883301114 Centerline is valid? [True, True] Translation: X:175.94, Y:73.22, Z:-0.38 [[ 6.35586179e-01 -7.72028639e-01 1.41052963e-03 1.75939833e+02] [ 7.72026669e-01 6.35587744e-01 1.74414563e-03 7.32150385e+01] [-2.24304572e-03 -1.95883639e-05 9.99997484e-01 -3.79823832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40576923100002 meters 0.017391012157898678 Centerline is valid? [True, True] Translation: X:175.95, Y:73.24, Z:-0.38 [[ 6.37337610e-01 -7.70584147e-01 9.18381393e-04 1.75952759e+02] [ 7.70583310e-01 6.37338272e-01 1.13583353e-03 7.32401492e+01] [-1.46057492e-03 -1.62200522e-05 9.99998933e-01 -3.80578278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43576923100002 meters 0.021787162335778123 Centerline is valid? [True, True] Translation: X:175.96, Y:73.27, Z:-0.38 [[ 6.40455917e-01 -7.67994610e-01 -7.04892462e-04 1.75959264e+02] [ 7.67994114e-01 6.40456305e-01 -8.73142667e-04 7.32689266e+01] [ 1.12202168e-03 1.78561254e-05 9.99999370e-01 -3.84903658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46576923100002 meters 0.02358583110122706 Centerline is valid? [True, True] Translation: X:175.97, Y:73.29, Z:-0.39 [[ 6.41575390e-01 -7.67058970e-01 -1.24749357e-03 1.75970876e+02] [ 7.67057413e-01 6.41576602e-01 -1.54557068e-03 7.32949608e+01] [ 1.98590654e-03 3.47009211e-05 9.99998027e-01 -3.86527233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49576923100003 meters 0.02491573970789926 Centerline is valid? [True, True] Translation: X:175.98, Y:73.32, Z:-0.39 [[ 6.42565446e-01 -7.66229395e-01 -1.47006405e-03 1.75983063e+02] [ 7.66227231e-01 6.42567126e-01 -1.82194489e-03 7.33204114e+01] [ 2.34064257e-03 4.43157216e-05 9.99997260e-01 -3.86983240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52576923100003 meters 0.024908064101671182 Centerline is valid? [True, True] Translation: X:175.99, Y:73.35, Z:-0.38 [[ 6.41895357e-01 -7.66792168e-01 -3.48712465e-04 1.75992004e+02] [ 7.66792046e-01 6.41895451e-01 -4.32970889e-04 7.33472702e+01] [ 5.55835632e-04 1.05320588e-05 9.99999845e-01 -3.84847095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55576923100003 meters 0.021770526581140304 Centerline is valid? [True, True] Translation: X:176.01, Y:73.37, Z:-0.38 [[ 6.40195283e-01 -7.68211864e-01 7.28417719e-04 1.76009441e+02] [ 7.68211334e-01 6.40195698e-01 9.02566398e-04 7.33696419e+01] [-1.15969211e-03 -1.82400030e-05 9.99999327e-01 -3.81938399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58576923100003 meters 0.016518252882590248 Centerline is valid? [True, True] Translation: X:176.03, Y:73.39, Z:-0.38 [[ 6.35697122e-01 -7.71935251e-01 2.26661995e-03 1.76027621e+02] [ 7.71930134e-01 6.35701161e-01 2.81086387e-03 7.33906062e+01] [-3.61069784e-03 -3.71858270e-05 9.99993481e-01 -3.78181462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.615769231 meters 0.014604423657283974 Centerline is valid? [True, True] Translation: X:176.05, Y:73.41, Z:-0.38 [[ 6.32990621e-01 -7.74156197e-01 2.24835070e-03 1.76045530e+02] [ 7.74151173e-01 6.32994614e-01 2.78920319e-03 7.34108739e+01] [-3.58247282e-03 -2.49761281e-05 9.99993583e-01 -3.78774828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.645769231 meters 0.011683952117748756 Centerline is valid? [True, True] Translation: X:176.07, Y:73.43, Z:-0.38 [[ 6.27013417e-01 -7.79008014e-01 8.30232072e-04 1.76069850e+02] [ 7.79007333e-01 6.27013967e-01 1.02988206e-03 7.34266516e+01] [-1.32285348e-03 1.00700422e-06 9.99999125e-01 -3.82476548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.675769231 meters 0.012365031445720855 Centerline is valid? [True, True] Translation: X:176.09, Y:73.45, Z:-0.39 [[ 6.24752106e-01 -7.80823158e-01 4.38468280e-05 1.76088685e+02] [ 7.80823157e-01 6.24752107e-01 5.36856832e-05 7.34455517e+01] [-6.93124229e-05 6.96375046e-07 9.99999998e-01 -3.85201402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.705769231 meters 0.013703628439806458 Centerline is valid? [True, True] Translation: X:176.11, Y:73.46, Z:-0.39 [[ 6.22766421e-01 -7.82407773e-01 -2.46171566e-04 1.76106764e+02] [ 7.82407713e-01 6.22766470e-01 -3.06561918e-04 7.34645450e+01] [ 3.93163825e-04 -1.69006346e-06 9.99999923e-01 -3.86158204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.735769231 meters 0.014457660463484625 Centerline is valid? [True, True] Translation: X:176.12, Y:73.49, Z:-0.39 [[ 6.21162056e-01 -7.83682112e-01 -2.19110419e-04 1.76123825e+02] [ 7.83682064e-01 6.21162094e-01 -2.73050706e-04 7.34855381e+01] [ 3.50088041e-04 -2.10416810e-06 9.99999939e-01 -3.85724152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.765769231 meters 0.01619223610491629 Centerline is valid? [True, True] Translation: X:176.14, Y:73.51, Z:-0.38 [[ 6.19082413e-01 -7.85326005e-01 1.80459491e-04 1.76142748e+02] [ 7.85325973e-01 6.19082439e-01 2.23740874e-04 7.35065512e+01] [-2.87428828e-04 3.20548487e-06 9.99999959e-01 -3.84919713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.795769231 meters 0.017151320382364554 Centerline is valid? [True, True] Translation: X:176.16, Y:73.53, Z:-0.38 [[ 6.18146925e-01 -7.86062507e-01 3.38498407e-04 1.76160297e+02] [ 7.86062394e-01 6.18147018e-01 4.20316706e-04 7.35263343e+01] [-5.39636984e-04 6.26338843e-06 9.99999854e-01 -3.84329125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.825769231 meters 0.01978331004320866 Centerline is valid? [True, True] Translation: X:176.18, Y:73.54, Z:-0.38 [[ 6.15870282e-01 -7.87847501e-01 3.33703689e-04 1.76181614e+02] [ 7.87847392e-01 6.15870372e-01 4.14739230e-04 7.35431191e+01] [-5.32269481e-04 7.48201411e-06 9.99999858e-01 -3.84699058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.855769231 meters 0.021867564936413612 Centerline is valid? [True, True] Translation: X:176.20, Y:73.56, Z:-0.38 [[ 6.14098914e-01 -7.89228943e-01 4.45986561e-04 1.76202139e+02] [ 7.89228748e-01 6.14099076e-01 5.54519632e-04 7.35620498e+01] [-7.11522878e-04 1.14555118e-05 9.99999747e-01 -3.84895467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.885769231 meters 0.023816312848903502 Centerline is valid? [True, True] Translation: X:176.22, Y:73.58, Z:-0.38 [[ 6.12377349e-01 -7.90565507e-01 4.01757065e-04 1.76222503e+02] [ 7.90565349e-01 6.12377481e-01 4.99650593e-04 7.35813186e+01] [-6.41033504e-04 1.16405085e-05 9.99999794e-01 -3.84800066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.915769231 meters 0.028348621061624463 Centerline is valid? [True, True] Translation: X:176.24, Y:73.60, Z:-0.39 [[ 6.09306039e-01 -7.92934601e-01 -9.32594924e-04 1.76244081e+02] [ 7.92933749e-01 6.09306752e-01 -1.16251869e-03 7.35967541e+01] [ 1.49003767e-03 -3.11563331e-05 9.99998889e-01 -3.88386151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.945769231 meters 0.029499198790357707 Centerline is valid? [True, True] Translation: X:176.26, Y:73.62, Z:-0.39 [[ 6.08247012e-01 -7.93746922e-01 -1.18179186e-03 1.76262680e+02] [ 7.93745555e-01 6.08248159e-01 -1.47352755e-03 7.36165901e+01] [ 1.88843069e-03 -4.17733068e-05 9.99998216e-01 -3.88699140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97576923100002 meters 0.031312302212911335 Centerline is valid? [True, True] Translation: X:176.28, Y:73.63, Z:-0.38 [[ 6.06877745e-01 -7.94795195e-01 3.43801488e-05 1.76282549e+02] [ 7.94795194e-01 6.06877746e-01 4.21401661e-05 7.36337752e+01] [-5.43573488e-05 1.75124807e-06 9.99999999e-01 -3.84714408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00576923100002 meters 0.02960921038471439 Centerline is valid? [True, True] Translation: X:176.30, Y:73.66, Z:-0.38 [[ 6.06042681e-01 -7.95431946e-01 5.36663082e-04 1.76299809e+02] [ 7.95431665e-01 6.06042918e-01 6.68731410e-04 7.36554042e+01] [-8.57171187e-04 2.15990325e-05 9.99999632e-01 -3.82944445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03576923100002 meters 0.033756217103108596 Centerline is valid? [True, True] Translation: X:176.32, Y:73.67, Z:-0.38 [[ 6.05145228e-01 -7.96114773e-01 7.22501791e-04 1.76323226e+02] [ 7.96114264e-01 6.05145658e-01 9.00854227e-04 7.36707453e+01] [-1.15440218e-03 3.00463446e-05 9.99999333e-01 -3.83009615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06576923100002 meters 0.03632638717919541 Centerline is valid? [True, True] Translation: X:176.35, Y:73.68, Z:-0.39 [[ 6.03465997e-01 -7.97388725e-01 1.04401304e-04 1.76349083e+02] [ 7.97388715e-01 6.03466006e-01 1.29647665e-04 7.36847027e+01] [-1.66382225e-04 5.01046394e-06 9.99999986e-01 -3.85950898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09576923100002 meters 0.03384002234003417 Centerline is valid? [True, True] Translation: X:176.37, Y:73.71, Z:-0.39 [[ 6.03000297e-01 -7.97740958e-01 7.69852933e-05 1.76366461e+02] [ 7.97740952e-01 6.03000302e-01 9.54288005e-05 7.37060945e+01] [-1.22549618e-04 3.87072606e-06 9.99999992e-01 -3.86018298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12576923100002 meters 0.0335328933722738 Centerline is valid? [True, True] Translation: X:176.39, Y:73.73, Z:-0.38 [[ 6.02981557e-01 -7.97754970e-01 4.99493150e-04 1.76385679e+02] [ 7.97754727e-01 6.02981763e-01 6.23334614e-04 7.37259091e+01] [-7.98453547e-04 2.26137454e-05 9.99999681e-01 -3.84104898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15576923100002 meters 0.03228876434363104 Centerline is valid? [True, True] Translation: X:176.40, Y:73.74, Z:-0.38 [[ 6.04240046e-01 -7.96801841e-01 8.89935515e-04 1.76404839e+02] [ 7.96801067e-01 6.04240700e-01 1.11160090e-03 7.37437971e+01] [-1.42346091e-03 3.74277859e-05 9.99998986e-01 -3.83163525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18576923100002 meters 0.030954479928875088 Centerline is valid? [True, True] Translation: X:176.42, Y:73.76, Z:-0.39 [[ 6.05161496e-01 -7.96102666e-01 3.29861248e-04 1.76422675e+02] [ 7.96102560e-01 6.05161586e-01 4.11766540e-04 7.37647110e+01] [-5.27427796e-04 1.34181284e-05 9.99999861e-01 -3.85234457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21576923100002 meters 0.02771391989461655 Centerline is valid? [True, True] Translation: X:176.44, Y:73.78, Z:-0.39 [[ 6.07820291e-01 -7.94074084e-01 -9.18382989e-04 1.76439781e+02] [ 7.94073252e-01 6.07820984e-01 -1.14958950e-03 7.37847477e+01] [ 1.47107168e-03 -3.05195438e-05 9.99998918e-01 -3.89810447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24576923100003 meters 0.025652827462214402 Centerline is valid? [True, True] Translation: X:176.46, Y:73.80, Z:-0.39 [[ 6.09569229e-01 -7.92732246e-01 -9.70445531e-04 1.76455922e+02] [ 7.92731315e-01 6.09570001e-01 -1.21527911e-03 7.38048582e+01] [ 1.55494542e-03 -2.85058089e-05 9.99998791e-01 -3.89738561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27576923100003 meters 0.02113306104998996 Centerline is valid? [True, True] Translation: X:176.47, Y:73.83, Z:-0.39 [[ 6.12802508e-01 -7.90236064e-01 2.22395119e-04 1.76471468e+02] [ 7.90236015e-01 6.12802549e-01 2.77741306e-04 7.38269490e+01] [-3.55765492e-04 5.54406391e-06 9.99999937e-01 -3.85518303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30576923100003 meters 0.019375373282239584 Centerline is valid? [True, True] Translation: X:176.49, Y:73.85, Z:-0.38 [[ 6.14092593e-01 -7.89233677e-01 7.00856313e-04 1.76487124e+02] [ 7.89233189e-01 6.14092993e-01 8.77180536e-04 7.38486129e+01] [-1.12269137e-03 1.44689934e-05 9.99999370e-01 -3.84115094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33576923100003 meters 0.018292369037453658 Centerline is valid? [True, True] Translation: X:176.50, Y:73.87, Z:-0.38 [[ 6.15502200e-01 -7.88134734e-01 8.26305264e-04 1.76502522e+02] [ 7.88134055e-01 6.15502754e-01 1.03470411e-03 7.38689116e+01] [-1.32407942e-03 1.43766615e-05 9.99999123e-01 -3.84414754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.365769231 meters 0.015364690056789166 Centerline is valid? [True, True] Translation: X:176.52, Y:73.89, Z:-0.39 [[ 6.17604607e-01 -7.86488235e-01 -8.97700423e-04 1.76515535e+02] [ 7.86487428e-01 6.17605260e-01 -1.12625560e-03 7.38917579e+01] [ 1.44021128e-03 -1.04494498e-05 9.99998963e-01 -3.90157815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.395769231 meters 0.015076605952022192 Centerline is valid? [True, True] Translation: X:176.53, Y:73.91, Z:-0.39 [[ 6.17940367e-01 -7.86223150e-01 -1.69149588e-03 1.76531743e+02] [ 7.86220286e-01 6.17942681e-01 -2.12244247e-03 7.39126295e+01] [ 2.71396091e-03 -1.83455000e-05 9.99996317e-01 -3.92605525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.425769231 meters 0.014566155098222525 Centerline is valid? [True, True] Translation: X:176.55, Y:73.93, Z:-0.39 [[ 6.17996121e-01 -7.86179858e-01 -1.42311595e-03 1.76548983e+02] [ 7.86177828e-01 6.17997760e-01 -1.78642827e-03 7.39340057e+01] [ 2.28393639e-03 -1.48164643e-05 9.99997392e-01 -3.91124175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.455769231 meters 0.014348579293868107 Centerline is valid? [True, True] Translation: X:176.57, Y:73.95, Z:-0.39 [[ 6.17497239e-01 -7.86572832e-01 -5.83910333e-04 1.76566237e+02] [ 7.86572489e-01 6.17497515e-01 -7.33766319e-04 7.39544930e+01] [ 9.37723831e-04 -6.18912868e-06 9.99999560e-01 -3.88293370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.485769231 meters 0.015332760517976355 Centerline is valid? [True, True] Translation: X:176.59, Y:73.97, Z:-0.38 [[ 6.16520993e-01 -7.87337756e-01 1.06022220e-03 1.76586181e+02] [ 7.87336631e-01 6.16521904e-01 1.33085718e-03 7.39721005e+01] [-1.70148431e-03 1.42503819e-05 9.99998552e-01 -3.83664275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.515769231 meters 0.015781028960741118 Centerline is valid? [True, True] Translation: X:176.60, Y:73.99, Z:-0.38 [[ 6.15943523e-01 -7.87789438e-01 1.17394879e-03 1.76604146e+02] [ 7.87788059e-01 6.15944641e-01 1.47415080e-03 7.39915364e+01] [-1.88440790e-03 1.68291998e-05 9.99998224e-01 -3.83633093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.545769231 meters 0.015972666835049974 Centerline is valid? [True, True] Translation: X:176.62, Y:74.01, Z:-0.39 [[ 6.15068827e-01 -7.88473093e-01 7.20793970e-04 1.76622403e+02] [ 7.88472574e-01 6.15069249e-01 9.05258856e-04 7.40114336e+01] [-1.15711046e-03 1.15297743e-05 9.99999330e-01 -3.85132876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.575769231 meters 0.018809551957086102 Centerline is valid? [True, True] Translation: X:176.65, Y:74.03, Z:-0.39 [[ 6.12707847e-01 -7.90309485e-01 -1.08886761e-04 1.76646176e+02] [ 7.90309473e-01 6.12707857e-01 -1.37642091e-04 7.40252822e+01] [ 1.75495624e-04 -1.71984943e-06 9.99999985e-01 -3.88523225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.605769231 meters 0.019939524306091656 Centerline is valid? [True, True] Translation: X:176.67, Y:74.04, Z:-0.39 [[ 6.11315204e-01 -7.91387177e-01 -2.40914754e-04 1.76667107e+02] [ 7.91387118e-01 6.11315252e-01 -3.03791640e-04 7.40432470e+01] [ 3.87691671e-04 -4.94438443e-06 9.99999925e-01 -3.88616504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.635769231 meters 0.02272746989818129 Centerline is valid? [True, True] Translation: X:176.69, Y:74.06, Z:-0.39 [[ 6.08712074e-01 -7.93390964e-01 -6.23935860e-04 1.76693236e+02] [ 7.93390575e-01 6.08712394e-01 -7.85979218e-04 7.40571003e+01] [ 1.00338630e-03 -1.65897903e-05 9.99999496e-01 -3.88995397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.665769231 meters 0.023636333633778112 Centerline is valid? [True, True] Translation: X:176.71, Y:74.08, Z:-0.39 [[ 6.07869625e-01 -7.94036440e-01 -8.07304118e-04 1.76714028e+02] [ 7.94035788e-01 6.07870160e-01 -1.01719134e-03 7.40755975e+01] [ 1.29842307e-03 -2.27086469e-05 9.99999157e-01 -3.89418400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.695769231 meters 0.022461343027408955 Centerline is valid? [True, True] Translation: X:176.73, Y:74.10, Z:-0.39 [[ 6.07499855e-01 -7.94319289e-01 -8.90372728e-04 1.76731456e+02] [ 7.94318497e-01 6.07500507e-01 -1.12231988e-03 7.40961614e+01] [ 1.43238222e-03 -2.54303602e-05 9.99998974e-01 -3.88842222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72576923100002 meters 0.022532003002469516 Centerline is valid? [True, True] Translation: X:176.75, Y:74.11, Z:-0.39 [[ 6.09141115e-01 -7.93061852e-01 -3.19584216e-05 1.76752445e+02] [ 7.93061851e-01 6.09141116e-01 -4.09172641e-05 7.41138236e+01] [ 5.19171098e-05 -4.20617123e-07 9.99999999e-01 -3.87605951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75576923100002 meters 0.020436194952941588 Centerline is valid? [True, True] Translation: X:176.77, Y:74.14, Z:-0.39 [[ 6.10526786e-01 -7.91995413e-01 5.55913118e-04 1.76769179e+02] [ 7.91995104e-01 6.10527039e-01 7.00117456e-04 7.41355130e+01] [-8.93889803e-04 1.28400071e-05 9.99999600e-01 -3.86346107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78576923100002 meters 0.017263990356943294 Centerline is valid? [True, True] Translation: X:176.79, Y:74.16, Z:-0.39 [[ 6.12684946e-01 -7.90326866e-01 7.75511775e-04 1.76785568e+02] [ 7.90326262e-01 6.12685437e-01 9.77359436e-04 7.41575930e+01] [-1.24757819e-03 1.40939083e-05 9.99999222e-01 -3.86000003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81576923100002 meters 0.017091578585219425 Centerline is valid? [True, True] Translation: X:176.80, Y:74.18, Z:-0.39 [[ 6.13074078e-01 -7.90025383e-01 2.63685098e-04 1.76801436e+02] [ 7.90025313e-01 6.13074135e-01 3.31890828e-04 7.41771445e+01] [-4.23860691e-04 4.84423861e-06 9.99999910e-01 -3.88065105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84576923100002 meters 0.016220928466374497 Centerline is valid? [True, True] Translation: X:176.82, Y:74.20, Z:-0.39 [[ 6.13261606e-01 -7.89879717e-01 -4.84361182e-04 1.76817622e+02] [ 7.89879480e-01 6.13261798e-01 -6.12285880e-04 7.41985098e+01] [ 7.80672407e-04 -7.09553585e-06 9.99999695e-01 -3.90697928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87576923100002 meters 0.017347072662207207 Centerline is valid? [True, True] Translation: X:176.84, Y:74.22, Z:-0.39 [[ 6.12283269e-01 -7.90636546e-01 -1.74695186e-03 1.76838168e+02] [ 7.90633465e-01 6.12285760e-01 -2.20709979e-03 7.42166568e+01] [ 2.81464750e-03 -2.98283299e-05 9.99996038e-01 -3.94393842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90576923100002 meters 0.017647091789828855 Centerline is valid? [True, True] Translation: X:176.86, Y:74.24, Z:-0.39 [[ 6.11085176e-01 -7.91563013e-01 -1.70406006e-03 1.76857054e+02] [ 7.91560084e-01 6.11087551e-01 -2.15373319e-03 7.42372109e+01] [ 2.74614542e-03 -3.27515006e-05 9.99996229e-01 -3.94284959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93576923100002 meters 0.020166287035749263 Centerline is valid? [True, True] Translation: X:176.88, Y:74.25, Z:-0.39 [[ 6.09860160e-01 -7.92508941e-01 -4.04802195e-04 1.76878203e+02] [ 7.92508775e-01 6.09860294e-01 -5.12497592e-04 7.42538260e+01] [ 6.53031709e-04 -8.25742896e-06 9.99999787e-01 -3.90987563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96576923100002 meters 0.017996379641724153 Centerline is valid? [True, True] Translation: X:176.89, Y:74.28, Z:-0.39 [[ 6.10438587e-01 -7.92063565e-01 2.01387291e-04 1.76892217e+02] [ 7.92063524e-01 6.10438620e-01 2.53938794e-04 7.42769215e+01] [-3.24070246e-04 4.49748885e-06 9.99999947e-01 -3.88926797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99576923100003 meters 0.016619601475801063 Centerline is valid? [True, True] Translation: X:176.91, Y:74.30, Z:-0.39 [[ 6.11713109e-01 -7.91079580e-01 4.12333617e-04 1.76907173e+02] [ 7.91079409e-01 6.11713248e-01 5.20971385e-04 7.43004010e+01] [-6.64359761e-04 7.50360819e-06 9.99999779e-01 -3.88340754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02576923100003 meters 0.015413799399286969 Centerline is valid? [True, True] Translation: X:176.92, Y:74.32, Z:-0.39 [[ 6.13392084e-01 -7.89778451e-01 3.85581913e-04 1.76921311e+02] [ 7.89778301e-01 6.13392205e-01 4.87271190e-04 7.43225912e+01] [-6.21349226e-04 5.63593763e-06 9.99999807e-01 -3.88326890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05576923100003 meters 0.012424720483459639 Centerline is valid? [True, True] Translation: X:176.93, Y:74.35, Z:-0.39 [[ 6.16658332e-01 -7.87230844e-01 3.17081496e-04 1.76931042e+02] [ 7.87230742e-01 6.16658413e-01 4.00817998e-04 7.43501228e+01] [-5.11067263e-04 2.44854305e-06 9.99999869e-01 -3.87770007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08576923100003 meters 0.011739581418502948 Centerline is valid? [True, True] Translation: X:176.94, Y:74.37, Z:-0.39 [[ 6.18636068e-01 -7.85677678e-01 3.69758290e-05 1.76942941e+02] [ 7.85677677e-01 6.18636069e-01 4.60685782e-05 7.43736089e+01] [-5.90696351e-05 5.51399378e-07 9.99999998e-01 -3.88457302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.115769231 meters 0.011739581418502948 Centerline is valid? [True, True] Translation: X:176.96, Y:74.39, Z:-0.39 [[ 6.18457714e-01 -7.85818080e-01 3.69714617e-05 1.76958705e+02] [ 7.85818079e-01 6.18457715e-01 4.60720941e-05 7.43940721e+01] [-5.90695703e-05 5.59201042e-07 9.99999998e-01 -3.88512755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.145769231 meters 0.011607577259413625 Centerline is valid? [True, True] Translation: X:176.97, Y:74.42, Z:-0.39 [[ 6.18948014e-01 -7.85431901e-01 2.92230891e-04 1.76973743e+02] [ 7.85431814e-01 6.18948083e-01 3.69770841e-04 7.44156503e+01] [-4.71305565e-04 6.58511257e-07 9.99999889e-01 -3.88078025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.175769231 meters 0.011611174227971739 Centerline is valid? [True, True] Translation: X:176.99, Y:74.44, Z:-0.39 [[ 6.19076627e-01 -7.85330571e-01 1.55113549e-04 1.76989607e+02] [ 7.85330546e-01 6.19076647e-01 1.95994020e-04 7.44371150e+01] [-2.49947272e-04 4.80091230e-07 9.99999969e-01 -3.87826874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.205769231 meters 0.011628075965024088 Centerline is valid? [True, True] Translation: X:177.01, Y:74.46, Z:-0.39 [[ 6.18724076e-01 -7.85608374e-01 2.83238793e-05 1.77005792e+02] [ 7.85608373e-01 6.18724076e-01 3.51443384e-05 7.44574862e+01] [-4.51343526e-05 5.06828425e-07 9.99999999e-01 -3.88471379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.235769231 meters 0.01188859918035448 Centerline is valid? [True, True] Translation: X:177.02, Y:74.48, Z:-0.39 [[ 6.17167389e-01 -7.86831873e-01 -1.32333464e-04 1.77023949e+02] [ 7.86831855e-01 6.17167403e-01 -1.68667471e-04 7.44750534e+01] [ 2.14384842e-04 -2.81217432e-08 9.99999977e-01 -3.88606935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.265769231 meters 0.011880650160523393 Centerline is valid? [True, True] Translation: X:177.04, Y:74.49, Z:-0.39 [[ 6.16899788e-01 -7.87041591e-01 4.29945561e-04 1.77039762e+02] [ 7.87041402e-01 6.16899938e-01 5.45477969e-04 7.44942842e+01] [-6.94547239e-04 1.87971354e-06 9.99999759e-01 -3.86940865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.295769231 meters 0.011364723958920683 Centerline is valid? [True, True] Translation: X:177.05, Y:74.51, Z:-0.38 [[ 6.17659581e-01 -7.86444111e-01 1.51734615e-03 1.77054555e+02] [ 7.86441749e-01 6.17661445e-01 1.92744952e-03 7.45149557e+01] [-2.45303754e-03 2.79669667e-06 9.99996991e-01 -3.82423062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.325769231 meters 0.01129587958233254 Centerline is valid? [True, True] Translation: X:177.07, Y:74.54, Z:-0.38 [[ 6.17863549e-01 -7.86283257e-01 1.80961300e-03 1.77070962e+02] [ 7.86279893e-01 6.17866199e-01 2.29996857e-03 7.45368896e+01] [-2.92652548e-03 1.79557466e-06 9.99995718e-01 -3.82454933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.355769231 meters 0.011364833822864013 Centerline is valid? [True, True] Translation: X:177.09, Y:74.56, Z:-0.38 [[ 6.18036808e-01 -7.86147690e-01 1.52093981e-03 1.77087479e+02] [ 7.86145312e-01 6.18038680e-01 1.93380627e-03 7.45583002e+01] [-2.46025697e-03 5.16247824e-07 9.99996974e-01 -3.84103464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.385769231 meters 0.011386706971629414 Centerline is valid? [True, True] Translation: X:177.11, Y:74.58, Z:-0.39 [[ 6.17671286e-01 -7.86435693e-01 1.04035596e-03 1.77106569e+02] [ 7.86434580e-01 6.17672163e-01 1.32314791e-03 7.45763493e+01] [-1.68316966e-03 9.01436566e-07 9.99998583e-01 -3.86595777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.415769231 meters 0.011465810610176442 Centerline is valid? [True, True] Translation: X:177.12, Y:74.59, Z:-0.39 [[ 6.17017610e-01 -7.86948662e-01 1.03581262e-03 1.77124612e+02] [ 7.86947559e-01 6.17018479e-01 1.31775188e-03 7.45941829e+01] [-1.67611861e-03 2.05409429e-06 9.99998595e-01 -3.86610564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.445769231 meters 0.011812136006224078 Centerline is valid? [True, True] Translation: X:177.15, Y:74.61, Z:-0.39 [[ 6.15481904e-01 -7.88150574e-01 8.36061839e-04 1.77146778e+02] [ 7.88149856e-01 6.15482472e-01 1.06401976e-03 7.46097865e+01] [-1.35318919e-03 4.05711134e-06 9.99999084e-01 -3.87302920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47576923100002 meters 0.012185380241049667 Centerline is valid? [True, True] Translation: X:177.17, Y:74.63, Z:-0.39 [[ 6.14634920e-01 -7.88811633e-01 3.52050573e-04 1.77165330e+02] [ 7.88811506e-01 6.14635020e-01 4.47755421e-04 7.46268685e+01] [-5.69577296e-04 2.49542534e-06 9.99999838e-01 -3.88504100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50576923100002 meters 0.01268734297751187 Centerline is valid? [True, True] Translation: X:177.19, Y:74.64, Z:-0.39 [[ 6.13743483e-01 -7.89505492e-01 1.21632768e-04 1.77188013e+02] [ 7.89505477e-01 6.13743495e-01 1.54225508e-04 7.46416265e+01] [-1.96413206e-04 1.37483683e-06 9.99999981e-01 -3.89993867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53576923100002 meters 0.012651717338727391 Centerline is valid? [True, True] Translation: X:177.21, Y:74.66, Z:-0.39 [[ 6.13618371e-01 -7.89602735e-01 1.26783723e-04 1.77207014e+02] [ 7.89602718e-01 6.13618384e-01 1.60910733e-04 7.46602296e+01] [-2.04852378e-04 1.37098995e-06 9.99999979e-01 -3.90559514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56576923100002 meters 0.012435613095147726 Centerline is valid? [True, True] Translation: X:177.22, Y:74.68, Z:-0.39 [[ 6.13983075e-01 -7.89319167e-01 1.90496516e-04 1.77224475e+02] [ 7.89319130e-01 6.13983105e-01 2.42261831e-04 7.46790786e+01] [-3.08183549e-04 1.61788036e-06 9.99999953e-01 -3.90073318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59576923100002 meters 0.011664609287317058 Centerline is valid? [True, True] Translation: X:177.24, Y:74.70, Z:-0.39 [[ 6.16867989e-01 -7.87066618e-01 1.49879710e-04 1.77240429e+02] [ 7.87066595e-01 6.16868007e-01 1.90526446e-04 7.46992038e+01] [-2.42413004e-04 4.35647917e-07 9.99999971e-01 -3.90427897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62576923100002 meters 0.012132045328992393 Centerline is valid? [True, True] Translation: X:177.26, Y:74.72, Z:-0.39 [[ 6.18708051e-01 -7.85620968e-01 2.02947610e-04 1.77256102e+02] [ 7.85620926e-01 6.18708085e-01 2.58452430e-04 7.47201123e+01] [-3.28610975e-04 -4.66709762e-07 9.99999946e-01 -3.88954846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65576923100002 meters 0.014974500989189508 Centerline is valid? [True, True] Translation: X:177.27, Y:74.74, Z:-0.39 [[ 6.22745987e-01 -7.82423711e-01 7.56047984e-04 1.77271369e+02] [ 7.82423116e-01 6.22746446e-01 9.65451100e-04 7.47430519e+01] [-1.22621803e-03 -9.68137875e-06 9.99999248e-01 -3.86291950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68576923100002 meters 0.018080810262836644 Centerline is valid? [True, True] Translation: X:177.28, Y:74.77, Z:-0.39 [[ 6.24924907e-01 -7.80684596e-01 6.49675252e-04 1.77283546e+02] [ 7.80684155e-01 6.24925244e-01 8.29953863e-04 7.47662968e+01] [-1.05393066e-03 -1.14676649e-05 9.99999445e-01 -3.86907339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71576923100002 meters 0.020330998452645514 Centerline is valid? [True, True] Translation: X:177.30, Y:74.79, Z:-0.39 [[ 6.27169789e-01 -7.78882503e-01 3.18879649e-04 1.77297579e+02] [ 7.78882397e-01 6.27169870e-01 4.07089894e-04 7.47900373e+01] [-5.17066903e-04 -6.94473781e-06 9.99999866e-01 -3.88496378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74576923100003 meters 0.025543607906686503 Centerline is valid? [True, True] Translation: X:177.31, Y:74.82, Z:-0.39 [[ 6.30723508e-01 -7.76007582e-01 2.99882005e-04 1.77307250e+02] [ 7.76007487e-01 6.30723579e-01 3.82929118e-04 7.48155097e+01] [-4.86298551e-04 -8.81171492e-06 9.99999882e-01 -3.87961940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77576923100003 meters 0.025545625306652206 Centerline is valid? [True, True] Translation: X:177.32, Y:74.84, Z:-0.39 [[ 6.31689628e-01 -7.75221276e-01 4.32394976e-04 1.77323983e+02] [ 7.75221079e-01 6.31689776e-01 5.52795620e-04 7.48384405e+01] [-7.01678411e-04 -1.39935601e-05 9.99999754e-01 -3.87369102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80576923100003 meters 0.028518118592186736 Centerline is valid? [True, True] Translation: X:177.33, Y:74.86, Z:-0.39 [[ 6.32821585e-01 -7.74297536e-01 4.08126662e-04 1.77334282e+02] [ 7.74297360e-01 6.32821717e-01 5.21907715e-04 7.48649565e+01] [-6.62383273e-04 -1.42630711e-05 9.99999781e-01 -3.87873668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83576923100003 meters 0.026546014116716598 Centerline is valid? [True, True] Translation: X:177.35, Y:74.89, Z:-0.39 [[ 6.32426823e-01 -7.74620052e-01 2.96285142e-04 1.77351629e+02] [ 7.74619960e-01 6.32426892e-01 3.78845352e-04 7.48864971e+01] [-4.80839898e-04 -1.00835774e-05 9.99999884e-01 -3.88464794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.865769231 meters 0.026724845248643835 Centerline is valid? [True, True] Translation: X:177.37, Y:74.91, Z:-0.39 [[ 6.31957239e-01 -7.75003150e-01 4.06470083e-04 1.77366056e+02] [ 7.75002975e-01 6.31957370e-01 5.20155452e-04 7.49078207e+01] [-6.59993878e-04 -1.37004798e-05 9.99999782e-01 -3.88997410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.895769231 meters 0.02496562196264204 Centerline is valid? [True, True] Translation: X:177.38, Y:74.93, Z:-0.39 [[ 6.30101482e-01 -7.76512683e-01 4.18937202e-04 1.77381546e+02] [ 7.76512498e-01 6.30101621e-01 5.36493149e-04 7.49298312e+01] [-6.80566745e-04 -1.27351542e-05 9.99999768e-01 -3.89629544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.925769231 meters 0.022180171692314888 Centerline is valid? [True, True] Translation: X:177.40, Y:74.95, Z:-0.39 [[ 6.27363333e-01 -7.78726683e-01 -4.34108337e-05 1.77397492e+02] [ 7.78726681e-01 6.27363334e-01 -5.64411493e-05 7.49502925e+01] [ 7.11865943e-05 1.60393304e-06 9.99999997e-01 -3.91497160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.955769231 meters 0.02205876897228885 Centerline is valid? [True, True] Translation: X:177.41, Y:74.97, Z:-0.39 [[ 6.26200151e-01 -7.79662272e-01 -3.34857917e-04 1.77411609e+02] [ 7.79662154e-01 6.26200240e-01 -4.30546376e-04 7.49711445e+01] [ 5.45368874e-04 8.53216145e-06 9.99999851e-01 -3.92723201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.985769231 meters 0.019329430891636235 Centerline is valid? [True, True] Translation: X:177.43, Y:74.99, Z:-0.39 [[ 6.25387573e-01 -7.80314028e-01 -6.32988184e-04 1.77430780e+02] [ 7.80313604e-01 6.25387893e-01 -8.13402020e-04 7.49911962e+01] [ 1.03057215e-03 1.47622237e-05 9.99999469e-01 -3.92746676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.015769231 meters 0.0190037559753572 Centerline is valid? [True, True] Translation: X:177.45, Y:75.01, Z:-0.39 [[ 6.24725150e-01 -7.80844453e-01 -6.53355505e-04 1.77446180e+02] [ 7.80844001e-01 6.24725492e-01 -8.39976713e-04 7.50122320e+01] [ 1.06405900e-03 1.45858518e-05 9.99999434e-01 -3.93068362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.045769231 meters 0.019154611990602786 Centerline is valid? [True, True] Translation: X:177.46, Y:75.04, Z:-0.39 [[ 6.24822184e-01 -7.80766950e-01 -4.56274999e-04 1.77460675e+02] [ 7.80766729e-01 6.24822351e-01 -5.87052355e-04 7.50350318e+01] [ 7.43441894e-04 1.05589961e-05 9.99999724e-01 -3.92444883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.075769231 meters 0.021373593080996026 Centerline is valid? [True, True] Translation: X:177.47, Y:75.06, Z:-0.39 [[ 6.26069992e-01 -7.79766686e-01 -5.29185358e-04 1.77473072e+02] [ 7.79766389e-01 6.26070216e-01 -6.80976637e-04 7.50599054e+01] [ 8.62310087e-04 1.36980830e-05 9.99999628e-01 -3.92887354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.105769231 meters 0.022438866554919973 Centerline is valid? [True, True] Translation: X:177.49, Y:75.08, Z:-0.39 [[ 6.26774946e-01 -7.79200043e-01 -6.77668643e-04 1.77487593e+02] [ 7.79199555e-01 6.26775312e-01 -8.72261793e-04 7.50831639e+01] [ 1.10441240e-03 1.86727335e-05 9.99999390e-01 -3.93285996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.135769231 meters 0.023513427971251683 Centerline is valid? [True, True] Translation: X:177.50, Y:75.11, Z:-0.39 [[ 6.27517362e-01 -7.78602212e-01 -7.44853245e-04 1.77501962e+02] [ 7.78601622e-01 6.27517804e-01 -9.59012713e-04 7.51067790e+01] [ 1.21409809e-03 2.18531837e-05 9.99999263e-01 -3.93317531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.165769231 meters 0.025291760710753626 Centerline is valid? [True, True] Translation: X:177.51, Y:75.13, Z:-0.39 [[ 6.28449616e-01 -7.77849791e-01 -8.84728663e-04 1.77514667e+02] [ 7.77848957e-01 6.28450238e-01 -1.13956704e-03 7.51305603e+01] [ 1.44241993e-03 2.79752040e-05 9.99998959e-01 -3.93298319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.195769231 meters 0.025957401895281697 Centerline is valid? [True, True] Translation: X:177.53, Y:75.16, Z:-0.39 [[ 6.30243033e-01 -7.76397300e-01 -9.75660137e-04 1.77527596e+02] [ 7.76396283e-01 6.30243787e-01 -1.25708792e-03 7.51555329e+01] [ 1.59090340e-03 3.47719959e-05 9.99998734e-01 -3.92610307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22576923100002 meters 0.027540280559474162 Centerline is valid? [True, True] Translation: X:177.54, Y:75.18, Z:-0.39 [[ 6.30900023e-01 -7.75864053e-01 -3.64295302e-04 1.77539185e+02] [ 7.75863911e-01 6.30900128e-01 -4.70012184e-04 7.51805715e+01] [ 5.94499511e-04 1.38871198e-05 9.99999823e-01 -3.91386050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25576923100002 meters 0.026923914633422853 Centerline is valid? [True, True] Translation: X:177.56, Y:75.20, Z:-0.39 [[ 6.30405254e-01 -7.76266155e-01 2.68613164e-04 1.77555745e+02] [ 7.76266078e-01 6.30405312e-01 3.45447053e-04 7.52017235e+01] [-4.37494021e-04 -9.25635014e-06 9.99999904e-01 -3.89929757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28576923100002 meters 0.027049243545590046 Centerline is valid? [True, True] Translation: X:177.57, Y:75.22, Z:-0.39 [[ 6.29316256e-01 -7.77148551e-01 1.08604642e-03 1.77571228e+02] [ 7.77147292e-01 6.29317192e-01 1.39961905e-03 7.52224952e+01] [-1.77117960e-03 -3.67849895e-05 9.99998431e-01 -3.88142978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31576923100002 meters 0.02505743041021794 Centerline is valid? [True, True] Translation: X:177.59, Y:75.24, Z:-0.39 [[ 6.28005851e-01 -7.78206705e-01 1.72490988e-03 1.77590877e+02] [ 7.78203529e-01 6.28008217e-01 2.22406240e-03 7.52429047e+01] [-2.81403785e-03 -5.43932426e-05 9.99996039e-01 -3.86104672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34576923100002 meters 0.020058715426942087 Centerline is valid? [True, True] Translation: X:177.61, Y:75.26, Z:-0.39 [[ 6.24591260e-01 -7.80949078e-01 2.07233019e-03 1.77614121e+02] [ 7.80944505e-01 6.24594696e-01 2.67316989e-03 7.52604798e+01] [-3.38197601e-03 -5.12636755e-05 9.99994280e-01 -3.85516260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37576923100002 meters 0.018598791340554165 Centerline is valid? [True, True] Translation: X:177.63, Y:75.28, Z:-0.38 [[ 6.22861891e-01 -7.82329002e-01 2.09686299e-03 1.77632385e+02] [ 7.82324324e-01 6.22865419e-01 2.70586145e-03 7.52806886e+01] [-3.42293733e-03 -4.49510596e-05 9.99994141e-01 -3.84876748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40576923100002 meters 0.018615390995640857 Centerline is valid? [True, True] Translation: X:177.65, Y:75.30, Z:-0.39 [[ 6.22764297e-01 -7.82407664e-01 1.69635733e-03 1.77648826e+02] [ 7.82404600e-01 6.22766607e-01 2.18978807e-03 7.53026280e+01] [-2.76974166e-03 -3.64840508e-05 9.99996164e-01 -3.85979694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43576923100002 meters 0.019034046676414725 Centerline is valid? [True, True] Translation: X:177.66, Y:75.32, Z:-0.39 [[ 6.22823776e-01 -7.82361763e-01 7.85284282e-04 1.77664956e+02] [ 7.82361106e-01 6.22824270e-01 1.01375130e-03 7.53249942e+01] [-1.28221436e-03 -1.70125320e-05 9.99999178e-01 -3.88525533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46576923100002 meters 0.019283188616661198 Centerline is valid? [True, True] Translation: X:177.68, Y:75.35, Z:-0.39 [[ 6.22262130e-01 -7.82808919e-01 -1.93456059e-04 1.77679608e+02] [ 7.82808879e-01 6.22262160e-01 -2.50827749e-04 7.53472135e+01] [ 3.16730584e-04 4.64148862e-06 9.99999950e-01 -3.91842352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49576923100003 meters 0.01817868370225938 Centerline is valid? [True, True] Translation: X:177.70, Y:75.37, Z:-0.39 [[ 6.21659902e-01 -7.83287266e-01 1.57778027e-04 1.77697436e+02] [ 7.83287240e-01 6.21659922e-01 2.03266367e-04 7.53678813e+01] [-2.57300233e-04 -2.77703461e-06 9.99999967e-01 -3.90900290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52576923100003 meters 0.01778975607019891 Centerline is valid? [True, True] Translation: X:177.71, Y:75.39, Z:-0.39 [[ 6.20943403e-01 -7.83854990e-01 8.02708809e-04 1.77714290e+02] [ 7.83854304e-01 6.20943922e-01 1.03764615e-03 7.53884141e+01] [-1.31180127e-03 -1.51127802e-05 9.99999139e-01 -3.89622360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55576923100003 meters 0.015710837380485086 Centerline is valid? [True, True] Translation: X:177.73, Y:75.41, Z:-0.39 [[ 6.18891073e-01 -7.85476568e-01 6.33215876e-04 1.77734738e+02] [ 7.85476141e-01 6.18891397e-01 8.18823632e-04 7.54077632e+01] [-1.03505863e-03 -9.38667258e-06 9.99999464e-01 -3.90584688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58576923100003 meters 0.014617945716174596 Centerline is valid? [True, True] Translation: X:177.75, Y:75.43, Z:-0.39 [[ 6.17293564e-01 -7.86732869e-01 -2.20277265e-04 1.77752657e+02] [ 7.86732817e-01 6.17293604e-01 -2.85742589e-04 7.54269903e+01] [ 3.60778834e-04 3.08770807e-06 9.99999935e-01 -3.93039080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.615769231 meters 0.012356913023342731 Centerline is valid? [True, True] Translation: X:177.77, Y:75.44, Z:-0.40 [[ 6.13701033e-01 -7.89537060e-01 -1.50789681e-03 1.77774619e+02] [ 7.89534643e-01 6.13702885e-01 -1.95373804e-03 7.54437902e+01] [ 2.46794921e-03 8.47428619e-06 9.99996955e-01 -3.97211928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.645769231 meters 0.012093994310238217 Centerline is valid? [True, True] Translation: X:177.79, Y:75.46, Z:-0.40 [[ 6.12132877e-01 -7.90753103e-01 -1.69431128e-03 1.77792232e+02] [ 7.90750053e-01 6.12135222e-01 -2.19623993e-03 7.54629166e+01] [ 2.77383115e-03 4.61393534e-06 9.99996153e-01 -3.97878662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.675769231 meters 0.011669821577087557 Centerline is valid? [True, True] Translation: X:177.81, Y:75.48, Z:-0.39 [[ 6.11515393e-01 -7.91232338e-01 -5.57586234e-04 1.77808810e+02] [ 7.91232007e-01 6.11515648e-01 -7.23585136e-04 7.54846511e+01] [ 9.13496666e-04 1.30337444e-06 9.99999583e-01 -3.93904928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.705769231 meters 0.011667030503387658 Centerline is valid? [True, True] Translation: X:177.82, Y:75.51, Z:-0.39 [[ 6.11778891e-01 -7.91028815e-01 3.81691514e-05 1.77823047e+02] [ 7.91028814e-01 6.11778892e-01 4.87093955e-05 7.55065455e+01] [-6.18816166e-05 3.93518567e-07 9.99999998e-01 -3.92199893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.735769231 meters 0.0118441796482398 Centerline is valid? [True, True] Translation: X:177.84, Y:75.53, Z:-0.39 [[ 6.12259583e-01 -7.90656798e-01 1.76478250e-04 1.77837969e+02] [ 7.90656765e-01 6.12259608e-01 2.28232632e-04 7.55295688e+01] [-2.88504186e-04 -2.03893997e-07 9.99999958e-01 -3.91392572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.765769231 meters 0.013062927187976312 Centerline is valid? [True, True] Translation: X:177.85, Y:75.56, Z:-0.39 [[ 6.14403771e-01 -7.88991708e-01 -3.00672915e-04 1.77848085e+02] [ 7.88991611e-01 6.14403845e-01 -3.91101628e-04 7.55550176e+01] [ 4.93310536e-04 3.06590780e-06 9.99999878e-01 -3.92482436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.795769231 meters 0.013899048926816596 Centerline is valid? [True, True] Translation: X:177.86, Y:75.58, Z:-0.39 [[ 6.15234442e-01 -7.88344098e-01 -4.06585571e-04 1.77861998e+02] [ 7.88343921e-01 6.15234576e-01 -5.28775071e-04 7.55785270e+01] [ 6.67002207e-04 4.79137219e-06 9.99999778e-01 -3.93091013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.825769231 meters 0.01422816556309057 Centerline is valid? [True, True] Translation: X:177.88, Y:75.60, Z:-0.39 [[ 6.15722736e-01 -7.87962851e-01 2.40340659e-04 1.77875297e+02] [ 7.87962790e-01 6.15722783e-01 3.11656390e-04 7.56019401e+01] [-3.93556877e-04 -2.51442903e-06 9.99999923e-01 -3.91448584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.855769231 meters 0.013758069087365486 Centerline is valid? [True, True] Translation: X:177.89, Y:75.62, Z:-0.39 [[ 6.15003853e-01 -7.88524011e-01 3.81373101e-04 1.77891507e+02] [ 7.88523856e-01 6.15003971e-01 4.94930213e-04 7.56243448e+01] [-6.24810329e-04 -3.66219957e-06 9.99999805e-01 -3.91431151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.885769231 meters 0.012548655398945448 Centerline is valid? [True, True] Translation: X:177.91, Y:75.65, Z:-0.39 [[ 6.13198331e-01 -7.89928987e-01 4.99496414e-05 1.77907663e+02] [ 7.89928985e-01 6.13198333e-01 6.41966075e-05 7.56459353e+01] [-8.13397980e-05 9.14169360e-08 9.99999997e-01 -3.91797781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.915769231 meters 0.012310183128429924 Centerline is valid? [True, True] Translation: X:177.92, Y:75.67, Z:-0.39 [[ 6.12414159e-01 -7.90537049e-01 -2.68222200e-04 1.77924092e+02] [ 7.90536972e-01 6.12414217e-01 -3.49667107e-04 7.56680141e+01] [ 4.40687891e-04 2.10152128e-06 9.99999903e-01 -3.92514858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.945769231 meters 0.012202205773447489 Centerline is valid? [True, True] Translation: X:177.94, Y:75.69, Z:-0.39 [[ 6.11965683e-01 -7.90884238e-01 -3.54306673e-04 1.77940208e+02] [ 7.90884103e-01 6.11965785e-01 -4.61860728e-04 7.56899721e+01] [ 5.82101932e-04 2.42740042e-06 9.99999831e-01 -3.92613078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97576923100002 meters 0.011965253932461057 Centerline is valid? [True, True] Translation: X:177.96, Y:75.71, Z:-0.39 [[ 6.11848150e-01 -7.90975150e-01 3.92303548e-04 1.77955325e+02] [ 7.90974985e-01 6.11848276e-01 5.10004459e-04 7.57121716e+01] [-6.43431103e-04 -1.74299133e-06 9.99999793e-01 -3.89781320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00576923100002 meters 0.012199145486267379 Centerline is valid? [True, True] Translation: X:177.97, Y:75.73, Z:-0.39 [[ 6.11852233e-01 -7.90971555e-01 9.19241525e-04 1.77969848e+02] [ 7.90970649e-01 6.11852923e-01 1.19670178e-03 7.57338158e+01] [-1.50899769e-03 -5.11159231e-06 9.99998861e-01 -3.88809462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03576923100002 meters 0.012199145486267379 Centerline is valid? [True, True] Translation: X:177.99, Y:75.76, Z:-0.39 [[ 6.11684491e-01 -7.91101282e-01 9.19053455e-04 1.77985886e+02] [ 7.91100377e-01 6.11685181e-01 1.19684619e-03 7.57551144e+01] [-1.50899794e-03 -5.02872094e-06 9.99998861e-01 -3.88866712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06576923100002 meters 0.012492181658143232 Centerline is valid? [True, True] Translation: X:178.00, Y:75.78, Z:-0.39 [[ 6.12280716e-01 -7.90639902e-01 9.33079073e-04 1.78000701e+02] [ 7.90638967e-01 6.12281427e-01 1.21565273e-03 7.57783322e+01] [-1.53245054e-03 -6.59205135e-06 9.99998826e-01 -3.88964807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09576923100002 meters 0.013101922948279637 Centerline is valid? [True, True] Translation: X:178.02, Y:75.80, Z:-0.39 [[ 6.12702398e-01 -7.90313411e-01 6.95416039e-04 1.78015015e+02] [ 7.90312892e-01 6.12702793e-01 9.06307410e-04 7.58004914e+01] [-1.14235025e-03 -5.70046258e-06 9.99999347e-01 -3.90138597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12576923100002 meters 0.013573626732054552 Centerline is valid? [True, True] Translation: X:178.03, Y:75.82, Z:-0.39 [[ 6.13069142e-01 -7.90029182e-01 3.45779774e-04 1.78029218e+02] [ 7.90029053e-01 6.13069239e-01 4.50308897e-04 7.58221562e+01] [-5.67744112e-04 -2.89442165e-06 9.99999839e-01 -3.91936481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15576923100002 meters 0.013777020899682432 Centerline is valid? [True, True] Translation: X:178.04, Y:75.84, Z:-0.39 [[ 6.12957396e-01 -7.90115959e-01 -5.36321211e-05 1.78042378e+02] [ 7.90115955e-01 6.12957398e-01 -7.08566889e-05 7.58444871e+01] [ 8.88592061e-05 1.05653688e-06 9.99999996e-01 -3.93309751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18576923100002 meters 0.013262817597642845 Centerline is valid? [True, True] Translation: X:178.06, Y:75.86, Z:-0.39 [[ 6.12137877e-01 -7.90751048e-01 1.05654377e-05 1.78057319e+02] [ 7.90751048e-01 6.12137877e-01 1.29602295e-05 7.58645786e+01] [-1.67158197e-05 4.21183542e-07 1.00000000e+00 -3.93420385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21576923100002 meters 0.011737951005008095 Centerline is valid? [True, True] Translation: X:178.08, Y:75.88, Z:-0.39 [[ 6.09582314e-01 -7.92722386e-01 7.87927920e-04 1.78077558e+02] [ 7.92721719e-01 6.09582823e-01 1.02876745e-03 7.58836009e+01] [-1.29583431e-03 -2.51086862e-06 9.99999160e-01 -3.91278766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24576923100003 meters 0.01129404268215018 Centerline is valid? [True, True] Translation: X:178.10, Y:75.90, Z:-0.39 [[ 6.07693344e-01 -7.94170606e-01 1.35964169e-03 1.78095496e+02] [ 7.94168619e-01 6.07694865e-01 1.77657793e-03 7.59030832e+01] [-2.23715325e-03 1.70180918e-07 9.99997498e-01 -3.89370368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27576923100003 meters 0.01173830583385242 Centerline is valid? [True, True] Translation: X:178.11, Y:75.92, Z:-0.39 [[ 6.05246556e-01 -7.96037828e-01 6.19232674e-04 1.78114292e+02] [ 7.96037417e-01 6.05246872e-01 8.09084289e-04 7.59233598e+01] [-1.01885034e-03 3.23689900e-06 9.99999481e-01 -3.91313921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30576923100003 meters 0.01218108494917966 Centerline is valid? [True, True] Translation: X:178.13, Y:75.94, Z:-0.39 [[ 6.04460400e-01 -7.96634996e-01 -5.55547837e-04 1.78130808e+02] [ 7.96634663e-01 6.04460655e-01 -7.27674521e-04 7.59446901e+01] [ 9.15497799e-04 -2.71823208e-06 9.99999581e-01 -3.94373306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33576923100003 meters 0.012616836736692954 Centerline is valid? [True, True] Translation: X:178.15, Y:75.97, Z:-0.40 [[ 6.04033745e-01 -7.96957094e-01 -1.62065344e-03 1.78147186e+02] [ 7.96954269e-01 6.04035919e-01 -2.12186280e-03 7.59654187e+01] [ 2.66996650e-03 -9.90994022e-06 9.99996436e-01 -3.97615139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.365769231 meters 0.012531697046619232 Centerline is valid? [True, True] Translation: X:178.16, Y:75.99, Z:-0.40 [[ 6.04281638e-01 -7.96768266e-01 -2.00812107e-03 1.78161443e+02] [ 7.96763924e-01 6.04284975e-01 -2.63052462e-03 7.59877934e+01] [ 3.30939593e-03 -1.04206977e-05 9.99994524e-01 -3.98237619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.395769231 meters 0.01199173655399724 Centerline is valid? [True, True] Translation: X:178.18, Y:76.01, Z:-0.40 [[ 6.04706574e-01 -7.96447431e-01 -1.20361962e-03 1.78175889e+02] [ 7.96445869e-01 6.04707772e-01 -1.57762984e-03 7.60103541e+01] [ 1.98433737e-03 -4.61474078e-06 9.99998031e-01 -3.96052187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.425769231 meters 0.011453961841724546 Centerline is valid? [True, True] Translation: X:178.19, Y:76.03, Z:-0.39 [[ 6.06729155e-01 -7.94908613e-01 -1.72027644e-04 1.78187806e+02] [ 7.94908581e-01 6.06729179e-01 -2.26038931e-04 7.60337403e+01] [ 2.84054485e-04 3.98159164e-07 9.99999960e-01 -3.93173595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.455769231 meters 0.011603137311037062 Centerline is valid? [True, True] Translation: X:178.20, Y:76.06, Z:-0.39 [[ 6.07613367e-01 -7.94232887e-01 -3.43529630e-04 1.78202673e+02] [ 7.94232759e-01 6.07613464e-01 -4.51170154e-04 7.60567186e+01] [ 5.67067402e-04 1.29453071e-06 9.99999839e-01 -3.93658534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.485769231 meters 0.011961076625641913 Centerline is valid? [True, True] Translation: X:178.22, Y:76.08, Z:-0.39 [[ 6.08418833e-01 -7.93615867e-01 -6.16294539e-04 1.78217439e+02] [ 7.93615454e-01 6.08419145e-01 -8.09150531e-04 7.60795444e+01] [ 1.01712010e-03 3.20155069e-06 9.99999483e-01 -3.94470764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.515769231 meters 0.012745650197265805 Centerline is valid? [True, True] Translation: X:178.23, Y:76.10, Z:-0.39 [[ 6.09781266e-01 -7.92569503e-01 -6.24277618e-04 1.78230589e+02] [ 7.92569079e-01 6.09781586e-01 -8.19730785e-04 7.61028686e+01] [ 1.03036662e-03 5.07333979e-06 9.99999469e-01 -3.94838976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.545769231 meters 0.013111780392098704 Centerline is valid? [True, True] Translation: X:178.25, Y:76.13, Z:-0.39 [[ 6.10282257e-01 -7.92183878e-01 -5.19680707e-04 1.78245100e+02] [ 7.92183584e-01 6.10282478e-01 -6.82946311e-04 7.61254440e+01] [ 8.58171087e-04 5.10749050e-06 9.99999632e-01 -3.93756835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.575769231 meters 0.013902785801261718 Centerline is valid? [True, True] Translation: X:178.26, Y:76.15, Z:-0.39 [[ 6.11393697e-01 -7.91326240e-01 7.27673291e-04 1.78257506e+02] [ 7.91325663e-01 6.11394130e-01 9.54910704e-04 7.61500571e+01] [-1.20054108e-03 -7.99983619e-06 9.99999279e-01 -3.89751152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.605769231 meters 0.014531844200341948 Centerline is valid? [True, True] Translation: X:178.27, Y:76.17, Z:-0.39 [[ 6.11911952e-01 -7.90924179e-01 1.64505187e-03 1.78271242e+02] [ 7.90921228e-01 6.11914163e-01 2.16065832e-03 7.61730929e+01] [-2.71554744e-03 -2.10261997e-05 9.99996313e-01 -3.87251443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.635769231 meters 0.014629253233553418 Centerline is valid? [True, True] Translation: X:178.29, Y:76.20, Z:-0.39 [[ 6.12231033e-01 -7.90675592e-01 2.29593799e-03 1.78286442e+02] [ 7.90669835e-01 6.12235337e-01 3.01723175e-03 7.61958193e+01] [-3.79130587e-03 -3.19139951e-05 9.99992812e-01 -3.86108330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.665769231 meters 0.015200429115239196 Centerline is valid? [True, True] Translation: X:178.30, Y:76.22, Z:-0.39 [[ 6.11896125e-01 -7.90934016e-01 2.55235487e-03 1.78298842e+02] [ 7.90926897e-01 6.11901448e-01 3.35583878e-03 7.62192422e+01] [-4.21603669e-03 -3.46986283e-05 9.99991112e-01 -3.86077860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.695769231 meters 0.014509687755993756 Centerline is valid? [True, True] Translation: X:178.31, Y:76.24, Z:-0.39 [[ 6.11277609e-01 -7.91412301e-01 2.50092430e-03 1.78314640e+02] [ 7.91405464e-01 6.11282724e-01 3.28969579e-03 7.62419300e+01] [-4.13227754e-03 -3.16722162e-05 9.99991462e-01 -3.86703472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72576923100002 meters 0.01357849740096483 Centerline is valid? [True, True] Translation: X:178.33, Y:76.27, Z:-0.39 [[ 6.10575942e-01 -7.91955171e-01 2.00644690e-03 1.78327886e+02] [ 7.91950770e-01 6.10579238e-01 2.64028119e-03 7.62654351e+01] [-3.31607916e-03 -2.30850094e-05 9.99994502e-01 -3.87002995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75576923100002 meters 0.013991346104127847 Centerline is valid? [True, True] Translation: X:178.34, Y:76.29, Z:-0.39 [[ 6.10394165e-01 -7.92096940e-01 1.18373625e-03 1.78340944e+02] [ 7.92095407e-01 6.10395313e-01 1.55808142e-03 7.62889672e+01] [-1.95669859e-03 -1.34117602e-05 9.99998086e-01 -3.88918248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78576923100002 meters 0.014552601465893076 Centerline is valid? [True, True] Translation: X:178.35, Y:76.31, Z:-0.39 [[ 6.10473071e-01 -7.92036986e-01 2.06643082e-04 1.78354205e+02] [ 7.92036939e-01 6.10473106e-01 2.71433911e-04 7.63118004e+01] [-3.41135741e-04 -2.03413859e-06 9.99999942e-01 -3.91967527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81576923100002 meters 0.01457211918957772 Centerline is valid? [True, True] Translation: X:178.37, Y:76.34, Z:-0.39 [[ 6.10220358e-01 -7.92231710e-01 -1.81094282e-04 1.78366971e+02] [ 7.92231674e-01 6.10220384e-01 -2.39480147e-04 7.63357683e+01] [ 3.00231189e-04 2.66703465e-06 9.99999955e-01 -3.93792665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84576923100002 meters 0.012654326716309994 Centerline is valid? [True, True] Translation: X:178.38, Y:76.36, Z:-0.39 [[ 6.08494748e-01 -7.93557707e-01 5.54395392e-04 1.78383389e+02] [ 7.93557371e-01 6.08495001e-01 7.30228144e-04 7.63571112e+01] [-9.16824996e-04 -4.39544068e-06 9.99999580e-01 -3.91917554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87576923100002 meters 0.011903970534841516 Centerline is valid? [True, True] Translation: X:178.40, Y:76.38, Z:-0.39 [[ 6.06682377e-01 -7.94944256e-01 3.50435948e-04 1.78400063e+02] [ 7.94944123e-01 6.06682478e-01 4.61473889e-04 7.63772927e+01] [-5.79449367e-04 -1.39107862e-06 9.99999832e-01 -3.92398184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90576923100002 meters 0.011437791650355024 Centerline is valid? [True, True] Translation: X:178.42, Y:76.40, Z:-0.39 [[ 6.04600439e-01 -7.96528909e-01 7.75673440e-05 1.78418938e+02] [ 7.96528902e-01 6.04600444e-01 1.01612394e-04 7.63965559e+01] [-1.27834460e-04 3.49733525e-07 9.99999992e-01 -3.93023995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93576923100002 meters 0.012367683627198027 Centerline is valid? [True, True] Translation: X:178.44, Y:76.41, Z:-0.39 [[ 6.00277953e-01 -7.99791447e-01 -1.40791749e-04 1.78442141e+02] [ 7.99791425e-01 6.00277970e-01 -1.86706740e-04 7.64123930e+01] [ 2.33840639e-04 -5.28093882e-07 9.99999973e-01 -3.94287380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96576923100002 meters 0.013477477220158863 Centerline is valid? [True, True] Translation: X:178.46, Y:76.43, Z:-0.39 [[ 5.98381718e-01 -8.01211156e-01 5.20790627e-05 1.78460220e+02] [ 8.01211154e-01 5.98381720e-01 6.79985853e-05 7.64310805e+01] [-8.56443844e-05 1.03721563e-06 9.99999996e-01 -3.94028071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99576923100003 meters 0.014866455330145328 Centerline is valid? [True, True] Translation: X:178.48, Y:76.45, Z:-0.39 [[ 5.97054002e-01 -8.02200407e-01 1.01284169e-03 1.78478503e+02] [ 8.02199291e-01 5.97054861e-01 1.33780832e-03 7.64494468e+01] [-1.67791243e-03 1.37570697e-05 9.99998592e-01 -3.90699155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02576923100003 meters 0.013560361129212174 Centerline is valid? [True, True] Translation: X:178.49, Y:76.47, Z:-0.39 [[ 5.97521452e-01 -8.01852026e-01 1.20108170e-03 1.78493196e+02] [ 8.01850455e-01 5.97522659e-01 1.58742552e-03 7.64729682e+01] [-1.99055390e-03 1.45671077e-05 9.99998019e-01 -3.89873269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05576923100003 meters 0.012954624284515404 Centerline is valid? [True, True] Translation: X:178.51, Y:76.49, Z:-0.39 [[ 5.98251267e-01 -8.01308205e-01 7.62857398e-04 1.78507711e+02] [ 8.01307571e-01 5.98251753e-01 1.00839635e-03 7.64948768e+01] [-1.26441704e-03 8.00901445e-06 9.99999201e-01 -3.91021142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08576923100003 meters 0.012456443352933362 Centerline is valid? [True, True] Translation: X:178.52, Y:76.52, Z:-0.39 [[ 5.99172652e-01 -8.00619836e-01 1.08883381e-04 1.78520493e+02] [ 8.00619823e-01 5.99172662e-01 1.43309224e-04 7.65175873e+01] [-1.79976153e-04 1.30722547e-06 9.99999984e-01 -3.94864213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.115769231 meters 0.01234110396849672 Centerline is valid? [True, True] Translation: X:178.54, Y:76.54, Z:-0.40 [[ 5.99175822e-01 -8.00617453e-01 1.67422398e-04 1.78536127e+02] [ 8.00617423e-01 5.99175845e-01 2.20929667e-04 7.65402472e+01] [-2.77195604e-04 1.66557375e-06 9.99999962e-01 -3.95028362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.145769231 meters 0.012705348668172583 Centerline is valid? [True, True] Translation: X:178.55, Y:76.56, Z:-0.39 [[ 5.98359355e-01 -8.01227811e-01 2.76281664e-04 1.78553574e+02] [ 8.01227728e-01 5.98359419e-01 3.65205852e-04 7.65604844e+01] [-4.57928821e-04 2.84019240e-06 9.99999895e-01 -3.93970140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.175769231 meters 0.01323420798007951 Centerline is valid? [True, True] Translation: X:178.57, Y:76.58, Z:-0.39 [[ 5.97813139e-01 -8.01635480e-01 8.88470081e-05 1.78570584e+02] [ 8.01635472e-01 5.97813145e-01 1.16958954e-04 7.65802965e+01] [-1.46872357e-04 1.30331387e-06 9.99999989e-01 -3.94682498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.205769231 meters 0.014215871982936126 Centerline is valid? [True, True] Translation: X:178.59, Y:76.60, Z:-0.39 [[ 5.96392051e-01 -8.02692960e-01 7.30377695e-04 1.78586502e+02] [ 8.02692377e-01 5.96392498e-01 9.67670590e-04 7.66013862e+01] [-1.21233415e-03 9.15756007e-06 9.99999265e-01 -3.93721415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.235769231 meters 0.014085633413606595 Centerline is valid? [True, True] Translation: X:178.60, Y:76.62, Z:-0.39 [[ 5.95992861e-01 -8.02988512e-01 1.39964301e-03 1.78601051e+02] [ 8.02986367e-01 5.95994504e-01 1.85599282e-03 7.66227933e+01] [-2.32452046e-03 1.77357794e-05 9.99997298e-01 -3.91936977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.265769231 meters 0.014513782142496134 Centerline is valid? [True, True] Translation: X:178.62, Y:76.64, Z:-0.39 [[ 5.95417293e-01 -8.03414637e-01 1.77988352e-03 1.78616816e+02] [ 8.03411167e-01 5.95419953e-01 2.36158103e-03 7.66436323e+01] [-2.95710693e-03 2.38521132e-05 9.99995627e-01 -3.90969121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.295769231 meters 0.016218568344286546 Centerline is valid? [True, True] Translation: X:178.64, Y:76.66, Z:-0.39 [[ 5.93734416e-01 -8.04660182e-01 1.19813963e-03 1.78636664e+02] [ 8.04658610e-01 5.93735625e-01 1.59021502e-03 7.66612123e+01] [-1.99096089e-03 1.99279811e-05 9.99998018e-01 -3.92790911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.325769231 meters 0.017529960628037845 Centerline is valid? [True, True] Translation: X:178.65, Y:76.68, Z:-0.39 [[ 5.92695787e-01 -8.05426140e-01 6.60568675e-04 1.78654923e+02] [ 8.05425663e-01 5.92696155e-01 8.76845653e-04 7.66795735e+01] [-1.09775092e-03 1.23362381e-05 9.99999397e-01 -3.94549257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.355769231 meters 0.019271679870319216 Centerline is valid? [True, True] Translation: X:178.68, Y:76.70, Z:-0.40 [[ 5.89831840e-01 -8.07526084e-01 -1.56839980e-04 1.78676256e+02] [ 8.07526057e-01 5.89831861e-01 -2.09113334e-04 7.66987626e+01] [ 2.61373689e-04 -3.31066813e-06 9.99999966e-01 -3.96907733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.385769231 meters 0.022117299004817757 Centerline is valid? [True, True] Translation: X:178.70, Y:76.72, Z:-0.40 [[ 5.88578525e-01 -8.08439801e-01 -6.38625927e-04 1.78697154e+02] [ 8.08439355e-01 5.88578871e-01 -8.49575656e-04 7.67160585e+01] [ 1.06271250e-03 -1.62483461e-05 9.99999435e-01 -3.98751605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.415769231 meters 0.021902613154148775 Centerline is valid? [True, True] Translation: X:178.72, Y:76.74, Z:-0.40 [[ 5.87428497e-01 -8.09275729e-01 -7.45484348e-04 1.78717642e+02] [ 8.09275121e-01 5.87428969e-01 -9.92241777e-04 7.67351504e+01] [ 1.24091629e-03 -2.04308400e-05 9.99999230e-01 -3.98361469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.445769231 meters 0.023881293371223727 Centerline is valid? [True, True] Translation: X:178.74, Y:76.75, Z:-0.40 [[ 5.87480423e-01 -8.09238362e-01 -1.61760407e-04 1.78736466e+02] [ 8.09238333e-01 5.87480445e-01 -2.16136728e-04 7.67528760e+01] [ 2.69937208e-04 -3.92662600e-06 9.99999964e-01 -3.97312019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47576923100002 meters 0.020874233930355805 Centerline is valid? [True, True] Translation: X:178.75, Y:76.78, Z:-0.39 [[ 5.88023850e-01 -8.08843389e-01 5.69775706e-04 1.78749884e+02] [ 8.08843034e-01 5.88024126e-01 7.57711138e-04 7.67761939e+01] [-9.47911506e-04 1.53068902e-05 9.99999551e-01 -3.94068334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50576923100002 meters 0.01813618075654829 Centerline is valid? [True, True] Translation: X:178.76, Y:76.80, Z:-0.39 [[ 5.91327711e-01 -8.06430900e-01 8.61099952e-04 1.78764714e+02] [ 8.06430086e-01 5.91328338e-01 1.14614584e-03 7.67984260e+01] [-1.43348022e-03 1.66691136e-05 9.99998972e-01 -3.92877465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53576923100002 meters 0.01509263301840943 Centerline is valid? [True, True] Translation: X:178.78, Y:76.82, Z:-0.39 [[ 5.93291283e-01 -8.04987665e-01 5.59889106e-04 1.78778194e+02] [ 8.04987320e-01 5.93291547e-01 7.45289307e-04 7.68219542e+01] [-9.32126173e-04 8.52998241e-06 9.99999566e-01 -3.94781369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56576923100002 meters 0.012217760351904647 Centerline is valid? [True, True] Translation: X:178.79, Y:76.85, Z:-0.40 [[ 5.97095058e-01 -8.02170474e-01 -1.48073181e-04 1.78791888e+02] [ 8.02170450e-01 5.97095076e-01 -1.98165393e-04 7.68458650e+01] [ 2.47376195e-04 -4.56353541e-07 9.99999969e-01 -3.97267139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59576923100002 meters 0.011695937238278947 Centerline is valid? [True, True] Translation: X:178.81, Y:76.87, Z:-0.40 [[ 5.98617762e-01 -8.01034718e-01 -3.95984251e-04 1.78806527e+02] [ 8.01034543e-01 5.98617893e-01 -5.28940442e-04 7.68680840e+01] [ 6.60742915e-04 -5.63919837e-07 9.99999782e-01 -3.98186250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62576923100002 meters 0.011542092319797668 Centerline is valid? [True, True] Translation: X:178.82, Y:76.89, Z:-0.40 [[ 5.99877252e-01 -8.00091950e-01 -3.92574954e-04 1.78821070e+02] [ 8.00091778e-01 5.99877380e-01 -5.24682400e-04 7.68896857e+01] [ 6.55291000e-04 6.49043585e-07 9.99999785e-01 -3.97817475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65576923100002 meters 0.011827146189843304 Centerline is valid? [True, True] Translation: X:178.84, Y:76.91, Z:-0.40 [[ 6.01430083e-01 -7.98925398e-01 2.53717918e-04 1.78837741e+02] [ 7.98925326e-01 6.01430137e-01 3.37935945e-04 7.69110321e+01] [-4.22579211e-04 -5.43173407e-07 9.99999911e-01 -3.96817482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68576923100002 meters 0.011851312443855632 Centerline is valid? [True, True] Translation: X:178.86, Y:76.93, Z:-0.40 [[ 6.01581675e-01 -7.98811117e-01 5.37073113e-04 1.78855213e+02] [ 7.98810795e-01 6.01581914e-01 7.16506842e-04 7.69317868e+01] [-8.95447102e-04 -2.01758521e-06 9.99999599e-01 -3.96887121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71576923100002 meters 0.012050208255295547 Centerline is valid? [True, True] Translation: X:178.87, Y:76.95, Z:-0.40 [[ 6.01541174e-01 -7.98841771e-01 2.02639028e-04 1.78872302e+02] [ 7.98841725e-01 6.01541208e-01 2.69933931e-04 7.69515833e+01] [-3.37530225e-04 -4.99862421e-07 9.99999943e-01 -3.97950640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74576923100003 meters 0.012267872282143603 Centerline is valid? [True, True] Translation: X:178.89, Y:76.97, Z:-0.40 [[ 6.01717912e-01 -7.98708669e-01 -1.28599382e-04 1.78886950e+02] [ 7.98708650e-01 6.01717926e-01 -1.72814228e-04 7.69717835e+01] [ 2.15408775e-04 1.27197716e-06 9.99999977e-01 -3.98442326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77576923100003 meters 0.012599314569588075 Centerline is valid? [True, True] Translation: X:178.90, Y:76.99, Z:-0.40 [[ 6.01916814e-01 -7.98558786e-01 -1.24636146e-04 1.78901212e+02] [ 7.98558768e-01 6.01916826e-01 -1.67575293e-04 7.69924156e+01] [ 2.08839316e-04 1.33709881e-06 9.99999978e-01 -3.98680910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80576923100003 meters 0.012998258055331651 Centerline is valid? [True, True] Translation: X:178.92, Y:77.01, Z:-0.40 [[ 6.02713422e-01 -7.97957094e-01 1.00398965e-03 1.78915679e+02] [ 7.97955964e-01 6.02714258e-01 1.34274957e-03 7.70146275e+01] [-1.67657542e-03 -8.15365580e-06 9.99998595e-01 -3.95210592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83576923100003 meters 0.013219193439586415 Centerline is valid? [True, True] Translation: X:178.93, Y:77.04, Z:-0.39 [[ 6.02856299e-01 -7.97848367e-01 1.50539120e-03 1.78930350e+02] [ 7.97845823e-01 6.02858179e-01 2.01473016e-03 7.70367744e+01] [-2.51498656e-03 -1.35226870e-05 9.99996837e-01 -3.93770933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.865769231 meters 0.013215732546508568 Centerline is valid? [True, True] Translation: X:178.94, Y:77.06, Z:-0.39 [[ 6.02706858e-01 -7.97961182e-01 1.54760896e-03 1.78944060e+02] [ 7.97958491e-01 6.02708845e-01 2.07227826e-03 7.70576640e+01] [-2.58635521e-03 -1.40486103e-05 9.99996655e-01 -3.94283961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.895769231 meters 0.012944067787100342 Centerline is valid? [True, True] Translation: X:178.96, Y:77.08, Z:-0.39 [[ 6.02242373e-01 -7.98312376e-01 1.21469058e-03 1.78960410e+02] [ 7.98310717e-01 6.02243598e-01 1.62714422e-03 7.70792998e+01] [-2.03050899e-03 -1.02346923e-05 9.99997938e-01 -3.94487665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.925769231 meters 0.012944067787100342 Centerline is valid? [True, True] Translation: X:178.98, Y:77.10, Z:-0.39 [[ 6.02071631e-01 -7.98441154e-01 1.21434240e-03 1.78976158e+02] [ 7.98439496e-01 6.02072856e-01 1.62740402e-03 7.71008129e+01] [-2.03050894e-03 -1.02348566e-05 9.99997938e-01 -3.94544911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.955769231 meters 0.013029340908248607 Centerline is valid? [True, True] Translation: X:178.99, Y:77.12, Z:-0.40 [[ 6.01606862e-01 -7.98791660e-01 1.03299649e-03 1.78990744e+02] [ 7.98790460e-01 6.01607749e-01 1.38486858e-03 7.71222749e+01] [-1.72768017e-03 -7.99869590e-06 9.99998508e-01 -3.95226018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.985769231 meters 0.011843458887632106 Centerline is valid? [True, True] Translation: X:179.01, Y:77.14, Z:-0.40 [[ 5.99495967e-01 -8.00377401e-01 7.75469118e-04 1.79008080e+02] [ 8.00376726e-01 5.99496469e-01 1.03991767e-03 7.71432928e+01] [-1.29721760e-03 -2.75901397e-06 9.99999159e-01 -3.96108725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.015769231 meters 0.011587186327943718 Centerline is valid? [True, True] Translation: X:179.03, Y:77.16, Z:-0.40 [[ 5.97820673e-01 -8.01629577e-01 6.81221354e-04 1.79025334e+02] [ 8.01629056e-01 5.97821061e-01 9.13845958e-04 7.71639101e+01] [-1.13981442e-03 -2.29174932e-07 9.99999350e-01 -3.96695619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.045769231 meters 0.012451243043995785 Centerline is valid? [True, True] Translation: X:179.05, Y:77.18, Z:-0.40 [[ 5.93563739e-01 -8.04785932e-01 1.30078382e-03 1.79046452e+02] [ 8.04784037e-01 5.93565164e-01 1.74647548e-03 7.71814796e+01] [-2.17763886e-03 1.02055383e-05 9.99997629e-01 -3.95788022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.075769231 meters 0.0140357811049084 Centerline is valid? [True, True] Translation: X:179.07, Y:77.20, Z:-0.39 [[ 5.91070743e-01 -8.06618128e-01 1.60376883e-03 1.79065920e+02] [ 8.06615251e-01 5.91072918e-01 2.15443514e-03 7.72002471e+01] [-2.68575076e-03 2.02008214e-05 9.99996393e-01 -3.94934479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.105769231 meters 0.016172499750194972 Centerline is valid? [True, True] Translation: X:179.09, Y:77.22, Z:-0.40 [[ 5.88669150e-01 -8.08372338e-01 1.67183276e-03 1.79085581e+02] [ 8.08369216e-01 5.88671523e-01 2.24687611e-03 7.72193889e+01] [-2.80047283e-03 2.87914886e-05 9.99996078e-01 -3.95306288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.135769231 meters 0.019574224006858494 Centerline is valid? [True, True] Translation: X:179.11, Y:77.24, Z:-0.40 [[ 5.85617037e-01 -8.10587769e-01 3.93184072e-04 1.79107149e+02] [ 8.10587597e-01 5.85617169e-01 5.28044317e-04 7.72364161e+01] [-6.58281608e-04 9.47838311e-06 9.99999783e-01 -3.99140929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.165769231 meters 0.020064450238040876 Centerline is valid? [True, True] Translation: X:179.12, Y:77.26, Z:-0.40 [[ 5.84475113e-01 -8.11411634e-01 5.19558119e-05 1.79124494e+02] [ 8.11411631e-01 5.84475115e-01 6.91398849e-05 7.72574851e+01] [-8.64677861e-05 1.74700801e-06 9.99999996e-01 -3.99952425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.195769231 meters 0.022560740853886933 Centerline is valid? [True, True] Translation: X:179.14, Y:77.28, Z:-0.40 [[ 5.82493413e-01 -8.12835420e-01 5.53093269e-05 1.79144314e+02] [ 8.12835417e-01 5.82493416e-01 7.36505507e-05 7.72756994e+01] [-9.20830952e-05 2.05641917e-06 9.99999996e-01 -3.98921305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22576923100002 meters 0.023314512707944265 Centerline is valid? [True, True] Translation: X:179.16, Y:77.30, Z:-0.40 [[ 5.81305172e-01 -8.13685533e-01 3.88336269e-04 1.79162273e+02] [ 8.13685365e-01 5.81305301e-01 5.22274997e-04 7.72957392e+01] [-6.50709541e-04 1.23823819e-05 9.99999788e-01 -3.97805140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25576923100002 meters 0.02458278094488738 Centerline is valid? [True, True] Translation: X:179.18, Y:77.31, Z:-0.40 [[ 5.80225563e-01 -8.14455609e-01 5.97326828e-04 1.79181028e+02] [ 8.14455212e-01 5.80225870e-01 8.04099825e-04 7.73144183e+01] [-1.00148809e-03 1.99366745e-05 9.99999498e-01 -3.96819707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28576923100002 meters 0.027152669730829644 Centerline is valid? [True, True] Translation: X:179.20, Y:77.33, Z:-0.40 [[ 5.78312967e-01 -8.15814402e-01 9.87030597e-04 1.79203247e+02] [ 8.15813319e-01 5.78313808e-01 1.32985933e-03 7.73304485e+01] [-1.65573181e-03 3.61578143e-05 9.99998629e-01 -3.96923089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31576923100002 meters 0.026913515571070926 Centerline is valid? [True, True] Translation: X:179.22, Y:77.35, Z:-0.40 [[ 5.77785541e-01 -8.16187819e-01 1.14528573e-03 1.79220804e+02] [ 8.16186360e-01 5.77786675e-01 1.54392194e-03 7.73506777e+01] [-1.92186112e-03 4.27108190e-05 9.99998152e-01 -3.97421814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34576923100002 meters 0.028336091848897196 Centerline is valid? [True, True] Translation: X:179.24, Y:77.37, Z:-0.40 [[ 5.77946293e-01 -8.16073690e-01 1.34723360e-03 1.79240053e+02] [ 8.16071668e-01 5.77947861e-01 1.81721317e-03 7.73681005e+01] [-2.26161063e-03 4.91875520e-05 9.99997441e-01 -3.96245001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37576923100002 meters 0.026258233265104052 Centerline is valid? [True, True] Translation: X:179.26, Y:77.39, Z:-0.39 [[ 5.79262252e-01 -8.15137306e-01 2.53320268e-03 1.79258703e+02] [ 8.15130138e-01 5.79267784e-01 3.41930352e-03 7.73880399e+01] [-4.25460456e-03 8.42163984e-05 9.99990946e-01 -3.91701000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40576923100002 meters 0.023835559245873494 Centerline is valid? [True, True] Translation: X:179.27, Y:77.41, Z:-0.39 [[ 5.79723065e-01 -8.14809491e-01 2.58096837e-03 1.79273133e+02] [ 8.14802041e-01 5.79728804e-01 3.48540386e-03 7.74098724e+01] [-4.33620185e-03 8.24092851e-05 9.99990595e-01 -3.91581038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43576923100002 meters 0.022110234032419403 Centerline is valid? [True, True] Translation: X:179.29, Y:77.43, Z:-0.39 [[ 5.80843323e-01 -8.14013482e-01 1.75660018e-03 1.79290509e+02] [ 8.14010025e-01 5.80845977e-01 2.37303289e-03 7.74307963e+01] [-2.95199492e-03 5.15298492e-05 9.99995642e-01 -3.94743690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46576923100002 meters 0.022353214824179183 Centerline is valid? [True, True] Translation: X:179.31, Y:77.45, Z:-0.39 [[ 5.81635159e-01 -8.13447998e-01 1.70181804e-03 1.79307988e+02] [ 8.13444747e-01 5.81637647e-01 2.30008172e-03 7.74498385e+01] [-2.86083831e-03 4.65265464e-05 9.99995907e-01 -3.94828526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49576923100003 meters 0.021369028833407737 Centerline is valid? [True, True] Translation: X:179.32, Y:77.47, Z:-0.39 [[ 5.82593709e-01 -8.12761511e-01 1.81595680e-03 1.79323447e+02] [ 8.12757802e-01 5.82596537e-01 2.45567186e-03 7.74701828e+01] [-3.05384571e-03 4.52740816e-05 9.99995336e-01 -3.94154307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52576923100003 meters 0.017752398109263344 Centerline is valid? [True, True] Translation: X:179.34, Y:77.49, Z:-0.39 [[ 5.84673779e-01 -8.11263969e-01 2.71012220e-03 1.79337162e+02] [ 8.11255684e-01 5.84680057e-01 3.66692902e-03 7.74945156e+01] [-4.55940179e-03 5.46447950e-05 9.99989604e-01 -3.92528209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55576923100003 meters 0.016362234880103223 Centerline is valid? [True, True] Translation: X:179.35, Y:77.52, Z:-0.39 [[ 5.85643500e-01 -8.10564346e-01 2.67055217e-03 1.79351390e+02] [ 8.10556286e-01 5.85649587e-01 3.61504881e-03 7.75169175e+01] [-4.49423745e-03 4.75030159e-05 9.99989900e-01 -3.92937822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58576923100003 meters 0.014392740683691998 Centerline is valid? [True, True] Translation: X:179.36, Y:77.54, Z:-0.40 [[ 5.87698521e-01 -8.09079270e-01 1.08822296e-03 1.79364119e+02] [ 8.09077928e-01 5.87699528e-01 1.47333158e-03 7.75407462e+01] [-1.83159016e-03 1.45823880e-05 9.99998323e-01 -3.97771977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.615769231 meters 0.013526433606893368 Centerline is valid? [True, True] Translation: X:179.38, Y:77.56, Z:-0.40 [[ 5.88679442e-01 -8.08366554e-01 1.70509854e-04 1.79377770e+02] [ 8.08366521e-01 5.88679467e-01 2.30281102e-04 7.75648164e+01] [-2.86527191e-04 2.27270700e-06 9.99999959e-01 -4.00238860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.645769231 meters 0.013065700619644589 Centerline is valid? [True, True] Translation: X:179.39, Y:77.59, Z:-0.40 [[ 5.89878681e-01 -8.07491719e-01 -5.16047121e-04 1.79390697e+02] [ 8.07491415e-01 5.89878906e-01 -7.00673880e-04 7.75870818e+01] [ 8.70193667e-04 -3.39103589e-06 9.99999621e-01 -4.02741275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.675769231 meters 0.011923454173443317 Centerline is valid? [True, True] Translation: X:179.40, Y:77.61, Z:-0.40 [[ 5.92138251e-01 -8.05836369e-01 -1.95893976e-04 1.79401405e+02] [ 8.05836324e-01 5.92138284e-01 -2.66621950e-04 7.76121115e+01] [ 3.30849987e-04 1.85734941e-08 9.99999945e-01 -4.01001303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.705769231 meters 0.011826940378396343 Centerline is valid? [True, True] Translation: X:179.42, Y:77.63, Z:-0.40 [[ 5.91946430e-01 -8.05977213e-01 3.94989796e-04 1.79415990e+02] [ 8.05977036e-01 5.91946561e-01 5.35300029e-04 7.76349936e+01] [-6.65252477e-04 1.48376428e-06 9.99999779e-01 -3.99373436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.735769231 meters 0.013063044049134009 Centerline is valid? [True, True] Translation: X:179.43, Y:77.65, Z:-0.40 [[ 5.89169173e-01 -8.08009359e-01 7.49708329e-04 1.79434541e+02] [ 8.08008718e-01 5.89169650e-01 1.01721715e-03 7.76535077e+01] [-1.26362637e-03 6.45788075e-06 9.99999202e-01 -3.99991847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.765769231 meters 0.014871942771467752 Centerline is valid? [True, True] Translation: X:179.46, Y:77.67, Z:-0.40 [[ 5.86406340e-01 -8.10016711e-01 7.29628653e-04 1.79455447e+02] [ 8.10016106e-01 5.86406793e-01 9.90473317e-04 7.76719718e+01] [-1.23015914e-03 1.01911274e-05 9.99999243e-01 -4.00607708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.795769231 meters 0.01809139419292298 Centerline is valid? [True, True] Translation: X:179.48, Y:77.69, Z:-0.40 [[ 5.82919808e-01 -8.12529252e-01 8.43622656e-04 1.79478530e+02] [ 8.12528444e-01 5.82920418e-01 1.14585337e-03 7.76885016e+01] [-1.42280425e-03 1.75267780e-05 9.99998988e-01 -4.00476984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.825769231 meters 0.028297846904681647 Centerline is valid? [True, True] Translation: X:179.51, Y:77.70, Z:-0.40 [[ 5.75643412e-01 -8.17700073e-01 1.11963755e-03 1.79512151e+02] [ 8.17698658e-01 5.75644499e-01 1.52167059e-03 7.76959673e+01] [-1.88878335e-03 3.95864750e-05 9.99998215e-01 -3.99940717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.855769231 meters 0.030324272369690115 Centerline is valid? [True, True] Translation: X:179.53, Y:77.71, Z:-0.40 [[ 5.72660282e-01 -8.19792510e-01 6.64737421e-04 1.79533895e+02] [ 8.19792013e-01 5.72660667e-01 9.03652115e-04 7.77130428e+01] [-1.12147621e-03 2.74607530e-05 9.99999371e-01 -4.01243226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.885769231 meters 0.03427177696994456 Centerline is valid? [True, True] Translation: X:179.56, Y:77.72, Z:-0.40 [[ 5.69411163e-01 -8.22052862e-01 1.43069462e-04 1.79563205e+02] [ 8.22052839e-01 5.69411181e-01 1.94086797e-04 7.77243231e+01] [-2.41014958e-04 7.09546857e-06 9.99999971e-01 -4.02742386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.915769231 meters 0.034548875496656264 Centerline is valid? [True, True] Translation: X:179.58, Y:77.74, Z:-0.40 [[ 5.69214175e-01 -8.22189245e-01 2.60753263e-04 1.79583440e+02] [ 8.22189169e-01 5.69214235e-01 3.54160243e-04 7.77425632e+01] [-4.39611212e-04 1.27954779e-05 9.99999903e-01 -4.01598403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.945769231 meters 0.030655291779656795 Centerline is valid? [True, True] Translation: X:179.60, Y:77.77, Z:-0.40 [[ 5.70063100e-01 -8.21600528e-01 7.96360322e-04 1.79598605e+02] [ 8.21599814e-01 5.70063655e-01 1.08397187e-03 7.77651190e+01] [-1.34456794e-03 3.63571256e-05 9.99999095e-01 -3.99822830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97576923100002 meters 0.025873880464502265 Centerline is valid? [True, True] Translation: X:179.61, Y:77.78, Z:-0.40 [[ 5.75074709e-01 -8.18098844e-01 1.83335191e-03 1.79614996e+02] [ 8.18095035e-01 5.75077628e-01 2.49718231e-03 7.77848681e+01] [-3.09726163e-03 6.37897018e-05 9.99995201e-01 -3.97014979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00576923100002 meters 0.021256616297596363 Centerline is valid? [True, True] Translation: X:179.63, Y:77.81, Z:-0.40 [[ 5.78661145e-01 -8.15565666e-01 1.98106540e-03 1.79629136e+02] [ 8.15561199e-01 5.78664533e-01 2.69974297e-03 7.78083140e+01] [-3.34818996e-03 5.34437149e-05 9.99994393e-01 -3.97033794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03576923100002 meters 0.012890877787473597 Centerline is valid? [True, True] Translation: X:179.64, Y:77.83, Z:-0.40 [[ 5.87482690e-01 -8.09235721e-01 1.27981620e-03 1.79637232e+02] [ 8.09233840e-01 5.87484083e-01 1.74459167e-03 7.78339581e+01] [-2.16365755e-03 1.07531704e-05 9.99997659e-01 -3.98040033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06576923100002 meters 0.011716050669010691 Centerline is valid? [True, True] Translation: X:179.65, Y:77.86, Z:-0.40 [[ 5.91921305e-01 -8.05995121e-01 1.01655446e-03 1.79645699e+02] [ 8.05993929e-01 5.91922178e-01 1.38625789e-03 7.78590413e+01] [-1.71903822e-03 -1.21885199e-06 9.99998522e-01 -3.98718705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09576923100002 meters 0.014092161514225548 Centerline is valid? [True, True] Translation: X:179.65, Y:77.89, Z:-0.40 [[ 5.96409407e-01 -8.02679749e-01 1.01972821e-03 1.79654787e+02] [ 8.02678543e-01 5.96410279e-01 1.39131737e-03 7.78863365e+01] [-1.72495866e-03 -1.12808162e-05 9.99998512e-01 -3.98793872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12576923100002 meters 0.021967118419524395 Centerline is valid? [True, True] Translation: X:179.66, Y:77.92, Z:-0.40 [[ 6.03444974e-01 -7.97402646e-01 1.78412447e-03 1.79657085e+02] [ 7.97398927e-01 6.03447609e-01 2.43581528e-03 7.79171346e+01] [-3.01895120e-03 -4.72215481e-05 9.99995442e-01 -3.96436652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15576923100002 meters 0.02472056670080974 Centerline is valid? [True, True] Translation: X:179.67, Y:77.94, Z:-0.40 [[ 6.05451892e-01 -7.95879301e-01 2.03572989e-03 1.79668332e+02] [ 7.95874447e-01 6.05455311e-01 2.78044337e-03 7.79425669e+01] [-3.44544080e-03 -6.32392971e-05 9.99994062e-01 -3.96065443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18576923100002 meters 0.02778863876563775 Centerline is valid? [True, True] Translation: X:179.68, Y:77.97, Z:-0.40 [[ 6.07471901e-01 -7.94339744e-01 1.50346287e-03 1.79675249e+02] [ 7.94337090e-01 6.07473759e-01 2.05415558e-03 7.79695082e+01] [-2.54501166e-03 -5.35854758e-05 9.99996760e-01 -3.97934417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21576923100002 meters 0.028650707500089665 Centerline is valid? [True, True] Translation: X:179.69, Y:77.99, Z:-0.40 [[ 6.07712605e-01 -7.94156561e-01 8.63183077e-04 1.79685771e+02] [ 7.94155686e-01 6.07713218e-01 1.17952517e-03 7.79927793e+01] [-1.46129542e-03 -3.13105667e-05 9.99998932e-01 -3.99826384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24576923100003 meters 0.026745158462335144 Centerline is valid? [True, True] Translation: X:179.70, Y:78.02, Z:-0.40 [[ 6.07911110e-01 -7.94005054e-01 2.37473637e-04 1.79701051e+02] [ 7.94004988e-01 6.07911156e-01 3.24110942e-04 7.80158199e+01] [-4.01708600e-04 -8.47539013e-06 9.99999919e-01 -4.00770764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27576923100003 meters 0.031309552375482885 Centerline is valid? [True, True] Translation: X:179.70, Y:78.05, Z:-0.40 [[ 6.09503630e-01 -7.92783276e-01 -5.73188171e-05 1.79704103e+02] [ 7.92783272e-01 6.09503632e-01 -7.91767980e-05 7.80473012e+01] [ 9.77060684e-05 2.81714639e-06 9.99999995e-01 -4.01602006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30576923100003 meters 0.03360051646553697 Centerline is valid? [True, True] Translation: X:179.71, Y:78.07, Z:-0.40 [[ 6.10794269e-01 -7.91789296e-01 2.67633925e-04 1.79712398e+02] [ 7.91789212e-01 6.10794328e-01 3.65688140e-04 7.80744065e+01] [-4.53017238e-04 -1.14505653e-05 9.99999897e-01 -4.00435172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33576923100003 meters 0.034584629919343836 Centerline is valid? [True, True] Translation: X:179.72, Y:78.10, Z:-0.40 [[ 6.13203341e-01 -7.89924152e-01 1.22372215e-03 1.79718365e+02] [ 7.89922377e-01 6.13204559e-01 1.67557628e-03 7.81046195e+01] [-2.07397017e-03 -6.08234671e-05 9.99997847e-01 -3.98364128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.365769231 meters 0.037916847047086595 Centerline is valid? [True, True] Translation: X:179.73, Y:78.13, Z:-0.40 [[ 6.13633726e-01 -7.89589514e-01 1.43188473e-03 1.79726302e+02] [ 7.89587081e-01 6.13635392e-01 1.96150414e-03 7.81323636e+01] [-2.42743825e-03 -7.30474133e-05 9.99997051e-01 -3.98129556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.395769231 meters 0.037690405107409 Centerline is valid? [True, True] Translation: X:179.74, Y:78.16, Z:-0.40 [[ 6.13220858e-01 -7.89910082e-01 1.49733705e-03 1.79737700e+02] [ 7.89907420e-01 6.13222682e-01 2.05206538e-03 7.81563279e+01] [-2.53914817e-03 -7.56116492e-05 9.99996773e-01 -3.97645676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.425769231 meters 0.033489394835788514 Centerline is valid? [True, True] Translation: X:179.76, Y:78.18, Z:-0.40 [[ 6.11828666e-01 -7.90988710e-01 1.59518205e-03 1.79755158e+02] [ 7.90985690e-01 6.11830741e-01 2.18720099e-03 7.81783741e+01] [-2.70603270e-03 -7.64260862e-05 9.99996336e-01 -3.97371046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.455769231 meters 0.02776054364383483 Centerline is valid? [True, True] Translation: X:179.77, Y:78.20, Z:-0.40 [[ 6.07061989e-01 -7.94651107e-01 2.31488436e-03 1.79770522e+02] [ 7.94644767e-01 6.07066396e-01 3.17560370e-03 7.82013689e+01] [-3.92878550e-03 -8.82775578e-05 9.99992278e-01 -3.95815177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.485769231 meters 0.025743169543435074 Centerline is valid? [True, True] Translation: X:179.78, Y:78.22, Z:-0.39 [[ 6.04723851e-01 -7.96430148e-01 2.84299575e-03 1.79784915e+02] [ 7.96420596e-01 6.04730526e-01 3.90199047e-03 7.82236421e+01] [-4.82690917e-03 -9.54063322e-05 9.99988346e-01 -3.93932956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.515769231 meters 0.022292679707581295 Centerline is valid? [True, True] Translation: X:179.80, Y:78.25, Z:-0.39 [[ 6.02003401e-01 -7.98484735e-01 3.74612110e-03 1.79798694e+02] [ 7.98468172e-01 6.02015047e-01 5.14407958e-03 7.82471129e+01] [-6.36269029e-03 -1.05594935e-04 9.99979752e-01 -3.91205337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.545769231 meters 0.021230300635861482 Centerline is valid? [True, True] Translation: X:179.81, Y:78.27, Z:-0.39 [[ 6.01161315e-01 -7.99119417e-01 3.63753665e-03 1.79812914e+02] [ 7.99103798e-01 6.01172312e-01 4.99716157e-03 7.82700273e+01] [-6.18011516e-03 -9.73308714e-05 9.99980898e-01 -3.91482486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.575769231 meters 0.02130064740477051 Centerline is valid? [True, True] Translation: X:179.83, Y:78.29, Z:-0.39 [[ 6.00683942e-01 -7.99480193e-01 3.19733456e-03 1.79825328e+02] [ 7.99468121e-01 6.00692445e-01 4.39433947e-03 7.82934131e+01] [-5.43380209e-03 -8.34421041e-05 9.99985233e-01 -3.92631709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.605769231 meters 0.02034052184907199 Centerline is valid? [True, True] Translation: X:179.84, Y:78.32, Z:-0.39 [[ 6.00112477e-01 -7.99911721e-01 2.50078633e-03 1.79839830e+02] [ 7.99904333e-01 6.00117685e-01 3.43841687e-03 7.83160858e+01] [-4.25119605e-03 -6.30470417e-05 9.99990962e-01 -3.94910274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.635769231 meters 0.019219510550739453 Centerline is valid? [True, True] Translation: X:179.85, Y:78.34, Z:-0.40 [[ 5.98676919e-01 -8.00989255e-01 1.46975000e-03 1.79853451e+02] [ 8.00986705e-01 5.98678723e-01 2.02140167e-03 7.83389189e+01] [-2.49902907e-03 -3.29163114e-05 9.99996877e-01 -3.97464102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.665769231 meters 0.018259249341002246 Centerline is valid? [True, True] Translation: X:179.87, Y:78.36, Z:-0.40 [[ 5.97762220e-01 -8.01672195e-01 1.42087871e-03 1.79869474e+02] [ 8.01669812e-01 5.97763908e-01 1.95507733e-03 7.83613698e+01] [-2.41668115e-03 -2.95958023e-05 9.99997079e-01 -3.97063591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.695769231 meters 0.015914766159627815 Centerline is valid? [True, True] Translation: X:179.89, Y:78.38, Z:-0.39 [[ 5.94649520e-01 -8.03981181e-01 2.49173475e-03 1.79885942e+02] [ 8.03973862e-01 5.94654739e-01 3.43064482e-03 7.83823880e+01] [-4.23989575e-03 -3.67416838e-05 9.99991011e-01 -3.93276457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72576923100002 meters 0.013896377075953967 Centerline is valid? [True, True] Translation: X:179.90, Y:78.40, Z:-0.39 [[ 5.92681929e-01 -8.05431655e-01 2.82491576e-03 1.79904049e+02] [ 8.05422256e-01 5.92688660e-01 3.89115714e-03 7.84025431e+01] [-4.80835667e-03 -3.09684863e-05 9.99988439e-01 -3.92565567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75576923100002 meters 0.012872150450896062 Centerline is valid? [True, True] Translation: X:179.92, Y:78.42, Z:-0.39 [[ 5.90780043e-01 -8.06827397e-01 2.91418783e-03 1.79921005e+02] [ 8.06817403e-01 5.90787230e-01 4.01596470e-03 7.84221247e+01] [-4.96185530e-03 -2.13343403e-05 9.99987690e-01 -3.93188311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78576923100002 meters 0.011919245161154982 Centerline is valid? [True, True] Translation: X:179.94, Y:78.44, Z:-0.40 [[ 5.87277973e-01 -8.09382931e-01 1.96286780e-03 1.79941980e+02] [ 8.09378408e-01 5.87281253e-01 2.70601214e-03 7.84391794e+01] [-3.34295550e-03 -4.78506226e-07 9.99994412e-01 -3.97258386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81576923100002 meters 0.01210626573529583 Centerline is valid? [True, True] Translation: X:179.96, Y:78.46, Z:-0.40 [[ 5.85583854e-01 -8.10610950e-01 1.19919546e-03 1.79960116e+02] [ 8.10609263e-01 5.85585082e-01 1.65369642e-03 7.84570584e+01] [-2.04273540e-03 3.70102713e-06 9.99997914e-01 -4.00018276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84576923100002 meters 0.01210626573529583 Centerline is valid? [True, True] Translation: X:179.98, Y:78.48, Z:-0.40 [[ 5.85402204e-01 -8.10742143e-01 1.19878497e-03 1.79975024e+02] [ 8.10740456e-01 5.85403431e-01 1.65399393e-03 7.84781495e+01] [-2.04273542e-03 3.65178457e-06 9.99997914e-01 -4.00073725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87576923100002 meters 0.0132904765381233 Centerline is valid? [True, True] Translation: X:180.00, Y:78.50, Z:-0.40 [[ 5.82673871e-01 -8.12705933e-01 -4.75694093e-04 1.79996766e+02] [ 8.12705667e-01 5.82674065e-01 -6.57716485e-04 7.84955862e+01] [ 8.11704701e-04 -3.36507509e-06 9.99999671e-01 -4.04138433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90576923100002 meters 0.014004692434312006 Centerline is valid? [True, True] Translation: X:180.01, Y:78.52, Z:-0.40 [[ 5.81438486e-01 -8.13590050e-01 -7.18793867e-04 1.80014324e+02] [ 8.13589443e-01 5.81438931e-01 -9.94022361e-04 7.85150074e+01] [ 1.22666144e-03 -6.84024457e-06 9.99999248e-01 -4.04735165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93576923100002 meters 0.014950809404189597 Centerline is valid? [True, True] Translation: X:180.03, Y:78.53, Z:-0.40 [[ 5.79945895e-01 -8.14654993e-01 2.85346622e-05 1.80034914e+02] [ 8.14654992e-01 5.79945896e-01 3.85491591e-05 7.85309518e+01] [-4.79528252e-05 8.89478427e-07 9.99999999e-01 -4.02801890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96576923100002 meters 0.01498005044129421 Centerline is valid? [True, True] Translation: X:180.05, Y:78.55, Z:-0.40 [[ 5.79095456e-01 -8.15259608e-01 4.72723353e-04 1.80053001e+02] [ 8.15259347e-01 5.79095649e-01 6.52943390e-04 7.85500919e+01] [-8.06070409e-04 7.27558161e-06 9.99999675e-01 -4.01581236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99576923100003 meters 0.016174686552929564 Centerline is valid? [True, True] Translation: X:180.07, Y:78.57, Z:-0.40 [[ 5.78322076e-01 -8.15808171e-01 7.77083865e-04 1.80072581e+02] [ 8.15807464e-01 5.78322598e-01 1.07444955e-03 7.85672347e+01] [-1.32594988e-03 1.25729216e-05 9.99999121e-01 -4.01305053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02576923100003 meters 0.017158533618541208 Centerline is valid? [True, True] Translation: X:180.10, Y:78.58, Z:-0.40 [[ 5.77109269e-01 -8.16666599e-01 7.47305534e-04 1.80095554e+02] [ 8.16665944e-01 5.77109752e-01 1.03386473e-03 7.85841541e+01] [-1.27560010e-03 1.36460624e-05 9.99999186e-01 -4.01477303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05576923100003 meters 0.017626089645906076 Centerline is valid? [True, True] Translation: X:180.12, Y:78.60, Z:-0.40 [[ 5.76641584e-01 -8.16996939e-01 6.97229209e-04 1.80115128e+02] [ 8.16996369e-01 5.76642005e-01 9.64920644e-04 7.86029298e+01] [-1.19038886e-03 1.32203634e-05 9.99999291e-01 -4.01965127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08576923100003 meters 0.017801510928559777 Centerline is valid? [True, True] Translation: X:180.13, Y:78.62, Z:-0.40 [[ 5.76428620e-01 -8.17147174e-01 7.36555203e-04 1.80133349e+02] [ 8.17146537e-01 5.76429091e-01 1.01986888e-03 7.86209886e+01] [-1.25795482e-03 1.39919202e-05 9.99999209e-01 -4.02100191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.115769231 meters 0.015332786223340267 Centerline is valid? [True, True] Translation: X:180.15, Y:78.64, Z:-0.40 [[ 5.78001720e-01 -8.16034745e-01 1.14325370e-03 1.80151207e+02] [ 8.16033207e-01 5.78002850e-01 1.58429205e-03 7.86406548e+01] [-1.95364125e-03 1.72094510e-05 9.99998091e-01 -4.00483960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.145769231 meters 0.01454812355365426 Centerline is valid? [True, True] Translation: X:180.17, Y:78.66, Z:-0.40 [[ 5.79302590e-01 -8.15111416e-01 1.37455672e-03 1.80166633e+02] [ 8.15109187e-01 5.79304220e-01 1.90597105e-03 7.86606038e+01] [-2.34986527e-03 1.62798475e-05 9.99997239e-01 -3.99139876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.175769231 meters 0.012795614957393484 Centerline is valid? [True, True] Translation: X:180.18, Y:78.68, Z:-0.40 [[ 5.80973905e-01 -8.13920777e-01 1.51354482e-03 1.80180262e+02] [ 8.13918068e-01 5.80975877e-01 2.09987304e-03 7.86837782e+01] [-2.58846332e-03 1.19300372e-05 9.99996650e-01 -3.98691997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.205769231 meters 0.011904282848169858 Centerline is valid? [True, True] Translation: X:180.19, Y:78.71, Z:-0.40 [[ 5.84349020e-01 -8.11501483e-01 1.25164873e-03 1.80194314e+02] [ 8.11499623e-01 5.84350360e-01 1.73719380e-03 7.87053931e+01] [-2.14113673e-03 5.84979566e-07 9.99997708e-01 -3.99496951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.235769231 meters 0.01236352113918252 Centerline is valid? [True, True] Translation: X:180.21, Y:78.73, Z:-0.40 [[ 5.86055630e-01 -8.10270206e-01 9.95590120e-04 1.80207787e+02] [ 8.10269027e-01 5.86056476e-01 1.38230697e-03 7.87266950e+01] [-1.70351419e-03 -3.41294208e-06 9.99998549e-01 -4.01043173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.265769231 meters 0.014872701035569324 Centerline is valid? [True, True] Translation: X:180.22, Y:78.75, Z:-0.40 [[ 5.89452057e-01 -8.07803213e-01 4.91933453e-04 1.80220832e+02] [ 8.07802924e-01 5.89452262e-01 6.82972558e-04 7.87498249e+01] [-8.41678714e-04 -5.19429778e-06 9.99999646e-01 -4.02804921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.295769231 meters 0.015459333664899239 Centerline is valid? [True, True] Translation: X:180.24, Y:78.77, Z:-0.40 [[ 5.91237659e-01 -8.06497289e-01 3.91900460e-04 1.80237025e+02] [ 8.06497105e-01 5.91237789e-01 5.44151442e-04 7.87713346e+01] [-6.70563024e-04 -5.65623800e-06 9.99999775e-01 -4.02825169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.325769231 meters 0.017773400838607848 Centerline is valid? [True, True] Translation: X:180.25, Y:78.79, Z:-0.40 [[ 5.93141987e-01 -8.05097792e-01 3.56805554e-04 1.80250680e+02] [ 8.05097640e-01 5.93142095e-01 4.95614851e-04 7.87949853e+01] [-6.10654816e-04 -6.70666838e-06 9.99999814e-01 -4.02739410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.355769231 meters 0.02039922798750019 Centerline is valid? [True, True] Translation: X:180.26, Y:78.82, Z:-0.40 [[ 5.94829196e-01 -8.03852094e-01 1.96226247e-04 1.80262651e+02] [ 8.03852048e-01 5.94829228e-01 2.72283161e-04 7.88182483e+01] [-3.35596497e-04 -4.22510325e-06 9.99999944e-01 -4.03382264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.385769231 meters 0.024809639119149688 Centerline is valid? [True, True] Translation: X:180.27, Y:78.84, Z:-0.40 [[ 5.98860044e-01 -8.00853579e-01 4.39297842e-04 1.80272722e+02] [ 8.00853346e-01 5.98860205e-01 6.10881418e-04 7.88437509e+01] [-7.52304565e-04 -1.40193266e-05 9.99999717e-01 -4.02848974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.415769231 meters 0.026326728009575185 Centerline is valid? [True, True] Translation: X:180.29, Y:78.87, Z:-0.40 [[ 6.01078439e-01 -7.99189796e-01 6.16587672e-04 1.80286582e+02] [ 7.99189336e-01 6.01078755e-01 8.58205116e-04 7.88684668e+01] [-1.05648652e-03 -2.30782990e-05 9.99999442e-01 -4.02501578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.445769231 meters 0.032998191655773626 Centerline is valid? [True, True] Translation: X:180.29, Y:78.90, Z:-0.40 [[ 6.06228799e-01 -7.95290108e-01 5.36778944e-04 1.80293006e+02] [ 7.95289757e-01 6.06229036e-01 7.47293858e-04 7.88976606e+01] [-9.19726395e-04 -2.61362619e-05 9.99999577e-01 -4.04265435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47576923100002 meters 0.0379417487707904 Centerline is valid? [True, True] Translation: X:180.30, Y:78.92, Z:-0.41 [[ 6.08570769e-01 -7.93499547e-01 2.97579308e-04 1.80301764e+02] [ 7.93499439e-01 6.08570842e-01 4.14139850e-04 7.89243036e+01] [-5.09717873e-04 -1.59043930e-05 9.99999870e-01 -4.05257618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50576923100002 meters 0.04090627518479578 Centerline is valid? [True, True] Translation: X:180.31, Y:78.95, Z:-0.41 [[ 6.10620396e-01 -7.91923427e-01 1.33856283e-04 1.80313357e+02] [ 7.91923405e-01 6.10620411e-01 1.85971740e-04 7.89495376e+01] [-2.29010756e-04 -7.55421451e-06 9.99999974e-01 -4.05651971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53576923100002 meters 0.04075755615838935 Centerline is valid? [True, True] Translation: X:180.33, Y:78.97, Z:-0.41 [[ 6.12561637e-01 -7.90422816e-01 -1.12186143e-04 1.80327013e+02] [ 7.90422800e-01 6.12561648e-01 -1.57259601e-04 7.89739922e+01] [ 1.93022505e-04 7.65671352e-06 9.99999981e-01 -4.05409194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56576923100002 meters 0.042049646096703516 Centerline is valid? [True, True] Translation: X:180.34, Y:79.00, Z:-0.41 [[ 6.12539046e-01 -7.90440320e-01 -1.33225157e-04 1.80338593e+02] [ 7.90440298e-01 6.12539061e-01 -1.86816953e-04 7.89979211e+01] [ 2.29273265e-04 9.12614544e-06 9.99999974e-01 -4.05692766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59576923100002 meters 0.0427703309809311 Centerline is valid? [True, True] Translation: X:180.35, Y:79.02, Z:-0.40 [[ 6.12479363e-01 -7.90486116e-01 8.54245668e-04 1.80348639e+02] [ 7.90485219e-01 6.12479956e-01 1.19231109e-03 7.90234009e+01] [-1.46571371e-03 -5.49973630e-05 9.99998924e-01 -4.03857593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62576923100002 meters 0.045921265265712295 Centerline is valid? [True, True] Translation: X:180.36, Y:79.05, Z:-0.40 [[ 6.12310806e-01 -7.90615931e-01 1.38767184e-03 1.80358723e+02] [ 7.90613560e-01 6.12312372e-01 1.93826796e-03 7.90486826e+01] [-2.38211417e-03 -8.97102457e-05 9.99997159e-01 -4.02600425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65576923100002 meters 0.04627511602337021 Centerline is valid? [True, True] Translation: X:180.37, Y:79.07, Z:-0.40 [[ 6.12033651e-01 -7.90830857e-01 1.16838291e-03 1.80370747e+02] [ 7.90829176e-01 6.12034762e-01 1.63261160e-03 7.90708022e+01] [-2.00621059e-03 -7.52219422e-05 9.99997985e-01 -4.02944282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68576923100002 meters 0.04493232921343333 Centerline is valid? [True, True] Translation: X:180.38, Y:79.09, Z:-0.41 [[ 6.10482971e-01 -7.92028876e-01 -8.95141935e-04 1.80384397e+02] [ 7.92027888e-01 6.10483625e-01 -1.25250509e-03 7.90940506e+01] [ 1.53848969e-03 5.56556518e-05 9.99998815e-01 -4.09161783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71576923100002 meters 0.03977865600095046 Centerline is valid? [True, True] Translation: X:180.40, Y:79.11, Z:-0.41 [[ 6.09136943e-01 -7.93063280e-01 -1.67917135e-03 1.80404881e+02] [ 7.93059805e-01 6.09139249e-01 -2.34985431e-03 7.91133035e+01] [ 2.88643234e-03 9.96997705e-05 9.99995829e-01 -4.11398867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74576923100003 meters 0.03849041350811017 Centerline is valid? [True, True] Translation: X:180.42, Y:79.14, Z:-0.41 [[ 6.07654634e-01 -7.94199439e-01 -1.75978836e-03 1.80421870e+02] [ 7.94195624e-01 6.07657174e-01 -2.46362234e-03 7.91358244e+01] [ 3.02595550e-03 9.94153190e-05 9.99995417e-01 -4.11360901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77576923100003 meters 0.035631333534107204 Centerline is valid? [True, True] Translation: X:180.44, Y:79.16, Z:-0.41 [[ 6.05177257e-01 -7.96090749e-01 -8.18159021e-05 1.80437505e+02] [ 7.96090741e-01 6.05177262e-01 -1.15331337e-04 7.91581013e+01] [ 1.41327334e-04 4.66301997e-06 9.99999990e-01 -4.05350262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80576923100003 meters 0.03706112083868445 Centerline is valid? [True, True] Translation: X:180.45, Y:79.18, Z:-0.40 [[ 6.04225617e-01 -7.96813018e-01 6.46281309e-04 1.80449226e+02] [ 7.96812506e-01 6.04225962e-01 9.04585400e-04 7.91827564e+01] [-1.11128537e-03 -3.16086416e-05 9.99999382e-01 -4.03487606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83576923100003 meters 0.03548562215007664 Centerline is valid? [True, True] Translation: X:180.46, Y:79.21, Z:-0.40 [[ 6.02805035e-01 -7.97888265e-01 6.37892082e-04 1.80463208e+02] [ 7.97887765e-01 6.02805372e-01 8.93164566e-04 7.92066364e+01] [-1.09717030e-03 -2.94378096e-05 9.99999398e-01 -4.03675892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.865769231 meters 0.032834063470660806 Centerline is valid? [True, True] Translation: X:180.48, Y:79.23, Z:-0.40 [[ 6.01960127e-01 -7.98526068e-01 3.52917538e-04 1.80479863e+02] [ 7.98525915e-01 6.01960230e-01 4.93925543e-04 7.92270231e+01] [-6.06854745e-04 -1.55096823e-05 9.99999816e-01 -4.04913737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.895769231 meters 0.03086679007619848 Centerline is valid? [True, True] Translation: X:180.50, Y:79.25, Z:-0.41 [[ 6.01166401e-01 -7.99123794e-01 3.46919698e-04 1.80496297e+02] [ 7.99123646e-01 6.01166501e-01 4.85801170e-04 7.92482511e+01] [-5.96771775e-04 -1.48156065e-05 9.99999822e-01 -4.05368899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.925769231 meters 0.0323409113099511 Centerline is valid? [True, True] Translation: X:180.51, Y:79.27, Z:-0.40 [[ 5.99571110e-01 -8.00321205e-01 6.73372259e-04 1.80508167e+02] [ 8.00320648e-01 5.99571488e-01 9.44101145e-04 7.92724137e+01] [-1.15931897e-03 -2.71420489e-05 9.99999328e-01 -4.04558379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.955769231 meters 0.028833502315333666 Centerline is valid? [True, True] Translation: X:180.53, Y:79.29, Z:-0.40 [[ 5.98633620e-01 -8.01022688e-01 6.65235466e-04 1.80527296e+02] [ 8.01022145e-01 5.98633989e-01 9.33103460e-04 7.92919804e+01] [-1.14566960e-03 -2.57187621e-05 9.99999343e-01 -4.04538615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.985769231 meters 0.027576397214765555 Centerline is valid? [True, True] Translation: X:180.54, Y:79.31, Z:-0.41 [[ 5.97688959e-01 -8.01728040e-01 2.40219545e-04 1.80544754e+02] [ 8.01727969e-01 5.97689008e-01 3.36598680e-04 7.93133404e+01] [-4.13437182e-04 -8.59058643e-06 9.99999914e-01 -4.05983711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.015769231 meters 0.029116435510352062 Centerline is valid? [True, True] Translation: X:180.56, Y:79.34, Z:-0.41 [[ 5.96191244e-01 -8.02841908e-01 -9.32960887e-04 1.80558491e+02] [ 8.02840838e-01 5.96191973e-01 -1.31165264e-03 7.93362221e+01] [ 1.60927350e-03 3.29767210e-05 9.99998705e-01 -4.09961876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.045769231 meters 0.02697210116736965 Centerline is valid? [True, True] Translation: X:180.58, Y:79.36, Z:-0.41 [[ 5.95901079e-01 -8.03057038e-01 -1.13904935e-03 1.80575149e+02] [ 8.03055441e-01 5.95902166e-01 -1.60206025e-03 7.93562314e+01] [ 1.96530774e-03 3.99496486e-05 9.99998068e-01 -4.10461654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.075769231 meters 0.029657117123117346 Centerline is valid? [True, True] Translation: X:180.59, Y:79.38, Z:-0.41 [[ 5.97150640e-01 -8.02128779e-01 -7.31658966e-04 1.80586074e+02] [ 8.02128118e-01 5.97151088e-01 -1.02979354e-03 7.93809434e+01] [ 1.26293799e-03 2.80576449e-05 9.99999202e-01 -4.09704574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.105769231 meters 0.02854426451515904 Centerline is valid? [True, True] Translation: X:180.60, Y:79.40, Z:-0.41 [[ 5.98072739e-01 -8.01441773e-01 -2.89780281e-04 1.80603264e+02] [ 8.01441669e-01 5.98072809e-01 -4.08408587e-04 7.94034382e+01] [ 5.00625409e-04 1.20160501e-05 9.99999875e-01 -4.07554072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.135769231 meters 0.03154557388285616 Centerline is valid? [True, True] Translation: X:180.61, Y:79.43, Z:-0.41 [[ 5.98774656e-01 -8.00917541e-01 6.05701667e-05 1.80614835e+02] [ 8.00917537e-01 5.98774659e-01 8.45135541e-05 7.94282983e+01] [-1.03956269e-04 -2.09286553e-06 9.99999995e-01 -4.06164918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.165769231 meters 0.03037613413892285 Centerline is valid? [True, True] Translation: X:180.63, Y:79.45, Z:-0.41 [[ 5.99321028e-01 -8.00508778e-01 4.58754319e-05 1.80631330e+02] [ 8.00508775e-01 5.99321030e-01 6.38998200e-05 7.94506282e+01] [-7.86464779e-05 -1.57282003e-06 9.99999997e-01 -4.05589779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.195769231 meters 0.03421572790832392 Centerline is valid? [True, True] Translation: X:180.64, Y:79.48, Z:-0.41 [[ 6.00299877e-01 -7.99774913e-01 -3.82827911e-04 1.80639635e+02] [ 7.99774730e-01 6.00299999e-01 -5.40027462e-04 7.94774398e+01] [ 6.61712010e-04 1.80023298e-05 9.99999781e-01 -4.08314107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22576923100002 meters 0.03342527053847471 Centerline is valid? [True, True] Translation: X:180.65, Y:79.50, Z:-0.41 [[ 6.00675209e-01 -7.99493099e-01 -2.77918587e-04 1.80654862e+02] [ 7.99493003e-01 6.00675273e-01 -3.92450146e-04 7.94998225e+01] [ 4.80700007e-04 1.35411077e-05 9.99999884e-01 -4.07955304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25576923100002 meters 0.0347723294104402 Centerline is valid? [True, True] Translation: X:180.66, Y:79.52, Z:-0.41 [[ 6.01341418e-01 -7.98992177e-01 2.56638961e-05 1.80664840e+02] [ 7.98992176e-01 6.01341419e-01 3.55399249e-05 7.95242930e+01] [-4.38288857e-05 -8.66376707e-07 9.99999999e-01 -4.06573682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28576923100002 meters 0.03631430405907225 Centerline is valid? [True, True] Translation: X:180.68, Y:79.55, Z:-0.41 [[ 6.01251023e-01 -7.99060189e-01 -1.47494425e-04 1.80675014e+02] [ 7.99060162e-01 6.01251041e-01 -2.08848803e-04 7.95485415e+01] [ 2.55563941e-04 7.71363708e-06 9.99999967e-01 -4.06716308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31576923100002 meters 0.03453234137874324 Centerline is valid? [True, True] Translation: X:180.69, Y:79.57, Z:-0.41 [[ 6.00747102e-01 -7.99438907e-01 -5.94898308e-04 1.80689634e+02] [ 7.99438466e-01 6.00747396e-01 -8.40238753e-04 7.95712446e+01] [ 1.02910316e-03 2.91864058e-05 9.99999470e-01 -4.07811778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34576923100002 meters 0.033471478592998885 Centerline is valid? [True, True] Translation: X:180.70, Y:79.59, Z:-0.41 [[ 5.98233752e-01 -8.01321351e-01 -6.85129590e-04 1.80701932e+02] [ 8.01320768e-01 5.98234144e-01 -9.67724087e-04 7.95944377e+01] [ 1.18532589e-03 2.99166432e-05 9.99999297e-01 -4.08229784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37576923100002 meters 0.02997358651322105 Centerline is valid? [True, True] Translation: X:180.72, Y:79.62, Z:-0.41 [[ 5.95996448e-01 -8.02987005e-01 -3.21370868e-04 1.80720563e+02] [ 8.02986877e-01 5.95996535e-01 -4.54535465e-04 7.96152458e+01] [ 5.56521995e-04 1.28449329e-05 9.99999845e-01 -4.06820300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40576923100002 meters 0.027756951286075807 Centerline is valid? [True, True] Translation: X:180.74, Y:79.64, Z:-0.41 [[ 5.93311347e-01 -8.04973065e-01 9.93706532e-05 1.80737249e+02] [ 8.04973053e-01 5.93311356e-01 1.39793882e-04 7.96355428e+01] [-1.71488047e-04 -2.95059838e-06 9.99999985e-01 -4.05913149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43576923100002 meters 0.019239901666341853 Centerline is valid? [True, True] Translation: X:180.76, Y:79.65, Z:-0.40 [[ 5.87287228e-01 -8.09377885e-01 1.07240595e-03 1.80763344e+02] [ 8.09376468e-01 5.87288207e-01 1.51480008e-03 7.96493455e+01] [-1.85585705e-03 -2.16425971e-05 9.99998278e-01 -4.04044602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46576923100002 meters 0.016233960026779598 Centerline is valid? [True, True] Translation: X:180.78, Y:79.67, Z:-0.40 [[ 5.84210721e-01 -8.11600902e-01 1.34526662e-03 1.80784368e+02] [ 8.11598675e-01 5.84212269e-01 1.90133788e-03 7.96668449e+01] [-2.32904880e-03 -1.89653714e-05 9.99997288e-01 -4.03217891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49576923100003 meters 0.012555202418143879 Centerline is valid? [True, True] Translation: X:180.81, Y:79.68, Z:-0.40 [[ 5.78992582e-01 -8.15332311e-01 9.00906960e-04 1.80811655e+02] [ 8.15331317e-01 5.78993283e-01 1.27361628e-03 7.96807022e+01] [-1.56003958e-03 -2.87672220e-06 9.99998783e-01 -4.04291758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52576923100003 meters 0.012400179822786508 Centerline is valid? [True, True] Translation: X:180.83, Y:79.70, Z:-0.41 [[ 5.77239350e-01 -8.16574990e-01 1.38841390e-04 1.80830223e+02] [ 8.16574966e-01 5.77239367e-01 1.95623253e-04 7.96994102e+01] [-2.39885772e-04 4.52963785e-07 9.99999971e-01 -4.05695567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55576923100003 meters 0.012551609599276032 Centerline is valid? [True, True] Translation: X:180.85, Y:79.72, Z:-0.41 [[ 5.76364117e-01 -8.17192890e-01 -4.30334254e-04 1.80847218e+02] [ 8.17192662e-01 5.76364278e-01 -6.09983953e-04 7.97181974e+01] [ 7.46503841e-04 -9.31320110e-08 9.99999721e-01 -4.07834042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58576923100003 meters 0.012648270580147274 Centerline is valid? [True, True] Translation: X:180.86, Y:79.74, Z:-0.41 [[ 5.76885668e-01 -8.16824066e-01 -1.17119521e-03 1.80864902e+02] [ 8.16822379e-01 5.76886857e-01 -1.65992917e-03 7.97383772e+01] [ 2.03151722e-03 9.30891247e-07 9.99997936e-01 -4.09809363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.615769231 meters 0.012775856145095745 Centerline is valid? [True, True] Translation: X:180.88, Y:79.76, Z:-0.41 [[ 5.77888641e-01 -8.16114799e-01 -1.16341971e-03 1.80879890e+02] [ 8.16113131e-01 5.77889813e-01 -1.64973216e-03 7.97601388e+01] [ 2.01869923e-03 3.87937692e-06 9.99997962e-01 -4.08852783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.645769231 meters 0.013211265310912887 Centerline is valid? [True, True] Translation: X:180.89, Y:79.78, Z:-0.41 [[ 5.79235700e-01 -8.15159815e-01 -6.92339966e-04 1.80893368e+02] [ 8.15159223e-01 5.79236114e-01 -9.82639732e-04 7.97815521e+01] [ 1.20203673e-03 4.81270422e-06 9.99999278e-01 -4.07189665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.675769231 meters 0.014345284345659572 Centerline is valid? [True, True] Translation: X:180.91, Y:79.80, Z:-0.40 [[ 5.81112642e-01 -8.13822676e-01 8.65788372e-04 1.80907083e+02] [ 8.13821750e-01 5.81113287e-01 1.22740559e-03 7.98025669e+01] [-1.50201163e-03 -8.66349946e-06 9.99998872e-01 -4.02194799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.705769231 meters 0.014442772817528138 Centerline is valid? [True, True] Translation: X:180.92, Y:79.82, Z:-0.40 [[ 5.81231626e-01 -8.13736792e-01 1.49335845e-03 1.80923367e+02] [ 8.13734034e-01 5.81233544e-01 2.11883196e-03 7.98231869e+01] [-2.59216155e-03 -1.63355466e-05 9.99996640e-01 -4.00194854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.735769231 meters 0.013662968393381594 Centerline is valid? [True, True] Translation: X:180.94, Y:79.84, Z:-0.40 [[ 5.79896324e-01 -8.14688311e-01 1.79168951e-03 1.80943163e+02] [ 8.14684340e-01 5.79899091e-01 2.54354299e-03 7.98403836e+01] [-3.11119386e-03 -1.53298434e-05 9.99995160e-01 -4.00575545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.765769231 meters 0.013662968393381594 Centerline is valid? [True, True] Translation: X:180.96, Y:79.86, Z:-0.40 [[ 5.79710060e-01 -8.14820863e-01 1.79108925e-03 1.80957789e+02] [ 8.14816892e-01 5.79712827e-01 2.54396564e-03 7.98616756e+01] [-3.11119369e-03 -1.53527032e-05 9.99995160e-01 -4.00630996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.795769231 meters 0.012881845410908045 Centerline is valid? [True, True] Translation: X:180.98, Y:79.88, Z:-0.40 [[ 5.78443263e-01 -8.15721749e-01 1.19124360e-03 1.80976249e+02] [ 8.15719993e-01 5.78444490e-01 1.69251325e-03 7.98808401e+01] [-2.06968816e-03 -7.30166669e-06 9.99997858e-01 -4.03277950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.825769231 meters 0.012765021472260371 Centerline is valid? [True, True] Translation: X:180.99, Y:79.90, Z:-0.41 [[ 5.77400358e-01 -8.16460991e-01 5.26033282e-04 1.80993566e+02] [ 8.16460649e-01 5.77400598e-01 7.47246982e-04 7.98996958e+01] [-9.13829943e-04 -1.97520042e-06 9.99999582e-01 -4.06183718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.855769231 meters 0.01252570171599892 Centerline is valid? [True, True] Translation: X:181.01, Y:79.92, Z:-0.41 [[ 5.76518899e-01 -8.17083811e-01 -6.23402795e-05 1.81011646e+02] [ 8.17083807e-01 5.76518903e-01 -8.95477604e-05 7.99191881e+01] [ 1.09108375e-04 6.88743387e-07 9.99999994e-01 -4.07583433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.885769231 meters 0.012528778335318054 Centerline is valid? [True, True] Translation: X:181.03, Y:79.94, Z:-0.41 [[ 5.76393216e-01 -8.17172187e-01 -6.91365888e-04 1.81030045e+02] [ 8.17171593e-01 5.76393630e-01 -9.85108300e-04 7.99381574e+01] [ 1.20350200e-03 2.84517619e-06 9.99999276e-01 -4.08593070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.915769231 meters 0.012854863550498015 Centerline is valid? [True, True] Translation: X:181.04, Y:79.96, Z:-0.41 [[ 5.76814592e-01 -8.16874186e-01 -1.22066839e-03 1.81044639e+02] [ 8.16872335e-01 5.76815884e-01 -1.73913877e-03 7.99583465e+01] [ 2.12475849e-03 6.03038537e-06 9.99997743e-01 -4.10570351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.945769231 meters 0.01416849718089362 Centerline is valid? [True, True] Translation: X:181.06, Y:79.98, Z:-0.41 [[ 5.78522560e-01 -8.15663869e-01 -2.02479814e-03 1.81059423e+02] [ 8.15658764e-01 5.78526103e-01 -2.88578575e-03 7.99802209e+01] [ 3.52522975e-03 1.79478123e-05 9.99993786e-01 -4.14115220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97576923100002 meters 0.014686857207173262 Centerline is valid? [True, True] Translation: X:181.08, Y:80.00, Z:-0.41 [[ 5.79173050e-01 -8.15202133e-01 -2.01487230e-03 1.81075275e+02] [ 8.15197071e-01 5.79176555e-01 -2.87307416e-03 8.00017862e+01] [ 3.50910298e-03 2.14891279e-05 9.99993843e-01 -4.14121581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00576923100002 meters 0.014609170124500172 Centerline is valid? [True, True] Translation: X:181.09, Y:80.02, Z:-0.41 [[ 5.79440867e-01 -8.15012778e-01 -1.56632394e-03 1.81091674e+02] [ 8.15009714e-01 5.79442984e-01 -2.23480403e-03 8.00220190e+01] [ 2.72898926e-03 1.83675577e-05 9.99996276e-01 -4.12401613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03576923100002 meters 0.01516075010476208 Centerline is valid? [True, True] Translation: X:181.11, Y:80.04, Z:-0.41 [[ 5.79236443e-01 -8.15158812e-01 -1.11992395e-03 1.81108231e+02] [ 8.15157244e-01 5.79237526e-01 -1.59900655e-03 8.00411655e+01] [ 1.95214625e-03 1.32887475e-05 9.99998094e-01 -4.12089184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06576923100002 meters 0.014273406217320928 Centerline is valid? [True, True] Translation: X:181.13, Y:80.06, Z:-0.41 [[ 5.78584350e-01 -8.15620939e-01 -1.62296691e-03 1.81126413e+02] [ 8.15617645e-01 5.78586626e-01 -2.31793062e-03 8.00604808e+01] [ 2.82957970e-03 1.73979361e-05 9.99995997e-01 -4.12595815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09576923100002 meters 0.01508747902897446 Centerline is valid? [True, True] Translation: X:181.14, Y:80.08, Z:-0.42 [[ 5.78176737e-01 -8.15907039e-01 -2.71375948e-03 1.81142572e+02] [ 8.15897827e-01 5.78183105e-01 -3.87726605e-03 8.00797767e+01] [ 4.73253855e-03 2.75945680e-05 9.99988801e-01 -4.17078564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12576923100002 meters 0.014532340964483435 Centerline is valid? [True, True] Translation: X:181.16, Y:80.10, Z:-0.42 [[ 5.78382850e-01 -8.15760185e-01 -2.93261116e-03 1.81159103e+02] [ 8.15749415e-01 5.78390283e-01 -4.19198064e-03 8.01005597e+01] [ 5.11584471e-03 3.22938692e-05 9.99986913e-01 -4.15341733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15576923100002 meters 0.01516088944988503 Centerline is valid? [True, True] Translation: X:181.17, Y:80.12, Z:-0.41 [[ 5.79559850e-01 -8.14927067e-01 -2.06295108e-03 1.81173293e+02] [ 8.14921726e-01 5.79563521e-01 -2.95063316e-03 8.01231532e+01] [ 3.60016201e-03 2.89248600e-05 9.99993519e-01 -4.11606814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18576923100002 meters 0.015208295324016878 Centerline is valid? [True, True] Translation: X:181.19, Y:80.15, Z:-0.41 [[ 5.79992886e-01 -8.14620484e-01 -1.31097212e-03 1.81188807e+02] [ 8.14618324e-01 5.79994367e-01 -1.87622462e-03 8.01451971e+01] [ 2.28876745e-03 2.02550228e-05 9.99997381e-01 -4.08868383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21576923100002 meters 0.017393967585731536 Centerline is valid? [True, True] Translation: X:181.20, Y:80.17, Z:-0.41 [[ 5.80101777e-01 -8.14543932e-01 -3.33196432e-04 1.81200936e+02] [ 8.14543792e-01 5.80101873e-01 -4.77760936e-04 8.01692450e+01] [ 5.82445145e-04 5.74688279e-06 9.99999830e-01 -4.07738742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24576923100003 meters 0.01582563790893343 Centerline is valid? [True, True] Translation: X:181.22, Y:80.19, Z:-0.40 [[ 5.80221577e-01 -8.14458168e-01 9.02033159e-04 1.81218188e+02] [ 8.14457146e-01 5.80222278e-01 1.29079363e-03 8.01899321e+01] [-1.57467715e-03 -1.42789651e-05 9.99998760e-01 -4.03199816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27576923100003 meters 0.01634139432303772 Centerline is valid? [True, True] Translation: X:181.23, Y:80.21, Z:-0.40 [[ 5.80633819e-01 -8.14164432e-01 8.03929614e-04 1.81232133e+02] [ 8.14163618e-01 5.80634375e-01 1.15089508e-03 8.02126136e+01] [-1.40380701e-03 -1.37183613e-05 9.99999015e-01 -4.03655673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30576923100003 meters 0.01795802012521152 Centerline is valid? [True, True] Translation: X:181.24, Y:80.24, Z:-0.41 [[ 5.81642237e-01 -8.13444707e-01 1.30457507e-04 1.81244448e+02] [ 8.13444686e-01 5.81642251e-01 1.86147384e-04 8.02364407e+01] [-2.27300202e-04 -2.15121498e-06 9.99999974e-01 -4.05227677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33576923100003 meters 0.024948436972170092 Centerline is valid? [True, True] Translation: X:181.25, Y:80.26, Z:-0.41 [[ 5.84522473e-01 -8.11377358e-01 -5.11451098e-04 1.81248663e+02] [ 8.11377026e-01 5.84522697e-01 -7.34277687e-04 8.02648552e+01] [ 8.94731065e-04 1.42221390e-05 9.99999600e-01 -4.07819518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36576923100003 meters 0.022545257247231873 Centerline is valid? [True, True] Translation: X:181.27, Y:80.29, Z:-0.41 [[ 5.85780456e-01 -8.10469467e-01 -7.07379708e-04 1.81265305e+02] [ 8.10468831e-01 5.85780882e-01 -1.01568937e-03 8.02867804e+01] [ 1.23755474e-03 2.16617795e-05 9.99999234e-01 -4.07373105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.395769231 meters 0.02465638664560674 Centerline is valid? [True, True] Translation: X:181.27, Y:80.31, Z:-0.41 [[ 5.87626888e-01 -8.09131078e-01 -1.24079024e-03 1.81273891e+02] [ 8.09129117e-01 5.87628196e-01 -1.78180449e-03 8.03135470e+01] [ 2.17083672e-03 4.30767102e-05 9.99997643e-01 -4.10817020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.425769231 meters 0.025232703518785475 Centerline is valid? [True, True] Translation: X:181.29, Y:80.34, Z:-0.41 [[ 5.87401964e-01 -8.09293620e-01 -1.66423837e-03 1.81287027e+02] [ 8.09290090e-01 5.87404319e-01 -2.39079578e-03 8.03357874e+01] [ 2.91243658e-03 5.75065156e-05 9.99995757e-01 -4.12614250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.455769231 meters 0.024608796481202472 Centerline is valid? [True, True] Translation: X:181.30, Y:80.36, Z:-0.41 [[ 5.86680836e-01 -8.09816242e-01 -1.80318740e-03 1.81302465e+02] [ 8.09812097e-01 5.86683604e-01 -2.59167986e-03 8.03567448e+01] [ 3.15668492e-03 6.02459397e-05 9.99995016e-01 -4.12996697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.485769231 meters 0.0232744053369847 Centerline is valid? [True, True] Translation: X:181.32, Y:80.38, Z:-0.41 [[ 5.84695819e-01 -8.11250745e-01 -1.74026437e-03 1.81318890e+02] [ 8.11246888e-01 5.84698406e-01 -2.50188026e-03 8.03775260e+01] [ 3.04718203e-03 5.10548728e-05 9.99995356e-01 -4.12108830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.515769231 meters 0.022649773678075795 Centerline is valid? [True, True] Translation: X:181.33, Y:80.40, Z:-0.41 [[ 5.83747321e-01 -8.11933625e-01 -1.68942219e-03 1.81333497e+02] [ 8.11929989e-01 5.83749764e-01 -2.43032686e-03 8.03986206e+01] [ 2.95946390e-03 4.70042512e-05 9.99995620e-01 -4.12042673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.545769231 meters 0.021406172331556755 Centerline is valid? [True, True] Translation: X:181.35, Y:80.42, Z:-0.41 [[ 5.83112993e-01 -8.12389438e-01 -1.62446348e-03 1.81348998e+02] [ 8.12386074e-01 5.83115254e-01 -2.33806025e-03 8.04194698e+01] [ 2.84666489e-03 4.36618019e-05 9.99995947e-01 -4.11348167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.575769231 meters 0.02213205886691622 Centerline is valid? [True, True] Translation: X:181.36, Y:80.44, Z:-0.41 [[ 5.82709920e-01 -8.12678290e-01 -1.77364403e-03 1.81362183e+02] [ 8.12674278e-01 5.82712618e-01 -2.55405694e-03 8.04414344e+01] [ 3.10915138e-03 4.68794378e-05 9.99995165e-01 -4.12868227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.605769231 meters 0.021466244412679303 Centerline is valid? [True, True] Translation: X:181.38, Y:80.46, Z:-0.41 [[ 5.82713656e-01 -8.12674134e-01 -2.35499492e-03 1.81377995e+02] [ 8.12667056e-01 5.82718412e-01 -3.39254980e-03 8.04629811e+01] [ 4.12933637e-03 6.30583091e-05 9.99991472e-01 -4.14295285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.635769231 meters 0.022455444448286753 Centerline is valid? [True, True] Translation: X:181.39, Y:80.49, Z:-0.42 [[ 5.83147162e-01 -8.12361256e-01 -2.92859132e-03 1.81392228e+02] [ 8.12350297e-01 5.83154510e-01 -4.22043901e-03 8.04866353e+01] [ 5.13634238e-03 8.20950005e-05 9.99986806e-01 -4.15546423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.665769231 meters 0.02580304760815932 Centerline is valid? [True, True] Translation: X:181.40, Y:80.51, Z:-0.42 [[ 5.85184490e-01 -8.10894874e-01 -2.93521877e-03 1.81401353e+02] [ 8.10883839e-01 5.85191844e-01 -4.23142745e-03 8.05116556e+01] [ 5.14890891e-03 9.60442456e-05 9.99986740e-01 -4.15650321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.695769231 meters 0.02700328110266263 Centerline is valid? [True, True] Translation: X:181.41, Y:80.54, Z:-0.41 [[ 5.86213737e-01 -8.10152465e-01 -2.53718008e-03 1.81414359e+02] [ 8.10144205e-01 5.86219221e-01 -3.65942158e-03 8.05357841e+01] [ 4.45203314e-03 8.97214605e-05 9.99990086e-01 -4.14229773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72576923100002 meters 0.02764612288530538 Centerline is valid? [True, True] Translation: X:181.43, Y:80.56, Z:-0.41 [[ 5.86835564e-01 -8.09703634e-01 -2.01137939e-03 1.81427646e+02] [ 8.09698435e-01 5.86839006e-01 -2.90249435e-03 8.05595321e+01] [ 3.53051610e-03 7.46761637e-05 9.99993765e-01 -4.11767517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75576923100002 meters 0.030287299802896146 Centerline is valid? [True, True] Translation: X:181.44, Y:80.59, Z:-0.41 [[ 5.88251612e-01 -8.08677534e-01 -8.28799215e-04 1.81435205e+02] [ 8.08676649e-01 5.88252195e-01 -1.19704017e-03 8.05858670e+01] [ 1.45556245e-03 3.39302377e-05 9.99998940e-01 -4.07764357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78576923100002 meters 0.03220607477368574 Centerline is valid? [True, True] Translation: X:181.44, Y:80.61, Z:-0.41 [[ 5.88987040e-01 -8.08142034e-01 -8.48271421e-04 1.81444887e+02] [ 8.08141105e-01 5.88987650e-01 -1.22569380e-03 8.06106761e+01] [ 1.49015607e-03 3.63947625e-05 9.99998889e-01 -4.07904023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81576923100002 meters 0.03474632762117699 Centerline is valid? [True, True] Translation: X:181.45, Y:80.64, Z:-0.41 [[ 5.90854834e-01 -8.06776627e-01 -1.42812822e-03 1.81452163e+02] [ 8.06773990e-01 5.90856556e-01 -2.06383189e-03 8.06388559e+01] [ 2.50887026e-03 6.72483502e-05 9.99996851e-01 -4.10009256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84576923100002 meters 0.03631403720705718 Centerline is valid? [True, True] Translation: X:181.46, Y:80.66, Z:-0.41 [[ 5.91702214e-01 -8.06155452e-01 -1.37034378e-03 1.81463334e+02] [ 8.06153020e-01 5.91703797e-01 -1.98120391e-03 8.06644084e+01] [ 2.40799595e-03 6.75759607e-05 9.99997098e-01 -4.09752516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87576923100002 meters 0.03763402522378609 Centerline is valid? [True, True] Translation: X:181.47, Y:80.69, Z:-0.41 [[ 5.92201689e-01 -8.05788704e-01 -1.31257195e-03 1.81473783e+02] [ 8.05786470e-01 5.92203140e-01 -1.89860193e-03 8.06886430e+01] [ 2.30718123e-03 6.67025512e-05 9.99997336e-01 -4.09288074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90576923100002 meters 0.033972945929935376 Centerline is valid? [True, True] Translation: X:181.49, Y:80.71, Z:-0.41 [[ 5.91754013e-01 -8.06117324e-01 -1.43134274e-03 1.81487439e+02] [ 8.06114666e-01 5.91755739e-01 -2.07126199e-03 8.07119774e+01] [ 2.51668546e-03 7.18512194e-05 9.99996831e-01 -4.08333791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93576923100002 meters 0.033468441061047925 Centerline is valid? [True, True] Translation: X:181.50, Y:80.74, Z:-0.41 [[ 5.90867276e-01 -8.06767538e-01 -1.41500435e-03 1.81500486e+02] [ 8.06764940e-01 5.90868966e-01 -2.04863725e-03 8.07351591e+01] [ 2.48885619e-03 6.88968120e-05 9.99996900e-01 -4.08687424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96576923100002 meters 0.03242000665589392 Centerline is valid? [True, True] Translation: X:181.51, Y:80.76, Z:-0.41 [[ 5.89422991e-01 -8.07823459e-01 -1.34057423e-03 1.81513909e+02] [ 8.07821127e-01 5.89424513e-01 -1.94182069e-03 8.07572113e+01] [ 2.35881562e-03 6.16095766e-05 9.99997216e-01 -4.08780043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99576923100003 meters 0.027474455783944116 Centerline is valid? [True, True] Translation: X:181.53, Y:80.78, Z:-0.41 [[ 5.86093249e-01 -8.10243265e-01 -7.44304343e-04 1.81532357e+02] [ 8.10242548e-01 5.86093721e-01 -1.07888314e-03 8.07783064e+01] [ 1.31038990e-03 2.92590755e-05 9.99999141e-01 -4.05961904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02576923100003 meters 0.02703021338014974 Centerline is valid? [True, True] Translation: X:181.55, Y:80.80, Z:-0.40 [[ 5.84160172e-01 -8.11638300e-01 -4.04823853e-04 1.81546551e+02] [ 8.11638087e-01 5.84160312e-01 -5.87505978e-04 8.08000492e+01] [ 7.13324381e-04 1.46271351e-05 9.99999745e-01 -4.04943319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05576923100003 meters 0.02194856306446423 Centerline is valid? [True, True] Translation: X:181.57, Y:80.82, Z:-0.40 [[ 5.80381980e-01 -8.14344343e-01 -2.18976374e-04 1.81567199e+02] [ 8.14344281e-01 5.80382021e-01 -3.18277258e-04 8.08185627e+01] [ 3.86277235e-04 6.40022704e-06 9.99999925e-01 -4.04649987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08576923100003 meters 0.01898083265616119 Centerline is valid? [True, True] Translation: X:181.59, Y:80.84, Z:-0.40 [[ 5.78126296e-01 -8.15947289e-01 -9.05728236e-05 1.81586212e+02] [ 8.15947278e-01 5.78126303e-01 -1.32183603e-04 8.08385399e+01] [ 1.60217384e-04 2.51616786e-06 9.99999987e-01 -4.04872616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11576923100003 meters 0.017456540506370927 Centerline is valid? [True, True] Translation: X:181.60, Y:80.86, Z:-0.40 [[ 5.76560673e-01 -8.17054335e-01 5.74852996e-05 1.81604154e+02] [ 8.17054331e-01 5.76560676e-01 8.28385023e-05 8.08597084e+01] [-1.00827321e-04 -7.92809603e-07 9.99999995e-01 -4.04867669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.145769231 meters 0.01732021349060592 Centerline is valid? [True, True] Translation: X:181.62, Y:80.88, Z:-0.41 [[ 5.75246516e-01 -8.17980021e-01 -3.60557221e-04 1.81619975e+02] [ 8.17979853e-01 5.75246629e-01 -5.24389195e-04 8.08796684e+01] [ 6.36349211e-04 6.72451481e-06 9.99999798e-01 -4.05921816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.175769231 meters 0.01768345970917819 Centerline is valid? [True, True] Translation: X:181.63, Y:80.90, Z:-0.41 [[ 5.75329461e-01 -8.17921161e-01 -9.92809228e-04 1.81634831e+02] [ 8.17919888e-01 5.75330317e-01 -1.44287851e-03 8.09014635e+01] [ 1.75135412e-03 1.80921045e-05 9.99998466e-01 -4.07298112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.205769231 meters 0.018812900373227113 Centerline is valid? [True, True] Translation: X:181.65, Y:80.92, Z:-0.41 [[ 5.75995027e-01 -8.17451095e-01 -1.85363372e-03 1.81648228e+02] [ 8.17446655e-01 5.75998009e-01 -2.69438371e-03 8.09237201e+01] [ 3.27021624e-03 3.67049326e-05 9.99994652e-01 -4.10172057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.235769231 meters 0.021434015781053906 Centerline is valid? [True, True] Translation: X:181.66, Y:80.95, Z:-0.41 [[ 5.77937141e-01 -8.16078535e-01 -2.11804885e-03 1.81660340e+02] [ 8.16072724e-01 5.77941020e-01 -3.08001841e-03 8.09477150e+01] [ 3.73764423e-03 5.15751361e-05 9.99993014e-01 -4.11594911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.265769231 meters 0.02206926038533015 Centerline is valid? [True, True] Translation: X:181.68, Y:80.97, Z:-0.41 [[ 5.78433176e-01 -8.15727077e-01 -2.09686094e-03 1.81675280e+02] [ 8.15721374e-01 5.78436975e-01 -3.05073947e-03 8.09695688e+01] [ 3.70147269e-03 5.41946374e-05 9.99993148e-01 -4.11257511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.295769231 meters 0.02222696520376436 Centerline is valid? [True, True] Translation: X:181.69, Y:80.99, Z:-0.41 [[ 5.78444948e-01 -8.15718609e-01 -2.14288982e-03 1.81692269e+02] [ 8.15712649e-01 5.78448915e-01 -3.11872617e-03 8.09892230e+01] [ 3.78355527e-03 5.60290605e-05 9.99992841e-01 -4.11779164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.325769231 meters 0.020899603895903115 Centerline is valid? [True, True] Translation: X:181.71, Y:81.01, Z:-0.41 [[ 5.78050981e-01 -8.15997842e-01 -2.14146926e-03 1.81710115e+02] [ 8.15991885e-01 5.78054945e-01 -3.11843545e-03 8.10085413e+01] [ 3.78252350e-03 5.51931342e-05 9.99992845e-01 -4.10866180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.355769231 meters 0.020664309121113833 Centerline is valid? [True, True] Translation: X:181.73, Y:81.03, Z:-0.41 [[ 5.77741973e-01 -8.16217139e-01 -1.94812627e-03 1.81726938e+02] [ 8.16212205e-01 5.77745255e-01 -2.83839909e-03 8.10290651e+01] [ 3.44227069e-03 4.97778452e-05 9.99994074e-01 -4.10199088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.385769231 meters 0.020664287855387167 Centerline is valid? [True, True] Translation: X:181.74, Y:81.05, Z:-0.41 [[ 5.77381192e-01 -8.16471686e-01 -2.22355678e-03 1.81744552e+02] [ 8.16465255e-01 5.77385471e-01 -3.24119650e-03 8.10487440e+01] [ 3.93019455e-03 5.59490452e-05 9.99992275e-01 -4.10718223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.415769231 meters 0.019845030217230296 Centerline is valid? [True, True] Translation: X:181.76, Y:81.07, Z:-0.41 [[ 5.77437979e-01 -8.16430254e-01 -2.64948422e-03 1.81762052e+02] [ 8.16421115e-01 5.77444054e-01 -3.86366412e-03 8.10700169e+01] [ 4.68434119e-03 6.79315457e-05 9.99989026e-01 -4.11003876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.445769231 meters 0.020996760472437797 Centerline is valid? [True, True] Translation: X:181.78, Y:81.09, Z:-0.41 [[ 5.77915913e-01 -8.16090969e-01 -2.95443084e-03 1.81776048e+02] [ 8.16079595e-01 5.77923459e-01 -4.30924333e-03 8.10925116e+01] [ 5.22416946e-03 7.93295678e-05 9.99986351e-01 -4.12265916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47576923100002 meters 0.02431386030272235 Centerline is valid? [True, True] Translation: X:181.79, Y:81.12, Z:-0.41 [[ 5.80459952e-01 -8.14284690e-01 -2.58604805e-03 1.81788691e+02] [ 8.14275948e-01 5.80465706e-01 -3.77415994e-03 8.11159509e+01] [ 4.57435287e-03 8.49919740e-05 9.99989534e-01 -4.11252516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50576923100002 meters 0.026650041187885606 Centerline is valid? [True, True] Translation: X:181.80, Y:81.14, Z:-0.41 [[ 5.81895284e-01 -8.13260296e-01 -2.36017116e-03 1.81800887e+02] [ 8.13252998e-01 5.81900064e-01 -3.44624726e-03 8.11397258e+01] [ 4.17607981e-03 8.59387549e-05 9.99991276e-01 -4.10191565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53576923100002 meters 0.0294093579242091 Centerline is valid? [True, True] Translation: X:181.81, Y:81.16, Z:-0.41 [[ 5.83912627e-01 -8.11811156e-01 -2.94799551e-03 1.81811898e+02] [ 8.11799743e-01 5.83920056e-01 -4.30639009e-03 8.11644834e+01] [ 5.21736922e-03 1.21373554e-04 9.99986382e-01 -4.12035082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56576923100002 meters 0.03166603073572374 Centerline is valid? [True, True] Translation: X:181.82, Y:81.19, Z:-0.41 [[ 5.84320839e-01 -8.11516078e-01 -3.28804830e-03 1.81824087e+02] [ 8.11501863e-01 5.84330074e-01 -4.80531124e-03 8.11878496e+01] [ 5.82089284e-03 1.39586175e-04 9.99983049e-01 -4.14398265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59576923100002 meters 0.029218869580905225 Centerline is valid? [True, True] Translation: X:181.84, Y:81.21, Z:-0.41 [[ 5.84049459e-01 -8.11710323e-01 -3.54703808e-03 1.81842523e+02] [ 8.11693769e-01 5.84060210e-01 -5.18609550e-03 8.12083072e+01] [ 6.28129106e-03 1.49827557e-04 9.99980261e-01 -4.14207310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62576923100002 meters 0.028888855831188547 Centerline is valid? [True, True] Translation: X:181.86, Y:81.23, Z:-0.41 [[ 5.83060531e-01 -8.12425582e-01 -2.25622761e-03 1.81858449e+02] [ 8.12418882e-01 5.83064889e-01 -3.30073984e-03 8.12291792e+01] [ 3.99713259e-03 9.15292108e-05 9.99992007e-01 -4.10533947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65576923100002 meters 0.028888855831188547 Centerline is valid? [True, True] Translation: X:181.87, Y:81.25, Z:-0.41 [[ 5.82871588e-01 -8.12561151e-01 -2.25544592e-03 1.81872795e+02] [ 8.12554450e-01 5.82875945e-01 -3.30127411e-03 8.12506625e+01] [ 3.99713226e-03 9.15462694e-05 9.99992007e-01 -4.10589415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68576923100002 meters 0.027643711248442743 Centerline is valid? [True, True] Translation: X:181.89, Y:81.27, Z:-0.41 [[ 5.82297129e-01 -8.12974441e-01 -1.61588202e-03 1.81888953e+02] [ 8.12971000e-01 5.82299368e-01 -2.36640371e-03 8.12724502e+01] [ 2.86475282e-03 6.42848664e-05 9.99995895e-01 -4.08311150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71576923100002 meters 0.027390567974883376 Centerline is valid? [True, True] Translation: X:181.90, Y:81.29, Z:-0.41 [[ 5.81494154e-01 -8.13549724e-01 -1.18145708e-03 1.81904523e+02] [ 8.13547882e-01 5.81495353e-01 -1.73146940e-03 8.12927785e+01] [ 2.09564825e-03 4.56674240e-05 9.99997803e-01 -4.08666525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74576923100003 meters 0.026705326579928683 Centerline is valid? [True, True] Translation: X:181.92, Y:81.31, Z:-0.41 [[ 5.80573194e-01 -8.14205841e-01 -1.90158741e-03 1.81921868e+02] [ 8.14201071e-01 5.80576304e-01 -2.78762344e-03 8.13124797e+01] [ 3.37371588e-03 7.01449317e-05 9.99994307e-01 -4.11183567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77576923100003 meters 0.02527941841571411 Centerline is valid? [True, True] Translation: X:181.94, Y:81.33, Z:-0.41 [[ 5.79155410e-01 -8.15213407e-01 -2.47248854e-03 1.81940868e+02] [ 8.15205349e-01 5.79160681e-01 -3.62550732e-03 8.13319078e+01] [ 4.38753032e-03 8.41462986e-05 9.99990371e-01 -4.13181860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80576923100003 meters 0.024188168152460856 Centerline is valid? [True, True] Translation: X:181.96, Y:81.35, Z:-0.41 [[ 5.77786270e-01 -8.16183285e-01 -2.80567482e-03 1.81958594e+02] [ 8.16172910e-01 5.77793075e-01 -4.11622202e-03 8.13510564e+01] [ 4.98069109e-03 8.83807872e-05 9.99987592e-01 -4.14165038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83576923100003 meters 0.02244325791492681 Centerline is valid? [True, True] Translation: X:181.98, Y:81.37, Z:-0.41 [[ 5.75828103e-01 -8.17565134e-01 -3.04089321e-03 1.81978497e+02] [ 8.17552955e-01 5.75836126e-01 -4.46329344e-03 8.13686593e+01] [ 5.40008927e-03 8.39985659e-05 9.99985416e-01 -4.14482316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86576923100003 meters 0.022470727574613304 Centerline is valid? [True, True] Translation: X:182.00, Y:81.39, Z:-0.41 [[ 5.75488362e-01 -8.17806568e-01 -2.35845491e-03 1.81996566e+02] [ 8.17799236e-01 5.75493191e-01 -3.46369883e-03 8.13874895e+01] [ 4.18991039e-03 6.45757437e-05 9.99991220e-01 -4.11696684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.895769231 meters 0.02234925660810573 Centerline is valid? [True, True] Translation: X:182.01, Y:81.41, Z:-0.41 [[ 5.75720842e-01 -8.17644222e-01 -1.85435491e-03 1.82013244e+02] [ 8.17639683e-01 5.75723826e-01 -2.72487560e-03 8.14084894e+01] [ 3.29557509e-03 5.25735156e-05 9.99994568e-01 -4.09144962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.925769231 meters 0.02360614504742649 Centerline is valid? [True, True] Translation: X:182.03, Y:81.43, Z:-0.41 [[ 5.76222673e-01 -8.17291327e-01 -1.52251543e-03 1.82026523e+02] [ 8.17288264e-01 5.76224683e-01 -2.23812261e-03 8.14301516e+01] [ 2.70650916e-03 4.53230040e-05 9.99996336e-01 -4.08147850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.955769231 meters 0.024512487892923665 Centerline is valid? [True, True] Translation: X:182.04, Y:81.45, Z:-0.41 [[ 5.76858439e-01 -8.16843060e-01 -1.32525191e-03 1.82040558e+02] [ 8.16840735e-01 5.76859960e-01 -1.94925689e-03 8.14528340e+01] [ 2.35672172e-03 4.19255407e-05 9.99997222e-01 -4.08160998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.985769231 meters 0.028123811604602787 Centerline is valid? [True, True] Translation: X:182.05, Y:81.48, Z:-0.41 [[ 5.79265016e-01 -8.15138493e-01 -1.13111875e-03 1.82050300e+02] [ 8.15136794e-01 5.79266118e-01 -1.66460175e-03 8.14776629e+01] [ 2.01209973e-03 4.22290435e-05 9.99997975e-01 -4.07864130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.015769231 meters 0.029887943539797398 Centerline is valid? [True, True] Translation: X:182.06, Y:81.50, Z:-0.41 [[ 5.80502256e-01 -8.14258037e-01 -9.90089090e-04 1.82062855e+02] [ 8.14256733e-01 5.80503099e-01 -1.45774813e-03 8.15023300e+01] [ 1.76173292e-03 4.00393728e-05 9.99998447e-01 -4.07294932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.045769231 meters 0.03249069978426073 Centerline is valid? [True, True] Translation: X:182.07, Y:81.53, Z:-0.41 [[ 5.82959592e-01 -8.12499037e-01 -1.85191885e-03 1.82071878e+02] [ 8.12494464e-01 5.82962527e-01 -2.72731624e-03 8.15284663e+01] [ 3.29554111e-03 8.52413504e-05 9.99994566e-01 -4.09122185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.075769231 meters 0.03581808397928758 Centerline is valid? [True, True] Translation: X:182.08, Y:81.55, Z:-0.41 [[ 5.84069053e-01 -8.11699208e-01 -2.78150707e-03 1.82080070e+02] [ 8.11688876e-01 5.84075660e-01 -4.09781404e-03 8.15544360e+01] [ 4.95080299e-03 1.35688020e-04 9.99987735e-01 -4.12049799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.105769231 meters 0.038467367730936106 Centerline is valid? [True, True] Translation: X:182.09, Y:81.58, Z:-0.41 [[ 5.85251032e-01 -8.10846291e-01 -3.08579729e-03 1.82088724e+02] [ 8.10833551e-01 5.85259146e-01 -4.54804549e-03 8.15801576e+01] [ 5.49375690e-03 1.59680340e-04 9.99984896e-01 -4.13873109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.135769231 meters 0.036593487635115274 Centerline is valid? [True, True] Translation: X:182.10, Y:81.61, Z:-0.41 [[ 5.87364954e-01 -8.09319944e-01 -1.90797318e-03 1.82100288e+02] [ 8.09315060e-01 5.87368042e-01 -2.81348272e-03 8.16058376e+01] [ 3.39769015e-03 1.08389722e-04 9.99994222e-01 -4.09151268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.165769231 meters 0.041403762948843265 Centerline is valid? [True, True] Translation: X:182.11, Y:81.63, Z:-0.41 [[ 5.88485601e-01 -8.08506946e-01 -1.10276171e-03 1.82106770e+02] [ 8.08505311e-01 5.88486631e-01 -1.62716359e-03 8.16336339e+01] [ 1.96453358e-03 6.59736468e-05 9.99998068e-01 -4.07116214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.195769231 meters 0.03676231479811895 Centerline is valid? [True, True] Translation: X:182.12, Y:81.66, Z:-0.41 [[ 5.89413959e-01 -8.07830952e-01 -5.81520707e-04 1.82124870e+02] [ 8.07830496e-01 5.89414245e-01 -8.58764357e-04 8.16553525e+01] [ 1.03649302e-03 3.63975387e-05 9.99999462e-01 -4.05655488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22576923100002 meters 0.04821953171255086 Centerline is valid? [True, True] Translation: X:182.12, Y:81.69, Z:-0.41 [[ 5.90712848e-01 -8.06880047e-01 -1.70915358e-03 1.82121879e+02] [ 8.06876108e-01 5.90715310e-01 -2.52342937e-03 8.16894858e+01] [ 3.04572800e-03 1.11546959e-04 9.99995356e-01 -4.11330576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25576923100002 meters 0.03959030919153411 Centerline is valid? [True, True] Translation: X:182.14, Y:81.71, Z:-0.41 [[ 5.90276820e-01 -8.07196475e-01 -2.66972146e-03 1.82143836e+02] [ 8.07186861e-01 5.90282832e-01 -3.94324018e-03 8.17072517e+01] [ 4.75886031e-03 1.72639187e-04 9.99988662e-01 -4.12868603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28576923100002 meters 0.03955337659807834 Centerline is valid? [True, True] Translation: X:182.15, Y:81.73, Z:-0.42 [[ 5.88095804e-01 -8.08783515e-01 -3.54290268e-03 1.82154258e+02] [ 8.08766604e-01 5.88106437e-01 -5.23446398e-03 8.17327580e+01] [ 6.31715205e-03 2.12984932e-04 9.99980024e-01 -4.17109932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31576923100002 meters 0.037478209234598936 Centerline is valid? [True, True] Translation: X:182.17, Y:81.76, Z:-0.42 [[ 5.86035934e-01 -8.10278891e-01 -3.16284965e-03 1.82170048e+02] [ 8.10265423e-01 5.86044442e-01 -4.67511996e-03 8.17555512e+01] [ 5.64172147e-03 1.77040582e-04 9.99984070e-01 -4.16315294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34576923100002 meters 0.034208685665907984 Centerline is valid? [True, True] Translation: X:182.19, Y:81.78, Z:-0.41 [[ 5.83927121e-01 -8.11801813e-01 -2.63302088e-03 1.82188111e+02] [ 8.11792490e-01 5.83933042e-01 -3.89312485e-03 8.17769395e+01] [ 4.69795370e-03 1.35834616e-04 9.99988955e-01 -4.14255876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37576923100002 meters 0.028941208265417746 Centerline is valid? [True, True] Translation: X:182.21, Y:81.80, Z:-0.41 [[ 5.79651387e-01 -8.14862109e-01 -2.00317741e-03 1.82207001e+02] [ 8.14856724e-01 5.79654842e-01 -2.96365170e-03 8.17967753e+01] [ 3.57611896e-03 8.55822393e-05 9.99993602e-01 -4.11039599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40576923100002 meters 0.02791043190842287 Centerline is valid? [True, True] Translation: X:182.22, Y:81.82, Z:-0.41 [[ 5.78355090e-01 -8.15781835e-01 -2.32120004e-03 1.82221858e+02] [ 8.15774609e-01 5.78359741e-01 -3.43485508e-03 8.18200414e+01] [ 4.14458103e-03 9.29898625e-05 9.99991407e-01 -4.11723211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43576923100002 meters 0.027315723538968852 Centerline is valid? [True, True] Translation: X:182.24, Y:81.84, Z:-0.41 [[ 5.77496068e-01 -8.16388759e-01 -2.77223334e-03 1.82235666e+02] [ 8.16378448e-01 5.77502712e-01 -4.10459776e-03 8.18424301e+01] [ 4.95191974e-03 1.07197518e-04 9.99987733e-01 -4.13369756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46576923100002 meters 0.027201791837012892 Centerline is valid? [True, True] Translation: X:182.25, Y:81.86, Z:-0.41 [[ 5.77310598e-01 -8.16519919e-01 -2.77411032e-03 1.82250204e+02] [ 8.16509585e-01 5.77317253e-01 -4.10946612e-03 8.18649633e+01] [ 4.95700270e-03 1.07350675e-04 9.99987708e-01 -4.14270899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49576923100003 meters 0.02790452508955151 Centerline is valid? [True, True] Translation: X:182.26, Y:81.89, Z:-0.41 [[ 5.77252034e-01 -8.16561897e-01 -2.59947850e-03 1.82264136e+02] [ 8.16552814e-01 5.77257878e-01 -3.85290700e-03 8.18865949e+01] [ 4.64670649e-03 1.01486921e-04 9.99989199e-01 -4.13660603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52576923100003 meters 0.027046689863535957 Centerline is valid? [True, True] Translation: X:182.28, Y:81.91, Z:-0.41 [[ 5.76235564e-01 -8.17281780e-01 -1.75143306e-03 1.82280078e+02] [ 8.17277655e-01 5.76238222e-01 -2.59738993e-03 8.19077973e+01] [ 3.13204213e-03 6.53013476e-05 9.99995093e-01 -4.11365292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55576923100003 meters 0.026387454602366998 Centerline is valid? [True, True] Translation: X:182.29, Y:81.93, Z:-0.41 [[ 5.75528381e-01 -8.17780531e-01 -1.44451284e-03 1.82294725e+02] [ 8.17777723e-01 5.75530191e-01 -2.14348432e-03 8.19296436e+01] [ 2.58426050e-03 5.23456375e-05 9.99996659e-01 -4.10484860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58576923100003 meters 0.0277277237703443 Centerline is valid? [True, True] Translation: X:182.31, Y:81.95, Z:-0.41 [[ 5.76223278e-01 -8.17291197e-01 -1.35363226e-03 1.82306644e+02] [ 8.17288728e-01 5.76224866e-01 -2.00958045e-03 8.19532831e+01] [ 2.42240898e-03 5.16586429e-05 9.99997065e-01 -4.09757958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61576923100003 meters 0.03061093188032345 Centerline is valid? [True, True] Translation: X:182.32, Y:81.98, Z:-0.41 [[ 5.77396997e-01 -8.16462553e-01 -1.26831287e-03 1.82317017e+02] [ 8.16460381e-01 5.77398387e-01 -1.88384561e-03 8.19778981e+01] [ 2.27041120e-03 5.21995851e-05 9.99997421e-01 -4.09434251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.645769231 meters 0.03195007280162895 Centerline is valid? [True, True] Translation: X:182.33, Y:82.00, Z:-0.41 [[ 5.78736384e-01 -8.15513997e-01 -1.05821365e-03 1.82329234e+02] [ 8.15512482e-01 5.78737349e-01 -1.57256218e-03 8.20023992e+01] [ 1.89487423e-03 4.71125074e-05 9.99998204e-01 -4.08433124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.675769231 meters 0.036014305500689514 Centerline is valid? [True, True] Translation: X:182.34, Y:82.03, Z:-0.41 [[ 5.81613882e-01 -8.13464733e-01 -6.49270553e-04 1.82335847e+02] [ 8.13464160e-01 5.81614243e-01 -9.65646036e-04 8.20299183e+01] [ 1.16314400e-03 3.34748144e-05 9.99999323e-01 -4.07578301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.705769231 meters 0.03874803498955436 Centerline is valid? [True, True] Translation: X:182.35, Y:82.05, Z:-0.41 [[ 5.82851066e-01 -8.12578730e-01 -6.65399438e-04 1.82345480e+02] [ 8.12578128e-01 5.82851444e-01 -9.90065127e-04 8.20547386e+01] [ 1.19233489e-03 3.63714850e-05 9.99999289e-01 -4.08145033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.735769231 meters 0.04052854212364626 Centerline is valid? [True, True] Translation: X:182.36, Y:82.08, Z:-0.41 [[ 5.83949432e-01 -8.11789522e-01 -9.12197291e-04 1.82356533e+02] [ 8.11788389e-01 5.83950142e-01 -1.35759827e-03 8.20793126e+01] [ 1.63476179e-03 5.22575670e-05 9.99998662e-01 -4.09318422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.765769231 meters 0.0430197550023038 Centerline is valid? [True, True] Translation: X:182.36, Y:82.11, Z:-0.41 [[ 5.85048644e-01 -8.10996117e-01 -1.83929281e-03 1.82363677e+02] [ 8.10991503e-01 5.85051524e-01 -2.73778218e-03 8.21053905e+01] [ 3.29641177e-03 1.10084910e-04 9.99994561e-01 -4.12758513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.795769231 meters 0.04305234804505478 Centerline is valid? [True, True] Translation: X:182.38, Y:82.13, Z:-0.41 [[ 5.84929415e-01 -8.11081809e-01 -1.96912816e-03 1.82375272e+02] [ 8.11076517e-01 5.84932718e-01 -2.93243268e-03 8.21290129e+01] [ 3.53025029e-03 1.18152519e-04 9.99993762e-01 -4.14148789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.825769231 meters 0.04288831242908159 Centerline is valid? [True, True] Translation: X:182.38, Y:82.16, Z:-0.41 [[ 5.84505612e-01 -8.11387977e-01 -1.65557830e-03 1.82384494e+02] [ 8.11384233e-01 5.84507948e-01 -2.46670408e-03 8.21550975e+01] [ 2.96915271e-03 9.84922466e-05 9.99995587e-01 -4.13412084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.855769231 meters 0.04313255948210843 Centerline is valid? [True, True] Translation: X:182.40, Y:82.18, Z:-0.41 [[ 5.84235048e-01 -8.11582965e-01 -1.58100392e-03 1.82396445e+02] [ 8.11579549e-01 5.84237180e-01 -2.35669259e-03 8.21793692e+01] [ 2.83633283e-03 9.37519651e-05 9.99995973e-01 -4.12652203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.885769231 meters 0.04245499286715998 Centerline is valid? [True, True] Translation: X:182.41, Y:82.20, Z:-0.41 [[ 5.83699219e-01 -8.11968103e-01 -1.73841091e-03 1.82409222e+02] [ 8.11963970e-01 5.83701798e-01 -2.59253389e-03 8.22027182e+01] [ 3.11976840e-03 1.01732981e-04 9.99995128e-01 -4.13258621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.915769231 meters 0.04070090515176016 Centerline is valid? [True, True] Translation: X:182.42, Y:82.23, Z:-0.42 [[ 5.81640680e-01 -8.13440750e-01 -2.87502838e-03 1.82419635e+02] [ 8.13429458e-01 5.81647764e-01 -4.28888625e-03 8.22270744e+01] [ 5.16100868e-03 1.55957936e-04 9.99986670e-01 -4.16591846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.945769231 meters 0.03982702963523618 Centerline is valid? [True, True] Translation: X:182.43, Y:82.25, Z:-0.42 [[ 5.80448108e-01 -8.14290636e-01 -3.27940285e-03 1.82432039e+02] [ 8.14275950e-01 5.80457347e-01 -4.89342692e-03 8.22498773e+01] [ 5.88822520e-03 1.70041521e-04 9.99982650e-01 -4.18240245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97576923100002 meters 0.038426426250607895 Centerline is valid? [True, True] Translation: X:182.45, Y:82.27, Z:-0.42 [[ 5.79132828e-01 -8.15226235e-01 -3.36930782e-03 1.82446283e+02] [ 8.15210738e-01 5.79142605e-01 -5.02950811e-03 8.22737194e+01] [ 6.05149667e-03 1.66057350e-04 9.99981676e-01 -4.18817986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00576923100002 meters 0.03569670696249674 Centerline is valid? [True, True] Translation: X:182.46, Y:82.30, Z:-0.41 [[ 5.77009324e-01 -8.16734889e-01 -2.08835342e-03 1.82459239e+02] [ 8.16728938e-01 5.77013095e-01 -3.11924314e-03 8.22958276e+01] [ 3.75260197e-03 9.42136993e-05 9.99992955e-01 -4.14640539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03576923100002 meters 0.03344590446428878 Centerline is valid? [True, True] Translation: X:182.47, Y:82.32, Z:-0.41 [[ 5.75429364e-01 -8.17850235e-01 -1.42835973e-03 1.82474936e+02] [ 8.17847451e-01 5.75431134e-01 -2.13452884e-03 8.23175841e+01] [ 2.56764757e-03 6.00902111e-05 9.99996702e-01 -4.12877864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06576923100002 meters 0.027899637001351733 Centerline is valid? [True, True] Translation: X:182.49, Y:82.34, Z:-0.41 [[ 5.71234881e-01 -8.20786042e-01 -9.92011734e-04 1.82494416e+02] [ 8.20784702e-01 5.71235742e-01 -1.48345210e-03 8.23354141e+01] [ 1.78426934e-03 3.31715280e-05 9.99998408e-01 -4.12445386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09576923100002 meters 0.024259698169300292 Centerline is valid? [True, True] Translation: X:182.51, Y:82.35, Z:-0.41 [[ 5.68523462e-01 -8.22666707e-01 -7.49744092e-04 1.82513250e+02] [ 8.22665942e-01 5.68523956e-01 -1.12188708e-03 8.23545583e+01] [ 1.34918662e-03 2.10301957e-05 9.99999090e-01 -4.12010569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12576923100002 meters 0.02059658887644094 Centerline is valid? [True, True] Translation: X:182.53, Y:82.37, Z:-0.41 [[ 5.65639679e-01 -8.24652437e-01 -3.34064774e-04 1.82532303e+02] [ 8.24652285e-01 5.65639778e-01 -5.00567304e-04 8.23729294e+01] [ 6.01754372e-04 7.65344992e-06 9.99999819e-01 -4.10856733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15576923100002 meters 0.01718049443004148 Centerline is valid? [True, True] Translation: X:182.55, Y:82.39, Z:-0.41 [[ 5.62809533e-01 -8.26586613e-01 2.11649774e-05 1.82552507e+02] [ 8.26586613e-01 5.62809534e-01 3.08544178e-05 8.23912250e+01] [-3.74156998e-05 1.29526462e-07 9.99999999e-01 -4.08894098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18576923100002 meters 0.012923736736279126 Centerline is valid? [True, True] Translation: X:182.58, Y:82.41, Z:-0.41 [[ 5.58261062e-01 -8.29665239e-01 4.21568356e-04 1.82576904e+02] [ 8.29665000e-01 5.58261221e-01 6.30403488e-04 8.24059528e+01] [-7.58369126e-04 -2.16921076e-06 9.99999712e-01 -4.06825756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21576923100002 meters 0.012072802272548195 Centerline is valid? [True, True] Translation: X:182.59, Y:82.42, Z:-0.41 [[ 5.56340829e-01 -8.30954101e-01 4.05564705e-04 1.82594743e+02] [ 8.30953879e-01 5.56340977e-01 6.06671738e-04 8.24241008e+01] [-7.29748633e-04 -5.10693035e-07 9.99999734e-01 -4.06817990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24576923100003 meters 0.011986356462237948 Centerline is valid? [True, True] Translation: X:182.61, Y:82.44, Z:-0.41 [[ 5.54504907e-01 -8.32180452e-01 6.31845956e-05 1.82613961e+02] [ 8.32180446e-01 5.54504911e-01 9.38133639e-05 8.24420966e+01] [-1.13105816e-04 5.61014322e-07 9.99999994e-01 -4.09010921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27576923100003 meters 0.011980263443892147 Centerline is valid? [True, True] Translation: X:182.63, Y:82.46, Z:-0.41 [[ 5.54370699e-01 -8.32269861e-01 8.35423404e-05 1.82629399e+02] [ 8.32269851e-01 5.54370705e-01 1.24387213e-04 8.24627206e+01] [-1.49837155e-04 5.73144931e-07 9.99999989e-01 -4.08961135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30576923100003 meters 0.011859456445991358 Centerline is valid? [True, True] Translation: X:182.64, Y:82.48, Z:-0.41 [[ 5.54681925e-01 -8.32062447e-01 2.14373565e-04 1.82643933e+02] [ 8.32062385e-01 5.54681967e-01 3.20709770e-04 8.24834737e+01] [-3.85759706e-04 4.80267081e-07 9.99999926e-01 -4.07904251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33576923100003 meters 0.01208305489496595 Centerline is valid? [True, True] Translation: X:182.66, Y:82.50, Z:-0.41 [[ 5.55928735e-01 -8.31229934e-01 1.95858840e-04 1.82658285e+02] [ 8.31229883e-01 5.55928769e-01 2.93080598e-04 8.25040237e+01] [-3.52500930e-04 -1.28205705e-07 9.99999938e-01 -4.07520373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36576923100003 meters 0.012604711738223175 Centerline is valid? [True, True] Translation: X:182.67, Y:82.52, Z:-0.41 [[ 5.56511415e-01 -8.30839925e-01 -2.53689083e-04 1.82671892e+02] [ 8.30839837e-01 5.56511473e-01 -3.81980227e-04 8.25245076e+01] [ 4.58545309e-04 1.80136034e-06 9.99999895e-01 -4.08764750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.395769231 meters 0.013324509230337178 Centerline is valid? [True, True] Translation: X:182.69, Y:82.54, Z:-0.41 [[ 5.57423995e-01 -8.30227618e-01 -7.70198560e-04 1.82685784e+02] [ 8.30226809e-01 5.57424527e-01 -1.15834280e-03 8.25446858e+01] [ 1.39101575e-03 6.24857986e-06 9.99999033e-01 -4.10920669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.425769231 meters 0.01383593995892971 Centerline is valid? [True, True] Translation: X:182.70, Y:82.57, Z:-0.41 [[ 5.57796690e-01 -8.29977315e-01 -7.13754548e-04 1.82698393e+02] [ 8.29976620e-01 5.57797147e-01 -1.07381293e-03 8.25652811e+01] [ 1.28937063e-03 6.56971332e-06 9.99999169e-01 -4.11460424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.455769231 meters 0.013460550942075261 Centerline is valid? [True, True] Translation: X:182.71, Y:82.59, Z:-0.41 [[ 5.57999020e-01 -8.29841464e-01 -4.88723969e-04 1.82713642e+02] [ 8.29841138e-01 5.57999234e-01 -7.36019619e-04 8.25870837e+01] [ 8.83487198e-04 5.13497132e-06 9.99999610e-01 -4.09640421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.485769231 meters 0.013226547963929774 Centerline is valid? [True, True] Translation: X:182.73, Y:82.61, Z:-0.41 [[ 5.57649277e-01 -8.30076673e-01 2.17654627e-05 1.82728442e+02] [ 8.30076673e-01 5.57649277e-01 3.18359011e-05 8.26092336e+01] [-3.85637334e-05 3.13735658e-07 9.99999999e-01 -4.08818468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.515769231 meters 0.012741605991012114 Centerline is valid? [True, True] Translation: X:182.74, Y:82.63, Z:-0.41 [[ 5.56882126e-01 -8.30591345e-01 5.60895799e-04 1.82744677e+02] [ 8.30590917e-01 5.56882408e-01 8.43589909e-04 8.26289745e+01] [-1.01303148e-03 -3.90518604e-06 9.99999487e-01 -4.07589484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.545769231 meters 0.012425616791816904 Centerline is valid? [True, True] Translation: X:182.76, Y:82.65, Z:-0.41 [[ 5.56031693e-01 -8.31160902e-01 5.58353039e-04 1.82761075e+02] [ 8.31160477e-01 5.56031974e-01 8.40232500e-04 8.26494575e+01] [-1.00883054e-03 -3.11492155e-06 9.99999491e-01 -4.07591191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.575769231 meters 0.012425616791816904 Centerline is valid? [True, True] Translation: X:182.78, Y:82.67, Z:-0.41 [[ 5.55835178e-01 -8.31292334e-01 5.58153116e-04 1.82775110e+02] [ 8.31291909e-01 5.55835458e-01 8.40365246e-04 8.26711294e+01] [-1.00883048e-03 -3.11639703e-06 9.99999491e-01 -4.07646643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.605769231 meters 0.01184864978166128 Centerline is valid? [True, True] Translation: X:182.80, Y:82.69, Z:-0.41 [[ 5.53098174e-01 -8.33116080e-01 8.27304368e-05 1.82795318e+02] [ 8.33116071e-01 5.53098180e-01 1.23846081e-04 8.26888452e+01] [-1.48936216e-04 4.25014985e-07 9.99999989e-01 -4.09352120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.635769231 meters 0.012048004538302994 Centerline is valid? [True, True] Translation: X:182.81, Y:82.71, Z:-0.41 [[ 5.51481512e-01 -8.34186974e-01 -4.84715942e-04 1.82812817e+02] [ 8.34186653e-01 5.51481725e-01 -7.32254981e-04 8.27083530e+01] [ 8.78149551e-04 -5.18485217e-07 9.99999614e-01 -4.11631142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.665769231 meters 0.012400569411222829 Centerline is valid? [True, True] Translation: X:182.83, Y:82.73, Z:-0.41 [[ 5.49808604e-01 -8.35290461e-01 -5.87252875e-04 1.82831032e+02] [ 8.35289989e-01 5.49808918e-01 -8.87435253e-04 8.27277711e+01] [ 1.06414307e-03 -2.60690996e-06 9.99999434e-01 -4.12650085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.695769231 meters 0.013414788819520063 Centerline is valid? [True, True] Translation: X:182.85, Y:82.74, Z:-0.41 [[ 5.47594621e-01 -8.36743464e-01 -7.11658563e-04 1.82851510e+02] [ 8.36742773e-01 5.47595083e-01 -1.07585677e-03 8.27442278e+01] [ 1.28991685e-03 -6.34178036e-06 9.99999168e-01 -4.12745796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72576923100002 meters 0.013671555612273447 Centerline is valid? [True, True] Translation: X:182.87, Y:82.77, Z:-0.41 [[ 5.46840573e-01 -8.37236715e-01 -2.64460950e-04 1.82867943e+02] [ 8.37236620e-01 5.46840637e-01 -4.00562754e-04 8.27650052e+01] [ 4.79983839e-04 -2.37242606e-06 9.99999885e-01 -4.11096775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75576923100002 meters 0.013895907994947856 Centerline is valid? [True, True] Translation: X:182.88, Y:82.79, Z:-0.41 [[ 5.46733528e-01 -8.37306651e-01 -1.45796602e-04 1.82883440e+02] [ 8.37306622e-01 5.46733547e-01 -2.21400698e-04 8.27854392e+01] [ 2.65092171e-04 -1.02927546e-06 9.99999965e-01 -4.10807005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78576923100002 meters 0.01357996327388121 Centerline is valid? [True, True] Translation: X:182.90, Y:82.81, Z:-0.41 [[ 5.46757999e-01 -8.37290681e-01 7.62816605e-05 1.82899991e+02] [ 8.37290673e-01 5.46758004e-01 1.14488160e-04 8.28059858e+01] [-1.37567478e-04 1.27260554e-06 9.99999991e-01 -4.09962663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81576923100002 meters 0.013440037517339748 Centerline is valid? [True, True] Translation: X:182.92, Y:82.83, Z:-0.41 [[ 5.46502243e-01 -8.37457623e-01 -1.64701226e-04 1.82915979e+02] [ 8.37457586e-01 5.46502268e-01 -2.50217603e-04 8.28275273e+01] [ 2.99556233e-04 -1.18580941e-06 9.99999955e-01 -4.11351168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84576923100002 meters 0.01473936528502846 Centerline is valid? [True, True] Translation: X:182.94, Y:82.85, Z:-0.42 [[ 5.45126789e-01 -8.38352741e-01 -1.21083428e-03 1.82936165e+02] [ 8.38350734e-01 5.45128134e-01 -1.83443535e-03 8.28453642e+01] [ 2.19796374e-03 -1.51039521e-05 9.99997584e-01 -4.16324841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87576923100002 meters 0.016387094204589128 Centerline is valid? [True, True] Translation: X:182.95, Y:82.86, Z:-0.42 [[ 5.43780910e-01 -8.39225642e-01 -1.62564147e-03 1.82954931e+02] [ 8.39222026e-01 5.43783340e-01 -2.46370381e-03 8.28638177e+01] [ 2.95160017e-03 -2.45590312e-05 9.99995644e-01 -4.18637031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90576923100002 meters 0.01607717152459885 Centerline is valid? [True, True] Translation: X:182.97, Y:82.89, Z:-0.42 [[ 5.42262605e-01 -8.40207556e-01 -1.59064924e-03 1.82971165e+02] [ 8.40204094e-01 5.42264937e-01 -2.41196694e-03 8.28850638e+01] [ 2.88910616e-03 -2.85505274e-05 9.99995826e-01 -4.17071044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93576923100002 meters 0.0176690978511239 Centerline is valid? [True, True] Translation: X:182.99, Y:82.90, Z:-0.41 [[ 5.40769095e-01 -8.41171037e-01 -2.70367739e-04 1.82990829e+02] [ 8.41170936e-01 5.40769162e-01 -4.11043354e-04 8.29020126e+01] [ 4.91964300e-04 -5.14594105e-06 9.99999879e-01 -4.12104872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96576923100002 meters 0.016736272147369113 Centerline is valid? [True, True] Translation: X:183.01, Y:82.92, Z:-0.41 [[ 5.41292439e-01 -8.40834349e-01 3.05601897e-04 1.83005109e+02] [ 8.40834222e-01 5.41292525e-01 4.62794342e-04 8.29243989e+01] [-5.54553401e-04 6.45345511e-06 9.99999846e-01 -4.10023328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99576923100003 meters 0.01712318556923143 Centerline is valid? [True, True] Translation: X:183.02, Y:82.95, Z:-0.41 [[ 5.42428431e-01 -8.40101929e-01 3.83297065e-04 1.83020125e+02] [ 8.40101728e-01 5.42428566e-01 5.81115989e-04 8.29451493e+01] [-6.96107941e-04 6.79469280e-06 9.99999758e-01 -4.10722035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02576923100003 meters 0.013623909883485271 Centerline is valid? [True, True] Translation: X:183.03, Y:82.97, Z:-0.41 [[ 5.45573954e-01 -8.38062651e-01 -2.29782407e-04 1.83028082e+02] [ 8.38062578e-01 5.45574003e-01 -3.49860764e-04 8.29710690e+01] [ 4.18568547e-04 -1.69711593e-06 9.99999912e-01 -4.13478136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05576923100003 meters 0.012460085003280583 Centerline is valid? [True, True] Translation: X:183.04, Y:83.00, Z:-0.41 [[ 5.47077722e-01 -8.37081620e-01 -5.71887574e-04 1.83038280e+02] [ 8.37081168e-01 5.47078021e-01 -8.69943524e-04 8.29954444e+01] [ 1.04108086e-03 -2.78959651e-06 9.99999458e-01 -4.14491245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08576923100003 meters 0.012023933359384445 Centerline is valid? [True, True] Translation: X:183.05, Y:83.02, Z:-0.42 [[ 5.49229762e-01 -8.35671075e-01 -7.22725977e-04 1.83046854e+02] [ 8.35670352e-01 5.49230237e-01 -1.09979340e-03 8.30204526e+01] [ 1.31600849e-03 7.85964434e-08 9.99999134e-01 -4.16076574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11576923100003 meters 0.012143685556732588 Centerline is valid? [True, True] Translation: X:183.06, Y:83.04, Z:-0.42 [[ 5.49916807e-01 -8.35218954e-01 -8.97560052e-04 1.83059596e+02] [ 8.35217836e-01 5.49917539e-01 -1.36625883e-03 8.30434507e+01] [ 1.63470929e-03 1.67052872e-06 9.99998664e-01 -4.16576250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.145769231 meters 0.012172597238722138 Centerline is valid? [True, True] Translation: X:183.07, Y:83.07, Z:-0.42 [[ 5.49868072e-01 -8.35250643e-01 -1.21094423e-03 1.83073092e+02] [ 8.35248608e-01 5.49869405e-01 -1.84391119e-03 8.30657433e+01] [ 2.20598919e-03 2.46840447e-06 9.99997567e-01 -4.17379528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.175769231 meters 0.012107037044531319 Centerline is valid? [True, True] Translation: X:183.09, Y:83.09, Z:-0.42 [[ 5.49621001e-01 -8.35413222e-01 -1.22615288e-03 1.83087727e+02] [ 8.35411134e-01 5.49622369e-01 -1.86791553e-03 8.30889036e+01] [ 2.23440238e-03 2.30384075e-06 9.99997504e-01 -4.16730067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.205769231 meters 0.012211930698692267 Centerline is valid? [True, True] Translation: X:183.10, Y:83.11, Z:-0.42 [[ 5.49417194e-01 -8.35547549e-01 -1.01988547e-03 1.83099113e+02] [ 8.35546103e-01 5.49418140e-01 -1.55485498e-03 8.31114477e+01] [ 1.85949884e-03 2.10273165e-06 9.99998271e-01 -4.15899351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.235769231 meters 0.011964221534735614 Centerline is valid? [True, True] Translation: X:183.11, Y:83.13, Z:-0.41 [[ 5.49362948e-01 -8.35583729e-01 -4.28700013e-04 1.83112038e+02] [ 8.35583472e-01 5.49363115e-01 -6.54448335e-04 8.31344693e+01] [ 7.82358354e-04 1.31502077e-06 9.99999694e-01 -4.14924809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.265769231 meters 0.012192623471830614 Centerline is valid? [True, True] Translation: X:183.12, Y:83.16, Z:-0.42 [[ 5.49561625e-01 -8.35452961e-01 -6.08074806e-04 1.83124415e+02] [ 8.35452445e-01 5.49561961e-01 -9.28436450e-04 8.31565071e+01] [ 1.10983976e-03 2.21546009e-06 9.99999384e-01 -4.15625305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.295769231 meters 0.012287702383279748 Centerline is valid? [True, True] Translation: X:183.14, Y:83.18, Z:-0.42 [[ 5.49483364e-01 -8.35504218e-01 -8.56656770e-04 1.83138026e+02] [ 8.35503194e-01 5.49484032e-01 -1.30816822e-03 8.31785604e+01] [ 1.56369928e-03 3.07720774e-06 9.99998777e-01 -4.15624614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.325769231 meters 0.012167572896465655 Centerline is valid? [True, True] Translation: X:183.15, Y:83.20, Z:-0.42 [[ 5.48967828e-01 -8.35842926e-01 -9.62083633e-04 1.83152292e+02] [ 8.35841634e-01 5.48968671e-01 -1.46980931e-03 8.32004822e+01] [ 1.75668349e-03 2.72846697e-06 9.99998457e-01 -4.16046236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.355769231 meters 0.011987285159085554 Centerline is valid? [True, True] Translation: X:183.17, Y:83.22, Z:-0.41 [[ 5.47810022e-01 -8.36602664e-01 -4.02194503e-04 1.83168260e+02] [ 8.36602438e-01 5.47810170e-01 -6.15303224e-04 8.32215920e+01] [ 7.35090555e-04 5.92370510e-07 9.99999730e-01 -4.14438950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.385769231 meters 0.011887873735776534 Centerline is valid? [True, True] Translation: X:183.18, Y:83.24, Z:-0.41 [[ 5.47011540e-01 -8.37125065e-01 3.22310156e-06 1.83183666e+02] [ 8.37125065e-01 5.47011540e-01 3.96627057e-06 8.32428236e+01] [-5.08333831e-06 5.28543332e-07 1.00000000e+00 -4.13046224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.415769231 meters 0.012149142141594753 Centerline is valid? [True, True] Translation: X:183.20, Y:83.26, Z:-0.41 [[ 5.45328717e-01 -8.38222172e-01 4.26084091e-04 1.83200194e+02] [ 8.38221919e-01 5.45328883e-01 6.50577190e-04 8.32618017e+01] [-7.77684186e-04 2.37460080e-06 9.99999698e-01 -4.12979809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.445769231 meters 0.012464408327255117 Centerline is valid? [True, True] Translation: X:183.22, Y:83.28, Z:-0.41 [[ 5.44183444e-01 -8.38966179e-01 3.60602430e-04 1.83215432e+02] [ 8.38965998e-01 5.44183563e-01 5.50796842e-04 8.32830729e+01] [-6.58333837e-04 2.79865526e-06 9.99999783e-01 -4.13159129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47576923100002 meters 0.012825660278125282 Centerline is valid? [True, True] Translation: X:183.23, Y:83.30, Z:-0.41 [[ 5.43139545e-01 -8.39642440e-01 9.19640430e-05 1.83230902e+02] [ 8.39642428e-01 5.43139552e-01 1.39840097e-04 8.33047777e+01] [-1.67364989e-04 1.26422595e-06 9.99999986e-01 -4.13691990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50576923100002 meters 0.013456459237449904 Centerline is valid? [True, True] Translation: X:183.24, Y:83.33, Z:-0.41 [[ 5.42197073e-01 -8.40251344e-01 -1.15170684e-04 1.83244153e+02] [ 8.40251325e-01 5.42197086e-01 -1.77125737e-04 8.33259496e+01] [ 2.11275348e-04 -7.35263615e-07 9.99999978e-01 -4.13439170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53576923100002 meters 0.013395598844426407 Centerline is valid? [True, True] Translation: X:183.26, Y:83.35, Z:-0.41 [[ 5.42291223e-01 -8.40190589e-01 -5.84196355e-05 1.83257096e+02] [ 8.40190584e-01 5.42291226e-01 -9.04907390e-05 8.33482943e+01] [ 1.07709923e-04 -1.12942255e-08 9.99999994e-01 -4.13457426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56576923100002 meters 0.012933814179582174 Centerline is valid? [True, True] Translation: X:183.27, Y:83.37, Z:-0.41 [[ 5.42545450e-01 -8.40026449e-01 -7.89592226e-06 1.83269279e+02] [ 8.40026449e-01 5.42545450e-01 -1.30314720e-05 8.33722562e+01] [ 1.52306778e-05 4.37382329e-07 1.00000000e+00 -4.13006690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59576923100002 meters 0.012849217500622819 Centerline is valid? [True, True] Translation: X:183.28, Y:83.39, Z:-0.41 [[ 5.42506020e-01 -8.40051888e-01 2.08417195e-04 1.83281253e+02] [ 8.40051827e-01 5.42506060e-01 3.18909919e-04 8.33943142e+01] [-3.80968471e-04 2.07069422e-06 9.99999927e-01 -4.13293970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62576923100002 meters 0.0134326921677769 Centerline is valid? [True, True] Translation: X:183.30, Y:83.42, Z:-0.41 [[ 5.41435611e-01 -8.40742172e-01 2.80773571e-04 1.83296332e+02] [ 8.40742062e-01 5.41435684e-01 4.29922051e-04 8.34163675e+01] [-5.13474430e-04 3.28304231e-06 9.99999868e-01 -4.13731038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65576923100002 meters 0.014597773395171598 Centerline is valid? [True, True] Translation: X:183.31, Y:83.44, Z:-0.41 [[ 5.39633069e-01 -8.41900283e-01 2.54799896e-04 1.83312777e+02] [ 8.41900192e-01 5.39633129e-01 3.90341741e-04 8.34381084e+01] [-4.66127287e-04 3.87477001e-06 9.99999891e-01 -4.13997504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68576923100002 meters 0.019320647431276535 Centerline is valid? [True, True] Translation: X:183.33, Y:83.46, Z:-0.42 [[ 5.34706439e-01 -8.45037627e-01 -6.58432898e-04 1.83332709e+02] [ 8.45037021e-01 5.34706844e-01 -1.01189531e-03 8.34556161e+01] [ 1.20715819e-03 -1.53332354e-05 9.99999271e-01 -4.16990920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71576923100002 meters 0.02259047763244171 Centerline is valid? [True, True] Translation: X:183.35, Y:83.48, Z:-0.42 [[ 5.32433004e-01 -8.46471465e-01 -1.07513784e-03 1.83351090e+02] [ 8.46469852e-01 5.32434088e-01 -1.65282987e-03 8.34752012e+01] [ 1.97151336e-03 -3.00505919e-05 9.99998056e-01 -4.18770962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74576923100003 meters 0.023320573066417192 Centerline is valid? [True, True] Translation: X:183.37, Y:83.50, Z:-0.42 [[ 5.30496451e-01 -8.47686456e-01 -1.09041693e-03 1.83367359e+02] [ 8.47684797e-01 5.30497570e-01 -1.67704703e-03 8.34974019e+01] [ 2.00007358e-03 -3.46623606e-05 9.99997999e-01 -4.18509847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77576923100003 meters 0.025930715462578142 Centerline is valid? [True, True] Translation: X:183.39, Y:83.52, Z:-0.42 [[ 5.28954174e-01 -8.48650141e-01 -6.48203715e-04 1.83386545e+02] [ 8.48649555e-01 5.28954570e-01 -9.97790546e-04 8.35163710e+01] [ 1.18964541e-03 -2.23123203e-05 9.99999292e-01 -4.16635114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80576923100003 meters 0.026306383073747223 Centerline is valid? [True, True] Translation: X:183.40, Y:83.54, Z:-0.42 [[ 5.28558122e-01 -8.48896972e-01 -4.92879104e-04 1.83401416e+02] [ 8.48896632e-01 5.28558351e-01 -7.59362180e-04 8.35368343e+01] [ 9.05135622e-04 -1.70363638e-05 9.99999590e-01 -4.15358606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83576923100003 meters 0.026132346500004032 Centerline is valid? [True, True] Translation: X:183.42, Y:83.56, Z:-0.42 [[ 5.28808759e-01 -8.48740852e-01 -5.12260452e-04 1.83415849e+02] [ 8.48740485e-01 5.28809007e-01 -7.89709584e-04 8.35565263e+01] [ 9.41146726e-04 -1.71708394e-05 9.99999557e-01 -4.15775507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86576923100003 meters 0.02504980284547197 Centerline is valid? [True, True] Translation: X:183.43, Y:83.58, Z:-0.42 [[ 5.29369170e-01 -8.48391431e-01 -5.10444620e-04 1.83429617e+02] [ 8.48391066e-01 5.29369416e-01 -7.87301588e-04 8.35784273e+01] [ 9.38153692e-04 -1.62834665e-05 9.99999560e-01 -4.17052241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.895769231 meters 0.023614400945242458 Centerline is valid? [True, True] Translation: X:183.44, Y:83.60, Z:-0.42 [[ 5.30168151e-01 -8.47892316e-01 -5.94190449e-04 1.83443742e+02] [ 8.47891820e-01 5.30168483e-01 -9.16610683e-04 8.36011731e+01] [ 1.09220820e-03 -1.78514307e-05 9.99999403e-01 -4.17478999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.925769231 meters 0.02356042352024031 Centerline is valid? [True, True] Translation: X:183.46, Y:83.62, Z:-0.42 [[ 5.30479430e-01 -8.47697585e-01 -6.14503835e-04 1.83458334e+02] [ 8.47697055e-01 5.30479786e-01 -9.48627131e-04 8.36208047e+01] [ 1.13013079e-03 -1.76859106e-05 9.99999361e-01 -4.17915502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.955769231 meters 0.02277734975553465 Centerline is valid? [True, True] Translation: X:183.47, Y:83.64, Z:-0.42 [[ 5.31243495e-01 -8.47219065e-01 -4.52904358e-04 1.83474535e+02] [ 8.47218776e-01 5.31243688e-01 -6.99742775e-04 8.36395099e+01] [ 8.33438000e-04 -1.19752784e-05 9.99999653e-01 -4.18127617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.985769231 meters 0.022619052343664684 Centerline is valid? [True, True] Translation: X:183.49, Y:83.66, Z:-0.42 [[ 5.31207184e-01 -8.47241595e-01 -7.79254942e-04 1.83489314e+02] [ 8.47240740e-01 5.31207755e-01 -1.20390327e-03 8.36599059e+01] [ 1.43394319e-03 -2.06944685e-05 9.99998972e-01 -4.19403173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.015769231 meters 0.023636763480440356 Centerline is valid? [True, True] Translation: X:183.51, Y:83.68, Z:-0.42 [[ 5.30667717e-01 -8.47578076e-01 -1.78290245e-03 1.83506917e+02] [ 8.47573603e-01 5.30670710e-01 -2.75407931e-03 8.36789025e+01] [ 3.28043135e-03 -4.96400737e-05 9.99994618e-01 -4.23097420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.045769231 meters 0.023720080676028092 Centerline is valid? [True, True] Translation: X:183.52, Y:83.70, Z:-0.42 [[ 5.30529011e-01 -8.47664318e-01 -2.04277810e-03 1.83522498e+02] [ 8.47658440e-01 5.30532941e-01 -3.15730084e-03 8.36995831e+01] [ 3.76009233e-03 -5.65384040e-05 9.99992929e-01 -4.23971643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.075769231 meters 0.023342793649849248 Centerline is valid? [True, True] Translation: X:183.54, Y:83.72, Z:-0.42 [[ 5.30652539e-01 -8.47587203e-01 -1.95350983e-03 1.83537598e+02] [ 8.47581821e-01 5.30656132e-01 -3.02094586e-03 8.37202372e+01] [ 3.59715702e-03 -5.26868233e-05 9.99993529e-01 -4.23321694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.105769231 meters 0.02203125581984589 Centerline is valid? [True, True] Translation: X:183.55, Y:83.74, Z:-0.42 [[ 5.31423877e-01 -8.47105001e-01 -1.33443163e-03 1.83552503e+02] [ 8.47102485e-01 5.31425551e-01 -2.06491841e-03 8.37416912e+01] [ 2.45835377e-03 -3.30534010e-05 9.99996978e-01 -4.19933423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.135769231 meters 0.019501921454274793 Centerline is valid? [True, True] Translation: X:183.56, Y:83.77, Z:-0.42 [[ 5.32210515e-01 -8.46611451e-01 -1.00912063e-03 1.83563488e+02] [ 8.46610010e-01 5.32211471e-01 -1.56267721e-03 8.37653582e+01] [ 1.86004600e-03 -2.26583795e-05 9.99998270e-01 -4.18104687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.165769231 meters 0.017500902662802017 Centerline is valid? [True, True] Translation: X:183.58, Y:83.79, Z:-0.42 [[ 5.33808604e-01 -8.45605005e-01 -7.41123554e-04 1.83575546e+02] [ 8.45604225e-01 5.33809119e-01 -1.14841683e-03 8.37890697e+01] [ 1.36672553e-03 -1.36624235e-05 9.99999066e-01 -4.17705718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.195769231 meters 0.014571197194017902 Centerline is valid? [True, True] Translation: X:183.59, Y:83.81, Z:-0.42 [[ 5.36735918e-01 -8.43750244e-01 -2.81922339e-04 1.83586681e+02] [ 8.43750131e-01 5.36735992e-01 -4.37632808e-04 8.38134793e+01] [ 5.20570655e-04 -2.97876351e-06 9.99999864e-01 -4.16741250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22576923100002 meters 0.013891671835893288 Centerline is valid? [True, True] Translation: X:183.60, Y:83.84, Z:-0.42 [[ 5.37223306e-01 -8.43440051e-01 1.26333473e-05 1.83599140e+02] [ 8.43440051e-01 5.37223306e-01 1.86733104e-05 8.38365360e+01] [-2.25367466e-05 6.23733522e-07 1.00000000e+00 -4.16426940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25576923100002 meters 0.013705392196640713 Centerline is valid? [True, True] Translation: X:183.61, Y:83.86, Z:-0.42 [[ 5.37465655e-01 -8.43285621e-01 -1.76183527e-04 1.83610802e+02] [ 8.43285576e-01 5.37465684e-01 -2.74156976e-04 8.38589795e+01] [ 3.25885236e-04 -1.22306800e-06 9.99999947e-01 -4.17747386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28576923100002 meters 0.014334500120298027 Centerline is valid? [True, True] Translation: X:183.63, Y:83.88, Z:-0.42 [[ 5.37345903e-01 -8.43361600e-01 -7.69945317e-04 1.83625176e+02] [ 8.43360752e-01 5.37346454e-01 -1.19566796e-03 8.38793617e+01] [ 1.42210783e-03 -6.85438069e-06 9.99998989e-01 -4.20715119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31576923100002 meters 0.014025360829304959 Centerline is valid? [True, True] Translation: X:183.64, Y:83.90, Z:-0.42 [[ 5.37059409e-01 -8.43543289e-01 -1.38248099e-03 1.83638981e+02] [ 8.43540557e-01 5.37061188e-01 -2.14703745e-03 8.39016437e+01] [ 2.55359592e-03 -1.30921252e-05 9.99996739e-01 -4.21541969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34576923100002 meters 0.013599846928275995 Centerline is valid? [True, True] Translation: X:183.65, Y:83.92, Z:-0.42 [[ 5.37500489e-01 -8.43262500e-01 -1.25727911e-03 1.83651112e+02] [ 8.43260236e-01 5.37501959e-01 -1.95393850e-03 8.39230439e+01] [ 2.32347305e-03 -9.97057529e-06 9.99997301e-01 -4.21508327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37576923100002 meters 0.012924368706832076 Centerline is valid? [True, True] Translation: X:183.66, Y:83.95, Z:-0.42 [[ 5.38007818e-01 -8.42939421e-01 -8.48654161e-04 1.83662688e+02] [ 8.42938388e-01 5.38008487e-01 -1.31980587e-03 8.39466330e+01] [ 1.56909954e-03 -5.29729469e-06 9.99998769e-01 -4.19459001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40576923100002 meters 0.012670416086572045 Centerline is valid? [True, True] Translation: X:183.67, Y:83.97, Z:-0.42 [[ 5.38488224e-01 -8.42632873e-01 -5.24235880e-04 1.83674714e+02] [ 8.42632477e-01 5.38488479e-01 -8.16053848e-04 8.39705398e+01] [ 9.69928780e-04 -2.30279067e-06 9.99999530e-01 -4.18493997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43576923100002 meters 0.012431657278917008 Centerline is valid? [True, True] Translation: X:183.69, Y:84.00, Z:-0.42 [[ 5.39068857e-01 -8.42261408e-01 -6.99137496e-04 1.83685788e+02] [ 8.42260704e-01 5.39069310e-01 -1.08856655e-03 8.39951608e+01] [ 1.29374116e-03 -2.04371527e-06 9.99999163e-01 -4.19308806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46576923100002 meters 0.012431657278917008 Centerline is valid? [True, True] Translation: X:183.70, Y:84.02, Z:-0.42 [[ 5.38870538e-01 -8.42388304e-01 -6.98880133e-04 1.83699506e+02] [ 8.42387600e-01 5.38870992e-01 -1.08873187e-03 8.40170511e+01] [ 1.29374122e-03 -2.04243008e-06 9.99999163e-01 -4.19364258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49576923100003 meters 0.012335459506042278 Centerline is valid? [True, True] Translation: X:183.71, Y:84.04, Z:-0.42 [[ 5.39134782e-01 -8.42219179e-01 -7.35587454e-04 1.83711391e+02] [ 8.42218400e-01 5.39135283e-01 -1.14614805e-03 8.40394377e+01] [ 1.36188902e-03 -1.59700835e-06 9.99999073e-01 -4.19108179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52576923100003 meters 0.012198641977450374 Centerline is valid? [True, True] Translation: X:183.72, Y:84.06, Z:-0.42 [[ 5.39966418e-01 -8.41686442e-01 -4.48042724e-04 1.83720465e+02] [ 8.41686152e-01 5.39966604e-01 -6.98993453e-04 8.40642573e+01] [ 8.30261421e-04 3.21634770e-07 9.99999655e-01 -4.18144737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55576923100003 meters 0.012214199574675769 Centerline is valid? [True, True] Translation: X:183.73, Y:84.09, Z:-0.42 [[ 5.40552297e-01 -8.41310336e-01 -3.63931582e-04 1.83731272e+02] [ 8.41310144e-01 5.40552419e-01 -5.68222857e-04 8.40890955e+01] [ 6.74775860e-04 9.74838974e-07 9.99999772e-01 -4.17702779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58576923100003 meters 0.012411123653928918 Centerline is valid? [True, True] Translation: X:183.74, Y:84.11, Z:-0.42 [[ 5.41221040e-01 -8.40880118e-01 -6.42246406e-04 1.83741560e+02] [ 8.40879520e-01 5.41221421e-01 -1.00263659e-03 8.41130400e+01] [ 1.19069469e-03 2.59616803e-06 9.99999291e-01 -4.18499489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61576923100003 meters 0.012840946195886332 Centerline is valid? [True, True] Translation: X:183.75, Y:84.14, Z:-0.42 [[ 5.41864737e-01 -8.40465313e-01 -8.14446355e-04 1.83750318e+02] [ 8.40464351e-01 5.41865349e-01 -1.27187664e-03 8.41379507e+01] [ 1.51028846e-03 4.67197626e-06 9.99998859e-01 -4.19894788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.645769231 meters 0.012504540741745384 Centerline is valid? [True, True] Translation: X:183.76, Y:84.16, Z:-0.42 [[ 5.41567956e-01 -8.40656880e-01 -4.00056893e-04 1.83763265e+02] [ 8.40656647e-01 5.41568103e-01 -6.25591865e-04 8.41608730e+01] [ 7.42566157e-04 2.49002126e-06 9.99999724e-01 -4.17579070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.675769231 meters 0.012283820081901611 Centerline is valid? [True, True] Translation: X:183.78, Y:84.18, Z:-0.42 [[ 5.40596168e-01 -8.41282153e-01 -3.49283087e-04 1.83775923e+02] [ 8.41281976e-01 5.40596280e-01 -5.46670937e-04 8.41832372e+01] [ 6.48725641e-04 1.68264808e-06 9.99999790e-01 -4.18162605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.705769231 meters 0.012246225435371783 Centerline is valid? [True, True] Translation: X:183.79, Y:84.20, Z:-0.42 [[ 5.38988341e-01 -8.42312886e-01 -7.54934589e-04 1.83791265e+02] [ 8.42312059e-01 5.38988870e-01 -1.18088105e-03 8.42049081e+01] [ 1.40157267e-03 5.90609640e-07 9.99999018e-01 -4.19524415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.735769231 meters 0.013667430938903843 Centerline is valid? [True, True] Translation: X:183.81, Y:84.22, Z:-0.42 [[ 5.35191747e-01 -8.44729043e-01 -1.62396761e-03 1.83812439e+02] [ 8.44725224e-01 5.35194211e-01 -2.54034457e-03 8.42227136e+01] [ 3.01504090e-03 -1.22349522e-05 9.99995455e-01 -4.23983712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.765769231 meters 0.014926016071898153 Centerline is valid? [True, True] Translation: X:183.83, Y:84.24, Z:-0.42 [[ 5.32819297e-01 -8.46227763e-01 -1.47334618e-03 1.83830615e+02] [ 8.46224621e-01 5.32821333e-01 -2.30612164e-03 8.42417826e+01] [ 2.73653443e-03 -1.80357014e-05 9.99996256e-01 -4.23293867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.795769231 meters 0.017049911065069617 Centerline is valid? [True, True] Translation: X:183.85, Y:84.26, Z:-0.42 [[ 5.30190407e-01 -8.47877965e-01 -1.04358011e-03 1.83849213e+02] [ 8.47876389e-01 5.30191434e-01 -1.63457624e-03 8.42596530e+01] [ 1.93921841e-03 -1.81902916e-05 9.99998120e-01 -4.21679782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.825769231 meters 0.02154616129902652 Centerline is valid? [True, True] Translation: X:183.87, Y:84.27, Z:-0.42 [[ 5.26020619e-01 -8.50471798e-01 1.71745140e-04 1.83872643e+02] [ 8.50471756e-01 5.26020647e-01 2.68206110e-04 8.42749229e+01] [-3.18443222e-04 4.98244701e-06 9.99999949e-01 -4.17120736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.855769231 meters 0.022469116933970627 Centerline is valid? [True, True] Translation: X:183.89, Y:84.30, Z:-0.42 [[ 5.24611717e-01 -8.51341422e-01 5.73852266e-04 1.83890235e+02] [ 8.51340948e-01 5.24612031e-01 8.98224172e-04 8.42953060e+01] [-1.06574525e-03 1.73250070e-05 9.99999432e-01 -4.16221421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.885769231 meters 0.021844984135060527 Centerline is valid? [True, True] Translation: X:183.91, Y:84.31, Z:-0.42 [[ 5.24207133e-01 -8.51590507e-01 7.00402381e-04 1.83908900e+02] [ 8.51589801e-01 5.24207600e-01 1.09705234e-03 8.43147287e+01] [-1.30139561e-03 2.13728622e-05 9.99999153e-01 -4.15375920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.915769231 meters 0.02450054646421625 Centerline is valid? [True, True] Translation: X:183.92, Y:84.34, Z:-0.41 [[ 5.25199051e-01 -8.50979242e-01 5.35729732e-04 1.83921723e+02] [ 8.50978828e-01 5.25199324e-01 8.39312991e-04 8.43380924e+01] [-9.95602826e-04 1.50882730e-05 9.99999504e-01 -4.11520049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.945769231 meters 0.0197572720066223 Centerline is valid? [True, True] Translation: X:183.94, Y:84.36, Z:-0.42 [[ 5.27221457e-01 -8.49727918e-01 -2.99087917e-05 1.83935835e+02] [ 8.49727917e-01 5.27221458e-01 -4.78118485e-05 8.43606160e+01] [ 5.63956192e-05 -2.06902881e-07 9.99999998e-01 -4.17142100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97576923100002 meters 0.01398483435537327 Centerline is valid? [True, True] Translation: X:183.94, Y:84.39, Z:-0.42 [[ 5.32596082e-01 -8.46369110e-01 -8.62095122e-04 1.83938881e+02] [ 8.46368026e-01 5.32596780e-01 -1.35446924e-03 8.43895486e+01] [ 1.60553001e-03 -8.26473908e-06 9.99998711e-01 -4.20173372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00576923100002 meters 0.012733183909715914 Centerline is valid? [True, True] Translation: X:183.95, Y:84.41, Z:-0.42 [[ 5.34734669e-01 -8.45019700e-01 -7.35465259e-04 1.83949107e+02] [ 8.45018909e-01 5.34735174e-01 -1.15620038e-03 8.44148203e+01] [ 1.37029124e-03 -3.22162189e-06 9.99999061e-01 -4.19983107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03576923100002 meters 0.012410750302159703 Centerline is valid? [True, True] Translation: X:183.96, Y:84.44, Z:-0.42 [[ 5.35771634e-01 -8.44362860e-01 -3.40850224e-04 1.83960348e+02] [ 8.44362690e-01 5.35771743e-01 -5.36691464e-04 8.44384887e+01] [ 6.35780258e-04 -2.57148925e-07 9.99999798e-01 -4.18957886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06576923100002 meters 0.012332546394560084 Centerline is valid? [True, True] Translation: X:183.97, Y:84.46, Z:-0.42 [[ 5.36179973e-01 -8.44103688e-01 2.69965886e-05 1.83971572e+02] [ 8.44103687e-01 5.36179973e-01 4.14273934e-05 8.44611030e+01] [-4.94440458e-05 5.75381293e-07 9.99999999e-01 -4.17443551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09576923100002 meters 0.012323878925641086 Centerline is valid? [True, True] Translation: X:183.98, Y:84.48, Z:-0.42 [[ 5.35449733e-01 -8.44566997e-01 4.14836766e-04 1.83983317e+02] [ 8.44566745e-01 5.35449893e-01 6.51750365e-04 8.44846013e+01] [-7.72571151e-04 1.37777848e-06 9.99999702e-01 -4.16727688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12576923100002 meters 0.013147360421598076 Centerline is valid? [True, True] Translation: X:184.00, Y:84.51, Z:-0.42 [[ 5.32621347e-01 -8.46353641e-01 1.22943920e-04 1.83998346e+02] [ 8.46353619e-01 5.32621361e-01 1.92576409e-04 8.45057432e+01] [-2.28470303e-04 1.48372481e-06 9.99999974e-01 -4.18135666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15576923100002 meters 0.014525561943583403 Centerline is valid? [True, True] Translation: X:184.01, Y:84.53, Z:-0.42 [[ 5.30401469e-01 -8.47746589e-01 -4.27286348e-05 1.84014258e+02] [ 8.47746587e-01 5.30401471e-01 -6.82134320e-05 8.45264294e+01] [ 8.04910350e-05 -4.25497381e-08 9.99999997e-01 -4.18509953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18576923100002 meters 0.016085338119880305 Centerline is valid? [True, True] Translation: X:184.03, Y:84.55, Z:-0.42 [[ 5.28059354e-01 -8.49207463e-01 5.12934007e-05 1.84030726e+02] [ 8.49207459e-01 5.28059357e-01 7.99700042e-05 8.45482457e+01] [-9.49970846e-05 1.32982974e-06 9.99999995e-01 -4.18307531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21576923100002 meters 0.01924328583084874 Centerline is valid? [True, True] Translation: X:184.05, Y:84.57, Z:-0.42 [[ 5.24514673e-01 -8.51401400e-01 1.14637723e-04 1.84049707e+02] [ 8.51401381e-01 5.24514686e-01 1.79829342e-04 8.45679427e+01] [-2.13236123e-04 3.27958720e-06 9.99999977e-01 -4.18266747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24576923100003 meters 0.022163182827569027 Centerline is valid? [True, True] Translation: X:184.07, Y:84.59, Z:-0.42 [[ 5.22999899e-01 -8.52332723e-01 -1.85021576e-04 1.84067595e+02] [ 8.52332673e-01 5.22999932e-01 -2.92526062e-04 8.45869243e+01] [ 3.46095806e-04 -4.70883396e-06 9.99999940e-01 -4.20000868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27576923100003 meters 0.02157662643827896 Centerline is valid? [True, True] Translation: X:184.08, Y:84.61, Z:-0.42 [[ 5.22062066e-01 -8.52907099e-01 -8.24619970e-04 1.84081226e+02] [ 8.52906105e-01 5.22062717e-01 -1.30206058e-03 8.46105392e+01] [ 1.54104005e-03 -2.35669722e-05 9.99998812e-01 -4.21846208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30576923100003 meters 0.021938020133008492 Centerline is valid? [True, True] Translation: X:184.09, Y:84.63, Z:-0.42 [[ 5.21893158e-01 -8.53009791e-01 -1.35226736e-03 1.84094612e+02] [ 8.53007118e-01 5.21894908e-01 -2.13596066e-03 8.46325974e+01] [ 2.52773680e-03 -3.87504272e-05 9.99996805e-01 -4.23726826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33576923100003 meters 0.018842416715292038 Centerline is valid? [True, True] Translation: X:184.10, Y:84.66, Z:-0.42 [[ 5.23756650e-01 -8.51867093e-01 -1.19508950e-03 1.84102300e+02] [ 8.51864999e-01 5.23758013e-01 -1.88861416e-03 8.46596476e+01] [ 2.23478596e-03 -2.88806880e-05 9.99997502e-01 -4.21832218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36576923100003 meters 0.017615921823733498 Centerline is valid? [True, True] Translation: X:184.11, Y:84.68, Z:-0.42 [[ 5.24945563e-01 -8.51135178e-01 -1.03165085e-03 1.84112802e+02] [ 8.51133615e-01 5.24946576e-01 -1.63142431e-03 8.46845150e+01] [ 1.93012420e-03 -2.16637631e-05 9.99998137e-01 -4.20913062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.395769231 meters 0.01669953898481906 Centerline is valid? [True, True] Translation: X:184.12, Y:84.71, Z:-0.42 [[ 5.26489114e-01 -8.50180567e-01 -1.48835358e-03 1.84120332e+02] [ 8.50177307e-01 5.26491217e-01 -2.35457965e-03 8.47092977e+01] [ 2.78542295e-03 -2.57038847e-05 9.99996120e-01 -4.23011343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.425769231 meters 0.01739612128979149 Centerline is valid? [True, True] Translation: X:184.13, Y:84.73, Z:-0.43 [[ 5.26940402e-01 -8.49900483e-01 -1.72675318e-03 1.84133378e+02] [ 8.49896089e-01 5.26943230e-01 -2.73303804e-03 8.47314078e+01] [ 3.23271125e-03 -2.74126102e-05 9.99994774e-01 -4.25456033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.455769231 meters 0.01604705720984859 Centerline is valid? [True, True] Translation: X:184.14, Y:84.76, Z:-0.42 [[ 5.26953760e-01 -8.49892248e-01 -1.70340099e-03 1.84143373e+02] [ 8.49887968e-01 5.26956513e-01 -2.69744947e-03 8.47562957e+01] [ 3.19015964e-03 -2.62688658e-05 9.99994911e-01 -4.24391521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.485769231 meters 0.016828020794703774 Centerline is valid? [True, True] Translation: X:184.16, Y:84.78, Z:-0.42 [[ 5.25707727e-01 -8.50663813e-01 -1.56928725e-03 1.84156159e+02] [ 8.50660180e-01 5.25710068e-01 -2.48645835e-03 8.47794786e+01] [ 2.94013024e-03 -2.77798082e-05 9.99995677e-01 -4.24737543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.515769231 meters 0.018126563667860755 Centerline is valid? [True, True] Translation: X:184.17, Y:84.80, Z:-0.43 [[ 5.24145407e-01 -8.51627351e-01 -1.56414056e-03 1.84171473e+02] [ 8.51623743e-01 5.24147740e-01 -2.47938068e-03 8.48018648e+01] [ 2.93134914e-03 -3.25032410e-05 9.99995703e-01 -4.25285459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.545769231 meters 0.02055468214135191 Centerline is valid? [True, True] Translation: X:184.19, Y:84.82, Z:-0.42 [[ 5.21469503e-01 -8.53269556e-01 -7.88778949e-04 1.84186662e+02] [ 8.53268638e-01 5.21470100e-01 -1.25141609e-03 8.48230666e+01] [ 1.47911988e-03 -2.04650143e-05 9.99998906e-01 -4.22141168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.575769231 meters 0.02073453955586208 Centerline is valid? [True, True] Translation: X:184.20, Y:84.85, Z:-0.42 [[ 5.21034675e-01 -8.53535499e-01 1.38978085e-04 1.84199822e+02] [ 8.53535471e-01 5.21034693e-01 2.19503211e-04 8.48463253e+01] [-2.59766186e-04 4.25394095e-06 9.99999966e-01 -4.18600821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.605769231 meters 0.02061814100877889 Centerline is valid? [True, True] Translation: X:184.21, Y:84.87, Z:-0.42 [[ 5.21102873e-01 -8.53493679e-01 5.79014331e-04 1.84211871e+02] [ 8.53493186e-01 5.21103194e-01 9.17945307e-04 8.48683246e+01] [-1.08518674e-03 1.58408498e-05 9.99999411e-01 -4.16811769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.635769231 meters 0.019381868605165678 Centerline is valid? [True, True] Translation: X:184.22, Y:84.89, Z:-0.42 [[ 5.21412043e-01 -8.53305005e-01 -2.24803241e-04 1.84222949e+02] [ 8.53304930e-01 5.21412092e-01 -3.57934233e-04 8.48927679e+01] [ 4.22642200e-04 -5.19449400e-06 9.99999911e-01 -4.19365851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.665769231 meters 0.02033365536246147 Centerline is valid? [True, True] Translation: X:184.24, Y:84.91, Z:-0.42 [[ 5.21226756e-01 -8.53418039e-01 -5.65160517e-04 1.84237305e+02] [ 8.53417566e-01 5.21227062e-01 -8.98932020e-04 8.49140202e+01] [ 1.06174176e-03 -1.37704924e-05 9.99999436e-01 -4.21442164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.695769231 meters 0.019232321734339326 Centerline is valid? [True, True] Translation: X:184.25, Y:84.94, Z:-0.42 [[ 5.20697323e-01 -8.53741112e-01 -6.41156249e-04 1.84250059e+02] [ 8.53740503e-01 5.20697718e-01 -1.02020413e-03 8.49375405e+01] [ 1.20483881e-03 -1.61634977e-05 9.99999274e-01 -4.21622591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72576923100002 meters 0.02188261405276906 Centerline is valid? [True, True] Translation: X:184.27, Y:84.96, Z:-0.42 [[ 5.18871402e-01 -8.54852303e-01 -8.94905736e-05 1.84269541e+02] [ 8.54852291e-01 5.18871409e-01 -1.43263661e-04 8.49564829e+01] [ 1.68903370e-04 -2.16580552e-06 9.99999986e-01 -4.19698981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75576923100002 meters 0.024115810506698726 Centerline is valid? [True, True] Translation: X:184.29, Y:84.98, Z:-0.42 [[ 5.17729069e-01 -8.55544621e-01 1.14067780e-04 1.84287034e+02] [ 8.55544602e-01 5.17729082e-01 1.80617245e-04 8.49759806e+01] [-2.13582320e-04 4.07927461e-06 9.99999977e-01 -4.19167478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78576923100002 meters 0.026046456495795848 Centerline is valid? [True, True] Translation: X:184.30, Y:85.00, Z:-0.42 [[ 5.16065768e-01 -8.56548865e-01 -4.07123015e-04 1.84304390e+02] [ 8.56548619e-01 5.16065928e-01 -6.49133294e-04 8.49953309e+01] [ 7.66116703e-04 -1.37251846e-05 9.99999706e-01 -4.20820877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81576923100002 meters 0.023806106737501026 Centerline is valid? [True, True] Translation: X:184.32, Y:85.02, Z:-0.42 [[ 5.16002034e-01 -8.56587097e-01 -6.67159932e-04 1.84315340e+02] [ 8.56586437e-01 5.16002465e-01 -1.06370629e-03 8.50195763e+01] [ 1.25541325e-03 -2.26055414e-05 9.99999212e-01 -4.21167730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84576923100002 meters 0.02537896402815309 Centerline is valid? [True, True] Translation: X:184.33, Y:85.04, Z:-0.42 [[ 5.16399708e-01 -8.56347232e-01 -8.72105528e-04 1.84330604e+02] [ 8.56346103e-01 5.16400443e-01 -1.39056354e-03 8.50398091e+01] [ 1.64116092e-03 -2.87375669e-05 9.99998653e-01 -4.22970950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87576923100002 meters 0.02260165563714111 Centerline is valid? [True, True] Translation: X:184.34, Y:85.06, Z:-0.42 [[ 5.17479682e-01 -8.55694895e-01 -1.01251274e-03 1.84341566e+02] [ 8.55693371e-01 5.17480672e-01 -1.61525261e-03 8.50643206e+01] [ 1.90611918e-03 -3.05400285e-05 9.99998183e-01 -4.22274701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90576923100002 meters 0.022051654817688435 Centerline is valid? [True, True] Translation: X:184.36, Y:85.09, Z:-0.42 [[ 5.17741128e-01 -8.55536711e-01 -1.02975966e-03 1.84355408e+02] [ 8.55535133e-01 5.17742151e-01 -1.64355596e-03 8.50872966e+01] [ 1.93927244e-03 -3.00590570e-05 9.99998119e-01 -4.22203924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93576923100002 meters 0.022945206528080436 Centerline is valid? [True, True] Translation: X:184.37, Y:85.11, Z:-0.42 [[ 5.17555413e-01 -8.55649053e-01 -1.04565168e-03 1.84370515e+02] [ 8.55647424e-01 5.17556468e-01 -1.66989808e-03 8.51077043e+01] [ 1.97003051e-03 -3.04443762e-05 9.99998059e-01 -4.23170347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96576923100002 meters 0.022821126057278627 Centerline is valid? [True, True] Translation: X:184.39, Y:85.13, Z:-0.42 [[ 5.16629625e-01 -8.56208120e-01 -1.21887474e-03 1.84387269e+02] [ 8.56205907e-01 5.16631061e-01 -1.94716328e-03 8.51294111e+01] [ 2.29688556e-03 -3.76455138e-05 9.99997361e-01 -4.23515404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99576923100003 meters 0.02292244097732548 Centerline is valid? [True, True] Translation: X:184.40, Y:85.15, Z:-0.42 [[ 5.15916877e-01 -8.56637981e-01 -1.06996572e-03 1.84402535e+02] [ 8.56636275e-01 5.15917985e-01 -1.71039817e-03 8.51505037e+01] [ 2.01720659e-03 -3.41481663e-05 9.99997965e-01 -4.22423735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02576923100003 meters 0.027370956156856616 Centerline is valid? [True, True] Translation: X:184.42, Y:85.17, Z:-0.42 [[ 5.14634688e-01 -8.57409108e-01 -8.71198994e-04 1.84422865e+02] [ 8.57407977e-01 5.14635424e-01 -1.39333511e-03 8.51680606e+01] [ 1.64300808e-03 -2.99143857e-05 9.99998650e-01 -4.22434431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05576923100003 meters 0.024493965324412503 Centerline is valid? [True, True] Translation: X:184.43, Y:85.19, Z:-0.42 [[ 5.14809686e-01 -8.57303934e-01 -9.75270199e-04 1.84433418e+02] [ 8.57302514e-01 5.14810609e-01 -1.56059547e-03 8.51926894e+01] [ 1.83998408e-03 -3.26919302e-05 9.99998307e-01 -4.21658585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08576923100003 meters 0.0259207368413332 Centerline is valid? [True, True] Translation: X:184.45, Y:85.21, Z:-0.42 [[ 5.15490923e-01 -8.56894816e-01 -6.18377060e-04 1.84448531e+02] [ 8.56894244e-01 5.15491293e-01 -9.90427662e-04 8.52135295e+01] [ 1.16746032e-03 -1.93272739e-05 9.99999318e-01 -4.21038899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11576923100003 meters 0.02154646663619745 Centerline is valid? [True, True] Translation: X:184.46, Y:85.24, Z:-0.42 [[ 5.16559747e-01 -8.56251126e-01 -1.95101416e-04 1.84456951e+02] [ 8.56251068e-01 5.16559784e-01 -3.13053469e-04 8.52398370e+01] [ 3.68833930e-04 -5.34497495e-06 9.99999932e-01 -4.18131537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.145769231 meters 0.018838293986931934 Centerline is valid? [True, True] Translation: X:184.47, Y:85.27, Z:-0.42 [[ 5.18932969e-01 -8.54814726e-01 5.98927996e-04 1.84466033e+02] [ 8.54814188e-01 5.18933314e-01 9.58334561e-04 8.52666920e+01] [-1.13000219e-03 1.46607499e-05 9.99999361e-01 -4.15880916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.175769231 meters 0.018096688668455214 Centerline is valid? [True, True] Translation: X:184.48, Y:85.29, Z:-0.42 [[ 5.20023605e-01 -8.54151566e-01 7.43307062e-04 1.84476806e+02] [ 8.54150737e-01 5.20024136e-01 1.19001516e-03 8.52895046e+01] [-1.40299093e-03 1.60603002e-05 9.99999016e-01 -4.15861486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.205769231 meters 0.015901750803050018 Centerline is valid? [True, True] Translation: X:184.49, Y:85.31, Z:-0.42 [[ 5.21609633e-01 -8.53184265e-01 2.38842338e-05 1.84486120e+02] [ 8.53184264e-01 5.21609633e-01 3.72964851e-05 8.53149942e+01] [-4.42790208e-05 9.23446564e-07 9.99999999e-01 -4.18356054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.235769231 meters 0.015993069937114426 Centerline is valid? [True, True] Translation: X:184.50, Y:85.34, Z:-0.42 [[ 5.21680489e-01 -8.53140626e-01 -7.33893924e-04 1.84499319e+02] [ 8.53139813e-01 5.21681006e-01 -1.17828663e-03 8.53370878e+01] [ 1.38810272e-03 -1.14249784e-05 9.99999037e-01 -4.20946532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.265769231 meters 0.016430493540751132 Centerline is valid? [True, True] Translation: X:184.51, Y:85.36, Z:-0.42 [[ 5.21555515e-01 -8.53216351e-01 -1.30483616e-03 1.84512416e+02] [ 8.53213779e-01 5.21557147e-01 -2.09528896e-03 8.53590631e+01] [ 2.46828143e-03 -2.04946813e-05 9.99996954e-01 -4.22882583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.295769231 meters 0.016345760649481157 Centerline is valid? [True, True] Translation: X:184.52, Y:85.38, Z:-0.42 [[ 5.21259057e-01 -8.53397659e-01 -1.19618544e-03 1.84523050e+02] [ 8.53395496e-01 5.21260429e-01 -1.92186073e-03 8.53829865e+01] [ 2.26363558e-03 -1.90319529e-05 9.99997438e-01 -4.21779774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.325769231 meters 0.016550610992062644 Centerline is valid? [True, True] Translation: X:184.54, Y:85.40, Z:-0.42 [[ 5.20649804e-01 -8.53770097e-01 -6.35480359e-04 1.84536262e+02] [ 8.53769485e-01 5.20650192e-01 -1.02205997e-03 8.54042902e+01] [ 1.20346721e-03 -1.04184143e-05 9.99999276e-01 -4.19997133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.355769231 meters 0.017390612467656504 Centerline is valid? [True, True] Translation: X:184.55, Y:85.43, Z:-0.42 [[ 5.19489256e-01 -8.54476875e-01 -4.26888617e-04 1.84551117e+02] [ 8.54476599e-01 5.19489431e-01 -6.87209217e-04 8.54255552e+01] [ 8.08968510e-04 -7.76852906e-06 9.99999673e-01 -4.19368121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.385769231 meters 0.017390612467656504 Centerline is valid? [True, True] Translation: X:184.56, Y:85.45, Z:-0.42 [[ 5.19289536e-01 -8.54598265e-01 -4.26728708e-04 1.84564513e+02] [ 8.54597989e-01 5.19289712e-01 -6.87308594e-04 8.54476411e+01] [ 8.08968560e-04 -7.76933401e-06 9.99999673e-01 -4.19423575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.415769231 meters 0.01959666120739164 Centerline is valid? [True, True] Translation: X:184.58, Y:85.47, Z:-0.42 [[ 5.16830753e-01 -8.56087370e-01 -6.22439876e-04 1.84583219e+02] [ 8.56086783e-01 5.16831128e-01 -1.00246831e-03 8.54678620e+01] [ 1.17989676e-03 -1.47560978e-05 9.99999304e-01 -4.20251524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.445769231 meters 0.02027166461867075 Centerline is valid? [True, True] Translation: X:184.60, Y:85.49, Z:-0.42 [[ 5.15874762e-01 -8.56663631e-01 -8.08522173e-04 1.84598034e+02] [ 8.56662641e-01 5.15875395e-01 -1.30236786e-03 8.54890514e+01] [ 1.53278787e-03 -2.07720302e-05 9.99998825e-01 -4.21396719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47576923100002 meters 0.021344441565034983 Centerline is valid? [True, True] Translation: X:184.61, Y:85.51, Z:-0.42 [[ 5.15696924e-01 -8.56769939e-01 -1.39774063e-03 1.84614471e+02] [ 8.56766979e-01 5.15698817e-01 -2.25239207e-03 8.55091043e+01] [ 2.65059501e-03 -3.59863533e-05 9.99996487e-01 -4.23968119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50576923100002 meters 0.018776464147669467 Centerline is valid? [True, True] Translation: X:184.63, Y:85.53, Z:-0.42 [[ 5.16700314e-01 -8.56164611e-01 -1.71613762e-03 1.84625455e+02] [ 8.56160141e-01 5.16703162e-01 -2.76671330e-03 8.55336112e+01] [ 3.25549575e-03 -3.97270018e-05 9.99994700e-01 -4.23478996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53576923100002 meters 0.017779962937032216 Centerline is valid? [True, True] Translation: X:184.64, Y:85.56, Z:-0.42 [[ 5.18265349e-01 -8.55217969e-01 -1.80372745e-03 1.84637180e+02] [ 8.55213020e-01 5.18268487e-01 -2.90954479e-03 8.55558218e+01] [ 3.42311008e-03 -3.46549583e-05 9.99994141e-01 -4.23287811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56576923100002 meters 0.01426438628306514 Centerline is valid? [True, True] Translation: X:184.64, Y:85.58, Z:-0.42 [[ 5.22821490e-01 -8.52440995e-01 -1.42832792e-03 1.84643117e+02] [ 8.52437878e-01 5.22823441e-01 -2.30522137e-03 8.55837731e+01] [ 2.71182852e-03 -1.23415444e-05 9.99996323e-01 -4.21434424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59576923100002 meters 0.013122898444257843 Centerline is valid? [True, True] Translation: X:184.65, Y:85.61, Z:-0.42 [[ 5.25210555e-01 -8.50971551e-01 -1.13647211e-03 1.84652174e+02] [ 8.50969572e-01 5.25211785e-01 -1.83541049e-03 8.56089363e+01] [ 2.15877066e-03 -3.12621831e-06 9.99997670e-01 -4.20929870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62576923100002 meters 0.012949977986018034 Centerline is valid? [True, True] Translation: X:184.66, Y:85.63, Z:-0.42 [[ 5.26981807e-01 -8.49876324e-01 -6.39631148e-04 1.84661798e+02] [ 8.49875695e-01 5.26982195e-01 -1.03405092e-03 8.56322270e+01] [ 1.21588962e-03 1.31905598e-06 9.99999261e-01 -4.19802675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65576923100002 meters 0.013346578108098549 Centerline is valid? [True, True] Translation: X:184.67, Y:85.66, Z:-0.42 [[ 5.29077758e-01 -8.48573343e-01 8.79256841e-05 1.84672187e+02] [ 8.48573331e-01 5.29077766e-01 1.41120378e-04 8.56566264e+01] [-1.66270516e-04 -5.22628441e-08 9.99999986e-01 -4.17726897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68576923100002 meters 0.013302505623147852 Centerline is valid? [True, True] Translation: X:184.69, Y:85.68, Z:-0.42 [[ 5.28883508e-01 -8.48694309e-01 4.52844664e-04 1.84685289e+02] [ 8.48693994e-01 5.28883702e-01 7.31177306e-04 8.56791536e+01] [-8.60048181e-04 -2.38107258e-06 9.99999630e-01 -4.16709858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71576923100002 meters 0.013207061894931954 Centerline is valid? [True, True] Translation: X:184.70, Y:85.70, Z:-0.42 [[ 5.28260922e-01 -8.49082090e-01 5.10783249e-05 1.84698008e+02] [ 8.49082086e-01 5.28260925e-01 8.16651494e-05 8.57024499e+01] [-9.63230990e-05 2.29183492e-07 9.99999995e-01 -4.17438500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74576923100003 meters 0.013204355940011752 Centerline is valid? [True, True] Translation: X:184.71, Y:85.73, Z:-0.42 [[ 5.27896416e-01 -8.49308732e-01 -2.26034419e-04 1.84710574e+02] [ 8.49308653e-01 5.27896464e-01 -3.66846282e-04 8.57257350e+01] [ 4.30888522e-04 1.68384979e-06 9.99999907e-01 -4.18101774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77576923100003 meters 0.013397702963899553 Centerline is valid? [True, True] Translation: X:184.72, Y:85.75, Z:-0.42 [[ 5.27811688e-01 -8.49361258e-01 -5.25426935e-04 1.84721342e+02] [ 8.49360830e-01 5.27811949e-01 -8.51947343e-04 8.57487232e+01] [ 1.00093768e-03 3.39070724e-06 9.99999499e-01 -4.19685754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80576923100003 meters 0.013476920086429691 Centerline is valid? [True, True] Translation: X:184.73, Y:85.77, Z:-0.42 [[ 5.27489211e-01 -8.49561308e-01 -8.46466976e-04 1.84731274e+02] [ 8.49560199e-01 5.27489891e-01 -1.37256679e-03 8.57718872e+01] [ 1.61258241e-03 4.88952268e-06 9.99998700e-01 -4.21018291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83576923100003 meters 0.013421173526418455 Centerline is valid? [True, True] Translation: X:184.74, Y:85.79, Z:-0.42 [[ 5.26942899e-01 -8.49900228e-01 -8.85896095e-04 1.84743409e+02] [ 8.49899012e-01 5.26943643e-01 -1.43718910e-03 8.57942143e+01] [ 1.68828466e-03 4.39437233e-06 9.99998575e-01 -4.21158928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86576923100003 meters 0.013088754372566415 Centerline is valid? [True, True] Translation: X:184.76, Y:85.82, Z:-0.42 [[ 5.25282466e-01 -8.50927683e-01 -6.39536786e-04 1.84755506e+02] [ 8.50927050e-01 5.25282855e-01 -1.03826268e-03 8.58171754e+01] [ 1.21942417e-03 1.18203128e-06 9.99999256e-01 -4.20560321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.895769231 meters 0.013103004678266863 Centerline is valid? [True, True] Translation: X:184.77, Y:85.84, Z:-0.42 [[ 5.24104678e-01 -8.51653343e-01 -9.32646141e-04 1.84769017e+02] [ 8.51651996e-01 5.24105508e-01 -1.51455596e-03 8.58393903e+01] [ 1.77868163e-03 -5.04083469e-07 9.99998418e-01 -4.20767582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.925769231 meters 0.013368621089320274 Centerline is valid? [True, True] Translation: X:184.78, Y:85.86, Z:-0.42 [[ 5.22724466e-01 -8.52500829e-01 -1.21182034e-03 1.84783503e+02] [ 8.52498556e-01 5.22725871e-01 -1.96866665e-03 8.58616310e+01] [ 2.31173979e-03 -4.00486633e-06 9.99997328e-01 -4.22287565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.955769231 meters 0.014259693141221498 Centerline is valid? [True, True] Translation: X:184.80, Y:85.88, Z:-0.42 [[ 5.19923449e-01 -8.54212235e-01 -1.03168111e-03 1.84799798e+02] [ 8.54210589e-01 5.19924473e-01 -1.67706014e-03 8.58821118e+01] [ 1.96896155e-03 -9.33003517e-06 9.99998062e-01 -4.21639124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.985769231 meters 0.01475966385390334 Centerline is valid? [True, True] Translation: X:184.81, Y:85.90, Z:-0.42 [[ 5.18383232e-01 -8.55148285e-01 -4.86526952e-04 1.84814544e+02] [ 8.55147918e-01 5.18383460e-01 -7.91829841e-04 8.59034288e+01] [ 9.29339455e-04 -5.58119818e-06 9.99999568e-01 -4.19319318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.015769231 meters 0.015493312985265142 Centerline is valid? [True, True] Translation: X:184.83, Y:85.92, Z:-0.42 [[ 5.17164340e-01 -8.55886115e-01 -5.91060832e-05 1.84829570e+02] [ 8.55886109e-01 5.17164344e-01 -9.71566912e-05 8.59236094e+01] [ 1.13722622e-04 -3.42099509e-07 9.99999994e-01 -4.17870788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.045769231 meters 0.016881963414360674 Centerline is valid? [True, True] Translation: X:184.85, Y:85.94, Z:-0.42 [[ 5.15439461e-01 -8.56925977e-01 -1.81393471e-04 1.84846861e+02] [ 8.56925926e-01 5.15439492e-01 -2.96077074e-04 8.59436907e+01] [ 3.47213495e-04 -2.83096048e-06 9.99999940e-01 -4.17665722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.075769231 meters 0.017898078396791514 Centerline is valid? [True, True] Translation: X:184.86, Y:85.96, Z:-0.42 [[ 5.14875947e-01 -8.57264532e-01 -5.30590251e-04 1.84862644e+02] [ 8.57264096e-01 5.14876221e-01 -8.64865149e-04 8.59635807e+01] [ 1.01460652e-03 -9.55770860e-06 9.99999485e-01 -4.19871899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.105769231 meters 0.01697712618524934 Centerline is valid? [True, True] Translation: X:184.88, Y:85.99, Z:-0.42 [[ 5.15003566e-01 -8.57187067e-01 -1.28779505e-03 1.84877785e+02] [ 8.57184498e-01 5.15005176e-01 -2.09874151e-03 8.59851652e+01] [ 2.46223519e-03 -2.30185981e-05 9.99996968e-01 -4.22608564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.135769231 meters 0.01659678749739699 Centerline is valid? [True, True] Translation: X:184.89, Y:86.01, Z:-0.42 [[ 5.15481930e-01 -8.56899754e-01 -1.09199298e-03 1.84892227e+02] [ 8.56897903e-01 5.15483086e-01 -1.78081348e-03 8.60063898e+01] [ 2.08888255e-03 -1.77493266e-05 9.99997818e-01 -4.21657811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.165769231 meters 0.015688428004884743 Centerline is valid? [True, True] Translation: X:184.91, Y:86.03, Z:-0.42 [[ 5.15928483e-01 -8.56631377e-01 -6.96365232e-04 1.84906402e+02] [ 8.56630623e-01 5.15928953e-01 -1.13648972e-03 8.60291800e+01] [ 1.33282774e-03 -1.01803645e-05 9.99999112e-01 -4.20120628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.195769231 meters 0.015990364575155094 Centerline is valid? [True, True] Translation: X:184.92, Y:86.05, Z:-0.42 [[ 5.15423172e-01 -8.56935740e-01 -3.03405201e-04 1.84923332e+02] [ 8.56935596e-01 5.15423261e-01 -4.96063569e-04 8.60488653e+01] [ 5.81476700e-04 -4.31605860e-06 9.99999831e-01 -4.19326008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22576923100002 meters 0.016386031889320522 Centerline is valid? [True, True] Translation: X:184.94, Y:86.07, Z:-0.42 [[ 5.14611012e-01 -8.57423483e-01 -6.90790580e-04 1.84938748e+02] [ 8.57422740e-01 5.14611476e-01 -1.12868526e-03 8.60699853e+01] [ 1.32325001e-03 -1.14656876e-05 9.99999124e-01 -4.20304375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25576923100002 meters 0.01771869917501045 Centerline is valid? [True, True] Translation: X:184.96, Y:86.09, Z:-0.42 [[ 5.13277818e-01 -8.58220757e-01 -1.73597583e-03 1.84956245e+02] [ 8.58216073e-01 5.13280753e-01 -2.83569802e-03 8.60895598e+01] [ 3.32469788e-03 -3.43414604e-05 9.99994473e-01 -4.23942504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28576923100002 meters 0.018334134817837962 Centerline is valid? [True, True] Translation: X:184.97, Y:86.11, Z:-0.42 [[ 5.12437291e-01 -8.58722870e-01 -1.74803957e-03 1.84972317e+02] [ 8.58718117e-01 5.12440271e-01 -2.85720504e-03 8.61107702e+01] [ 3.34931318e-03 -3.69348358e-05 9.99994390e-01 -4.24245827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31576923100002 meters 0.018373299427617045 Centerline is valid? [True, True] Translation: X:184.99, Y:86.13, Z:-0.42 [[ 5.11140747e-01 -8.59495914e-01 -1.38204550e-03 1.84988023e+02] [ 8.59492942e-01 5.11142615e-01 -2.26048983e-03 8.61317686e+01] [ 2.64930412e-03 -3.24298924e-05 9.99996490e-01 -4.22506371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34576923100002 meters 0.021587237217651895 Centerline is valid? [True, True] Translation: X:185.01, Y:86.15, Z:-0.42 [[ 5.08264664e-01 -8.61200823e-01 -4.15638469e-04 1.85012202e+02] [ 8.61200555e-01 5.08264834e-01 -6.80489825e-04 8.61474961e+01] [ 7.97292815e-04 -1.20791473e-05 9.99999682e-01 -4.20015028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37576923100002 meters 0.02435256132767095 Centerline is valid? [True, True] Translation: X:185.03, Y:86.17, Z:-0.42 [[ 5.06623052e-01 -8.62167654e-01 -1.41415402e-04 1.85031979e+02] [ 8.62167622e-01 5.06623072e-01 -2.32328384e-04 8.61656774e+01] [ 2.71950322e-04 -4.22086573e-06 9.99999963e-01 -4.19579568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40576923100002 meters 0.024264983096858768 Centerline is valid? [True, True] Translation: X:185.05, Y:86.19, Z:-0.42 [[ 5.05345846e-01 -8.62916877e-01 -1.97156158e-04 1.85048215e+02] [ 8.62916817e-01 5.05345884e-01 -3.23652162e-04 8.61871863e+01] [ 3.78916966e-04 -6.57308906e-06 9.99999928e-01 -4.19695342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43576923100002 meters 0.024241361657685593 Centerline is valid? [True, True] Translation: X:185.06, Y:86.21, Z:-0.42 [[ 5.04433779e-01 -8.63450269e-01 -4.41556618e-04 1.85064771e+02] [ 8.63449966e-01 5.04433972e-01 -7.24147200e-04 8.62092725e+01] [ 8.48001254e-04 -1.59777385e-05 9.99999640e-01 -4.20337231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46576923100002 meters 0.02433773725030756 Centerline is valid? [True, True] Translation: X:185.08, Y:86.23, Z:-0.42 [[ 5.05156320e-01 -8.63027116e-01 -1.13527920e-03 1.85083837e+02] [ 8.63025110e-01 5.05157595e-01 -1.86113581e-03 8.62269775e+01] [ 2.17970558e-03 -3.96099445e-05 9.99997624e-01 -4.22313779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49576923100003 meters 0.02222463113849738 Centerline is valid? [True, True] Translation: X:185.10, Y:86.25, Z:-0.42 [[ 5.06870554e-01 -8.62021393e-01 -1.16635900e-03 1.85097418e+02] [ 8.62019271e-01 5.06871894e-01 -1.91307332e-03 8.62500666e+01] [ 2.24030472e-03 -3.57434069e-05 9.99997490e-01 -4.21830288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52576923100003 meters 0.01780515880146766 Centerline is valid? [True, True] Translation: X:185.11, Y:86.27, Z:-0.42 [[ 5.11386752e-01 -8.59350622e-01 -3.13592086e-04 1.85105595e+02] [ 8.59350468e-01 5.11386848e-01 -5.15121795e-04 8.62745375e+01] [ 6.03037104e-04 -6.05904442e-06 9.99999818e-01 -4.19441192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55576923100003 meters 0.015380517750702408 Centerline is valid? [True, True] Translation: X:185.12, Y:86.30, Z:-0.42 [[ 5.13466462e-01 -8.58109660e-01 -6.95665482e-05 1.85115980e+02] [ 8.58109652e-01 5.13466466e-01 -1.15072910e-04 8.63000563e+01] [ 1.34465265e-04 -6.09646433e-07 9.99999991e-01 -4.18717547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58576923100003 meters 0.014522735768203628 Centerline is valid? [True, True] Translation: X:185.13, Y:86.32, Z:-0.42 [[ 5.15051761e-01 -8.57159077e-01 -6.58104957e-06 1.85128709e+02] [ 8.57159077e-01 5.15051761e-01 -1.18691460e-05 8.63221267e+01] [ 1.35633274e-05 4.72218176e-07 1.00000000e+00 -4.19333013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61576923100003 meters 0.013863546640586597 Centerline is valid? [True, True] Translation: X:185.14, Y:86.34, Z:-0.42 [[ 5.15846696e-01 -8.56680911e-01 -5.46719909e-05 1.85144451e+02] [ 8.56680906e-01 5.15846699e-01 -9.08003128e-05 8.63435998e+01] [ 1.05989261e-04 2.59071435e-09 9.99999994e-01 -4.19002580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.645769231 meters 0.014213482131070706 Centerline is valid? [True, True] Translation: X:185.16, Y:86.36, Z:-0.42 [[ 5.15028078e-01 -8.57173272e-01 -2.46705833e-04 1.85160124e+02] [ 8.57173175e-01 5.15028137e-01 -4.06498152e-04 8.63646192e+01] [ 4.75499797e-04 -2.11165952e-06 9.99999887e-01 -4.19101497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.675769231 meters 0.015634143370340026 Centerline is valid? [True, True] Translation: X:185.18, Y:86.38, Z:-0.42 [[ 5.12839483e-01 -8.58484488e-01 -2.20097297e-04 1.85180272e+02] [ 8.58484411e-01 5.12839530e-01 -3.62829806e-04 8.63843952e+01] [ 4.24358355e-04 -2.87664833e-06 9.99999910e-01 -4.19977565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.705769231 meters 0.015992350172081463 Centerline is valid? [True, True] Translation: X:185.20, Y:86.41, Z:-0.42 [[ 5.12153392e-01 -8.58893976e-01 -2.02624963e-04 1.85196586e+02] [ 8.58893911e-01 5.12153432e-01 -3.34378810e-04 8.64056169e+01] [ 3.90971015e-04 -2.78010490e-06 9.99999924e-01 -4.19972347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.735769231 meters 0.01599539108198668 Centerline is valid? [True, True] Translation: X:185.21, Y:86.43, Z:-0.42 [[ 5.11588185e-01 -8.59230776e-01 -4.53502382e-05 1.85212101e+02] [ 8.59230773e-01 5.11588187e-01 -7.56599327e-05 8.64273568e+01] [ 8.82099888e-05 -2.59592605e-07 9.99999996e-01 -4.19261535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.765769231 meters 0.01589274132819815 Centerline is valid? [True, True] Translation: X:185.23, Y:86.45, Z:-0.42 [[ 5.12343434e-01 -8.58780645e-01 -1.00073272e-04 1.85227417e+02] [ 8.58780629e-01 5.12343444e-01 -1.65887649e-04 8.64474989e+01] [ 1.93732987e-04 -9.49539641e-07 9.99999981e-01 -4.19178735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.795769231 meters 0.014713310581262703 Centerline is valid? [True, True] Translation: X:185.24, Y:86.47, Z:-0.42 [[ 5.13262189e-01 -8.58231854e-01 -1.03301327e-04 1.85240040e+02] [ 8.58231837e-01 5.13262199e-01 -1.71235137e-04 8.64711400e+01] [ 1.99980115e-04 -7.67966847e-07 9.99999980e-01 -4.19106520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.825769231 meters 0.013108518649992339 Centerline is valid? [True, True] Translation: X:185.25, Y:86.49, Z:-0.42 [[ 5.16302568e-01 -8.56406241e-01 9.70179626e-05 1.85251988e+02] [ 8.56406226e-01 5.16302577e-01 1.59177116e-04 8.64938911e+01] [-1.86410899e-04 9.03233572e-07 9.99999983e-01 -4.18231768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.855769231 meters 0.012791554787420866 Centerline is valid? [True, True] Translation: X:185.26, Y:86.52, Z:-0.42 [[ 5.17713288e-01 -8.55554176e-01 6.11879550e-05 1.85264878e+02] [ 8.55554170e-01 5.17713291e-01 1.00011217e-04 8.65174549e+01] [-1.17242832e-04 5.72474009e-07 9.99999993e-01 -4.17749854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.885769231 meters 0.012892010198492641 Centerline is valid? [True, True] Translation: X:185.28, Y:86.54, Z:-0.42 [[ 5.19154163e-01 -8.54680616e-01 1.03392463e-06 1.85276948e+02] [ 8.54680616e-01 5.19154163e-01 7.32064396e-07 8.65411517e+01] [-1.16244758e-06 5.03621063e-07 1.00000000e+00 -4.18616681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.915769231 meters 0.013550194935841647 Centerline is valid? [True, True] Translation: X:185.29, Y:86.57, Z:-0.42 [[ 5.21149067e-01 -8.53465594e-01 -3.59716907e-04 1.85288633e+02] [ 8.53465387e-01 5.21149191e-01 -5.95018550e-04 8.65653871e+01] [ 6.95294036e-04 3.08743265e-06 9.99999758e-01 -4.20501607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.945769231 meters 0.01377008567263195 Centerline is valid? [True, True] Translation: X:185.30, Y:86.59, Z:-0.42 [[ 5.21490732e-01 -8.53256916e-01 -2.29212050e-04 1.85300920e+02] [ 8.53256831e-01 5.21490782e-01 -3.79759453e-04 8.65880614e+01] [ 4.43564350e-04 2.46428786e-06 9.99999902e-01 -4.20386331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97576923100002 meters 0.01408062072672118 Centerline is valid? [True, True] Translation: X:185.31, Y:86.61, Z:-0.42 [[ 5.21737003e-01 -8.53106378e-01 8.67687324e-05 1.85312561e+02] [ 8.53106366e-01 5.21737010e-01 1.42432527e-04 8.66101585e+01] [-1.66780556e-04 -2.89361617e-07 9.99999986e-01 -4.18856385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00576923100002 meters 0.014406178766638947 Centerline is valid? [True, True] Translation: X:185.32, Y:86.63, Z:-0.42 [[ 5.22372510e-01 -8.52716891e-01 9.29636495e-04 1.85322421e+02] [ 8.52715506e-01 5.22373337e-01 1.53673700e-03 8.66348583e+01] [-1.79601891e-03 -1.00337097e-05 9.99998387e-01 -4.15888577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03576923100002 meters 0.01469375125656915 Centerline is valid? [True, True] Translation: X:185.33, Y:86.66, Z:-0.42 [[ 5.22805871e-01 -8.52451264e-01 9.29723873e-04 1.85333506e+02] [ 8.52449877e-01 5.22806697e-01 1.53768812e-03 8.66588800e+01] [-1.79687005e-03 -1.13693754e-05 9.99998386e-01 -4.16223490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06576923100002 meters 0.015606319601046779 Centerline is valid? [True, True] Translation: X:185.34, Y:86.69, Z:-0.42 [[ 5.23708229e-01 -8.51897567e-01 4.75979269e-04 1.85341550e+02] [ 8.51897203e-01 5.23708445e-01 7.87171771e-04 8.66851886e+01] [-9.19864079e-04 -6.76292602e-06 9.99999577e-01 -4.17079005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09576923100002 meters 0.015686273538135023 Centerline is valid? [True, True] Translation: X:185.35, Y:86.71, Z:-0.42 [[ 5.23851057e-01 -8.51809682e-01 5.80025396e-04 1.85351739e+02] [ 8.51809141e-01 5.23851378e-01 9.59971008e-04 8.67098299e+01] [-1.12155970e-03 -8.81089270e-06 9.99999371e-01 -4.16503730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12576923100002 meters 0.016189911690558702 Centerline is valid? [True, True] Translation: X:185.36, Y:86.73, Z:-0.42 [[ 5.24082811e-01 -8.51666941e-01 7.93049434e-04 1.85361243e+02] [ 8.51665928e-01 5.24083411e-01 1.31359725e-03 8.67340663e+01] [-1.53437140e-03 -1.30205556e-05 9.99998823e-01 -4.16290377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15576923100002 meters 0.017359706826589105 Centerline is valid? [True, True] Translation: X:185.37, Y:86.76, Z:-0.41 [[ 5.24646993e-01 -8.51318960e-01 1.24946424e-03 1.85367582e+02] [ 8.51316441e-01 5.24648480e-01 2.07135819e-03 8.67601587e+01] [-2.41891601e-03 -2.30423952e-05 9.99997074e-01 -4.14978297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18576923100002 meters 0.01716134099434055 Centerline is valid? [True, True] Translation: X:185.38, Y:86.78, Z:-0.41 [[ 5.24658302e-01 -8.51311740e-01 1.40996697e-03 1.85379117e+02] [ 8.51308527e-01 5.24660196e-01 2.33885581e-03 8.67844788e+01] [-2.73084895e-03 -2.67832094e-05 9.99996271e-01 -4.14227285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21576923100002 meters 0.01659012038941968 Centerline is valid? [True, True] Translation: X:185.39, Y:86.81, Z:-0.41 [[ 5.24148009e-01 -8.51626396e-01 1.16047127e-03 1.85387624e+02] [ 8.51624218e-01 5.24149293e-01 1.92584022e-03 8.68104203e+01] [-2.24835656e-03 -2.11398780e-05 9.99997472e-01 -4.14642192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24576923100003 meters 0.016694665841517776 Centerline is valid? [True, True] Translation: X:185.40, Y:86.83, Z:-0.42 [[ 5.23541105e-01 -8.51999953e-01 8.89490595e-04 1.85396728e+02] [ 8.51998673e-01 5.23541861e-01 1.47674291e-03 8.68341463e+01] [-1.72387045e-03 -1.52908083e-05 9.99998514e-01 -4.15622268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27576923100003 meters 0.016694665841517776 Centerline is valid? [True, True] Translation: X:185.41, Y:86.86, Z:-0.42 [[ 5.23344185e-01 -8.52120927e-01 8.89224849e-04 1.85409798e+02] [ 8.52119647e-01 5.23344940e-01 1.47690290e-03 8.68564263e+01] [-1.72387120e-03 -1.52025815e-05 9.99998514e-01 -4.15677727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30576923100003 meters 0.016074413964793078 Centerline is valid? [True, True] Translation: X:185.42, Y:86.88, Z:-0.42 [[ 5.22607262e-01 -8.52573326e-01 6.12032599e-04 1.85420723e+02] [ 8.52572719e-01 5.22607620e-01 1.01674394e-03 8.68803496e+01] [-1.18670167e-03 -9.55547159e-06 9.99999296e-01 -4.16496702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33576923100003 meters 0.015384354642162307 Centerline is valid? [True, True] Translation: X:185.43, Y:86.91, Z:-0.42 [[ 5.21659208e-01 -8.53153531e-01 8.51099735e-04 1.85429011e+02] [ 8.53152357e-01 5.21659902e-01 1.41502634e-03 8.69057977e+01] [-1.65121932e-03 -1.20437723e-05 9.99998637e-01 -4.15436376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36576923100003 meters 0.01563924414249708 Centerline is valid? [True, True] Translation: X:185.44, Y:86.93, Z:-0.41 [[ 5.21877297e-01 -8.53019875e-01 1.08617389e-03 1.85438340e+02] [ 8.53017961e-01 5.21878427e-01 1.80708863e-03 8.69307224e+01] [-2.10833324e-03 -1.65526922e-05 9.99997777e-01 -4.14645651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.395769231 meters 0.01712638271534554 Centerline is valid? [True, True] Translation: X:185.44, Y:86.96, Z:-0.41 [[ 5.23456879e-01 -8.52051119e-01 1.33664614e-03 1.85441305e+02] [ 8.52048214e-01 5.23458585e-01 2.22520063e-03 8.69603217e+01] [-2.59566358e-03 -2.59096148e-05 9.99996631e-01 -4.13833529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.425769231 meters 0.017180468775946166 Centerline is valid? [True, True] Translation: X:185.45, Y:86.99, Z:-0.41 [[ 5.24079011e-01 -8.51668454e-01 1.42640160e-03 1.85451131e+02] [ 8.51665141e-01 5.24080951e-01 2.37586690e-03 8.69856376e+01] [-2.77100080e-03 -3.03254537e-05 9.99996160e-01 -4.13881095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.455769231 meters 0.0174520339892643 Centerline is valid? [True, True] Translation: X:185.46, Y:87.01, Z:-0.41 [[ 5.23989121e-01 -8.51723576e-01 1.53324058e-03 1.85460196e+02] [ 8.51719743e-01 5.23991364e-01 2.55534310e-03 8.70094131e+01] [-2.97985079e-03 -3.30807154e-05 9.99995560e-01 -4.13573742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.485769231 meters 0.01701785438772192 Centerline is valid? [True, True] Translation: X:185.47, Y:87.03, Z:-0.41 [[ 5.22841541e-01 -8.52427926e-01 1.83150970e-03 1.85468659e+02] [ 8.52422454e-01 5.22844748e-01 3.05442976e-03 8.70343021e+01] [-3.56127645e-03 -3.57627663e-05 9.99993658e-01 -4.11888173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.515769231 meters 0.01638983506344699 Centerline is valid? [True, True] Translation: X:185.48, Y:87.06, Z:-0.41 [[ 5.22176739e-01 -8.52835564e-01 1.71882905e-03 1.85480303e+02] [ 8.52830742e-01 5.22179567e-01 2.86803960e-03 8.70585743e+01] [-3.34350358e-03 -3.17533089e-05 9.99994410e-01 -4.12576059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.545769231 meters 0.016302458135096426 Centerline is valid? [True, True] Translation: X:185.49, Y:87.08, Z:-0.41 [[ 5.21449259e-01 -8.53281285e-01 1.31086723e-03 1.85488737e+02] [ 8.53278480e-01 5.21450907e-01 2.18823938e-03 8.70835673e+01] [-2.55073662e-03 -2.25210082e-05 9.99996747e-01 -4.14093342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.575769231 meters 0.016069500886243253 Centerline is valid? [True, True] Translation: X:185.50, Y:87.11, Z:-0.41 [[ 5.21153439e-01 -8.53461705e-01 1.48674929e-03 1.85500777e+02] [ 8.53458093e-01 5.21155559e-01 2.48337598e-03 8.71067033e+01] [-2.89429395e-03 -2.53417228e-05 9.99995811e-01 -4.13650499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.605769231 meters 0.01659285252786808 Centerline is valid? [True, True] Translation: X:185.51, Y:87.13, Z:-0.41 [[ 5.21021596e-01 -8.53541944e-01 1.62665781e-03 1.85510482e+02] [ 8.53537615e-01 5.21024135e-01 2.71865149e-03 8.71304334e+01] [-3.16801105e-03 -2.80625068e-05 9.99994981e-01 -4.13037930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.635769231 meters 0.01761249751789155 Centerline is valid? [True, True] Translation: X:185.52, Y:87.16, Z:-0.41 [[ 5.21779284e-01 -8.53078347e-01 1.92676059e-03 1.85516568e+02] [ 8.53072263e-01 5.21782840e-01 3.22201238e-03 8.71559907e+01] [-3.75397961e-03 -3.75132949e-05 9.99992953e-01 -4.11242235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.665769231 meters 0.017892827592703463 Centerline is valid? [True, True] Translation: X:185.53, Y:87.18, Z:-0.41 [[ 5.22551868e-01 -8.52604535e-01 2.24762108e-03 1.85528018e+02] [ 8.52596244e-01 5.22556699e-01 3.76037632e-03 8.71806277e+01] [-4.38062336e-03 -4.86783762e-05 9.99990404e-01 -4.11079213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.695769231 meters 0.020432601518139356 Centerline is valid? [True, True] Translation: X:185.54, Y:87.21, Z:-0.41 [[ 5.24900310e-01 -8.51160371e-01 2.38477471e-03 1.85535667e+02] [ 8.51151014e-01 5.24905723e-01 3.99158924e-03 8.72071261e+01] [-4.64926448e-03 -6.53830154e-05 9.99989190e-01 -4.10540840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72576923100002 meters 0.020751509718965062 Centerline is valid? [True, True] Translation: X:185.55, Y:87.23, Z:-0.41 [[ 5.25913437e-01 -8.50535203e-01 2.21908258e-03 1.85547081e+02] [ 8.50527089e-01 5.25918115e-01 3.71583447e-03 8.72319166e+01] [-4.32750376e-03 -6.68174303e-05 9.99990634e-01 -4.11137454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75576923100002 meters 0.022205875607984916 Centerline is valid? [True, True] Translation: X:185.56, Y:87.26, Z:-0.41 [[ 5.27142889e-01 -8.49773771e-01 2.21636012e-03 1.85556237e+02] [ 8.49765662e-01 5.27147543e-01 3.71312584e-03 8.72581862e+01] [-4.32366574e-03 -7.39611618e-05 9.99990650e-01 -4.11091933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78576923100002 meters 0.0234598786763036 Centerline is valid? [True, True] Translation: X:185.57, Y:87.28, Z:-0.41 [[ 5.28416914e-01 -8.48981806e-01 2.33609161e-03 1.85566129e+02] [ 8.48972781e-01 5.28422071e-01 3.91560719e-03 8.72849643e+01] [-4.55872164e-03 -8.57948766e-05 9.99989605e-01 -4.10717460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81576923100002 meters 0.02659222930620778 Centerline is valid? [True, True] Translation: X:185.57, Y:87.31, Z:-0.41 [[ 5.30826354e-01 -8.47476525e-01 2.63107816e-03 1.85570458e+02] [ 8.47465046e-01 5.30832862e-01 4.41232413e-03 8.73130395e+01] [-5.13600387e-03 -1.12431157e-04 9.99986804e-01 -4.10599792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84576923100002 meters 0.02860077544063197 Centerline is valid? [True, True] Translation: X:185.58, Y:87.34, Z:-0.41 [[ 5.31386413e-01 -8.47125841e-01 2.50795372e-03 1.85577929e+02] [ 8.47115397e-01 5.31392320e-01 4.20799837e-03 8.73387635e+01] [-4.89741150e-03 -1.11546948e-04 9.99988001e-01 -4.11097955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87576923100002 meters 0.02910491815780312 Centerline is valid? [True, True] Translation: X:185.58, Y:87.37, Z:-0.41 [[ 5.31539441e-01 -8.47031174e-01 2.00340037e-03 1.85583712e+02] [ 8.47024502e-01 5.31543208e-01 3.36300859e-03 8.73656352e+01] [-3.91346697e-03 -9.06425055e-05 9.99992338e-01 -4.13191303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90576923100002 meters 0.029664807344243507 Centerline is valid? [True, True] Translation: X:185.59, Y:87.39, Z:-0.41 [[ 5.30961134e-01 -8.47393303e-01 2.20528761e-03 1.85593163e+02] [ 8.47385215e-01 5.30965705e-01 3.70379289e-03 8.73893311e+01] [-4.30950138e-03 -9.78419536e-05 9.99990709e-01 -4.13025133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93576923100002 meters 0.027409633389167798 Centerline is valid? [True, True] Translation: X:185.61, Y:87.41, Z:-0.41 [[ 5.29891679e-01 -8.48061323e-01 2.60775714e-03 1.85607290e+02] [ 8.48050009e-01 5.29898085e-01 4.38203792e-03 8.74116137e+01] [-5.09808239e-03 -1.10496971e-04 9.99986999e-01 -4.11911501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96576923100002 meters 0.0242310794215955 Centerline is valid? [True, True] Translation: X:185.62, Y:87.43, Z:-0.41 [[ 5.26638703e-01 -8.50082944e-01 3.26577901e-03 1.85619884e+02] [ 8.50065221e-01 5.26648816e-01 5.49037193e-03 8.74347618e+01] [-6.38719018e-03 -1.15317199e-04 9.99979595e-01 -4.08450504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99576923100003 meters 0.021534038195780144 Centerline is valid? [True, True] Translation: X:185.63, Y:87.46, Z:-0.41 [[ 5.24582323e-01 -8.51352505e-01 3.50697090e-03 1.85633858e+02] [ 8.51332077e-01 5.24594035e-01 5.89858818e-03 8.74583566e+01] [-6.86151384e-03 -1.08698274e-04 9.99976454e-01 -4.08065953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02576923100003 meters 0.0205713837810524 Centerline is valid? [True, True] Translation: X:185.65, Y:87.48, Z:-0.41 [[ 5.22676653e-01 -8.52523709e-01 3.52734628e-03 1.85645304e+02] [ 8.52503049e-01 5.22688547e-01 5.93587588e-03 8.74823700e+01] [-6.90417842e-03 -9.54702854e-05 9.99976161e-01 -4.07890605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05576923100003 meters 0.017031772197200912 Centerline is valid? [True, True] Translation: X:185.66, Y:87.51, Z:-0.41 [[ 5.19183812e-01 -8.54653909e-01 3.85559124e-03 1.85660401e+02] [ 8.54629259e-01 5.19198122e-01 6.49152805e-03 8.75051330e+01] [-7.54982556e-03 -7.51951938e-05 9.99971497e-01 -4.08557800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08576923100003 meters 0.01522325825711593 Centerline is valid? [True, True] Translation: X:185.68, Y:87.53, Z:-0.41 [[ 5.16901442e-01 -8.56036116e-01 3.88175566e-03 1.85675933e+02] [ 8.56011142e-01 5.16916014e-01 6.53899978e-03 8.75267594e+01] [-7.60416164e-03 -5.71923216e-05 9.99971086e-01 -4.09204953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11576923100003 meters 0.012662418893312273 Centerline is valid? [True, True] Translation: X:185.70, Y:87.55, Z:-0.41 [[ 5.11805546e-01 -8.59092348e-01 3.92692593e-03 1.85695595e+02] [ 8.59066854e-01 5.11820611e-01 6.61838767e-03 8.75464336e+01] [-7.69568783e-03 -1.38356098e-05 9.99970388e-01 -4.09750353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.145769231 meters 0.012510915923965601 Centerline is valid? [True, True] Translation: X:185.71, Y:87.57, Z:-0.41 [[ 5.08891349e-01 -8.60822681e-01 3.72913934e-03 1.85713018e+02] [ 8.60799713e-01 5.08905012e-01 6.28834811e-03 8.75656898e+01] [-7.31093038e-03 9.95611806e-06 9.99973275e-01 -4.10136201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.175769231 meters 0.013318030415376988 Centerline is valid? [True, True] Translation: X:185.73, Y:87.59, Z:-0.41 [[ 5.05974256e-01 -8.62541622e-01 3.46450155e-03 1.85731603e+02] [ 8.62521817e-01 5.05986116e-01 5.84520199e-03 8.75852149e+01] [-6.79471969e-03 3.06864468e-05 9.99976915e-01 -4.11396363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.205769231 meters 0.016706913699970714 Centerline is valid? [True, True] Translation: X:185.76, Y:87.60, Z:-0.41 [[ 5.01345530e-01 -8.65240250e-01 3.45959515e-03 1.85755383e+02] [ 8.65220544e-01 5.01357462e-01 5.83995103e-03 8.76016946e+01] [-6.78745454e-03 6.54794553e-05 9.99976963e-01 -4.11505167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.235769231 meters 0.017506994476466104 Centerline is valid? [True, True] Translation: X:185.77, Y:87.62, Z:-0.41 [[ 4.99758976e-01 -8.66155843e-01 3.87587134e-03 1.85771469e+02] [ 8.66131111e-01 4.99773998e-01 6.54596623e-03 8.76235142e+01] [-7.60688661e-03 8.56073745e-05 9.99971064e-01 -4.10730946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.265769231 meters 0.017908790946250797 Centerline is valid? [True, True] Translation: X:185.79, Y:87.64, Z:-0.41 [[ 4.99394828e-01 -8.66362068e-01 4.64471575e-03 1.85787347e+02] [ 8.66326519e-01 4.99416416e-01 7.84889054e-03 8.76441450e+01] [-9.11962833e-03 1.04145090e-04 9.99958410e-01 -4.08667510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.295769231 meters 0.017150342605736453 Centerline is valid? [True, True] Translation: X:185.80, Y:87.67, Z:-0.41 [[ 5.00158020e-01 -8.65922257e-01 4.53866873e-03 1.85800343e+02] [ 8.65888258e-01 5.00178604e-01 7.67394182e-03 8.76659197e+01] [-8.91518201e-03 9.17964124e-05 9.99960255e-01 -4.09150596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.325769231 meters 0.015742886129632233 Centerline is valid? [True, True] Translation: X:185.81, Y:87.69, Z:-0.41 [[ 5.01534316e-01 -8.65127669e-01 4.17689593e-03 1.85812490e+02] [ 8.65098815e-01 5.01551704e-01 7.06597660e-03 8.76890227e+01] [-8.20790114e-03 6.95979777e-05 9.99966312e-01 -4.11110587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.355769231 meters 0.013506619855175116 Centerline is valid? [True, True] Translation: X:185.82, Y:87.71, Z:-0.42 [[ 5.04784233e-01 -8.63240192e-01 3.04118480e-03 1.85822116e+02] [ 8.63224850e-01 5.04793393e-01 5.14664829e-03 8.77139201e+01] [-5.97796365e-03 2.72793817e-05 9.99982131e-01 -4.15941359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.385769231 meters 0.012888302424590325 Centerline is valid? [True, True] Translation: X:185.83, Y:87.74, Z:-0.42 [[ 5.06079460e-01 -8.62482291e-01 2.80689128e-03 1.85832923e+02] [ 8.62469200e-01 5.06087244e-01 4.75199438e-03 8.77374250e+01] [-5.51904287e-03 1.59705271e-05 9.99984770e-01 -4.16791137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.415769231 meters 0.012512685603811989 Centerline is valid? [True, True] Translation: X:185.84, Y:87.76, Z:-0.42 [[ 5.07436743e-01 -8.61684023e-01 2.93180864e-03 1.85844051e+02] [ 8.61669714e-01 5.07445213e-01 4.96590807e-03 8.77619236e+01] [-5.76677591e-03 6.36649209e-06 9.99983372e-01 -4.16104854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.445769231 meters 0.012856291093791104 Centerline is valid? [True, True] Translation: X:185.85, Y:87.79, Z:-0.42 [[ 5.09878106e-01 -8.60241163e-01 3.07540086e-03 1.85851361e+02] [ 8.60225375e-01 5.09887381e-01 5.21187705e-03 8.77864399e+01] [-6.05157927e-03 -1.18841423e-05 9.99981689e-01 -4.15744898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47576923100002 meters 0.013210784462444013 Centerline is valid? [True, True] Translation: X:185.86, Y:87.81, Z:-0.42 [[ 5.10641283e-01 -8.59787885e-01 3.20503725e-03 1.85861796e+02] [ 8.59770711e-01 5.10651341e-01 5.43442332e-03 8.78108852e+01] [-6.30910791e-03 -1.94437461e-05 9.99980097e-01 -4.16193290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50576923100002 meters 0.013742823117621587 Centerline is valid? [True, True] Translation: X:185.87, Y:87.83, Z:-0.41 [[ 5.11070153e-01 -8.59530627e-01 3.79470971e-03 1.85871235e+02] [ 8.59506518e-01 5.11084240e-01 6.43787093e-03 8.78348134e+01] [-7.47296357e-03 -2.86259484e-05 9.99972077e-01 -4.14967569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53576923100002 meters 0.013619925200563683 Centerline is valid? [True, True] Translation: X:185.88, Y:87.86, Z:-0.42 [[ 5.10900514e-01 -8.59630927e-01 3.91586951e-03 1.85884310e+02] [ 8.59605229e-01 5.10915520e-01 6.64697618e-03 8.78581446e+01] [-7.71462481e-03 -2.98416414e-05 9.99970241e-01 -4.15823601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56576923100002 meters 0.013514246350867348 Centerline is valid? [True, True] Translation: X:185.90, Y:87.88, Z:-0.42 [[ 5.10203981e-01 -8.60044915e-01 3.82634624e-03 1.85897154e+02] [ 8.60020369e-01 5.10218329e-01 6.49791729e-03 8.78802544e+01] [-7.54077271e-03 -2.45275677e-05 9.99971568e-01 -4.16424147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59576923100002 meters 0.012861613593858826 Centerline is valid? [True, True] Translation: X:185.91, Y:87.90, Z:-0.42 [[ 5.08187221e-01 -8.61239668e-01 3.46165523e-03 1.85911622e+02] [ 8.61219585e-01 5.08199011e-01 5.88145324e-03 8.79010069e+01] [-6.82455060e-03 -7.63409830e-06 9.99976712e-01 -4.17417042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62576923100002 meters 0.012849950886549055 Centerline is valid? [True, True] Translation: X:185.93, Y:87.92, Z:-0.42 [[ 5.07169294e-01 -8.61839469e-01 3.46956218e-03 1.85925499e+02] [ 8.61819287e-01 5.07181161e-01 5.89794987e-03 8.79236737e+01] [-6.84278256e-03 -1.12345899e-06 9.99976588e-01 -4.17701760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65576923100002 meters 0.01283349079225077 Centerline is valid? [True, True] Translation: X:185.94, Y:87.95, Z:-0.42 [[ 5.06244591e-01 -8.62383243e-01 3.39953445e-03 1.85939820e+02] [ 8.62363860e-01 5.06256005e-01 5.78186802e-03 8.79460626e+01] [-6.70722083e-03 4.59624194e-06 9.99977506e-01 -4.18130006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68576923100002 meters 0.02762588642655146 Centerline is valid? [True, True] Translation: X:185.96, Y:87.97, Z:-0.41 [[ 5.05240526e-01 -8.62972058e-01 3.35241250e-03 1.85955111e+02] [ 8.62953202e-01 5.05251647e-01 5.70474536e-03 8.79660879e+01] [-6.61684778e-03 1.07065537e-05 9.99978108e-01 -4.12251636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71576923100002 meters 0.013076405188250918 Centerline is valid? [True, True] Translation: X:185.97, Y:87.99, Z:-0.42 [[ 5.04534081e-01 -8.63383967e-01 3.67229191e-03 1.85969048e+02] [ 8.63361328e-01 5.04547445e-01 6.25242102e-03 8.79886403e+01] [-7.25108557e-03 1.59553308e-05 9.99973710e-01 -4.17082955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74576923100003 meters 0.013424479247054118 Centerline is valid? [True, True] Translation: X:185.98, Y:88.01, Z:-0.42 [[ 5.03504927e-01 -8.63983515e-01 3.90825898e-03 1.85983916e+02] [ 8.63957862e-01 5.03520094e-01 6.65787550e-03 8.80098074e+01] [-7.72018161e-03 2.42979595e-05 9.99970199e-01 -4.16499855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77576923100003 meters 0.014423089430921904 Centerline is valid? [True, True] Translation: X:186.00, Y:88.03, Z:-0.42 [[ 5.01580305e-01 -8.65098813e-01 4.60880517e-03 1.86001109e+02] [ 8.65063147e-01 5.01601476e-01 7.85561808e-03 8.80299975e+01] [-9.10766936e-03 4.66841999e-05 9.99958523e-01 -4.15765781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80576923100003 meters 0.014387343415382182 Centerline is valid? [True, True] Translation: X:186.02, Y:88.05, Z:-0.42 [[ 5.00691967e-01 -8.65613224e-01 4.61538095e-03 1.86015397e+02] [ 8.65577438e-01 5.00713236e-01 7.87107977e-03 8.80516167e+01] [-9.12429306e-03 5.39832082e-05 9.99958371e-01 -4.17179103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83576923100003 meters 0.015365890723209312 Centerline is valid? [True, True] Translation: X:186.03, Y:88.07, Z:-0.42 [[ 5.00094576e-01 -8.65960106e-01 4.30228872e-03 1.86031024e+02] [ 8.65928990e-01 5.00113078e-01 7.34121705e-03 8.80714001e+01] [-8.50883196e-03 5.41736984e-05 9.99963798e-01 -4.16313319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86576923100003 meters 0.01438835414971779 Centerline is valid? [True, True] Translation: X:186.04, Y:88.09, Z:-0.42 [[ 4.99938717e-01 -8.66051324e-01 4.04760958e-03 1.86044637e+02] [ 8.66023755e-01 4.99955100e-01 6.91048097e-03 8.80936460e+01] [-8.00845425e-03 5.05090561e-05 9.99967931e-01 -4.19488970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.895769231 meters 0.015200402720552357 Centerline is valid? [True, True] Translation: X:186.06, Y:88.11, Z:-0.42 [[ 4.99929912e-01 -8.66056095e-01 4.11375272e-03 1.86060456e+02] [ 8.66027584e-01 4.99946835e-01 7.02749561e-03 8.81141489e+01] [-8.14286306e-03 4.93680700e-05 9.99966845e-01 -4.17292810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.925769231 meters 0.01535184639903463 Centerline is valid? [True, True] Translation: X:186.07, Y:88.13, Z:-0.42 [[ 4.99709901e-01 -8.66181987e-01 4.33361177e-03 1.86074364e+02] [ 8.66150315e-01 4.99728689e-01 7.40735921e-03 8.81347967e+01] [-8.58175125e-03 5.20284653e-05 9.99963175e-01 -4.16264901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.955769231 meters 0.015060536758812993 Centerline is valid? [True, True] Translation: X:186.09, Y:88.16, Z:-0.42 [[ 4.98928038e-01 -8.66628989e-01 5.00083788e-03 1.86089979e+02] [ 8.66586791e-01 4.98953095e-01 8.55229074e-03 8.81566906e+01] [-9.90684662e-03 6.66824141e-05 9.99950924e-01 -4.16503060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.985769231 meters 0.015019874575038759 Centerline is valid? [True, True] Translation: X:186.10, Y:88.18, Z:-0.42 [[ 4.98544701e-01 -8.66847660e-01 5.32123422e-03 1.86104690e+02] [ 8.66799842e-01 4.98573093e-01 9.10515468e-03 8.81788445e+01] [-1.05458062e-02 7.31183606e-05 9.99944389e-01 -4.16036651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.015769231 meters 0.016192975634947492 Centerline is valid? [True, True] Translation: X:186.12, Y:88.20, Z:-0.41 [[ 4.98572163e-01 -8.66832617e-01 5.19739463e-03 1.86121950e+02] [ 8.66786946e-01 4.98599248e-01 8.89827870e-03 8.81978143e+01] [-1.03047353e-02 6.85997606e-05 9.99946902e-01 -4.13812128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.045769231 meters 0.014684621184607677 Centerline is valid? [True, True] Translation: X:186.13, Y:88.22, Z:-0.42 [[ 4.98725416e-01 -8.66746285e-01 4.88229532e-03 1.86134245e+02] [ 8.66705937e-01 4.98749309e-01 8.36334207e-03 8.82216280e+01] [-9.68393709e-03 6.05030888e-05 9.99953108e-01 -4.18417726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.075769231 meters 0.01469155674067765 Centerline is valid? [True, True] Translation: X:186.15, Y:88.24, Z:-0.42 [[ 4.98311112e-01 -8.66986193e-01 4.58001998e-03 1.86149086e+02] [ 8.66950658e-01 4.98332156e-01 7.84976106e-03 8.82436972e+01] [-9.08800569e-03 5.90281755e-05 9.99958701e-01 -4.20023644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.105769231 meters 0.015276565646764124 Centerline is valid? [True, True] Translation: X:186.17, Y:88.26, Z:-0.42 [[ 4.97523951e-01 -8.67436288e-01 4.91981199e-03 1.86165610e+02] [ 8.67395259e-01 4.97548270e-01 8.43701180e-03 8.82627807e+01] [-9.76641414e-03 6.98061559e-05 9.99952305e-01 -4.18664756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.135769231 meters 0.0151174125572274 Centerline is valid? [True, True] Translation: X:186.18, Y:88.29, Z:-0.42 [[ 4.97620273e-01 -8.67381042e-01 4.91861308e-03 1.86180030e+02] [ 8.67339985e-01 4.97644576e-01 8.43956584e-03 8.82850724e+01] [-9.76804053e-03 6.64107382e-05 9.99952289e-01 -4.17693015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.165769231 meters 0.013826808725042735 Centerline is valid? [True, True] Translation: X:186.19, Y:88.31, Z:-0.42 [[ 4.99720530e-01 -8.66173730e-01 4.73928503e-03 1.86191317e+02] [ 8.66135516e-01 4.99743002e-01 8.13635305e-03 8.83077208e+01] [-9.41591980e-03 3.89604254e-05 9.99955668e-01 -4.17961241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.195769231 meters 0.013826808725042735 Centerline is valid? [True, True] Translation: X:186.20, Y:88.33, Z:-0.42 [[ 4.99519811e-01 -8.66289510e-01 4.73737651e-03 1.86204061e+02] [ 8.66251291e-01 4.99542274e-01 8.13746437e-03 8.83301754e+01] [-9.41591985e-03 3.89338487e-05 9.99955668e-01 -4.18016693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22576923100002 meters 0.013270352753834109 Centerline is valid? [True, True] Translation: X:186.22, Y:88.35, Z:-0.42 [[ 5.01142951e-01 -8.65350839e-01 4.86493571e-03 1.86215234e+02] [ 8.65310448e-01 5.01166564e-01 8.36088850e-03 8.83540084e+01] [-9.67324499e-03 1.96793655e-05 9.99953213e-01 -4.17541893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25576923100002 meters 0.013331182178040078 Centerline is valid? [True, True] Translation: X:186.23, Y:88.38, Z:-0.42 [[ 5.02596089e-01 -8.64504994e-01 5.31856993e-03 1.86225869e+02] [ 8.64456617e-01 5.02624229e-01 9.14562086e-03 8.83770318e+01] [-1.05796770e-02 1.11969217e-06 9.99944034e-01 -4.16173980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28576923100002 meters 0.014037346483451731 Centerline is valid? [True, True] Translation: X:186.24, Y:88.40, Z:-0.41 [[ 5.04909387e-01 -8.63149444e-01 6.28873265e-03 1.86238165e+02] [ 8.63081633e-01 5.04948548e-01 1.08193731e-02 8.84009269e+01] [-1.25142223e-02 -3.51133706e-05 9.99921693e-01 -4.14758050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31576923100002 meters 0.014306827952368888 Centerline is valid? [True, True] Translation: X:186.25, Y:88.42, Z:-0.42 [[ 5.05349313e-01 -8.62894363e-01 5.94892901e-03 1.86251182e+02] [ 8.62833600e-01 5.05384326e-01 1.02402376e-02 8.84221784e+01] [-1.18427387e-02 -4.19611902e-05 9.99929871e-01 -4.16441965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34576923100002 meters 0.01395803587708642 Centerline is valid? [True, True] Translation: X:186.27, Y:88.44, Z:-0.42 [[ 5.05276880e-01 -8.62945627e-01 4.48544436e-03 1.86267769e+02] [ 8.62911057e-01 5.05296787e-01 7.72429774e-03 8.84416731e+01] [-8.93212958e-03 -3.23695228e-05 9.99960107e-01 -4.21956391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37576923100002 meters 0.013797321973957529 Centerline is valid? [True, True] Translation: X:186.28, Y:88.46, Z:-0.42 [[ 5.04984270e-01 -8.63119016e-01 4.05611481e-03 1.86282718e+02] [ 8.63090725e-01 5.05000559e-01 6.98835246e-03 8.84634873e+01] [-8.08012014e-03 -2.82129915e-05 9.99967355e-01 -4.24124806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40576923100002 meters 0.014038568597809158 Centerline is valid? [True, True] Translation: X:186.30, Y:88.48, Z:-0.42 [[ 5.05028381e-01 -8.63093630e-01 3.96490572e-03 1.86295753e+02] [ 8.63066569e-01 5.05043943e-01 6.83460136e-03 8.84841549e+01] [-7.90135252e-03 -2.96900829e-05 9.99968783e-01 -4.24737928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43576923100002 meters 0.015144785412943373 Centerline is valid? [True, True] Translation: X:186.31, Y:88.51, Z:-0.42 [[ 5.06565427e-01 -8.62191689e-01 4.11836098e-03 1.86307294e+02] [ 8.62162434e-01 5.06582165e-01 7.10265185e-03 8.85057611e+01] [-8.21013562e-03 -4.72617348e-05 9.99966295e-01 -4.24928653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46576923100002 meters 0.01629823248605453 Centerline is valid? [True, True] Translation: X:186.32, Y:88.53, Z:-0.43 [[ 5.07782116e-01 -8.61476119e-01 4.02725888e-03 1.86317792e+02] [ 8.61448091e-01 5.07798083e-01 6.94943718e-03 8.85276157e+01] [-8.03180851e-03 -5.95254458e-05 9.99967743e-01 -4.25087687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49576923100003 meters 0.018069706225367247 Centerline is valid? [True, True] Translation: X:186.33, Y:88.55, Z:-0.43 [[ 5.10126656e-01 -8.60090944e-01 3.78986116e-03 1.86329675e+02] [ 8.60066059e-01 5.10140728e-01 6.54304637e-03 8.85520094e+01] [-7.56097746e-03 -7.82514167e-05 9.99971412e-01 -4.26814963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52576923100003 meters 0.018679936910623744 Centerline is valid? [True, True] Translation: X:186.34, Y:88.57, Z:-0.43 [[ 5.10442176e-01 -8.59903984e-01 3.73136313e-03 1.86343390e+02] [ 8.59879832e-01 5.10455808e-01 6.44533564e-03 8.85749949e+01] [-7.44706578e-03 -8.14472451e-05 9.99972267e-01 -4.27749130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55576923100003 meters 0.01874606826550419 Centerline is valid? [True, True] Translation: X:186.36, Y:88.60, Z:-0.43 [[ 5.10026621e-01 -8.60150282e-01 3.78658317e-03 1.86357369e+02] [ 8.60125390e-01 5.10040671e-01 6.54428971e-03 8.85964200e+01] [-7.56038406e-03 -8.08256403e-05 9.99971417e-01 -4.27705444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58576923100003 meters 0.018068075077222773 Centerline is valid? [True, True] Translation: X:186.38, Y:88.62, Z:-0.43 [[ 5.09514386e-01 -8.60451140e-01 4.35045065e-03 1.86375762e+02] [ 8.60418257e-01 5.09532951e-01 7.52300294e-03 8.86158462e+01] [-8.68987441e-03 -8.98710645e-05 9.99962238e-01 -4.26336949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61576923100003 meters 0.01738946386228271 Centerline is valid? [True, True] Translation: X:186.39, Y:88.64, Z:-0.43 [[ 5.08736040e-01 -8.60910677e-01 4.52183439e-03 1.86392753e+02] [ 8.60875132e-01 5.08756128e-01 7.82361259e-03 8.86369159e+01] [-9.03594257e-03 -8.74189119e-05 9.99959171e-01 -4.26591165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.645769231 meters 0.01680391238834122 Centerline is valid? [True, True] Translation: X:186.41, Y:88.66, Z:-0.43 [[ 5.08060186e-01 -8.61309015e-01 4.65066857e-03 1.86409198e+02] [ 8.61271390e-01 5.08081464e-01 8.05097281e-03 8.86580836e+01] [-9.29729395e-03 -8.48909615e-05 9.99956776e-01 -4.27332647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.675769231 meters 0.018790913591810357 Centerline is valid? [True, True] Translation: X:186.42, Y:88.68, Z:-0.43 [[ 5.08195450e-01 -8.61228222e-01 4.83055693e-03 1.86423031e+02] [ 8.61187589e-01 5.08218399e-01 8.36632366e-03 8.86794422e+01] [-9.66029196e-03 -9.17119320e-05 9.99953334e-01 -4.25092262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.705769231 meters 0.02044264931533467 Centerline is valid? [True, True] Translation: X:186.44, Y:88.70, Z:-0.42 [[ 5.09327664e-01 -8.60557783e-01 5.06290029e-03 1.86437799e+02] [ 8.60513071e-01 5.09352814e-01 8.77298847e-03 8.87016792e+01] [-1.01284660e-02 -1.11633849e-04 9.99948700e-01 -4.24553991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.735769231 meters 0.021382332928704267 Centerline is valid? [True, True] Translation: X:186.45, Y:88.72, Z:-0.42 [[ 5.09872654e-01 -8.60235848e-01 4.91552775e-03 1.86450404e+02] [ 8.60193642e-01 5.09896335e-01 8.52209606e-03 8.87237344e+01] [-9.83742212e-03 -1.16878020e-04 9.99951605e-01 -4.24930955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.765769231 meters 0.022175315528475445 Centerline is valid? [True, True] Translation: X:186.46, Y:88.75, Z:-0.43 [[ 5.10398189e-01 -8.59926039e-01 4.57127667e-03 1.86463841e+02] [ 8.59889487e-01 5.10418646e-01 7.92946993e-03 8.87459401e+01] [-9.15202251e-03 -1.16394340e-04 9.99958113e-01 -4.26693106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.795769231 meters 0.02095465689565591 Centerline is valid? [True, True] Translation: X:186.48, Y:88.76, Z:-0.43 [[ 5.11238667e-01 -8.59433005e-01 3.15188093e-03 1.86483078e+02] [ 8.59415602e-01 5.11248376e-01 5.46996787e-03 8.87647591e+01] [-6.31246493e-03 -8.76834348e-05 9.99980072e-01 -4.34216894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.825769231 meters 0.02334126242602386 Centerline is valid? [True, True] Translation: X:186.49, Y:88.79, Z:-0.44 [[ 5.10787968e-01 -8.59702361e-01 2.73918665e-03 1.86494717e+02] [ 8.59689209e-01 5.10795307e-01 4.75585655e-03 8.87868100e+01] [-5.48778479e-03 -7.43850985e-05 9.99984939e-01 -4.35147066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.855769231 meters 0.01944947044217473 Centerline is valid? [True, True] Translation: X:186.52, Y:88.80, Z:-0.44 [[ 5.09737829e-01 -8.60324901e-01 2.89999926e-03 1.86518672e+02] [ 8.60310155e-01 5.09746073e-01 5.03765031e-03 8.88034835e+01] [-5.81227924e-03 -7.29821197e-05 9.99983106e-01 -4.36965429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.885769231 meters 0.01963673859882527 Centerline is valid? [True, True] Translation: X:186.53, Y:88.83, Z:-0.44 [[ 5.09838193e-01 -8.60265009e-01 3.02178228e-03 1.86534727e+02] [ 8.60248980e-01 5.09847142e-01 5.25212672e-03 8.88251822e+01] [-6.05886790e-03 -7.82496753e-05 9.99981642e-01 -4.36615198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.915769231 meters 0.020152801458351514 Centerline is valid? [True, True] Translation: X:186.55, Y:88.85, Z:-0.44 [[ 5.10537346e-01 -8.59850633e-01 2.91684889e-03 1.86550750e+02] [ 8.59835675e-01 5.10545672e-01 5.07232951e-03 8.88474575e+01] [-5.85063031e-03 -8.16029094e-05 9.99982882e-01 -4.37019704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.945769231 meters 0.02226604025326242 Centerline is valid? [True, True] Translation: X:186.56, Y:88.87, Z:-0.44 [[ 5.11815579e-01 -8.59090886e-01 2.76811888e-03 1.86563599e+02] [ 8.59077390e-01 5.11823058e-01 4.81612347e-03 8.88702342e+01] [-5.55427485e-03 -8.69386797e-05 9.99984571e-01 -4.36649307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97576923100002 meters 0.026884587325113486 Centerline is valid? [True, True] Translation: X:186.57, Y:88.89, Z:-0.43 [[ 5.16246482e-01 -8.56432464e-01 3.60601492e-03 1.86574935e+02] [ 8.56409471e-01 5.16259054e-01 6.27751678e-03 8.88946692e+01] [-7.23790702e-03 -1.52520628e-04 9.99973794e-01 -4.33344136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00576923100002 meters 0.03423379523302521 Centerline is valid? [True, True] Translation: X:186.58, Y:88.92, Z:-0.43 [[ 5.21423227e-01 -8.53287423e-01 4.28858050e-03 1.86580409e+02] [ 8.53254758e-01 5.21440809e-01 7.46999163e-03 8.89211652e+01] [-8.61029080e-03 -2.35775425e-04 9.99962903e-01 -4.31850325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03576923100002 meters 0.03809370782424155 Centerline is valid? [True, True] Translation: X:186.59, Y:88.95, Z:-0.43 [[ 5.24070079e-01 -8.51665038e-01 4.14915866e-03 1.86589182e+02] [ 8.51634380e-01 5.24086441e-01 7.23082493e-03 8.89464760e+01] [-8.33275858e-03 -2.55892820e-04 9.99965249e-01 -4.33125480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06576923100002 meters 0.04131270432081557 Centerline is valid? [True, True] Translation: X:186.60, Y:88.97, Z:-0.43 [[ 5.26676953e-01 -8.50057345e-01 3.72788506e-03 1.86599257e+02] [ 8.50032533e-01 5.26690084e-01 6.49981608e-03 8.89717688e+01] [-7.48865650e-03 -2.54479740e-04 9.99971927e-01 -4.34878223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09576923100002 meters 0.045830248188862055 Centerline is valid? [True, True] Translation: X:186.61, Y:89.00, Z:-0.44 [[ 5.28492958e-01 -8.48931145e-01 3.33250968e-03 1.86606458e+02] [ 8.48911278e-01 5.28503409e-01 5.81283106e-03 8.89974295e+01] [-6.69593605e-03 -2.43035224e-04 9.99977552e-01 -4.35758818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12576923100002 meters 0.04632018853350283 Centerline is valid? [True, True] Translation: X:186.62, Y:89.02, Z:-0.44 [[ 5.29254386e-01 -8.48455712e-01 3.56357765e-03 1.86617759e+02] [ 8.48432965e-01 5.29266315e-01 6.21868308e-03 8.90222388e+01] [-7.16235879e-03 -2.67808544e-04 9.99974314e-01 -4.35493905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15576923100002 meters 0.041772458465507284 Centerline is valid? [True, True] Translation: X:186.64, Y:89.04, Z:-0.44 [[ 5.27881330e-01 -8.49309785e-01 3.76710012e-03 1.86636292e+02] [ 8.49284363e-01 5.27894701e-01 6.57691637e-03 8.90434986e+01] [-7.57447162e-03 -2.72492131e-04 9.99971276e-01 -4.35610387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18576923100002 meters 0.033220369631729973 Centerline is valid? [True, True] Translation: X:186.66, Y:89.06, Z:-0.44 [[ 5.22374041e-01 -8.52709387e-01 3.47326712e-03 1.86659900e+02] [ 8.52687829e-01 5.22385546e-01 6.06685673e-03 8.90609005e+01] [-6.98765022e-03 -2.07555868e-04 9.99975565e-01 -4.38072432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21576923100002 meters 0.034604224984525596 Centerline is valid? [True, True] Translation: X:186.67, Y:89.08, Z:-0.44 [[ 5.19018735e-01 -8.54757582e-01 3.00485211e-03 1.86671037e+02] [ 8.54741465e-01 5.19027410e-01 5.25128546e-03 8.90842602e+01] [-6.04817666e-03 -1.57143846e-04 9.99981697e-01 -4.38591653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24576923100003 meters 0.025459321870670105 Centerline is valid? [True, True] Translation: X:186.70, Y:89.10, Z:-0.44 [[ 5.12315417e-01 -8.58794302e-01 2.29356013e-03 1.86695257e+02] [ 8.58784944e-01 5.12320544e-01 4.01008776e-03 8.91013307e+01] [-4.61887849e-03 -8.47548781e-05 9.99989329e-01 -4.41036248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27576923100003 meters 0.021190658399825663 Centerline is valid? [True, True] Translation: X:186.71, Y:89.12, Z:-0.44 [[ 5.08957195e-01 -8.60788771e-01 2.29461486e-03 1.86714652e+02] [ 8.60779415e-01 5.08962363e-01 4.01395179e-03 8.91218436e+01] [-4.62303723e-03 -6.77724145e-05 9.99989311e-01 -4.42010082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30576923100003 meters 0.01786105344064944 Centerline is valid? [True, True] Translation: X:186.73, Y:89.14, Z:-0.44 [[ 5.05699962e-01 -8.62705961e-01 2.44424862e-03 1.86733544e+02] [ 8.62695356e-01 5.05705866e-01 4.27792431e-03 8.91423733e+01] [-4.92666167e-03 -5.47042244e-05 9.99987862e-01 -4.42558037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33576923100003 meters 0.014948935167901658 Centerline is valid? [True, True] Translation: X:186.75, Y:89.16, Z:-0.44 [[ 4.99965932e-01 -8.66039117e-01 3.21162943e-03 1.86754201e+02] [ 8.66020855e-01 4.99976246e-01 5.62427758e-03 8.91609469e+01] [-6.47658282e-03 -3.06091126e-05 9.99979026e-01 -4.39358626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36576923100003 meters 0.013869799473816636 Centerline is valid? [True, True] Translation: X:186.77, Y:89.18, Z:-0.44 [[ 4.97465120e-01 -8.67477750e-01 3.28731024e-03 1.86771773e+02] [ 8.67458627e-01 4.97475982e-01 5.76011273e-03 8.91803947e+01] [-6.63212752e-03 -1.38495431e-05 9.99978007e-01 -4.39117493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.395769231 meters 0.01351517037237499 Centerline is valid? [True, True] Translation: X:186.79, Y:89.20, Z:-0.44 [[ 4.94879039e-01 -8.68957881e-01 2.63375979e-03 1.86791526e+02] [ 8.68945614e-01 4.94886048e-01 4.61734901e-03 8.91990972e+01] [-5.31569279e-03 3.56477103e-06 9.99985872e-01 -4.41867572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.425769231 meters 0.013832665544969829 Centerline is valid? [True, True] Translation: X:186.81, Y:89.22, Z:-0.44 [[ 4.94298994e-01 -8.69288915e-01 2.29935572e-03 1.86806467e+02] [ 8.69279558e-01 4.94304342e-01 4.03326304e-03 8.92194081e+01] [-4.64265237e-03 5.14505588e-06 9.99989223e-01 -4.42718064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.455769231 meters 0.013717617350440909 Centerline is valid? [True, True] Translation: X:186.82, Y:89.24, Z:-0.44 [[ 4.94042095e-01 -8.69435351e-01 2.13967777e-03 1.86821172e+02] [ 8.69427241e-01 4.94046728e-01 3.75525745e-03 8.92418560e+01] [-4.32205438e-03 5.03888324e-06 9.99990660e-01 -4.44222359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.485769231 meters 0.013828772351357476 Centerline is valid? [True, True] Translation: X:186.84, Y:89.26, Z:-0.44 [[ 4.94062865e-01 -8.69422976e-01 2.36111232e-03 1.86835316e+02] [ 8.69413088e-01 4.94068507e-01 4.14640744e-03 8.92633852e+01] [-4.77153313e-03 4.19601335e-06 9.99988616e-01 -4.43991760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.515769231 meters 0.0139049027116965 Centerline is valid? [True, True] Translation: X:186.85, Y:89.28, Z:-0.44 [[ 4.93437542e-01 -8.69777772e-01 2.45348466e-03 1.86853504e+02] [ 8.69767087e-01 4.93443642e-01 4.31120884e-03 8.92817493e+01] [-4.96045002e-03 6.64791284e-06 9.99987697e-01 -4.44289153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.545769231 meters 0.014003078741540135 Centerline is valid? [True, True] Translation: X:186.87, Y:89.30, Z:-0.45 [[ 4.92142217e-01 -8.70511575e-01 2.37409854e-03 1.86874068e+02] [ 8.70501568e-01 4.92147943e-01 4.17410890e-03 8.92988778e+01] [-4.80201783e-03 1.24012899e-05 9.99988470e-01 -4.45262604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.575769231 meters 0.013963457661511466 Centerline is valid? [True, True] Translation: X:186.89, Y:89.32, Z:-0.45 [[ 4.91780336e-01 -8.70715768e-01 2.48053343e-03 1.86890201e+02] [ 8.70704833e-01 4.91786592e-01 4.36375539e-03 8.93203803e+01] [-5.01948370e-03 1.38033560e-05 9.99987402e-01 -4.45117155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.605769231 meters 0.013820279522641256 Centerline is valid? [True, True] Translation: X:186.91, Y:89.34, Z:-0.44 [[ 4.91709679e-01 -8.70755569e-01 2.51618352e-03 1.86905229e+02] [ 8.70744305e-01 4.91716116e-01 4.42893989e-03 8.93418277e+01] [-5.09377206e-03 1.31998657e-05 9.99987027e-01 -4.44754829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.635769231 meters 0.013591869555075136 Centerline is valid? [True, True] Translation: X:186.92, Y:89.36, Z:-0.44 [[ 4.92471107e-01 -8.70325447e-01 2.41356639e-03 1.86918244e+02] [ 8.70315066e-01 4.92477021e-01 4.25081898e-03 8.93631073e+01] [-4.88822192e-03 7.15766771e-06 9.99988053e-01 -4.44886838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.665769231 meters 0.014015757611474387 Centerline is valid? [True, True] Translation: X:186.93, Y:89.39, Z:-0.45 [[ 4.95894431e-01 -8.68380827e-01 1.85799119e-03 1.86929079e+02] [ 8.68374655e-01 4.95897912e-01 3.27402402e-03 8.93866818e+01] [-3.76447364e-03 -1.01378221e-05 9.99992914e-01 -4.46840679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.695769231 meters 0.016367512552568474 Centerline is valid? [True, True] Translation: X:186.94, Y:89.41, Z:-0.45 [[ 5.00105560e-01 -8.65961556e-01 2.23877260e-03 1.86937738e+02] [ 8.65952560e-01 5.00110570e-01 3.94727985e-03 8.94113522e+01] [-4.53782644e-03 -3.53857363e-05 9.99989703e-01 -4.45709191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72576923100002 meters 0.017521244791668802 Centerline is valid? [True, True] Translation: X:186.95, Y:89.43, Z:-0.45 [[ 5.01376406e-01 -8.65225803e-01 2.45160171e-03 1.86949981e+02] [ 8.65214995e-01 5.01382397e-01 4.32493344e-03 8.94341322e+01] [-4.97123395e-03 -4.72570246e-05 9.99987642e-01 -4.45697988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75576923100002 meters 0.01826126045470202 Centerline is valid? [True, True] Translation: X:186.96, Y:89.46, Z:-0.45 [[ 5.02156409e-01 -8.64773161e-01 2.51410211e-03 1.86963000e+02] [ 8.64761776e-01 5.02162700e-01 4.43769772e-03 8.94570965e+01] [-5.10009018e-03 -5.43189433e-05 9.99986993e-01 -4.46051586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78576923100002 meters 0.01840841397200174 Centerline is valid? [True, True] Translation: X:186.98, Y:89.48, Z:-0.45 [[ 5.02074959e-01 -8.64821029e-01 2.30722803e-03 1.86978848e+02] [ 8.64811431e-01 5.02080257e-01 4.07474601e-03 8.94769837e+01] [-4.68233968e-03 -5.05107627e-05 9.99989037e-01 -4.47703167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81576923100002 meters 0.017559495473845728 Centerline is valid? [True, True] Translation: X:187.00, Y:89.50, Z:-0.45 [[ 5.00918817e-01 -8.65490844e-01 2.43687880e-03 1.86995726e+02] [ 8.65480132e-01 5.00924742e-01 4.30630270e-03 8.94961475e+01] [-4.94775844e-03 -4.80378695e-05 9.99987759e-01 -4.47839542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84576923100002 meters 0.01565553641444271 Centerline is valid? [True, True] Translation: X:187.02, Y:89.51, Z:-0.45 [[ 4.98356982e-01 -8.66967374e-01 2.80909907e-03 1.87019411e+02] [ 8.66953146e-01 4.98364897e-01 4.96704214e-03 8.95132935e+01] [-5.70621985e-03 -4.00028571e-05 9.99983719e-01 -4.46802149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87576923100002 meters 0.015517244211635929 Centerline is valid? [True, True] Translation: X:187.03, Y:89.53, Z:-0.45 [[ 4.97490645e-01 -8.67464649e-01 2.85335869e-03 1.87034378e+02] [ 8.67449960e-01 4.97498826e-01 5.04832927e-03 8.95327415e+01] [-5.79878978e-03 -3.63507024e-05 9.99983186e-01 -4.46499296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90576923100002 meters 0.015703345244187903 Centerline is valid? [True, True] Translation: X:187.05, Y:89.55, Z:-0.45 [[ 4.97675244e-01 -8.67359946e-01 2.46484257e-03 1.87047732e+02] [ 8.67348971e-01 4.97681347e-01 4.36348201e-03 8.95529174e+01] [-5.01141569e-03 -3.37183063e-05 9.99987442e-01 -4.47900003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93576923100002 meters 0.017552409583251147 Centerline is valid? [True, True] Translation: X:187.06, Y:89.57, Z:-0.46 [[ 5.00281126e-01 -8.65862901e-01 4.81623407e-04 1.87061472e+02] [ 8.65862481e-01 5.00281358e-01 8.52285936e-04 8.95749683e+01] [-9.78909985e-04 -9.36292996e-06 9.99999521e-01 -4.55580209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96576923100002 meters 0.01942759833382401 Centerline is valid? [True, True] Translation: X:187.07, Y:89.60, Z:-0.46 [[ 5.02527039e-01 -8.64561475e-01 -1.76819532e-04 1.87074279e+02] [ 8.64561418e-01 5.02527070e-01 -3.14123743e-04 8.95983605e+01] [ 3.60435888e-04 4.98432883e-06 9.99999935e-01 -4.57018428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99576923100003 meters 0.02789023647587163 Centerline is valid? [True, True] Translation: X:187.08, Y:89.63, Z:-0.46 [[ 5.08835162e-01 -8.60863960e-01 -1.42722791e-04 1.87077630e+02] [ 8.60863922e-01 5.08835182e-01 -2.53845198e-04 8.96263120e+01] [ 2.91148560e-04 6.30046128e-06 9.99999958e-01 -4.57413180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02576923100003 meters 0.028687115194533073 Centerline is valid? [True, True] Translation: X:187.09, Y:89.65, Z:-0.46 [[ 5.11471246e-01 -8.59300388e-01 8.70955019e-05 1.87090370e+02] [ 8.59300374e-01 5.11471254e-01 1.53533797e-04 8.96498574e+01] [-1.76478497e-04 -3.68692528e-06 9.99999984e-01 -4.57016417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05576923100003 meters 0.033826466458537555 Centerline is valid? [True, True] Translation: X:187.10, Y:89.68, Z:-0.46 [[ 5.13073084e-01 -8.58344860e-01 3.33809554e-04 1.87097717e+02] [ 8.58344657e-01 5.13073192e-01 5.91534121e-04 8.96755609e+01] [-6.79009006e-04 -1.69765887e-05 9.99999769e-01 -4.56542817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08576923100003 meters 0.033826466458537555 Centerline is valid? [True, True] Translation: X:187.11, Y:89.70, Z:-0.46 [[ 5.12865109e-01 -8.58469142e-01 3.33702989e-04 1.87109712e+02] [ 8.58468939e-01 5.12865217e-01 5.91594207e-04 8.96975209e+01] [-6.79010028e-04 -1.69343768e-05 9.99999769e-01 -4.56596499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11576923100003 meters 0.033015587909127515 Centerline is valid? [True, True] Translation: X:187.13, Y:89.72, Z:-0.46 [[ 5.13720852e-01 -8.57957251e-01 4.92681502e-04 1.87126199e+02] [ 8.57956805e-01 5.13721087e-01 8.74520677e-04 8.97191957e+01] [-1.00340223e-03 -2.65600593e-05 9.99999496e-01 -4.56629180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.145769231 meters 0.03313487783991359 Centerline is valid? [True, True] Translation: X:187.14, Y:89.74, Z:-0.46 [[ 5.13122213e-01 -8.58315538e-01 1.77712837e-04 1.87139407e+02] [ 8.58315480e-01 5.13122244e-01 3.15105691e-04 8.97406322e+01] [-3.61648521e-04 -9.15405032e-06 9.99999935e-01 -4.57536546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.175769231 meters 0.029487153977917926 Centerline is valid? [True, True] Translation: X:187.16, Y:89.76, Z:-0.46 [[ 5.10698784e-01 -8.59759621e-01 -3.80847038e-04 1.87159119e+02] [ 8.59759354e-01 5.10698926e-01 -6.78381517e-04 8.97598404e+01] [ 7.77743209e-04 1.90118122e-05 9.99999697e-01 -4.60606176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.205769231 meters 0.02706135097432977 Centerline is valid? [True, True] Translation: X:187.18, Y:89.78, Z:-0.46 [[ 5.08924913e-01 -8.60810847e-01 -3.45301990e-04 1.87176911e+02] [ 8.60810627e-01 5.08925030e-01 -6.15380612e-04 8.97807014e+01] [ 7.05459131e-04 1.59429019e-05 9.99999751e-01 -4.61040334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.235769231 meters 0.025565775219462974 Centerline is valid? [True, True] Translation: X:187.19, Y:89.80, Z:-0.46 [[ 5.05510614e-01 -8.62820378e-01 1.17839827e-04 1.87194430e+02] [ 8.62820353e-01 5.05510628e-01 2.08778005e-04 8.98005791e+01] [-2.39707202e-04 -3.86489630e-06 9.99999971e-01 -4.59804597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.265769231 meters 0.023486253423156203 Centerline is valid? [True, True] Translation: X:187.21, Y:89.82, Z:-0.46 [[ 5.03771807e-01 -8.63836769e-01 5.23283110e-05 1.87211444e+02] [ 8.63836764e-01 5.03771809e-01 9.22419469e-05 8.98208499e+01] [-1.06043513e-04 -1.26577337e-06 9.99999994e-01 -4.60172400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.295769231 meters 0.020978297016689917 Centerline is valid? [True, True] Translation: X:187.23, Y:89.84, Z:-0.46 [[ 5.02401440e-01 -8.64634401e-01 -3.82394678e-04 1.87229609e+02] [ 8.64634131e-01 5.02401586e-01 -6.82615431e-04 8.98408661e+01] [ 7.82328477e-04 1.23154854e-05 9.99999694e-01 -4.61256378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.325769231 meters 0.021303736256692293 Centerline is valid? [True, True] Translation: X:187.25, Y:89.86, Z:-0.47 [[ 5.00857655e-01 -8.65528859e-01 -1.18512596e-03 1.87245661e+02] [ 8.65526276e-01 5.00859056e-01 -2.11465211e-03 8.98613662e+01] [ 2.42387349e-03 3.33820354e-05 9.99997062e-01 -4.65976957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.355769231 meters 0.01974000387396934 Centerline is valid? [True, True] Translation: X:187.26, Y:89.88, Z:-0.47 [[ 5.00129895e-01 -8.65949062e-01 -1.52005608e-03 1.87263235e+02] [ 8.65944812e-01 5.00132203e-01 -2.71342063e-03 8.98822591e+01] [ 3.10991305e-03 4.07781010e-05 9.99995163e-01 -4.66433067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.385769231 meters 0.019217985270231976 Centerline is valid? [True, True] Translation: X:187.28, Y:89.90, Z:-0.47 [[ 4.98062267e-01 -8.67138779e-01 -2.07753216e-03 1.87281757e+02] [ 8.67130842e-01 4.98066598e-01 -3.71038063e-03 8.99008581e+01] [ 4.25216431e-03 4.65083822e-05 9.99990958e-01 -4.69073756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.415769231 meters 0.01759432356083767 Centerline is valid? [True, True] Translation: X:187.30, Y:89.92, Z:-0.47 [[ 4.96769539e-01 -8.67879488e-01 -2.28468192e-03 1.87299632e+02] [ 8.67869887e-01 4.96774791e-01 -4.08245484e-03 8.99215337e+01] [ 4.67805119e-03 4.52325699e-05 9.99989057e-01 -4.68987403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.445769231 meters 0.017070997522367893 Centerline is valid? [True, True] Translation: X:187.32, Y:89.94, Z:-0.47 [[ 4.95657208e-01 -8.68515116e-01 -2.32934313e-03 1.87316414e+02] [ 8.68505131e-01 4.95662680e-01 -4.16488951e-03 8.99413254e+01] [ 4.77183796e-03 4.13110427e-05 9.99988614e-01 -4.70281298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47576923100002 meters 0.017806632334106513 Centerline is valid? [True, True] Translation: X:187.33, Y:89.96, Z:-0.47 [[ 4.95919969e-01 -8.68365889e-01 -2.01671669e-03 1.87328566e+02] [ 8.68358393e-01 4.95924068e-01 -3.60840505e-03 8.99627418e+01] [ 4.13355420e-03 3.82472507e-05 9.99991456e-01 -4.69709551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50576923100002 meters 0.018091109116577412 Centerline is valid? [True, True] Translation: X:187.34, Y:89.98, Z:-0.47 [[ 4.96598790e-01 -8.67978978e-01 -1.46141388e-03 1.87341898e+02] [ 8.67975034e-01 4.96600940e-01 -2.61665738e-03 8.99845093e+01] [ 2.99694310e-03 3.09581307e-05 9.99995509e-01 -4.67167572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53576923100002 meters 0.020092151955739265 Centerline is valid? [True, True] Translation: X:187.35, Y:90.01, Z:-0.47 [[ 4.98666817e-01 -8.66792580e-01 -1.42428679e-03 1.87353274e+02] [ 8.66788825e-01 4.98668850e-01 -2.55159654e-03 9.00067651e+01] [ 2.92195240e-03 3.78406556e-05 9.99995730e-01 -4.68118515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56576923100002 meters 0.020511779919347686 Centerline is valid? [True, True] Translation: X:187.37, Y:90.03, Z:-0.47 [[ 4.99267662e-01 -8.66446319e-01 -1.60553524e-03 1.87366909e+02] [ 8.66441541e-01 4.99270242e-01 -2.87771361e-03 9.00297082e+01] [ 3.29498033e-03 4.56469235e-05 9.99994570e-01 -4.68818678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59576923100002 meters 0.021948814946382532 Centerline is valid? [True, True] Translation: X:187.38, Y:90.05, Z:-0.47 [[ 4.99719432e-01 -8.66186027e-01 -1.50178575e-03 1.87379790e+02] [ 8.66181840e-01 4.99721687e-01 -2.69366150e-03 9.00510121e+01] [ 3.08368686e-03 4.52554508e-05 9.99995244e-01 -4.69118537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62576923100002 meters 0.021807778009460165 Centerline is valid? [True, True] Translation: X:187.39, Y:90.07, Z:-0.47 [[ 5.00064639e-01 -8.65986804e-01 -1.48705726e-03 1.87393228e+02] [ 8.65982693e-01 5.00066848e-01 -2.66880167e-03 9.00729182e+01] [ 3.05477506e-03 4.68074938e-05 9.99995333e-01 -4.68913017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65576923100002 meters 0.023237385101651038 Centerline is valid? [True, True] Translation: X:187.40, Y:90.10, Z:-0.47 [[ 5.00577276e-01 -8.65690368e-01 -1.60563878e-03 1.87404429e+02] [ 8.65685569e-01 5.00579848e-01 -2.88311755e-03 9.00956359e+01] [ 3.29963751e-03 5.32448044e-05 9.99994555e-01 -4.69097310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68576923100002 meters 0.024660928523124806 Centerline is valid? [True, True] Translation: X:187.42, Y:90.12, Z:-0.47 [[ 5.02381851e-01 -8.64643854e-01 -1.86609417e-03 1.87416654e+02] [ 8.64637358e-01 5.02385311e-01 -3.35239319e-03 9.01187228e+01] [ 3.83612446e-03 7.06867648e-05 9.99992640e-01 -4.69167168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71576923100002 meters 0.02613644054667952 Centerline is valid? [True, True] Translation: X:187.43, Y:90.14, Z:-0.47 [[ 5.03225492e-01 -8.64152819e-01 -2.00230619e-03 1.87427488e+02] [ 8.64145328e-01 5.03229469e-01 -3.59910926e-03 9.01421097e+01] [ 4.11779989e-03 8.08799853e-05 9.99991519e-01 -4.69425876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74576923100003 meters 0.028111269028247135 Centerline is valid? [True, True] Translation: X:187.44, Y:90.17, Z:-0.47 [[ 5.04695770e-01 -8.63295066e-01 -1.95172030e-03 1.87438042e+02] [ 8.63287934e-01 5.04699536e-01 -3.51002916e-03 9.01663768e+01] [ 4.01522318e-03 8.66002807e-05 9.99991935e-01 -4.69727009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77576923100003 meters 0.028751875295319272 Centerline is valid? [True, True] Translation: X:187.45, Y:90.19, Z:-0.47 [[ 5.05047319e-01 -8.63089366e-01 -1.98775616e-03 1.87449896e+02] [ 8.63081960e-01 5.05051222e-01 -3.57673690e-03 9.01901652e+01] [ 4.09096226e-03 9.08249009e-05 9.99991628e-01 -4.70103531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80576923100003 meters 0.0289336156280091 Centerline is valid? [True, True] Translation: X:187.46, Y:90.21, Z:-0.47 [[ 5.05055185e-01 -8.63084399e-01 -2.13993768e-03 1.87461758e+02] [ 8.63075805e-01 5.05059709e-01 -3.85285981e-03 9.02129316e+01] [ 4.40613950e-03 9.89783901e-05 9.99990288e-01 -4.71109317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83576923100003 meters 0.03090403987482688 Centerline is valid? [True, True] Translation: X:187.47, Y:90.23, Z:-0.48 [[ 5.04348953e-01 -8.63495046e-01 -2.90497338e-03 1.87474008e+02] [ 8.63479199e-01 5.04357302e-01 -5.23312008e-03 9.02343917e+01] [ 5.98391781e-03 1.30934545e-04 9.99982088e-01 -4.75585957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86576923100003 meters 0.029405968430999394 Centerline is valid? [True, True] Translation: X:187.49, Y:90.25, Z:-0.48 [[ 5.03790604e-01 -8.63818013e-01 -3.66991158e-03 1.87492300e+02] [ 8.63792703e-01 5.03803945e-01 -6.61455122e-03 9.02539839e+01] [ 7.56268442e-03 1.62305914e-04 9.99971389e-01 -4.78694126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.895769231 meters 0.030051283501767872 Centerline is valid? [True, True] Translation: X:187.50, Y:90.28, Z:-0.48 [[ 5.03975947e-01 -8.63710561e-01 -3.50870340e-03 1.87504265e+02] [ 8.63687397e-01 5.03988136e-01 -6.32767909e-03 9.02768036e+01] [ 7.23362815e-03 1.58575156e-04 9.99973824e-01 -4.77620086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.925769231 meters 0.03190891211980416 Centerline is valid? [True, True] Translation: X:187.51, Y:90.30, Z:-0.48 [[ 5.04741108e-01 -8.63264941e-01 -3.17106862e-03 1.87514329e+02] [ 8.63245990e-01 5.04751047e-01 -5.72195766e-03 9.03006527e+01] [ 6.54016564e-03 1.50694981e-04 9.99978602e-01 -4.76697576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.955769231 meters 0.033341053550462664 Centerline is valid? [True, True] Translation: X:187.53, Y:90.32, Z:-0.48 [[ 5.05936103e-01 -8.62566194e-01 -2.86714642e-03 1.87525484e+02] [ 8.62550675e-01 5.05944206e-01 -5.17625279e-03 9.03244049e+01] [ 5.91547679e-03 1.45794088e-04 9.99982493e-01 -4.75137478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.985769231 meters 0.03839213215910003 Centerline is valid? [True, True] Translation: X:187.53, Y:90.35, Z:-0.48 [[ 5.09077304e-01 -8.60715738e-01 -2.95240934e-03 1.87532171e+02] [ 8.60699238e-01 5.09085835e-01 -5.33231996e-03 9.03493385e+01] [ 6.09264149e-03 1.73426602e-04 9.99981425e-01 -4.75146008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.015769231 meters 0.04461747965758466 Centerline is valid? [True, True] Translation: X:187.54, Y:90.38, Z:-0.48 [[ 5.13998932e-01 -8.57785434e-01 -3.04086047e-03 1.87535909e+02] [ 8.57767860e-01 5.14007881e-01 -5.49509885e-03 9.03773735e+01] [ 6.27664200e-03 2.16122562e-04 9.99980278e-01 -4.76403676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.045769231 meters 0.04353986510511775 Centerline is valid? [True, True] Translation: X:187.55, Y:90.40, Z:-0.47 [[ 5.16596170e-01 -8.56224161e-01 -2.92977712e-03 1.87548752e+02] [ 8.56207807e-01 5.16604427e-01 -5.29695340e-03 9.04011774e+01] [ 6.04891531e-03 2.27887799e-04 9.99981679e-01 -4.74534240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.075769231 meters 0.048923402234063045 Centerline is valid? [True, True] Translation: X:187.55, Y:90.43, Z:-0.48 [[ 5.19135606e-01 -8.54686979e-01 -2.89657700e-03 1.87553074e+02] [ 8.54670952e-01 5.19143629e-01 -5.23992497e-03 9.04280182e+01] [ 5.98223514e-03 2.44611404e-04 9.99982076e-01 -4.75011368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.105769231 meters 0.0515456187957411 Centerline is valid? [True, True] Translation: X:187.56, Y:90.46, Z:-0.48 [[ 5.23796439e-01 -8.51835926e-01 -3.58393250e-03 1.87558341e+02] [ 8.51811308e-01 5.23808587e-01 -6.48536539e-03 9.04552862e+01] [ 7.40176186e-03 3.44177067e-04 9.99972547e-01 -4.76878649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.135769231 meters 0.05873103057883751 Centerline is valid? [True, True] Translation: X:187.56, Y:90.48, Z:-0.48 [[ 5.25303538e-01 -8.50903640e-01 -4.38055208e-03 1.87559927e+02] [ 8.50866800e-01 5.25321619e-01 -7.92997947e-03 9.04838320e+01] [ 9.04884711e-03 4.38379940e-04 9.99958962e-01 -4.81659445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.165769231 meters 0.05874671960914702 Centerline is valid? [True, True] Translation: X:187.57, Y:90.51, Z:-0.49 [[ 5.25732351e-01 -8.50627296e-01 -6.22078315e-03 1.87568666e+02] [ 8.50552907e-01 5.25768773e-01 -1.12671566e-02 9.05085637e+01] [ 1.28548445e-02 6.32403558e-04 9.99917173e-01 -4.88715922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.195769231 meters 0.05646748937404666 Centerline is valid? [True, True] Translation: X:187.58, Y:90.53, Z:-0.49 [[ 5.24661125e-01 -8.51285220e-01 -6.64665135e-03 1.87582769e+02] [ 8.51200282e-01 5.24702809e-01 -1.20433917e-02 9.05313520e+01] [ 1.37398780e-02 6.61067934e-04 9.99905385e-01 -4.89648320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22576923100002 meters 0.060984872168244025 Centerline is valid? [True, True] Translation: X:187.59, Y:90.56, Z:-0.49 [[ 5.21126517e-01 -8.53453830e-01 -6.61157948e-03 1.87586352e+02] [ 8.53369864e-01 5.21168106e-01 -1.19866643e-02 9.05583957e+01] [ 1.36758089e-02 6.04445922e-04 9.99906299e-01 -4.93464545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25576923100002 meters 0.05009957952154366 Centerline is valid? [True, True] Translation: X:187.61, Y:90.58, Z:-0.49 [[ 5.19113407e-01 -8.54683311e-01 -6.14075889e-03 1.87609509e+02] [ 8.54610892e-01 5.19149452e-01 -1.11387125e-02 9.05758807e+01] [ 1.27080433e-02 5.34295589e-04 9.99919107e-01 -4.88342558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28576923100002 meters 0.042973059965021154 Centerline is valid? [True, True] Translation: X:187.63, Y:90.60, Z:-0.48 [[ 5.17005481e-01 -8.55962821e-01 -5.74305802e-03 1.87628781e+02] [ 8.55899487e-01 5.17037161e-01 -1.04232024e-02 9.05953943e+01] [ 1.18912481e-02 4.73372346e-04 9.99929185e-01 -4.84369607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31576923100002 meters 0.04323168836458947 Centerline is valid? [True, True] Translation: X:187.64, Y:90.62, Z:-0.48 [[ 5.12711195e-01 -8.58545751e-01 -5.14037617e-03 1.87638574e+02] [ 8.58495084e-01 5.12736827e-01 -9.33471707e-03 9.06191797e+01] [ 1.06499418e-02 3.73026268e-04 9.99943218e-01 -4.84528025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34576923100002 meters 0.039839980412218694 Centerline is valid? [True, True] Translation: X:187.65, Y:90.64, Z:-0.48 [[ 5.10541404e-01 -8.59838071e-01 -5.09567622e-03 1.87653878e+02] [ 8.59788303e-01 5.10566717e-01 -9.25751423e-03 9.06410642e+01] [ 1.05616459e-02 3.45141509e-04 9.99944165e-01 -4.83353869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37576923100002 meters 0.035065724154420844 Centerline is valid? [True, True] Translation: X:187.67, Y:90.66, Z:-0.48 [[ 5.06940120e-01 -8.61965625e-01 -5.19390045e-03 1.87670764e+02] [ 8.61913979e-01 5.06966632e-01 -9.44067461e-03 9.06624421e+01] [ 1.07706712e-02 3.09161307e-04 9.99941947e-01 -4.83042938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40576923100002 meters 0.034326106434917555 Centerline is valid? [True, True] Translation: X:187.68, Y:90.68, Z:-0.48 [[ 5.04777134e-01 -8.63235647e-01 -4.92570934e-03 1.87683771e+02] [ 8.63189202e-01 5.04801095e-01 -8.95858685e-03 9.06842561e+01] [ 1.02198750e-02 2.70270683e-04 9.99947739e-01 -4.82721481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43576923100002 meters 0.029251240789598038 Centerline is valid? [True, True] Translation: X:187.70, Y:90.70, Z:-0.48 [[ 5.02345757e-01 -8.64657084e-01 -4.10698525e-03 1.87702785e+02] [ 8.64624806e-01 5.02362504e-01 -7.47385832e-03 9.07038910e+01] [ 8.52551994e-03 2.03459688e-04 9.99963636e-01 -4.78281754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46576923100002 meters 0.028058734204404624 Centerline is valid? [True, True] Translation: X:187.72, Y:90.73, Z:-0.47 [[ 4.97808276e-01 -8.67285661e-01 -1.58190751e-03 1.87716948e+02] [ 8.67280879e-01 4.97810786e-01 -2.88084684e-03 9.07258127e+01] [ 3.28600778e-03 6.21512660e-05 9.99994599e-01 -4.70770466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49576923100003 meters 0.022996479457814814 Centerline is valid? [True, True] Translation: X:187.74, Y:90.74, Z:-0.47 [[ 4.96101977e-01 -8.68263973e-01 -7.08276519e-04 1.87736221e+02] [ 8.68263013e-01 4.96102482e-01 -1.29118061e-03 9.07449126e+01] [ 1.47246335e-03 2.55869500e-05 9.99998916e-01 -4.66429820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52576923100003 meters 0.02082320775349953 Centerline is valid? [True, True] Translation: X:187.75, Y:90.77, Z:-0.47 [[ 4.94345540e-01 -8.69265213e-01 -6.90238044e-04 1.87753119e+02] [ 8.69264302e-01 4.94346021e-01 -1.25887723e-03 9.07664568e+01] [ 1.43551461e-03 2.23210512e-05 9.99998969e-01 -4.65491170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55576923100003 meters 0.0211811811543741 Centerline is valid? [True, True] Translation: X:187.76, Y:90.79, Z:-0.47 [[ 4.94277682e-01 -8.69303277e-01 -1.17740003e-03 1.87764740e+02] [ 8.69300623e-01 4.94279083e-01 -2.14812931e-03 9.07885738e+01] [ 2.44934006e-03 3.82578000e-05 9.99997000e-01 -4.66524401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58576923100003 meters 0.02162033492456874 Centerline is valid? [True, True] Translation: X:187.78, Y:90.81, Z:-0.47 [[ 4.94587091e-01 -8.69126924e-01 -1.41385997e-03 1.87776589e+02] [ 8.69123094e-01 4.94589110e-01 -2.58071983e-03 9.08118022e+01] [ 2.94225284e-03 4.75723614e-05 9.99995670e-01 -4.67854599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61576923100003 meters 0.022975628508602384 Centerline is valid? [True, True] Translation: X:187.79, Y:90.84, Z:-0.47 [[ 4.95521016e-01 -8.68593848e-01 -1.91048084e-03 1.87789238e+02] [ 8.68586845e-01 4.95524694e-01 -3.48848443e-03 9.08355234e+01] [ 3.97676655e-03 6.91988218e-05 9.99992090e-01 -4.69045442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64576923100003 meters 0.02408773688461612 Centerline is valid? [True, True] Translation: X:187.80, Y:90.86, Z:-0.47 [[ 4.95670516e-01 -8.68508562e-01 -1.90213404e-03 1.87800855e+02] [ 8.68501611e-01 4.95674160e-01 -3.47544916e-03 9.08582336e+01] [ 3.96129605e-03 7.06712019e-05 9.99992152e-01 -4.70029038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.675769231 meters 0.024060843447048404 Centerline is valid? [True, True] Translation: X:187.82, Y:90.88, Z:-0.47 [[ 4.96473466e-01 -8.68050156e-01 -1.73920263e-03 1.87815522e+02] [ 8.68044336e-01 4.96476508e-01 -3.17929848e-03 9.08813807e+01] [ 3.62326379e-03 6.87323449e-05 9.99993434e-01 -4.68046381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.705769231 meters 0.024298697613000846 Centerline is valid? [True, True] Translation: X:187.83, Y:90.91, Z:-0.47 [[ 4.97161902e-01 -8.67655870e-01 -1.82614399e-03 1.87828415e+02] [ 8.67649445e-01 4.97165250e-01 -3.33991441e-03 9.09053948e+01] [ 3.80579167e-03 7.60253838e-05 9.99992755e-01 -4.68603793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.735769231 meters 0.026695796975817716 Centerline is valid? [True, True] Translation: X:187.84, Y:90.93, Z:-0.47 [[ 4.97593553e-01 -8.67407032e-01 -2.38689806e-03 1.87838086e+02] [ 8.67396046e-01 4.97599267e-01 -4.36671875e-03 9.09299345e+01] [ 4.97544127e-03 1.02465154e-04 9.99987617e-01 -4.71539425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.765769231 meters 0.027337028718405723 Centerline is valid? [True, True] Translation: X:187.85, Y:90.95, Z:-0.47 [[ 4.99028097e-01 -8.66579859e-01 -3.21034795e-03 1.87851099e+02] [ 8.66559949e-01 4.99038401e-01 -5.87611707e-03 9.09536887e+01] [ 6.69421160e-03 1.50388564e-04 9.99977582e-01 -4.73159986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.795769231 meters 0.03183886867191362 Centerline is valid? [True, True] Translation: X:187.86, Y:90.98, Z:-0.47 [[ 5.00165012e-01 -8.65924227e-01 -3.19283126e-03 1.87861808e+02] [ 8.65904507e-01 5.00175177e-01 -5.84615908e-03 9.09782444e+01] [ 6.65930572e-03 1.59357251e-04 9.99977814e-01 -4.67848793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.825769231 meters 0.033219553220621055 Centerline is valid? [True, True] Translation: X:187.86, Y:91.01, Z:-0.47 [[ 5.04201163e-01 -8.63582166e-01 -2.65150593e-03 1.87864044e+02] [ 8.63568521e-01 5.04208110e-01 -4.85720424e-03 9.10059810e+01] [ 5.53150575e-03 1.59250973e-04 9.99984688e-01 -4.71034971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.855769231 meters 0.03705265535277164 Centerline is valid? [True, True] Translation: X:187.87, Y:91.03, Z:-0.47 [[ 5.06378402e-01 -8.62307999e-01 -2.41430720e-03 1.87869863e+02] [ 8.62296663e-01 5.06384132e-01 -4.42442773e-03 9.10326523e+01] [ 5.03778628e-03 1.58585603e-04 9.99987298e-01 -4.70743373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.885769231 meters 0.038082138411526134 Centerline is valid? [True, True] Translation: X:187.88, Y:91.06, Z:-0.47 [[ 5.08472013e-01 -8.61075186e-01 -2.39492877e-03 1.87879829e+02] [ 8.61064005e-01 5.08477625e-01 -4.39135195e-03 9.10582975e+01] [ 4.99905189e-03 1.70692611e-04 9.99987490e-01 -4.69867719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.915769231 meters 0.046301494581074853 Centerline is valid? [True, True] Translation: X:187.88, Y:91.09, Z:-0.47 [[ 5.13447183e-01 -8.58117951e-01 -2.36064064e-03 1.87876327e+02] [ 8.58107044e-01 5.13452572e-01 -4.33094625e-03 9.10895475e+01] [ 4.92853973e-03 1.98029794e-04 9.99987835e-01 -4.69692000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.945769231 meters 0.047661278084502406 Centerline is valid? [True, True] Translation: X:187.88, Y:91.12, Z:-0.47 [[ 5.15350538e-01 -8.56976452e-01 -2.27655724e-03 1.87883037e+02] [ 8.56966288e-01 5.15355527e-01 -4.17884230e-03 9.11163028e+01] [ 4.75440581e-03 2.02635817e-04 9.99988677e-01 -4.69104523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97576923100002 meters 0.04959184782799691 Centerline is valid? [True, True] Translation: X:187.89, Y:91.15, Z:-0.47 [[ 5.17236095e-01 -8.55840858e-01 -1.80224255e-03 1.87885749e+02] [ 8.55834474e-01 5.17239207e-01 -3.30998917e-03 9.11460340e+01] [ 3.76501448e-03 1.69624561e-04 9.99992898e-01 -4.68382719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00576923100002 meters 0.04959184782799691 Centerline is valid? [True, True] Translation: X:187.90, Y:91.17, Z:-0.47 [[ 5.17038113e-01 -8.55960481e-01 -1.80143331e-03 1.87897896e+02] [ 8.55954096e-01 5.17041223e-01 -3.31042973e-03 9.11688764e+01] [ 3.76501231e-03 1.69674116e-04 9.99992898e-01 -4.68438233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03576923100002 meters 0.049952661289628386 Centerline is valid? [True, True] Translation: X:187.91, Y:91.19, Z:-0.47 [[ 5.16702742e-01 -8.56162767e-01 -1.89569459e-03 1.87906747e+02] [ 8.56155690e-01 5.16706188e-01 -3.48550105e-03 9.11935929e+01] [ 3.96367335e-03 1.77958243e-04 9.99992129e-01 -4.69185217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06576923100002 meters 0.047260219915394634 Centerline is valid? [True, True] Translation: X:187.92, Y:91.22, Z:-0.47 [[ 5.13568552e-01 -8.58042800e-01 -3.14591331e-03 1.87917258e+02] [ 8.58023331e-01 5.13578115e-01 -5.78646957e-03 9.12183184e+01] [ 6.58071078e-03 2.72481775e-04 9.99978310e-01 -4.73665561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09576923100002 meters 0.0452384688961148 Centerline is valid? [True, True] Translation: X:187.93, Y:91.24, Z:-0.48 [[ 5.11316493e-01 -8.59384883e-01 -3.61491168e-03 1.87929011e+02] [ 8.59359185e-01 5.11329186e-01 -6.65243347e-03 9.12426325e+01] [ 7.56541060e-03 2.94991392e-04 9.99971338e-01 -4.76143650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12576923100002 meters 0.04128337285457281 Centerline is valid? [True, True] Translation: X:187.94, Y:91.27, Z:-0.48 [[ 5.07215963e-01 -8.61811465e-01 -3.60086408e-03 1.87940002e+02] [ 8.61785999e-01 5.07228678e-01 -6.63033197e-03 9.12661641e+01] [ 7.54055763e-03 2.59835965e-04 9.99971536e-01 -4.76373787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15576923100002 meters 0.039127708641273046 Centerline is valid? [True, True] Translation: X:187.95, Y:91.29, Z:-0.47 [[ 5.05193722e-01 -8.63000218e-01 -3.15065537e-03 1.87952816e+02] [ 8.62980723e-01 5.05203501e-01 -5.80462817e-03 9.12889833e+01] [ 6.60111750e-03 2.13506865e-04 9.99978190e-01 -4.74440033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18576923100002 meters 0.03675318819100583 Centerline is valid? [True, True] Translation: X:187.97, Y:91.31, Z:-0.47 [[ 5.03004544e-01 -8.64279738e-01 -2.63868580e-03 1.87966362e+02] [ 8.64266067e-01 5.03011437e-01 -4.86409288e-03 9.13117444e+01] [ 5.53122606e-03 1.66134223e-04 9.99984689e-01 -4.71643486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21576923100002 meters 0.031229857056888622 Centerline is valid? [True, True] Translation: X:187.98, Y:91.33, Z:-0.47 [[ 4.99507127e-01 -8.66307287e-01 -2.07706056e-03 1.87981350e+02] [ 8.66298824e-01 4.99511433e-01 -3.83107168e-03 9.13344321e+01] [ 4.35640081e-03 1.14292489e-04 9.99990504e-01 -4.68326078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24576923100003 meters 0.030251125898907036 Centerline is valid? [True, True] Translation: X:187.99, Y:91.36, Z:-0.47 [[ 4.97605304e-01 -8.67401152e-01 -2.05010504e-03 1.87992575e+02] [ 8.67392906e-01 4.97609516e-01 -3.78369869e-03 9.13568952e+01] [ 4.30213639e-03 1.04541966e-04 9.99990740e-01 -4.69179326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27576923100003 meters 0.027645266497785436 Centerline is valid? [True, True] Translation: X:188.01, Y:91.38, Z:-0.47 [[ 4.93937469e-01 -8.69492680e-01 -2.87325146e-03 1.88007085e+02] [ 8.69476501e-01 4.93945811e-01 -5.30556391e-03 9.13779895e+01] [ 6.03237950e-03 1.22392187e-04 9.99981798e-01 -4.73897085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30576923100003 meters 0.026516897689430247 Centerline is valid? [True, True] Translation: X:188.02, Y:91.40, Z:-0.48 [[ 4.92259469e-01 -8.70441934e-01 -3.38452811e-03 1.88019744e+02] [ 8.70419481e-01 4.92271086e-01 -6.25334441e-03 9.13989201e+01] [ 7.10927853e-03 1.32308798e-04 9.99974720e-01 -4.76137253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33576923100003 meters 0.02332578052199237 Centerline is valid? [True, True] Translation: X:188.04, Y:91.42, Z:-0.48 [[ 4.90141612e-01 -8.71634783e-01 -3.74223520e-03 1.88035637e+02] [ 8.71607340e-01 4.90155881e-01 -6.91784387e-03 9.14201083e+01] [ 7.86411194e-03 1.28963476e-04 9.99969069e-01 -4.76517017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36576923100003 meters 0.02048765081239838 Centerline is valid? [True, True] Translation: X:188.05, Y:91.44, Z:-0.48 [[ 4.85640627e-01 -8.74147233e-01 -4.44930199e-03 1.88052391e+02] [ 8.74108501e-01 4.85660996e-01 -8.22951204e-03 9.14398469e+01] [ 9.35465761e-03 1.07412690e-04 9.99956238e-01 -4.80175096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39576923100003 meters 0.01830202315475211 Centerline is valid? [True, True] Translation: X:188.07, Y:91.46, Z:-0.48 [[ 4.83312437e-01 -8.75434571e-01 -4.83733567e-03 1.88068320e+02] [ 8.75388798e-01 4.83336635e-01 -8.95261323e-03 9.14599520e+01] [ 1.01754887e-02 9.23598614e-05 9.99948224e-01 -4.80040983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.425769231 meters 0.016371471606829245 Centerline is valid? [True, True] Translation: X:188.08, Y:91.48, Z:-0.48 [[ 4.79999334e-01 -8.77254917e-01 -4.94475490e-03 1.88084657e+02] [ 8.77207129e-01 4.80024799e-01 -9.15669640e-03 9.14799656e+01] [ 1.04063619e-02 5.76339183e-05 9.99945851e-01 -4.81655664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.455769231 meters 0.015930577445443125 Centerline is valid? [True, True] Translation: X:188.10, Y:91.50, Z:-0.48 [[ 4.78732000e-01 -8.77948153e-01 -4.76574307e-03 1.88098104e+02] [ 8.77903753e-01 4.78755719e-01 -8.82961971e-03 9.15004965e+01] [ 1.00335751e-02 4.31577827e-05 9.99949661e-01 -4.81636432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.485769231 meters 0.014813360358888743 Centerline is valid? [True, True] Translation: X:188.12, Y:91.52, Z:-0.48 [[ 4.76497684e-01 -8.79166701e-01 -3.98349784e-03 1.88116299e+02] [ 8.79135688e-01 4.76514334e-01 -7.38457682e-03 9.15206461e+01] [ 8.39046786e-03 1.66986417e-05 9.99964799e-01 -4.79746813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.515769231 meters 0.014902343345251146 Centerline is valid? [True, True] Translation: X:188.13, Y:91.54, Z:-0.48 [[ 4.75522292e-01 -8.79694699e-01 -3.97332689e-03 1.88130787e+02] [ 8.79663822e-01 4.75538891e-01 -7.37043922e-03 9.15408379e+01] [ 8.37320777e-03 9.61623057e-06 9.99964944e-01 -4.80798966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.545769231 meters 0.014851323190533137 Centerline is valid? [True, True] Translation: X:188.14, Y:91.56, Z:-0.48 [[ 4.75030935e-01 -8.79959166e-01 -4.18050340e-03 1.88144759e+02] [ 8.79924956e-01 4.75049330e-01 -7.75922479e-03 9.15624521e+01] [ 8.81374631e-03 7.34253339e-06 9.99961158e-01 -4.80546870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.575769231 meters 0.01529585664002888 Centerline is valid? [True, True] Translation: X:188.16, Y:91.59, Z:-0.48 [[ 4.75494048e-01 -8.79705989e-01 -4.77320678e-03 1.88156830e+02] [ 8.79661333e-01 4.75518005e-01 -8.86378279e-03 9.15862342e+01] [ 1.00672686e-02 1.58705215e-05 9.99949324e-01 -4.82897727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.605769231 meters 0.02772220319147632 Centerline is valid? [True, True] Translation: X:188.17, Y:91.61, Z:-0.48 [[ 4.76074198e-01 -8.79389621e-01 -5.22042267e-03 1.88168589e+02] [ 8.79336130e-01 4.76102819e-01 -9.69932862e-03 9.16097235e+01] [ 1.10149469e-02 2.70938330e-05 9.99939333e-01 -4.77929321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.635769231 meters 0.01705191171406542 Centerline is valid? [True, True] Translation: X:188.18, Y:91.63, Z:-0.49 [[ 4.78314195e-01 -8.78171382e-01 -5.52766322e-03 1.88177767e+02] [ 8.78111278e-01 4.78346130e-01 -1.02744043e-02 9.16332201e+01] [ 1.16668242e-02 6.04900240e-05 9.99931938e-01 -4.85442496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.665769231 meters 0.01754430933850767 Centerline is valid? [True, True] Translation: X:188.19, Y:91.66, Z:-0.49 [[ 4.79092437e-01 -8.77747657e-01 -5.43023727e-03 1.88188697e+02] [ 8.77689555e-01 4.79123205e-01 -1.00994547e-02 9.16564003e+01] [ 1.14665254e-02 7.25098405e-05 9.99934255e-01 -4.85674456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.695769231 meters 0.017857431878065412 Centerline is valid? [True, True] Translation: X:188.20, Y:91.68, Z:-0.48 [[ 4.79732259e-01 -8.77401259e-01 -4.89799184e-03 1.88199744e+02] [ 8.77353915e-01 4.79757257e-01 -9.11493344e-03 9.16799386e+01] [ 1.03473012e-02 7.54552936e-05 9.99946462e-01 -4.83934448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72576923100002 meters 0.019365786531966262 Centerline is valid? [True, True] Translation: X:188.21, Y:91.70, Z:-0.48 [[ 4.81731188e-01 -8.76309460e-01 -4.09804811e-03 1.88208077e+02] [ 8.76276236e-01 4.81748611e-01 -7.63109194e-03 9.17038541e+01] [ 8.66142703e-03 8.51128078e-05 9.99962486e-01 -4.80868031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75576923100002 meters 0.020618422024649214 Centerline is valid? [True, True] Translation: X:188.22, Y:91.73, Z:-0.48 [[ 4.82806686e-01 -8.75718298e-01 -3.89453847e-03 1.88218394e+02] [ 8.75688237e-01 4.82822384e-01 -7.25652689e-03 9.17267390e+01] [ 8.23504372e-03 9.30981688e-05 9.99966087e-01 -4.80028122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78576923100002 meters 0.02304029587878963 Centerline is valid? [True, True] Translation: X:188.23, Y:91.75, Z:-0.48 [[ 4.84879615e-01 -8.74573196e-01 -3.67196975e-03 1.88227288e+02] [ 8.74546412e-01 4.84893507e-01 -6.84551986e-03 9.17508077e+01] [ 7.76742247e-03 1.07945067e-04 9.99969827e-01 -4.79294815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81576923100002 meters 0.02456179734434091 Centerline is valid? [True, True] Translation: X:188.24, Y:91.78, Z:-0.48 [[ 4.85946808e-01 -8.73981119e-01 -3.56425960e-03 1.88237060e+02] [ 8.73955841e-01 4.85959865e-01 -6.64812027e-03 9.17751741e+01] [ 7.54241870e-03 1.15627328e-04 9.99971549e-01 -4.78899689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84576923100002 meters 0.025793433960064022 Centerline is valid? [True, True] Translation: X:188.25, Y:91.80, Z:-0.48 [[ 4.86658434e-01 -8.73586432e-01 -3.21169312e-03 1.88246772e+02] [ 8.73565873e-01 4.86669019e-01 -5.99427895e-03 9.17980736e+01] [ 6.79955230e-03 1.11540899e-04 9.99976877e-01 -4.78314287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87576923100002 meters 0.025805096104287467 Centerline is valid? [True, True] Translation: X:188.26, Y:91.82, Z:-0.48 [[ 4.86425126e-01 -8.73717732e-01 -2.81464138e-03 1.88260133e+02] [ 8.73701926e-01 4.86433260e-01 -5.25624866e-03 9.18197430e+01] [ 5.96161283e-03 9.76138242e-05 9.99982225e-01 -4.76154542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90576923100002 meters 0.025473203793474022 Centerline is valid? [True, True] Translation: X:188.27, Y:91.84, Z:-0.48 [[ 4.85838251e-01 -8.74044607e-01 -2.68663787e-03 1.88272822e+02] [ 8.74030194e-01 4.85845671e-01 -5.02023958e-03 9.18408620e+01] [ 5.69320472e-03 9.08217962e-05 9.99983789e-01 -4.75721602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93576923100002 meters 0.02389860414432513 Centerline is valid? [True, True] Translation: X:188.29, Y:91.86, Z:-0.47 [[ 4.84313504e-01 -8.74891706e-01 -2.22107530e-03 1.88286784e+02] [ 8.74881852e-01 4.84318592e-01 -4.15297557e-03 9.18604489e+01] [ 4.70911194e-03 6.81636806e-05 9.99988910e-01 -4.73659292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96576923100002 meters 0.02331154740065052 Centerline is valid? [True, True] Translation: X:188.30, Y:91.88, Z:-0.47 [[ 4.83592849e-01 -8.75291204e-01 -1.80665511e-03 1.88299890e+02] [ 8.75284678e-01 4.83596221e-01 -3.38034628e-03 9.18817802e+01] [ 3.83247895e-03 5.33737549e-05 9.99992655e-01 -4.72293632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99576923100003 meters 0.022747622084351205 Centerline is valid? [True, True] Translation: X:188.31, Y:91.90, Z:-0.47 [[ 4.83122700e-01 -8.75551682e-01 -1.30719191e-03 1.88313280e+02] [ 8.75548262e-01 4.83124467e-01 -2.44762719e-03 9.19022654e+01] [ 2.77456049e-03 3.79946561e-05 9.99996150e-01 -4.70310521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02576923100003 meters 0.022396093986982175 Centerline is valid? [True, True] Translation: X:188.33, Y:91.92, Z:-0.47 [[ 4.84282042e-01 -8.74911112e-01 -1.20372009e-03 1.88328195e+02] [ 8.74908207e-01 4.84283537e-01 -2.25505844e-03 9.19238202e+01] [ 2.55591751e-03 3.89397214e-05 9.99996733e-01 -4.68770187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05576923100003 meters 0.02638540783144867 Centerline is valid? [True, True] Translation: X:188.33, Y:91.95, Z:-0.47 [[ 4.85220204e-01 -8.74389935e-01 -1.89616182e-03 1.88334998e+02] [ 8.74382715e-01 4.85223905e-01 -3.55372852e-03 9.19485922e+01] [ 4.02740749e-03 6.63697555e-05 9.99991888e-01 -4.72780472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08576923100003 meters 0.031121861874953208 Centerline is valid? [True, True] Translation: X:188.34, Y:91.97, Z:-0.48 [[ 4.87873179e-01 -8.72908740e-01 -3.17703040e-03 1.88340980e+02] [ 8.72888423e-01 4.87883505e-01 -5.95700229e-03 9.19737509e+01] [ 6.74994009e-03 1.33068588e-04 9.99977210e-01 -4.78348273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11576923100003 meters 0.03283029282988203 Centerline is valid? [True, True] Translation: X:188.35, Y:92.00, Z:-0.48 [[ 4.88872195e-01 -8.72350614e-01 -2.89546746e-03 1.88350500e+02] [ 8.72333711e-01 4.88880752e-01 -5.43207358e-03 9.19979952e+01] [ 6.15421103e-03 1.29775860e-04 9.99981054e-01 -4.77319021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14576923100003 meters 0.030214920990626917 Centerline is valid? [True, True] Translation: X:188.36, Y:92.02, Z:-0.47 [[ 4.89616624e-01 -8.71935237e-01 -2.12231107e-03 1.88363903e+02] [ 8.71926140e-01 4.89621213e-01 -3.98426785e-03 9.20200289e+01] [ 4.51315205e-03 1.00265280e-04 9.99989811e-01 -4.72146290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.175769231 meters 0.031221967715453817 Centerline is valid? [True, True] Translation: X:188.37, Y:92.04, Z:-0.47 [[ 4.89818578e-01 -8.71820840e-01 -2.48693335e-03 1.88374324e+02] [ 8.71808336e-01 4.89824876e-01 -4.67078060e-03 9.20442068e+01] [ 5.29024568e-03 1.19705887e-04 9.99985999e-01 -4.74269963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.205769231 meters 0.03549030931339053 Centerline is valid? [True, True] Translation: X:188.38, Y:92.07, Z:-0.48 [[ 4.89663191e-01 -8.71906154e-01 -3.10117796e-03 1.88380792e+02] [ 8.71886692e-01 4.89672989e-01 -5.82752908e-03 9.20693055e+01] [ 6.59962154e-03 1.49650694e-04 9.99978211e-01 -4.79988178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.235769231 meters 0.0282765115543091 Centerline is valid? [True, True] Translation: X:188.40, Y:92.09, Z:-0.48 [[ 4.88554257e-01 -8.72527193e-01 -3.32184868e-03 1.88401825e+02] [ 8.72504850e-01 4.88565526e-01 -6.24602608e-03 9.20874593e+01] [ 7.07276835e-03 1.53193551e-04 9.99974976e-01 -4.78643211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.265769231 meters 0.027413097596144947 Centerline is valid? [True, True] Translation: X:188.41, Y:92.11, Z:-0.48 [[ 4.87836806e-01 -8.72929174e-01 -3.14766568e-03 1.88414360e+02] [ 8.72909096e-01 4.87846940e-01 -5.92221676e-03 9.21093292e+01] [ 6.70525486e-03 1.41449312e-04 9.99977510e-01 -4.77544802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.295769231 meters 0.027826500210381574 Centerline is valid? [True, True] Translation: X:188.42, Y:92.13, Z:-0.48 [[ 4.87736660e-01 -8.72984742e-01 -3.25449113e-03 1.88423836e+02] [ 8.72963252e-01 4.87747495e-01 -6.12712912e-03 9.21324475e+01] [ 6.93626013e-03 1.47374335e-04 9.99975933e-01 -4.76570465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.325769231 meters 0.031331360958371184 Centerline is valid? [True, True] Translation: X:188.43, Y:92.16, Z:-0.48 [[ 4.87805220e-01 -8.72945516e-01 -3.49201117e-03 1.88429279e+02] [ 8.72920743e-01 4.87817692e-01 -6.57839086e-03 9.21574319e+01] [ 7.44604163e-03 1.60724419e-04 9.99972265e-01 -4.79456554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.355769231 meters 0.028959947813020526 Centerline is valid? [True, True] Translation: X:188.44, Y:92.18, Z:-0.48 [[ 4.87790475e-01 -8.72952518e-01 -3.78862540e-03 1.88442714e+02] [ 8.72923325e-01 4.87805156e-01 -7.14131628e-03 9.21792247e+01] [ 8.08214103e-03 1.76286575e-04 9.99967323e-01 -4.78881166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.385769231 meters 0.028353261633743014 Centerline is valid? [True, True] Translation: X:188.45, Y:92.20, Z:-0.48 [[ 4.86845843e-01 -8.73478669e-01 -4.01749498e-03 1.88453112e+02] [ 8.73445821e-01 4.86862386e-01 -7.57722662e-03 9.22026800e+01] [ 8.57451302e-03 1.79877082e-04 9.99963222e-01 -4.79462336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.415769231 meters 0.025634209000687518 Centerline is valid? [True, True] Translation: X:188.47, Y:92.22, Z:-0.48 [[ 4.85239791e-01 -8.74371876e-01 -4.02087978e-03 1.88467711e+02] [ 8.74338968e-01 4.85256422e-01 -7.58781238e-03 9.22247341e+01] [ 8.58572748e-03 1.66296618e-04 9.99963128e-01 -4.78895668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.445769231 meters 0.02183134107627454 Centerline is valid? [True, True] Translation: X:188.48, Y:92.24, Z:-0.48 [[ 4.80710168e-01 -8.76870253e-01 -4.03657601e-03 1.88483963e+02] [ 8.76837136e-01 4.80727100e-01 -7.62179162e-03 9.22449071e+01] [ 8.62381383e-03 1.24452982e-04 9.99962806e-01 -4.81380912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47576923100002 meters 0.020114505715702342 Centerline is valid? [True, True] Translation: X:188.50, Y:92.27, Z:-0.48 [[ 4.77758449e-01 -8.78480099e-01 -4.42498388e-03 1.88498202e+02] [ 8.78440326e-01 4.77778928e-01 -8.35996823e-03 9.22661669e+01] [ 9.45822978e-03 1.06961169e-04 9.99955264e-01 -4.83850997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50576923100002 meters 0.016681727153978587 Centerline is valid? [True, True] Translation: X:188.52, Y:92.29, Z:-0.48 [[ 4.74112064e-01 -8.80451843e-01 -4.72250769e-03 1.88516181e+02] [ 8.80406588e-01 4.74135578e-01 -8.92716287e-03 9.22867671e+01] [ 1.00990459e-02 7.47487372e-05 9.99949001e-01 -4.81590208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53576923100002 meters 0.014702653334043579 Centerline is valid? [True, True] Translation: X:188.53, Y:92.31, Z:-0.48 [[ 4.68066362e-01 -8.83681997e-01 -4.47322481e-03 1.88534954e+02] [ 8.83641491e-01 4.68087736e-01 -8.46089370e-03 9.23061330e+01] [ 9.57060111e-03 7.53269563e-06 9.99954201e-01 -4.79791062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56576923100002 meters 0.01474629369122132 Centerline is valid? [True, True] Translation: X:188.55, Y:92.33, Z:-0.48 [[ 4.66153394e-01 -8.84693835e-01 -4.22280481e-03 1.88548099e+02] [ 8.84657741e-01 4.66172520e-01 -7.99148680e-03 9.23273987e+01] [ 9.03857467e-03 -1.04782676e-05 9.99959151e-01 -4.79008200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59576923100002 meters 0.014755623137443092 Centerline is valid? [True, True] Translation: X:188.56, Y:92.35, Z:-0.48 [[ 4.64845698e-01 -8.85381828e-01 -4.18280343e-03 1.88557952e+02] [ 8.85346395e-01 4.64864516e-01 -7.92102294e-03 9.23505522e+01] [ 8.95756666e-03 -2.11765038e-05 9.99959880e-01 -4.78717630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62576923100002 meters 0.015014254128845172 Centerline is valid? [True, True] Translation: X:188.57, Y:92.37, Z:-0.48 [[ 4.64763107e-01 -8.85422802e-01 -4.66004615e-03 1.88567615e+02] [ 8.85378767e-01 4.64786468e-01 -8.83052413e-03 9.23732988e+01] [ 9.98467381e-03 -2.18040896e-05 9.99950152e-01 -4.80938389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65576923100002 meters 0.015465477158667187 Centerline is valid? [True, True] Translation: X:188.58, Y:92.40, Z:-0.48 [[ 4.64926367e-01 -8.85334159e-01 -5.18648910e-03 1.88577267e+02] [ 8.85279545e-01 4.64955294e-01 -9.83371531e-03 9.23966863e+01] [ 1.11176096e-02 -1.95391817e-05 9.99938197e-01 -4.83481962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68576923100002 meters 0.015027245827190994 Centerline is valid? [True, True] Translation: X:188.59, Y:92.42, Z:-0.48 [[ 4.63976740e-01 -8.85835598e-01 -4.56930327e-03 1.88589778e+02] [ 8.85793177e-01 4.63999238e-01 -8.66918597e-03 9.24193656e+01] [ 9.79962677e-03 -2.51570167e-05 9.99951982e-01 -4.80216106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71576923100002 meters 0.015247017349100792 Centerline is valid? [True, True] Translation: X:188.60, Y:92.44, Z:-0.48 [[ 4.62261786e-01 -8.86735767e-01 -3.70413818e-03 1.88603600e+02] [ 8.86707880e-01 4.62276625e-01 -7.03261688e-03 9.24398287e+01] [ 7.94840942e-03 -3.35784805e-05 9.99968410e-01 -4.77516443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74576923100003 meters 0.017031689711701267 Centerline is valid? [True, True] Translation: X:188.62, Y:92.46, Z:-0.47 [[ 4.58226802e-01 -8.88831485e-01 -2.60570631e-03 1.88623302e+02] [ 8.88817699e-01 4.58234208e-01 -4.95058212e-03 9.24584612e+01] [ 5.59425703e-03 -4.75084702e-05 9.99984351e-01 -4.74461304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77576923100003 meters 0.01869837511969428 Centerline is valid? [True, True] Translation: X:188.64, Y:92.48, Z:-0.47 [[ 4.56110497e-01 -8.89920171e-01 -2.30309944e-03 1.88640383e+02] [ 8.89909401e-01 4.56116309e-01 -4.37834895e-03 9.24783972e+01] [ 4.94686226e-03 -5.25389248e-05 9.99987763e-01 -4.73912526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80576923100003 meters 0.020554701809569212 Centerline is valid? [True, True] Translation: X:188.66, Y:92.50, Z:-0.47 [[ 4.54331933e-01 -8.90829344e-01 -2.36117370e-03 1.88658421e+02] [ 8.90818024e-01 4.54338064e-01 -4.49132834e-03 9.24971429e+01] [ 5.07377817e-03 -6.28222089e-05 9.99987126e-01 -4.73220862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83576923100003 meters 0.020059016128692313 Centerline is valid? [True, True] Translation: X:188.67, Y:92.52, Z:-0.47 [[ 4.54361786e-01 -8.90812882e-01 -2.78864486e-03 1.88670831e+02] [ 8.90797073e-01 4.54370338e-01 -5.30761684e-03 9.25194331e+01] [ 5.99517097e-03 -7.25384130e-05 9.99982026e-01 -4.74332513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86576923100003 meters 0.019491493728305737 Centerline is valid? [True, True] Translation: X:188.68, Y:92.54, Z:-0.48 [[ 4.54781090e-01 -8.90597032e-01 -3.32954612e-03 1.88683133e+02] [ 8.90574463e-01 4.54793271e-01 -6.34085584e-03 9.25413197e+01] [ 7.16140257e-03 -8.15074192e-05 9.99974354e-01 -4.77243283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89576923100003 meters 0.019491493728305737 Centerline is valid? [True, True] Translation: X:188.69, Y:92.56, Z:-0.48 [[ 4.54551366e-01 -8.90714309e-01 -3.32791003e-03 1.88694471e+02] [ 8.90691737e-01 4.54563541e-01 -6.34171476e-03 9.25636388e+01] [ 7.16140265e-03 -8.15068592e-05 9.99974354e-01 -4.77296946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.925769231 meters 0.018635719962931622 Centerline is valid? [True, True] Translation: X:188.71, Y:92.59, Z:-0.48 [[ 4.55057289e-01 -8.90453763e-01 -3.86790922e-03 1.88706576e+02] [ 8.90423223e-01 4.55073718e-01 -7.37530940e-03 9.25866218e+01] [ 8.32755584e-03 -8.78878899e-05 9.99965321e-01 -4.78550656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.955769231 meters 0.01603990755703316 Centerline is valid? [True, True] Translation: X:188.72, Y:92.61, Z:-0.48 [[ 4.59059257e-01 -8.88395890e-01 -4.16434645e-03 1.88715165e+02] [ 8.88360375e-01 4.59078142e-01 -7.94383702e-03 9.26107308e+01] [ 8.96903259e-03 -5.27484488e-05 9.99959776e-01 -4.79484556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.985769231 meters 0.014462421200615286 Centerline is valid? [True, True] Translation: X:188.72, Y:92.64, Z:-0.48 [[ 4.65740397e-01 -8.84911677e-01 -4.14808966e-03 1.88718469e+02] [ 8.84876251e-01 4.65758868e-01 -7.91818140e-03 9.26382570e+01] [ 8.93890073e-03 1.72709170e-05 9.99960047e-01 -4.77631944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.015769231 meters 0.015951511611421564 Centerline is valid? [True, True] Translation: X:188.72, Y:92.66, Z:-0.48 [[ 4.69529065e-01 -8.82907428e-01 -4.11477043e-03 1.88724431e+02] [ 8.82872449e-01 4.69547091e-01 -7.85926901e-03 9.26634576e+01] [ 8.87108547e-03 5.73377787e-05 9.99960650e-01 -4.77232895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.045769231 meters 0.019240202297702416 Centerline is valid? [True, True] Translation: X:188.73, Y:92.69, Z:-0.48 [[ 4.72633499e-01 -8.81250088e-01 -3.98235388e-03 1.88728469e+02] [ 8.81217226e-01 4.72650268e-01 -7.61090416e-03 9.26896967e+01] [ 8.58937058e-03 8.78494247e-05 9.99963107e-01 -4.78642587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.075769231 meters 0.02075721888026015 Centerline is valid? [True, True] Translation: X:188.74, Y:92.72, Z:-0.48 [[ 4.75074122e-01 -8.79937636e-01 -3.78613288e-03 1.88735448e+02] [ 8.79907858e-01 4.75089196e-01 -7.23992698e-03 9.27158148e+01] [ 8.16943507e-03 1.08053878e-04 9.99966624e-01 -4.76676370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.105769231 meters 0.026521878832495772 Centerline is valid? [True, True] Translation: X:188.74, Y:92.74, Z:-0.47 [[ 4.79122496e-01 -8.77742918e-01 -3.00071815e-03 1.88735886e+02] [ 8.77724146e-01 4.79131878e-01 -5.74166642e-03 9.27444417e+01] [ 6.47744676e-03 1.17158770e-04 9.99979014e-01 -4.71617843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.135769231 meters 0.029523006723450235 Centerline is valid? [True, True] Translation: X:188.74, Y:92.77, Z:-0.47 [[ 4.82347678e-01 -8.75974934e-01 -2.93796846e-03 1.88737560e+02] [ 8.75956886e-01 4.82356605e-01 -5.62486649e-03 9.27718945e+01] [ 6.34439054e-03 1.39607590e-04 9.99979864e-01 -4.74165090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.165769231 meters 0.031086471929346833 Centerline is valid? [True, True] Translation: X:188.74, Y:92.80, Z:-0.48 [[ 4.83413533e-01 -8.75385367e-01 -3.43737864e-03 1.88744705e+02] [ 8.75360627e-01 4.83425722e-01 -6.58363642e-03 9.27973344e+01] [ 7.42493624e-03 1.73673022e-04 9.99972420e-01 -4.76176392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.195769231 meters 0.032477002228140095 Centerline is valid? [True, True] Translation: X:188.75, Y:92.82, Z:-0.48 [[ 4.84064936e-01 -8.75022105e-01 -4.17776704e-03 1.88752072e+02] [ 8.74985506e-01 4.84082914e-01 -8.00604867e-03 9.28233719e+01] [ 9.02785520e-03 2.19961830e-04 9.99959224e-01 -4.78895016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22576923100002 meters 0.03432352690757621 Centerline is valid? [True, True] Translation: X:188.76, Y:92.85, Z:-0.48 [[ 4.85055054e-01 -8.74469822e-01 -4.91174026e-03 1.88755450e+02] [ 8.74419149e-01 4.85079845e-01 -9.41787772e-03 9.28507070e+01] [ 1.06182361e-02 2.73269450e-04 9.99943588e-01 -4.82380924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25576923100002 meters 0.034242020712667555 Centerline is valid? [True, True] Translation: X:188.76, Y:92.88, Z:-0.48 [[ 4.84733424e-01 -8.74650470e-01 -4.47921634e-03 1.88761335e+02] [ 8.74608285e-01 4.84754055e-01 -8.59386802e-03 9.28768134e+01] [ 9.68794899e-03 2.48175352e-04 9.99953040e-01 -4.81478371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28576923100002 meters 0.03463643823805429 Centerline is valid? [True, True] Translation: X:188.77, Y:92.90, Z:-0.48 [[ 4.84873179e-01 -8.74575136e-01 -4.04123389e-03 1.88769637e+02] [ 8.74540753e-01 4.84889966e-01 -7.75832432e-03 9.29015731e+01] [ 8.74479132e-03 2.27579649e-04 9.99961738e-01 -4.79789940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31576923100002 meters 0.0314383110764346 Centerline is valid? [True, True] Translation: X:188.78, Y:92.92, Z:-0.48 [[ 4.84533054e-01 -8.74765398e-01 -3.63563088e-03 1.88782549e+02] [ 8.74737544e-01 4.84546650e-01 -6.98373470e-03 9.29244795e+01] [ 7.87076223e-03 2.03627476e-04 9.99969004e-01 -4.76728519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34576923100002 meters 0.03445420006164495 Centerline is valid? [True, True] Translation: X:188.79, Y:92.95, Z:-0.48 [[ 4.84166887e-01 -8.74969392e-01 -3.31482790e-03 1.88787218e+02] [ 8.74946213e-01 4.84178200e-01 -6.37146478e-03 9.29506717e+01] [ 7.17980406e-03 1.84556156e-04 9.99974208e-01 -4.77005184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37576923100002 meters 0.031568487081738886 Centerline is valid? [True, True] Translation: X:188.80, Y:92.97, Z:-0.48 [[ 4.82849960e-01 -8.75694670e-01 -3.84202358e-03 1.88797355e+02] [ 8.75663518e-01 4.82865202e-01 -7.38917939e-03 9.29741744e+01] [ 8.32584450e-03 2.03545084e-04 9.99965319e-01 -4.77963206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40576923100002 meters 0.03204970328485365 Centerline is valid? [True, True] Translation: X:188.80, Y:93.00, Z:-0.49 [[ 4.80393869e-01 -8.77038175e-01 -5.07636676e-03 1.88804713e+02] [ 8.76983807e-01 4.80420629e-01 -9.76839907e-03 9.29988849e+01] [ 1.10060502e-02 2.40787582e-04 9.99939403e-01 -4.85871433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43576923100002 meters 0.029927136490770494 Centerline is valid? [True, True] Translation: X:188.82, Y:93.02, Z:-0.49 [[ 4.78401536e-01 -8.78124727e-01 -5.37904482e-03 1.88817445e+02] [ 8.78063692e-01 4.78431720e-01 -1.03558304e-02 9.30223996e+01] [ 1.16672164e-02 2.31101227e-04 9.99931909e-01 -4.87096492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46576923100002 meters 0.027006054921443767 Centerline is valid? [True, True] Translation: X:188.83, Y:93.05, Z:-0.49 [[ 4.75885787e-01 -8.79492279e-01 -5.10385800e-03 1.88830797e+02] [ 8.79437352e-01 4.75913117e-01 -9.83103969e-03 9.30456431e+01] [ 1.10753165e-02 1.89928695e-04 9.99938649e-01 -4.85413610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49576923100003 meters 0.022506426569771566 Centerline is valid? [True, True] Translation: X:188.85, Y:93.07, Z:-0.48 [[ 4.73486118e-01 -8.80788341e-01 -4.77439303e-03 1.88847246e+02] [ 8.80740289e-01 4.73510165e-01 -9.20147935e-03 9.30674414e+01] [ 1.03652794e-02 1.51772447e-04 9.99946268e-01 -4.81303686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52576923100003 meters 0.01953742220076189 Centerline is valid? [True, True] Translation: X:188.86, Y:93.09, Z:-0.48 [[ 4.69079446e-01 -8.83147675e-01 -3.82857097e-03 1.88860255e+02] [ 8.83116816e-01 4.69095063e-01 -7.38313689e-03 9.30898617e+01] [ 8.31636391e-03 8.22023534e-05 9.99965415e-01 -4.79544658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55576923100003 meters 0.01593025320412939 Centerline is valid? [True, True] Translation: X:188.88, Y:93.11, Z:-0.48 [[ 4.65845279e-01 -8.84858428e-01 -3.70650440e-03 1.88876268e+02] [ 8.84829526e-01 4.65860022e-01 -7.15192633e-03 9.31113068e+01] [ 8.05515451e-03 5.20665865e-05 9.99967555e-01 -4.75744513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58576923100003 meters 0.016779481491513103 Centerline is valid? [True, True] Translation: X:188.89, Y:93.13, Z:-0.48 [[ 4.65196519e-01 -8.85198493e-01 -3.97828356e-03 1.88885540e+02] [ 8.85165165e-01 4.65213526e-01 -7.68149366e-03 9.31344190e+01] [ 8.65039794e-03 5.19660894e-05 9.99962583e-01 -4.79704020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61576923100003 meters 0.01663047030044252 Centerline is valid? [True, True] Translation: X:188.90, Y:93.16, Z:-0.48 [[ 4.65482297e-01 -8.85047093e-01 -4.22789717e-03 1.88895828e+02] [ 8.85009400e-01 4.65501493e-01 -8.16833027e-03 9.31581929e+01] [ 9.19744940e-03 6.04843950e-05 9.99957701e-01 -4.78230575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64576923100003 meters 0.0177067837379928 Centerline is valid? [True, True] Translation: X:188.90, Y:93.19, Z:-0.48 [[ 4.67366773e-01 -8.84053189e-01 -4.27297604e-03 1.88900079e+02] [ 8.84014604e-01 4.67386299e-01 -8.26005617e-03 9.31853554e+01] [ 9.29945946e-03 8.31025841e-05 9.99956756e-01 -4.77001188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.675769231 meters 0.01845823663044722 Centerline is valid? [True, True] Translation: X:188.91, Y:93.21, Z:-0.48 [[ 4.68390484e-01 -8.83511414e-01 -4.23495109e-03 1.88908712e+02] [ 8.83473445e-01 4.68409619e-01 -8.19146327e-03 9.32105392e+01] [ 9.22094313e-03 9.53366198e-05 9.99957482e-01 -4.76201082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.705769231 meters 0.02041148378144496 Centerline is valid? [True, True] Translation: X:188.91, Y:93.24, Z:-0.48 [[ 4.70019752e-01 -8.82646047e-01 -4.16993821e-03 1.88912543e+02] [ 8.82609156e-01 4.70038235e-01 -8.07066559e-03 9.32368598e+01] [ 9.08357148e-03 1.12946594e-04 9.99958737e-01 -4.76515708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.735769231 meters 0.0209102891223895 Centerline is valid? [True, True] Translation: X:188.92, Y:93.26, Z:-0.48 [[ 4.70027858e-01 -8.82641399e-01 -4.23961771e-03 1.88918978e+02] [ 8.82603214e-01 4.70046963e-01 -8.21089102e-03 9.32614124e+01] [ 9.24009177e-03 1.17447295e-04 9.99957303e-01 -4.76967595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.765769231 meters 0.0206356811173635 Centerline is valid? [True, True] Translation: X:188.93, Y:93.29, Z:-0.48 [[ 4.69986666e-01 -8.82663142e-01 -4.27914520e-03 1.88926391e+02] [ 8.82624195e-01 4.70006130e-01 -8.29263246e-03 9.32860704e+01] [ 9.33082551e-03 1.20549597e-04 9.99956460e-01 -4.77123084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.795769231 meters 0.021624708420591464 Centerline is valid? [True, True] Translation: X:188.93, Y:93.31, Z:-0.48 [[ 4.71178425e-01 -8.82024196e-01 -4.92027889e-03 1.88931900e+02] [ 8.81972618e-01 4.71204089e-01 -9.53977496e-03 9.33140014e+01] [ 1.07327679e-02 1.55384889e-04 9.99942390e-01 -4.79390456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.825769231 meters 0.023974827936150554 Centerline is valid? [True, True] Translation: X:188.94, Y:93.34, Z:-0.48 [[ 4.72468175e-01 -8.81331163e-01 -5.40411613e-03 1.88937968e+02] [ 8.81268828e-01 4.72499042e-01 -1.04836641e-02 9.33400021e+01] [ 1.17930196e-02 1.90718563e-04 9.99930442e-01 -4.81890827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.855769231 meters 0.03005819888176134 Centerline is valid? [True, True] Translation: X:188.93, Y:93.37, Z:-0.49 [[ 4.75197285e-01 -8.79856483e-01 -6.33320395e-03 1.88933932e+02] [ 8.79770640e-01 4.75239410e-01 -1.22932827e-02 9.33704248e+01] [ 1.38261126e-02 2.69967666e-04 9.99904378e-01 -4.88281894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.885769231 meters 0.030242765906549805 Centerline is valid? [True, True] Translation: X:188.94, Y:93.40, Z:-0.49 [[ 4.75878761e-01 -8.79487057e-01 -6.47469014e-03 1.88941638e+02] [ 8.79397205e-01 4.75922717e-01 -1.25747262e-02 9.33957923e+01] [ 1.41407611e-02 2.90220717e-04 9.99899972e-01 -4.87401314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.915769231 meters 0.03493649949794634 Centerline is valid? [True, True] Translation: X:188.94, Y:93.42, Z:-0.49 [[ 4.75832680e-01 -8.79513205e-01 -6.30733789e-03 1.88944154e+02] [ 8.79427854e-01 4.75874396e-01 -1.22559779e-02 9.34221956e+01] [ 1.37807950e-02 2.84946179e-04 9.99905000e-01 -4.92284452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.945769231 meters 0.026684412735162887 Centerline is valid? [True, True] Translation: X:188.96, Y:93.44, Z:-0.48 [[ 4.73830854e-01 -8.80596528e-01 -5.83753276e-03 1.88961019e+02] [ 8.80523415e-01 4.73866752e-01 -1.13497464e-02 9.34430531e+01] [ 1.27607600e-02 2.37775773e-04 9.99918550e-01 -4.83155843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97576923100002 meters 0.02571367280092412 Centerline is valid? [True, True] Translation: X:188.97, Y:93.47, Z:-0.48 [[ 4.72800874e-01 -8.81151493e-01 -5.60175750e-03 1.88970971e+02] [ 8.81084127e-01 4.72834008e-01 -1.08977804e-02 9.34669713e+01] [ 1.22512969e-02 2.16860475e-04 9.99924927e-01 -4.81516888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00576923100002 meters 0.025804353582291262 Centerline is valid? [True, True] Translation: X:188.98, Y:93.49, Z:-0.48 [[ 4.71817593e-01 -8.81678924e-01 -5.51672250e-03 1.88979001e+02] [ 8.81613537e-01 4.71849800e-01 -1.07395555e-02 9.34907224e+01] [ 1.20719042e-02 2.03494009e-04 9.99927111e-01 -4.81869398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03576923100002 meters 0.02337152916958599 Centerline is valid? [True, True] Translation: X:188.99, Y:93.51, Z:-0.48 [[ 4.69821299e-01 -8.82747187e-01 -5.03499927e-03 1.88991261e+02] [ 8.82692725e-01 4.69848249e-01 -9.80692380e-03 9.35145011e+01] [ 1.10227200e-02 1.63144454e-04 9.99939235e-01 -4.80696948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06576923100002 meters 0.026856364617585664 Centerline is valid? [True, True] Translation: X:189.00, Y:93.54, Z:-0.49 [[ 4.68549877e-01 -8.83421663e-01 -5.21321213e-03 1.88997601e+02] [ 8.83363242e-01 4.68578852e-01 -1.01607791e-02 9.35385334e+01] [ 1.14190533e-02 1.55671835e-04 9.99934788e-01 -4.88243938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09576923100002 meters 0.02087423621697006 Centerline is valid? [True, True] Translation: X:189.02, Y:93.56, Z:-0.49 [[ 4.66022293e-01 -8.84747565e-01 -6.70586947e-03 1.89015934e+02] [ 8.84650932e-01 4.66070510e-01 -1.30770282e-02 9.35588199e+01] [ 1.46952769e-02 1.61833022e-04 9.99892005e-01 -4.87362235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12576923100002 meters 0.021910210083538512 Centerline is valid? [True, True] Translation: X:189.03, Y:93.58, Z:-0.49 [[ 4.65540722e-01 -8.84993438e-01 -7.64525442e-03 1.89025437e+02] [ 8.84867750e-01 4.65603460e-01 -1.49158497e-02 9.35818122e+01] [ 1.67600860e-02 1.78896343e-04 9.99859524e-01 -4.91588091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15576923100002 meters 0.02127676140743834 Centerline is valid? [True, True] Translation: X:189.04, Y:93.61, Z:-0.49 [[ 4.65897313e-01 -8.84801487e-01 -8.12535716e-03 1.89037555e+02] [ 8.84659336e-01 4.65968118e-01 -1.58610213e-02 9.36062809e+01] [ 1.78200126e-02 2.01434145e-04 9.99841191e-01 -4.89819167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18576923100002 meters 0.028297286191141358 Centerline is valid? [True, True] Translation: X:189.04, Y:93.64, Z:-0.50 [[ 4.68612841e-01 -8.83364089e-01 -8.36006980e-03 1.89036960e+02] [ 8.83213247e-01 4.68687331e-01 -1.63262238e-02 9.36355291e+01] [ 1.83402586e-02 2.66953706e-04 9.99831768e-01 -4.98329446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21576923100002 meters 0.02703050009030201 Centerline is valid? [True, True] Translation: X:189.05, Y:93.66, Z:-0.49 [[ 4.69836406e-01 -8.82718628e-01 -7.84703477e-03 1.89047060e+02] [ 8.82585475e-01 4.69901848e-01 -1.53340305e-02 9.36594270e+01] [ 1.72229705e-02 2.78806876e-04 9.99851635e-01 -4.91656120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24576923100003 meters 0.028734856026159415 Centerline is valid? [True, True] Translation: X:189.05, Y:93.69, Z:-0.48 [[ 4.71756220e-01 -8.81707315e-01 -6.18710037e-03 1.89050763e+02] [ 8.81624344e-01 4.71796722e-01 -1.20982852e-02 9.36855144e+01] [ 1.35862003e-02 2.52743003e-04 9.99907671e-01 -4.84131806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27576923100003 meters 0.02788482150408301 Centerline is valid? [True, True] Translation: X:189.06, Y:93.71, Z:-0.48 [[ 4.72792568e-01 -8.81156747e-01 -5.47499446e-03 1.89060735e+02] [ 8.81091665e-01 4.72824206e-01 -1.07120429e-02 9.37096302e+01] [ 1.20276988e-02 2.40602288e-04 9.99927636e-01 -4.78174422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30576923100003 meters 0.031200780941483083 Centerline is valid? [True, True] Translation: X:189.06, Y:93.74, Z:-0.48 [[ 4.73534750e-01 -8.80760116e-01 -5.14387615e-03 1.89064858e+02] [ 8.80702575e-01 4.73562627e-01 -1.00703887e-02 9.37363314e+01] [ 1.13055442e-02 2.38454030e-04 9.99936062e-01 -4.78822423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33576923100003 meters 0.030579819647911864 Centerline is valid? [True, True] Translation: X:189.07, Y:93.76, Z:-0.48 [[ 4.75170062e-01 -8.79881435e-01 -4.69820342e-03 1.89071707e+02] [ 8.79833341e-01 4.75193228e-01 -9.20259214e-03 9.37633012e+01] [ 1.03297444e-02 2.39160267e-04 9.99946618e-01 -4.75598377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36576923100003 meters 0.03143912492388316 Centerline is valid? [True, True] Translation: X:189.08, Y:93.79, Z:-0.48 [[ 4.75662937e-01 -8.79615786e-01 -4.56492380e-03 1.89079216e+02] [ 8.79570324e-01 4.75684781e-01 -8.94617901e-03 9.37904363e+01] [ 1.00406651e-02 2.40194276e-04 9.99949562e-01 -4.75124805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39576923100003 meters 0.031135960324255724 Centerline is valid? [True, True] Translation: X:189.08, Y:93.82, Z:-0.47 [[ 4.75210596e-01 -8.79860072e-01 -4.59807018e-03 1.89083829e+02] [ 8.79813905e-01 4.75232781e-01 -9.01643987e-03 9.38175140e+01] [ 1.01183591e-02 2.39261688e-04 9.99948779e-01 -4.74130076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.425769231 meters 0.03126564927910125 Centerline is valid? [True, True] Translation: X:189.09, Y:93.84, Z:-0.48 [[ 4.74807990e-01 -8.80074444e-01 -5.13284064e-03 1.89092602e+02] [ 8.80016861e-01 4.74835660e-01 -1.00707395e-02 9.38430781e+01] [ 1.13002562e-02 2.64681272e-04 9.99936115e-01 -4.75985637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.455769231 meters 0.03227363197350909 Centerline is valid? [True, True] Translation: X:189.10, Y:93.87, Z:-0.48 [[ 4.74138750e-01 -8.80431705e-01 -5.69732466e-03 1.89099828e+02] [ 8.80360703e-01 4.74172891e-01 -1.11849105e-02 9.38676575e+01] [ 1.25490667e-02 2.87498740e-04 9.99921216e-01 -4.79549054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.485769231 meters 0.030641379504455776 Centerline is valid? [True, True] Translation: X:189.11, Y:93.89, Z:-0.48 [[ 4.72844035e-01 -8.81124801e-01 -6.13224981e-03 1.89107326e+02] [ 8.81042511e-01 4.72883707e-01 -1.20454738e-02 9.38931128e+01] [ 1.35134067e-02 2.92857672e-04 9.99908647e-01 -4.82074214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.515769231 meters 0.02999480908894811 Centerline is valid? [True, True] Translation: X:189.12, Y:93.92, Z:-0.48 [[ 4.72108393e-01 -8.81521807e-01 -5.74176822e-03 1.89116246e+02] [ 8.81449612e-01 4.72143232e-01 -1.12849520e-02 9.39180948e+01] [ 1.26588683e-02 2.66641175e-04 9.99919838e-01 -4.80352453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.545769231 meters 0.026609325109026558 Centerline is valid? [True, True] Translation: X:189.13, Y:93.94, Z:-0.47 [[ 4.70216361e-01 -8.82538905e-01 -4.65353019e-03 1.89125597e+02] [ 8.82491485e-01 4.70239347e-01 -9.15073181e-03 9.39444815e+01] [ 1.02641498e-02 1.96123048e-04 9.99947303e-01 -4.74627910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.575769231 meters 0.02683237768020072 Centerline is valid? [True, True] Translation: X:189.13, Y:93.97, Z:-0.47 [[ 4.69030651e-01 -8.83171364e-01 -4.31170835e-03 1.89134280e+02] [ 8.83130635e-01 4.69050438e-01 -8.48343459e-03 9.39694115e+01] [ 9.51473519e-03 1.71189116e-04 9.99954719e-01 -4.74713442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.605769231 meters 0.02463206248289724 Centerline is valid? [True, True] Translation: X:189.14, Y:93.99, Z:-0.47 [[ 4.67539998e-01 -8.83964423e-01 -3.63995164e-03 1.89142714e+02] [ 8.83935386e-01 4.67554148e-01 -7.16600402e-03 9.39949497e+01] [ 8.03636710e-03 1.32911456e-04 9.99967699e-01 -4.70522132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.635769231 meters 0.02316194539575316 Centerline is valid? [True, True] Translation: X:189.15, Y:94.02, Z:-0.47 [[ 4.66596296e-01 -8.84463590e-01 -3.47183271e-03 1.89152834e+02] [ 8.84437157e-01 4.66609197e-01 -6.83907390e-03 9.40191425e+01] [ 7.66890093e-03 1.20468701e-04 9.99970586e-01 -4.68586992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.665769231 meters 0.022333823105645675 Centerline is valid? [True, True] Translation: X:189.16, Y:94.04, Z:-0.47 [[ 4.66245063e-01 -8.84648221e-01 -3.61475161e-03 1.89162575e+02] [ 8.84619538e-01 4.66259059e-01 -7.12484909e-03 9.40440684e+01] [ 7.98839575e-03 1.24245819e-04 9.99968085e-01 -4.67777687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.695769231 meters 0.02272058812480615 Centerline is valid? [True, True] Translation: X:189.17, Y:94.07, Z:-0.47 [[ 4.66029943e-01 -8.84759839e-01 -4.01488396e-03 1.89167271e+02] [ 8.84724415e-01 4.66047217e-01 -7.91839346e-03 9.40700729e+01] [ 8.87700202e-03 1.38142592e-04 9.99960589e-01 -4.70067469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72576923100002 meters 0.022890986836715404 Centerline is valid? [True, True] Translation: X:189.18, Y:94.10, Z:-0.47 [[ 4.65754780e-01 -8.84904585e-01 -4.04477385e-03 1.89175660e+02] [ 8.84868596e-01 4.65772322e-01 -7.98199122e-03 9.40951604e+01] [ 8.94724433e-03 1.38557210e-04 9.99959963e-01 -4.71467155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75576923100002 meters 0.02213837893243997 Centerline is valid? [True, True] Translation: X:189.18, Y:94.12, Z:-0.47 [[ 4.64580949e-01 -8.85521038e-01 -4.12715287e-03 1.89180065e+02] [ 8.85483545e-01 4.64599262e-01 -8.14963298e-03 9.41210755e+01] [ 9.13414364e-03 1.31638267e-04 9.99958274e-01 -4.72673568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78576923100002 meters 0.02047682557827072 Centerline is valid? [True, True] Translation: X:189.19, Y:94.15, Z:-0.47 [[ 4.62708737e-01 -8.86498519e-01 -4.58261669e-03 1.89190369e+02] [ 8.86452290e-01 4.62731412e-01 -9.05421679e-03 9.41456269e+01] [ 1.01470705e-02 1.27194155e-04 9.99948509e-01 -4.74932381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81576923100002 meters 0.02047682557827072 Centerline is valid? [True, True] Translation: X:189.20, Y:94.17, Z:-0.47 [[ 4.62496743e-01 -8.86609149e-01 -4.58045268e-03 1.89201761e+02] [ 8.86562914e-01 4.62519407e-01 -9.05531181e-03 9.41687778e+01] [ 1.01470705e-02 1.27192744e-04 9.99948509e-01 -4.74987840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84576923100002 meters 0.019331542960184807 Centerline is valid? [True, True] Translation: X:189.21, Y:94.19, Z:-0.48 [[ 4.59911060e-01 -8.87947753e-01 -5.53207809e-03 1.89212941e+02] [ 8.87880326e-01 4.59944315e-01 -1.09432235e-02 9.41912051e+01] [ 1.22614586e-02 1.21086240e-04 9.99924818e-01 -4.79833142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87576923100002 meters 0.016678586750929158 Centerline is valid? [True, True] Translation: X:189.23, Y:94.21, Z:-0.49 [[ 4.52549214e-01 -8.91711572e-01 -7.04856402e-03 1.89231931e+02] [ 8.91602435e-01 4.52604101e-01 -1.39508517e-02 9.42109839e+01] [ 1.56303449e-02 2.89301379e-05 9.99877838e-01 -4.86145120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90576923100002 meters 0.01686796032153431 Centerline is valid? [True, True] Translation: X:189.25, Y:94.23, Z:-0.49 [[ 4.48223306e-01 -8.93892787e-01 -7.18012319e-03 1.89248418e+02] [ 8.93779682e-01 4.48280809e-01 -1.42195723e-02 9.42324636e+01] [ 1.59294845e-02 -4.39045279e-05 9.99873117e-01 -4.86347290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93576923100002 meters 0.020399917493362747 Centerline is valid? [True, True] Translation: X:189.27, Y:94.25, Z:-0.48 [[ 4.40026340e-01 -8.97962866e-01 -6.28577372e-03 1.89271057e+02] [ 8.97876493e-01 4.40071204e-01 -1.24554860e-02 9.42508101e+01] [ 1.39507520e-02 -1.63106524e-04 9.99902670e-01 -4.81426031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96576923100002 meters 0.024366407979040418 Centerline is valid? [True, True] Translation: X:189.29, Y:94.27, Z:-0.48 [[ 4.35669355e-01 -9.00087689e-01 -5.86219296e-03 1.89290575e+02] [ 9.00012696e-01 4.35708741e-01 -1.16206844e-02 9.42702834e+01] [ 1.30138437e-02 -2.13271998e-04 9.99915294e-01 -4.80244625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99576923100003 meters 0.0352028348695277 Centerline is valid? [True, True] Translation: X:189.32, Y:94.28, Z:-0.48 [[ 4.26904275e-01 -9.04280840e-01 -5.37611672e-03 1.89320861e+02] [ 9.04218012e-01 4.26938014e-01 -1.06639216e-02 9.42833301e+01] [ 1.19384486e-02 -3.08707851e-04 9.99928687e-01 -4.80055876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02576923100003 meters 0.03625427964225483 Centerline is valid? [True, True] Translation: X:189.34, Y:94.30, Z:-0.48 [[ 4.23479126e-01 -9.05891706e-01 -5.06419527e-03 1.89336336e+02] [ 9.05836017e-01 4.23509276e-01 -1.00500392e-02 9.43043293e+01] [ 1.12489808e-02 -3.31348668e-04 9.99936673e-01 -4.77141741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05576923100003 meters 0.03960478278765545 Centerline is valid? [True, True] Translation: X:189.35, Y:94.32, Z:-0.48 [[ 4.21144578e-01 -9.06982389e-01 -4.49341008e-03 1.89354409e+02] [ 9.06938551e-01 4.21168429e-01 -8.92298991e-03 9.43236849e+01] [ 9.98547717e-03 -3.17378001e-04 9.99950094e-01 -4.75724209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08576923100003 meters 0.03905601949723017 Centerline is valid? [True, True] Translation: X:189.37, Y:94.35, Z:-0.47 [[ 4.20369040e-01 -9.07345562e-01 -3.72850032e-03 1.89369508e+02] [ 9.07315352e-01 4.20385489e-01 -7.40898735e-03 9.43450958e+01] [ 8.28991922e-03 -2.68416676e-04 9.99965602e-01 -4.70181201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11576923100003 meters 0.039810531939961064 Centerline is valid? [True, True] Translation: X:189.38, Y:94.37, Z:-0.47 [[ 4.21377209e-01 -9.06879124e-01 -3.39143209e-03 1.89382981e+02] [ 9.06854084e-01 4.21390791e-01 -6.74329939e-03 9.43668014e+01] [ 7.54447570e-03 -2.34061366e-04 9.99971513e-01 -4.68760190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14576923100003 meters 0.03461395967018497 Centerline is valid? [True, True] Translation: X:189.39, Y:94.39, Z:-0.47 [[ 4.22939113e-01 -9.06152558e-01 -3.17001151e-03 1.89390201e+02] [ 9.06130633e-01 4.22950943e-01 -6.30678208e-03 9.43925587e+01] [ 7.05566607e-03 -2.05059717e-04 9.99975087e-01 -4.66133499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.175769231 meters 0.03275153044784901 Centerline is valid? [True, True] Translation: X:189.40, Y:94.41, Z:-0.47 [[ 4.25765795e-01 -9.04827266e-01 -3.33264511e-03 1.89403538e+02] [ 9.04802963e-01 4.25778795e-01 -6.63452177e-03 9.44137537e+01] [ 7.42206581e-03 -1.90634734e-04 9.99972438e-01 -4.68377892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.205769231 meters 0.03117531752678967 Centerline is valid? [True, True] Translation: X:189.42, Y:94.44, Z:-0.47 [[ 4.26289473e-01 -9.04580376e-01 -3.41016523e-03 1.89415564e+02] [ 9.04554889e-01 4.26303071e-01 -6.79293955e-03 9.44367524e+01] [ 7.59852372e-03 -1.88923010e-04 9.99971113e-01 -4.68802655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.235769231 meters 0.029661538374143457 Centerline is valid? [True, True] Translation: X:189.43, Y:94.46, Z:-0.47 [[ 4.27019457e-01 -9.04237161e-01 -3.08863470e-03 1.89429246e+02] [ 9.04216220e-01 4.27030596e-01 -6.15615333e-03 9.44590343e+01] [ 6.88556412e-03 -1.63996337e-04 9.99976281e-01 -4.67043408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.265769231 meters 0.030478714682570476 Centerline is valid? [True, True] Translation: X:189.44, Y:94.48, Z:-0.47 [[ 4.27048378e-01 -9.04223142e-01 -3.19246212e-03 1.89442956e+02] [ 9.04200737e-01 4.27060278e-01 -6.36751943e-03 9.44791385e+01] [ 7.12103219e-03 -1.67387759e-04 9.99974631e-01 -4.67527951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.295769231 meters 0.0314846699797523 Centerline is valid? [True, True] Translation: X:189.46, Y:94.50, Z:-0.47 [[ 4.26783254e-01 -9.04348250e-01 -3.20885310e-03 1.89457638e+02] [ 9.04325588e-01 4.26795284e-01 -6.40441540e-03 9.44996556e+01] [ 7.16134522e-03 -1.68550719e-04 9.99974343e-01 -4.68144958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.325769231 meters 0.03239600030998026 Centerline is valid? [True, True] Translation: X:189.48, Y:94.52, Z:-0.47 [[ 4.24081897e-01 -9.05616372e-01 -3.67851516e-03 1.89476345e+02] [ 9.05586605e-01 4.24097796e-01 -7.34576388e-03 9.45196093e+01] [ 8.21249421e-03 -2.16008570e-04 9.99966254e-01 -4.69073732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.355769231 meters 0.034538861581354136 Centerline is valid? [True, True] Translation: X:189.49, Y:94.54, Z:-0.47 [[ 4.22302766e-01 -9.06444203e-01 -4.39104324e-03 1.89493286e+02] [ 9.06401780e-01 4.22325505e-01 -8.77384361e-03 9.45395021e+01] [ 9.80744923e-03 -2.74830983e-04 9.99951868e-01 -4.72894186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.385769231 meters 0.036784829546289706 Centerline is valid? [True, True] Translation: X:189.51, Y:94.56, Z:-0.48 [[ 4.20044212e-01 -9.07489158e-01 -5.12717577e-03 1.89514175e+02] [ 9.07431331e-01 4.20075359e-01 -1.02504816e-02 9.45585223e+01] [ 1.14560011e-02 -3.46904468e-04 9.99934318e-01 -4.76589573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.415769231 meters 0.0383384899862798 Centerline is valid? [True, True] Translation: X:189.53, Y:94.58, Z:-0.48 [[ 4.19479584e-01 -9.07748107e-01 -5.50034921e-03 1.89530350e+02] [ 9.07681494e-01 4.19515474e-01 -1.10032651e-02 9.45789050e+01] [ 1.22956747e-02 -3.76920133e-04 9.99924334e-01 -4.78914723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.445769231 meters 0.040682950112490054 Centerline is valid? [True, True] Translation: X:189.55, Y:94.60, Z:-0.48 [[ 4.18786821e-01 -9.08065371e-01 -5.90600304e-03 1.89547326e+02] [ 9.07988509e-01 4.18828262e-01 -1.18217883e-02 9.45985103e+01] [ 1.32085576e-02 -4.11773728e-04 9.99912678e-01 -4.81513712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47576923100002 meters 0.040675761961306144 Centerline is valid? [True, True] Translation: X:189.57, Y:94.62, Z:-0.49 [[ 4.17723116e-01 -9.08546248e-01 -7.14930438e-03 1.89566266e+02] [ 9.08433560e-01 4.17783976e-01 -1.43184144e-02 9.46186157e+01] [ 1.59958065e-02 -5.13535345e-04 9.99871927e-01 -4.85288674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50576923100002 meters 0.04547382822690812 Centerline is valid? [True, True] Translation: X:189.58, Y:94.64, Z:-0.48 [[ 4.17168535e-01 -9.08796691e-01 -7.68040247e-03 1.89581335e+02] [ 9.08666527e-01 4.17238857e-01 -1.53909125e-02 9.46404489e+01] [ 1.71917727e-02 -5.58320222e-04 9.99852055e-01 -4.82195967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53576923100002 meters 0.042060893850420014 Centerline is valid? [True, True] Translation: X:189.60, Y:94.66, Z:-0.49 [[ 4.17582161e-01 -9.08609712e-01 -7.31644131e-03 1.89599825e+02] [ 9.08491416e-01 4.17645927e-01 -1.46705768e-02 9.46593128e+01] [ 1.63855104e-02 -5.20752978e-04 9.99865613e-01 -4.86726371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56576923100002 meters 0.039925381653225574 Centerline is valid? [True, True] Translation: X:189.61, Y:94.68, Z:-0.48 [[ 4.18171969e-01 -9.08341717e-01 -6.89417805e-03 1.89611451e+02] [ 9.08236524e-01 4.18228523e-01 -1.38318322e-02 9.46832438e+01] [ 1.54473721e-02 -4.77459790e-04 9.99880568e-01 -4.84001696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59576923100002 meters 0.0399723382685148 Centerline is valid? [True, True] Translation: X:189.63, Y:94.70, Z:-0.48 [[ 4.19157626e-01 -9.07888327e-01 -6.75794208e-03 1.89625047e+02] [ 9.07787067e-01 4.19211861e-01 -1.35667303e-02 9.47044076e+01] [ 1.51500855e-02 -4.48173958e-04 9.99885130e-01 -4.84524326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62576923100002 meters 0.03706560903648618 Centerline is valid? [True, True] Translation: X:189.64, Y:94.73, Z:-0.49 [[ 4.21324116e-01 -9.06884305e-01 -6.84439629e-03 1.89637790e+02] [ 9.06780185e-01 4.21379503e-01 -1.37481267e-02 9.47272740e+01] [ 1.53520486e-02 -4.13945614e-04 9.99882065e-01 -4.85003911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65576923100002 meters 0.036573275076988924 Centerline is valid? [True, True] Translation: X:189.65, Y:94.75, Z:-0.49 [[ 4.21515530e-01 -9.06793930e-01 -7.03034013e-03 1.89649748e+02] [ 9.06683922e-01 4.21573947e-01 -1.41305575e-02 9.47498334e+01] [ 1.57773120e-02 -4.18046924e-04 9.99875443e-01 -4.85307156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68576923100002 meters 0.035815915453645854 Centerline is valid? [True, True] Translation: X:189.66, Y:94.77, Z:-0.48 [[ 4.20736521e-01 -9.07155296e-01 -7.07459497e-03 1.89664488e+02] [ 9.07043818e-01 4.20795775e-01 -1.42277090e-02 9.47718040e+01] [ 1.58837012e-02 -4.30850861e-04 9.99873753e-01 -4.84311725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71576923100002 meters 0.0357694018730572 Centerline is valid? [True, True] Translation: X:189.68, Y:94.79, Z:-0.48 [[ 4.18909017e-01 -9.08004878e-01 -6.50977855e-03 1.89679274e+02] [ 9.07910476e-01 4.18959381e-01 -1.30997884e-02 9.47935642e+01] [ 1.46220045e-02 -4.22676682e-04 9.99893003e-01 -4.81222671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74576923100003 meters 0.03699400649852056 Centerline is valid? [True, True] Translation: X:189.70, Y:94.81, Z:-0.48 [[ 4.16306082e-01 -9.09206818e-01 -5.67532620e-03 1.89695851e+02] [ 9.09135087e-01 4.16344570e-01 -1.14277322e-02 9.48143836e+01] [ 1.27530633e-02 -4.02203752e-04 9.99918595e-01 -4.77866921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77576923100003 meters 0.04053963074659988 Centerline is valid? [True, True] Translation: X:189.72, Y:94.83, Z:-0.47 [[ 4.12103868e-01 -9.11125910e-01 -4.46974527e-03 1.89717905e+02] [ 9.11081467e-01 4.12127949e-01 -9.00630111e-03 9.48325274e+01] [ 1.00479812e-02 -3.60770561e-04 9.99949453e-01 -4.73020747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80576923100003 meters 0.05091736084648806 Centerline is valid? [True, True] Translation: X:189.74, Y:94.85, Z:-0.47 [[ 4.11174188e-01 -9.11545872e-01 -4.46206177e-03 1.89736349e+02] [ 9.11501549e-01 4.11198234e-01 -8.99655624e-03 9.48518484e+01] [ 1.00355656e-02 -3.68024507e-04 9.99949575e-01 -4.67462602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83576923100003 meters 0.04495821996043474 Centerline is valid? [True, True] Translation: X:189.76, Y:94.87, Z:-0.47 [[ 4.12545464e-01 -9.10926443e-01 -4.38817959e-03 1.89755077e+02] [ 9.10883503e-01 4.12568657e-01 -8.85137832e-03 9.48707413e+01] [ 9.87337993e-03 -3.45524415e-04 9.99951197e-01 -4.73470142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86576923100003 meters 0.047063776179675436 Centerline is valid? [True, True] Translation: X:189.77, Y:94.89, Z:-0.48 [[ 4.13239035e-01 -9.10611641e-01 -4.46533189e-03 1.89772779e+02] [ 9.10567104e-01 4.13263019e-01 -9.01256833e-03 9.48905954e+01] [ 1.00523062e-02 -3.41639287e-04 9.99949416e-01 -4.75232365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89576923100003 meters 0.04606398048951394 Centerline is valid? [True, True] Translation: X:189.79, Y:94.91, Z:-0.48 [[ 4.13904144e-01 -9.10308836e-01 -4.60247462e-03 1.89785932e+02] [ 9.10261445e-01 4.13929591e-01 -9.29495986e-03 9.49126369e+01] [ 1.03663845e-02 -3.42232792e-04 9.99946209e-01 -4.75684280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.925769231 meters 0.03480115636016018 Centerline is valid? [True, True] Translation: X:189.79, Y:94.94, Z:-0.47 [[ 4.16747001e-01 -9.09007145e-01 -5.28649052e-03 1.89788589e+02] [ 9.08944437e-01 4.16780380e-01 -1.06829114e-02 9.49404345e+01] [ 1.19141483e-02 -3.53054865e-04 9.99928962e-01 -4.74665129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.955769231 meters 0.037147077360681346 Centerline is valid? [True, True] Translation: X:189.81, Y:94.96, Z:-0.48 [[ 4.21215116e-01 -9.06941169e-01 -5.96178830e-03 1.89807562e+02] [ 9.06861104e-01 4.21257176e-01 -1.20552865e-02 9.49594050e+01] [ 1.34448817e-02 -3.28645037e-04 9.99909559e-01 -4.83301557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.985769231 meters 0.036735499451298316 Centerline is valid? [True, True] Translation: X:189.81, Y:94.99, Z:-0.47 [[ 4.23066393e-01 -9.06079862e-01 -5.84039510e-03 1.89811683e+02] [ 9.06002850e-01 4.23106604e-01 -1.18168280e-02 9.49869562e+01] [ 1.31780997e-02 -2.92111791e-04 9.99913122e-01 -4.72362402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.015769231 meters 0.02963612484930366 Centerline is valid? [True, True] Translation: X:189.83, Y:95.01, Z:-0.48 [[ 4.24831140e-01 -9.05255429e-01 -5.57780505e-03 1.89825692e+02] [ 9.05185024e-01 4.24867680e-01 -1.12927254e-02 9.50081813e+01] [ 1.25926301e-02 -2.51444198e-04 9.99920678e-01 -4.79845555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.045769231 meters 0.026352623202463392 Centerline is valid? [True, True] Translation: X:189.84, Y:95.03, Z:-0.48 [[ 4.26200741e-01 -9.04612334e-01 -5.42708548e-03 1.89835355e+02] [ 9.04545552e-01 4.26235235e-01 -1.09940682e-02 9.50328372e+01] [ 1.22585847e-02 -2.23366021e-04 9.99924836e-01 -4.77238273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.075769231 meters 0.02401279820562616 Centerline is valid? [True, True] Translation: X:189.85, Y:95.05, Z:-0.48 [[ 4.29712658e-01 -9.02949234e-01 -5.45087505e-03 1.89847554e+02] [ 9.02881645e-01 4.29747194e-01 -1.10491936e-02 9.50549455e+01] [ 1.23193591e-02 -1.73516688e-04 9.99924099e-01 -4.77997788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.105769231 meters 0.018220284771142903 Centerline is valid? [True, True] Translation: X:189.85, Y:95.08, Z:-0.48 [[ 4.35145983e-01 -9.00339672e-01 -6.03728036e-03 1.89854458e+02] [ 9.00256408e-01 4.35187849e-01 -1.22448049e-02 9.50813496e+01] [ 1.36518347e-02 -1.06822659e-04 9.99906804e-01 -4.77018245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.135769231 meters 0.01766169793120218 Centerline is valid? [True, True] Translation: X:189.86, Y:95.10, Z:-0.48 [[ 4.38121570e-01 -8.98894769e-01 -6.13879515e-03 1.89863776e+02] [ 8.98808442e-01 4.38164571e-01 -1.24576516e-02 9.51045358e+01] [ 1.38879204e-02 -5.96350389e-05 9.99903556e-01 -4.81007544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.165769231 meters 0.016000175500641287 Centerline is valid? [True, True] Translation: X:189.87, Y:95.13, Z:-0.48 [[ 4.41190882e-01 -8.97394728e-01 -5.77135863e-03 1.89871037e+02] [ 8.97318193e-01 4.41228629e-01 -1.17199603e-02 9.51298256e+01] [ 1.30639192e-02 -8.00547777e-06 9.99914663e-01 -4.78082163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.195769231 meters 0.016772650536890275 Centerline is valid? [True, True] Translation: X:189.87, Y:95.16, Z:-0.47 [[ 4.47453238e-01 -8.94294771e-01 -4.73943256e-03 1.89873649e+02] [ 8.94242913e-01 4.47478331e-01 -9.63092558e-03 9.51572597e+01] [ 1.07336798e-02 7.11848521e-05 9.99942390e-01 -4.73324271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22576923100002 meters 0.019284225636396903 Centerline is valid? [True, True] Translation: X:189.88, Y:95.18, Z:-0.47 [[ 4.50926974e-01 -8.92549245e-01 -4.55075460e-03 1.89878873e+02] [ 8.92501289e-01 4.50949923e-01 -9.25289851e-03 9.51836086e+01] [ 1.03108300e-02 1.10827176e-04 9.99946836e-01 -4.72591014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25576923100002 meters 0.024362199884529666 Centerline is valid? [True, True] Translation: X:189.88, Y:95.21, Z:-0.47 [[ 4.56502860e-01 -8.89709633e-01 -4.68065217e-03 1.89881154e+02] [ 8.89658685e-01 4.56526819e-01 -9.52300664e-03 9.52116050e+01] [ 1.06095540e-02 1.83096919e-04 9.99943700e-01 -4.72731696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28576923100002 meters 0.025949431062861964 Centerline is valid? [True, True] Translation: X:189.89, Y:95.24, Z:-0.47 [[ 4.57656069e-01 -8.89115026e-01 -5.03914359e-03 1.89890165e+02] [ 8.89055886e-01 4.57683760e-01 -1.02570900e-02 9.52358924e+01] [ 1.14260670e-02 2.14139225e-04 9.99934697e-01 -4.74668185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31576923100002 meters 0.026261546220131233 Centerline is valid? [True, True] Translation: X:189.90, Y:95.26, Z:-0.48 [[ 4.57517476e-01 -8.89184300e-01 -5.38894034e-03 1.89901340e+02] [ 8.89116587e-01 4.57549154e-01 -1.09756996e-02 9.52602141e+01] [ 1.22251249e-02 2.30178125e-04 9.99925244e-01 -4.76127684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34576923100002 meters 0.023931356488476427 Centerline is valid? [True, True] Translation: X:189.92, Y:95.28, Z:-0.47 [[ 4.55498758e-01 -8.90220738e-01 -5.28390547e-03 1.89915271e+02] [ 8.90155631e-01 4.55529359e-01 -1.07682870e-02 9.52828819e+01] [ 1.19931265e-02 2.01443136e-04 9.99928060e-01 -4.74405371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37576923100002 meters 0.02258253305439949 Centerline is valid? [True, True] Translation: X:189.93, Y:95.31, Z:-0.47 [[ 4.54793440e-01 -8.90584600e-01 -4.69010261e-03 1.89927150e+02] [ 8.90533263e-01 4.54817590e-01 -9.56381618e-03 9.53069701e+01] [ 1.06505286e-02 1.72868479e-04 9.99943267e-01 -4.71394612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40576923100002 meters 0.02413486175438395 Centerline is valid? [True, True] Translation: X:189.93, Y:95.33, Z:-0.47 [[ 4.54065307e-01 -8.90958584e-01 -4.18308723e-03 1.89934252e+02] [ 8.90917709e-01 4.54084551e-01 -8.53563556e-03 9.53312308e+01] [ 9.50437306e-03 1.48949492e-04 9.99954821e-01 -4.71879580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43576923100002 meters 0.02187364477912163 Centerline is valid? [True, True] Translation: X:189.95, Y:95.35, Z:-0.47 [[ 4.54085239e-01 -8.90952137e-01 -3.29913754e-03 1.89946265e+02] [ 8.90926679e-01 4.54097208e-01 -6.73627708e-03 9.53542534e+01] [ 7.49982961e-03 1.19554334e-04 9.99971869e-01 -4.66218475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46576923100002 meters 0.02281679607926522 Centerline is valid? [True, True] Translation: X:189.95, Y:95.38, Z:-0.47 [[ 4.54310135e-01 -8.90837906e-01 -3.18222679e-03 1.89953731e+02] [ 8.90814186e-01 4.54321265e-01 -6.50184056e-03 9.53791435e+01] [ 7.23783933e-03 1.19079300e-04 9.99973799e-01 -4.65702079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49576923100003 meters 0.02524975938456022 Centerline is valid? [True, True] Translation: X:189.95, Y:95.41, Z:-0.47 [[ 4.55374362e-01 -8.90291085e-01 -3.99678548e-03 1.89954792e+02] [ 8.90253614e-01 4.55391872e-01 -8.16974943e-03 9.54064091e+01] [ 9.09355871e-03 1.62141718e-04 9.99958640e-01 -4.69577434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52576923100003 meters 0.026330133448435215 Centerline is valid? [True, True] Translation: X:189.96, Y:95.43, Z:-0.47 [[ 4.56431251e-01 -8.89747055e-01 -4.54885878e-03 1.89961655e+02] [ 8.89698432e-01 4.56453874e-01 -9.30377499e-03 9.54327244e+01] [ 1.03543506e-02 1.99421131e-04 9.99946372e-01 -4.71473282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55576923100003 meters 0.028508569000156605 Centerline is valid? [True, True] Translation: X:189.97, Y:95.46, Z:-0.47 [[ 4.57837687e-01 -8.89023449e-01 -4.68607946e-03 1.89966487e+02] [ 8.88971748e-01 4.57861613e-01 -9.59038375e-03 9.54588997e+01] [ 1.06716519e-02 2.25046867e-04 9.99943031e-01 -4.71907532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58576923100003 meters 0.030970479606803575 Centerline is valid? [True, True] Translation: X:189.97, Y:95.49, Z:-0.47 [[ 4.59821899e-01 -8.88004931e-01 -3.32627899e-03 1.89966642e+02] [ 8.87978820e-01 4.59833895e-01 -6.81207650e-03 9.54865337e+01] [ 7.57869334e-03 1.78676657e-04 9.99971265e-01 -4.65803923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61576923100003 meters 0.029942925061762958 Centerline is valid? [True, True] Translation: X:189.98, Y:95.51, Z:-0.46 [[ 4.59553934e-01 -8.88146317e-01 -2.51023616e-03 1.89975412e+02] [ 8.88131427e-01 4.59560770e-01 -5.14456838e-03 9.55103767e+01] [ 5.72273552e-03 1.34787016e-04 9.99983616e-01 -4.61621466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64576923100003 meters 0.027271680931524458 Centerline is valid? [True, True] Translation: X:189.99, Y:95.54, Z:-0.46 [[ 4.57042543e-01 -8.89442505e-01 -2.03569228e-03 1.89985055e+02] [ 8.89432716e-01 4.57047066e-01 -4.17398676e-03 9.55354547e+01] [ 4.64292842e-03 9.70782076e-05 9.99989217e-01 -4.60333265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.675769231 meters 0.027271680931524458 Centerline is valid? [True, True] Translation: X:190.00, Y:95.56, Z:-0.46 [[ 4.56814253e-01 -8.89559778e-01 -2.03449816e-03 1.89995719e+02] [ 8.89549988e-01 4.56818773e-01 -4.17456903e-03 9.55580637e+01] [ 4.64292565e-03 9.72148182e-05 9.99989217e-01 -4.60386942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.705769231 meters 0.024921461704197283 Centerline is valid? [True, True] Translation: X:190.01, Y:95.58, Z:-0.46 [[ 4.54188435e-01 -8.90902691e-01 -2.29371823e-03 1.90008931e+02] [ 8.90890251e-01 4.54194217e-01 -4.70895817e-03 9.55811470e+01] [ 5.23701706e-03 9.53031316e-05 9.99986282e-01 -4.62163036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.735769231 meters 0.02203790968436081 Centerline is valid? [True, True] Translation: X:190.02, Y:95.60, Z:-0.46 [[ 4.50932814e-01 -8.92553822e-01 -2.69668265e-03 1.90023541e+02] [ 8.92536638e-01 4.50940868e-01 -5.53930964e-03 9.56029618e+01] [ 6.16017641e-03 9.09684169e-05 9.99981022e-01 -4.64048329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.765769231 meters 0.018464950268017342 Centerline is valid? [True, True] Translation: X:190.04, Y:95.62, Z:-0.47 [[ 4.46063673e-01 -8.94994064e-01 -3.58118652e-03 1.90040593e+02] [ 8.94963801e-01 4.46078042e-01 -7.36043281e-03 9.56227136e+01] [ 8.18503234e-03 7.81893931e-05 9.99966499e-01 -4.67840420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.795769231 meters 0.017565743296812722 Centerline is valid? [True, True] Translation: X:190.05, Y:95.64, Z:-0.47 [[ 4.44740207e-01 -8.95653430e-01 -3.32896397e-03 1.90053421e+02] [ 8.95627263e-01 4.44752662e-01 -6.84657205e-03 9.56448872e+01] [ 7.61272132e-03 6.34349776e-05 9.99971021e-01 -4.67177457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.825769231 meters 0.016517219470038796 Centerline is valid? [True, True] Translation: X:190.07, Y:95.67, Z:-0.46 [[ 4.43561058e-01 -8.96240523e-01 -2.55189402e-03 1.90067584e+02] [ 8.96225137e-01 4.43568397e-01 -5.25177927e-03 9.56664888e+01] [ 5.83879694e-03 4.24132009e-05 9.99982953e-01 -4.63186772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.855769231 meters 0.016588634562434847 Centerline is valid? [True, True] Translation: X:190.08, Y:95.69, Z:-0.46 [[ 4.43137773e-01 -8.96449989e-01 -2.51635046e-03 1.90078873e+02] [ 8.96435011e-01 4.43144916e-01 -5.18224715e-03 9.56882876e+01] [ 5.76073331e-03 4.07048050e-05 9.99983406e-01 -4.63625716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.885769231 meters 0.016211071598973906 Centerline is valid? [True, True] Translation: X:190.09, Y:95.71, Z:-0.46 [[ 4.42768192e-01 -8.96632021e-01 -2.71032652e-03 1.90091548e+02] [ 8.96614626e-01 4.42776486e-01 -5.58528518e-03 9.57105918e+01] [ 6.20801440e-03 4.28682235e-05 9.99980729e-01 -4.63619762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.915769231 meters 0.017281873276442702 Centerline is valid? [True, True] Translation: X:190.10, Y:95.73, Z:-0.47 [[ 4.43024225e-01 -8.96503240e-01 -3.38771801e-03 1.90103921e+02] [ 8.96476029e-01 4.43037173e-01 -6.98519369e-03 9.57323939e+01] [ 7.76313379e-03 5.76020293e-05 9.99969865e-01 -4.67853137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.945769231 meters 0.018190312463780195 Centerline is valid? [True, True] Translation: X:190.12, Y:95.75, Z:-0.47 [[ 4.43627693e-01 -8.96202621e-01 -3.91557790e-03 1.90116238e+02] [ 8.96166216e-01 4.43644966e-01 -8.07823324e-03 9.57549382e+01] [ 8.97686023e-03 7.47193518e-05 9.99959704e-01 -4.70387651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97576923100002 meters 0.0203467919745505 Centerline is valid? [True, True] Translation: X:190.13, Y:95.78, Z:-0.47 [[ 4.46446760e-01 -8.94798988e-01 -4.47895651e-03 1.90127474e+02] [ 8.94751238e-01 4.46469210e-01 -9.24477697e-03 9.57783001e+01] [ 1.02719333e-02 1.19748838e-04 9.99947235e-01 -4.70789264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00576923100002 meters 0.022707227520567815 Centerline is valid? [True, True] Translation: X:190.13, Y:95.80, Z:-0.47 [[ 4.48158218e-01 -8.93943240e-01 -4.43794720e-03 1.90134263e+02] [ 8.93896258e-01 4.48180169e-01 -9.16603301e-03 9.58029167e+01] [ 1.01829132e-02 1.40768621e-04 9.99948143e-01 -4.71099983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03576923100002 meters 0.024533115585204084 Centerline is valid? [True, True] Translation: X:190.14, Y:95.83, Z:-0.47 [[ 4.50446258e-01 -8.92793138e-01 -4.31062094e-03 1.90141941e+02] [ 8.92748709e-01 4.50466853e-01 -8.90828181e-03 9.58287368e+01] [ 9.89504472e-03 1.64400924e-04 9.99951029e-01 -4.69259224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06576923100002 meters 0.029908406840548404 Centerline is valid? [True, True] Translation: X:190.14, Y:95.86, Z:-0.47 [[ 4.54916538e-01 -8.90523956e-01 -4.24586133e-03 1.90144051e+02] [ 8.90480699e-01 4.54936302e-01 -8.77991620e-03 9.58558734e+01] [ 9.75032216e-03 2.13271520e-04 9.99952442e-01 -4.68725852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09576923100002 meters 0.030548600762844935 Centerline is valid? [True, True] Translation: X:190.15, Y:95.88, Z:-0.47 [[ 4.55684773e-01 -8.90131307e-01 -4.20039849e-03 1.90153794e+02] [ 8.90088906e-01 4.55704078e-01 -8.69098397e-03 9.58805048e+01] [ 9.65025565e-03 2.21620962e-04 9.99953411e-01 -4.68171879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12576923100002 meters 0.030503661212786595 Centerline is valid? [True, True] Translation: X:190.16, Y:95.90, Z:-0.47 [[ 4.55170963e-01 -8.90396002e-01 -3.78856425e-03 1.90162978e+02] [ 8.90361469e-01 4.55186687e-01 -7.84442572e-03 9.59032455e+01] [ 8.70914931e-03 1.97363176e-04 9.99962055e-01 -4.67327089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15576923100002 meters 0.02784935932241318 Centerline is valid? [True, True] Translation: X:190.18, Y:95.93, Z:-0.46 [[ 4.53817774e-01 -8.91088192e-01 -3.35597258e-03 1.90177162e+02] [ 8.91061081e-01 4.53830152e-01 -6.95291662e-03 9.59252734e+01] [ 7.71870345e-03 1.64980588e-04 9.99970197e-01 -4.64600841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18576923100002 meters 0.029488838937332854 Centerline is valid? [True, True] Translation: X:190.19, Y:95.95, Z:-0.46 [[ 4.52255344e-01 -8.91883820e-01 -2.89048827e-03 1.90185942e+02] [ 8.91863700e-01 4.52264561e-01 -5.99228207e-03 9.59496537e+01] [ 6.65168484e-03 1.32120028e-04 9.99977869e-01 -4.64598376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21576923100002 meters 0.03344466247509658 Centerline is valid? [True, True] Translation: X:190.20, Y:95.97, Z:-0.45 [[ 4.50020517e-01 -8.93014767e-01 -2.48182808e-03 1.90202213e+02] [ 8.92999932e-01 4.50027350e-01 -5.14831526e-03 9.59711743e+01] [ 5.71441206e-03 1.00575185e-04 9.99983668e-01 -4.54041959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24576923100003 meters 0.02306357226455712 Centerline is valid? [True, True] Translation: X:190.22, Y:95.99, Z:-0.46 [[ 4.48548794e-01 -8.93755153e-01 -2.38849740e-03 1.90215403e+02] [ 8.93741407e-01 4.48555145e-01 -4.95773154e-03 9.59939362e+01] [ 5.50237091e-03 8.90854837e-05 9.99984858e-01 -4.59423710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27576923100003 meters 0.01883315264982636 Centerline is valid? [True, True] Translation: X:190.23, Y:96.01, Z:-0.46 [[ 4.44452763e-01 -8.95798130e-01 -2.72979261e-03 1.90232667e+02] [ 8.95780192e-01 4.44461140e-01 -5.66952106e-03 9.60144855e+01] [ 6.29203310e-03 7.45401480e-05 9.99980202e-01 -4.60800795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30576923100003 meters 0.018387853244285733 Centerline is valid? [True, True] Translation: X:190.24, Y:96.04, Z:-0.46 [[ 4.41825759e-01 -8.97096671e-01 -2.74974946e-03 1.90244377e+02] [ 8.97078472e-01 4.41834312e-01 -5.71446370e-03 9.60374273e+01] [ 6.34136003e-03 5.80562180e-05 9.99979892e-01 -4.63621190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33576923100003 meters 0.01582329811081676 Centerline is valid? [True, True] Translation: X:190.26, Y:96.06, Z:-0.46 [[ 4.39212792e-01 -8.98379529e-01 -2.51892147e-03 1.90260331e+02] [ 8.98364259e-01 4.39220013e-01 -5.23812744e-03 9.60588324e+01] [ 5.81218719e-03 3.77435597e-05 9.99983108e-01 -4.60803117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36576923100003 meters 0.01382852064860913 Centerline is valid? [True, True] Translation: X:190.28, Y:96.08, Z:-0.46 [[ 4.34686912e-01 -9.00580017e-01 -1.70928451e-03 1.90277916e+02] [ 9.00572992e-01 4.34690273e-01 -3.55698537e-03 9.60792614e+01] [ 3.94635930e-03 6.83952219e-06 9.99992213e-01 -4.57170997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39576923100003 meters 0.013693092765211112 Centerline is valid? [True, True] Translation: X:190.29, Y:96.10, Z:-0.46 [[ 4.32759328e-01 -9.01508186e-01 -1.53457333e-03 1.90292469e+02] [ 9.01502521e-01 4.32762049e-01 -3.19580736e-03 9.61008456e+01] [ 3.54515159e-03 -4.06279491e-07 9.99993716e-01 -4.56529429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.425769231 meters 0.015031566382389904 Centerline is valid? [True, True] Translation: X:190.31, Y:96.12, Z:-0.46 [[ 4.29227869e-01 -9.03193282e-01 -2.30888875e-03 1.90311608e+02] [ 9.03180471e-01 4.29234079e-01 -4.81068274e-03 9.61197247e+01] [ 5.33603007e-03 -2.04641297e-05 9.99985763e-01 -4.60322474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.455769231 meters 0.015094130676041064 Centerline is valid? [True, True] Translation: X:190.32, Y:96.14, Z:-0.46 [[ 4.28083644e-01 -9.03735239e-01 -2.64798046e-03 1.90324183e+02] [ 9.03718376e-01 4.28091833e-01 -5.52076276e-03 9.61423227e+01] [ 6.12288666e-03 -2.96803594e-05 9.99981255e-01 -4.59624592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.485769231 meters 0.015802707125426578 Centerline is valid? [True, True] Translation: X:190.34, Y:96.16, Z:-0.46 [[ 4.27450686e-01 -9.04034964e-01 -2.58762240e-03 1.90337252e+02] [ 9.04018842e-01 4.27458517e-01 -5.39899977e-03 9.61635256e+01] [ 5.98698579e-03 -3.14532480e-05 9.99982077e-01 -4.61122201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.515769231 meters 0.014273931487692734 Centerline is valid? [True, True] Translation: X:190.35, Y:96.19, Z:-0.46 [[ 4.29121802e-01 -9.03245296e-01 -1.55359460e-03 1.90348384e+02] [ 9.03239472e-01 4.29124615e-01 -3.24378550e-03 9.61872789e+01] [ 3.59661968e-03 -1.12888885e-05 9.99993532e-01 -4.55552884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.545769231 meters 0.013646768330473989 Centerline is valid? [True, True] Translation: X:190.36, Y:96.21, Z:-0.45 [[ 4.30745192e-01 -9.02472872e-01 -1.13783965e-03 1.90357695e+02] [ 9.02469740e-01 4.30746694e-01 -2.37783542e-03 9.62097558e+01] [ 2.63605263e-03 -2.62467701e-06 9.99996526e-01 -4.54285215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.575769231 meters 0.014514071745514712 Centerline is valid? [True, True] Translation: X:190.37, Y:96.23, Z:-0.46 [[ 4.35170020e-01 -9.00345852e-01 -2.09786181e-03 1.90365682e+02] [ 9.00335170e-01 4.35175076e-01 -4.38571747e-03 9.62345777e+01] [ 4.86159970e-03 1.97539846e-05 9.99988182e-01 -4.57463802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.605769231 meters 0.015603926220761566 Centerline is valid? [True, True] Translation: X:190.38, Y:96.26, Z:-0.46 [[ 4.37148350e-01 -8.99385267e-01 -2.73149623e-03 1.90375120e+02] [ 8.99367120e-01 4.37156882e-01 -5.71353331e-03 9.62591503e+01] [ 6.33276006e-03 4.10437621e-05 9.99979947e-01 -4.59279664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.635769231 meters 0.016762128062433948 Centerline is valid? [True, True] Translation: X:190.38, Y:96.28, Z:-0.46 [[ 4.38496869e-01 -8.98727502e-01 -3.06158523e-03 1.90384479e+02] [ 8.98704658e-01 4.38507553e-01 -6.40807966e-03 9.62825006e+01] [ 7.10164567e-03 5.84619657e-05 9.99974781e-01 -4.60607349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.665769231 meters 0.01846602414270591 Centerline is valid? [True, True] Translation: X:190.39, Y:96.31, Z:-0.46 [[ 4.40519232e-01 -8.97738970e-01 -2.74730890e-03 1.90394407e+02] [ 8.97720532e-01 4.40527794e-01 -5.75406195e-03 9.63054015e+01] [ 6.37591157e-03 6.84593498e-05 9.99979671e-01 -4.59061277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.695769231 meters 0.019147587000287035 Centerline is valid? [True, True] Translation: X:190.41, Y:96.33, Z:-0.46 [[ 4.40984640e-01 -8.97510384e-01 -2.76736419e-03 1.90405109e+02] [ 8.97491646e-01 4.40993317e-01 -5.79996728e-03 9.63280960e+01] [ 6.42591997e-03 7.40102397e-05 9.99979351e-01 -4.59428364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72576923100002 meters 0.01966429878775108 Centerline is valid? [True, True] Translation: X:190.42, Y:96.35, Z:-0.46 [[ 4.41571204e-01 -8.97220890e-01 -3.08959715e-03 1.90418276e+02] [ 8.97197501e-01 4.41582003e-01 -6.47901227e-03 9.63509061e+01] [ 7.17741566e-03 8.89663993e-05 9.99974238e-01 -4.60727876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75576923100002 meters 0.020523123415951795 Centerline is valid? [True, True] Translation: X:190.43, Y:96.37, Z:-0.46 [[ 4.41797184e-01 -8.97109238e-01 -3.20356758e-03 1.90428354e+02] [ 8.97084053e-01 4.41808788e-01 -6.72279842e-03 9.63736985e+01] [ 7.44644888e-03 9.62440231e-05 9.99972270e-01 -4.61159432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78576923100002 meters 0.02081247958683166 Centerline is valid? [True, True] Translation: X:190.44, Y:96.40, Z:-0.46 [[ 4.42267179e-01 -8.96877924e-01 -3.11958928e-03 1.90439139e+02] [ 8.96854005e-01 4.42278170e-01 -6.55091272e-03 9.63965932e+01] [ 7.25509524e-03 9.94375499e-05 9.99973677e-01 -4.59625182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81576923100002 meters 0.023122878544429817 Centerline is valid? [True, True] Translation: X:190.45, Y:96.42, Z:-0.46 [[ 4.44138517e-01 -8.95955765e-01 -2.06016143e-03 1.90445441e+02] [ 8.95945309e-01 4.44143288e-01 -4.32929954e-03 9.64217258e+01] [ 4.79386775e-03 7.70167034e-05 9.99988506e-01 -4.55274338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84576923100002 meters 0.024125621767109126 Centerline is valid? [True, True] Translation: X:190.45, Y:96.45, Z:-0.45 [[ 4.45200775e-01 -8.95429553e-01 -1.47874024e-03 1.90454348e+02] [ 8.95424155e-01 4.45203226e-01 -3.10961897e-03 9.64468399e+01] [ 3.44278465e-03 6.03050391e-05 9.99994072e-01 -4.52946301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87576923100002 meters 0.024276603964053248 Centerline is valid? [True, True] Translation: X:190.46, Y:96.47, Z:-0.45 [[ 4.45643266e-01 -8.95209942e-01 -1.11328706e-03 1.90464010e+02] [ 8.95206877e-01 4.45644654e-01 -2.34308737e-03 9.64701108e+01] [ 2.59368554e-03 4.75588786e-05 9.99996635e-01 -4.51231169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90576923100002 meters 0.02551595187374686 Centerline is valid? [True, True] Translation: X:190.47, Y:96.49, Z:-0.45 [[ 4.45601714e-01 -8.95230264e-01 -1.37354627e-03 1.90473048e+02] [ 8.95225595e-01 4.45603827e-01 -2.89199575e-03 9.64932800e+01] [ 3.20105959e-03 5.90444878e-05 9.99994875e-01 -4.52806506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93576923100002 meters 0.02572497189495518 Centerline is valid? [True, True] Translation: X:190.48, Y:96.52, Z:-0.45 [[ 4.45464494e-01 -8.95297897e-01 -1.74927605e-03 1.90483096e+02] [ 8.95290315e-01 4.45467922e-01 -3.68550941e-03 9.65161786e+01] [ 4.07887519e-03 7.56536731e-05 9.99991678e-01 -4.54509021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96576923100002 meters 0.028008100083660534 Centerline is valid? [True, True] Translation: X:190.49, Y:96.54, Z:-0.45 [[ 4.47044259e-01 -8.94510041e-01 -1.79369919e-03 1.90489209e+02] [ 8.94502053e-01 4.47047849e-01 -3.78128237e-03 9.65414342e+01] [ 4.18426441e-03 8.59329687e-05 9.99991242e-01 -4.53911966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99576923100003 meters 0.03036875665814384 Centerline is valid? [True, True] Translation: X:190.50, Y:96.57, Z:-0.45 [[ 4.48804907e-01 -8.93628447e-01 -1.53450432e-03 1.90496817e+02] [ 8.93622588e-01 4.48807523e-01 -3.23686081e-03 9.65669711e+01] [ 3.58124798e-03 8.14512934e-05 9.99993584e-01 -4.52499885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02576923100003 meters 0.03269635361823277 Centerline is valid? [True, True] Translation: X:190.50, Y:96.59, Z:-0.45 [[ 4.50464948e-01 -8.92793117e-01 -1.33460205e-03 1.90504059e+02] [ 8.92788676e-01 4.50466918e-01 -2.81696752e-03 9.65926340e+01] [ 3.11616329e-03 7.74275287e-05 9.99995142e-01 -4.51649368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05576923100003 meters 0.034839329075919426 Centerline is valid? [True, True] Translation: X:190.51, Y:96.62, Z:-0.45 [[ 4.54909410e-01 -8.90536713e-01 -1.33870044e-03 1.90508577e+02] [ 8.90532230e-01 4.54911370e-01 -2.82719344e-03 9.66203347e+01] [ 3.12670960e-03 9.39610119e-05 9.99995107e-01 -4.49324550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08576923100003 meters 0.04248626698238501 Centerline is valid? [True, True] Translation: X:190.51, Y:96.65, Z:-0.45 [[ 4.57435895e-01 -8.89241860e-01 -1.14700898e-03 1.90507018e+02] [ 8.89238561e-01 4.57437324e-01 -2.42407597e-03 9.66497609e+01] [ 2.68027455e-03 8.88947463e-05 9.99996404e-01 -4.49756762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11576923100003 meters 0.04003120404617603 Centerline is valid? [True, True] Translation: X:190.52, Y:96.67, Z:-0.45 [[ 4.59631891e-01 -8.88108748e-01 -1.17346135e-03 1.90519072e+02] [ 8.88105287e-01 4.59633379e-01 -2.48135820e-03 9.66737605e+01] [ 2.74307792e-03 9.83541367e-05 9.99996233e-01 -4.49150335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14576923100003 meters 0.041892764875174966 Centerline is valid? [True, True] Translation: X:190.52, Y:96.70, Z:-0.45 [[ 4.59754403e-01 -8.88044227e-01 -1.82757012e-03 1.90522786e+02] [ 8.88035826e-01 4.59758009e-01 -3.86582013e-03 9.67004281e+01] [ 4.27325925e-03 1.54380082e-04 9.99990858e-01 -4.53861403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.175769231 meters 0.04162981911346144 Centerline is valid? [True, True] Translation: X:190.53, Y:96.72, Z:-0.46 [[ 4.58267409e-01 -8.88811115e-01 -2.40495764e-03 1.90529791e+02] [ 8.88796560e-01 4.58273678e-01 -5.09024795e-03 9.67247976e+01] [ 5.62639774e-03 1.95176665e-04 9.99984153e-01 -4.56872039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.205769231 meters 0.042282539090997266 Centerline is valid? [True, True] Translation: X:190.53, Y:96.75, Z:-0.46 [[ 4.54929248e-01 -8.90523875e-01 -2.57034534e-03 1.90531988e+02] [ 8.90507256e-01 4.54936471e-01 -5.44378741e-03 9.67514130e+01] [ 6.01716649e-03 1.87626937e-04 9.99981879e-01 -4.59544510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.235769231 meters 0.04077881104803554 Centerline is valid? [True, True] Translation: X:190.54, Y:96.78, Z:-0.46 [[ 4.53300263e-01 -8.91355314e-01 -2.13906693e-03 1.90541762e+02] [ 8.91343800e-01 4.53305286e-01 -4.53295646e-03 9.67751985e+01] [ 5.01012517e-03 1.48146310e-04 9.99987438e-01 -4.57231995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.265769231 meters 0.03338256424230241 Centerline is valid? [True, True] Translation: X:190.56, Y:96.80, Z:-0.45 [[ 4.51425531e-01 -8.92306844e-01 -1.86697681e-03 1.90559687e+02] [ 8.92298071e-01 4.51429375e-01 -3.95883369e-03 9.67964639e+01] [ 4.37530257e-03 1.21218793e-04 9.99990421e-01 -4.54145241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.295769231 meters 0.02930999547663141 Centerline is valid? [True, True] Translation: X:190.57, Y:96.82, Z:-0.46 [[ 4.46266481e-01 -8.94895157e-01 -2.98082571e-03 1.90570146e+02] [ 8.94872823e-01 4.46276409e-01 -6.32435555e-03 9.68192756e+01] [ 6.98990735e-03 1.54887980e-04 9.99975558e-01 -4.59229559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.325769231 meters 0.02931275271785084 Centerline is valid? [True, True] Translation: X:190.58, Y:96.84, Z:-0.46 [[ 4.43289192e-01 -8.96371819e-01 -3.50061610e-03 1.90578500e+02] [ 8.96341036e-01 4.43302987e-01 -7.43031712e-03 9.68437865e+01] [ 8.21216044e-03 1.56033416e-04 9.99966267e-01 -4.63905142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.355769231 meters 0.022568652715411634 Centerline is valid? [True, True] Translation: X:190.60, Y:96.86, Z:-0.47 [[ 4.37054742e-01 -8.99425330e-01 -4.15070741e-03 1.90596476e+02] [ 8.99382131e-01 4.37074434e-01 -8.81596302e-03 9.68622010e+01] [ 9.74346854e-03 1.19986364e-04 9.99952524e-01 -4.66585054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.385769231 meters 0.017614743599980803 Centerline is valid? [True, True] Translation: X:190.62, Y:96.88, Z:-0.46 [[ 4.33296141e-01 -9.01242375e-01 -4.07876838e-03 1.90615011e+02] [ 9.01200690e-01 4.33315330e-01 -8.66841481e-03 9.68823823e+01] [ 9.57973562e-03 8.02018096e-05 9.99954110e-01 -4.63003327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.415769231 meters 0.014356815405540178 Centerline is valid? [True, True] Translation: X:190.64, Y:96.90, Z:-0.46 [[ 4.25497355e-01 -9.04953778e-01 -3.26518706e-03 1.90636909e+02] [ 9.04927137e-01 4.25509883e-01 -6.94384462e-03 9.69013196e+01] [ 7.67322778e-03 -1.68858271e-07 9.99970560e-01 -4.60098392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.445769231 meters 0.014791543543692458 Centerline is valid? [True, True] Translation: X:190.65, Y:96.92, Z:-0.46 [[ 4.21868185e-01 -9.06653519e-01 -2.57506829e-03 1.90652700e+02] [ 9.06636956e-01 4.21876044e-01 -5.48030774e-03 9.69221031e+01] [ 6.05509992e-03 -2.26845923e-05 9.99981667e-01 -4.57701511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47576923100002 meters 0.016100442435519828 Centerline is valid? [True, True] Translation: X:190.67, Y:96.94, Z:-0.45 [[ 4.18839343e-01 -9.08058297e-01 -1.93226219e-03 1.90667335e+02] [ 9.08048975e-01 4.18843799e-01 -4.11480591e-03 9.69421581e+01] [ 4.54579968e-03 -3.11460941e-05 9.99989667e-01 -4.54923643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50576923100002 meters 0.017730483310562595 Centerline is valid? [True, True] Translation: X:190.68, Y:96.96, Z:-0.45 [[ 4.16320324e-01 -9.09216214e-01 -1.80681463e-03 1.90681700e+02] [ 9.09208063e-01 4.16324243e-01 -3.85012929e-03 9.69640908e+01] [ 4.25282071e-03 -3.98833535e-05 9.99990956e-01 -4.53976093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53576923100002 meters 0.019201059683522814 Centerline is valid? [True, True] Translation: X:190.69, Y:96.99, Z:-0.46 [[ 4.15209763e-01 -9.09723089e-01 -2.18048678e-03 1.90694744e+02] [ 9.09711215e-01 4.15215485e-01 -4.64823703e-03 9.69861962e+01] [ 5.13398042e-03 -5.36198864e-05 9.99986820e-01 -4.56570182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56576923100002 meters 0.021193425001756656 Centerline is valid? [True, True] Translation: X:190.71, Y:97.01, Z:-0.46 [[ 4.12052863e-01 -9.11155735e-01 -2.76867046e-03 1.90712714e+02] [ 9.11136600e-01 4.12062154e-01 -5.90572277e-03 9.70067250e+01] [ 6.52189749e-03 -8.91670201e-05 9.99978728e-01 -4.58110951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59576923100002 meters 0.03393878024615554 Centerline is valid? [True, True] Translation: X:190.73, Y:97.03, Z:-0.45 [[ 4.10247072e-01 -9.11971321e-01 -2.37676801e-03 1.90729158e+02] [ 9.11957214e-01 4.10253948e-01 -5.07328088e-03 9.70273421e+01] [ 5.60176512e-03 -8.62121046e-05 9.99984306e-01 -4.50752933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62576923100002 meters 0.03393878024615554 Centerline is valid? [True, True] Translation: X:190.74, Y:97.05, Z:-0.45 [[ 4.10017861e-01 -9.12074400e-01 -2.37548788e-03 1.90739453e+02] [ 9.12060291e-01 4.10024733e-01 -5.07388048e-03 9.70501319e+01] [ 5.60176528e-03 -8.62065421e-05 9.99984306e-01 -4.50806599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65576923100002 meters 0.024438639762232393 Centerline is valid? [True, True] Translation: X:190.76, Y:97.07, Z:-0.45 [[ 4.08667163e-01 -9.12682852e-01 -1.07772707e-03 1.90756137e+02] [ 9.12679945e-01 4.08668582e-01 -2.30415062e-03 9.70706633e+01] [ 2.54339195e-03 -4.19891862e-05 9.99996765e-01 -4.49390927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68576923100002 meters 0.02313872173160961 Centerline is valid? [True, True] Translation: X:190.77, Y:97.09, Z:-0.45 [[ 4.08627791e-01 -9.12700619e-01 -9.53121767e-04 1.90766537e+02] [ 9.12698342e-01 4.08628901e-01 -2.03931616e-03 9.70938489e+01] [ 2.25075822e-03 -3.65914004e-05 9.99997466e-01 -4.48694571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71576923100002 meters 0.02334227574078444 Centerline is valid? [True, True] Translation: X:190.78, Y:97.12, Z:-0.45 [[ 4.08436044e-01 -9.12786199e-01 -1.16347859e-03 1.90779571e+02] [ 9.12782801e-01 4.08437698e-01 -2.49078799e-03 9.71162745e+01] [ 2.74876542e-03 -4.46756571e-05 9.99996221e-01 -4.50112991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74576923100003 meters 0.024099795974442693 Centerline is valid? [True, True] Translation: X:190.80, Y:97.14, Z:-0.45 [[ 4.08023389e-01 -9.12970974e-01 -9.56586897e-04 1.90796165e+02] [ 9.12968675e-01 4.08024509e-01 -2.04909921e-03 9.71359474e+01] [ 2.26107900e-03 -3.72534678e-05 9.99997443e-01 -4.49897425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77576923100003 meters 0.024532014372300587 Centerline is valid? [True, True] Translation: X:190.81, Y:97.16, Z:-0.45 [[ 4.08168096e-01 -9.12906486e-01 -7.43454414e-04 1.90808528e+02] [ 9.12905095e-01 4.08168773e-01 -1.59365910e-03 9.71575429e+01] [ 1.75831661e-03 -2.82225199e-05 9.99998454e-01 -4.49056901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80576923100003 meters 0.020973748380503615 Centerline is valid? [True, True] Translation: X:190.82, Y:97.18, Z:-0.45 [[ 4.10402863e-01 -9.11903687e-01 -1.07552265e-03 1.90816796e+02] [ 9.11900770e-01 4.10404270e-01 -2.30648289e-03 9.71831176e+01] [ 2.54468934e-03 -3.41827561e-05 9.99996762e-01 -4.50978753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83576923100003 meters 0.020055951894451245 Centerline is valid? [True, True] Translation: X:190.83, Y:97.20, Z:-0.45 [[ 4.11676355e-01 -9.11328939e-01 -1.46437071e-03 1.90827019e+02] [ 9.11323525e-01 4.11678957e-01 -3.14162761e-03 9.72048884e+01] [ 3.46590676e-03 -4.11816796e-05 9.99993993e-01 -4.52882890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86576923100003 meters 0.01908204914530595 Centerline is valid? [True, True] Translation: X:190.84, Y:97.23, Z:-0.45 [[ 4.12302772e-01 -9.11045411e-01 -1.63824143e-03 1.90838797e+02] [ 9.11038623e-01 4.12306025e-01 -3.51707340e-03 9.72280038e+01] [ 3.87967039e-03 -4.24021012e-05 9.99992473e-01 -4.53380938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89576923100003 meters 0.021045290190823258 Centerline is valid? [True, True] Translation: X:190.86, Y:97.25, Z:-0.45 [[ 4.11081069e-01 -9.11597059e-01 -1.77672759e-03 1.90857999e+02] [ 9.11589071e-01 4.11084906e-01 -3.81664064e-03 9.72472344e+01] [ 4.20962427e-03 -5.06967363e-05 9.99991138e-01 -4.54277211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.925769231 meters 0.021178916751857825 Centerline is valid? [True, True] Translation: X:190.87, Y:97.27, Z:-0.46 [[ 4.09825047e-01 -9.12161585e-01 -2.16195890e-03 1.90870982e+02] [ 9.12149751e-01 4.09830744e-01 -4.64687173e-03 9.72697081e+01] [ 5.12473510e-03 -6.76258487e-05 9.99986866e-01 -4.55499546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.955769231 meters 0.021360046834658416 Centerline is valid? [True, True] Translation: X:190.88, Y:97.29, Z:-0.46 [[ 4.09510293e-01 -9.12301425e-01 -2.72584794e-03 1.90882907e+02] [ 9.12282592e-01 4.09519356e-01 -5.86258978e-03 9.72919084e+01] [ 6.46473650e-03 -8.59527610e-05 9.99979100e-01 -4.58098939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.985769231 meters 0.019586225462928156 Centerline is valid? [True, True] Translation: X:190.89, Y:97.32, Z:-0.46 [[ 4.11424650e-01 -9.11439041e-01 -2.93789816e-03 1.90893318e+02] [ 9.11417115e-01 4.11435132e-01 -6.32251027e-03 9.73159649e+01] [ 6.97133722e-03 -7.64140898e-05 9.99975697e-01 -4.60022744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.015769231 meters 0.01801560018875758 Centerline is valid? [True, True] Translation: X:190.90, Y:97.34, Z:-0.46 [[ 4.13230909e-01 -9.10622196e-01 -2.72598498e-03 1.90901548e+02] [ 9.10603276e-01 4.13239897e-01 -5.87042429e-03 9.73395248e+01] [ 6.47222441e-03 -5.64500815e-05 9.99979053e-01 -4.59425414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.045769231 meters 0.014865751085800101 Centerline is valid? [True, True] Translation: X:190.91, Y:97.37, Z:-0.46 [[ 4.17871360e-01 -9.08502407e-01 -2.62749673e-03 1.90905039e+02] [ 9.08484765e-01 4.17879620e-01 -5.66178037e-03 9.73671264e+01] [ 6.24171842e-03 -2.11448826e-05 9.99980520e-01 -4.57838097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.075769231 meters 0.014578957369769828 Centerline is valid? [True, True] Translation: X:190.91, Y:97.39, Z:-0.46 [[ 4.19617034e-01 -9.07696908e-01 -2.80496030e-03 1.90912296e+02] [ 9.07676756e-01 4.19626408e-01 -6.04851253e-03 9.73906619e+01] [ 6.66725154e-03 -7.93837940e-06 9.99977774e-01 -4.59059034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.105769231 meters 0.014455455766073301 Centerline is valid? [True, True] Translation: X:190.92, Y:97.41, Z:-0.46 [[ 4.20682954e-01 -9.07202534e-01 -3.06822999e-03 1.90921264e+02] [ 9.07178377e-01 4.20694143e-01 -6.62046902e-03 9.74146935e+01] [ 7.29689266e-03 1.68656175e-06 9.99973377e-01 -4.60397576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.135769231 meters 0.014430320704484282 Centerline is valid? [True, True] Translation: X:190.93, Y:97.44, Z:-0.46 [[ 4.20457944e-01 -9.07308059e-01 -2.68378725e-03 1.90933388e+02] [ 9.07289551e-01 4.20466510e-01 -5.79519708e-03 9.74363398e+01] [ 6.38647167e-03 1.66452438e-06 9.99979606e-01 -4.61426160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.165769231 meters 0.01418377020819306 Centerline is valid? [True, True] Translation: X:190.95, Y:97.46, Z:-0.46 [[ 4.18789407e-01 -9.08081067e-01 -2.05117775e-03 1.90947226e+02] [ 9.08070251e-01 4.18794431e-01 -4.43225373e-03 9.74580744e+01] [ 4.88386752e-03 -6.43258410e-06 9.99988074e-01 -4.58155584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.195769231 meters 0.014531903574813636 Centerline is valid? [True, True] Translation: X:190.96, Y:97.48, Z:-0.45 [[ 4.16243142e-01 -9.09252478e-01 -1.25613473e-03 1.90962620e+02] [ 9.09248420e-01 4.16245037e-01 -2.71660675e-03 9.74792356e+01] [ 2.99294127e-03 -1.13695944e-05 9.99995521e-01 -4.52292469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22576923100002 meters 0.014770933906678526 Centerline is valid? [True, True] Translation: X:190.97, Y:97.50, Z:-0.45 [[ 4.15695386e-01 -9.09502674e-01 -1.49381254e-03 1.90973252e+02] [ 9.09496930e-01 4.15698070e-01 -3.23252103e-03 9.75027317e+01] [ 3.56096151e-03 -1.48738391e-05 9.99993660e-01 -4.52827994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25576923100002 meters 0.014740999165818398 Centerline is valid? [True, True] Translation: X:190.98, Y:97.53, Z:-0.46 [[ 4.16302329e-01 -9.09223968e-01 -2.03618886e-03 1.90981289e+02] [ 9.09213283e-01 4.16307308e-01 -4.40804858e-03 9.75262377e+01] [ 4.85558372e-03 -1.62490667e-05 9.99988211e-01 -4.55631641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28576923100002 meters 0.014190998231214716 Centerline is valid? [True, True] Translation: X:190.98, Y:97.55, Z:-0.46 [[ 4.20590961e-01 -9.07246980e-01 -2.48209479e-03 1.90982894e+02] [ 9.07231046e-01 4.20598285e-01 -5.37694868e-03 9.75534186e+01] [ 5.92218527e-03 9.66256116e-06 9.99982464e-01 -4.57288693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31576923100002 meters 0.014806089989246847 Centerline is valid? [True, True] Translation: X:190.99, Y:97.58, Z:-0.46 [[ 4.22867843e-01 -9.06189260e-01 -1.95262743e-03 1.90988555e+02] [ 9.06179376e-01 4.22872350e-01 -4.23248268e-03 9.75773018e+01] [ 4.66114249e-03 2.03501133e-05 9.99989137e-01 -4.55486350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34576923100002 meters 0.01672001668125931 Centerline is valid? [True, True] Translation: X:190.99, Y:97.60, Z:-0.45 [[ 4.25914859e-01 -9.04762248e-01 -1.34439847e-03 1.90992918e+02] [ 9.04757548e-01 4.25916980e-01 -2.91632477e-03 9.76029744e+01] [ 3.21118269e-03 2.57513860e-05 9.99994844e-01 -4.52807729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37576923100002 meters 0.01607574907328833 Centerline is valid? [True, True] Translation: X:191.00, Y:97.63, Z:-0.45 [[ 4.26287001e-01 -9.04587019e-01 -1.31047464e-03 1.91004788e+02] [ 9.04582547e-01 4.26289014e-01 -2.84467229e-03 9.76270309e+01] [ 3.13189457e-03 2.72143283e-05 9.99995095e-01 -4.51387637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40576923100002 meters 0.01747731336892983 Centerline is valid? [True, True] Translation: X:191.01, Y:97.65, Z:-0.45 [[ 4.26278332e-01 -9.04590785e-01 -1.51533741e-03 1.91012936e+02] [ 9.04584797e-01 4.26281024e-01 -3.29145886e-03 9.76515401e+01] [ 3.62338294e-03 3.23264078e-05 9.99993435e-01 -4.54598324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43576923100002 meters 0.01651368675690004 Centerline is valid? [True, True] Translation: X:191.03, Y:97.67, Z:-0.45 [[ 4.25542051e-01 -9.04936916e-01 -1.77227778e-03 1.91026046e+02] [ 9.04928719e-01 4.25545740e-01 -3.85193721e-03 9.76733774e+01] [ 4.23994544e-03 3.53761958e-05 9.99991011e-01 -4.54842751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46576923100002 meters 0.016812554992337914 Centerline is valid? [True, True] Translation: X:191.04, Y:97.70, Z:-0.46 [[ 4.25194645e-01 -9.05099888e-01 -1.92514304e-03 1.91035131e+02] [ 9.05090204e-01 4.25199001e-01 -4.18706820e-03 9.76958747e+01] [ 4.60828385e-03 3.78908701e-05 9.99989381e-01 -4.55685285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49576923100003 meters 0.016579678608258663 Centerline is valid? [True, True] Translation: X:191.04, Y:97.72, Z:-0.45 [[ 4.25640171e-01 -9.04890856e-01 -1.72735184e-03 1.91043963e+02] [ 9.04883046e-01 4.25643675e-01 -3.75964307e-03 9.77195931e+01] [ 4.13730302e-03 3.72037259e-05 9.99991441e-01 -4.54490161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52576923100003 meters 0.017256205900669865 Centerline is valid? [True, True] Translation: X:191.05, Y:97.74, Z:-0.45 [[ 4.26181875e-01 -9.04636367e-01 -1.43315967e-03 1.91052916e+02] [ 9.04630981e-01 4.26184283e-01 -3.12186893e-03 9.77427907e+01] [ 3.43494629e-03 3.40033161e-05 9.99994100e-01 -4.53280885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55576923100003 meters 0.017827056406429207 Centerline is valid? [True, True] Translation: X:191.06, Y:97.77, Z:-0.45 [[ 4.26736192e-01 -9.04375466e-01 -1.11277252e-03 1.91062533e+02] [ 9.04372213e-01 4.26737642e-01 -2.42586976e-03 9.77659683e+01] [ 2.66875902e-03 2.88458760e-05 9.99996438e-01 -4.51498116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58576923100003 meters 0.019239817540684222 Centerline is valid? [True, True] Translation: X:191.07, Y:97.79, Z:-0.45 [[ 4.28426612e-01 -9.03575748e-01 -1.22760171e-03 1.91070012e+02] [ 9.03571781e-01 4.28428369e-01 -2.67762167e-03 9.77918888e+01] [ 2.94537340e-03 3.79381197e-05 9.99995662e-01 -4.51132974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61576923100003 meters 0.023371750084387386 Centerline is valid? [True, True] Translation: X:191.07, Y:97.82, Z:-0.45 [[ 4.32338899e-01 -9.01709721e-01 -1.62939454e-03 1.91071541e+02] [ 9.01702713e-01 4.32341964e-01 -3.55580666e-03 9.78204889e+01] [ 3.91076107e-03 6.80840572e-05 9.99992351e-01 -4.52796922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64576923100003 meters 0.025809658004729927 Centerline is valid? [True, True] Translation: X:191.08, Y:97.85, Z:-0.45 [[ 4.34324196e-01 -9.00755428e-01 -1.46701573e-03 1.91076260e+02] [ 9.00749736e-01 4.34326668e-01 -3.20301766e-03 9.78465358e+01] [ 3.52229960e-03 6.97340374e-05 9.99993794e-01 -4.52023598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.675769231 meters 0.027878281805105327 Centerline is valid? [True, True] Translation: X:191.08, Y:97.87, Z:-0.45 [[ 4.36033179e-01 -8.99929877e-01 -1.13315659e-03 1.91081332e+02] [ 8.99926472e-01 4.36034647e-01 -2.47616485e-03 9.78726241e+01] [ 2.72247026e-03 5.99324144e-05 9.99996292e-01 -4.50821935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.705769231 meters 0.028922349271885684 Centerline is valid? [True, True] Translation: X:191.09, Y:97.90, Z:-0.45 [[ 4.37453279e-01 -8.99240904e-01 -6.51807427e-04 1.91087503e+02] [ 8.99239775e-01 4.37453763e-01 -1.42570844e-03 9.78984476e+01] [ 1.56719096e-03 3.75496679e-05 9.99998771e-01 -4.48484105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.735769231 meters 0.031918272907284065 Centerline is valid? [True, True] Translation: X:191.09, Y:97.93, Z:-0.45 [[ 4.39271957e-01 -8.98354077e-01 -3.15485323e-04 1.91088392e+02] [ 8.98353812e-01 4.39272070e-01 -6.90825118e-04 9.79256713e+01] [ 7.59189452e-04 2.00426591e-05 9.99999712e-01 -4.47986725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.765769231 meters 0.031083439711614168 Centerline is valid? [True, True] Translation: X:191.10, Y:97.95, Z:-0.45 [[ 4.38671314e-01 -8.98647363e-01 -6.28393608e-04 1.91095619e+02] [ 8.98646310e-01 4.38671763e-01 -1.37628889e-03 9.79504983e+01] [ 1.51245691e-03 3.90348573e-05 9.99998855e-01 -4.48556794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.795769231 meters 0.03265491572134031 Centerline is valid? [True, True] Translation: X:191.10, Y:97.97, Z:-0.45 [[ 4.37736202e-01 -8.99102906e-01 -9.91074858e-04 1.91101536e+02] [ 8.99100286e-01 4.37737320e-01 -2.17145376e-03 9.79748674e+01] [ 2.38619084e-03 5.94482330e-05 9.99997151e-01 -4.50563363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.825769231 meters 0.029396578481114457 Centerline is valid? [True, True] Translation: X:191.11, Y:98.00, Z:-0.45 [[ 4.36115818e-01 -8.99889372e-01 -1.45298052e-03 1.91114399e+02] [ 8.99883741e-01 4.36118231e-01 -3.18462380e-03 9.79977561e+01] [ 3.49948041e-03 8.13512676e-05 9.99993873e-01 -4.52207727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.855769231 meters 0.02785033249253525 Centerline is valid? [True, True] Translation: X:191.13, Y:98.02, Z:-0.45 [[ 4.34259633e-01 -9.00786014e-01 -1.76877138e-03 1.91125911e+02] [ 9.00777667e-01 4.34263225e-01 -3.87887191e-03 9.80216915e+01] [ 4.26214593e-03 9.11677374e-05 9.99990913e-01 -4.54110135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.885769231 meters 0.023327100025916397 Centerline is valid? [True, True] Translation: X:191.14, Y:98.04, Z:-0.45 [[ 4.30140381e-01 -9.02760824e-01 -1.46524034e-03 1.91143199e+02] [ 9.02755101e-01 4.30142873e-01 -3.21519813e-03 9.80429450e+01] [ 3.53281760e-03 6.02333594e-05 9.99993758e-01 -4.53001874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.915769231 meters 0.01879262457785386 Centerline is valid? [True, True] Translation: X:191.16, Y:98.06, Z:-0.45 [[ 4.24916519e-01 -9.05231656e-01 -1.26483521e-03 1.91162853e+02] [ 9.05227396e-01 4.24918400e-01 -2.77745868e-03 9.80623941e+01] [ 3.05169528e-03 3.52245937e-05 9.99995343e-01 -4.51572413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.945769231 meters 0.01698332797121538 Centerline is valid? [True, True] Translation: X:191.18, Y:98.08, Z:-0.45 [[ 4.22592393e-01 -9.06318893e-01 -1.31711197e-03 1.91177613e+02] [ 9.06314272e-01 4.22594444e-01 -2.89412891e-03 9.80842038e+01] [ 3.17960791e-03 2.93194808e-05 9.99994945e-01 -4.51571127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97576923100002 meters 0.01642165553819547 Centerline is valid? [True, True] Translation: X:191.19, Y:98.11, Z:-0.45 [[ 4.21125467e-01 -9.07001236e-01 -1.44865839e-03 1.91189842e+02] [ 9.06995643e-01 4.21127958e-01 -3.18540057e-03 9.81053151e+01] [ 3.49923280e-03 2.75264557e-05 9.99993877e-01 -4.52566015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00576923100002 meters 0.016006104714979166 Centerline is valid? [True, True] Translation: X:191.20, Y:98.13, Z:-0.45 [[ 4.20302293e-01 -9.07382953e-01 -1.46936598e-03 1.91201807e+02] [ 9.07377194e-01 4.20304861e-01 -3.23297654e-03 9.81276746e+01] [ 3.55112946e-03 2.55582695e-05 9.99993694e-01 -4.53071542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03576923100002 meters 0.015368909755867754 Centerline is valid? [True, True] Translation: X:191.22, Y:98.15, Z:-0.45 [[ 4.19444989e-01 -9.07780030e-01 -1.14875068e-03 1.91215065e+02] [ 9.07776505e-01 4.19446561e-01 -2.52952336e-03 9.81497150e+01] [ 2.77809032e-03 1.81870160e-05 9.99996141e-01 -4.51689991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06576923100002 meters 0.014975325820188798 Centerline is valid? [True, True] Translation: X:191.23, Y:98.17, Z:-0.45 [[ 4.18873446e-01 -9.08044148e-01 -9.28097913e-04 1.91227472e+02] [ 9.08041845e-01 4.18874474e-01 -2.04529752e-03 9.81720010e+01] [ 2.24597697e-03 1.39690797e-05 9.99997478e-01 -4.49961203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09576923100002 meters 0.01450258135889333 Centerline is valid? [True, True] Translation: X:191.24, Y:98.19, Z:-0.45 [[ 4.17886013e-01 -9.08499195e-01 -7.02311201e-04 1.91241809e+02] [ 9.08497874e-01 4.17886603e-01 -1.54909426e-03 9.81932281e+01] [ 1.70083733e-03 9.29659235e-06 9.99998554e-01 -4.47987284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12576923100002 meters 0.014318378739795724 Centerline is valid? [True, True] Translation: X:191.25, Y:98.22, Z:-0.45 [[ 4.17400113e-01 -9.08722609e-01 -6.04854265e-04 1.91253948e+02] [ 9.08721628e-01 4.17400552e-01 -1.33523870e-03 9.82155754e+01] [ 1.46582810e-03 7.68463437e-06 9.99998926e-01 -4.47492750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15576923100002 meters 0.014175657372691483 Centerline is valid? [True, True] Translation: X:191.27, Y:98.24, Z:-0.45 [[ 4.16925133e-01 -9.08940799e-01 -2.40211083e-04 1.91266021e+02] [ 9.08940643e-01 4.16925202e-01 -5.31428306e-04 9.82375495e+01] [ 5.83186923e-04 3.22820125e-06 9.99999830e-01 -4.47260873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18576923100002 meters 0.013876059221268175 Centerline is valid? [True, True] Translation: X:191.28, Y:98.26, Z:-0.45 [[ 4.16392879e-01 -9.09184782e-01 3.98075120e-05 1.91278329e+02] [ 9.09184778e-01 4.16392881e-01 8.65415102e-05 9.82598220e+01] [-9.52577888e-05 1.57115335e-07 9.99999995e-01 -4.46637824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21576923100002 meters 0.013566085842567494 Centerline is valid? [True, True] Translation: X:191.29, Y:98.28, Z:-0.45 [[ 4.15532363e-01 -9.09578375e-01 1.86703641e-04 1.91291543e+02] [ 9.09578282e-01 4.15532405e-01 4.11236459e-04 9.82814168e+01] [-4.51633203e-04 -1.06048038e-06 9.99999898e-01 -4.46347336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24576923100003 meters 0.013224572168624273 Centerline is valid? [True, True] Translation: X:191.31, Y:98.30, Z:-0.45 [[ 4.14192106e-01 -9.10189425e-01 3.32192422e-04 1.91305075e+02] [ 9.10189129e-01 4.14192240e-01 7.33225341e-04 9.83019682e+01] [-8.04965475e-04 -1.33821772e-06 9.99999676e-01 -4.45712738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27576923100003 meters 0.013278857418206344 Centerline is valid? [True, True] Translation: X:191.32, Y:98.32, Z:-0.45 [[ 4.13158977e-01 -9.10658846e-01 -3.56122324e-04 1.91318631e+02] [ 9.10658503e-01 4.13159130e-01 -7.89455939e-04 9.83241533e+01] [ 8.66060223e-04 1.86498563e-06 9.99999625e-01 -4.47319833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30576923100003 meters 0.013603682584535762 Centerline is valid? [True, True] Translation: X:191.33, Y:98.35, Z:-0.45 [[ 4.14087193e-01 -9.10237032e-01 -5.85686456e-04 1.91327232e+02] [ 9.10236106e-01 4.14087607e-01 -1.29838361e-03 9.83480188e+01] [ 1.42436235e-03 4.53106601e-06 9.99998986e-01 -4.48688441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33576923100003 meters 0.014400685756300642 Centerline is valid? [True, True] Translation: X:191.34, Y:98.37, Z:-0.45 [[ 4.15986540e-01 -9.09370570e-01 -6.04342536e-04 1.91335047e+02] [ 9.09369582e-01 4.15986979e-01 -1.34064216e-03 9.83728748e+01] [ 1.47053915e-03 8.11837277e-06 9.99998919e-01 -4.48851477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36576923100003 meters 0.017483006080673307 Centerline is valid? [True, True] Translation: X:191.34, Y:98.40, Z:-0.45 [[ 4.20085443e-01 -9.07484386e-01 -5.56514283e-04 1.91338985e+02] [ 9.07483545e-01 4.20085811e-01 -1.23539545e-03 9.83988040e+01] [ 1.35488584e-03 1.39440911e-05 9.99999082e-01 -4.48917268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39576923100003 meters 0.018384829911406785 Centerline is valid? [True, True] Translation: X:191.35, Y:98.42, Z:-0.45 [[ 4.21251090e-01 -9.06943750e-01 -7.43331559e-04 1.91347782e+02] [ 9.06942249e-01 4.21251746e-01 -1.65065732e-03 9.84235158e+01] [ 1.81018306e-03 2.11824014e-05 9.99998361e-01 -4.50307439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.425769231 meters 0.01928274388433497 Centerline is valid? [True, True] Translation: X:191.36, Y:98.45, Z:-0.45 [[ 4.21258041e-01 -9.06939624e-01 -1.47709220e-03 1.91357437e+02] [ 9.06933689e-01 4.21260629e-01 -3.28138663e-03 9.84455619e+01] [ 3.59826034e-03 4.26858239e-05 9.99993525e-01 -4.54113008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.455769231 meters 0.01909920241742739 Centerline is valid? [True, True] Translation: X:191.37, Y:98.47, Z:-0.46 [[ 4.20551184e-01 -9.07267210e-01 -1.70610456e-03 1.91368695e+02] [ 9.07259288e-01 4.20554642e-01 -3.79182208e-03 9.84672960e+01] [ 4.15770603e-03 4.67760536e-05 9.99991356e-01 -4.55642469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.485769231 meters 0.018650308645557924 Centerline is valid? [True, True] Translation: X:191.38, Y:98.49, Z:-0.45 [[ 4.19984562e-01 -9.07529988e-01 -1.51280403e-03 1.91380083e+02] [ 9.07523751e-01 4.19987284e-01 -3.36480149e-03 9.84897028e+01] [ 3.68901671e-03 4.02590919e-05 9.99993195e-01 -4.54657517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.515769231 meters 0.018650308645557924 Centerline is valid? [True, True] Translation: X:191.39, Y:98.51, Z:-0.45 [[ 4.19755420e-01 -9.07635996e-01 -1.51195463e-03 1.91390031e+02] [ 9.07629758e-01 4.19758141e-01 -3.36518332e-03 9.85126447e+01] [ 3.68901678e-03 4.02589270e-05 9.99993195e-01 -4.54711179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.545769231 meters 0.019196503027530423 Centerline is valid? [True, True] Translation: X:191.40, Y:98.54, Z:-0.45 [[ 4.20399972e-01 -9.07338605e-01 -7.20691546e-04 1.91398494e+02] [ 9.07337185e-01 4.20400589e-01 -1.60548049e-03 9.85358759e+01] [ 1.75969358e-03 2.10337137e-05 9.99998452e-01 -4.50268303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.575769231 meters 0.020386350257348685 Centerline is valid? [True, True] Translation: X:191.41, Y:98.56, Z:-0.45 [[ 4.21470368e-01 -9.06841791e-01 -8.33887301e-04 1.91406274e+02] [ 9.06839886e-01 4.21471192e-01 -1.85866612e-03 9.85608042e+01] [ 2.03697559e-03 2.71704287e-05 9.99997925e-01 -4.50347645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.605769231 meters 0.022566671953117158 Centerline is valid? [True, True] Translation: X:191.41, Y:98.59, Z:-0.45 [[ 4.23215659e-01 -9.06028082e-01 -1.27323293e-03 1.91412944e+02] [ 9.06023635e-01 4.23217572e-01 -2.83901842e-03 9.85868873e+01] [ 3.11108496e-03 4.79379252e-05 9.99995159e-01 -4.52350264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.635769231 meters 0.027498131380315476 Centerline is valid? [True, True] Translation: X:191.41, Y:98.61, Z:-0.46 [[ 4.27043746e-01 -9.04228661e-01 -2.04158971e-03 1.91413982e+02] [ 9.04217195e-01 4.27048614e-01 -4.55470198e-03 9.86135243e+01] [ 4.99035013e-03 9.90164801e-05 9.99987543e-01 -4.57049004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.665769231 meters 0.029420164740193218 Centerline is valid? [True, True] Translation: X:191.42, Y:98.64, Z:-0.46 [[ 4.28600866e-01 -9.03491727e-01 -1.99940941e-03 1.91420886e+02] [ 9.03480709e-01 4.28605516e-01 -4.46320868e-03 9.86391312e+01] [ 4.88943002e-03 1.06507275e-04 9.99988041e-01 -4.57151338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.695769231 meters 0.029286983787246392 Centerline is valid? [True, True] Translation: X:191.43, Y:98.66, Z:-0.46 [[ 4.29950098e-01 -9.02850488e-01 -1.97742179e-03 1.91430907e+02] [ 9.02839690e-01 4.29954630e-01 -4.41697822e-03 9.86637850e+01] [ 4.83807260e-03 1.13785339e-04 9.99988290e-01 -4.56784496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72576923100002 meters 0.03807122440912372 Centerline is valid? [True, True] Translation: X:191.43, Y:98.69, Z:-0.46 [[ 4.30883614e-01 -9.02404982e-01 -2.13533883e-03 1.91429111e+02] [ 9.02392370e-01 4.30888885e-01 -4.77282185e-03 9.86920670e+01] [ 5.22711198e-03 1.29617263e-04 9.99986330e-01 -4.61116185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75576923100002 meters 0.030164547012700618 Centerline is valid? [True, True] Translation: X:191.45, Y:98.71, Z:-0.46 [[ 4.29795546e-01 -9.02924400e-01 -1.82086938e-03 1.91449472e+02] [ 9.02915222e-01 4.29799390e-01 -4.07259380e-03 9.87117364e+01] [ 4.45985286e-03 1.06291995e-04 9.99990049e-01 -4.56170513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78576923100002 meters 0.024214703612328914 Centerline is valid? [True, True] Translation: X:191.47, Y:98.73, Z:-0.45 [[ 4.25026156e-01 -9.05180919e-01 -5.20519960e-04 1.91469503e+02] [ 9.05180168e-01 4.25026474e-01 -1.16591970e-03 9.87312065e+01] [ 1.27660303e-03 2.43820260e-05 9.99999185e-01 -4.49473595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81576923100002 meters 0.02156361142999017 Centerline is valid? [True, True] Translation: X:191.49, Y:98.75, Z:-0.45 [[ 4.22085019e-01 -9.06556249e-01 -6.35463628e-05 1.91485572e+02] [ 9.06556238e-01 4.22085024e-01 -1.43516734e-04 9.87530638e+01] [ 1.56927960e-04 2.96791168e-06 9.99999988e-01 -4.47830887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84576923100002 meters 0.020663719102962275 Centerline is valid? [True, True] Translation: X:191.50, Y:98.77, Z:-0.45 [[ 4.18915228e-01 -9.08025325e-01 -2.02179964e-04 1.91501308e+02] [ 9.08025211e-01 4.18915277e-01 -4.54254984e-04 9.87736052e+01] [ 4.97171305e-04 6.70982551e-06 9.99999876e-01 -4.49769522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87576923100002 meters 0.018738923033973863 Centerline is valid? [True, True] Translation: X:191.52, Y:98.80, Z:-0.45 [[ 4.18831184e-01 -9.08063980e-01 -4.97032684e-04 1.91515781e+02] [ 9.08063295e-01 4.18831479e-01 -1.11570905e-03 9.87952243e+01] [ 1.22130814e-03 1.59566061e-05 9.99999254e-01 -4.50312896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90576923100002 meters 0.01958054967835487 Centerline is valid? [True, True] Translation: X:191.53, Y:98.82, Z:-0.45 [[ 4.19723955e-01 -9.07651442e-01 -8.12764320e-04 1.91525734e+02] [ 9.07649609e-01 4.19724741e-01 -1.82462835e-03 9.88199384e+01] [ 1.99726384e-03 2.81350096e-05 9.99998005e-01 -4.51072562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93576923100002 meters 0.02875349195133995 Centerline is valid? [True, True] Translation: X:191.52, Y:98.85, Z:-0.45 [[ 4.23802950e-01 -9.05754149e-01 -6.93597850e-04 1.91524257e+02] [ 9.05752809e-01 4.23803517e-01 -1.55852525e-03 9.88477856e+01] [ 1.70558992e-03 3.22793985e-05 9.99998545e-01 -4.51389663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96576923100002 meters 0.026480309204376974 Centerline is valid? [True, True] Translation: X:191.54, Y:98.87, Z:-0.45 [[ 4.26205959e-01 -9.04625907e-01 -6.70231903e-04 1.91538887e+02] [ 9.04624653e-01 4.26206485e-01 -1.50655494e-03 9.88697133e+01] [ 1.64852581e-03 3.57943893e-05 9.99998641e-01 -4.49780395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99576923100003 meters 0.02995466436439501 Centerline is valid? [True, True] Translation: X:191.55, Y:98.89, Z:-0.45 [[ 4.28322890e-01 -9.03625517e-01 -6.53776090e-04 1.91545617e+02] [ 9.03624320e-01 4.28323387e-01 -1.47094010e-03 9.88939306e+01] [ 1.60920660e-03 3.92693397e-05 9.99998704e-01 -4.49569554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02576923100003 meters 0.033102992018744344 Centerline is valid? [True, True] Translation: X:191.55, Y:98.92, Z:-0.45 [[ 4.31374803e-01 -9.02172810e-01 8.77588585e-06 1.91553826e+02] [ 9.02172810e-01 4.31374803e-01 1.85032795e-05 9.89192987e+01] [-2.04788517e-05 -6.44829291e-08 1.00000000e+00 -4.45429183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05576923100003 meters 0.03394670244303275 Centerline is valid? [True, True] Translation: X:191.56, Y:98.94, Z:-0.44 [[ 4.32339384e-01 -9.01710657e-01 7.40169109e-04 1.91564120e+02] [ 9.01709122e-01 4.32340014e-01 1.66461016e-03 9.89439283e+01] [-1.82100145e-03 -5.22592947e-05 9.99998341e-01 -4.42340578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08576923100003 meters 0.03333521275039485 Centerline is valid? [True, True] Translation: X:191.58, Y:98.97, Z:-0.44 [[ 4.33045608e-01 -9.01369365e-01 2.18366277e-03 1.91576140e+02] [ 9.01355974e-01 4.33051084e-01 4.91598550e-03 9.89677363e+01] [-5.37675626e-03 -1.60588444e-04 9.99985532e-01 -4.37519585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11576923100003 meters 0.036238507175718325 Centerline is valid? [True, True] Translation: X:191.58, Y:98.99, Z:-0.44 [[ 4.34174385e-01 -9.00826097e-01 2.22398981e-03 1.91582573e+02] [ 9.00812184e-01 4.34180047e-01 5.00954551e-03 9.89936154e+01] [-5.47834133e-03 -1.71619221e-04 9.99984979e-01 -4.37703261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14576923100003 meters 0.03826172148618584 Centerline is valid? [True, True] Translation: X:191.59, Y:99.02, Z:-0.44 [[ 4.35638502e-01 -9.00120018e-01 1.74633418e-03 1.91589279e+02] [ 9.00111424e-01 4.35641979e-01 3.93580658e-03 9.90191709e+01] [-4.30347477e-03 -1.42693540e-04 9.99990730e-01 -4.39906077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.175769231 meters 0.039759890286273275 Centerline is valid? [True, True] Translation: X:191.60, Y:99.04, Z:-0.44 [[ 4.37162092e-01 -8.99381895e-01 1.22962735e-03 1.91596898e+02] [ 8.99377628e-01 4.37163808e-01 2.77265766e-03 9.90447433e+01] [-3.03122667e-03 -1.06201493e-04 9.99995400e-01 -4.42645162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.205769231 meters 0.04132141486661424 Centerline is valid? [True, True] Translation: X:191.60, Y:99.07, Z:-0.45 [[ 4.38708236e-01 -8.98629551e-01 1.16987915e-04 1.91604766e+02] [ 8.98629513e-01 4.38708251e-01 2.62880940e-04 9.90703804e+01] [-2.87556145e-04 -1.01992406e-05 9.99999959e-01 -4.47771208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.235769231 meters 0.04125939565694813 Centerline is valid? [True, True] Translation: X:191.61, Y:99.09, Z:-0.45 [[ 4.36968849e-01 -8.99476632e-01 -1.15560540e-04 1.91614922e+02] [ 8.99476594e-01 4.36968864e-01 -2.62261573e-04 9.90942624e+01] [ 2.86394514e-04 1.06561361e-05 9.99999959e-01 -4.49464652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.265769231 meters 0.03408099472509628 Centerline is valid? [True, True] Translation: X:191.64, Y:99.11, Z:-0.45 [[ 4.31719259e-01 -9.02008023e-01 -8.50084463e-05 1.91635872e+02] [ 9.02008003e-01 4.31719267e-01 -1.93369954e-04 9.91134982e+01] [ 2.11121034e-04 6.80323462e-06 9.99999978e-01 -4.49116920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.295769231 meters 0.03459268895937044 Centerline is valid? [True, True] Translation: X:191.65, Y:99.14, Z:-0.45 [[ 4.29464703e-01 -9.03083588e-01 -3.19750135e-04 1.91648544e+02] [ 9.03083298e-01 4.29464821e-01 -7.24389279e-04 9.91360732e+01] [ 7.91505503e-04 2.23386200e-05 9.99999687e-01 -4.46691730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.325769231 meters 0.03172259497920485 Centerline is valid? [True, True] Translation: X:191.66, Y:99.16, Z:-0.45 [[ 4.27486603e-01 -9.04021614e-01 -3.53965247e-04 1.91661303e+02] [ 9.04021258e-01 4.27486749e-01 -8.02355403e-04 9.91578331e+01] [ 8.76662079e-04 2.30040781e-05 9.99999615e-01 -4.49703992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.355769231 meters 0.029538477541871316 Centerline is valid? [True, True] Translation: X:191.68, Y:99.18, Z:-0.45 [[ 4.25397645e-01 -9.05006435e-01 -4.42606199e-04 1.91677164e+02] [ 9.05005879e-01 4.25397874e-01 -1.00350679e-03 9.91797456e+01] [ 1.09646384e-03 2.63282125e-05 9.99999399e-01 -4.50180920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.385769231 meters 0.036895880892941615 Centerline is valid? [True, True] Translation: X:191.69, Y:99.20, Z:-0.45 [[ 4.24719527e-01 -9.05324899e-01 -3.87698489e-04 1.91686251e+02] [ 9.05324472e-01 4.24719703e-01 -8.79589780e-04 9.92026853e+01] [ 9.60977716e-04 2.25860252e-05 9.99999538e-01 -4.46495612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.415769231 meters 0.027887447317516096 Centerline is valid? [True, True] Translation: X:191.70, Y:99.22, Z:-0.45 [[ 4.23666865e-01 -9.05818066e-01 -1.36242490e-04 1.91701434e+02] [ 9.05818013e-01 4.23666887e-01 -3.10277801e-04 9.92236473e+01] [ 3.38776669e-04 8.04352160e-06 9.99999943e-01 -4.50559830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.445769231 meters 0.0291961431390124 Centerline is valid? [True, True] Translation: X:191.71, Y:99.25, Z:-0.45 [[ 4.24175158e-01 -9.05580048e-01 -4.59910937e-04 1.91711488e+02] [ 9.05579446e-01 4.24175406e-01 -1.04481847e-03 9.92463433e+01] [ 1.14124967e-03 2.67001487e-05 9.99999348e-01 -4.50427066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47576923100002 meters 0.030707472800202387 Centerline is valid? [True, True] Translation: X:191.72, Y:99.27, Z:-0.45 [[ 4.25618594e-01 -9.04902039e-01 -1.05453088e-03 1.91720067e+02] [ 9.04898871e-01 4.25619895e-01 -2.39536416e-03 9.92710912e+01] [ 2.61639924e-03 6.52677228e-05 9.99996575e-01 -4.52002457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50576923100002 meters 0.03651392118720961 Centerline is valid? [True, True] Translation: X:191.72, Y:99.30, Z:-0.46 [[ 4.29470203e-01 -9.03078498e-01 -2.13783329e-03 1.91721491e+02] [ 9.03065449e-01 4.29475496e-01 -4.85736290e-03 9.92982272e+01] [ 5.30472700e-03 1.55489249e-04 9.99985918e-01 -4.56979579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53576923100002 meters 0.038878180050982876 Centerline is valid? [True, True] Translation: X:191.73, Y:99.32, Z:-0.46 [[ 4.31357646e-01 -9.02178352e-01 -2.19155196e-03 1.91727281e+02] [ 9.02164609e-01 4.31363179e-01 -4.98260153e-03 9.93242795e+01] [ 5.44055006e-03 1.72142651e-04 9.99985185e-01 -4.57774392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56576923100002 meters 0.04212652058469583 Centerline is valid? [True, True] Translation: X:191.73, Y:99.35, Z:-0.46 [[ 4.33585308e-01 -9.01110461e-01 -1.92786241e-03 1.91731329e+02] [ 9.01099806e-01 4.33589563e-01 -4.38534735e-03 9.93496623e+01] [ 4.78758340e-03 1.64225739e-04 9.99988526e-01 -4.56831325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59576923100002 meters 0.04844091138676346 Centerline is valid? [True, True] Translation: X:191.73, Y:99.38, Z:-0.45 [[ 4.37905215e-01 -8.99020619e-01 -9.74621013e-04 1.91728830e+02] [ 8.99017885e-01 4.37906289e-01 -2.21922672e-03 9.93783642e+01] [ 2.42192325e-03 9.56092327e-05 9.99997063e-01 -4.51562767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62576923100002 meters 0.046142590717377766 Centerline is valid? [True, True] Translation: X:191.74, Y:99.40, Z:-0.45 [[ 4.39222425e-01 -8.98378156e-01 -5.92047208e-04 1.91738691e+02] [ 8.98377145e-01 4.39222820e-01 -1.34906203e-03 9.94022657e+01] [ 1.47200850e-03 6.06566163e-05 9.99998915e-01 -4.49277590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65576923100002 meters 0.046077103457173606 Centerline is valid? [True, True] Translation: X:191.75, Y:99.43, Z:-0.45 [[ 4.39760764e-01 -8.98114804e-01 -5.18195563e-04 1.91746327e+02] [ 8.98114029e-01 4.39761066e-01 -1.18168737e-03 9.94287439e+01] [ 1.28917316e-03 5.42610369e-05 9.99999168e-01 -4.49279377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68576923100002 meters 0.04385504840700572 Centerline is valid? [True, True] Translation: X:191.75, Y:99.45, Z:-0.45 [[ 4.38534117e-01 -8.98713921e-01 -1.05621682e-03 1.91754467e+02] [ 8.98710700e-01 4.38535376e-01 -2.40883037e-03 9.94545152e+01] [ 2.62803783e-03 1.07120941e-04 9.99996541e-01 -4.52169955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71576923100002 meters 0.04531196774051722 Centerline is valid? [True, True] Translation: X:191.76, Y:99.48, Z:-0.45 [[ 4.36993545e-01 -8.99463860e-01 -1.18628925e-03 1.91759788e+02] [ 8.99459793e-01 4.36995139e-01 -2.70734719e-03 9.94798368e+01] [ 2.95356359e-03 1.16073767e-04 9.99995631e-01 -4.53590755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74576923100003 meters 0.038930578747202925 Centerline is valid? [True, True] Translation: X:191.77, Y:99.50, Z:-0.45 [[ 4.32994155e-01 -9.01396590e-01 -4.98810502e-04 1.91772324e+02] [ 9.01395871e-01 4.32994440e-01 -1.13974510e-03 9.95036718e+01] [ 1.24334452e-03 4.38772412e-05 9.99999226e-01 -4.49887130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77576923100003 meters 0.03963081395128689 Centerline is valid? [True, True] Translation: X:191.78, Y:99.53, Z:-0.45 [[ 4.31173205e-01 -9.02269104e-01 -3.61918947e-04 1.91778866e+02] [ 9.02268725e-01 4.31173356e-01 -8.27971050e-04 9.95284641e+01] [ 9.03102505e-04 3.04507845e-05 9.99999592e-01 -4.49026133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80576923100003 meters 0.03672391090516359 Centerline is valid? [True, True] Translation: X:191.79, Y:99.55, Z:-0.45 [[ 4.29322892e-01 -9.03150978e-01 -4.07240298e-04 1.91790933e+02] [ 9.03150497e-01 4.29323084e-01 -9.31911948e-04 9.95522748e+01] [ 1.01649485e-03 3.22918554e-05 9.99999483e-01 -4.49344863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83576923100003 meters 0.032037130119857836 Centerline is valid? [True, True] Translation: X:191.80, Y:99.57, Z:-0.45 [[ 4.24990404e-01 -9.05197578e-01 -7.07981205e-04 1.91803728e+02] [ 9.05196129e-01 4.24990991e-01 -1.62043002e-03 9.95748355e+01] [ 1.76769497e-03 4.78053653e-05 9.99998436e-01 -4.51422839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86576923100003 meters 0.030790106966371262 Centerline is valid? [True, True] Translation: X:191.81, Y:99.60, Z:-0.45 [[ 4.22847227e-01 -9.06200692e-01 -7.27362860e-04 1.91813795e+02] [ 9.06199162e-01 4.22847850e-01 -1.66576733e-03 9.95985284e+01] [ 1.81708333e-03 4.52294818e-05 9.99998348e-01 -4.51899620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89576923100003 meters 0.028862754157691066 Centerline is valid? [True, True] Translation: X:191.83, Y:99.62, Z:-0.45 [[ 4.21122495e-01 -9.07003517e-01 -6.81819394e-04 1.91826140e+02] [ 9.07002172e-01 4.21123045e-01 -1.56216132e-03 9.96224460e+01] [ 1.70401567e-03 3.94496011e-05 9.99998547e-01 -4.51633946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.925769231 meters 0.027414193396140134 Centerline is valid? [True, True] Translation: X:191.84, Y:99.65, Z:-0.45 [[ 4.19063641e-01 -9.07956773e-01 -4.02999497e-04 1.91837949e+02] [ 9.07956303e-01 4.19063835e-01 -9.24640355e-04 9.96451950e+01] [ 1.00841599e-03 2.15772207e-05 9.99999491e-01 -4.50255725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.955769231 meters 0.026669745828265815 Centerline is valid? [True, True] Translation: X:191.85, Y:99.67, Z:-0.45 [[ 4.18531905e-01 -9.08201967e-01 -4.81532987e-04 1.91848646e+02] [ 9.08201294e-01 4.18532181e-01 -1.10541397e-03 9.96687535e+01] [ 1.20547620e-03 2.53221351e-05 9.99999273e-01 -4.50278302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.985769231 meters 0.026538193164801147 Centerline is valid? [True, True] Translation: X:191.86, Y:99.69, Z:-0.45 [[ 4.18785084e-01 -9.08084517e-01 -1.25061329e-03 1.91857123e+02] [ 9.08079982e-01 4.18786946e-01 -2.87049100e-03 9.96935085e+01] [ 3.13038895e-03 6.64619203e-05 9.99995098e-01 -4.52932063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.015769231 meters 0.028958624066873415 Centerline is valid? [True, True] Translation: X:191.86, Y:99.72, Z:-0.46 [[ 4.19221932e-01 -9.07882352e-01 -1.61480684e-03 1.91862810e+02] [ 9.07874785e-01 4.19225032e-01 -3.70776298e-03 9.97183731e+01] [ 4.04318002e-03 8.83331458e-05 9.99991822e-01 -4.56128417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.045769231 meters 0.029455082219592334 Centerline is valid? [True, True] Translation: X:191.87, Y:99.74, Z:-0.46 [[ 4.19597939e-01 -9.07708432e-01 -1.72391757e-03 1.91871892e+02] [ 9.07699795e-01 4.19601469e-01 -3.96090370e-03 9.97430747e+01] [ 4.31870403e-03 9.71873992e-05 9.99990670e-01 -4.57426415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.075769231 meters 0.029541894340494142 Centerline is valid? [True, True] Translation: X:191.88, Y:99.77, Z:-0.46 [[ 4.20310575e-01 -9.07379073e-01 -1.49650293e-03 1.91880979e+02] [ 9.07372553e-01 4.20313229e-01 -3.44077644e-03 9.97678318e+01] [ 3.75108852e-03 8.83090381e-05 9.99992961e-01 -4.55482135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.105769231 meters 0.029805326170571456 Centerline is valid? [True, True] Translation: X:191.89, Y:99.79, Z:-0.45 [[ 4.20379037e-01 -9.07347557e-01 -1.37007590e-03 1.91890257e+02] [ 9.07342084e-01 4.20381261e-01 -3.15254974e-03 9.97917884e+01] [ 3.43641254e-03 8.21382999e-05 9.99994092e-01 -4.54305701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.135769231 meters 0.02815887834205167 Centerline is valid? [True, True] Translation: X:191.90, Y:99.81, Z:-0.45 [[ 4.18328502e-01 -9.08294949e-01 -1.24534043e-03 1.91902749e+02] [ 9.08290425e-01 4.18330350e-01 -2.86734500e-03 9.98143982e+01] [ 3.12535868e-03 6.83613466e-05 9.99995114e-01 -4.54158812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.165769231 meters 0.025703741977538497 Centerline is valid? [True, True] Translation: X:191.92, Y:99.84, Z:-0.45 [[ 4.15564556e-01 -9.09563269e-01 -8.71570045e-04 1.91915980e+02] [ 9.09561052e-01 4.15565468e-01 -2.00852371e-03 9.98358800e+01] [ 2.18907381e-03 4.19250986e-05 9.99997603e-01 -4.53538240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.195769231 meters 0.02209289520843385 Centerline is valid? [True, True] Translation: X:191.93, Y:99.86, Z:-0.45 [[ 4.12321095e-01 -9.11038480e-01 -4.50037578e-04 1.91931495e+02] [ 9.11037888e-01 4.12321341e-01 -1.03833884e-03 9.98577856e+01] [ 1.13152673e-03 1.81277219e-05 9.99999360e-01 -4.51653338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22576923100002 meters 0.01707017088455084 Centerline is valid? [True, True] Translation: X:191.95, Y:99.88, Z:-0.45 [[ 4.06470701e-01 -9.13663662e-01 -5.30456466e-04 1.91950412e+02] [ 9.13662842e-01 4.06471047e-01 -1.22445037e-03 9.98773612e+01] [ 1.33435100e-03 1.30448366e-05 9.99999110e-01 -4.52287362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25576923100002 meters 0.015715191144937603 Centerline is valid? [True, True] Translation: X:191.96, Y:99.90, Z:-0.45 [[ 4.04064628e-01 -9.14729948e-01 -9.48060419e-04 1.91964284e+02] [ 9.14727329e-01 4.04065740e-01 -2.18902515e-03 9.98985513e+01] [ 2.38544560e-03 1.72908601e-05 9.99997155e-01 -4.54409043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28576923100002 meters 0.013611315787866117 Centerline is valid? [True, True] Translation: X:191.98, Y:99.92, Z:-0.46 [[ 3.99397050e-01 -9.16776651e-01 -1.60286380e-03 1.91984108e+02] [ 9.16769175e-01 3.99400266e-01 -3.70236043e-03 9.99174281e+01] [ 4.03442182e-03 9.25571703e-06 9.99991862e-01 -4.56959262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31576923100002 meters 0.01346445929766698 Centerline is valid? [True, True] Translation: X:192.00, Y:99.94, Z:-0.46 [[ 3.97395566e-01 -9.17645795e-01 -1.72011787e-03 1.91999114e+02] [ 9.17637182e-01 3.97399288e-01 -3.97591465e-03 9.99391728e+01] [ 4.33205498e-03 1.56673967e-06 9.99990617e-01 -4.57349378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34576923100002 meters 0.01357485540725082 Centerline is valid? [True, True] Translation: X:192.01, Y:99.96, Z:-0.46 [[ 3.95503779e-01 -9.18462701e-01 -1.74024982e-03 1.92013075e+02] [ 9.18453880e-01 3.95507607e-01 -4.02537318e-03 9.99594121e+01] [ 4.38543716e-03 -6.28889095e-06 9.99990384e-01 -4.57552359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37576923100002 meters 0.01384938856194831 Centerline is valid? [True, True] Translation: X:192.03, Y:99.98, Z:-0.46 [[ 3.94163810e-01 -9.19038668e-01 -1.67842419e-03 1.92029895e+02] [ 9.19030456e-01 3.94167383e-01 -3.88516964e-03 9.99789190e+01] [ 4.23220120e-03 -1.11296812e-05 9.99991044e-01 -4.56515038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40576923100002 meters 0.013716084176368201 Centerline is valid? [True, True] Translation: X:192.04, Y:100.00, Z:-0.45 [[ 3.93970059e-01 -9.19122275e-01 -1.35470141e-03 1.92042051e+02] [ 9.19116917e-01 3.93972388e-01 -3.13848143e-03 1.00001020e+02] [ 3.41836314e-03 -8.66126458e-06 9.99994157e-01 -4.54517817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43576923100002 meters 0.013716084176368201 Centerline is valid? [True, True] Translation: X:192.05, Y:100.02, Z:-0.45 [[ 3.93722195e-01 -9.19228481e-01 -1.35385598e-03 1.92051264e+02] [ 9.19223122e-01 3.93724523e-01 -3.13884630e-03 1.00023371e+02] [ 3.41836322e-03 -8.66226101e-06 9.99994157e-01 -4.54569682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46576923100002 meters 0.013326256186179377 Centerline is valid? [True, True] Translation: X:192.06, Y:100.05, Z:-0.45 [[ 3.94124193e-01 -9.19056598e-01 -1.04422809e-03 1.92062075e+02] [ 9.19053404e-01 3.94125576e-01 -2.42312211e-03 1.00045380e+02] [ 2.63854336e-03 -4.69033319e-06 9.99996519e-01 -4.52866131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49576923100003 meters 0.013121688752572728 Centerline is valid? [True, True] Translation: X:192.07, Y:100.07, Z:-0.45 [[ 3.97610394e-01 -9.17554141e-01 -6.10187953e-04 1.92068136e+02] [ 9.17553047e-01 3.97610862e-01 -1.41743917e-03 1.00068366e+02] [ 1.54319454e-03 3.70873050e-06 9.99998809e-01 -4.50680264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52576923100003 meters 0.014110135165365505 Centerline is valid? [True, True] Translation: X:192.07, Y:100.09, Z:-0.45 [[ 3.99802480e-01 -9.16601187e-01 -4.91026441e-04 1.92074658e+02] [ 9.16600476e-01 3.99802782e-01 -1.14180995e-03 1.00092930e+02] [ 1.24289809e-03 6.42338072e-06 9.99999228e-01 -4.50715810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55576923100003 meters 0.01773481280027801 Centerline is valid? [True, True] Translation: X:192.08, Y:100.12, Z:-0.45 [[ 4.03977161e-01 -9.14768718e-01 -8.03330696e-04 1.92079320e+02] [ 9.14766811e-01 4.03977959e-01 -1.86822387e-03 1.00118936e+02] [ 2.03352065e-03 1.98595145e-05 9.99997932e-01 -4.52545698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58576923100003 meters 0.019787552136677686 Centerline is valid? [True, True] Translation: X:192.09, Y:100.14, Z:-0.45 [[ 4.05642231e-01 -9.14031472e-01 -9.21606476e-04 1.92086651e+02] [ 9.14028956e-01 4.05643277e-01 -2.14463505e-03 1.00142825e+02] [ 2.33410741e-03 2.75795425e-05 9.99997276e-01 -4.52737388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61576923100003 meters 0.02128770129311523 Centerline is valid? [True, True] Translation: X:192.09, Y:100.17, Z:-0.45 [[ 4.06823686e-01 -9.13506306e-01 -8.47719598e-04 1.92094850e+02] [ 9.13504173e-01 4.06824568e-01 -1.97403527e-03 1.00167062e+02] [ 2.14816682e-03 2.86889123e-05 9.99997692e-01 -4.51584418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64576923100003 meters 0.02369346588446767 Centerline is valid? [True, True] Translation: X:192.10, Y:100.19, Z:-0.45 [[ 4.08481790e-01 -9.12766436e-01 -2.47179532e-04 1.92100571e+02] [ 9.12766253e-01 4.08481865e-01 -5.76957930e-04 1.00191346e+02] [ 6.27596189e-04 1.00596722e-05 9.99999803e-01 -4.48697476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.675769231 meters 0.023883391500073018 Centerline is valid? [True, True] Translation: X:192.11, Y:100.21, Z:-0.45 [[ 4.08484500e-01 -9.12765254e-01 -6.99251323e-05 1.92109856e+02] [ 9.12765239e-01 4.08484506e-01 -1.64357081e-04 1.00214648e+02] [ 1.78582766e-04 3.31209004e-06 9.99999984e-01 -4.48014711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.705769231 meters 0.023660419584741462 Centerline is valid? [True, True] Translation: X:192.12, Y:100.24, Z:-0.45 [[ 4.07919344e-01 -9.13017963e-01 9.47417384e-05 1.92120194e+02] [ 9.13017936e-01 4.07919355e-01 2.19486428e-04 1.00236420e+02] [-2.39042040e-04 -3.03185313e-06 9.99999971e-01 -4.48055147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.735769231 meters 0.021669871819326777 Centerline is valid? [True, True] Translation: X:192.13, Y:100.26, Z:-0.45 [[ 4.05755478e-01 -9.13981479e-01 -5.89321328e-04 1.92133469e+02] [ 9.13980443e-01 4.05755906e-01 -1.37660096e-03 1.00257471e+02] [ 1.49730839e-03 1.99352125e-05 9.99998879e-01 -4.51815737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.765769231 meters 0.02084149262149338 Centerline is valid? [True, True] Translation: X:192.14, Y:100.28, Z:-0.45 [[ 4.04732883e-01 -9.14434217e-01 -1.16466553e-03 1.92143832e+02] [ 9.14430169e-01 4.04734557e-01 -2.72122805e-03 1.00279391e+02] [ 2.95976443e-03 3.63651756e-05 9.99995619e-01 -4.54879471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.795769231 meters 0.020206320302227125 Centerline is valid? [True, True] Translation: X:192.15, Y:100.30, Z:-0.46 [[ 4.03693458e-01 -9.14892861e-01 -1.62633351e-03 1.92154005e+02] [ 9.14884961e-01 4.03696731e-01 -3.80218232e-03 1.00301114e+02] [ 4.13513498e-03 4.70080585e-05 9.99991449e-01 -4.56958329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.825769231 meters 0.015843646528994598 Centerline is valid? [True, True] Translation: X:192.17, Y:100.32, Z:-0.45 [[ 4.00767815e-01 -9.16178830e-01 -1.22870220e-03 1.92172383e+02] [ 9.16174321e-01 4.00769697e-01 -2.87459964e-03 1.00321782e+02] [ 3.12607394e-03 2.63416120e-05 9.99995113e-01 -4.53192524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.855769231 meters 0.014405939517059093 Centerline is valid? [True, True] Translation: X:192.19, Y:100.34, Z:-0.45 [[ 3.98660419e-01 -9.17098062e-01 -1.00774983e-03 1.92185980e+02] [ 9.17095026e-01 3.98661692e-01 -2.35970973e-03 1.00344031e+02] [ 2.56583647e-03 1.65205169e-05 9.99996708e-01 -4.52281271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.885769231 meters 0.012727669657238391 Centerline is valid? [True, True] Translation: X:192.21, Y:100.36, Z:-0.45 [[ 3.94624138e-01 -9.18842454e-01 -5.78950414e-04 1.92205160e+02] [ 9.18841451e-01 3.94624563e-01 -1.35733586e-03 1.00363646e+02] [ 1.47564587e-03 3.67385668e-06 9.99998911e-01 -4.49738199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.915769231 meters 0.012635575114900162 Centerline is valid? [True, True] Translation: X:192.22, Y:100.38, Z:-0.45 [[ 3.92730017e-01 -9.19653655e-01 -5.38242486e-04 1.92218499e+02] [ 9.19652788e-01 3.92730386e-01 -1.26258777e-03 1.00384264e+02] [ 1.37252764e-03 8.59913092e-07 9.99999058e-01 -4.50577175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.945769231 meters 0.012630722694074312 Centerline is valid? [True, True] Translation: X:192.23, Y:100.41, Z:-0.45 [[ 3.90964448e-01 -9.20405461e-01 -7.66709804e-04 1.92234611e+02] [ 9.20403702e-01 3.90965199e-01 -1.79951081e-03 1.00405431e+02] [ 1.95603643e-03 -2.13779274e-06 9.99998087e-01 -4.49590461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97576923100002 meters 0.012579734881348966 Centerline is valid? [True, True] Translation: X:192.25, Y:100.43, Z:-0.45 [[ 3.90057003e-01 -9.20790640e-01 -3.63393770e-04 1.92247200e+02] [ 9.20790243e-01 3.90057172e-01 -8.54319423e-04 1.00428167e+02] [ 9.28393675e-04 -1.37616396e-06 9.99999569e-01 -4.48386500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00576923100002 meters 0.012725164206445757 Centerline is valid? [True, True] Translation: X:192.26, Y:100.45, Z:-0.45 [[ 3.89152244e-01 -9.21173411e-01 2.79571724e-04 1.92259805e+02] [ 9.21173178e-01 3.89152345e-01 6.55105116e-04 1.00449259e+02] [-7.12261406e-04 2.59834700e-06 9.99999746e-01 -4.47171838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03576923100002 meters 0.013086781767898754 Centerline is valid? [True, True] Translation: X:192.27, Y:100.47, Z:-0.45 [[ 3.88016917e-01 -9.21651994e-01 6.87875839e-04 1.92273131e+02] [ 9.21650579e-01 3.88017527e-01 1.61537098e-03 1.00471014e+02] [-1.75571777e-03 7.18989667e-06 9.99998459e-01 -4.46324117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06576923100002 meters 0.014683804055231661 Centerline is valid? [True, True] Translation: X:192.29, Y:100.49, Z:-0.45 [[ 3.85808093e-01 -9.22578676e-01 -8.38188636e-04 1.92291180e+02] [ 9.22576566e-01 3.85809003e-01 -1.97289704e-03 1.00489502e+02] [ 2.14353346e-03 -1.21335498e-05 9.99997703e-01 -4.54062253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09576923100002 meters 0.015435313581392635 Centerline is valid? [True, True] Translation: X:192.31, Y:100.51, Z:-0.46 [[ 3.84648708e-01 -9.23060758e-01 -2.05161263e-03 1.92305146e+02] [ 9.23048122e-01 3.84654177e-01 -4.83001185e-03 1.00512054e+02] [ 5.24755577e-03 -3.58793722e-05 9.99986231e-01 -4.58727719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12576923100002 meters 0.017447876069657812 Centerline is valid? [True, True] Translation: X:192.32, Y:100.53, Z:-0.46 [[ 3.83063604e-01 -9.23717704e-01 -2.80704689e-03 1.92323839e+02] [ 9.23694035e-01 3.83073884e-01 -6.61283739e-03 1.00531105e+02] [ 7.18370133e-03 -5.97151507e-05 9.99974195e-01 -4.62434206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15576923100002 meters 0.016140369872025568 Centerline is valid? [True, True] Translation: X:192.33, Y:100.55, Z:-0.46 [[ 3.83302384e-01 -9.23620337e-01 -2.18097374e-03 1.92334357e+02] [ 9.23606026e-01 3.83308586e-01 -5.14175011e-03 1.00554896e+02] [ 5.58501093e-03 -4.35154105e-05 9.99984403e-01 -4.57845785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18576923100002 meters 0.015000117048630721 Centerline is valid? [True, True] Translation: X:192.34, Y:100.58, Z:-0.46 [[ 3.84765946e-01 -9.23013148e-01 -1.37672163e-03 1.92344252e+02] [ 9.23007432e-01 3.84768409e-01 -3.24847324e-03 1.00578513e+02] [ 3.52810251e-03 -2.08224123e-05 9.99993776e-01 -4.55126527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21576923100002 meters 0.01245543665625808 Centerline is valid? [True, True] Translation: X:192.35, Y:100.60, Z:-0.45 [[ 3.89166763e-01 -9.21167239e-01 -3.84661985e-04 1.92349987e+02] [ 9.21166791e-01 3.89166953e-01 -9.09303528e-04 1.00603745e+02] [ 9.87318353e-04 -4.67135598e-07 9.99999513e-01 -4.50121671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24576923100003 meters 0.012460307189244743 Centerline is valid? [True, True] Translation: X:192.36, Y:100.63, Z:-0.45 [[ 3.91595213e-01 -9.20137565e-01 -2.25884393e-04 1.92358597e+02] [ 9.20137409e-01 3.91595278e-01 -5.34912350e-04 1.00628202e+02] [ 5.80648209e-04 1.62443607e-06 9.99999831e-01 -4.49693547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27576923100003 meters 0.01544715104064425 Centerline is valid? [True, True] Translation: X:192.37, Y:100.65, Z:-0.45 [[ 3.97126226e-01 -9.17763720e-01 -7.18213820e-04 1.92365645e+02] [ 9.17762148e-01 3.97126875e-01 -1.69873468e-03 1.00653697e+02] [ 1.84425907e-03 1.54626338e-05 9.99998299e-01 -4.51041411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30576923100003 meters 0.01787682256009029 Centerline is valid? [True, True] Translation: X:192.37, Y:100.68, Z:-0.45 [[ 3.99675254e-01 -9.16656279e-01 -9.78477866e-04 1.92372596e+02] [ 9.16653355e-01 3.99676450e-01 -2.31546864e-03 1.00678180e+02] [ 2.51356343e-03 2.85104968e-05 9.99996841e-01 -4.51753460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33576923100003 meters 0.020194820562461184 Centerline is valid? [True, True] Translation: X:192.38, Y:100.70, Z:-0.45 [[ 4.01807632e-01 -9.15723623e-01 -9.34748171e-04 1.92379939e+02] [ 9.15720948e-01 4.01808718e-01 -2.21351747e-03 1.00702904e+02] [ 2.40256020e-03 3.34397309e-05 9.99997113e-01 -4.51679263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36576923100003 meters 0.023857919095503805 Centerline is valid? [True, True] Translation: X:192.38, Y:100.73, Z:-0.45 [[ 4.04732674e-01 -9.14434975e-01 -3.73455660e-04 1.92384624e+02] [ 9.14434546e-01 4.04732846e-01 -8.85815513e-04 1.00727812e+02] [ 9.61170458e-04 1.70177245e-05 9.99999538e-01 -4.49051930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39576923100003 meters 0.02545929197839781 Centerline is valid? [True, True] Translation: X:192.39, Y:100.75, Z:-0.45 [[ 4.05659093e-01 -9.14024433e-01 -1.89408273e-04 1.92392251e+02] [ 9.14024322e-01 4.05659137e-01 -4.50315194e-04 1.00751346e+02] [ 4.88434287e-04 9.55068478e-06 9.99999881e-01 -4.47900591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.425769231 meters 0.026855527862223633 Centerline is valid? [True, True] Translation: X:192.40, Y:100.78, Z:-0.45 [[ 4.06602118e-01 -9.13605331e-01 -1.30350693e-04 1.92400863e+02] [ 9.13605278e-01 4.06602139e-01 -3.10489537e-04 1.00775200e+02] [ 3.36665767e-04 7.15662218e-06 9.99999943e-01 -4.47758131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.455769231 meters 0.030193213469126522 Centerline is valid? [True, True] Translation: X:192.41, Y:100.80, Z:-0.45 [[ 4.09163372e-01 -9.12460562e-01 -1.02848893e-03 1.92407765e+02] [ 9.12457297e-01 4.09164660e-01 -2.44189427e-03 1.00800860e+02] [ 2.64895355e-03 6.06814630e-05 9.99996490e-01 -4.52496683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.485769231 meters 0.031721905082112326 Centerline is valid? [True, True] Translation: X:192.42, Y:100.82, Z:-0.45 [[ 4.09996247e-01 -9.12086404e-01 -1.21189743e-03 1.92415154e+02] [ 9.12081862e-01 4.09998031e-01 -2.87951496e-03 1.00823719e+02] [ 3.12324200e-03 7.52406627e-05 9.99995120e-01 -4.54113265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.515769231 meters 0.03347859551332546 Centerline is valid? [True, True] Translation: X:192.42, Y:100.85, Z:-0.45 [[ 4.10913903e-01 -9.11674012e-01 -5.10570154e-04 1.92422204e+02] [ 9.11673203e-01 4.10914219e-01 -1.21476288e-03 1.00847202e+02] [ 1.31726828e-03 3.36898292e-05 9.99999132e-01 -4.50715463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.545769231 meters 0.03426858255147087 Centerline is valid? [True, True] Translation: X:192.43, Y:100.87, Z:-0.45 [[ 4.11312150e-01 -9.11494538e-01 -1.48681126e-04 1.92429575e+02] [ 9.11494469e-01 4.11312177e-01 -3.54908094e-04 1.00871642e+02] [ 3.84651147e-04 1.04559871e-05 9.99999926e-01 -4.48483318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.575769231 meters 0.03546238066834666 Centerline is valid? [True, True] Translation: X:192.44, Y:100.90, Z:-0.45 [[ 4.12211926e-01 -9.11087990e-01 3.79042753e-05 1.92435438e+02] [ 9.11087986e-01 4.12211928e-01 8.88677521e-05 1.00896593e+02] [-9.65909362e-05 -2.09821745e-06 9.99999995e-01 -4.46422631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.605769231 meters 0.04083423193593263 Centerline is valid? [True, True] Translation: X:192.43, Y:100.92, Z:-0.45 [[ 4.15550182e-01 -9.09570209e-01 -2.83903645e-04 1.92433534e+02] [ 9.09569957e-01 4.15550278e-01 -6.77368935e-04 1.00924628e+02] [ 7.34090843e-04 2.32505578e-05 9.99999730e-01 -4.47926678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.635769231 meters 0.04285438146918768 Centerline is valid? [True, True] Translation: X:192.44, Y:100.95, Z:-0.45 [[ 4.16573821e-01 -9.09101839e-01 -3.13738966e-04 1.92438157e+02] [ 9.09101531e-01 4.16573938e-01 -7.48902324e-04 1.00950435e+02] [ 8.11523957e-04 2.67525280e-05 9.99999670e-01 -4.49367451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.665769231 meters 0.042440602232556274 Centerline is valid? [True, True] Translation: X:192.44, Y:100.98, Z:-0.45 [[ 4.16287547e-01 -9.09232945e-01 -3.61197579e-04 1.92444612e+02] [ 9.09232536e-01 4.16287703e-01 -8.62567721e-04 1.00975471e+02] [ 9.34637099e-04 3.06636099e-05 9.99999563e-01 -4.50408991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.695769231 meters 0.03713451840212651 Centerline is valid? [True, True] Translation: X:192.46, Y:101.00, Z:-0.45 [[ 4.14414205e-01 -9.10088338e-01 -2.90173263e-04 1.92460443e+02] [ 9.10088074e-01 4.14414306e-01 -6.93302962e-04 1.00998082e+02] [ 7.51218891e-04 2.32313694e-05 9.99999718e-01 -4.49954269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72576923100002 meters 0.03224065574171939 Centerline is valid? [True, True] Translation: X:192.48, Y:101.02, Z:-0.45 [[ 4.11676947e-01 -9.11329804e-01 -2.81377680e-04 1.92476173e+02] [ 9.11329556e-01 4.11677042e-01 -6.72965522e-04 1.01020561e+02] [ 7.29130269e-04 2.06165957e-05 9.99999734e-01 -4.48862941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75576923100002 meters 0.031943636857080064 Centerline is valid? [True, True] Translation: X:192.49, Y:101.04, Z:-0.45 [[ 4.06466976e-01 -9.13665438e-01 -2.54675663e-04 1.92485970e+02] [ 9.13665235e-01 4.06467056e-01 -6.09782986e-04 1.01043834e+02] [ 6.60654906e-04 1.51683470e-05 9.99999782e-01 -4.49888930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78576923100002 meters 0.029038947095468906 Centerline is valid? [True, True] Translation: X:192.50, Y:101.06, Z:-0.45 [[ 4.03924830e-01 -9.14792140e-01 -2.69293924e-04 1.92499437e+02] [ 9.14791913e-01 4.03924919e-01 -6.44864074e-04 1.01064322e+02] [ 6.98691113e-04 1.41287071e-05 9.99999756e-01 -4.49620245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81576923100002 meters 0.025336584756295806 Centerline is valid? [True, True] Translation: X:192.52, Y:101.08, Z:-0.45 [[ 4.01157670e-01 -9.16009019e-01 -2.16446389e-05 1.92515462e+02] [ 9.16009018e-01 4.01157670e-01 -5.31110369e-05 1.01084671e+02] [ 5.73331017e-05 1.47921533e-06 9.99999998e-01 -4.48127410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84576923100002 meters 0.022074440901508344 Centerline is valid? [True, True] Translation: X:192.53, Y:101.11, Z:-0.45 [[ 4.00627736e-01 -9.16240909e-01 1.15145493e-04 1.92530208e+02] [ 9.16240868e-01 4.00627752e-01 2.74191415e-04 1.01105885e+02] [-2.97355872e-04 -4.34767930e-06 9.99999956e-01 -4.47190093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87576923100002 meters 0.02280142319164619 Centerline is valid? [True, True] Translation: X:192.54, Y:101.13, Z:-0.45 [[ 4.00992760e-01 -9.16081218e-01 9.26672457e-05 1.92539467e+02] [ 9.16081192e-01 4.00992770e-01 2.20549673e-04 1.01129450e+02] [-2.39200309e-04 -3.54810113e-06 9.99999971e-01 -4.47207812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90576923100002 meters 0.0261296763704968 Centerline is valid? [True, True] Translation: X:192.55, Y:101.15, Z:-0.45 [[ 4.03858465e-01 -9.14821458e-01 1.99443772e-04 1.92546677e+02] [ 9.14821334e-01 4.03858514e-01 4.76711642e-04 1.01154016e+02] [-5.16653105e-04 -1.00686143e-05 9.99999866e-01 -4.46872146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93576923100002 meters 0.029110415096022902 Centerline is valid? [True, True] Translation: X:192.55, Y:101.18, Z:-0.45 [[ 4.06048184e-01 -9.13851642e-01 2.19401181e-04 1.92553084e+02] [ 9.13851492e-01 4.06048243e-01 5.24965609e-04 1.01179965e+02] [-5.68828148e-04 -1.26612358e-05 9.99999838e-01 -4.46765937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96576923100002 meters 0.03214529587582115 Centerline is valid? [True, True] Translation: X:192.56, Y:101.21, Z:-0.45 [[ 4.08523267e-01 -9.12747892e-01 1.64822057e-04 1.92559442e+02] [ 9.12747806e-01 4.08523300e-01 3.94308348e-04 1.01205790e+02] [-4.27237764e-04 -1.06431631e-05 9.99999909e-01 -4.47304915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99576923100003 meters 0.0373375382054883 Centerline is valid? [True, True] Translation: X:192.56, Y:101.23, Z:-0.45 [[ 4.12195847e-01 -9.11095263e-01 6.91818721e-05 1.92561764e+02] [ 9.11095248e-01 4.12195853e-01 1.64766502e-04 1.01232161e+02] [-1.78634460e-04 -4.88479295e-06 9.99999984e-01 -4.48957424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02576923100003 meters 0.03816524101449135 Centerline is valid? [True, True] Translation: X:192.57, Y:101.26, Z:-0.45 [[ 4.12494982e-01 -9.10959872e-01 1.88275496e-05 1.92569951e+02] [ 9.10959871e-01 4.12494983e-01 4.39948516e-05 1.01256862e+02] [-4.78438143e-05 -9.96513345e-07 9.99999999e-01 -4.49716370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05576923100003 meters 0.03792202428411196 Centerline is valid? [True, True] Translation: X:192.58, Y:101.28, Z:-0.45 [[ 4.11471350e-01 -9.11422684e-01 -1.35161039e-04 1.92579794e+02] [ 9.11422626e-01 4.11471372e-01 -3.26369621e-04 1.01279780e+02] [ 3.53075574e-04 1.11029195e-05 9.99999938e-01 -4.50783631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08576923100003 meters 0.03651986195879208 Centerline is valid? [True, True] Translation: X:192.59, Y:101.30, Z:-0.45 [[ 4.10207516e-01 -9.11992032e-01 -5.71556664e-04 1.92590988e+02] [ 9.11990994e-01 4.10207912e-01 -1.37662983e-03 1.01303843e+02] [ 1.48993250e-03 4.34493735e-05 9.99998889e-01 -4.52340916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11576923100003 meters 0.035741513384859 Centerline is valid? [True, True] Translation: X:192.60, Y:101.33, Z:-0.45 [[ 4.09077233e-01 -9.12499293e-01 -9.25582222e-04 1.92599853e+02] [ 9.12496572e-01 4.09078275e-01 -2.22963225e-03 1.01326824e+02] [ 2.41317343e-03 6.75011854e-05 9.99997086e-01 -4.53708408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14576923100003 meters 0.03517560487630881 Centerline is valid? [True, True] Translation: X:192.61, Y:101.35, Z:-0.45 [[ 4.08094447e-01 -9.12939065e-01 -1.08915922e-03 1.92607970e+02] [ 9.12935292e-01 4.08095893e-01 -2.62567469e-03 1.01349803e+02] [ 2.84156240e-03 7.71913686e-05 9.99995960e-01 -4.54258986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.175769231 meters 0.032687390510025914 Centerline is valid? [True, True] Translation: X:192.62, Y:101.37, Z:-0.45 [[ 4.05607014e-01 -9.14047059e-01 -9.60990978e-04 1.92617629e+02] [ 9.14044121e-01 4.05608148e-01 -2.31836782e-03 1.01372793e+02] [ 2.50888306e-03 6.19580927e-05 9.99996851e-01 -4.53743476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.205769231 meters 0.030884614236369335 Centerline is valid? [True, True] Translation: X:192.63, Y:101.40, Z:-0.45 [[ 4.03940099e-01 -9.14785102e-01 -7.83226522e-04 1.92628979e+02] [ 9.14783149e-01 4.03940856e-01 -1.89112619e-03 1.01395771e+02] [ 2.04635126e-03 4.74192769e-05 9.99997905e-01 -4.53189947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.235769231 meters 0.026535492262027 Centerline is valid? [True, True] Translation: X:192.64, Y:101.42, Z:-0.45 [[ 4.00275896e-01 -9.16394563e-01 -4.60316529e-04 1.92642477e+02] [ 9.16393888e-01 4.00276160e-01 -1.11262493e-03 1.01417779e+02] [ 1.20385717e-03 2.35256891e-05 9.99999275e-01 -4.52599444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.265769231 meters 0.024263113337118287 Centerline is valid? [True, True] Translation: X:192.65, Y:101.44, Z:-0.45 [[ 3.97706560e-01 -9.17512432e-01 -6.55403725e-04 1.92654245e+02] [ 9.17511063e-01 3.97707099e-01 -1.58495109e-03 1.01438877e+02] [ 1.71487104e-03 2.90052763e-05 9.99998529e-01 -4.54282628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.295769231 meters 0.017633413322690736 Centerline is valid? [True, True] Translation: X:192.68, Y:101.46, Z:-0.46 [[ 3.92411728e-01 -9.19788469e-01 -1.48590335e-03 1.92675363e+02] [ 9.19781451e-01 3.92414539e-01 -3.59336658e-03 1.01458909e+02] [ 3.88822723e-03 4.33728548e-05 9.99992440e-01 -4.57221724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.325769231 meters 0.017633413322690736 Centerline is valid? [True, True] Translation: X:192.68, Y:101.48, Z:-0.46 [[ 3.92175952e-01 -9.19889025e-01 -1.48489035e-03 1.92684618e+02] [ 9.19882006e-01 3.92178761e-01 -3.59378540e-03 1.01482153e+02] [ 3.88822620e-03 4.34722979e-05 9.99992440e-01 -4.57275399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.355769231 meters 0.01701900487204027 Centerline is valid? [True, True] Translation: X:192.70, Y:101.50, Z:-0.46 [[ 3.90016591e-01 -9.20806772e-01 -1.39560353e-03 1.92696075e+02] [ 9.20800568e-01 3.90019087e-01 -3.38021005e-03 1.01504413e+02] [ 3.65683232e-03 3.32654793e-05 9.99993313e-01 -4.57905665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.385769231 meters 0.014800792507736771 Centerline is valid? [True, True] Translation: X:192.71, Y:101.53, Z:-0.45 [[ 3.88438123e-01 -9.21474301e-01 -9.67951227e-04 1.92710309e+02] [ 9.21471314e-01 3.88439329e-01 -2.34655378e-03 1.01526376e+02] [ 2.53827933e-03 1.95516582e-05 9.99996778e-01 -4.54789998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.415769231 meters 0.013591510287243827 Centerline is valid? [True, True] Translation: X:192.72, Y:101.55, Z:-0.45 [[ 3.85925131e-01 -9.22530104e-01 8.08993709e-06 1.92722959e+02] [ 9.22530104e-01 3.85925131e-01 1.82727000e-05 1.01548857e+02] [-1.99792260e-05 4.11316344e-07 1.00000000e+00 -4.51616977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.445769231 meters 0.013248002972750288 Centerline is valid? [True, True] Translation: X:192.73, Y:101.57, Z:-0.45 [[ 3.85155091e-01 -9.22851860e-01 8.42037965e-06 1.92733404e+02] [ 9.22851860e-01 3.85155091e-01 1.89836025e-05 1.01571420e+02] [-2.07622050e-05 4.59131881e-07 1.00000000e+00 -4.51817995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47576923100002 meters 0.014596147938466541 Centerline is valid? [True, True] Translation: X:192.74, Y:101.59, Z:-0.46 [[ 3.85930448e-01 -9.22526884e-01 -1.35580499e-03 1.92740761e+02] [ 9.22521006e-01 3.85932829e-01 -3.29322999e-03 1.01594393e+02] [ 3.56134285e-03 2.01991389e-05 9.99993658e-01 -4.58089425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50576923100002 meters 0.016089759319217512 Centerline is valid? [True, True] Translation: X:192.75, Y:101.62, Z:-0.46 [[ 3.87067716e-01 -9.22048736e-01 -2.17068579e-03 1.92747870e+02] [ 9.22033647e-01 3.87073800e-01 -5.27506617e-03 1.01618939e+02] [ 5.70408370e-03 4.03624761e-05 9.99983731e-01 -4.62700291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53576923100002 meters 0.0172691595244199 Centerline is valid? [True, True] Translation: X:192.76, Y:101.64, Z:-0.47 [[ 3.87850381e-01 -9.21718607e-01 -2.62520975e-03 1.92755158e+02] [ 9.21696503e-01 3.87859261e-01 -6.38353512e-03 1.01643579e+02] [ 6.90203502e-03 5.62098756e-05 9.99976179e-01 -4.65518646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56576923100002 meters 0.015845875201479245 Centerline is valid? [True, True] Translation: X:192.77, Y:101.67, Z:-0.46 [[ 3.88058364e-01 -9.21633488e-01 -1.55591744e-03 1.92766217e+02] [ 9.21625709e-01 3.88061482e-01 -3.78680339e-03 1.01667111e+02] [ 4.09383644e-03 3.55272157e-05 9.99991620e-01 -4.59373222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59576923100002 meters 0.016820606414022176 Centerline is valid? [True, True] Translation: X:192.77, Y:101.69, Z:-0.46 [[ 3.87612215e-01 -9.21822106e-01 -8.80422990e-04 1.92773494e+02] [ 9.21819611e-01 3.87613214e-01 -2.14506048e-03 1.01691084e+02] [ 2.31862775e-03 1.98604636e-05 9.99997312e-01 -4.56587334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62576923100002 meters 0.014887338836274694 Centerline is valid? [True, True] Translation: X:192.79, Y:101.71, Z:-0.45 [[ 3.87421026e-01 -9.21902815e-01 -3.86152579e-04 1.92785344e+02] [ 9.21902333e-01 3.87421218e-01 -9.42381566e-04 1.01714216e+02] [ 1.01838792e-03 9.10346942e-06 9.99999481e-01 -4.52190111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65576923100002 meters 0.01501298267599215 Centerline is valid? [True, True] Translation: X:192.79, Y:101.74, Z:-0.45 [[ 3.87021353e-01 -9.22070713e-01 -2.69218220e-04 1.92794018e+02] [ 9.22070478e-01 3.87021446e-01 -6.58043428e-04 1.01737094e+02] [ 7.10955798e-04 6.43868443e-06 9.99999747e-01 -4.52069440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68576923100002 meters 0.015642333159311628 Centerline is valid? [True, True] Translation: X:192.80, Y:101.76, Z:-0.45 [[ 3.86595863e-01 -9.22249197e-01 -2.37831193e-04 1.92801781e+02] [ 9.22249014e-01 3.86595936e-01 -5.81927715e-04 1.01760090e+02] [ 6.28626941e-04 5.63126426e-06 9.99999802e-01 -4.52925697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71576923100002 meters 0.014544323503883055 Centerline is valid? [True, True] Translation: X:192.81, Y:101.78, Z:-0.45 [[ 3.85713462e-01 -9.22618444e-01 -5.76629402e-04 1.92813929e+02] [ 9.22617367e-01 3.85713893e-01 -1.40968744e-03 1.01782466e+02] [ 1.52301761e-03 1.17271222e-05 9.99998840e-01 -4.54010199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74576923100003 meters 0.014358800499525473 Centerline is valid? [True, True] Translation: X:192.82, Y:101.81, Z:-0.45 [[ 3.85170179e-01 -9.22845232e-01 -7.81817002e-04 1.92824052e+02] [ 9.22843251e-01 3.85170972e-01 -1.91220757e-03 1.01805791e+02] [ 2.06580485e-03 1.50307869e-05 9.99997866e-01 -4.54422725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77576923100003 meters 0.014101206530473908 Centerline is valid? [True, True] Translation: X:192.83, Y:101.83, Z:-0.45 [[ 3.84899652e-01 -9.22958141e-01 -7.26239900e-04 1.92833119e+02] [ 9.22956429e-01 3.84900337e-01 -1.77775123e-03 1.01829862e+02] [ 1.92031995e-03 1.39680447e-05 9.99998156e-01 -4.52781652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80576923100003 meters 0.015062386205499673 Centerline is valid? [True, True] Translation: X:192.84, Y:101.85, Z:-0.45 [[ 3.84771747e-01 -9.23011626e-01 -4.90963049e-04 1.92839985e+02] [ 9.23010842e-01 3.84772060e-01 -1.20331857e-03 1.01853575e+02] [ 1.29958589e-03 9.83877107e-06 9.99999155e-01 -4.52502494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83576923100003 meters 0.014872279251031227 Centerline is valid? [True, True] Translation: X:192.85, Y:101.88, Z:-0.45 [[ 3.84898879e-01 -9.22958749e-01 2.07174329e-05 1.92849677e+02] [ 9.22958748e-01 3.84898880e-01 4.93247582e-05 1.01876661e+02] [-5.34988339e-05 1.36291816e-07 9.99999999e-01 -4.50350937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86576923100003 meters 0.016108601350289558 Centerline is valid? [True, True] Translation: X:192.86, Y:101.90, Z:-0.45 [[ 3.86107753e-01 -9.22453388e-01 7.41379814e-04 1.92857570e+02] [ 9.22451601e-01 3.86108464e-01 1.81587606e-03 1.01899746e+02] [-1.96131405e-03 -1.72368279e-05 9.99998076e-01 -4.47121337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89576923100003 meters 0.016265574908275637 Centerline is valid? [True, True] Translation: X:192.87, Y:101.92, Z:-0.45 [[ 3.86946491e-01 -9.22101824e-01 7.99980421e-04 1.92866386e+02] [ 9.22099739e-01 3.86947317e-01 1.96098407e-03 1.01923335e+02] [-2.11777726e-03 -2.11341665e-05 9.99997757e-01 -4.46920519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.925769231 meters 0.016788717445556364 Centerline is valid? [True, True] Translation: X:192.87, Y:101.95, Z:-0.45 [[ 3.87958942e-01 -9.21676645e-01 -1.50143939e-04 1.92873035e+02] [ 9.21676570e-01 3.87958971e-01 -3.69985203e-04 1.01949321e+02] [ 3.99256408e-04 5.15491730e-06 9.99999920e-01 -4.50855181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.955769231 meters 0.01768794459265119 Centerline is valid? [True, True] Translation: X:192.88, Y:101.97, Z:-0.45 [[ 3.87631072e-01 -9.21814441e-01 -5.36136825e-04 1.92880103e+02] [ 9.21813498e-01 3.87631443e-01 -1.31881341e-03 1.01972876e+02] [ 1.42352474e-03 1.69948942e-05 9.99998987e-01 -4.53322456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.985769231 meters 0.01674403166081642 Centerline is valid? [True, True] Translation: X:192.89, Y:102.00, Z:-0.45 [[ 3.86693458e-01 -9.22208085e-01 -6.46498679e-04 1.92891333e+02] [ 9.22206712e-01 3.86693998e-01 -1.59105956e-03 1.01995905e+02] [ 1.71728514e-03 1.90469012e-05 9.99998525e-01 -4.53693134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.015769231 meters 0.014945102778902007 Centerline is valid? [True, True] Translation: X:192.90, Y:102.02, Z:-0.45 [[ 3.83741153e-01 -9.23440686e-01 -1.62051926e-04 1.92904359e+02] [ 9.23440600e-01 3.83741187e-01 -4.00072495e-04 1.02018457e+02] [ 4.31629217e-04 3.87895311e-06 9.99999907e-01 -4.51119679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.045769231 meters 0.013693047911781936 Centerline is valid? [True, True] Translation: X:192.92, Y:102.04, Z:-0.45 [[ 3.81727338e-01 -9.24274972e-01 1.27243719e-04 1.92915947e+02] [ 9.24274919e-01 3.81727359e-01 3.11836747e-04 1.02041664e+02] [-3.36795310e-04 -1.42843300e-06 9.99999943e-01 -4.50008286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.075769231 meters 0.01241438430268905 Centerline is valid? [True, True] Translation: X:192.93, Y:102.06, Z:-0.45 [[ 3.78881576e-01 -9.25445147e-01 1.77499317e-04 1.92928515e+02] [ 9.25445044e-01 3.78881618e-01 4.35850675e-04 1.02064430e+02] [-4.70607121e-04 -8.69927000e-07 9.99999889e-01 -4.49784148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.105769231 meters 0.012442306120739526 Centerline is valid? [True, True] Translation: X:192.94, Y:102.09, Z:-0.45 [[ 3.78514908e-01 -9.25595180e-01 -1.66334721e-04 1.92937580e+02] [ 9.25595088e-01 3.78514945e-01 -4.11429919e-04 1.02087442e+02] [ 4.43777728e-04 1.77375720e-06 9.99999902e-01 -4.51803940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.135769231 meters 0.01280878722469467 Centerline is valid? [True, True] Translation: X:192.95, Y:102.11, Z:-0.46 [[ 3.78844860e-01 -9.25459781e-01 -8.75442983e-04 1.92946885e+02] [ 9.25457256e-01 3.78845871e-01 -2.16175702e-03 1.02111200e+02] [ 2.33227714e-03 8.78547646e-06 9.99997280e-01 -4.56026273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.165769231 meters 0.013109346713752903 Centerline is valid? [True, True] Translation: X:192.96, Y:102.13, Z:-0.46 [[ 3.79078374e-01 -9.25363987e-01 -1.03782555e-03 1.92956142e+02] [ 9.25360435e-01 3.79079795e-01 -2.56392094e-03 1.02134174e+02] [ 2.76597880e-03 1.15642748e-05 9.99996175e-01 -4.57830410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.195769231 meters 0.013431985849566055 Centerline is valid? [True, True] Translation: X:192.97, Y:102.16, Z:-0.46 [[ 3.79218241e-01 -9.25306425e-01 -1.24310882e-03 1.92965609e+02] [ 9.25301321e-01 3.79220278e-01 -3.07346506e-03 1.02156521e+02] [ 3.31530904e-03 1.52637812e-05 9.99994504e-01 -4.58956668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22576923100002 meters 0.013467976609697004 Centerline is valid? [True, True] Translation: X:192.98, Y:102.18, Z:-0.46 [[ 3.79200107e-01 -9.25313967e-01 -1.15806751e-03 1.92976373e+02] [ 9.25309531e-01 3.79201875e-01 -2.86541924e-03 1.02179363e+02] [ 3.09055381e-03 1.49963741e-05 9.99995224e-01 -4.58556677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25576923100002 meters 0.013700138408219466 Centerline is valid? [True, True] Translation: X:192.99, Y:102.20, Z:-0.45 [[ 3.79788397e-01 -9.25073358e-01 -2.37747252e-04 1.92987689e+02] [ 9.25073170e-01 3.79788471e-01 -5.89980936e-04 1.02201734e+02] [ 6.36069311e-04 4.13430999e-06 9.99999798e-01 -4.53755195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28576923100002 meters 0.013666172935446256 Centerline is valid? [True, True] Translation: X:193.00, Y:102.22, Z:-0.45 [[ 3.79999179e-01 -9.24986744e-01 3.83895045e-04 1.92998140e+02] [ 9.24986257e-01 3.79999373e-01 9.49343241e-04 1.02224874e+02] [-1.02400979e-03 -5.65201104e-06 9.99999476e-01 -4.50767372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31576923100002 meters 0.014476432294753153 Centerline is valid? [True, True] Translation: X:193.01, Y:102.25, Z:-0.45 [[ 3.81244519e-01 -9.24473716e-01 9.82580831e-04 1.93009898e+02] [ 9.24470512e-01 3.81245785e-01 2.43400117e-03 1.02247193e+02] [-2.62477491e-03 -1.95826033e-05 9.99996555e-01 -4.48957794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34576923100002 meters 0.0160157159971638 Centerline is valid? [True, True] Translation: X:193.02, Y:102.27, Z:-0.45 [[ 3.82130384e-01 -9.24108032e-01 8.45132342e-04 1.93018426e+02] [ 9.24105658e-01 3.82131318e-01 2.09488716e-03 1.02270310e+02] [-2.25885359e-03 -1.95284561e-05 9.99997449e-01 -4.49848573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37576923100002 meters 0.016799489127043037 Centerline is valid? [True, True] Translation: X:193.03, Y:102.29, Z:-0.45 [[ 3.83419746e-01 -9.23574106e-01 4.12201708e-04 1.93029189e+02] [ 9.23573540e-01 3.83419967e-01 1.02185273e-03 1.02294778e+02] [-1.10180309e-03 -1.10999226e-05 9.99999393e-01 -4.51466240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40576923100002 meters 0.019538472849169177 Centerline is valid? [True, True] Translation: X:193.04, Y:102.32, Z:-0.46 [[ 3.86473554e-01 -9.22300255e-01 -6.57746695e-04 1.93037791e+02] [ 9.22298805e-01 3.86474113e-01 -1.63519452e-03 1.02319786e+02] [ 1.76234239e-03 2.53204470e-05 9.99998447e-01 -4.56929456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43576923100002 meters 0.021525302776555885 Centerline is valid? [True, True] Translation: X:193.05, Y:102.34, Z:-0.46 [[ 3.88213340e-01 -9.21568966e-01 -1.02183047e-03 1.93046288e+02] [ 9.21565463e-01 3.88214682e-01 -2.54130193e-03 1.02344638e+02] [ 2.73867459e-03 4.48836427e-05 9.99996249e-01 -4.58186186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46576923100002 meters 0.02364045217438719 Centerline is valid? [True, True] Translation: X:193.05, Y:102.37, Z:-0.46 [[ 3.89975250e-01 -9.20824886e-01 -9.12975569e-04 1.93054973e+02] [ 9.20822085e-01 3.89976316e-01 -2.27177055e-03 1.02368164e+02] [ 2.44794171e-03 4.52462216e-05 9.99997003e-01 -4.57443506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49576923100003 meters 0.026900334120392843 Centerline is valid? [True, True] Translation: X:193.06, Y:102.39, Z:-0.46 [[ 3.92829531e-01 -9.19611022e-01 -7.26201226e-04 1.93063529e+02] [ 9.19609244e-01 3.92830200e-01 -1.80879614e-03 1.02392433e+02] [ 1.94866264e-03 4.27271786e-05 9.99998100e-01 -4.55256204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52576923100003 meters 0.02952547554593875 Centerline is valid? [True, True] Translation: X:193.07, Y:102.42, Z:-0.46 [[ 3.94673942e-01 -9.18821056e-01 -5.87833697e-04 1.93069713e+02] [ 9.18819889e-01 3.94674378e-01 -1.46543662e-03 1.02417479e+02] [ 1.57847693e-03 3.82563581e-05 9.99998753e-01 -4.55314973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55576923100003 meters 0.03452303804209343 Centerline is valid? [True, True] Translation: X:193.07, Y:102.44, Z:-0.46 [[ 3.98786831e-01 -9.17043588e-01 -3.49828018e-04 1.93073306e+02] [ 9.17043172e-01 3.98786983e-01 -8.73269646e-04 1.02443369e+02] [ 9.40333189e-04 2.74410389e-05 9.99999558e-01 -4.55112389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58576923100003 meters 0.03682314840667236 Centerline is valid? [True, True] Translation: X:193.08, Y:102.47, Z:-0.45 [[ 4.00564322e-01 -9.16268586e-01 -3.19691727e-04 1.93080701e+02] [ 9.16268239e-01 4.00564448e-01 -7.98604832e-04 1.02468772e+02] [ 8.59793661e-04 2.69692275e-05 9.99999630e-01 -4.54959036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61576923100003 meters 0.03865393587422468 Centerline is valid? [True, True] Translation: X:193.09, Y:102.49, Z:-0.45 [[ 4.01543409e-01 -9.15839957e-01 -2.52249225e-04 1.93086922e+02] [ 9.15839740e-01 4.01543488e-01 -6.30552517e-04 1.02493001e+02] [ 6.78774224e-04 2.21743427e-05 9.99999769e-01 -4.54657375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64576923100003 meters 0.04039279040740113 Centerline is valid? [True, True] Translation: X:193.09, Y:102.52, Z:-0.46 [[ 4.02478136e-01 -9.15429556e-01 -2.81122587e-04 1.93092380e+02] [ 9.15429286e-01 4.02478233e-01 -7.02983578e-04 1.02517631e+02] [ 7.56677666e-04 2.55876710e-05 9.99999713e-01 -4.55255632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67576923100003 meters 0.04031472793257003 Centerline is valid? [True, True] Translation: X:193.10, Y:102.54, Z:-0.46 [[ 4.01861577e-01 -9.15700380e-01 -2.95226354e-04 1.93101603e+02] [ 9.15700082e-01 4.01861685e-01 -7.39122647e-04 1.02540173e+02] [ 7.95455048e-04 2.66861963e-05 9.99999683e-01 -4.55548762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.705769231 meters 0.039185222415140504 Centerline is valid? [True, True] Translation: X:193.11, Y:102.56, Z:-0.46 [[ 4.00361209e-01 -9.16357286e-01 -4.76690849e-04 1.93113122e+02] [ 9.16356510e-01 4.00361491e-01 -1.19318823e-03 1.02563636e+02] [ 1.28423538e-03 4.08875191e-05 9.99999175e-01 -4.56607846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.735769231 meters 0.037856654179944084 Centerline is valid? [True, True] Translation: X:193.12, Y:102.59, Z:-0.46 [[ 3.98704196e-01 -9.17079443e-01 -5.08932143e-04 1.93124428e+02] [ 9.17078559e-01 3.98704519e-01 -1.27436276e-03 1.02585606e+02] [ 1.37160544e-03 4.13630244e-05 9.99999058e-01 -4.56781788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.765769231 meters 0.03595977883706446 Centerline is valid? [True, True] Translation: X:193.14, Y:102.61, Z:-0.45 [[ 3.96501036e-01 -9.18034265e-01 1.27180571e-04 1.93136071e+02] [ 9.18034211e-01 3.96501056e-01 3.16961729e-04 1.02607591e+02] [-3.41408959e-04 -8.91953837e-06 9.99999942e-01 -4.53055960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.795769231 meters 0.03547807357970746 Centerline is valid? [True, True] Translation: X:193.15, Y:102.63, Z:-0.45 [[ 3.95910793e-01 -9.18288724e-01 6.80340554e-04 1.93145332e+02] [ 9.18287146e-01 3.95911375e-01 1.70301525e-03 1.02630252e+02] [-1.83321426e-03 -4.94941315e-05 9.99998318e-01 -4.50223078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.825769231 meters 0.038183982156338905 Centerline is valid? [True, True] Translation: X:193.15, Y:102.66, Z:-0.45 [[ 3.97433910e-01 -9.17630196e-01 1.05370440e-03 1.93149628e+02] [ 9.17626401e-01 3.97435299e-01 2.64043395e-03 1.02655055e+02] [-2.84172125e-03 -8.24910147e-05 9.99995959e-01 -4.47275764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.855769231 meters 0.04154643036927395 Centerline is valid? [True, True] Translation: X:193.15, Y:102.68, Z:-0.45 [[ 3.99476343e-01 -9.16743043e-01 9.19203247e-04 1.93153666e+02] [ 9.16740149e-01 3.99477393e-01 2.30487760e-03 1.02680347e+02] [-2.48018143e-03 -7.80735555e-05 9.99996921e-01 -4.47501003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.885769231 meters 0.04450847952176074 Centerline is valid? [True, True] Translation: X:193.16, Y:102.71, Z:-0.45 [[ 4.01421222e-01 -9.15893241e-01 7.57063537e-04 1.93158133e+02] [ 9.15891274e-01 4.01421930e-01 1.89943823e-03 1.02706099e+02] [-2.04358454e-03 -6.90869290e-05 9.99997909e-01 -4.48678973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.915769231 meters 0.04650665067779433 Centerline is valid? [True, True] Translation: X:193.16, Y:102.73, Z:-0.45 [[ 4.02550143e-01 -9.15397604e-01 7.79766235e-04 1.93164513e+02] [ 9.15395514e-01 4.02550892e-01 1.95779292e-03 1.02730852e+02] [-2.10605455e-03 -7.43153088e-05 9.99997780e-01 -4.49219940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.945769231 meters 0.039460753420061084 Centerline is valid? [True, True] Translation: X:193.18, Y:102.75, Z:-0.45 [[ 4.01348297e-01 -9.15924790e-01 1.15077781e-03 1.93183154e+02] [ 9.15920231e-01 4.01349932e-01 2.89193975e-03 1.02751810e+02] [-3.11066391e-03 -1.06654421e-04 9.99995156e-01 -4.48512295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97576923100002 meters 0.04331926579533261 Centerline is valid? [True, True] Translation: X:193.19, Y:102.78, Z:-0.45 [[ 3.99263563e-01 -9.16835197e-01 1.35232058e-03 1.93187199e+02] [ 9.16828898e-01 3.99265835e-01 3.40075956e-03 1.02777379e+02] [-3.65787147e-03 -1.17952796e-04 9.99993303e-01 -4.47413886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00576923100002 meters 0.032293391324315066 Centerline is valid? [True, True] Translation: X:193.21, Y:102.80, Z:-0.45 [[ 3.95867428e-01 -9.18307073e-01 1.04845821e-03 1.93209356e+02] [ 9.18303288e-01 3.95868808e-01 2.63790131e-03 1.02797047e+02] [-2.83745533e-03 -8.14565873e-05 9.99995971e-01 -4.50024126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03576923100002 meters 0.03415463089563146 Centerline is valid? [True, True] Translation: X:193.22, Y:102.82, Z:-0.45 [[ 3.94959891e-01 -9.18698223e-01 5.08932559e-04 1.93215465e+02] [ 9.18697332e-01 3.94960217e-01 1.28068904e-03 1.02821118e+02] [-1.37757486e-03 -3.82658175e-05 9.99999050e-01 -4.52805132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06576923100002 meters 0.039473370864951444 Centerline is valid? [True, True] Translation: X:193.22, Y:102.85, Z:-0.46 [[ 3.95009092e-01 -9.18677210e-01 -9.85756153e-06 1.93217230e+02] [ 9.18677210e-01 3.95009092e-01 -2.63784887e-05 1.02846594e+02] [ 2.81271428e-05 1.36382576e-06 1.00000000e+00 -4.55398522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09576923100002 meters 0.042303749370534056 Centerline is valid? [True, True] Translation: X:193.22, Y:102.87, Z:-0.46 [[ 3.96424157e-01 -9.18067313e-01 -5.44334270e-04 1.93219361e+02] [ 9.18066285e-01 3.96424528e-01 -1.37463948e-03 1.02871578e+02] [ 1.47779903e-03 4.52053555e-05 9.99998907e-01 -4.59024046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12576923100002 meters 0.0343186688777487 Centerline is valid? [True, True] Translation: X:193.24, Y:102.89, Z:-0.46 [[ 3.96956969e-01 -9.17837188e-01 -2.45950907e-04 1.93236433e+02] [ 9.17836977e-01 3.96957045e-01 -6.22368895e-04 1.02892586e+02] [ 6.68865261e-04 2.13108330e-05 9.99999776e-01 -4.56892582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15576923100002 meters 0.04370640782278874 Centerline is valid? [True, True] Translation: X:193.23, Y:102.92, Z:-0.45 [[ 3.98530756e-01 -9.17154339e-01 1.07493777e-03 1.93230435e+02] [ 9.17150328e-01 3.98532194e-01 2.71411819e-03 1.02922022e+02] [-2.91766258e-03 -9.57800394e-05 9.99995739e-01 -4.51045439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18576923100002 meters 0.03817409620052796 Centerline is valid? [True, True] Translation: X:193.25, Y:102.94, Z:-0.45 [[ 3.99213445e-01 -9.16857174e-01 1.24424544e-03 1.93245732e+02] [ 9.16851791e-01 3.99215367e-01 3.14374484e-03 1.02944634e+02] [-3.37908691e-03 -1.14236547e-04 9.99994284e-01 -4.49664348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21576923100002 meters 0.039349364887553806 Centerline is valid? [True, True] Translation: X:193.25, Y:102.97, Z:-0.46 [[ 3.99596348e-01 -9.16691153e-01 -2.97517720e-04 1.93250021e+02] [ 9.16690844e-01 3.99596457e-01 -7.54071401e-04 1.02969664e+02] [ 8.10137609e-04 2.85924077e-05 9.99999671e-01 -4.56249355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24576923100003 meters 0.039349364887553806 Centerline is valid? [True, True] Translation: X:193.26, Y:102.99, Z:-0.46 [[ 3.99360807e-01 -9.16793792e-01 -2.97314230e-04 1.93258931e+02] [ 9.16793483e-01 3.99360917e-01 -7.54151740e-04 1.02993053e+02] [ 8.10137317e-04 2.86028991e-05 9.99999671e-01 -4.56303046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27576923100003 meters 0.04070370076770229 Centerline is valid? [True, True] Translation: X:193.26, Y:103.02, Z:-0.46 [[ 3.99027770e-01 -9.16937911e-01 -1.30645158e-03 1.93263605e+02] [ 9.16931940e-01 3.99029890e-01 -3.31142747e-03 1.03017722e+02] [ 3.55768662e-03 1.23424333e-04 9.99993664e-01 -4.62103329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30576923100003 meters 0.03957847235555598 Centerline is valid? [True, True] Translation: X:193.27, Y:103.04, Z:-0.47 [[ 3.98576633e-01 -9.17132950e-01 -1.95433508e-03 1.93271610e+02] [ 9.17119575e-01 3.98581382e-01 -4.95647344e-03 1.03041919e+02] [ 5.32470669e-03 1.83175531e-04 9.99985807e-01 -4.66048170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33576923100003 meters 0.039253270160981006 Centerline is valid? [True, True] Translation: X:193.28, Y:103.07, Z:-0.47 [[ 3.98001494e-01 -9.17382657e-01 -1.96750304e-03 1.93278923e+02] [ 9.17369084e-01 3.98006315e-01 -4.99359058e-03 1.03066025e+02] [ 5.36411203e-03 1.82530048e-04 9.99985596e-01 -4.66548182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36576923100003 meters 0.03853122105613619 Centerline is valid? [True, True] Translation: X:193.29, Y:103.09, Z:-0.46 [[ 3.96767795e-01 -9.17918840e-01 -5.66382696e-04 1.93287279e+02] [ 9.17917713e-01 3.96768196e-01 -1.43899731e-03 1.03091688e+02] [ 1.54560538e-03 5.10550820e-05 9.99998804e-01 -4.58433307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39576923100003 meters 0.038390505480259254 Centerline is valid? [True, True] Translation: X:193.30, Y:103.12, Z:-0.45 [[ 3.96126549e-01 -9.18195905e-01 1.93462192e-04 1.93295044e+02] [ 9.18195774e-01 3.96126596e-01 4.90207792e-04 1.03115335e+02] [-5.26742307e-04 -1.65481538e-05 9.99999861e-01 -4.54367461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42576923100003 meters 0.03767868509749538 Centerline is valid? [True, True] Translation: X:193.30, Y:103.14, Z:-0.45 [[ 3.95271686e-01 -9.18563615e-01 1.08577244e-03 1.93303040e+02] [ 9.18559478e-01 3.95273166e-01 2.75870598e-03 1.03140275e+02] [-2.96322365e-03 -9.30918025e-05 9.99995605e-01 -4.50249230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.455769231 meters 0.03833913000024377 Centerline is valid? [True, True] Translation: X:193.31, Y:103.16, Z:-0.45 [[ 3.94949547e-01 -9.18702083e-01 1.15635142e-03 1.93310916e+02] [ 9.18697383e-01 3.94951228e-01 2.94028631e-03 1.03163992e+02] [-3.15794957e-03 -9.89277263e-05 9.99995009e-01 -4.50932969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.485769231 meters 0.037782906793622804 Centerline is valid? [True, True] Translation: X:193.32, Y:103.19, Z:-0.45 [[ 3.94472166e-01 -9.18907255e-01 1.08035991e-03 1.93320085e+02] [ 9.18903147e-01 3.94473635e-01 2.74903578e-03 1.03187332e+02] [-2.95228242e-03 -9.16719741e-05 9.99995638e-01 -4.51844069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.515769231 meters 0.037624911907937215 Centerline is valid? [True, True] Translation: X:193.33, Y:103.21, Z:-0.45 [[ 3.93489285e-01 -9.19329079e-01 4.76903589e-04 1.93326195e+02] [ 9.19328279e-01 3.93489572e-01 1.21359739e-03 1.03211934e+02] [-1.30335196e-03 -3.91066147e-05 9.99999150e-01 -4.54953835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.545769231 meters 0.037281729085973096 Centerline is valid? [True, True] Translation: X:193.33, Y:103.24, Z:-0.46 [[ 3.93022457e-01 -9.19528869e-01 8.76409852e-05 1.93333955e+02] [ 9.19528842e-01 3.93022467e-01 2.21989433e-04 1.03235790e+02] [-2.38570568e-04 -6.65841875e-06 9.99999972e-01 -4.56668246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.575769231 meters 0.03535015331550342 Centerline is valid? [True, True] Translation: X:193.35, Y:103.26, Z:-0.46 [[ 3.91949225e-01 -9.19986763e-01 -4.02023808e-04 1.93345307e+02] [ 9.19986190e-01 3.91949429e-01 -1.02705643e-03 1.03259246e+02] [ 1.10245132e-03 3.26976209e-05 9.99999392e-01 -4.58170755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.605769231 meters 0.03677054690759597 Centerline is valid? [True, True] Translation: X:193.35, Y:103.28, Z:-0.46 [[ 3.91111431e-01 -9.20343302e-01 -2.34152271e-04 1.93351763e+02] [ 9.20343107e-01 3.91111501e-01 -5.99395742e-04 1.03282881e+02] [ 6.43229503e-04 1.89300983e-05 9.99999793e-01 -4.57429168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.635769231 meters 0.0360122270118099 Centerline is valid? [True, True] Translation: X:193.36, Y:103.31, Z:-0.46 [[ 3.90296428e-01 -9.20689252e-01 -2.05113026e-05 1.93359936e+02] [ 9.20689250e-01 3.90296429e-01 -5.38448651e-05 1.03306855e+02] [ 5.75798766e-05 2.13092266e-06 9.99999998e-01 -4.55750677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.665769231 meters 0.03337174680611977 Centerline is valid? [True, True] Translation: X:193.37, Y:103.33, Z:-0.45 [[ 3.88816445e-01 -9.21315131e-01 4.49156916e-04 1.93369780e+02] [ 9.21314417e-01 3.88816703e-01 1.14710798e-03 1.03331868e+02] [-1.23148765e-03 -3.21997021e-05 9.99999241e-01 -4.54529280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.695769231 meters 0.03325755636471516 Centerline is valid? [True, True] Translation: X:193.38, Y:103.35, Z:-0.45 [[ 3.87060330e-01 -9.22054239e-01 5.30182135e-04 1.93378125e+02] [ 9.22053244e-01 3.87060692e-01 1.35503884e-03 1.03354978e+02] [-1.45463197e-03 -3.56256248e-05 9.99998941e-01 -4.54058158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72576923100002 meters 0.03024800088626086 Centerline is valid? [True, True] Translation: X:193.39, Y:103.38, Z:-0.45 [[ 3.84532280e-01 -9.23111304e-01 6.67892069e-04 1.93390500e+02] [ 9.23109723e-01 3.84532858e-01 1.70869819e-03 1.03377293e+02] [-1.83414506e-03 -4.05119460e-05 9.99998317e-01 -4.53043801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75576923100002 meters 0.022599985336961836 Centerline is valid? [True, True] Translation: X:193.41, Y:103.40, Z:-0.45 [[ 3.79078019e-01 -9.25364392e-01 7.72738296e-04 1.93408869e+02] [ 9.25362278e-01 3.79078805e-01 1.97861271e-03 1.03398111e+02] [-2.12386646e-03 -3.49857170e-05 9.99997744e-01 -4.52602455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78576923100002 meters 0.02045320247699669 Centerline is valid? [True, True] Translation: X:193.42, Y:103.42, Z:-0.45 [[ 3.76711110e-01 -9.26330709e-01 3.97077692e-04 1.93421425e+02] [ 9.26330151e-01 3.76711319e-01 1.01678826e-03 1.03421347e+02] [-1.09146586e-03 -1.52103984e-05 9.99999404e-01 -4.54698852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81576923100002 meters 0.01753261895912713 Centerline is valid? [True, True] Translation: X:193.44, Y:103.44, Z:-0.46 [[ 3.74346475e-01 -9.27288648e-01 -6.92428138e-04 1.93436604e+02] [ 9.27286943e-01 3.74347115e-01 -1.77841149e-03 1.03442999e+02] [ 1.90830926e-03 2.36625029e-05 9.99998179e-01 -4.59001293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84576923100002 meters 0.018924599475372502 Centerline is valid? [True, True] Translation: X:193.44, Y:103.47, Z:-0.46 [[ 3.74407707e-01 -9.27263787e-01 -8.59465469e-04 1.93442862e+02] [ 9.27261156e-01 3.74408692e-01 -2.20890588e-03 1.03466835e+02] [ 2.37002977e-03 3.00824383e-05 9.99997191e-01 -4.60429785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87576923100002 meters 0.02017159330990837 Centerline is valid? [True, True] Translation: X:193.45, Y:103.49, Z:-0.46 [[ 3.75760089e-01 -9.26716736e-01 -6.67870120e-04 1.93448867e+02] [ 9.26715145e-01 3.75760682e-01 -1.71776674e-03 1.03492721e+02] [ 1.84284252e-03 2.65428275e-05 9.99998302e-01 -4.58499156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90576923100002 meters 0.027406516492218615 Centerline is valid? [True, True] Translation: X:193.44, Y:103.52, Z:-0.45 [[ 3.80263262e-01 -9.24878170e-01 4.71500611e-04 1.93444865e+02] [ 9.24877377e-01 3.80263553e-01 1.21127647e-03 1.03521081e+02] [-1.29957767e-03 -2.45236946e-05 9.99999155e-01 -4.53163287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93576923100002 meters 0.02800806207396653 Centerline is valid? [True, True] Translation: X:193.45, Y:103.55, Z:-0.45 [[ 3.82531869e-01 -9.23942044e-01 6.84957255e-04 1.93452075e+02] [ 9.23940366e-01 3.82532480e-01 1.76116843e-03 1.03546366e+02] [-1.88923596e-03 -4.08433956e-05 9.99998215e-01 -4.52241714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96576923100002 meters 0.030923122626183613 Centerline is valid? [True, True] Translation: X:193.45, Y:103.57, Z:-0.45 [[ 3.86598007e-01 -9.22248307e-01 2.01456802e-04 1.93454393e+02] [ 9.22248162e-01 3.86598059e-01 5.17345337e-04 1.03573865e+02] [-5.55003670e-04 -1.42115105e-05 9.99999846e-01 -4.54750831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99576923100003 meters 0.033953782801970596 Centerline is valid? [True, True] Translation: X:193.46, Y:103.60, Z:-0.46 [[ 3.87912686e-01 -9.21696126e-01 6.66633421e-06 1.93456874e+02] [ 9.21696126e-01 3.87912686e-01 1.60006791e-05 1.03599720e+02] [-1.73337196e-05 -6.25319707e-08 1.00000000e+00 -4.56102257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02576923100003 meters 0.03466204139736886 Centerline is valid? [True, True] Translation: X:193.46, Y:103.63, Z:-0.46 [[ 3.88367039e-01 -9.21504770e-01 4.20991045e-05 1.93462410e+02] [ 9.21504764e-01 3.88367041e-01 1.07171167e-04 1.03625463e+02] [-1.15108646e-04 -2.82722335e-06 9.99999993e-01 -4.56330877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05576923100003 meters 0.03896734423390123 Centerline is valid? [True, True] Translation: X:193.46, Y:103.65, Z:-0.46 [[ 3.86739524e-01 -9.22188916e-01 3.79501085e-04 1.93461092e+02] [ 9.22188398e-01 3.86739709e-01 9.77718445e-04 1.03653296e+02] [-1.04840925e-03 -2.81508676e-05 9.99999450e-01 -4.55550444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08576923100003 meters 0.03037088687922684 Centerline is valid? [True, True] Translation: X:193.48, Y:103.67, Z:-0.45 [[ 3.85139768e-01 -9.22858072e-01 5.81575673e-04 1.93479162e+02] [ 9.22856853e-01 3.85140205e-01 1.50022639e-03 1.03674996e+02] [-1.60848421e-03 -4.10857490e-05 9.99998706e-01 -4.54159452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11576923100003 meters 0.027317266453293028 Centerline is valid? [True, True] Translation: X:193.49, Y:103.70, Z:-0.45 [[ 3.82209262e-01 -9.24075664e-01 4.96277254e-04 1.93487270e+02] [ 9.24074777e-01 3.82209583e-01 1.28067914e-03 1.03700207e+02] [-1.37312635e-03 -3.08901363e-05 9.99999057e-01 -4.54657156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14576923100003 meters 0.026893235124261894 Centerline is valid? [True, True] Translation: X:193.49, Y:103.72, Z:-0.46 [[ 3.80754234e-01 -9.24676264e-01 1.45872790e-04 1.93494803e+02] [ 9.24676187e-01 3.80754261e-01 3.75651003e-04 1.03724269e+02] [-4.02897252e-04 -8.14561448e-06 9.99999919e-01 -4.56600833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17576923100003 meters 0.02459295673581383 Centerline is valid? [True, True] Translation: X:193.51, Y:103.75, Z:-0.46 [[ 3.79167930e-01 -9.25327877e-01 -4.58132330e-05 1.93506154e+02] [ 9.25327869e-01 3.79167932e-01 -1.19945664e-04 1.03747929e+02] [ 1.28359976e-04 3.08728799e-06 9.99999992e-01 -4.58009645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.205769231 meters 0.020422603346453915 Centerline is valid? [True, True] Translation: X:193.52, Y:103.77, Z:-0.46 [[ 3.73989176e-01 -9.27433067e-01 4.61563315e-05 1.93520364e+02] [ 9.27433060e-01 3.73989179e-01 1.18045098e-04 1.03769894e+02] [-1.26740896e-04 -1.34068120e-06 9.99999992e-01 -4.57602726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.235769231 meters 0.017107434331540272 Centerline is valid? [True, True] Translation: X:193.53, Y:103.79, Z:-0.46 [[ 3.70339530e-01 -9.28896439e-01 1.95058297e-04 1.93534038e+02] [ 9.28896302e-01 3.70339581e-01 5.03971412e-04 1.03793193e+02] [-5.40375058e-04 -5.45160516e-06 9.99999854e-01 -4.57138985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.265769231 meters 0.012972514213061823 Centerline is valid? [True, True] Translation: X:193.55, Y:103.81, Z:-0.46 [[ 3.64185563e-01 -9.31326385e-01 1.97950053e-04 1.93552577e+02] [ 9.31326245e-01 3.64185617e-01 5.11988811e-04 1.03814537e+02] [-5.48919251e-04 -2.10285449e-06 9.99999849e-01 -4.57061223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.295769231 meters 0.01206163583863305 Centerline is valid? [True, True] Translation: X:193.57, Y:103.84, Z:-0.46 [[ 3.61528634e-01 -9.32360977e-01 2.37690094e-04 1.93566259e+02] [ 9.32360773e-01 3.61528712e-01 6.15269758e-04 1.03835965e+02] [-6.59585306e-04 -8.24715163e-07 9.99999782e-01 -4.57044601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.325769231 meters 0.01244398765588488 Centerline is valid? [True, True] Translation: X:193.58, Y:103.86, Z:-0.46 [[ 3.56407854e-01 -9.34330477e-01 -3.56914960e-05 1.93584908e+02] [ 9.34330472e-01 3.56407855e-01 -9.41905538e-05 1.03855710e+02] [ 1.00725835e-04 2.22600793e-07 9.99999995e-01 -4.59601512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.355769231 meters 0.013900047009552649 Centerline is valid? [True, True] Translation: X:193.60, Y:103.88, Z:-0.46 [[ 3.53500275e-01 -9.35434400e-01 -1.98384134e-04 1.93599881e+02] [ 9.35434257e-01 3.53500331e-01 -5.16947857e-04 1.03877187e+02] [ 5.53699665e-04 -2.83410551e-06 9.99999847e-01 -4.61223299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.385769231 meters 0.015517827264644903 Centerline is valid? [True, True] Translation: X:193.62, Y:103.90, Z:-0.46 [[ 3.51287881e-01 -9.36267478e-01 -1.86096997e-04 1.93615586e+02] [ 9.36267352e-01 3.51287930e-01 -4.85318104e-04 1.03897507e+02] [ 5.19761186e-04 -3.75017492e-06 9.99999865e-01 -4.61398033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.415769231 meters 0.01687075351656567 Centerline is valid? [True, True] Translation: X:193.64, Y:103.92, Z:-0.46 [[ 3.49238437e-01 -9.37033892e-01 1.69237712e-05 1.93635636e+02] [ 9.37033891e-01 3.49238437e-01 4.25044305e-05 1.03917506e+02] [-4.57385234e-05 1.01396629e-06 9.99999999e-01 -4.58690634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.445769231 meters 0.015533441550087516 Centerline is valid? [True, True] Translation: X:193.64, Y:103.94, Z:-0.46 [[ 3.49489733e-01 -9.36940193e-01 -2.26833803e-05 1.93644752e+02] [ 9.36940191e-01 3.49489734e-01 -6.06899959e-05 1.03941780e+02] [ 6.47905050e-05 -4.24401674e-08 9.99999998e-01 -4.57747402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47576923100002 meters 0.013515439407248168 Centerline is valid? [True, True] Translation: X:193.65, Y:103.97, Z:-0.46 [[ 3.53066616e-01 -9.35598185e-01 2.91056497e-05 1.93650701e+02] [ 9.35598182e-01 3.53066617e-01 7.43118817e-05 1.03966986e+02] [-7.98022950e-05 9.94148314e-07 9.99999997e-01 -4.58730638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50576923100002 meters 0.01243706484137196 Centerline is valid? [True, True] Translation: X:193.66, Y:103.99, Z:-0.46 [[ 3.55290182e-01 -9.34756057e-01 2.30024922e-06 1.93657065e+02] [ 9.34756057e-01 3.55290182e-01 4.34624429e-06 1.03991147e+02] [-4.87993421e-06 6.05993972e-07 1.00000000e+00 -4.58870215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53576923100002 meters 0.011775370310037619 Centerline is valid? [True, True] Translation: X:193.66, Y:104.01, Z:-0.46 [[ 3.57225848e-01 -9.34018030e-01 1.16823822e-04 1.93664265e+02] [ 9.34017981e-01 3.57225867e-01 3.03302433e-04 1.04014540e+02] [-3.25022432e-04 7.68081475e-07 9.99999947e-01 -4.57837860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56576923100002 meters 0.012405700963501555 Centerline is valid? [True, True] Translation: X:193.67, Y:104.04, Z:-0.46 [[ 3.60723024e-01 -9.32672981e-01 1.03661031e-04 1.93667703e+02] [ 9.32672942e-01 3.60723039e-01 2.69170418e-04 1.04039820e+02] [-2.88440898e-04 -4.14127877e-07 9.99999958e-01 -4.55699960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59576923100002 meters 0.013906188004993318 Centerline is valid? [True, True] Translation: X:193.67, Y:104.07, Z:-0.46 [[ 3.63061425e-01 -9.31765155e-01 3.12582374e-04 1.93669815e+02] [ 9.31764798e-01 3.63061560e-01 8.15686047e-04 1.04065494e+02] [-8.73514480e-04 -4.89088653e-06 9.99999618e-01 -4.55035575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62576923100002 meters 0.018527257589458106 Centerline is valid? [True, True] Translation: X:193.67, Y:104.10, Z:-0.45 [[ 3.68923859e-01 -9.29459307e-01 7.63992407e-04 1.93666355e+02] [ 9.29457161e-01 3.68924649e-01 1.99743058e-03 1.04095198e+02] [-2.13838608e-03 -2.68015849e-05 9.99997713e-01 -4.53684372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65576923100002 meters 0.020781158756290587 Centerline is valid? [True, True] Translation: X:193.67, Y:104.12, Z:-0.45 [[ 3.70695150e-01 -9.28754151e-01 9.12580391e-04 1.93670684e+02] [ 9.28751082e-01 3.70696271e-01 2.38787109e-03 1.04121119e+02] [-2.55603534e-03 -3.76122053e-05 9.99996733e-01 -4.52667402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68576923100002 meters 0.021731419910806668 Centerline is valid? [True, True] Translation: X:193.68, Y:104.15, Z:-0.45 [[ 3.71427245e-01 -9.28461614e-01 9.12956450e-04 1.93676981e+02] [ 9.28458537e-01 3.71428365e-01 2.39059278e-03 1.04146611e+02] [-2.55867155e-03 -4.02890819e-05 9.99996726e-01 -4.51974547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71576923100002 meters 0.02195708897083162 Centerline is valid? [True, True] Translation: X:193.68, Y:104.17, Z:-0.45 [[ 3.71634320e-01 -9.28378954e-01 6.70864268e-04 1.93683333e+02] [ 9.28377291e-01 3.71634924e-01 1.75750151e-03 1.04171532e+02] [-1.88094401e-03 -3.03327266e-05 9.99998231e-01 -4.53617613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74576923100003 meters 0.022320561090677603 Centerline is valid? [True, True] Translation: X:193.69, Y:104.20, Z:-0.46 [[ 3.71380994e-01 -9.28480508e-01 -3.21110663e-04 1.93687269e+02] [ 9.28480125e-01 3.71381132e-01 -8.44146584e-04 1.04197177e+02] [ 9.03028091e-04 1.53551281e-05 9.99999592e-01 -4.60532565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77576923100003 meters 0.020556925753191433 Centerline is valid? [True, True] Translation: X:193.70, Y:104.22, Z:-0.46 [[ 3.69116118e-01 -9.29383252e-01 -2.50289929e-04 1.93697735e+02] [ 9.29383018e-01 3.69116203e-01 -6.58712875e-04 1.04220384e+02] [ 7.04582782e-04 1.05263295e-05 9.99999752e-01 -4.60271933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80576923100003 meters 0.01925852251252177 Centerline is valid? [True, True] Translation: X:193.71, Y:104.24, Z:-0.46 [[ 3.67454600e-01 -9.30041453e-01 1.09283440e-04 1.93707327e+02] [ 9.30041410e-01 3.67454616e-01 2.85677340e-04 1.04244161e+02] [-3.05848473e-04 -3.33532831e-06 9.99999953e-01 -4.57887288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83576923100003 meters 0.01767053612104796 Centerline is valid? [True, True] Translation: X:193.72, Y:104.27, Z:-0.46 [[ 3.65427340e-01 -9.30839799e-01 3.58136635e-04 1.93716906e+02] [ 9.30839324e-01 3.65427515e-01 9.40363222e-04 1.04267211e+02] [-1.00620049e-03 -1.02667673e-05 9.99999494e-01 -4.56007338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86576923100003 meters 0.016520574227342672 Centerline is valid? [True, True] Translation: X:193.73, Y:104.29, Z:-0.46 [[ 3.63919222e-01 -9.31430403e-01 4.53099458e-04 1.93727723e+02] [ 9.31429641e-01 3.63919503e-01 1.19100319e-03 1.04290767e+02] [-1.27422831e-03 -1.13986885e-05 9.99999188e-01 -4.55981270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89576923100003 meters 0.014621995352809246 Centerline is valid? [True, True] Translation: X:193.74, Y:104.31, Z:-0.46 [[ 3.61638335e-01 -9.32318377e-01 3.97851208e-04 1.93744530e+02] [ 9.32317790e-01 3.61638554e-01 1.04637792e-03 1.04311467e+02] [-1.11943570e-03 -7.48661086e-06 9.99999373e-01 -4.56889568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92576923100003 meters 0.015793056397865515 Centerline is valid? [True, True] Translation: X:193.75, Y:104.34, Z:-0.45 [[ 3.62516579e-01 -9.31976949e-01 8.34866487e-04 1.93749360e+02] [ 9.31974354e-01 3.62517540e-01 2.19910814e-03 1.04335351e+02] [-2.35217184e-03 -1.91390057e-05 9.99997233e-01 -4.54273862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.955769231 meters 0.01797345068448341 Centerline is valid? [True, True] Translation: X:193.75, Y:104.36, Z:-0.45 [[ 3.64764477e-01 -9.31099186e-01 1.08687987e-03 1.93751888e+02] [ 9.31094777e-01 3.64766095e-01 2.86564284e-03 1.04361502e+02] [-3.06465464e-03 -3.32965376e-05 9.99995303e-01 -4.53381737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.985769231 meters 0.02098245549029373 Centerline is valid? [True, True] Translation: X:193.75, Y:104.39, Z:-0.45 [[ 3.67584923e-01 -9.29989240e-01 1.15648073e-03 1.93754717e+02] [ 9.29984235e-01 3.67586739e-01 3.05154847e-03 1.04387831e+02] [-3.26301423e-03 -4.61943663e-05 9.99994675e-01 -4.53165107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01576923100004 meters 0.023958737870500298 Centerline is valid? [True, True] Translation: X:193.76, Y:104.41, Z:-0.45 [[ 3.69983210e-01 -9.29037669e-01 1.19789839e-03 1.93758538e+02] [ 9.29032285e-01 3.69985144e-01 3.16314878e-03 1.04412194e+02] [-3.38188898e-03 -5.74256649e-05 9.99994280e-01 -4.53574402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04576923100007 meters 0.028236980999336914 Centerline is valid? [True, True] Translation: X:193.76, Y:104.44, Z:-0.45 [[ 3.73768631e-01 -9.27520902e-01 1.40937478e-03 1.93760787e+02] [ 9.27513429e-01 3.73771279e-01 3.72433237e-03 1.04439011e+02] [-3.98117994e-03 -8.48245743e-05 9.99992071e-01 -4.52345905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07576923100004 meters 0.030637646052678973 Centerline is valid? [True, True] Translation: X:193.76, Y:104.46, Z:-0.45 [[ 3.74387182e-01 -9.27271229e-01 1.51891702e-03 1.93764080e+02] [ 9.27262533e-01 3.74390251e-01 4.01692915e-03 1.04463619e+02] [-4.29345055e-03 -9.54519381e-05 9.99990779e-01 -4.51984591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10576923100007 meters 0.027077460318547866 Centerline is valid? [True, True] Translation: X:193.77, Y:104.49, Z:-0.46 [[ 3.73659167e-01 -9.27565729e-01 8.03163405e-04 1.93774191e+02] [ 9.27563296e-01 3.73660027e-01 2.12496711e-03 1.04486709e+02] [-2.27115672e-03 -4.90285438e-05 9.99997420e-01 -4.56172586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13576923100004 meters 0.027077460318547866 Centerline is valid? [True, True] Translation: X:193.78, Y:104.51, Z:-0.46 [[ 3.73420972e-01 -9.27661648e-01 8.02617397e-04 1.93782728e+02] [ 9.27659215e-01 3.73421832e-01 2.12517332e-03 1.04510216e+02] [-2.27115664e-03 -4.90288629e-05 9.99997420e-01 -4.56226255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16576923100007 meters 0.02571757181037106 Centerline is valid? [True, True] Translation: X:193.79, Y:104.53, Z:-0.46 [[ 3.71453686e-01 -9.28451465e-01 1.89408385e-04 1.93792110e+02] [ 9.28451330e-01 3.71453734e-01 5.00770902e-04 1.04533442e+02] [-5.35297930e-04 -1.01567304e-05 9.99999857e-01 -4.59585838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19576923100004 meters 0.021264077865745235 Centerline is valid? [True, True] Translation: X:193.81, Y:104.55, Z:-0.46 [[ 3.66686985e-01 -9.30344375e-01 -8.00193196e-06 1.93806372e+02] [ 9.30344374e-01 3.66686985e-01 -2.27897813e-05 1.04554793e+02] [ 2.41365491e-05 9.12163824e-07 1.00000000e+00 -4.60613633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2257692310001 meters 0.019001160459881754 Centerline is valid? [True, True] Translation: X:193.82, Y:104.58, Z:-0.46 [[ 3.64016033e-01 -9.31392659e-01 2.04242375e-04 1.93818720e+02] [ 9.31392502e-01 3.64016090e-01 5.40935162e-04 1.04577591e+02] [-5.78170550e-04 -6.67925487e-06 9.99999833e-01 -4.59105000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25576923100004 meters 0.016650144986055757 Centerline is valid? [True, True] Translation: X:193.83, Y:104.60, Z:-0.46 [[ 3.61607065e-01 -9.32330466e-01 4.82064359e-04 1.93831960e+02] [ 9.32329588e-01 3.61607386e-01 1.27969763e-03 1.04601181e+02] [-1.36741912e-03 -1.33048364e-05 9.99999065e-01 -4.57677250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2857692310001 meters 0.01564026045292123 Centerline is valid? [True, True] Translation: X:193.84, Y:104.62, Z:-0.46 [[ 3.60108302e-01 -9.32910236e-01 7.09070008e-04 1.93842435e+02] [ 9.32908333e-01 3.60109000e-01 1.88432371e-03 1.04624958e+02] [-2.01324737e-03 -1.70632917e-05 9.99997973e-01 -4.56421387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31576923100005 meters 0.016231245336315956 Centerline is valid? [True, True] Translation: X:193.85, Y:104.65, Z:-0.46 [[ 3.60314722e-01 -9.32830654e-01 5.21300574e-04 1.93848626e+02] [ 9.32829624e-01 3.60315099e-01 1.38607861e-03 1.04649096e+02] [-1.48080909e-03 -1.31399120e-05 9.99998904e-01 -4.57915389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.345769231 meters 0.017299949780842927 Centerline is valid? [True, True] Translation: X:193.85, Y:104.68, Z:-0.46 [[ 3.61282207e-01 -9.32456522e-01 3.49029582e-05 1.93852892e+02] [ 9.32456518e-01 3.61282209e-01 9.15384654e-05 1.04675588e+02] [-9.79654570e-05 -5.25727960e-07 9.99999995e-01 -4.60589976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37576923100005 meters 0.017951573290984263 Centerline is valid? [True, True] Translation: X:193.86, Y:104.70, Z:-0.46 [[ 3.61190909e-01 -9.32491890e-01 4.45028844e-05 1.93858563e+02] [ 9.32491883e-01 3.61190912e-01 1.16995025e-04 1.04699527e+02] [-1.25170950e-04 -7.58961036e-07 9.99999992e-01 -4.60034819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.405769231 meters 0.017032669264376715 Centerline is valid? [True, True] Translation: X:193.87, Y:104.72, Z:-0.46 [[ 3.60384431e-01 -9.32803780e-01 4.11147670e-04 1.93867285e+02] [ 9.32803138e-01 3.60384665e-01 1.09521623e-03 1.04723326e+02] [-1.16979315e-03 -1.11790401e-05 9.99999316e-01 -4.57677385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43576923100005 meters 0.01629149208739662 Centerline is valid? [True, True] Translation: X:193.88, Y:104.75, Z:-0.46 [[ 3.59203406e-01 -9.33258827e-01 9.35687529e-04 1.93877045e+02] [ 9.33255488e-01 3.59204624e-01 2.49639980e-03 1.04746349e+02] [-2.66589043e-03 -2.34797884e-05 9.99996446e-01 -4.56083555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.465769231 meters 0.01709369413033652 Centerline is valid? [True, True] Translation: X:193.89, Y:104.77, Z:-0.46 [[ 3.58447870e-01 -9.33549491e-01 6.87190737e-04 1.93885750e+02] [ 9.33547689e-01 3.58448528e-01 1.83441064e-03 1.04769705e+02] [-1.95883562e-03 -1.60152601e-05 9.99998081e-01 -4.58189083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49576923100005 meters 0.015208096468108442 Centerline is valid? [True, True] Translation: X:193.90, Y:104.79, Z:-0.46 [[ 3.57071412e-01 -9.34077088e-01 -2.47908761e-05 1.93900469e+02] [ 9.34077085e-01 3.57071413e-01 -6.79624353e-05 1.04790737e+02] [ 7.23342668e-05 1.11085349e-06 9.99999997e-01 -4.63880172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.525769231 meters 0.014989445209114426 Centerline is valid? [True, True] Translation: X:193.91, Y:104.81, Z:-0.47 [[ 3.56601164e-01 -9.34256652e-01 -3.45033022e-04 1.93910309e+02] [ 9.34256194e-01 3.56601331e-01 -9.24877986e-04 1.04813834e+02] [ 9.87112645e-04 7.46332773e-06 9.99999513e-01 -4.65831111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55576923100006 meters 0.015238545623272051 Centerline is valid? [True, True] Translation: X:193.92, Y:104.84, Z:-0.47 [[ 3.56520088e-01 -9.34287613e-01 -2.87185273e-04 1.93918576e+02] [ 9.34287295e-01 3.56520204e-01 -7.70753534e-04 1.04836573e+02] [ 8.22492832e-04 6.47556617e-06 9.99999662e-01 -4.65557862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58576923100003 meters 0.01570277150672198 Centerline is valid? [True, True] Translation: X:193.93, Y:104.86, Z:-0.46 [[ 3.57148273e-01 -9.34047634e-01 3.59346085e-04 1.93927616e+02] [ 9.34047139e-01 3.57148453e-01 9.61595503e-04 1.04860632e+02] [-1.02651590e-03 -7.78598995e-06 9.99999473e-01 -4.61603571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61576923100006 meters 0.015883661927132073 Centerline is valid? [True, True] Translation: X:193.94, Y:104.88, Z:-0.46 [[ 3.57174929e-01 -9.34037214e-01 7.43228811e-04 1.93936481e+02] [ 9.34035090e-01 3.57175702e-01 1.99202393e-03 1.04884459e+02] [-2.12608776e-03 -1.72992159e-05 9.99997740e-01 -4.59818875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64576923100003 meters 0.016671883630682272 Centerline is valid? [True, True] Translation: X:193.94, Y:104.91, Z:-0.46 [[ 3.57922472e-01 -9.33750725e-01 1.04248962e-03 1.93944234e+02] [ 9.33746537e-01 3.57923989e-01 2.79689191e-03 1.04908443e+02] [-2.98473189e-03 -2.76493889e-05 9.99995545e-01 -4.58646902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67576923100006 meters 0.01705925445884454 Centerline is valid? [True, True] Translation: X:193.95, Y:104.93, Z:-0.46 [[ 3.57891617e-01 -9.33762357e-01 1.20453640e-03 1.93952943e+02] [ 9.33756756e-01 3.57893642e-01 3.23436300e-03 1.04932548e+02] [-3.45122234e-03 -3.28073988e-05 9.99994044e-01 -4.58250110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70576923100003 meters 0.01709860938647528 Centerline is valid? [True, True] Translation: X:193.96, Y:104.96, Z:-0.46 [[ 3.57708767e-01 -9.33832501e-01 1.13899728e-03 1.93962305e+02] [ 9.33827486e-01 3.57710579e-01 3.06070194e-03 1.04955219e+02] [-3.26561433e-03 -3.12129551e-05 9.99994667e-01 -4.58416692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73576923100006 meters 0.015887932869619703 Centerline is valid? [True, True] Translation: X:193.98, Y:104.98, Z:-0.46 [[ 3.56064183e-01 -9.34461267e-01 6.62272040e-04 1.93976949e+02] [ 9.34459571e-01 3.56064798e-01 1.78043867e-03 1.04976599e+02] [-1.89956274e-03 -1.50839955e-05 9.99998196e-01 -4.60839247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76576923100004 meters 0.014880829287881278 Centerline is valid? [True, True] Translation: X:193.99, Y:105.00, Z:-0.46 [[ 3.54263365e-01 -9.35145533e-01 5.47593965e-04 1.93988032e+02] [ 9.35144373e-01 3.54263789e-01 1.47299570e-03 1.04997863e+02] [-1.57145806e-03 -9.74899775e-06 9.99998765e-01 -4.61825126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79576923100007 meters 0.013567586042693992 Centerline is valid? [True, True] Translation: X:194.00, Y:105.02, Z:-0.46 [[ 3.51667477e-01 -9.36124652e-01 7.88632906e-04 1.94001428e+02] [ 9.36122242e-01 3.51668362e-01 2.12396075e-03 1.05018084e+02] [-2.26562926e-03 -8.67111614e-06 9.99997433e-01 -4.61033880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82576923100004 meters 0.013369744924068045 Centerline is valid? [True, True] Translation: X:194.01, Y:105.04, Z:-0.46 [[ 3.51344532e-01 -9.36245913e-01 7.80947345e-04 1.94010256e+02] [ 9.36243547e-01 3.51345400e-01 2.10501910e-03 1.05041544e+02] [-2.24519779e-03 -8.43003909e-06 9.99997480e-01 -4.60231085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85576923100007 meters 0.013703453045109672 Centerline is valid? [True, True] Translation: X:194.02, Y:105.07, Z:-0.46 [[ 3.51705748e-01 -9.36110401e-01 6.19234470e-04 1.94017270e+02] [ 9.36108912e-01 3.51706293e-01 1.67013766e-03 1.05065281e+02] [-1.78122189e-03 -7.72610813e-06 9.99998414e-01 -4.61071575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88576923100004 meters 0.01696176840489772 Centerline is valid? [True, True] Translation: X:194.02, Y:105.09, Z:-0.47 [[ 3.55398778e-01 -9.34714660e-01 -4.60773969e-04 1.94018996e+02] [ 9.34713829e-01 3.55399077e-01 -1.24638867e-03 1.05091983e+02] [ 1.32877640e-03 1.22732087e-05 9.99999117e-01 -4.67166890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91576923100007 meters 0.01877163169487542 Centerline is valid? [True, True] Translation: X:194.02, Y:105.12, Z:-0.47 [[ 3.58134967e-01 -9.33669677e-01 -5.29217959e-04 1.94024621e+02] [ 9.33668579e-01 3.58135357e-01 -1.43226748e-03 1.05118373e+02] [ 1.52679638e-03 1.88308879e-05 9.99998834e-01 -4.68381574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94576923100004 meters 0.026815041861790522 Centerline is valid? [True, True] Translation: X:194.02, Y:105.15, Z:-0.47 [[ 3.63620186e-01 -9.31547275e-01 1.85624284e-04 1.94020929e+02] [ 9.31547140e-01 3.63620234e-01 5.00686563e-04 1.05146071e+02] [-5.33909949e-04 -9.14197086e-06 9.99999857e-01 -4.65272009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.9757692310001 meters 0.028110985213788946 Centerline is valid? [True, True] Translation: X:194.03, Y:105.17, Z:-0.46 [[ 3.64516909e-01 -9.31196517e-01 6.85074932e-04 1.94027558e+02] [ 9.31194673e-01 3.64517551e-01 1.85354594e-03 1.05171103e+02] [-1.97573736e-03 -3.77107084e-05 9.99998048e-01 -4.62620147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00576923100004 meters 0.02862053445095149 Centerline is valid? [True, True] Translation: X:194.03, Y:105.19, Z:-0.46 [[ 3.64562536e-01 -9.31178542e-01 8.24878981e-04 1.94033766e+02] [ 9.31175864e-01 3.64563467e-01 2.23375564e-03 1.05193881e+02] [-2.38074606e-03 -4.62362250e-05 9.99997165e-01 -4.61481217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0357692310001 meters 0.027473460390894842 Centerline is valid? [True, True] Translation: X:194.04, Y:105.22, Z:-0.46 [[ 3.63269259e-01 -9.31683868e-01 7.84162088e-04 1.94042045e+02] [ 9.31681446e-01 3.63270103e-01 2.12516294e-03 1.05217894e+02] [-2.26484267e-03 -4.14170975e-05 9.99997434e-01 -4.62875403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06576923100005 meters 0.02440439684724921 Centerline is valid? [True, True] Translation: X:194.05, Y:105.24, Z:-0.46 [[ 3.61776307e-01 -9.32264519e-01 8.77252431e-04 1.94054529e+02] [ 9.32261484e-01 3.61777368e-01 2.37945571e-03 1.05239844e+02] [-2.53565221e-03 -4.30020449e-05 9.99996784e-01 -4.62306622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.095769231 meters 0.023293899421901423 Centerline is valid? [True, True] Translation: X:194.06, Y:105.26, Z:-0.46 [[ 3.59032990e-01 -9.33323843e-01 1.38424760e-03 1.94063112e+02] [ 9.33316277e-01 3.59035654e-01 3.75857053e-03 1.05262171e+02] [-4.00495774e-03 -5.75100006e-05 9.99991978e-01 -4.59806952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12576923100005 meters 0.020043804092231856 Centerline is valid? [True, True] Translation: X:194.08, Y:105.28, Z:-0.46 [[ 3.58058394e-01 -9.33698391e-01 1.22528196e-03 1.94075089e+02] [ 9.33692456e-01 3.58060488e-01 3.32942239e-03 1.05284591e+02] [-3.54740138e-03 -4.80911170e-05 9.99993707e-01 -4.61284638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.155769231 meters 0.020457045842691653 Centerline is valid? [True, True] Translation: X:194.08, Y:105.31, Z:-0.46 [[ 3.57469169e-01 -9.33924540e-01 8.64660004e-04 1.94081170e+02] [ 9.33921581e-01 3.57470213e-01 2.35091036e-03 1.05308697e+02] [-2.50466307e-03 -3.28533335e-05 9.99996863e-01 -4.63367174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18576923100005 meters 0.01974418466089094 Centerline is valid? [True, True] Translation: X:194.09, Y:105.33, Z:-0.47 [[ 3.56474636e-01 -9.34304934e-01 3.52757329e-04 1.94087892e+02] [ 9.34304442e-01 3.56474811e-01 9.58900497e-04 1.05332684e+02] [-1.02165457e-03 -1.22409665e-05 9.99999478e-01 -4.65863109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.215769231 meters 0.020581516469800765 Centerline is valid? [True, True] Translation: X:194.09, Y:105.36, Z:-0.47 [[ 3.55379829e-01 -9.34721863e-01 4.64113443e-04 1.94093310e+02] [ 9.34721010e-01 3.55380132e-01 1.26316104e-03 1.05356181e+02] [-1.34564093e-03 -1.50853670e-05 9.99999095e-01 -4.65698924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24576923100005 meters 0.018589451139472607 Centerline is valid? [True, True] Translation: X:194.10, Y:105.38, Z:-0.46 [[ 3.53334711e-01 -9.35496202e-01 1.19904111e-03 1.94103987e+02] [ 9.35490492e-01 3.53336744e-01 3.26881683e-03 1.05378800e+02] [-3.48163102e-03 -3.32948908e-05 9.99993939e-01 -4.60866018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.275769231 meters 0.016249016920854096 Centerline is valid? [True, True] Translation: X:194.12, Y:105.40, Z:-0.46 [[ 3.51467406e-01 -9.36199118e-01 1.36867196e-03 1.94116052e+02] [ 9.36191671e-01 3.51470070e-01 3.73436805e-03 1.05400326e+02] [-3.97715931e-03 -3.11693684e-05 9.99992091e-01 -4.60472071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30576923100006 meters 0.015057075767865137 Centerline is valid? [True, True] Translation: X:194.13, Y:105.42, Z:-0.46 [[ 3.49838587e-01 -9.36809252e-01 1.17848962e-03 1.94125970e+02] [ 9.36803726e-01 3.49840571e-01 3.21782305e-03 1.05423176e+02] [-3.42676989e-03 -2.17052054e-05 9.99994128e-01 -4.61724981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33576923100003 meters 0.014332493732980426 Centerline is valid? [True, True] Translation: X:194.14, Y:105.45, Z:-0.47 [[ 3.49386565e-01 -9.36978326e-01 8.02891005e-04 1.94135309e+02] [ 9.36975758e-01 3.49387488e-01 2.19350557e-03 1.05447276e+02] [-2.33578725e-03 -1.40919685e-05 9.99997272e-01 -4.65337274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36576923100006 meters 0.014874547044870247 Centerline is valid? [True, True] Translation: X:194.14, Y:105.47, Z:-0.47 [[ 3.49823489e-01 -9.36815398e-01 6.60763327e-04 1.94143975e+02] [ 9.36813657e-01 3.49824113e-01 1.80635441e-03 1.05471126e+02] [-1.92337157e-03 -1.28930936e-05 9.99998150e-01 -4.65278398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39576923100003 meters 0.01708960464343309 Centerline is valid? [True, True] Translation: X:194.15, Y:105.50, Z:-0.47 [[ 3.51417713e-01 -9.36218736e-01 2.64482529e-04 1.94150326e+02] [ 9.36218457e-01 3.51417813e-01 7.22601219e-04 1.05495381e+02] [-7.69456672e-04 -6.32144278e-06 9.99999704e-01 -4.66287707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42576923100006 meters 0.018874688257967464 Centerline is valid? [True, True] Translation: X:194.16, Y:105.52, Z:-0.47 [[ 3.52709300e-01 -9.35732928e-01 -1.94147787e-04 1.94155367e+02] [ 9.35732776e-01 3.52709353e-01 -5.33620061e-04 1.05519775e+02] [ 5.67803602e-04 6.54231049e-06 9.99999839e-01 -4.69393169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45576923100003 meters 0.019771437189099034 Centerline is valid? [True, True] Translation: X:194.16, Y:105.54, Z:-0.47 [[ 3.54363112e-01 -9.35107795e-01 -4.44617185e-04 1.94161629e+02] [ 9.35106998e-01 3.54363390e-01 -1.22099863e-03 1.05544664e+02] [ 1.29932139e-03 1.69122333e-05 9.99999156e-01 -4.70846635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48576923100006 meters 0.024922192988802324 Centerline is valid? [True, True] Translation: X:194.16, Y:105.57, Z:-0.47 [[ 3.58939950e-01 -9.33360600e-01 3.18835280e-04 1.94161607e+02] [ 9.33360192e-01 3.58940092e-01 8.73524358e-04 1.05570853e+02] [-9.29755984e-04 -1.59546318e-05 9.99999568e-01 -4.67172752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51576923100004 meters 0.030063566199601814 Centerline is valid? [True, True] Translation: X:194.16, Y:105.60, Z:-0.46 [[ 3.61192077e-01 -9.32491238e-01 6.11684868e-04 1.94162225e+02] [ 9.32489728e-01 3.61192593e-01 1.67870963e-03 1.05596162e+02] [-1.78631806e-03 -3.59467602e-05 9.99998404e-01 -4.64626491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54576923100007 meters 0.0315515416760294 Centerline is valid? [True, True] Translation: X:194.17, Y:105.62, Z:-0.46 [[ 3.65971745e-01 -9.30625710e-01 6.85060802e-04 1.94165145e+02] [ 9.30623809e-01 3.65972382e-01 1.88187466e-03 1.05623031e+02] [-2.00203428e-03 -5.11790606e-05 9.99997995e-01 -4.64460320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57576923100004 meters 0.03770664198655718 Centerline is valid? [True, True] Translation: X:194.16, Y:105.65, Z:-0.47 [[ 3.68678240e-01 -9.29556932e-01 5.14621360e-04 1.94162152e+02] [ 9.29555857e-01 3.68678596e-01 1.41439364e-03 1.05651100e+02] [-1.50448929e-03 -4.30868569e-05 9.99998867e-01 -4.65507433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60576923100007 meters 0.03981394865258388 Centerline is valid? [True, True] Translation: X:194.16, Y:105.68, Z:-0.47 [[ 3.73685234e-01 -9.27555454e-01 4.74903804e-04 1.94159811e+02] [ 9.27554536e-01 3.73685533e-01 1.30586938e-03 1.05679349e+02] [-1.38873095e-03 -4.74849278e-05 9.99999035e-01 -4.65616512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63576923100004 meters 0.04171507300112785 Centerline is valid? [True, True] Translation: X:194.16, Y:105.71, Z:-0.47 [[ 3.75090043e-01 -9.26988280e-01 4.33053640e-04 1.94162232e+02] [ 9.26987516e-01 3.75090290e-01 1.19156374e-03 1.05706307e+02] [-1.26699984e-03 -4.55083781e-05 9.99999196e-01 -4.65445737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66576923100007 meters 0.04282546520305369 Centerline is valid? [True, True] Translation: X:194.17, Y:105.73, Z:-0.47 [[ 3.75658272e-01 -9.26758119e-01 5.01727192e-04 1.94165403e+02] [ 9.26757090e-01 3.75658603e-01 1.38175956e-03 1.05733268e+02] [-1.46903503e-03 -5.40901773e-05 9.99998920e-01 -4.65113402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69576923100004 meters 0.04766722958892385 Centerline is valid? [True, True] Translation: X:194.16, Y:105.76, Z:-0.46 [[ 3.74262865e-01 -9.27322324e-01 7.84233098e-04 1.94158190e+02] [ 9.27319807e-01 3.74263677e-01 2.16217513e-03 1.05762680e+02] [-2.29854323e-03 -8.19869726e-05 9.99997355e-01 -4.64388957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7257692310001 meters 0.040498898535016876 Centerline is valid? [True, True] Translation: X:194.17, Y:105.79, Z:-0.46 [[ 3.72281575e-01 -9.28119333e-01 9.65372790e-04 1.94171453e+02] [ 9.28115515e-01 3.72282815e-01 2.66391278e-03 1.05786367e+02] [-2.83182066e-03 -9.57481837e-05 9.99995986e-01 -4.64355565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75576923100004 meters 0.03454371412508841 Centerline is valid? [True, True] Translation: X:194.18, Y:105.81, Z:-0.46 [[ 3.66446979e-01 -9.30438073e-01 1.26635916e-03 1.94180263e+02] [ 9.30431506e-01 3.66449152e-01 3.49745049e-03 1.05809486e+02] [-3.71821734e-03 -1.03369702e-04 9.99993082e-01 -4.63612242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7857692310001 meters 0.031002217202536264 Centerline is valid? [True, True] Translation: X:194.19, Y:105.83, Z:-0.46 [[ 3.62656785e-01 -9.31921610e-01 1.47252521e-03 1.94190232e+02] [ 9.31912728e-01 3.62659760e-01 4.07010583e-03 1.05833380e+02] [-4.32704522e-03 -1.03786512e-04 9.99990633e-01 -4.62083063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81576923100005 meters 0.027221417818694905 Centerline is valid? [True, True] Translation: X:194.20, Y:105.86, Z:-0.46 [[ 3.58978227e-01 -9.33344174e-01 1.81224722e-03 1.94200168e+02] [ 9.33330718e-01 3.58982785e-01 5.01308245e-03 1.05857390e+02] [-5.32949686e-03 -1.08161449e-04 9.99985792e-01 -4.59973370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.845769231 meters 0.022579253883906917 Centerline is valid? [True, True] Translation: X:194.21, Y:105.88, Z:-0.46 [[ 3.54177517e-01 -9.35176231e-01 1.92439607e-03 1.94206233e+02] [ 9.35161060e-01 3.54182734e-01 5.32761530e-03 1.05881023e+02] [-5.66384706e-03 -8.73012899e-05 9.99983956e-01 -4.58733461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87576923100005 meters 0.023139205556038427 Centerline is valid? [True, True] Translation: X:194.21, Y:105.91, Z:-0.46 [[ 3.52610004e-01 -9.35768450e-01 1.89546531e-03 1.94209438e+02] [ 9.35753716e-01 3.52615090e-01 5.25177673e-03 1.05905923e+02] [-5.58281664e-03 -7.81403033e-05 9.99984413e-01 -4.58809969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.905769231 meters 0.019980143889009202 Centerline is valid? [True, True] Translation: X:194.22, Y:105.93, Z:-0.46 [[ 3.50996834e-01 -9.36375392e-01 1.53197032e-03 1.94215491e+02] [ 9.36365760e-01 3.51000173e-01 4.24761677e-03 1.05931355e+02] [-4.51508566e-03 -5.64154797e-05 9.99989805e-01 -4.62153817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93576923100005 meters 0.01897488642125239 Centerline is valid? [True, True] Translation: X:194.22, Y:105.96, Z:-0.46 [[ 3.49733927e-01 -9.36848074e-01 1.36577018e-03 1.94221600e+02] [ 9.36840411e-01 3.49736591e-01 3.78950882e-03 1.05955856e+02] [-4.02785385e-03 -4.58111003e-05 9.99991887e-01 -4.63878299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.965769231 meters 0.017523769896735597 Centerline is valid? [True, True] Translation: X:194.23, Y:105.98, Z:-0.47 [[ 3.47767361e-01 -9.37580219e-01 1.09359868e-03 1.94227352e+02] [ 9.37575303e-01 3.47769079e-01 3.03637767e-03 1.05978628e+02] [-3.22716745e-03 -3.06219346e-05 9.99994792e-01 -4.65302707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99576923100005 meters 0.014152453768324396 Centerline is valid? [True, True] Translation: X:194.24, Y:106.00, Z:-0.47 [[ 3.42950533e-01 -9.39353237e-01 6.54754968e-04 1.94235664e+02] [ 9.39351476e-01 3.42951158e-01 1.81870501e-03 1.06002540e+02] [-1.93295541e-03 -8.68080733e-06 9.99998132e-01 -4.67584144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.025769231 meters 0.013076572987038501 Centerline is valid? [True, True] Translation: X:194.24, Y:106.02, Z:-0.47 [[ 3.40345595e-01 -9.40300094e-01 7.80314582e-04 1.94244731e+02] [ 9.40297591e-01 3.40346489e-01 2.16951762e-03 1.06024424e+02] [-2.30557495e-03 -4.65784210e-06 9.99997342e-01 -4.66698541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05576923100006 meters 0.013076572987038501 Centerline is valid? [True, True] Translation: X:194.25, Y:106.05, Z:-0.47 [[ 3.40094511e-01 -9.40390938e-01 7.79711201e-04 1.94252515e+02] [ 9.40388435e-01 3.40095405e-01 2.16973445e-03 1.06047289e+02] [-2.30557481e-03 -4.68338236e-06 9.99997342e-01 -4.66750405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08576923100003 meters 0.013305608944640498 Centerline is valid? [True, True] Translation: X:194.27, Y:106.07, Z:-0.46 [[ 3.34578176e-01 -9.42366996e-01 1.37450493e-03 1.94265610e+02] [ 9.42359215e-01 3.34580999e-01 3.82945630e-03 1.06067567e+02] [-4.06863646e-03 1.40248878e-05 9.99991723e-01 -4.64676514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11576923100006 meters 0.01508021868998857 Centerline is valid? [True, True] Translation: X:194.28, Y:106.09, Z:-0.47 [[ 3.31317982e-01 -9.43518170e-01 1.36326836e-03 1.94277624e+02] [ 9.43510513e-01 3.31320785e-01 3.80125500e-03 1.06090472e+02] [-4.03823230e-03 2.68338983e-05 9.99991846e-01 -4.65032154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14576923100003 meters 0.017188827499786827 Centerline is valid? [True, True] Translation: X:194.29, Y:106.11, Z:-0.47 [[ 3.27684193e-01 -9.44786795e-01 9.90845023e-04 1.94289600e+02] [ 9.44782751e-01 3.27685690e-01 2.76447576e-03 1.06113900e+02] [-2.93652593e-03 3.02582764e-05 9.99995688e-01 -4.66970247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17576923100006 meters 0.024316380500208165 Centerline is valid? [True, True] Translation: X:194.31, Y:106.13, Z:-0.47 [[ 3.21986855e-01 -9.46744131e-01 -1.24451146e-04 1.94309487e+02] [ 9.46744067e-01 3.21986879e-01 -3.49296802e-04 1.06133186e+02] [ 3.70766334e-04 -5.35440476e-06 9.99999931e-01 -4.71814083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20576923100003 meters 0.027464624025089878 Centerline is valid? [True, True] Translation: X:194.32, Y:106.16, Z:-0.47 [[ 3.19268130e-01 -9.47664385e-01 -2.72528657e-04 1.94323751e+02] [ 9.47664078e-01 3.19268246e-01 -7.63465346e-04 1.06155146e+02] [ 8.10518664e-04 -1.45154647e-05 9.99999671e-01 -4.72640658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23576923100006 meters 0.029870272242501095 Centerline is valid? [True, True] Translation: X:194.34, Y:106.18, Z:-0.47 [[ 3.13667716e-01 -9.49532548e-01 7.10141799e-04 1.94340164e+02] [ 9.49530474e-01 3.13668516e-01 1.98540894e-03 1.06176237e+02] [-2.10795953e-03 5.15425908e-05 9.99997777e-01 -4.68072220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26576923100004 meters 0.03729423951247983 Centerline is valid? [True, True] Translation: X:194.36, Y:106.20, Z:-0.47 [[ 3.11134814e-01 -9.50365377e-01 8.82278819e-04 1.94361594e+02] [ 9.50362172e-01 3.11136057e-01 2.46900286e-03 1.06195641e+02] [-2.62096359e-03 7.02916698e-05 9.99996563e-01 -4.67655733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29576923100007 meters 0.031064574393060124 Centerline is valid? [True, True] Translation: X:194.37, Y:106.22, Z:-0.47 [[ 3.09177324e-01 -9.51004345e-01 3.44180316e-04 1.94366690e+02] [ 9.51003858e-01 3.09177515e-01 9.62905190e-04 1.06221291e+02] [-1.02213983e-03 2.96083578e-05 9.99999477e-01 -4.70129534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32576923100004 meters 0.03562663567591123 Centerline is valid? [True, True] Translation: X:194.39, Y:106.24, Z:-0.48 [[ 3.07634151e-01 -9.51504164e-01 -1.02747475e-03 1.94392249e+02] [ 9.51499801e-01 3.07635853e-01 -2.88270614e-03 1.06238807e+02] [ 3.05899497e-03 -9.08231632e-05 9.99995317e-01 -4.76662215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35576923100007 meters 0.03567519405517212 Centerline is valid? [True, True] Translation: X:194.41, Y:106.26, Z:-0.48 [[ 3.07466287e-01 -9.51558480e-01 -9.70062804e-04 1.94406042e+02] [ 9.51554584e-01 3.07467806e-01 -2.72424898e-03 1.06260450e+02] [ 2.89054530e-03 -8.54529895e-05 9.99995819e-01 -4.76476377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38576923100004 meters 0.04096218178267135 Centerline is valid? [True, True] Translation: X:194.43, Y:106.28, Z:-0.47 [[ 3.08721856e-01 -9.51152354e-01 1.22964085e-04 1.94431624e+02] [ 9.51152292e-01 3.08721881e-01 3.43685096e-04 1.06277065e+02] [-3.64858592e-04 1.08544700e-05 9.99999933e-01 -4.70765332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41576923100007 meters 0.032564357075384937 Centerline is valid? [True, True] Translation: X:194.43, Y:106.30, Z:-0.47 [[ 3.10190176e-01 -9.50674439e-01 4.06496720e-04 1.94434453e+02] [ 9.50673755e-01 3.10190440e-01 1.14111715e-03 1.06302942e+02] [-1.21092231e-03 3.24824327e-05 9.99999266e-01 -4.68951731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44576923100004 meters 0.030412607282404247 Centerline is valid? [True, True] Translation: X:194.45, Y:106.32, Z:-0.47 [[ 3.12773424e-01 -9.49827765e-01 5.25013962e-05 1.94445584e+02] [ 9.49827753e-01 3.12773429e-01 1.46233291e-04 1.06324941e+02] [-1.55317482e-04 4.12939586e-06 9.99999988e-01 -4.71094131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.4757692310001 meters 0.022519710889393554 Centerline is valid? [True, True] Translation: X:194.45, Y:106.35, Z:-0.48 [[ 3.19012485e-01 -9.47750032e-01 -9.54360680e-04 1.94454770e+02] [ 9.47746219e-01 3.19013909e-01 -2.68892994e-03 1.06348561e+02] [ 2.85288777e-03 -4.66895045e-05 9.99995929e-01 -4.77549187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50576923100004 meters 0.023423749483234824 Centerline is valid? [True, True] Translation: X:194.47, Y:106.37, Z:-0.48 [[ 3.21551413e-01 -9.46891840e-01 -7.29257969e-04 1.94469766e+02] [ 9.46889606e-01 3.21552239e-01 -2.05695852e-03 1.06369377e+02] [ 2.18221177e-03 -2.91088737e-05 9.99997619e-01 -4.77826718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5357692310001 meters 0.016099136447233372 Centerline is valid? [True, True] Translation: X:194.48, Y:106.39, Z:-0.47 [[ 3.27480589e-01 -9.44857807e-01 4.33478550e-04 1.94476367e+02] [ 9.44857018e-01 3.27480876e-01 1.22101647e-03 1.06393507e+02] [-1.29564288e-03 9.71605751e-06 9.99999161e-01 -4.70145289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56576923100005 meters 0.012893627604895964 Centerline is valid? [True, True] Translation: X:194.48, Y:106.42, Z:-0.47 [[ 3.30702231e-01 -9.43734990e-01 5.49956196e-04 1.94481099e+02] [ 9.43733716e-01 3.30702689e-01 1.55066493e-03 1.06418441e+02] [-1.64528874e-03 6.20385293e-06 9.99998646e-01 -4.69250929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.595769231 meters 0.01326176581486125 Centerline is valid? [True, True] Translation: X:194.49, Y:106.44, Z:-0.47 [[ 3.37025401e-01 -9.41495555e-01 -1.42726799e-05 1.94487792e+02] [ 9.41495554e-01 3.37025401e-01 -4.21221757e-05 1.06441643e+02] [ 4.44680967e-05 7.58578510e-07 9.99999999e-01 -4.73303320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62576923100005 meters 0.014798506180601712 Centerline is valid? [True, True] Translation: X:194.49, Y:106.47, Z:-0.48 [[ 3.39500597e-01 -9.40605717e-01 -4.78616808e-04 1.94494686e+02] [ 9.40604741e-01 3.39500935e-01 -1.35488412e-03 1.06466604e+02] [ 1.43690260e-03 9.79472926e-06 9.99998968e-01 -4.76068438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.655769231 meters 0.01768267012373404 Centerline is valid? [True, True] Translation: X:194.50, Y:106.49, Z:-0.48 [[ 3.42080791e-01 -9.39669952e-01 -1.05529966e-03 1.94499952e+02] [ 9.39665203e-01 3.42082417e-01 -2.98778378e-03 1.06491915e+02] [ 3.16853010e-03 3.04350700e-05 9.99994980e-01 -4.79894009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68576923100005 meters 0.02251753673229749 Centerline is valid? [True, True] Translation: X:194.51, Y:106.52, Z:-0.48 [[ 3.47161626e-01 -9.37803692e-01 -1.74350299e-03 1.94506830e+02] [ 9.37790689e-01 3.47165995e-01 -4.93919449e-03 1.06516742e+02] [ 5.23727978e-03 7.96579239e-05 9.99986282e-01 -4.84807345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.715769231 meters 0.023277551488330772 Centerline is valid? [True, True] Translation: X:194.52, Y:106.54, Z:-0.48 [[ 3.48829944e-01 -9.37184653e-01 -1.61124429e-03 1.94517528e+02] [ 9.37173524e-01 3.48833656e-01 -4.56797328e-03 1.06540762e+02] [ 4.84309069e-03 8.34303746e-05 9.99988269e-01 -4.83468376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74576923100005 meters 0.028549639288031715 Centerline is valid? [True, True] Translation: X:194.52, Y:106.57, Z:-0.48 [[ 3.51878498e-01 -9.36045499e-01 -5.89007916e-04 1.94520554e+02] [ 9.36044006e-01 3.51878989e-01 -1.67234781e-03 1.06566175e+02] [ 1.77265315e-03 3.71259049e-05 9.99998428e-01 -4.78028746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.775769231 meters 0.02826077475244885 Centerline is valid? [True, True] Translation: X:194.53, Y:106.59, Z:-0.48 [[ 3.52647509e-01 -9.35756226e-01 -1.41416813e-04 1.94529119e+02] [ 9.35756139e-01 3.52647537e-01 -4.02989205e-04 1.06590518e+02] [ 4.26969948e-04 9.78148880e-06 9.99999909e-01 -4.75444936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80576923100006 meters 0.02682193533086184 Centerline is valid? [True, True] Translation: X:194.54, Y:106.61, Z:-0.48 [[ 3.52672089e-01 -9.35746973e-01 4.77648801e-06 1.94539112e+02] [ 9.35746973e-01 3.52672089e-01 1.18658382e-05 1.06613551e+02] [-1.27879563e-05 2.84834254e-07 1.00000000e+00 -4.75631338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83576923100003 meters 0.027359859368380035 Centerline is valid? [True, True] Translation: X:194.55, Y:106.64, Z:-0.48 [[ 3.52320604e-01 -9.35879359e-01 -1.33306262e-04 1.94549351e+02] [ 9.35879281e-01 3.52320629e-01 -3.80826004e-04 1.06635709e+02] [ 4.03373742e-04 9.41427890e-06 9.99999919e-01 -4.77344177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86576923100006 meters 0.029172695439053566 Centerline is valid? [True, True] Translation: X:194.56, Y:106.66, Z:-0.48 [[ 3.51715834e-01 -9.36106782e-01 -2.54097854e-04 1.94555683e+02] [ 9.36106502e-01 3.51715925e-01 -7.24890121e-04 1.06659120e+02] [ 7.67944821e-04 1.70926804e-05 9.99999705e-01 -4.77971967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89576923100003 meters 0.028526007627627276 Centerline is valid? [True, True] Translation: X:194.56, Y:106.68, Z:-0.48 [[ 3.52420347e-01 -9.35841804e-01 -1.30878605e-04 1.94563514e+02] [ 9.35841729e-01 3.52420371e-01 -3.74251607e-04 1.06684219e+02] [ 3.96364586e-04 9.41222143e-06 9.99999921e-01 -4.75322013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92576923100006 meters 0.029202405096347382 Centerline is valid? [True, True] Translation: X:194.57, Y:106.71, Z:-0.47 [[ 3.53505429e-01 -9.35432467e-01 1.05338415e-04 1.94570590e+02] [ 9.35432419e-01 3.53505445e-01 2.98713860e-04 1.06709915e+02] [-3.16664347e-04 -7.06000279e-06 9.99999950e-01 -4.73865362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95576923100003 meters 0.031194862233136195 Centerline is valid? [True, True] Translation: X:194.58, Y:106.73, Z:-0.47 [[ 3.54686724e-01 -9.34985200e-01 5.33842084e-05 1.94576389e+02] [ 9.34985188e-01 3.54686728e-01 1.50623509e-04 1.06734212e+02] [-1.59765422e-04 -3.51071467e-06 9.99999987e-01 -4.73595610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98576923100006 meters 0.032068489139598866 Centerline is valid? [True, True] Translation: X:194.58, Y:106.76, Z:-0.48 [[ 3.55507441e-01 -9.34673033e-01 -8.83396086e-04 1.94583401e+02] [ 9.34669630e-01 3.55508531e-01 -2.52331414e-03 1.06759970e+02] [ 2.67252852e-03 7.13734587e-05 9.99996426e-01 -4.80479523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01576923100004 meters 0.03241722258473356 Centerline is valid? [True, True] Translation: X:194.59, Y:106.79, Z:-0.48 [[ 3.55471805e-01 -9.34686128e-01 -1.28014234e-03 1.94588300e+02] [ 9.34678972e-01 3.55474094e-01 -3.65898576e-03 1.06785316e+02] [ 3.87506067e-03 1.04144147e-04 9.99992486e-01 -4.83475741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04576923100007 meters 0.037245791626821734 Centerline is valid? [True, True] Translation: X:194.58, Y:106.81, Z:-0.48 [[ 3.56962174e-01 -9.34117987e-01 -1.26209499e-03 1.94582796e+02] [ 9.34111017e-01 3.56964388e-01 -3.61017607e-03 1.06813908e+02] [ 3.82285337e-03 1.09759466e-04 9.99992687e-01 -4.83160060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07576923100004 meters 0.03589289062187828 Centerline is valid? [True, True] Translation: X:194.59, Y:106.84, Z:-0.48 [[ 3.58298374e-01 -9.33606130e-01 -1.36701700e-03 1.94589727e+02] [ 9.33597938e-01 3.58300960e-01 -3.91304874e-03 1.06839699e+02] [ 4.14304979e-03 1.25794752e-04 9.99991410e-01 -4.81247589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10576923100007 meters 0.04355882822195211 Centerline is valid? [True, True] Translation: X:194.58, Y:106.87, Z:-0.48 [[ 3.59808205e-01 -9.33025090e-01 -1.49563883e-03 1.94584030e+02] [ 9.33015264e-01 3.59811284e-01 -4.28449830e-03 1.06868823e+02] [ 4.53569214e-03 1.46143781e-04 9.99989703e-01 -4.82602800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13576923100004 meters 0.04196753457744748 Centerline is valid? [True, True] Translation: X:194.58, Y:106.90, Z:-0.48 [[ 3.61994835e-01 -9.32179634e-01 -9.32175886e-04 1.94583043e+02] [ 9.32175808e-01 3.61996021e-01 -2.67283216e-03 1.06896945e+02] [ 2.82900367e-03 9.85996270e-05 9.99995993e-01 -4.79737982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16576923100007 meters 0.03911507099912677 Centerline is valid? [True, True] Translation: X:194.59, Y:106.92, Z:-0.48 [[ 3.61639670e-01 -9.32317736e-01 -6.23439431e-04 1.94589355e+02] [ 9.32316020e-01 3.61640201e-01 -1.78979217e-03 1.06921774e+02] [ 1.89411574e-03 6.60172787e-05 9.99998204e-01 -4.78052969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19576923100004 meters 0.0389947251875704 Centerline is valid? [True, True] Translation: X:194.59, Y:106.95, Z:-0.48 [[ 3.58566141e-01 -9.33504238e-01 -4.00349681e-04 1.94586996e+02] [ 9.33503529e-01 3.58566362e-01 -1.15089482e-03 1.06948893e+02] [ 1.21791712e-03 3.89440729e-05 9.99999258e-01 -4.76232106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2257692310001 meters 0.03451209042921168 Centerline is valid? [True, True] Translation: X:194.60, Y:106.97, Z:-0.48 [[ 3.56181177e-01 -9.34416790e-01 -4.81159662e-04 1.94595104e+02] [ 9.34415767e-01 3.56181499e-01 -1.38351697e-03 1.06974388e+02] [ 1.46416166e-03 4.31795294e-05 9.99998927e-01 -4.75531202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25576923100004 meters 0.034763278309097714 Centerline is valid? [True, True] Translation: X:194.60, Y:107.00, Z:-0.48 [[ 3.54057238e-01 -9.35223592e-01 -5.51958981e-04 1.94595607e+02] [ 9.35222245e-01 3.54057665e-01 -1.58823296e-03 1.07001363e+02] [ 1.68077825e-03 4.61210586e-05 9.99998586e-01 -4.76479053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2857692310001 meters 0.029443314981300053 Centerline is valid? [True, True] Translation: X:194.60, Y:107.03, Z:-0.48 [[ 3.50513015e-01 -9.36557672e-01 -5.94834870e-04 1.94598603e+02] [ 9.36556107e-01 3.50513517e-01 -1.71271818e-03 1.07028669e+02] [ 1.81255701e-03 4.32337838e-05 9.99998356e-01 -4.78790726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31576923100005 meters 0.026982845920908147 Centerline is valid? [True, True] Translation: X:194.61, Y:107.05, Z:-0.48 [[ 3.47678228e-01 -9.37613736e-01 -5.75806963e-04 1.94605524e+02] [ 9.37612269e-01 3.47678703e-01 -1.65941146e-03 1.07052734e+02] [ 1.75608280e-03 3.70575627e-05 9.99998457e-01 -4.79722741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.345769231 meters 0.01913021847192668 Centerline is valid? [True, True] Translation: X:194.62, Y:107.08, Z:-0.48 [[ 3.39242532e-01 -9.40698704e-01 -6.72796571e-04 1.94617945e+02] [ 9.40696704e-01 3.39243198e-01 -1.94003887e-03 1.07076099e+02] [ 2.05323371e-03 2.52461794e-05 9.99997892e-01 -4.79520793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37576923100005 meters 0.015424472192770952 Centerline is valid? [True, True] Translation: X:194.63, Y:107.10, Z:-0.48 [[ 3.34077414e-01 -9.42545333e-01 -7.59702812e-04 1.94629331e+02] [ 9.42542784e-01 3.34078277e-01 -2.19212588e-03 1.07099642e+02] [ 2.31997823e-03 1.62873432e-05 9.99997309e-01 -4.79149009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.405769231 meters 0.013372182602827538 Centerline is valid? [True, True] Translation: X:194.64, Y:107.12, Z:-0.48 [[ 3.28630921e-01 -9.44458308e-01 -4.70483134e-04 1.94640338e+02] [ 9.44457330e-01 3.28631258e-01 -1.35941154e-03 1.07121960e+02] [ 1.43852298e-03 2.39342064e-06 9.99998965e-01 -4.78051743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43576923100005 meters 0.027674593543844016 Centerline is valid? [True, True] Translation: X:194.66, Y:107.14, Z:-0.47 [[ 3.20098744e-01 -9.47384155e-01 -2.40248052e-04 1.94655843e+02] [ 9.47383899e-01 3.20098834e-01 -6.95464787e-04 1.07144837e+02] [ 7.35775441e-04 -4.98973134e-06 9.99999729e-01 -4.70957772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.465769231 meters 0.01662579965113654 Centerline is valid? [True, True] Translation: X:194.66, Y:107.17, Z:-0.48 [[ 3.18318718e-01 -9.47983448e-01 -7.58752400e-04 1.94664147e+02] [ 9.47980910e-01 3.18319621e-01 -2.19408243e-03 1.07169010e+02] [ 2.32147961e-03 -2.08652839e-05 9.99997305e-01 -4.79889677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49576923100005 meters 0.01788230926000989 Centerline is valid? [True, True] Translation: X:194.67, Y:107.19, Z:-0.49 [[ 3.17728752e-01 -9.48179095e-01 -2.20090207e-03 1.94669018e+02] [ 9.48157726e-01 3.17736368e-01 -6.36609228e-03 1.07193538e+02] [ 6.73550225e-03 -6.41117498e-05 9.99977314e-01 -4.87002301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.525769231 meters 0.017065752029255477 Centerline is valid? [True, True] Translation: X:194.67, Y:107.22, Z:-0.49 [[ 3.18379179e-01 -9.47961083e-01 -2.11735252e-03 1.94673218e+02] [ 9.47941264e-01 3.18386214e-01 -6.13007101e-03 1.07219063e+02] [ 6.48520461e-03 -5.54388519e-05 9.99978969e-01 -4.86135462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55576923100006 meters 0.015407160357122182 Centerline is valid? [True, True] Translation: X:194.68, Y:107.25, Z:-0.48 [[ 3.20534019e-01 -9.47236159e-01 -1.26569833e-03 1.94677237e+02] [ 9.47229058e-01 3.20536517e-01 -3.66772516e-03 1.07245011e+02] [ 3.87990442e-03 -2.32755495e-05 9.99992473e-01 -4.81307248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58576923100003 meters 0.014952995479753917 Centerline is valid? [True, True] Translation: X:194.68, Y:107.27, Z:-0.48 [[ 3.20729708e-01 -9.47170230e-01 -1.00446009e-03 1.94684897e+02] [ 9.47165749e-01 3.20731281e-01 -2.91364645e-03 1.07269551e+02] [ 3.08188095e-03 -1.68972131e-05 9.99995251e-01 -4.79960724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61576923100006 meters 0.014874380523024465 Centerline is valid? [True, True] Translation: X:194.69, Y:107.29, Z:-0.48 [[ 3.20216639e-01 -9.47343879e-01 -9.37648126e-04 1.94693012e+02] [ 9.47339968e-01 3.20218011e-01 -2.72231145e-03 1.07294028e+02] [ 2.87921691e-03 -1.65421208e-05 9.99995855e-01 -4.79381165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64576923100003 meters 0.014979490338451178 Centerline is valid? [True, True] Translation: X:194.70, Y:107.32, Z:-0.48 [[ 3.20350165e-01 -9.47298886e-01 -7.69542110e-04 1.94700295e+02] [ 9.47296246e-01 3.20351089e-01 -2.23661061e-03 1.07316939e+02] [ 2.36526239e-03 -1.24857722e-05 9.99997203e-01 -4.79528718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67576923100006 meters 0.013718606222711026 Centerline is valid? [True, True] Translation: X:194.70, Y:107.34, Z:-0.48 [[ 3.22132721e-01 -9.46694513e-01 -9.82582515e-05 1.94704401e+02] [ 9.46694469e-01 3.22132736e-01 -2.87285182e-04 1.07342174e+02] [ 3.03623505e-04 -4.76586024e-07 9.99999954e-01 -4.75013488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70576923100003 meters 0.013401000865226186 Centerline is valid? [True, True] Translation: X:194.71, Y:107.37, Z:-0.47 [[ 3.22832540e-01 -9.46456100e-01 4.78367566e-05 1.94712083e+02] [ 9.46456090e-01 3.22832544e-01 1.37426778e-04 1.07366763e+02] [-1.45511674e-04 9.09553859e-07 9.99999989e-01 -4.73678839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73576923100006 meters 0.013246560282501853 Centerline is valid? [True, True] Translation: X:194.72, Y:107.39, Z:-0.48 [[ 3.22926925e-01 -9.46423857e-01 -2.90589329e-04 1.94719786e+02] [ 9.46423477e-01 3.22927056e-01 -8.47862935e-04 1.07390011e+02] [ 8.96276865e-04 -1.22279268e-06 9.99999598e-01 -4.75811570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76576923100004 meters 0.013448864127839605 Centerline is valid? [True, True] Translation: X:194.73, Y:107.41, Z:-0.48 [[ 3.22457303e-01 -9.46583850e-01 -5.50404626e-04 1.94726942e+02] [ 9.46582488e-01 3.22457773e-01 -1.60561676e-03 1.07414217e+02] [ 1.69733315e-03 -3.26052776e-06 9.99998560e-01 -4.77613807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79576923100007 meters 0.013542223170283078 Centerline is valid? [True, True] Translation: X:194.73, Y:107.44, Z:-0.48 [[ 3.22034314e-01 -9.46727841e-01 -5.44485142e-04 1.94734662e+02] [ 9.46726506e-01 3.22034774e-01 -1.58980098e-03 1.07438442e+02] [ 1.68045200e-03 -3.50804941e-06 9.99998588e-01 -4.77738204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82576923100004 meters 0.013980624997992052 Centerline is valid? [True, True] Translation: X:194.75, Y:107.46, Z:-0.48 [[ 3.20312114e-01 -9.47311894e-01 -5.69414280e-04 1.94747911e+02] [ 9.47310433e-01 3.20312620e-01 -1.66409315e-03 1.07459500e+02] [ 1.75880581e-03 -6.38289443e-06 9.99998453e-01 -4.78221574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85576923100007 meters 0.01449011257927086 Centerline is valid? [True, True] Translation: X:194.76, Y:107.48, Z:-0.48 [[ 3.19434631e-01 -9.47607836e-01 -9.51393612e-04 1.94760173e+02] [ 9.47603754e-01 3.19436047e-01 -2.78158946e-03 1.07481410e+02] [ 2.93976538e-03 -1.30081568e-05 9.99995679e-01 -4.80906715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88576923100004 meters 0.014994675403148042 Centerline is valid? [True, True] Translation: X:194.77, Y:107.50, Z:-0.48 [[ 3.18114082e-01 -9.48050535e-01 -1.90082710e-03 1.94772528e+02] [ 9.48034230e-01 3.18119759e-01 -5.56034913e-03 1.07504535e+02] [ 5.87618263e-03 -3.32237937e-05 9.99982735e-01 -4.84975216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91576923100007 meters 0.015190419205628398 Centerline is valid? [True, True] Translation: X:194.78, Y:107.53, Z:-0.49 [[ 3.18163667e-01 -9.48032927e-01 -2.33478775e-03 1.94781964e+02] [ 9.48008281e-01 3.18172231e-01 -6.83590652e-03 1.07527438e+02] [ 7.22352910e-03 -3.84610395e-05 9.99973909e-01 -4.87455200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94576923100004 meters 0.015190419205628398 Centerline is valid? [True, True] Translation: X:194.79, Y:107.55, Z:-0.49 [[ 3.17906494e-01 -9.48119201e-01 -2.33296188e-03 1.94789736e+02] [ 9.48094553e-01 3.17915051e-01 -6.83652995e-03 1.07551195e+02] [ 7.22352901e-03 -3.84911877e-05 9.99973909e-01 -4.87508859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.9757692310001 meters 0.015767726173916533 Centerline is valid? [True, True] Translation: X:194.80, Y:107.57, Z:-0.49 [[ 3.18248008e-01 -9.48004226e-01 -2.48877872e-03 1.94799618e+02] [ 9.47976133e-01 3.18257737e-01 -7.29828783e-03 1.07573225e+02] [ 7.71088079e-03 -3.66372662e-05 9.99970270e-01 -4.90100492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00576923100004 meters 0.01433455858580813 Centerline is valid? [True, True] Translation: X:194.81, Y:107.60, Z:-0.48 [[ 3.19251286e-01 -9.47668167e-01 -1.91342351e-03 1.94809841e+02] [ 9.47651523e-01 3.19257020e-01 -5.61654217e-03 1.07596886e+02] [ 5.93349211e-03 -2.01703959e-05 9.99982396e-01 -4.83992073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0357692310001 meters 0.013574585568992067 Centerline is valid? [True, True] Translation: X:194.82, Y:107.62, Z:-0.48 [[ 3.20106421e-01 -9.47381248e-01 -8.06938683e-04 1.94822226e+02] [ 9.47378279e-01 3.20107438e-01 -2.37153408e-03 1.07619738e+02] [ 2.50505399e-03 -5.33289674e-06 9.99996862e-01 -4.79103203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06576923100005 meters 0.013393135342658354 Centerline is valid? [True, True] Translation: X:194.83, Y:107.64, Z:-0.48 [[ 3.20355213e-01 -9.47297379e-01 -4.60993676e-04 1.94832223e+02] [ 9.47296408e-01 3.20355545e-01 -1.35684677e-03 1.07643090e+02] [ 1.43301927e-03 -2.02471666e-06 9.99998973e-01 -4.78086016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.095769231 meters 0.013158288655804592 Centerline is valid? [True, True] Translation: X:194.84, Y:107.67, Z:-0.48 [[ 3.20880011e-01 -9.47119808e-01 -2.98271151e-04 1.94841624e+02] [ 9.47119399e-01 3.20880149e-01 -8.79406415e-04 1.07665284e+02] [ 9.28612526e-04 -3.14453707e-07 9.99999569e-01 -4.77569851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12576923100005 meters 0.013145784937752075 Centerline is valid? [True, True] Translation: X:194.85, Y:107.69, Z:-0.48 [[ 3.21666770e-01 -9.46852887e-01 -3.15419757e-04 1.94851129e+02] [ 9.46852430e-01 3.21666925e-01 -9.30585440e-04 1.07689244e+02] [ 9.82587613e-04 6.82449717e-07 9.99999517e-01 -4.77392197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.155769231 meters 0.013408428566819914 Centerline is valid? [True, True] Translation: X:194.86, Y:107.71, Z:-0.48 [[ 3.22704505e-01 -9.46499310e-01 -9.26989604e-04 1.94861722e+02] [ 9.46495363e-01 3.22705836e-01 -2.73325476e-03 1.07711248e+02] [ 2.88616870e-03 4.64226353e-06 9.99995835e-01 -4.80009643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18576923100005 meters 0.014032738398507992 Centerline is valid? [True, True] Translation: X:194.87, Y:107.73, Z:-0.48 [[ 3.23270527e-01 -9.46305372e-01 -1.51982944e-03 1.94873435e+02] [ 9.46294749e-01 3.23274100e-01 -4.48380244e-03 1.07734708e+02] [ 4.73436783e-03 1.12745669e-05 9.99988793e-01 -4.83465468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.215769231 meters 0.014071485090921388 Centerline is valid? [True, True] Translation: X:194.88, Y:107.76, Z:-0.48 [[ 3.23865060e-01 -9.46102246e-01 -1.40084698e-03 1.94882259e+02] [ 9.46093203e-01 3.23868089e-01 -4.13660378e-03 1.07759072e+02] [ 4.36733976e-03 1.43696267e-05 9.99990463e-01 -4.82608432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24576923100005 meters 0.014236000000958912 Centerline is valid? [True, True] Translation: X:194.89, Y:107.78, Z:-0.48 [[ 3.24549412e-01 -9.45868176e-01 -1.03575677e-03 1.94889898e+02] [ 9.45863221e-01 3.24551064e-01 -3.06158880e-03 1.07783517e+02] [ 3.23201537e-03 1.39526117e-05 9.99994777e-01 -4.80392612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.275769231 meters 0.015079320789416033 Centerline is valid? [True, True] Translation: X:194.90, Y:107.81, Z:-0.48 [[ 3.26339867e-01 -9.45252381e-01 -4.76572635e-04 1.94896527e+02] [ 9.45251328e-01 3.26340215e-01 -1.41095868e-03 1.07807048e+02] [ 1.48923686e-03 9.97115058e-06 9.99998891e-01 -4.77151656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30576923100006 meters 0.015793838767832774 Centerline is valid? [True, True] Translation: X:194.90, Y:107.83, Z:-0.48 [[ 3.27128770e-01 -9.44979663e-01 -4.51418602e-04 1.94904500e+02] [ 9.44978717e-01 3.27129082e-01 -1.33763568e-03 1.07831662e+02] [ 1.41171066e-03 1.09981428e-05 9.99999003e-01 -4.77243060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33576923100003 meters 0.01594848323359902 Centerline is valid? [True, True] Translation: X:194.92, Y:107.85, Z:-0.48 [[ 3.27163275e-01 -9.44967256e-01 -1.03713246e-03 1.94915031e+02] [ 9.44962258e-01 3.27164918e-01 -3.07362251e-03 1.07854820e+02] [ 3.24378599e-03 2.55253769e-05 9.99994739e-01 -4.80972561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36576923100006 meters 0.015400526492499332 Centerline is valid? [True, True] Translation: X:194.93, Y:107.88, Z:-0.48 [[ 3.25777765e-01 -9.45445869e-01 -9.77959607e-04 1.94925108e+02] [ 9.45441418e-01 3.25779233e-01 -2.90101314e-03 1.07877487e+02] [ 3.06134982e-03 2.04820590e-05 9.99995314e-01 -4.80977700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39576923100003 meters 0.014219640884974384 Centerline is valid? [True, True] Translation: X:194.94, Y:107.90, Z:-0.48 [[ 3.23164708e-01 -9.46342365e-01 -8.36855973e-04 1.94936300e+02] [ 9.46339103e-01 3.23165791e-01 -2.48472400e-03 1.07898388e+02] [ 2.62184281e-03 1.10255745e-05 9.99996563e-01 -4.80902362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42576923100006 meters 0.013236057273862236 Centerline is valid? [True, True] Translation: X:194.95, Y:107.92, Z:-0.48 [[ 3.17627228e-01 -9.48215437e-01 -6.55125022e-04 1.94954391e+02] [ 9.48213437e-01 3.17627904e-01 -1.94739348e-03 1.07918749e+02] [ 2.05463455e-03 -2.65315480e-06 9.99997889e-01 -4.78453525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45576923100003 meters 0.013913592572247111 Centerline is valid? [True, True] Translation: X:194.97, Y:107.94, Z:-0.48 [[ 3.14938907e-01 -9.49111750e-01 -6.08277347e-04 1.94967275e+02] [ 9.49110024e-01 3.14939495e-01 -1.81004813e-03 1.07940048e+02] [ 1.90950851e-03 -7.26754689e-06 9.99998177e-01 -4.78384915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48576923100006 meters 0.01789415102745001 Centerline is valid? [True, True] Translation: X:194.99, Y:107.96, Z:-0.48 [[ 3.10310668e-01 -9.50634738e-01 -9.40128498e-04 1.94987854e+02] [ 9.50630621e-01 3.10312091e-01 -2.79782788e-03 1.07959322e+02] [ 2.95144561e-03 -2.55191003e-05 9.99995644e-01 -4.81420282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51576923100004 meters 0.018996378305811176 Centerline is valid? [True, True] Translation: X:195.00, Y:107.98, Z:-0.48 [[ 3.08559948e-01 -9.51203701e-01 -1.50929272e-03 1.94998553e+02] [ 9.51193082e-01 3.08563635e-01 -4.49480519e-03 1.07982775e+02] [ 4.74118818e-03 -4.87119354e-05 9.99988759e-01 -4.84615606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54576923100007 meters 0.020203067395383665 Centerline is valid? [True, True] Translation: X:195.01, Y:108.01, Z:-0.49 [[ 3.07352123e-01 -9.51593823e-01 -1.96671137e-03 1.95008777e+02] [ 9.51575774e-01 3.07358407e-01 -5.86136932e-03 1.08006342e+02] [ 6.18212812e-03 -6.99705892e-05 9.99980888e-01 -4.88186367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57576923100004 meters 0.02245153400538777 Centerline is valid? [True, True] Translation: X:195.02, Y:108.03, Z:-0.49 [[ 3.05263352e-01 -9.52265778e-01 -2.04331231e-03 1.95022078e+02] [ 9.52246280e-01 3.05270178e-01 -6.09425364e-03 1.08027696e+02] [ 6.42711149e-03 -8.53842529e-05 9.99979342e-01 -4.89913475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60576923100007 meters 0.02139972085178499 Centerline is valid? [True, True] Translation: X:195.03, Y:108.05, Z:-0.49 [[ 3.04000063e-01 -9.52670727e-01 -1.56454906e-03 1.95030329e+02] [ 9.52659276e-01 3.04004081e-01 -4.67143697e-03 1.08050766e+02] [ 4.92597056e-03 -7.03650451e-05 9.99987865e-01 -4.85423757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63576923100004 meters 0.021896389385244297 Centerline is valid? [True, True] Translation: X:195.04, Y:108.07, Z:-0.48 [[ 3.01970614e-01 -9.53317006e-01 -6.58541682e-04 1.95043338e+02] [ 9.53314973e-01 3.01971331e-01 -1.96903361e-03 1.08073736e+02] [ 2.07597393e-03 -3.32073569e-05 9.99997845e-01 -4.78550446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66576923100007 meters 0.02335110788993504 Centerline is valid? [True, True] Translation: X:195.06, Y:108.10, Z:-0.48 [[ 3.00839949e-01 -9.53674413e-01 -6.62001497e-04 1.95055029e+02] [ 9.53672357e-01 3.00840675e-01 -1.98094589e-03 1.08096799e+02] [ 2.08833439e-03 -3.53848671e-05 9.99997819e-01 -4.78608727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69576923100004 meters 0.02643557162693938 Centerline is valid? [True, True] Translation: X:195.07, Y:108.12, Z:-0.48 [[ 2.99387946e-01 -9.54131152e-01 -7.76620165e-04 1.95068339e+02] [ 9.54128318e-01 2.99388950e-01 -2.32588323e-03 1.08117900e+02] [ 2.45170914e-03 -4.46538878e-05 9.99996994e-01 -4.80906018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7257692310001 meters 0.029805921104920106 Centerline is valid? [True, True] Translation: X:195.08, Y:108.14, Z:-0.48 [[ 2.98130863e-01 -9.54524438e-01 -1.04229388e-03 1.95083305e+02] [ 9.54519331e-01 2.98132678e-01 -3.12308544e-03 1.08138422e+02] [ 3.29180324e-03 -6.38015001e-05 9.99994580e-01 -4.83724059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75576923100004 meters 0.024786026578509687 Centerline is valid? [True, True] Translation: X:195.08, Y:108.16, Z:-0.48 [[ 2.98251937e-01 -9.54486639e-01 -1.01855215e-03 1.95084534e+02] [ 9.54481753e-01 2.98253670e-01 -3.05492804e-03 1.08164487e+02] [ 3.21967492e-03 -6.10512372e-05 9.99994815e-01 -4.81669831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7857692310001 meters 0.021892589803698074 Centerline is valid? [True, True] Translation: X:195.09, Y:108.19, Z:-0.48 [[ 3.01085334e-01 -9.53596805e-01 -8.68540437e-04 1.95087360e+02] [ 9.53593241e-01 3.01086584e-01 -2.60757470e-03 1.08190489e+02] [ 2.74808077e-03 -4.31317911e-05 9.99996223e-01 -4.79202810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81576923100005 meters 0.020925333592472194 Centerline is valid? [True, True] Translation: X:195.09, Y:108.21, Z:-0.48 [[ 3.02636292e-01 -9.53105646e-01 -9.49838647e-04 1.95093036e+02] [ 9.53101373e-01 3.02637780e-01 -2.85420360e-03 1.08214681e+02] [ 3.00781463e-03 -4.15069242e-05 9.99995476e-01 -4.79520165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.845769231 meters 0.018453478984422685 Centerline is valid? [True, True] Translation: X:195.10, Y:108.24, Z:-0.48 [[ 3.04315936e-01 -9.52570670e-01 -9.64009103e-04 1.95096995e+02] [ 9.52566260e-01 3.04317461e-01 -2.89896275e-03 1.08240989e+02] [ 3.05483169e-03 -3.60819830e-05 9.99995333e-01 -4.79429880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87576923100005 meters 0.01689636413317286 Centerline is valid? [True, True] Translation: X:195.10, Y:108.27, Z:-0.48 [[ 3.07594048e-01 -9.51517382e-01 -7.56619531e-04 1.95100053e+02] [ 9.51514656e-01 3.07594978e-01 -2.27767956e-03 1.08266908e+02] [ 2.39998406e-03 -1.93338958e-05 9.99997120e-01 -4.80604162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.905769231 meters 0.014949458071401137 Centerline is valid? [True, True] Translation: X:195.10, Y:108.29, Z:-0.48 [[ 3.09326190e-01 -9.50955679e-01 -7.77803726e-04 1.95101575e+02] [ 9.50952791e-01 3.09327167e-01 -2.34382207e-03 1.08292431e+02] [ 2.46946673e-03 -1.46490725e-05 9.99996951e-01 -4.80586783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93576923100005 meters 0.01401806561141037 Centerline is valid? [True, True] Translation: X:195.10, Y:108.32, Z:-0.49 [[ 3.12592639e-01 -9.49886217e-01 -1.42019015e-03 1.95102003e+02] [ 9.49876567e-01 3.12595865e-01 -4.28165695e-03 1.08317414e+02] [ 4.51103249e-03 -1.05908959e-05 9.99989825e-01 -4.85536905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.965769231 meters 0.013890760465495445 Centerline is valid? [True, True] Translation: X:195.11, Y:108.34, Z:-0.49 [[ 3.13465888e-01 -9.49597832e-01 -1.75935729e-03 1.95106906e+02] [ 9.49582992e-01 3.13470825e-01 -5.30886260e-03 1.08341968e+02] [ 5.59279159e-03 -6.50842852e-06 9.99984360e-01 -4.86638717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99576923100005 meters 0.013854931675006624 Centerline is valid? [True, True] Translation: X:195.11, Y:108.37, Z:-0.49 [[ 3.13738491e-01 -9.49507779e-01 -1.77096861e-03 1.95113034e+02] [ 9.49492716e-01 3.13743489e-01 -5.34840353e-03 1.08367174e+02] [ 5.63398063e-03 -3.52174287e-06 9.99984129e-01 -4.86143060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.025769231 meters 0.013649158942953944 Centerline is valid? [True, True] Translation: X:195.12, Y:108.39, Z:-0.49 [[ 3.13007306e-01 -9.49749408e-01 -1.57715957e-03 1.95119876e+02] [ 9.49737439e-01 3.13011280e-01 -4.76821878e-03 1.08390122e+02] [ 5.02228170e-03 -5.40017085e-06 9.99987388e-01 -4.85350664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05576923100006 meters 0.013617123575451905 Centerline is valid? [True, True] Translation: X:195.13, Y:108.41, Z:-0.49 [[ 3.12445549e-01 -9.49934396e-01 -1.55665337e-03 1.95128014e+02] [ 9.49922716e-01 3.12449426e-01 -4.71060936e-03 1.08413561e+02] [ 4.96114531e-03 -6.89147166e-06 9.99987693e-01 -4.85393407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08576923100003 meters 0.013994837060272452 Centerline is valid? [True, True] Translation: X:195.14, Y:108.44, Z:-0.49 [[ 3.10552321e-01 -9.50555023e-01 -1.55080649e-03 1.95138287e+02] [ 9.50543418e-01 3.10556193e-01 -4.69695940e-03 1.08436972e+02] [ 4.94633091e-03 -1.54572602e-05 9.99987767e-01 -4.86295891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11576923100006 meters 0.014361974112239172 Centerline is valid? [True, True] Translation: X:195.15, Y:108.46, Z:-0.49 [[ 3.09614935e-01 -9.50860673e-01 -1.60387942e-03 1.95146587e+02] [ 9.50848242e-01 3.09619089e-01 -4.86216426e-03 1.08460280e+02] [ 5.11983247e-03 -1.96472500e-05 9.99986893e-01 -4.87302383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14576923100003 meters 0.014662859301177646 Centerline is valid? [True, True] Translation: X:195.15, Y:108.48, Z:-0.49 [[ 3.09018402e-01 -9.51054611e-01 -1.65961862e-03 1.95153849e+02] [ 9.51041277e-01 3.09022858e-01 -5.03616549e-03 1.08483265e+02] [ 5.30252849e-03 -2.20979995e-05 9.99985941e-01 -4.87381643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17576923100006 meters 0.014460872003808547 Centerline is valid? [True, True] Translation: X:195.16, Y:108.51, Z:-0.49 [[ 3.08744248e-01 -9.51143988e-01 -1.45001458e-03 1.95162902e+02] [ 9.51133791e-01 3.08747653e-01 -4.40437866e-03 1.08506284e+02] [ 4.63688688e-03 -1.93312829e-05 9.99989249e-01 -4.85692478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20576923100003 meters 0.014252983088313034 Centerline is valid? [True, True] Translation: X:195.17, Y:108.53, Z:-0.49 [[ 3.08649027e-01 -9.51174773e-01 -1.52656035e-03 1.95171389e+02] [ 9.51163449e-01 3.08652801e-01 -4.64125406e-03 1.08529041e+02] [ 4.88582091e-03 -1.94898591e-05 9.99988064e-01 -4.85396144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23576923100006 meters 0.01450585225050387 Centerline is valid? [True, True] Translation: X:195.18, Y:108.55, Z:-0.49 [[ 3.08204988e-01 -9.51318943e-01 -1.39821899e-03 1.95182080e+02] [ 9.51309427e-01 3.08208159e-01 -4.25491819e-03 1.08550335e+02] [ 4.47872677e-03 -1.87519024e-05 9.99989970e-01 -4.85166301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26576923100004 meters 0.01455033428043753 Centerline is valid? [True, True] Translation: X:195.19, Y:108.57, Z:-0.48 [[ 3.07439659e-01 -9.51566716e-01 -1.28141175e-03 1.95190982e+02] [ 9.51558710e-01 3.07442329e-01 -3.90323373e-03 1.08573231e+02] [ 4.10814751e-03 -1.93296699e-05 9.99991561e-01 -4.84269146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29576923100007 meters 0.015022950898282553 Centerline is valid? [True, True] Translation: X:195.20, Y:108.60, Z:-0.48 [[ 3.06481483e-01 -9.51875722e-01 -1.30810016e-03 1.95200192e+02] [ 9.51867368e-01 3.06484273e-01 -3.98800460e-03 1.08595326e+02] [ 4.19699689e-03 -2.28882909e-05 9.99991192e-01 -4.84936459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32576923100004 meters 0.015894279917235642 Centerline is valid? [True, True] Translation: X:195.21, Y:108.62, Z:-0.49 [[ 3.04844195e-01 -9.52401065e-01 -1.49303913e-03 1.95213215e+02] [ 9.52390169e-01 3.04847849e-01 -4.55572327e-03 1.08617636e+02] [ 4.79402546e-03 -3.31700028e-05 9.99988508e-01 -4.86490479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35576923100007 meters 0.01752998678382403 Centerline is valid? [True, True] Translation: X:195.23, Y:108.64, Z:-0.49 [[ 3.02946801e-01 -9.53005981e-01 -1.68382817e-03 1.95226249e+02] [ 9.52992107e-01 3.02951477e-01 -5.14260228e-03 1.08638692e+02] [ 5.41104896e-03 -4.67400493e-05 9.99985359e-01 -4.88280921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38576923100004 meters 0.01829621231039704 Centerline is valid? [True, True] Translation: X:195.24, Y:108.66, Z:-0.49 [[ 3.01525751e-01 -9.53455740e-01 -2.09115470e-03 1.95236091e+02] [ 9.53434319e-01 3.01532995e-01 -6.39158818e-03 1.08662436e+02] [ 6.72464858e-03 -6.65502268e-05 9.99977387e-01 -4.90615909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41576923100007 meters 0.020158496310078808 Centerline is valid? [True, True] Translation: X:195.25, Y:108.68, Z:-0.50 [[ 3.00512859e-01 -9.53773490e-01 -2.85516318e-03 1.95246276e+02] [ 9.53733503e-01 3.00526406e-01 -8.73414281e-03 1.08684857e+02] [ 9.18844580e-03 -9.83425497e-05 9.99957781e-01 -4.96561786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44576923100004 meters 0.018569982536029015 Centerline is valid? [True, True] Translation: X:195.25, Y:108.71, Z:-0.50 [[ 3.02142519e-01 -9.53256844e-01 -3.35982818e-03 1.95251193e+02] [ 9.53201336e-01 3.02161184e-01 -1.02874285e-02 1.08709725e+02] [ 1.08217713e-02 -9.43231563e-05 9.99941438e-01 -4.98357579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4757692310001 meters 0.016504036859595415 Centerline is valid? [True, True] Translation: X:195.26, Y:108.73, Z:-0.49 [[ 3.03776483e-01 -9.52739131e-01 -2.82785752e-03 1.95255394e+02] [ 9.52699713e-01 3.03789639e-01 -8.66674498e-03 1.08734880e+02] [ 9.11622090e-03 -6.13457336e-05 9.99958445e-01 -4.93906917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50576923100004 meters 0.014054472152989743 Centerline is valid? [True, True] Translation: X:195.26, Y:108.76, Z:-0.49 [[ 3.07367306e-01 -9.51589434e-01 -1.69965064e-03 1.95257441e+02] [ 9.51575147e-01 3.07372005e-01 -5.21450583e-03 1.08760182e+02] [ 5.48449368e-03 -1.45766968e-05 9.99984960e-01 -4.87047448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5357692310001 meters 0.01363518528658763 Centerline is valid? [True, True] Translation: X:195.26, Y:108.78, Z:-0.49 [[ 3.08885461e-01 -9.51097845e-01 -1.63151922e-03 1.95261543e+02] [ 9.51084649e-01 3.08889770e-01 -5.01007763e-03 1.08784679e+02] [ 5.26903363e-03 -4.17274502e-06 9.99986119e-01 -4.86884057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56576923100005 meters 0.013832095218734568 Centerline is valid? [True, True] Translation: X:195.27, Y:108.81, Z:-0.49 [[ 3.10406678e-01 -9.50602030e-01 -1.86398834e-03 1.95266380e+02] [ 9.50584767e-01 3.10412275e-01 -5.72885419e-03 1.08808979e+02] [ 6.02446529e-03 6.39568029e-06 9.99981853e-01 -4.88604042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.595769231 meters 0.014605051683984134 Centerline is valid? [True, True] Translation: X:195.27, Y:108.83, Z:-0.49 [[ 3.12441166e-01 -9.49934183e-01 -2.35932615e-03 1.95272117e+02] [ 9.49906464e-01 3.12450073e-01 -7.25690399e-03 1.08834015e+02] [ 7.63075279e-03 2.62163803e-05 9.99970885e-01 -4.92297190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62576923100005 meters 0.014708565649074648 Centerline is valid? [True, True] Translation: X:195.28, Y:108.86, Z:-0.49 [[ 3.12380813e-01 -9.49953776e-01 -2.46003618e-03 1.95280313e+02] [ 9.49923582e-01 3.12390498e-01 -7.57395025e-03 1.08857230e+02] [ 7.96339457e-03 2.91103501e-05 9.99968291e-01 -4.92146643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.655769231 meters 0.01386745654465642 Centerline is valid? [True, True] Translation: X:195.29, Y:108.88, Z:-0.49 [[ 3.10303624e-01 -9.50635437e-01 -1.98171712e-03 1.95291089e+02] [ 9.50615820e-01 3.10309952e-01 -6.10708757e-03 1.08880148e+02] [ 6.42056040e-03 1.11997538e-05 9.99979388e-01 -4.88929394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68576923100005 meters 0.013687483388860501 Centerline is valid? [True, True] Translation: X:195.30, Y:108.90, Z:-0.49 [[ 3.08146163e-01 -9.51337248e-01 -1.83944718e-03 1.95301502e+02] [ 9.51320324e-01 3.08151653e-01 -5.67447490e-03 1.08901193e+02] [ 5.96516802e-03 -1.33581801e-06 9.99982208e-01 -4.87597913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.715769231 meters 0.013777630684280479 Centerline is valid? [True, True] Translation: X:195.31, Y:108.92, Z:-0.49 [[ 3.06055576e-01 -9.52012210e-01 -1.65405576e-03 1.95313579e+02] [ 9.51998510e-01 3.06060045e-01 -5.10744500e-03 1.08923612e+02] [ 5.36859038e-03 -1.14965955e-05 9.99985589e-01 -4.85886517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74576923100005 meters 0.014702486781102324 Centerline is valid? [True, True] Translation: X:195.33, Y:108.94, Z:-0.48 [[ 3.03074380e-01 -9.52965890e-01 -1.39013115e-03 1.95331181e+02] [ 9.52956202e-01 3.03077567e-01 -4.29703711e-03 1.08943291e+02] [ 4.51624736e-03 -2.24122433e-05 9.99989801e-01 -4.84757201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.775769231 meters 0.015348189601962528 Centerline is valid? [True, True] Translation: X:195.34, Y:108.97, Z:-0.48 [[ 3.01560063e-01 -9.53446204e-01 -1.36543064e-03 1.95342907e+02] [ 9.53436845e-01 3.01563153e-01 -4.22460943e-03 1.08965199e+02] [ 4.43970139e-03 -2.78783934e-05 9.99990144e-01 -4.84527406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80576923100006 meters 0.017038503353263523 Centerline is valid? [True, True] Translation: X:195.36, Y:108.99, Z:-0.49 [[ 2.99348019e-01 -9.54143144e-01 -1.27407864e-03 1.95357480e+02] [ 9.54134987e-01 2.99350729e-01 -3.94559353e-03 1.08985705e+02] [ 4.14605739e-03 -3.45373935e-05 9.99991404e-01 -4.85529914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83576923100003 meters 0.017367234878983742 Centerline is valid? [True, True] Translation: X:195.37, Y:109.01, Z:-0.48 [[ 2.97776793e-01 -9.54634638e-01 -1.29953797e-03 1.95367674e+02] [ 9.54626140e-01 2.97779626e-01 -4.02842067e-03 1.09008357e+02] [ 4.23264584e-03 -4.10027274e-05 9.99991041e-01 -4.84593389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86576923100006 meters 0.017367234878983742 Centerline is valid? [True, True] Translation: X:195.37, Y:109.03, Z:-0.48 [[ 2.97503535e-01 -9.54719834e-01 -1.29837787e-03 1.95374739e+02] [ 9.54711334e-01 2.97506365e-01 -4.02879482e-03 1.09031498e+02] [ 4.23264600e-03 -4.09953695e-05 9.99991041e-01 -4.84645258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89576923100003 meters 0.01926361014391094 Centerline is valid? [True, True] Translation: X:195.39, Y:109.05, Z:-0.48 [[ 2.95990515e-01 -9.55190209e-01 -1.13096427e-03 1.95386926e+02] [ 9.55183749e-01 2.95992673e-01 -3.51321772e-03 1.09051973e+02] [ 3.69054831e-03 -4.03995723e-05 9.99993189e-01 -4.84607690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92576923100006 meters 0.018715837636918076 Centerline is valid? [True, True] Translation: X:195.40, Y:109.07, Z:-0.48 [[ 2.96438940e-01 -9.55051741e-01 -3.55599556e-04 1.95396177e+02] [ 9.55051100e-01 2.96439153e-01 -1.10697065e-03 1.09073936e+02] [ 1.16262788e-03 -1.14665394e-05 9.99999324e-01 -4.78934961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95576923100003 meters 0.015897324385421584 Centerline is valid? [True, True] Translation: X:195.40, Y:109.10, Z:-0.48 [[ 2.98264169e-01 -9.54483357e-01 8.14838487e-05 1.95399499e+02] [ 9.54483324e-01 2.98264180e-01 2.51568521e-04 1.09098877e+02] [-2.64421680e-04 2.74109891e-06 9.99999965e-01 -4.75924841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98576923100006 meters 0.012979975065000027 Centerline is valid? [True, True] Translation: X:195.40, Y:109.12, Z:-0.48 [[ 3.03637226e-01 -9.52787707e-01 1.44021184e-04 1.95399772e+02] [ 9.52787602e-01 3.03637260e-01 4.46646015e-04 1.09123958e+02] [-4.69289030e-04 1.60324167e-06 9.99999890e-01 -4.77408483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01576923100004 meters 0.012999048473138547 Centerline is valid? [True, True] Translation: X:195.40, Y:109.15, Z:-0.48 [[ 3.06433211e-01 -9.51892054e-01 -4.52204628e-04 1.95402414e+02] [ 9.51891009e-01 3.06433544e-01 -1.41078487e-03 1.09148582e+02] [ 1.48148558e-03 1.86181820e-06 9.99998903e-01 -4.81450920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04576923100007 meters 0.015432977254083352 Centerline is valid? [True, True] Translation: X:195.40, Y:109.17, Z:-0.49 [[ 3.10628904e-01 -9.50530177e-01 -1.43750820e-03 1.95402432e+02] [ 9.50519601e-01 3.10632229e-01 -4.48395513e-03 1.09174610e+02] [ 4.70867103e-03 2.64663499e-05 9.99988914e-01 -4.86784750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07576923100004 meters 0.016808851497725527 Centerline is valid? [True, True] Translation: X:195.41, Y:109.20, Z:-0.49 [[ 3.12261124e-01 -9.49995235e-01 -1.42990160e-03 1.95407047e+02] [ 9.49984747e-01 3.12264396e-01 -4.46409033e-03 1.09200102e+02] [ 4.68737190e-03 3.55771548e-05 9.99989014e-01 -4.86273975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10576923100007 meters 0.0180044038642697 Centerline is valid? [True, True] Translation: X:195.41, Y:109.22, Z:-0.49 [[ 3.13331801e-01 -9.49642612e-01 -1.44649189e-03 1.95412633e+02] [ 9.49631857e-01 3.13335137e-01 -4.51969246e-03 1.09224936e+02] [ 4.74532928e-03 4.25285936e-05 9.99988740e-01 -4.86275914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13576923100004 meters 0.01744876444390494 Centerline is valid? [True, True] Translation: X:195.42, Y:109.25, Z:-0.49 [[ 3.13258746e-01 -9.49666398e-01 -1.63995565e-03 1.95421625e+02] [ 9.49652549e-01 3.13263035e-01 -5.12897079e-03 1.09248427e+02] [ 5.38454870e-03 4.93068941e-05 9.99985502e-01 -4.88015112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16576923100007 meters 0.017806092025441214 Centerline is valid? [True, True] Translation: X:195.43, Y:109.27, Z:-0.49 [[ 3.12288005e-01 -9.49986246e-01 -1.52811465e-03 1.95428105e+02] [ 9.49974200e-01 3.12291741e-01 -4.78406374e-03 1.09270972e+02] [ 5.02201234e-03 4.23362273e-05 9.99987389e-01 -4.89572011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19576923100004 meters 0.016033868278930465 Centerline is valid? [True, True] Translation: X:195.44, Y:109.29, Z:-0.48 [[ 3.11822216e-01 -9.50139743e-01 -1.17244050e-03 1.95438777e+02] [ 9.50132640e-01 3.11824418e-01 -3.67411171e-03 1.09294319e+02] [ 3.85651513e-03 3.16956685e-05 9.99992563e-01 -4.83848884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2257692310001 meters 0.019471644440653225 Centerline is valid? [True, True] Translation: X:195.44, Y:109.32, Z:-0.49 [[ 3.13389484e-01 -9.49623507e-01 -1.49214809e-03 1.95440251e+02] [ 9.49611981e-01 3.13393033e-01 -4.67898430e-03 1.09319160e+02] [ 4.91090229e-03 4.93827726e-05 9.99987940e-01 -4.87166551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25576923100004 meters 0.024697939410711085 Centerline is valid? [True, True] Translation: X:195.44, Y:109.35, Z:-0.49 [[ 3.20893824e-01 -9.47113746e-01 -1.64504722e-03 1.95436773e+02] [ 9.47099681e-01 3.20898026e-01 -5.16246855e-03 1.09346694e+02] [ 5.41733733e-03 9.85805781e-05 9.99985321e-01 -4.85298128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2857692310001 meters 0.028962960436084408 Centerline is valid? [True, True] Translation: X:195.44, Y:109.37, Z:-0.48 [[ 3.25058628e-01 -9.45692550e-01 -1.57806266e-03 1.95435814e+02] [ 9.45679571e-01 3.25062437e-01 -4.95602612e-03 1.09374017e+02] [ 5.19984587e-03 1.18657428e-04 9.99986474e-01 -4.84675753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31576923100005 meters 0.03206840269717936 Centerline is valid? [True, True] Translation: X:195.44, Y:109.40, Z:-0.48 [[ 3.28697938e-01 -9.44433479e-01 -1.75214960e-03 1.95436449e+02] [ 9.44417439e-01 3.28702571e-01 -5.50649426e-03 1.09401241e+02] [ 5.77645361e-03 1.55212672e-04 9.99983304e-01 -4.84726010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.345769231 meters 0.039127632019249875 Centerline is valid? [True, True] Translation: X:195.43, Y:109.43, Z:-0.49 [[ 3.33802570e-01 -9.42640514e-01 -2.16912709e-03 1.95428133e+02] [ 9.42615849e-01 3.33809536e-01 -6.82306474e-03 1.09429990e+02] [ 7.15577256e-03 2.32902974e-04 9.99974370e-01 -4.87219019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37576923100005 meters 0.03811547108520198 Centerline is valid? [True, True] Translation: X:195.43, Y:109.46, Z:-0.49 [[ 3.34406956e-01 -9.42426109e-01 -2.23989581e-03 1.95433956e+02] [ 9.42399763e-01 3.34414366e-01 -7.05121033e-03 1.09455491e+02] [ 7.39429805e-03 2.47096494e-04 9.99972631e-01 -4.86987265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.405769231 meters 0.03645235797926158 Centerline is valid? [True, True] Translation: X:195.44, Y:109.48, Z:-0.48 [[ 3.32338598e-01 -9.43158592e-01 -1.71095721e-03 1.95438343e+02] [ 9.43143203e-01 3.32342955e-01 -5.39067928e-03 1.09481877e+02] [ 5.65289006e-03 1.77853131e-04 9.99984006e-01 -4.83811230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43576923100005 meters 0.03476022364681126 Centerline is valid? [True, True] Translation: X:195.44, Y:109.51, Z:-0.48 [[ 3.30009798e-01 -9.43976653e-01 -1.26921789e-03 1.95444245e+02] [ 9.43968172e-01 3.30012216e-01 -4.00336190e-03 1.09505388e+02] [ 4.19793758e-03 1.23047364e-04 9.99991181e-01 -4.81749839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.465769231 meters 0.032411314441173296 Centerline is valid? [True, True] Translation: X:195.45, Y:109.53, Z:-0.48 [[ 3.27889331e-01 -9.44715692e-01 -9.20419743e-04 1.95451088e+02] [ 9.44711227e-01 3.27890613e-01 -2.90584100e-03 1.09530622e+02] [ 3.04699059e-03 8.32633985e-05 9.99995354e-01 -4.79834916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49576923100005 meters 0.030512675984100637 Centerline is valid? [True, True] Translation: X:195.45, Y:109.56, Z:-0.48 [[ 3.25376888e-01 -9.45584272e-01 -5.15573664e-04 1.95453196e+02] [ 9.45582868e-01 3.25377293e-01 -1.62977228e-03 1.09556857e+02] [ 1.70884300e-03 4.27726076e-05 9.99998539e-01 -4.77427845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.525769231 meters 0.028759014439446725 Centerline is valid? [True, True] Translation: X:195.46, Y:109.58, Z:-0.47 [[ 3.24443679e-01 -9.45905009e-01 1.17733659e-04 1.95456345e+02] [ 9.45904936e-01 3.24443700e-01 3.70328828e-04 1.09583101e+02] [-3.88493838e-04 -8.78599808e-06 9.99999924e-01 -4.74156528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55576923100006 meters 0.029071613630196586 Centerline is valid? [True, True] Translation: X:195.46, Y:109.61, Z:-0.47 [[ 3.23477646e-01 -9.46235765e-01 2.98744141e-04 1.95459810e+02] [ 9.46235295e-01 3.23477783e-01 9.43160571e-04 1.09607833e+02] [-9.89089357e-04 -2.24091104e-05 9.99999511e-01 -4.73802453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58576923100003 meters 0.027095497211707186 Centerline is valid? [True, True] Translation: X:195.47, Y:109.63, Z:-0.48 [[ 3.21627456e-01 -9.46866291e-01 7.60698494e-05 1.95467137e+02] [ 9.46866261e-01 3.21627465e-01 2.39179794e-04 1.09632804e+02] [-2.50937438e-04 -4.89881486e-06 9.99999969e-01 -4.75996146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61576923100006 meters 0.02239265285066358 Centerline is valid? [True, True] Translation: X:195.48, Y:109.66, Z:-0.48 [[ 3.16528202e-01 -9.48581935e-01 -1.48670557e-03 1.95478247e+02] [ 9.48570231e-01 3.16531683e-01 -4.71276152e-03 1.09656901e+02] [ 4.94102986e-03 8.14772820e-05 9.99987790e-01 -4.84845899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64576923100003 meters 0.02016106534870099 Centerline is valid? [True, True] Translation: X:195.49, Y:109.68, Z:-0.49 [[ 3.13638212e-01 -9.49540406e-01 -2.02236139e-03 1.95488531e+02] [ 9.49518737e-01 3.13644719e-01 -6.41546234e-03 1.09680824e+02] [ 6.72604368e-03 9.18641016e-05 9.99977376e-01 -4.87728121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67576923100006 meters 0.01619482673428729 Centerline is valid? [True, True] Translation: X:195.50, Y:109.70, Z:-0.48 [[ 3.08548550e-01 -9.51207510e-01 -1.43707933e-03 1.95500909e+02] [ 9.51196563e-01 3.08551894e-01 -4.56359329e-03 1.09703264e+02] [ 4.78433776e-03 4.11451685e-05 9.99988554e-01 -4.83946717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70576923100003 meters 0.015334367583787097 Centerline is valid? [True, True] Translation: X:195.51, Y:109.73, Z:-0.48 [[ 3.07049713e-01 -9.51693175e-01 -7.57703607e-04 1.95507988e+02] [ 9.51690126e-01 3.07050647e-01 -2.40922581e-03 1.09727294e+02] [ 2.52549714e-03 1.86530503e-05 9.99996811e-01 -4.80136048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73576923100006 meters 0.014744133145504086 Centerline is valid? [True, True] Translation: X:195.51, Y:109.75, Z:-0.48 [[ 3.06544134e-01 -9.51856375e-01 -3.67658745e-04 1.95513989e+02] [ 9.51855655e-01 3.06544355e-01 -1.17103693e-03 1.09752529e+02] [ 1.22736268e-03 9.01644592e-06 9.99999247e-01 -4.77544568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76576923100004 meters 0.016002407447738537 Centerline is valid? [True, True] Translation: X:195.51, Y:109.78, Z:-0.48 [[ 3.08283368e-01 -9.51293770e-01 -1.23666979e-03 1.95514455e+02] [ 9.51285620e-01 3.08285846e-01 -3.93778422e-03 1.09780236e+02] [ 4.12723739e-03 3.75271893e-05 9.99991482e-01 -4.83177580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79576923100007 meters 0.020425167212227407 Centerline is valid? [True, True] Translation: X:195.51, Y:109.81, Z:-0.49 [[ 3.12417425e-01 -9.49941475e-01 -2.55865244e-03 1.95509284e+02] [ 9.49906497e-01 3.12427881e-01 -8.15266945e-03 1.09808676e+02] [ 8.54395320e-03 1.16555424e-04 9.99963493e-01 -4.90491003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82576923100004 meters 0.026090479681427227 Centerline is valid? [True, True] Translation: X:195.51, Y:109.84, Z:-0.49 [[ 3.15718627e-01 -9.48848989e-01 -2.71000129e-03 1.95505069e+02] [ 9.48809644e-01 3.15730218e-01 -8.64232544e-03 1.09836807e+02] [ 9.05589106e-03 1.57267758e-04 9.99958982e-01 -4.92892608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85576923100007 meters 0.029681889126315586 Centerline is valid? [True, True] Translation: X:195.50, Y:109.86, Z:-0.49 [[ 3.19618726e-01 -9.47542715e-01 -2.58333799e-03 1.95503510e+02] [ 9.47506855e-01 3.19629111e-01 -8.24571385e-03 1.09864210e+02] [ 8.63887611e-03 1.87754106e-04 9.99962667e-01 -4.90642601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88576923100004 meters 0.03567150732944547 Centerline is valid? [True, True] Translation: X:195.50, Y:109.89, Z:-0.49 [[ 3.26719684e-01 -9.45117556e-01 -2.65570978e-03 1.95495225e+02] [ 9.45079514e-01 3.26730372e-01 -8.48387542e-03 1.09894084e+02] [ 8.88596065e-03 2.61992194e-04 9.99960485e-01 -4.90488101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91576923100007 meters 0.041725412679706586 Centerline is valid? [True, True] Translation: X:195.49, Y:109.92, Z:-0.49 [[ 3.28796322e-01 -9.44396903e-01 -2.73294192e-03 1.95490871e+02] [ 9.44356522e-01 3.28807550e-01 -8.73810509e-03 1.09922185e+02] [ 9.15085132e-03 2.92185289e-04 9.99958087e-01 -4.92939847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94576923100004 meters 0.04300015391266344 Centerline is valid? [True, True] Translation: X:195.49, Y:109.95, Z:-0.49 [[ 3.29565511e-01 -9.44128296e-01 -2.88710802e-03 1.95492775e+02] [ 9.44083144e-01 3.29578002e-01 -9.23892248e-03 1.09948578e+02] [ 9.67425543e-03 3.19160188e-04 9.99953152e-01 -4.94412731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9757692310001 meters 0.04229984179016657 Centerline is valid? [True, True] Translation: X:195.50, Y:109.97, Z:-0.50 [[ 3.28086109e-01 -9.44643400e-01 -2.89009653e-03 1.95495933e+02] [ 9.44598094e-01 3.28098694e-01 -9.25672431e-03 1.09973568e+02] [ 9.69254042e-03 3.07022984e-04 9.99952979e-01 -4.96536558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00576923100004 meters 0.039604931950508605 Centerline is valid? [True, True] Translation: X:195.51, Y:110.00, Z:-0.50 [[ 3.25585198e-01 -9.45508912e-01 -2.67883784e-03 1.95505051e+02] [ 9.45469948e-01 3.25596112e-01 -8.58775999e-03 1.09996888e+02] [ 8.99202279e-03 2.63286869e-04 9.99959536e-01 -4.95544181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0357692310001 meters 0.033169883563318105 Centerline is valid? [True, True] Translation: X:195.52, Y:110.02, Z:-0.49 [[ 3.22531763e-01 -9.46555968e-01 -2.24953285e-03 1.95519141e+02] [ 9.46528469e-01 3.22539547e-01 -7.21791966e-03 1.10019867e+02] [ 7.55772824e-03 1.98761470e-04 9.99971420e-01 -4.91642055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06576923100005 meters 0.02800174709494304 Centerline is valid? [True, True] Translation: X:195.53, Y:110.04, Z:-0.49 [[ 3.17071169e-01 -9.48400132e-01 -1.75001918e-03 1.95528622e+02] [ 9.48383485e-01 3.17075975e-01 -5.62065071e-03 1.10043021e+02] [ 5.88551491e-03 1.22457001e-04 9.99982673e-01 -4.88595786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.095769231 meters 0.0252499312757571 Centerline is valid? [True, True] Translation: X:195.54, Y:110.07, Z:-0.49 [[ 3.14856909e-01 -9.49137528e-01 -1.75488651e-03 1.95537389e+02] [ 9.49120773e-01 3.14861780e-01 -5.64080004e-03 1.10067460e+02] [ 5.90644169e-03 1.10445622e-04 9.99982551e-01 -4.87912799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12576923100005 meters 0.02272325091793881 Centerline is valid? [True, True] Translation: X:195.55, Y:110.09, Z:-0.48 [[ 3.13795950e-01 -9.49489879e-01 -1.03490441e-03 1.95545068e+02] [ 9.49484041e-01 3.13797650e-01 -3.33019520e-03 1.10092295e+02] [ 3.48673721e-03 6.23765471e-05 9.99993919e-01 -4.82758476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.155769231 meters 0.025535711821487537 Centerline is valid? [True, True] Translation: X:195.55, Y:110.12, Z:-0.48 [[ 3.13971322e-01 -9.49432303e-01 -5.57196108e-04 1.95546060e+02] [ 9.49430607e-01 3.13971815e-01 -1.79514688e-03 1.10117759e+02] [ 1.87931431e-03 3.46055993e-05 9.99998233e-01 -4.79741414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18576923100005 meters 0.024653341247093778 Centerline is valid? [True, True] Translation: X:195.55, Y:110.14, Z:-0.48 [[ 3.14083951e-01 -9.49395166e-01 -2.99559530e-04 1.95552637e+02] [ 9.49394674e-01 3.14084093e-01 -9.66958745e-04 1.10142097e+02] [ 1.01211284e-03 1.93060012e-05 9.99999488e-01 -4.77697345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.215769231 meters 0.0241043575391904 Centerline is valid? [True, True] Translation: X:195.56, Y:110.17, Z:-0.48 [[ 3.13042193e-01 -9.49739190e-01 -2.38472068e-04 1.95557997e+02] [ 9.49738877e-01 3.13042283e-01 -7.70435959e-04 1.10165683e+02] [ 8.06365064e-04 1.46927682e-05 9.99999675e-01 -4.78188421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24576923100005 meters 0.021480308128933763 Centerline is valid? [True, True] Translation: X:195.57, Y:110.19, Z:-0.48 [[ 3.11631681e-01 -9.50202962e-01 -1.60412083e-04 1.95569118e+02] [ 9.50202820e-01 3.11631722e-01 -5.19628661e-04 1.10189166e+02] [ 5.43742187e-04 9.50873926e-06 9.99999852e-01 -4.78375850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.275769231 meters 0.019629118576414743 Centerline is valid? [True, True] Translation: X:195.58, Y:110.21, Z:-0.48 [[ 3.08358273e-01 -9.51270278e-01 -1.82010627e-04 1.95578650e+02] [ 9.51270095e-01 3.08358327e-01 -5.89762327e-04 1.10212634e+02] [ 6.17147865e-04 8.71682635e-06 9.99999810e-01 -4.78805064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30576923100006 meters 0.018139735166609477 Centerline is valid? [True, True] Translation: X:195.59, Y:110.24, Z:-0.48 [[ 3.06607397e-01 -9.51835963e-01 -4.52493136e-04 1.95587200e+02] [ 9.51834836e-01 3.06607730e-01 -1.46484584e-03 1.10236721e+02] [ 1.53303084e-03 1.84338392e-05 9.99998825e-01 -4.80617484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33576923100003 meters 0.01657282173789309 Centerline is valid? [True, True] Translation: X:195.60, Y:110.26, Z:-0.49 [[ 3.04446742e-01 -9.52528292e-01 -1.42614129e-03 1.95596290e+02] [ 9.52517103e-01 3.04450079e-01 -4.61716968e-03 1.10260320e+02] [ 4.83217358e-03 4.72582962e-05 9.99988324e-01 -4.85569906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36576923100006 meters 0.016718503874453377 Centerline is valid? [True, True] Translation: X:195.60, Y:110.28, Z:-0.49 [[ 3.03331328e-01 -9.52883152e-01 -1.95030244e-03 1.95604144e+02] [ 9.52862197e-01 3.03337592e-01 -6.31977240e-03 1.10283851e+02] [ 6.61360469e-03 5.86154878e-05 9.99978128e-01 -4.89121006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39576923100003 meters 0.017112830380334263 Centerline is valid? [True, True] Translation: X:195.61, Y:110.31, Z:-0.49 [[ 3.01878366e-01 -9.53343631e-01 -2.31810286e-03 1.95611990e+02] [ 9.53313986e-01 3.01887260e-01 -7.51835506e-03 1.10307427e+02] [ 7.86738164e-03 5.97488666e-05 9.99969050e-01 -4.93426345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42576923100006 meters 0.01398481871149541 Centerline is valid? [True, True] Translation: X:195.63, Y:110.33, Z:-0.49 [[ 2.98069930e-01 -9.54541441e-01 -2.22602352e-03 1.95627585e+02] [ 9.54514088e-01 2.98078240e-01 -7.22617410e-03 1.10329855e+02] [ 7.56121181e-03 2.91343962e-05 9.99971413e-01 -4.90574053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45576923100003 meters 0.013307505956051196 Centerline is valid? [True, True] Translation: X:195.64, Y:110.35, Z:-0.49 [[ 2.96210981e-01 -9.55120433e-01 -2.00339413e-03 1.95637889e+02] [ 9.55098246e-01 2.96217755e-01 -6.51016823e-03 1.10353401e+02] [ 6.81143561e-03 1.49450969e-05 9.99976802e-01 -4.88400799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48576923100006 meters 0.012936909312042203 Centerline is valid? [True, True] Translation: X:195.65, Y:110.38, Z:-0.49 [[ 2.94826560e-01 -9.55549572e-01 -1.52179030e-03 1.95648244e+02] [ 9.55536754e-01 2.94830487e-01 -4.94938109e-03 1.10375704e+02] [ 5.17804915e-03 5.08243525e-06 9.99986594e-01 -4.87547055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51576923100004 meters 0.012881928043044727 Centerline is valid? [True, True] Translation: X:195.66, Y:110.40, Z:-0.49 [[ 2.94226218e-01 -9.55734688e-01 -1.46256725e-03 1.95656805e+02] [ 9.55722823e-01 2.94229853e-01 -4.76224487e-03 1.10397528e+02] [ 4.98177356e-03 3.36839610e-06 9.99987591e-01 -4.87210495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54576923100007 meters 0.012916557692332855 Centerline is valid? [True, True] Translation: X:195.66, Y:110.42, Z:-0.49 [[ 2.94061997e-01 -9.55785227e-01 -1.46381100e-03 1.95664628e+02] [ 9.55773318e-01 2.94065640e-01 -4.77119778e-03 1.10420040e+02] [ 4.99069687e-03 3.95645186e-06 9.99987546e-01 -4.87096143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57576923100004 meters 0.01331897870150292 Centerline is valid? [True, True] Translation: X:195.67, Y:110.45, Z:-0.49 [[ 2.95738276e-01 -9.55267383e-01 -1.76019866e-03 1.95668690e+02] [ 9.55250126e-01 2.95743514e-01 -5.74203065e-03 1.10445561e+02] [ 6.00574193e-03 1.67082595e-05 9.99981965e-01 -4.87532601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60576923100007 meters 0.015283985623874903 Centerline is valid? [True, True] Translation: X:195.67, Y:110.47, Z:-0.49 [[ 2.98591064e-01 -9.54379201e-01 -1.92800471e-03 1.95668734e+02] [ 9.54358443e-01 2.98597286e-01 -6.29476821e-03 1.10472392e+02] [ 6.58329283e-03 3.95539688e-05 9.99978329e-01 -4.89837569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63576923100004 meters 0.022742367334108043 Centerline is valid? [True, True] Translation: X:195.66, Y:110.50, Z:-0.49 [[ 3.08178347e-01 -9.51327086e-01 -1.69766883e-03 1.95658050e+02] [ 9.51310914e-01 3.08183008e-01 -5.54785504e-03 1.10502666e+02] [ 5.80101745e-03 9.47179091e-05 9.99983169e-01 -4.86017222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66576923100007 meters 0.027239174440680042 Centerline is valid? [True, True] Translation: X:195.66, Y:110.53, Z:-0.48 [[ 3.12798190e-01 -9.49818873e-01 -1.18318068e-03 1.95656381e+02] [ 9.49810995e-01 3.12800416e-01 -3.86962391e-03 1.10530112e+02] [ 4.04554124e-03 8.66133334e-05 9.99991813e-01 -4.82353823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69576923100004 meters 0.029810466847422643 Centerline is valid? [True, True] Translation: X:195.66, Y:110.56, Z:-0.48 [[ 3.15958195e-01 -9.48772842e-01 -7.16001045e-04 1.95656766e+02] [ 9.48769948e-01 3.15959000e-01 -2.34454968e-03 1.10557552e+02] [ 2.45067204e-03 6.14594123e-05 9.99996995e-01 -4.79217341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7257692310001 meters 0.034242387782547984 Centerline is valid? [True, True] Translation: X:195.65, Y:110.59, Z:-0.48 [[ 3.17996024e-01 -9.48092011e-01 -2.57855324e-04 1.95648399e+02] [ 9.48091634e-01 3.17996128e-01 -8.46302665e-04 1.10586890e+02] [ 8.84369791e-04 2.46504073e-05 9.99999609e-01 -4.77508401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75576923100004 meters 0.034242387782547984 Centerline is valid? [True, True] Translation: X:195.66, Y:110.61, Z:-0.48 [[ 3.17755774e-01 -9.48172559e-01 -2.57632512e-04 1.95655372e+02] [ 9.48172182e-01 3.17755877e-01 -8.46370599e-04 1.10610881e+02] [ 8.84369621e-04 2.46591637e-05 9.99999609e-01 -4.77562077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7857692310001 meters 0.03235226122214454 Centerline is valid? [True, True] Translation: X:195.66, Y:110.64, Z:-0.48 [[ 3.16816172e-01 -9.48486916e-01 -2.89111643e-04 1.95661715e+02] [ 9.48486440e-01 3.16816303e-01 -9.50479054e-04 1.10635956e+02] [ 9.93112228e-04 2.69086628e-05 9.99999507e-01 -4.79194804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81576923100005 meters 0.02850377542320856 Centerline is valid? [True, True] Translation: X:195.67, Y:110.66, Z:-0.48 [[ 3.12338533e-01 -9.49970483e-01 -8.49712953e-04 1.95670769e+02] [ 9.49966381e-01 3.12339682e-01 -2.79237656e-03 1.10659055e+02] [ 2.91807439e-03 6.49680609e-05 9.99995740e-01 -4.83898273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.845769231 meters 0.023999898711833105 Centerline is valid? [True, True] Translation: X:195.68, Y:110.68, Z:-0.48 [[ 3.08317110e-01 -9.51283063e-01 -1.04559082e-03 1.95682750e+02] [ 9.51276851e-01 3.08318876e-01 -3.43843978e-03 1.10682638e+02] [ 3.59330491e-03 6.54834709e-05 9.99993542e-01 -4.84711692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87576923100005 meters 0.01959972028939969 Centerline is valid? [True, True] Translation: X:195.69, Y:110.71, Z:-0.49 [[ 3.03766003e-01 -9.52745907e-01 -1.20513263e-03 1.95694757e+02] [ 9.52737657e-01 3.03768388e-01 -3.96536513e-03 1.10706847e+02] [ 4.14406660e-03 5.63678808e-05 9.99991412e-01 -4.85073124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.905769231 meters 0.013153728560193348 Centerline is valid? [True, True] Translation: X:195.71, Y:110.73, Z:-0.48 [[ 2.93836909e-01 -9.55854834e-01 -1.18674518e-03 1.95711787e+02] [ 9.55846839e-01 2.93839305e-01 -3.90930853e-03 1.10727431e+02] [ 4.08544383e-03 1.43525009e-05 9.99991654e-01 -4.84770700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93576923100005 meters 0.012735668837004478 Centerline is valid? [True, True] Translation: X:195.73, Y:110.75, Z:-0.49 [[ 2.88890622e-01 -9.57361272e-01 -1.26638966e-03 1.95725436e+02] [ 9.57352165e-01 2.88893398e-01 -4.17562854e-03 1.10749183e+02] [ 4.36343666e-03 -6.08095846e-06 9.99990480e-01 -4.86079012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.965769231 meters 0.016272038706786035 Centerline is valid? [True, True] Translation: X:195.74, Y:110.77, Z:-0.49 [[ 2.81716930e-01 -9.59496569e-01 -1.38052733e-03 1.95742645e+02] [ 9.59485752e-01 2.81720309e-01 -4.55613862e-03 1.10769912e+02] [ 4.76052196e-03 -4.10549194e-05 9.99988668e-01 -4.87691547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99576923100005 meters 0.018290095434009352 Centerline is valid? [True, True] Translation: X:195.75, Y:110.79, Z:-0.49 [[ 2.79215977e-01 -9.60226905e-01 -1.65224531e-03 1.95752588e+02] [ 9.60211398e-01 2.79220858e-01 -5.45739799e-03 1.10793415e+02] [ 5.70168173e-03 -6.27120684e-05 9.99983743e-01 -4.89117154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.025769231 meters 0.019979515989041144 Centerline is valid? [True, True] Translation: X:195.76, Y:110.82, Z:-0.49 [[ 2.77067932e-01 -9.60848289e-01 -1.98133604e-03 1.95761274e+02] [ 9.60825967e-01 2.77075002e-01 -6.55009975e-03 1.10817078e+02] [ 6.84263082e-03 -8.88965206e-05 9.99976585e-01 -4.89968527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05576923100006 meters 0.02153921907322728 Centerline is valid? [True, True] Translation: X:195.77, Y:110.84, Z:-0.49 [[ 2.75926004e-01 -9.61176261e-01 -2.24393512e-03 1.95768750e+02] [ 9.61147583e-01 2.75935107e-01 -7.42560531e-03 1.10839896e+02] [ 7.75649602e-03 -1.07835218e-04 9.99969912e-01 -4.91554876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08576923100003 meters 0.020820862948174562 Centerline is valid? [True, True] Translation: X:195.77, Y:110.86, Z:-0.49 [[ 2.75967327e-01 -9.61164106e-01 -2.36533148e-03 1.95773338e+02] [ 9.61132178e-01 2.75977441e-01 -7.83510972e-03 1.10864402e+02] [ 8.18360436e-03 -1.11161911e-04 9.99966508e-01 -4.92190230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11576923100006 meters 0.02121882756928249 Centerline is valid? [True, True] Translation: X:195.78, Y:110.89, Z:-0.50 [[ 2.76392212e-01 -9.61041249e-01 -2.65762717e-03 1.95778829e+02] [ 9.61000852e-01 2.76404964e-01 -8.81239650e-03 1.10887346e+02] [ 9.20365788e-03 -1.18304216e-04 9.99957638e-01 -4.96422170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14576923100003 meters 0.021559689641191135 Centerline is valid? [True, True] Translation: X:195.79, Y:110.91, Z:-0.50 [[ 2.75506298e-01 -9.61295938e-01 -2.52964965e-03 1.95786494e+02] [ 9.61259277e-01 2.75517886e-01 -8.39620725e-03 1.10910861e+02] [ 8.76820364e-03 -1.18441213e-04 9.99961552e-01 -4.95718692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17576923100006 meters 0.022847477959474578 Centerline is valid? [True, True] Translation: X:195.80, Y:110.93, Z:-0.50 [[ 2.74276794e-01 -9.61647761e-01 -2.41347036e-03 1.95795280e+02] [ 9.61614334e-01 2.74287386e-01 -8.01887306e-03 1.10932953e+02] [ 8.37331579e-03 -1.21436895e-04 9.99964936e-01 -4.95140105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20576923100003 meters 0.02379138126636942 Centerline is valid? [True, True] Translation: X:195.81, Y:110.96, Z:-0.49 [[ 2.70591165e-01 -9.62692817e-01 -1.72093146e-03 1.95806812e+02] [ 9.62675809e-01 2.70596616e-01 -5.72342851e-03 1.10956418e+02] [ 5.97558174e-03 -1.07989899e-04 9.99982140e-01 -4.88864576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23576923100006 meters 0.02548890031314933 Centerline is valid? [True, True] Translation: X:195.82, Y:110.98, Z:-0.49 [[ 2.69176910e-01 -9.63089470e-01 -1.56979124e-03 1.95817887e+02] [ 9.63075299e-01 2.69181466e-01 -5.22559305e-03 1.10979905e+02] [ 5.45527235e-03 -1.05218182e-04 9.99985114e-01 -4.87839104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26576923100004 meters 0.026273665774393138 Centerline is valid? [True, True] Translation: X:195.83, Y:111.00, Z:-0.49 [[ 2.67844388e-01 -9.63461406e-01 -1.22566631e-03 1.95830384e+02] [ 9.63452753e-01 2.67847179e-01 -4.08429122e-03 1.11001800e+02] [ 4.26334823e-03 -8.69171006e-05 9.99990908e-01 -4.86004720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29576923100007 meters 0.02587747466654504 Centerline is valid? [True, True] Translation: X:195.84, Y:111.02, Z:-0.49 [[ 2.68228255e-01 -9.63354541e-01 -1.27709540e-03 1.95838912e+02] [ 9.63345126e-01 2.68231281e-01 -4.26010004e-03 1.11024823e+02] [ 4.44654365e-03 -8.76044225e-05 9.99990110e-01 -4.86388314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32576923100004 meters 0.024451282096070857 Centerline is valid? [True, True] Translation: X:195.85, Y:111.05, Z:-0.49 [[ 2.69392692e-01 -9.63029429e-01 -1.37672116e-03 1.95845874e+02] [ 9.63018463e-01 2.69396196e-01 -4.59664104e-03 1.11049116e+02] [ 4.79758404e-03 -8.75063945e-05 9.99988488e-01 -4.87265881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35576923100007 meters 0.022588340228804026 Centerline is valid? [True, True] Translation: X:195.85, Y:111.07, Z:-0.49 [[ 2.71171865e-01 -9.62529958e-01 -1.37848215e-03 1.95852488e+02] [ 9.62518936e-01 2.71175357e-01 -4.60687326e-03 1.11073713e+02] [ 4.80806391e-03 -7.75607601e-05 9.99988438e-01 -4.87121391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38576923100004 meters 0.01719217824774135 Centerline is valid? [True, True] Translation: X:195.86, Y:111.10, Z:-0.48 [[ 2.76476025e-01 -9.61020106e-01 -1.16794842e-03 1.95855914e+02] [ 9.61012164e-01 2.76478489e-01 -3.90722839e-03 1.11099083e+02] [ 4.07783765e-03 -4.21576607e-05 9.99991685e-01 -4.84779739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41576923100007 meters 0.014976160949838896 Centerline is valid? [True, True] Translation: X:195.86, Y:111.12, Z:-0.48 [[ 2.79346560e-01 -9.60189696e-01 -1.11627444e-03 1.95860704e+02] [ 9.60182420e-01 2.79348789e-01 -3.73815882e-03 1.11123459e+02] [ 3.90117150e-03 -2.75852854e-05 9.99992390e-01 -4.83726077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44576923100004 meters 0.012216057989686717 Centerline is valid? [True, True] Translation: X:195.86, Y:111.15, Z:-0.48 [[ 2.84612725e-01 -9.58642298e-01 -7.35064759e-04 1.95863952e+02] [ 9.58639130e-01 2.84613674e-01 -2.46481843e-03 1.11147835e+02] [ 2.57208869e-03 -3.14315011e-06 9.99996692e-01 -4.82085094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4757692310001 meters 0.012026396055839095 Centerline is valid? [True, True] Translation: X:195.87, Y:111.17, Z:-0.48 [[ 2.86557287e-01 -9.58062937e-01 -5.74469970e-04 1.95869148e+02] [ 9.58060996e-01 2.86557863e-01 -1.92865462e-03 1.11171843e+02] [ 2.01239140e-03 2.29276523e-06 9.99997975e-01 -4.81248561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50576923100004 meters 0.012666530083900045 Centerline is valid? [True, True] Translation: X:195.87, Y:111.20, Z:-0.48 [[ 2.88329090e-01 -9.57531151e-01 -6.57079302e-04 1.95874023e+02] [ 9.57528605e-01 2.88329838e-01 -2.20788969e-03 1.11196034e+02] [ 2.30357873e-03 7.42659843e-06 9.99997347e-01 -4.82096691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5357692310001 meters 0.014875936886397448 Centerline is valid? [True, True] Translation: X:195.88, Y:111.22, Z:-0.48 [[ 2.91744410e-01 -9.56495896e-01 -8.94541792e-04 1.95875842e+02] [ 9.56491168e-01 2.91745780e-01 -3.00763362e-03 1.11222417e+02] [ 3.13776800e-03 2.18389718e-05 9.99995077e-01 -4.82585162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56576923100005 meters 0.016676008341867183 Centerline is valid? [True, True] Translation: X:195.88, Y:111.25, Z:-0.48 [[ 2.93734015e-01 -9.55886598e-01 -1.06822142e-03 1.95878612e+02] [ 9.55879840e-01 2.93735955e-01 -3.59451711e-03 1.11248159e+02] [ 3.74972577e-03 3.47406187e-05 9.99992969e-01 -4.83774985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.595769231 meters 0.022235312067481028 Centerline is valid? [True, True] Translation: X:195.87, Y:111.28, Z:-0.49 [[ 2.98584163e-01 -9.54382431e-01 -1.29361844e-03 1.95874438e+02] [ 9.54372489e-01 2.98586958e-01 -4.35682036e-03 1.11275086e+02] [ 4.54433040e-03 6.62837118e-05 9.99989672e-01 -4.86238135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62576923100005 meters 0.024769285201623314 Centerline is valid? [True, True] Translation: X:195.88, Y:111.30, Z:-0.49 [[ 3.00598817e-01 -9.53749647e-01 -1.40098852e-03 1.95875642e+02] [ 9.53737958e-01 3.00602070e-01 -4.72267947e-03 1.11300728e+02] [ 4.92539393e-03 8.34559344e-05 9.99987867e-01 -4.87038172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.655769231 meters 0.025785403531943193 Centerline is valid? [True, True] Translation: X:195.88, Y:111.33, Z:-0.48 [[ 3.03344932e-01 -9.52880205e-01 -1.08039227e-03 1.95877614e+02] [ 9.52873234e-01 3.03346847e-01 -3.64564058e-03 1.11327137e+02] [ 3.80159233e-03 7.64097230e-05 9.99992771e-01 -4.84331693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68576923100005 meters 0.028983946027207472 Centerline is valid? [True, True] Translation: X:195.88, Y:111.35, Z:-0.48 [[ 3.04036771e-01 -9.52660037e-01 -7.04739829e-04 1.95878307e+02] [ 9.52657063e-01 3.04037583e-01 -2.38082631e-03 1.11353501e+02] [ 2.48238547e-03 5.24833674e-05 9.99996917e-01 -4.82855904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.715769231 meters 0.030532190130847053 Centerline is valid? [True, True] Translation: X:195.88, Y:111.38, Z:-0.48 [[ 3.04819753e-01 -9.52409710e-01 -8.13232652e-04 1.95879067e+02] [ 9.52405745e-01 3.04820832e-01 -2.74899583e-03 1.11378223e+02] [ 2.86606057e-03 6.34207804e-05 9.99995891e-01 -4.83798513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74576923100005 meters 0.027936282176521516 Centerline is valid? [True, True] Translation: X:195.89, Y:111.40, Z:-0.49 [[ 3.04225266e-01 -9.52599205e-01 -1.31998970e-03 1.95888396e+02] [ 9.52588743e-01 3.04228113e-01 -4.46554125e-03 1.11401971e+02] [ 4.65544902e-03 1.01123142e-04 9.99989158e-01 -4.86887117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.775769231 meters 0.03080846892823497 Centerline is valid? [True, True] Translation: X:195.89, Y:111.43, Z:-0.49 [[ 3.03247404e-01 -9.52909950e-01 -1.90750490e-03 1.95890985e+02] [ 9.52888073e-01 3.03253371e-01 -6.45866054e-03 1.11426919e+02] [ 6.73297919e-03 1.40933372e-04 9.99977323e-01 -4.92914529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80576923100006 meters 0.023682863818129465 Centerline is valid? [True, True] Translation: X:195.91, Y:111.45, Z:-0.49 [[ 2.99343668e-01 -9.54143280e-01 -1.99237116e-03 1.95907212e+02] [ 9.54119395e-01 2.99350275e-01 -6.75224102e-03 1.11448420e+02] [ 7.03902225e-03 1.20280630e-04 9.99975219e-01 -4.91559041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83576923100003 meters 0.02146239395289928 Centerline is valid? [True, True] Translation: X:195.92, Y:111.47, Z:-0.49 [[ 2.96886831e-01 -9.54911090e-01 -1.73773324e-03 1.95916724e+02] [ 9.54892898e-01 2.96891903e-01 -5.89506926e-03 1.11471820e+02] [ 6.14518594e-03 9.08193067e-05 9.99981114e-01 -4.90065288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86576923100006 meters 0.01782428076126829 Centerline is valid? [True, True] Translation: X:195.93, Y:111.49, Z:-0.49 [[ 2.92379219e-01 -9.56300731e-01 -1.81777127e-03 1.95929952e+02] [ 9.56280814e-01 2.92384862e-01 -6.17230078e-03 1.11494637e+02] [ 6.43406455e-03 6.63526934e-05 9.99979299e-01 -4.91349761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89576923100003 meters 0.016505697415327196 Centerline is valid? [True, True] Translation: X:195.94, Y:111.52, Z:-0.49 [[ 2.89989135e-01 -9.57027577e-01 -2.12578388e-03 1.95941056e+02] [ 9.57000307e-01 2.89996920e-01 -7.22482351e-03 1.11516210e+02] [ 7.53082611e-03 6.07444874e-05 9.99971641e-01 -4.94049079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92576923100006 meters 0.015249240063003353 Centerline is valid? [True, True] Translation: X:195.95, Y:111.54, Z:-0.49 [[ 2.87783506e-01 -9.57693156e-01 -2.11494239e-03 1.95953071e+02] [ 9.57666126e-01 2.87791274e-01 -7.19544408e-03 1.11538177e+02] [ 7.49968951e-03 4.53214445e-05 9.99971876e-01 -4.94063054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95576923100003 meters 0.013666136786270206 Centerline is valid? [True, True] Translation: X:195.97, Y:111.56, Z:-0.49 [[ 2.84819469e-01 -9.58578707e-01 -2.17556624e-03 1.95968171e+02] [ 9.58550076e-01 2.84827777e-01 -7.40874787e-03 1.11560780e+02] [ 7.72152965e-03 2.47664469e-05 9.99970188e-01 -4.93196684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98576923100006 meters 0.013988863250273476 Centerline is valid? [True, True] Translation: X:195.98, Y:111.58, Z:-0.49 [[ 2.84355083e-01 -9.58716711e-01 -2.11081244e-03 1.95975617e+02] [ 9.58689707e-01 2.84362917e-01 -7.19568354e-03 1.11584119e+02] [ 7.49885883e-03 2.25150368e-05 9.99971883e-01 -4.94204741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01576923100004 meters 0.014550687842989645 Centerline is valid? [True, True] Translation: X:195.98, Y:111.61, Z:-0.49 [[ 2.86730576e-01 -9.58009615e-01 -1.77610822e-03 1.95979918e+02] [ 9.57990444e-01 2.86736074e-01 -6.06079997e-03 1.11609078e+02] [ 6.31557895e-03 3.63219597e-05 9.99980056e-01 -4.89997496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04576923100007 meters 0.01576100325488752 Centerline is valid? [True, True] Translation: X:195.98, Y:111.64, Z:-0.49 [[ 2.88923396e-01 -9.57350633e-01 -1.74276674e-03 1.95983983e+02] [ 9.57332130e-01 2.88928647e-01 -5.95222553e-03 1.11635551e+02] [ 6.20190212e-03 5.13306142e-05 9.99980767e-01 -4.89055218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07576923100004 meters 0.01802712064590986 Centerline is valid? [True, True] Translation: X:195.99, Y:111.66, Z:-0.49 [[ 2.91317135e-01 -9.56624579e-01 -1.93452855e-03 1.95986489e+02] [ 9.56601720e-01 2.91323548e-01 -6.61351407e-03 1.11660652e+02] [ 6.89022383e-03 7.60566308e-05 9.99976259e-01 -4.90273435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10576923100007 meters 0.02381258200972769 Centerline is valid? [True, True] Translation: X:195.98, Y:111.69, Z:-0.49 [[ 2.96350314e-01 -9.55076157e-01 -2.45478109e-03 1.95982343e+02] [ 9.55039251e-01 2.96360446e-01 -8.39736492e-03 1.11687619e+02] [ 8.74762304e-03 1.44149440e-04 9.99961728e-01 -4.93838879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13576923100004 meters 0.025925010876328314 Centerline is valid? [True, True] Translation: X:195.98, Y:111.71, Z:-0.49 [[ 2.98714250e-01 -9.54339490e-01 -2.43614169e-03 1.95984327e+02] [ 9.54303052e-01 2.98724137e-01 -8.34115428e-03 1.11714825e+02] [ 8.68802724e-03 1.66804199e-04 9.99962244e-01 -4.92789467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16576923100007 meters 0.02831137632443834 Centerline is valid? [True, True] Translation: X:195.99, Y:111.74, Z:-0.49 [[ 3.00674845e-01 -9.53724186e-01 -2.19437363e-03 1.95985214e+02] [ 9.53694549e-01 3.00682805e-01 -7.52048285e-03 1.11741214e+02] [ 7.83227680e-03 1.68457850e-04 9.99969313e-01 -4.91294539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19576923100004 meters 0.029484864433628032 Centerline is valid? [True, True] Translation: X:195.99, Y:111.77, Z:-0.49 [[ 3.01793542e-01 -9.53372363e-01 -1.34028213e-03 1.95986870e+02] [ 9.53361278e-01 3.01796498e-01 -4.59855206e-03 1.11767488e+02] [ 4.78862489e-03 1.10040227e-04 9.99988528e-01 -4.86046131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2257692310001 meters 0.03141639912875753 Centerline is valid? [True, True] Translation: X:195.99, Y:111.79, Z:-0.49 [[ 3.00803155e-01 -9.53685676e-01 -1.04573409e-03 1.95990021e+02] [ 9.53678916e-01 3.00804961e-01 -3.59180272e-03 1.11792388e+02] [ 3.74001281e-03 8.31310344e-05 9.99993003e-01 -4.85064204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25576923100004 meters 0.02830901721585074 Centerline is valid? [True, True] Translation: X:196.00, Y:111.81, Z:-0.49 [[ 2.97861979e-01 -9.54608516e-01 -9.07064425e-04 1.95999374e+02] [ 9.54603423e-01 2.97863354e-01 -3.11875202e-03 1.11814759e+02] [ 3.24736849e-03 6.30708430e-05 9.99994725e-01 -4.85284322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2857692310001 meters 0.02258863749301038 Centerline is valid? [True, True] Translation: X:196.01, Y:111.84, Z:-0.49 [[ 2.95225200e-01 -9.55427129e-01 -1.04057420e-03 1.96014919e+02] [ 9.55420422e-01 2.95227028e-01 -3.58050434e-03 1.11837907e+02] [ 3.72811661e-03 6.28692681e-05 9.99993049e-01 -4.85110840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31576923100005 meters 0.022742092763005994 Centerline is valid? [True, True] Translation: X:196.02, Y:111.86, Z:-0.49 [[ 2.92425312e-01 -9.56287515e-01 -1.27495065e-03 1.96022685e+02] [ 9.56277439e-01 2.92428084e-01 -4.39040860e-03 1.11862522e+02] [ 4.57132431e-03 6.46600599e-05 9.99989549e-01 -4.88383086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.345769231 meters 0.016179692485004418 Centerline is valid? [True, True] Translation: X:196.04, Y:111.88, Z:-0.49 [[ 2.86924917e-01 -9.57951489e-01 -1.74252680e-03 1.96042492e+02] [ 9.57932663e-01 2.86930203e-01 -6.00590900e-03 1.11883342e+02] [ 6.25335303e-03 5.40216050e-05 9.99980446e-01 -4.89913242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37576923100005 meters 0.01531236636019811 Centerline is valid? [True, True] Translation: X:196.05, Y:111.91, Z:-0.49 [[ 2.84941067e-01 -9.58543170e-01 -1.89186275e-03 1.96052306e+02] [ 9.58520948e-01 2.84947344e-01 -6.52715532e-03 1.11906185e+02] [ 6.79564142e-03 4.64645211e-05 9.99976908e-01 -4.91227380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.405769231 meters 0.013723435334037214 Centerline is valid? [True, True] Translation: X:196.06, Y:111.93, Z:-0.49 [[ 2.82554931e-01 -9.59250011e-01 -1.45881941e-03 1.96064432e+02] [ 9.59236778e-01 2.82558696e-01 -5.03862917e-03 1.11928428e+02] [ 5.24550719e-03 2.43362860e-05 9.99986242e-01 -4.88056046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43576923100005 meters 0.013161968451925745 Centerline is valid? [True, True] Translation: X:196.07, Y:111.95, Z:-0.48 [[ 2.81862506e-01 -9.59454222e-01 -1.06004451e-03 1.96072363e+02] [ 9.59447221e-01 2.81864499e-01 -3.66538412e-03 1.11950565e+02] [ 3.81555718e-03 1.60775955e-05 9.99992721e-01 -4.84352596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.465769231 meters 0.013055829359521704 Centerline is valid? [True, True] Translation: X:196.08, Y:111.97, Z:-0.48 [[ 2.81455454e-01 -9.59573941e-01 -8.24321569e-04 1.96080182e+02] [ 9.59569697e-01 2.81456661e-01 -2.85383196e-03 1.11973781e+02] [ 2.97047357e-03 1.22325705e-05 9.99995588e-01 -4.82961447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49576923100005 meters 0.012713603839055395 Centerline is valid? [True, True] Translation: X:196.09, Y:112.00, Z:-0.49 [[ 2.79349655e-01 -9.60188603e-01 -1.27188650e-03 1.96091910e+02] [ 9.60178490e-01 2.79352550e-01 -4.40669870e-03 1.11996140e+02] [ 4.58656661e-03 9.77170253e-06 9.99989482e-01 -4.87379207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.525769231 meters 0.012740628955553526 Centerline is valid? [True, True] Translation: X:196.10, Y:112.02, Z:-0.49 [[ 2.76995055e-01 -9.60870301e-01 -1.41571579e-03 1.96104094e+02] [ 9.60857755e-01 2.76998673e-01 -4.91013322e-03 1.12017690e+02] [ 5.11015258e-03 -2.18877349e-07 9.99986943e-01 -4.88369075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55576923100006 meters 0.014509681665812901 Centerline is valid? [True, True] Translation: X:196.12, Y:112.04, Z:-0.49 [[ 2.71002224e-01 -9.62578164e-01 -1.03535308e-03 1.96124956e+02] [ 9.62571450e-01 2.71004201e-01 -3.59535272e-03 1.12036846e+02] [ 3.74139306e-03 -2.22527316e-05 9.99993001e-01 -4.85285228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58576923100003 meters 0.015840981545962345 Centerline is valid? [True, True] Translation: X:196.14, Y:112.06, Z:-0.48 [[ 2.68306726e-01 -9.63333254e-01 -7.36278614e-04 1.96136812e+02] [ 9.63329854e-01 2.68307735e-01 -2.55981875e-03 1.12059437e+02] [ 2.66350777e-03 -2.24625839e-05 9.99996453e-01 -4.82673805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61576923100006 meters 0.017551277385388152 Centerline is valid? [True, True] Translation: X:196.15, Y:112.08, Z:-0.49 [[ 2.65592230e-01 -9.64084723e-01 -1.18927117e-03 1.96151144e+02] [ 9.64075848e-01 2.65594888e-01 -4.13700563e-03 1.12082658e+02] [ 4.30428827e-03 -4.77910634e-05 9.99990735e-01 -4.86174103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64576923100003 meters 0.018216796359981406 Centerline is valid? [True, True] Translation: X:196.16, Y:112.11, Z:-0.49 [[ 2.65169965e-01 -9.64200250e-01 -1.66359779e-03 1.96161193e+02] [ 9.64182853e-01 2.65175175e-01 -5.79248201e-03 1.12105473e+02] [ 6.02625744e-03 -6.80202047e-05 9.99981840e-01 -4.89535242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67576923100006 meters 0.018216796359981406 Centerline is valid? [True, True] Translation: X:196.17, Y:112.13, Z:-0.49 [[ 2.64897560e-01 -9.64275127e-01 -1.66194243e-03 1.96167497e+02] [ 9.64257728e-01 2.64902765e-01 -5.79295726e-03 1.12128802e+02] [ 6.02625775e-03 -6.80005914e-05 9.99981840e-01 -4.89587112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70576923100003 meters 0.018864032825063 Centerline is valid? [True, True] Translation: X:196.18, Y:112.15, Z:-0.49 [[ 2.64789473e-01 -9.64304495e-01 -1.83729324e-03 1.96177297e+02] [ 9.64283186e-01 2.64795837e-01 -6.41109502e-03 1.12150681e+02] [ 6.66875535e-03 -7.40805045e-05 9.99977761e-01 -4.91767270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73576923100006 meters 0.018037712032174698 Centerline is valid? [True, True] Translation: X:196.19, Y:112.17, Z:-0.49 [[ 2.64695827e-01 -9.64330271e-01 -1.80182560e-03 1.96185291e+02] [ 9.64309734e-01 2.64701950e-01 -6.29405932e-03 1.12174430e+02] [ 6.54649868e-03 -7.15067229e-05 9.99978569e-01 -4.90801339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76576923100004 meters 0.017159078512257356 Centerline is valid? [True, True] Translation: X:196.20, Y:112.20, Z:-0.49 [[ 2.66025082e-01 -9.63964994e-01 -1.46524125e-03 1.96197037e+02] [ 9.63951375e-01 2.66029112e-01 -5.12424080e-03 1.12196232e+02] [ 5.32938558e-03 -4.92447407e-05 9.99985798e-01 -4.89159603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79576923100007 meters 0.015884329968001525 Centerline is valid? [True, True] Translation: X:196.20, Y:112.22, Z:-0.49 [[ 2.67147323e-01 -9.63654735e-01 -1.36350226e-03 1.96204857e+02] [ 9.63642913e-01 2.67150800e-01 -4.77347621e-03 1.12219834e+02] [ 4.96424367e-03 -3.87078967e-05 9.99987677e-01 -4.87674239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82576923100004 meters 0.021528714292249472 Centerline is valid? [True, True] Translation: X:196.21, Y:112.24, Z:-0.48 [[ 2.71539856e-01 -9.62426594e-01 -1.07646924e-03 1.96209700e+02] [ 9.62419198e-01 2.71541989e-01 -3.77290439e-03 1.12244846e+02] [ 3.92345012e-03 -1.15207453e-05 9.99992303e-01 -4.79798610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85576923100007 meters 0.012031707389388318 Centerline is valid? [True, True] Translation: X:196.21, Y:112.27, Z:-0.48 [[ 2.74282285e-01 -9.61648883e-01 -8.08590523e-04 1.96213390e+02] [ 9.61644696e-01 2.74283477e-01 -2.83776431e-03 1.12269323e+02] [ 2.95071590e-03 7.71692977e-07 9.99995647e-01 -4.81974757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88576923100004 meters 0.012702608500474753 Centerline is valid? [True, True] Translation: X:196.22, Y:112.29, Z:-0.48 [[ 2.76967962e-01 -9.60879005e-01 -5.34910988e-04 1.96215130e+02] [ 9.60877165e-01 2.76968479e-01 -1.88024462e-03 1.12292972e+02] [ 1.95484106e-03 6.78376841e-06 9.99998089e-01 -4.81881886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91576923100007 meters 0.015924054569484206 Centerline is valid? [True, True] Translation: X:196.21, Y:112.32, Z:-0.48 [[ 2.81374586e-01 -9.59597900e-01 -4.60655596e-04 1.96214896e+02] [ 9.59596532e-01 2.81374963e-01 -1.62038721e-03 1.12319096e+02] [ 1.68453711e-03 1.38922677e-05 9.99998581e-01 -4.82732589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94576923100004 meters 0.015969091404400955 Centerline is valid? [True, True] Translation: X:196.22, Y:112.34, Z:-0.48 [[ 2.82428044e-01 -9.59288186e-01 -7.59517424e-04 1.96222425e+02] [ 9.59284462e-01 2.82429064e-01 -2.67297994e-03 1.12344428e+02] [ 2.77866788e-03 2.63312347e-05 9.99996139e-01 -4.83927579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9757692310001 meters 0.020192708700619354 Centerline is valid? [True, True] Translation: X:196.22, Y:112.37, Z:-0.49 [[ 2.84790197e-01 -9.58588416e-01 -1.67113357e-03 1.96222053e+02] [ 9.58570349e-01 2.84795090e-01 -5.88571694e-03 1.12369561e+02] [ 6.11791072e-03 7.42954007e-05 9.99981283e-01 -4.90580160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00576923100004 meters 0.019776645782313 Centerline is valid? [True, True] Translation: X:196.23, Y:112.39, Z:-0.49 [[ 2.85464492e-01 -9.58387393e-01 -1.90493191e-03 1.96227637e+02] [ 9.58363871e-01 2.85470833e-01 -6.71520670e-03 1.12394121e+02] [ 6.97957195e-03 9.13351449e-05 9.99975638e-01 -4.90690437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0357692310001 meters 0.019998010969007537 Centerline is valid? [True, True] Translation: X:196.23, Y:112.42, Z:-0.49 [[ 2.85755682e-01 -9.58301117e-01 -1.63082578e-03 1.96231763e+02] [ 9.58283840e-01 2.85760324e-01 -5.75492591e-03 1.12419772e+02] [ 5.98097722e-03 8.17087907e-05 9.99982110e-01 -4.88493118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06576923100005 meters 0.017429022395266114 Centerline is valid? [True, True] Translation: X:196.24, Y:112.44, Z:-0.48 [[ 2.83102477e-01 -9.59089611e-01 -3.24694452e-04 1.96238937e+02] [ 9.59088923e-01 2.83102662e-01 -1.14877556e-03 1.12443198e+02] [ 1.19370057e-03 1.38103544e-05 9.99999287e-01 -4.80922055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.095769231 meters 0.014584106778224325 Centerline is valid? [True, True] Translation: X:196.25, Y:112.47, Z:-0.48 [[ 2.79637480e-01 -9.60105659e-01 5.46518159e-05 1.96250794e+02] [ 9.60105640e-01 2.79637485e-01 1.91201145e-04 1.12466887e+02] [-1.98855998e-04 -9.95489611e-07 9.99999980e-01 -4.79001443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12576923100005 meters 0.01228101276375585 Centerline is valid? [True, True] Translation: X:196.26, Y:112.49, Z:-0.48 [[ 2.75540964e-01 -9.61289321e-01 1.36728975e-04 1.96263834e+02] [ 9.61289200e-01 2.75540998e-01 4.81719759e-04 1.12489677e+02] [-5.00746498e-04 -1.29744016e-06 9.99999875e-01 -4.78565623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.155769231 meters 0.012268313221308275 Centerline is valid? [True, True] Translation: X:196.28, Y:112.51, Z:-0.48 [[ 2.68746085e-01 -9.63211046e-01 -1.51286105e-04 1.96281051e+02] [ 9.63210896e-01 2.68746128e-01 -5.37589054e-04 1.12510102e+02] [ 5.58469270e-04 -1.24547061e-06 9.99999844e-01 -4.79982617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18576923100005 meters 0.013350106289120228 Centerline is valid? [True, True] Translation: X:196.29, Y:112.53, Z:-0.48 [[ 2.66259006e-01 -9.63901385e-01 -5.11055560e-04 1.96292721e+02] [ 9.63899680e-01 2.66259496e-01 -1.81344950e-03 1.12533885e+02] [ 1.88405988e-03 -9.75903060e-06 9.99998225e-01 -4.80736299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.215769231 meters 0.013696108569678745 Centerline is valid? [True, True] Translation: X:196.30, Y:112.56, Z:-0.48 [[ 2.66339379e-01 -9.63879003e-01 -7.75898632e-04 1.96298967e+02] [ 9.63875065e-01 2.66340509e-01 -2.75546011e-03 1.12557065e+02] [ 2.86258338e-03 -1.39818095e-05 9.99995903e-01 -4.83208402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24576923100005 meters 0.01336453905943479 Centerline is valid? [True, True] Translation: X:196.30, Y:112.58, Z:-0.49 [[ 2.67108606e-01 -9.63665722e-01 -1.16996836e-03 1.96303038e+02] [ 9.63656751e-01 2.67111168e-01 -4.15816770e-03 1.12581475e+02] [ 4.31959529e-03 -1.67655276e-05 9.99990670e-01 -4.86259225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.275769231 meters 0.01308356270153759 Centerline is valid? [True, True] Translation: X:196.31, Y:112.60, Z:-0.49 [[ 2.68359081e-01 -9.63317679e-01 -1.56620589e-03 1.96306176e+02] [ 9.63301565e-01 2.68363651e-01 -5.57186089e-03 1.12604707e+02] [ 5.78778483e-03 -1.34691152e-05 9.99983251e-01 -4.89527175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30576923100006 meters 0.012900667360617776 Centerline is valid? [True, True] Translation: X:196.31, Y:112.63, Z:-0.49 [[ 2.71312362e-01 -9.62490153e-01 -1.51921000e-03 1.96307777e+02] [ 9.62474945e-01 2.71316615e-01 -5.41062872e-03 1.12628984e+02] [ 5.61986378e-03 5.76889350e-06 9.99984208e-01 -4.89853678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33576923100003 meters 0.012139093772164775 Centerline is valid? [True, True] Translation: X:196.31, Y:112.65, Z:-0.48 [[ 2.72085457e-01 -9.62272986e-01 -4.51561114e-04 1.96314868e+02] [ 9.62271637e-01 2.72085831e-01 -1.61145936e-03 1.12652878e+02] [ 1.67352719e-03 3.93020408e-06 9.99998600e-01 -4.81061953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36576923100006 meters 0.012101864423555259 Centerline is valid? [True, True] Translation: X:196.32, Y:112.68, Z:-0.48 [[ 2.71829017e-01 -9.62345558e-01 -1.10045949e-04 1.96320535e+02] [ 9.62345477e-01 2.71829040e-01 -3.94951371e-04 1.12675417e+02] [ 4.09993382e-04 1.45702204e-06 9.99999916e-01 -4.79860783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39576923100003 meters 0.011914927206075662 Centerline is valid? [True, True] Translation: X:196.33, Y:112.70, Z:-0.48 [[ 2.71380624e-01 -9.62472107e-01 1.15907925e-05 1.96326676e+02] [ 9.62472106e-01 2.71380624e-01 3.91789526e-05 1.12699311e+02] [-4.08541656e-05 5.23405871e-07 9.99999999e-01 -4.79346668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42576923100006 meters 0.012033551343916064 Centerline is valid? [True, True] Translation: X:196.33, Y:112.72, Z:-0.48 [[ 2.71486256e-01 -9.62442314e-01 -6.84335256e-05 1.96331527e+02] [ 9.62442283e-01 2.71486264e-01 -2.46937134e-04 1.12723592e+02] [ 2.56241509e-04 1.17671918e-06 9.99999967e-01 -4.80081088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45576923100003 meters 0.012793656431582087 Centerline is valid? [True, True] Translation: X:196.33, Y:112.75, Z:-0.48 [[ 2.73332482e-01 -9.61919535e-01 -4.03531089e-04 1.96333851e+02] [ 9.61918447e-01 2.73332780e-01 -1.44636682e-03 1.12749467e+02] [ 1.50158677e-03 7.17503335e-06 9.99998873e-01 -4.81649946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48576923100006 meters 0.016261741163400442 Centerline is valid? [True, True] Translation: X:196.33, Y:112.78, Z:-0.48 [[ 2.77750686e-01 -9.60652827e-01 -8.37852384e-04 1.96330024e+02] [ 9.60648133e-01 2.77751948e-01 -3.00336666e-03 1.12775765e+02] [ 3.11790781e-03 2.93058220e-05 9.99995139e-01 -4.83734252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51576923100004 meters 0.017762711133724685 Centerline is valid? [True, True] Translation: X:196.33, Y:112.80, Z:-0.48 [[ 2.79489369e-01 -9.60148441e-01 -8.14215388e-04 1.96331811e+02] [ 9.60143997e-01 2.79490553e-01 -2.92178010e-03 1.12801887e+02] [ 3.03290812e-03 3.48424603e-05 9.99995400e-01 -4.84694332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54576923100007 meters 0.01920219786200864 Centerline is valid? [True, True] Translation: X:196.33, Y:112.83, Z:-0.49 [[ 2.80226760e-01 -9.59933501e-01 -7.98195569e-04 1.96333658e+02] [ 9.59929219e-01 2.80227894e-01 -2.86733368e-03 1.12825894e+02] [ 2.97612632e-03 3.72923760e-05 9.99995571e-01 -4.85999175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57576923100004 meters 0.018855484052262457 Centerline is valid? [True, True] Translation: X:196.34, Y:112.85, Z:-0.49 [[ 2.80015984e-01 -9.59994986e-01 -8.21622716e-04 1.96339471e+02] [ 9.59990440e-01 2.80017187e-01 -2.95472978e-03 1.12850113e+02] [ 3.06659426e-03 3.86216156e-05 9.99995297e-01 -4.86485049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60576923100007 meters 0.017661171824596627 Centerline is valid? [True, True] Translation: X:196.35, Y:112.87, Z:-0.49 [[ 2.78033358e-01 -9.60570782e-01 -1.10630298e-03 1.96346545e+02] [ 9.60562532e-01 2.78035556e-01 -3.98155620e-03 1.12872825e+02] [ 4.13215812e-03 4.43322490e-05 9.99991462e-01 -4.88908903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63576923100004 meters 0.015967582279086196 Centerline is valid? [True, True] Translation: X:196.36, Y:112.89, Z:-0.49 [[ 2.75570863e-01 -9.61280012e-01 -1.19911175e-03 1.96355265e+02] [ 9.61270304e-01 2.75573469e-01 -4.32040561e-03 1.12894783e+02] [ 4.48356295e-03 3.79073840e-05 9.99989948e-01 -4.89413014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66576923100007 meters 0.015101841479052065 Centerline is valid? [True, True] Translation: X:196.36, Y:112.92, Z:-0.49 [[ 2.74226100e-01 -9.61664787e-01 -9.39844587e-04 1.96363018e+02] [ 9.61658810e-01 2.74227710e-01 -3.39051156e-03 1.12917423e+02] [ 3.51826701e-03 2.59569374e-05 9.99993811e-01 -4.87916219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69576923100004 meters 0.014168225706371829 Centerline is valid? [True, True] Translation: X:196.37, Y:112.94, Z:-0.48 [[ 2.72854574e-01 -9.62055165e-01 -4.91123878e-04 1.96371122e+02] [ 9.62053528e-01 2.72855015e-01 -1.77461712e-03 1.12940391e+02] [ 1.84128517e-03 1.17249368e-05 9.99998305e-01 -4.84376403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7257692310001 meters 0.013532134250127878 Centerline is valid? [True, True] Translation: X:196.38, Y:112.96, Z:-0.48 [[ 2.71699561e-01 -9.62382075e-01 -3.00747503e-04 1.96378881e+02] [ 9.62381459e-01 2.71699727e-01 -1.08852220e-03 1.12962941e+02] [ 1.12928726e-03 6.31718098e-06 9.99999362e-01 -4.82925663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75576923100004 meters 0.012449368482134281 Centerline is valid? [True, True] Translation: X:196.39, Y:112.99, Z:-0.48 [[ 2.69841488e-01 -9.62904717e-01 -2.78098035e-04 1.96388907e+02] [ 9.62904189e-01 2.69841631e-01 -1.00804171e-03 1.12985770e+02] [ 1.04569054e-03 4.22971095e-06 9.99999453e-01 -4.82512491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7857692310001 meters 0.012290026723436952 Centerline is valid? [True, True] Translation: X:196.40, Y:113.01, Z:-0.48 [[ 2.68681442e-01 -9.63229067e-01 -2.18020423e-04 1.96396785e+02] [ 9.63228742e-01 2.68681530e-01 -7.91760088e-04 1.13007835e+02] [ 8.21224392e-04 2.72770427e-06 9.99999663e-01 -4.83041619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81576923100005 meters 0.012094498891769265 Centerline is valid? [True, True] Translation: X:196.41, Y:113.03, Z:-0.48 [[ 2.67596454e-01 -9.63531036e-01 -2.82878793e-04 1.96405540e+02] [ 9.63530489e-01 2.67596603e-01 -1.02740265e-03 1.13032294e+02] [ 1.06563174e-03 2.36696333e-06 9.99999432e-01 -4.82610860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.845769231 meters 0.012109755543602404 Centerline is valid? [True, True] Translation: X:196.41, Y:113.05, Z:-0.48 [[ 2.66059091e-01 -9.63956560e-01 -5.57439517e-04 1.96413218e+02] [ 9.63954433e-01 2.66059674e-01 -2.02516778e-03 1.13054705e+02] [ 2.10048595e-03 1.46800564e-06 9.99997794e-01 -4.84882052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87576923100005 meters 0.012554432972405358 Centerline is valid? [True, True] Translation: X:196.42, Y:113.08, Z:-0.49 [[ 2.63407569e-01 -9.64683963e-01 -1.14240129e-03 1.96421466e+02] [ 9.64675031e-01 2.63410046e-01 -4.15129260e-03 1.13079740e+02] [ 4.30560538e-03 -8.56411085e-06 9.99990731e-01 -4.87987816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.905769231 meters 0.012781859326911761 Centerline is valid? [True, True] Translation: X:196.43, Y:113.10, Z:-0.49 [[ 2.62310790e-01 -9.64982967e-01 -9.60121463e-04 1.96427060e+02] [ 9.64976644e-01 2.62312547e-01 -3.49332362e-03 1.13104093e+02] [ 3.62284970e-03 -1.01583091e-05 9.99993437e-01 -4.87158868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93576923100005 meters 0.01278828558296897 Centerline is valid? [True, True] Translation: X:196.43, Y:113.13, Z:-0.49 [[ 2.61431196e-01 -9.65221976e-01 -5.17154057e-04 1.96433513e+02] [ 9.65220136e-01 2.61431707e-01 -1.88467948e-03 1.13127712e+02] [ 1.95433452e-03 -6.45349836e-06 9.99998090e-01 -4.85301980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.965769231 meters 0.013131185473694995 Centerline is valid? [True, True] Translation: X:196.44, Y:113.15, Z:-0.48 [[ 2.60272892e-01 -9.65534980e-01 -4.73281351e-04 1.96441445e+02] [ 9.65533436e-01 2.60273323e-01 -1.72692366e-03 1.13150619e+02] [ 1.79058771e-03 -7.49755240e-06 9.99998397e-01 -4.84343568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99576923100005 meters 0.01372144014704477 Centerline is valid? [True, True] Translation: X:196.45, Y:113.17, Z:-0.49 [[ 2.59853794e-01 -9.65647778e-01 -6.13028064e-04 1.96449078e+02] [ 9.65645183e-01 2.59854516e-01 -2.23834704e-03 1.13173343e+02] [ 2.32075295e-03 -1.03246285e-05 9.99997307e-01 -4.86243144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.025769231 meters 0.01398710321533653 Centerline is valid? [True, True] Translation: X:196.46, Y:113.20, Z:-0.49 [[ 2.58479605e-01 -9.66016347e-01 -8.43793929e-04 1.96456010e+02] [ 9.66011425e-01 2.58480981e-01 -3.08372148e-03 1.13196717e+02] [ 3.19703004e-03 -1.80354658e-05 9.99994889e-01 -4.86420960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05576923100006 meters 0.014772148589733249 Centerline is valid? [True, True] Translation: X:196.46, Y:113.22, Z:-0.49 [[ 2.56910065e-01 -9.66434964e-01 -8.23568194e-04 1.96464869e+02] [ 9.66430267e-01 2.56911384e-01 -3.01322234e-03 1.13219735e+02] [ 3.12366747e-03 -2.17940809e-05 9.99995121e-01 -4.86926950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08576923100003 meters 0.016016050516053187 Centerline is valid? [True, True] Translation: X:196.47, Y:113.24, Z:-0.49 [[ 2.55092879e-01 -9.66916217e-01 -8.07984729e-04 1.96474912e+02] [ 9.66911687e-01 2.55094157e-01 -2.95990686e-03 1.13241143e+02] [ 3.06809412e-03 -2.61987148e-05 9.99995293e-01 -4.87461892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11576923100006 meters 0.018175606205677042 Centerline is valid? [True, True] Translation: X:196.49, Y:113.26, Z:-0.49 [[ 2.51862234e-01 -9.67762961e-01 -5.16492905e-04 1.96489765e+02] [ 9.67761107e-01 2.51862763e-01 -1.89430867e-03 1.13262999e+02] [ 1.96332710e-03 -2.27369309e-05 9.99998072e-01 -4.85598342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14576923100003 meters 0.0194200280133672 Centerline is valid? [True, True] Translation: X:196.50, Y:113.29, Z:-0.48 [[ 2.50149000e-01 -9.68207284e-01 -3.63878469e-04 1.96500942e+02] [ 9.68206362e-01 2.50149264e-01 -1.33665356e-03 1.13286839e+02] [ 1.38518164e-03 -1.79468970e-05 9.99999040e-01 -4.84653375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17576923100006 meters 0.02644805710181736 Centerline is valid? [True, True] Translation: X:196.53, Y:113.31, Z:-0.49 [[ 2.46787222e-01 -9.69069493e-01 -6.20753643e-04 1.96525028e+02] [ 9.69066808e-01 2.46788000e-01 -2.28127696e-03 1.13305417e+02] [ 2.36391045e-03 -3.85617470e-05 9.99997205e-01 -4.88333599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20576923100003 meters 0.02391835162795632 Centerline is valid? [True, True] Translation: X:196.53, Y:113.33, Z:-0.49 [[ 2.45144957e-01 -9.69486141e-01 -7.57071077e-04 1.96532108e+02] [ 9.69482143e-01 2.45146121e-01 -2.78451132e-03 1.13330199e+02] [ 2.88513817e-03 -5.13579832e-05 9.99995837e-01 -4.87758389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23576923100006 meters 0.025224820019443112 Centerline is valid? [True, True] Translation: X:196.54, Y:113.35, Z:-0.49 [[ 2.44176831e-01 -9.69730377e-01 -8.19013638e-04 1.96544518e+02] [ 9.69725690e-01 2.44178198e-01 -3.01547640e-03 1.13351997e+02] [ 3.12418434e-03 -5.79090944e-05 9.99995118e-01 -4.88205906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26576923100004 meters 0.02408633424592076 Centerline is valid? [True, True] Translation: X:196.56, Y:113.37, Z:-0.49 [[ 2.45460496e-01 -9.69406144e-01 -9.34439981e-04 1.96558564e+02] [ 9.69400029e-01 2.45462267e-01 -3.44372294e-03 1.13373743e+02] [ 3.56773594e-03 -6.05482015e-05 9.99993634e-01 -4.88140703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29576923100007 meters 0.02190911007624849 Centerline is valid? [True, True] Translation: X:196.57, Y:113.40, Z:-0.49 [[ 2.46975647e-01 -9.69021186e-01 -9.85313787e-04 1.96565990e+02] [ 9.69014370e-01 2.46977605e-01 -3.63494247e-03 1.13397910e+02] [ 3.76568670e-03 -5.70409520e-05 9.99992908e-01 -4.87767785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32576923100004 meters 0.018112948231937886 Centerline is valid? [True, True] Translation: X:196.57, Y:113.42, Z:-0.49 [[ 2.51236293e-01 -9.67924618e-01 -1.50322521e-03 1.96572490e+02] [ 9.67908711e-01 2.51240782e-01 -5.54946088e-03 1.13421231e+02] [ 5.74913128e-03 -6.07587976e-05 9.99983472e-01 -4.91024595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35576923100007 meters 0.015412339879900186 Centerline is valid? [True, True] Translation: X:196.58, Y:113.45, Z:-0.49 [[ 2.53829414e-01 -9.67247411e-01 -1.75321547e-03 1.96576419e+02] [ 9.67225714e-01 2.53835464e-01 -6.47879349e-03 1.13447075e+02] [ 6.71162449e-03 -5.12467297e-05 9.99977475e-01 -4.92962954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38576923100004 meters 0.014432274856767345 Centerline is valid? [True, True] Translation: X:196.58, Y:113.47, Z:-0.49 [[ 2.56516784e-01 -9.66538126e-01 -1.78601019e-03 1.96581594e+02] [ 9.66515536e-01 2.56523000e-01 -6.60833918e-03 1.13469912e+02] [ 6.84536446e-03 -3.10566791e-05 9.99976570e-01 -4.94581663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41576923100007 meters 0.012383776995442802 Centerline is valid? [True, True] Translation: X:196.58, Y:113.50, Z:-0.49 [[ 2.61909673e-01 -9.65091882e-01 -9.90770757e-04 1.96581508e+02] [ 9.65084903e-01 2.61911547e-01 -3.67039727e-03 1.13496612e+02] [ 3.80176491e-03 5.13464925e-06 9.99992773e-01 -4.85601891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44576923100004 meters 0.014064935385839286 Centerline is valid? [True, True] Translation: X:196.58, Y:113.52, Z:-0.48 [[ 2.67224291e-01 -9.63634353e-01 -1.05500379e-04 1.96578689e+02] [ 9.63634273e-01 2.67224312e-01 -3.93426998e-04 1.13522936e+02] [ 4.07312037e-04 3.46946964e-06 9.99999917e-01 -4.80359520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4757692310001 meters 0.017022699346951303 Centerline is valid? [True, True] Translation: X:196.58, Y:113.55, Z:-0.48 [[ 2.69936866e-01 -9.62878008e-01 -1.72549668e-04 1.96579640e+02] [ 9.62877794e-01 2.69936921e-01 -6.42543815e-04 1.13548038e+02] [ 6.65268835e-04 7.30202041e-06 9.99999779e-01 -4.82099817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50576923100004 meters 0.019488912239746355 Centerline is valid? [True, True] Translation: X:196.58, Y:113.57, Z:-0.49 [[ 2.71419209e-01 -9.62461059e-01 -5.69055901e-04 1.96583058e+02] [ 9.62458733e-01 2.71419804e-01 -2.11592710e-03 1.13572227e+02] [ 2.19095048e-03 2.66104381e-05 9.99997600e-01 -4.86605475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5357692310001 meters 0.01991038703700041 Centerline is valid? [True, True] Translation: X:196.59, Y:113.59, Z:-0.49 [[ 2.71227139e-01 -9.62514766e-01 -1.07874105e-03 1.96589832e+02] [ 9.62506400e-01 2.71229280e-01 -4.01354071e-03 1.13594937e+02] [ 4.15567835e-03 5.02860012e-05 9.99991364e-01 -4.91238709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56576923100005 meters 0.01991038703700041 Centerline is valid? [True, True] Translation: X:196.60, Y:113.62, Z:-0.49 [[ 2.70975475e-01 -9.62585648e-01 -1.07770577e-03 1.96595721e+02] [ 9.62577281e-01 2.70977614e-01 -4.01381890e-03 1.13618383e+02] [ 4.15567860e-03 5.02713925e-05 9.99991364e-01 -4.91290575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.595769231 meters 0.016411575236277596 Centerline is valid? [True, True] Translation: X:196.61, Y:113.64, Z:-0.49 [[ 2.67955491e-01 -9.63430183e-01 -1.46220812e-03 1.96608241e+02] [ 9.63414762e-01 2.67959476e-01 -5.45130340e-03 1.13641064e+02] [ 5.64376276e-03 5.19937942e-05 9.99984072e-01 -4.91923630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62576923100005 meters 0.014857133576201081 Centerline is valid? [True, True] Translation: X:196.62, Y:113.66, Z:-0.49 [[ 2.65386659e-01 -9.64141816e-01 -6.93379184e-04 1.96617305e+02] [ 9.64138341e-01 2.65387564e-01 -2.58839864e-03 1.13663710e+02] [ 2.67959758e-03 1.84130099e-05 9.99996410e-01 -4.86494835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.655769231 meters 0.013773968172117594 Centerline is valid? [True, True] Translation: X:196.63, Y:113.69, Z:-0.48 [[ 2.64800324e-01 -9.64303170e-01 -4.29394839e-04 1.96626839e+02] [ 9.64301834e-01 2.64800672e-01 -1.60561120e-03 1.13687444e+02] [ 1.66200001e-03 1.11001338e-05 9.99998619e-01 -4.83590885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68576923100005 meters 0.013739207002033559 Centerline is valid? [True, True] Translation: X:196.63, Y:113.71, Z:-0.48 [[ 2.64640236e-01 -9.64347109e-01 -4.46074413e-04 1.96633764e+02] [ 9.64345664e-01 2.64640611e-01 -1.66974032e-03 1.13712119e+02] [ 1.72825865e-03 1.17105459e-05 9.99998506e-01 -4.84230216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.715769231 meters 0.016278812937631233 Centerline is valid? [True, True] Translation: X:196.63, Y:113.74, Z:-0.49 [[ 2.66577334e-01 -9.63812793e-01 -1.19350669e-03 1.96634388e+02] [ 9.63802443e-01 2.66580002e-01 -4.46683866e-03 1.13738521e+02] [ 4.62336126e-03 4.04532729e-05 9.99989311e-01 -4.91700247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74576923100005 meters 0.017521043120417273 Centerline is valid? [True, True] Translation: X:196.64, Y:113.76, Z:-0.49 [[ 2.67682394e-01 -9.63505985e-01 -1.53377009e-03 1.96639052e+02] [ 9.63488853e-01 2.67686782e-01 -5.74607190e-03 1.13763862e+02] [ 5.94694465e-03 6.03519054e-05 9.99982315e-01 -4.94939170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.775769231 meters 0.017528413030509435 Centerline is valid? [True, True] Translation: X:196.65, Y:113.79, Z:-0.49 [[ 2.68739551e-01 -9.63212024e-01 -1.28506618e-03 1.96648808e+02] [ 9.63199966e-01 2.68742617e-01 -4.81987885e-03 1.13787403e+02] [ 4.98791730e-03 5.75163745e-05 9.99987559e-01 -4.89834688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80576923100006 meters 0.018452504366082728 Centerline is valid? [True, True] Translation: X:196.65, Y:113.81, Z:-0.49 [[ 2.69130876e-01 -9.63103238e-01 -8.51010429e-04 1.96653579e+02] [ 9.63097935e-01 2.69132219e-01 -3.19623908e-03 1.13811300e+02] [ 3.30734253e-03 4.06002357e-05 9.99994530e-01 -4.85899123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83576923100003 meters 0.018411367345671278 Centerline is valid? [True, True] Translation: X:196.66, Y:113.84, Z:-0.48 [[ 2.69675989e-01 -9.62951023e-01 -4.33211804e-04 1.96658706e+02] [ 9.62949644e-01 2.69676336e-01 -1.62981402e-03 1.13836306e+02] [ 1.68625805e-03 2.23605561e-05 9.99998578e-01 -4.82616824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86576923100006 meters 0.020911582671225254 Centerline is valid? [True, True] Translation: X:196.66, Y:113.86, Z:-0.48 [[ 2.71309250e-01 -9.62492224e-01 9.23889858e-05 1.96659282e+02] [ 9.62492163e-01 2.71309266e-01 3.45213280e-04 1.13861552e+02] [-3.57331086e-04 -4.73588163e-06 9.99999936e-01 -4.81631006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89576923100003 meters 0.0210337282299712 Centerline is valid? [True, True] Translation: X:196.67, Y:113.89, Z:-0.48 [[ 2.71215090e-01 -9.62518748e-01 1.86713705e-04 1.96665216e+02] [ 9.62518493e-01 2.71215154e-01 7.00729971e-04 1.13885686e+02] [-7.25105321e-04 -1.03331482e-05 9.99999737e-01 -4.81396331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92576923100006 meters 0.017801433272305565 Centerline is valid? [True, True] Translation: X:196.68, Y:113.91, Z:-0.48 [[ 2.68174686e-01 -9.63370296e-01 -1.00327772e-04 1.96675356e+02] [ 9.63370221e-01 2.68174705e-01 -3.80379159e-04 1.13909256e+02] [ 3.93351354e-04 5.35527341e-06 9.99999923e-01 -4.82070564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95576923100003 meters 0.016495459016345124 Centerline is valid? [True, True] Translation: X:196.68, Y:113.93, Z:-0.48 [[ 2.65971930e-01 -9.63980757e-01 -1.82381705e-04 1.96683214e+02] [ 9.63980509e-01 2.65971993e-01 -6.90746384e-04 1.13931935e+02] [ 7.14374648e-04 7.90674061e-06 9.99999745e-01 -4.81723328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98576923100006 meters 0.015361599100728015 Centerline is valid? [True, True] Translation: X:196.69, Y:113.95, Z:-0.48 [[ 2.64238691e-01 -9.64457251e-01 -3.52406394e-04 1.96692173e+02] [ 9.64456329e-01 2.64238926e-01 -1.33388429e-03 1.13954852e+02] [ 1.37959386e-03 1.25832615e-05 9.99999048e-01 -4.82598505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01576923100004 meters 0.015138317164652637 Centerline is valid? [True, True] Translation: X:196.70, Y:113.98, Z:-0.48 [[ 2.63175821e-01 -9.64747640e-01 -6.91648482e-04 1.96703112e+02] [ 9.64744086e-01 2.63176729e-01 -2.61884514e-03 1.13976852e+02] [ 2.70855045e-03 2.19529372e-05 9.99996332e-01 -4.84187995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04576923100007 meters 0.015081950880895994 Centerline is valid? [True, True] Translation: X:196.71, Y:114.00, Z:-0.48 [[ 2.62714117e-01 -9.64873611e-01 -4.55802165e-04 1.96708969e+02] [ 9.64872062e-01 2.62714512e-01 -1.72869333e-03 1.13999405e+02] [ 1.78771642e-03 1.43613677e-05 9.99998402e-01 -4.83008235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07576923100004 meters 0.014165820100207607 Centerline is valid? [True, True] Translation: X:196.72, Y:114.02, Z:-0.48 [[ 2.61714132e-01 -9.65145436e-01 5.90272389e-06 1.96716162e+02] [ 9.65145436e-01 2.61714132e-01 2.00102091e-05 1.14022623e+02] [-2.08575883e-05 4.60032526e-07 1.00000000e+00 -4.79465870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10576923100007 meters 0.01373157917931905 Centerline is valid? [True, True] Translation: X:196.72, Y:114.05, Z:-0.48 [[ 2.61330894e-01 -9.65249274e-01 6.22626773e-05 1.96724547e+02] [ 9.65249245e-01 2.61330901e-01 2.34054541e-04 1.14047119e+02] [-2.42192137e-04 -1.06668000e-06 9.99999971e-01 -4.78407723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13576923100004 meters 0.014549671550635046 Centerline is valid? [True, True] Translation: X:196.73, Y:114.07, Z:-0.48 [[ 2.61278484e-01 -9.65263454e-01 -1.33756168e-04 1.96730142e+02] [ 9.65263319e-01 2.61278518e-01 -5.10129482e-04 1.14070792e+02] [ 5.27356959e-04 4.17593460e-06 9.99999861e-01 -4.79329288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16576923100007 meters 0.014970772769051274 Centerline is valid? [True, True] Translation: X:196.74, Y:114.10, Z:-0.48 [[ 2.61400559e-01 -9.65230267e-01 -5.28108014e-04 1.96735473e+02] [ 9.65228173e-01 2.61401092e-01 -2.01094902e-03 1.14095146e+02] [ 2.07907687e-03 1.59184649e-05 9.99997839e-01 -4.81907252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19576923100004 meters 0.016687972198148042 Centerline is valid? [True, True] Translation: X:196.74, Y:114.12, Z:-0.49 [[ 2.62291557e-01 -9.64987177e-01 -1.69920512e-03 1.96735975e+02] [ 9.64965476e-01 2.62297054e-01 -6.47195757e-03 1.14120740e+02] [ 6.69105256e-03 5.78655463e-05 9.99977613e-01 -4.91400397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2257692310001 meters 0.01702495536075202 Centerline is valid? [True, True] Translation: X:196.74, Y:114.15, Z:-0.49 [[ 2.63658704e-01 -9.64614274e-01 -1.84141638e-03 1.96740366e+02] [ 9.64588725e-01 2.63665123e-01 -7.02096493e-03 1.14145849e+02] [ 7.25804027e-03 7.49290373e-05 9.99973657e-01 -4.90542396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25576923100004 meters 0.017343328089301325 Centerline is valid? [True, True] Translation: X:196.75, Y:114.17, Z:-0.49 [[ 2.63592207e-01 -9.64633266e-01 -1.34575748e-03 1.96745307e+02] [ 9.64619583e-01 2.63595637e-01 -5.13822585e-03 1.14168641e+02] [ 5.31123938e-03 5.62522754e-05 9.99985894e-01 -4.87535670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2857692310001 meters 0.015998748997028828 Centerline is valid? [True, True] Translation: X:196.75, Y:114.19, Z:-0.48 [[ 2.62375675e-01 -9.64965567e-01 -6.77940412e-04 1.96752265e+02] [ 9.64962085e-01 2.62376549e-01 -2.59235470e-03 1.14192414e+02] [ 2.67940869e-03 2.59840210e-05 9.99996410e-01 -4.83081921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31576923100005 meters 0.013691473074823844 Centerline is valid? [True, True] Translation: X:196.76, Y:114.22, Z:-0.48 [[ 2.59016807e-01 -9.65872808e-01 1.14728718e-04 1.96759614e+02] [ 9.65872709e-01 2.59016833e-01 4.36442528e-04 1.14215619e+02] [-4.51264639e-04 -2.23261263e-06 9.99999898e-01 -4.78515596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.345769231 meters 0.013024231597353789 Centerline is valid? [True, True] Translation: X:196.77, Y:114.24, Z:-0.48 [[ 2.57281108e-01 -9.66336603e-01 3.61993171e-05 1.96766860e+02] [ 9.66336593e-01 2.57281110e-01 1.36358813e-04 1.14238325e+02] [-1.41081913e-04 -1.01821788e-07 9.99999990e-01 -4.79031376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37576923100005 meters 0.012631827469962198 Centerline is valid? [True, True] Translation: X:196.78, Y:114.26, Z:-0.48 [[ 2.54750480e-01 -9.67006412e-01 -8.90490392e-04 1.96775936e+02] [ 9.67000378e-01 2.54752036e-01 -3.41598209e-03 1.14261168e+02] [ 3.53013082e-03 9.11852888e-06 9.99993769e-01 -4.84868125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.405769231 meters 0.012548762651272668 Centerline is valid? [True, True] Translation: X:196.78, Y:114.28, Z:-0.49 [[ 2.53558010e-01 -9.67319536e-01 -1.11845538e-03 1.96781767e+02] [ 9.67310000e-01 2.53560477e-01 -4.29508369e-03 1.14284204e+02] [ 4.43831444e-03 7.15979755e-06 9.99990151e-01 -4.86750153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43576923100005 meters 0.01252926303303003 Centerline is valid? [True, True] Translation: X:196.79, Y:114.31, Z:-0.49 [[ 2.52785642e-01 -9.67521633e-01 -1.14416782e-03 1.96786936e+02] [ 9.67511633e-01 2.52788231e-01 -4.39895441e-03 1.14307130e+02] [ 4.54531571e-03 4.99683443e-06 9.99989670e-01 -4.87570983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.465769231 meters 0.012463915789300903 Centerline is valid? [True, True] Translation: X:196.79, Y:114.33, Z:-0.49 [[ 2.51779149e-01 -9.67784066e-01 -1.12365095e-03 1.96793832e+02] [ 9.67774403e-01 2.51781656e-01 -4.32461270e-03 1.14331349e+02] [ 4.46820596e-03 1.40667524e-06 9.99990018e-01 -4.87034065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49576923100005 meters 0.01271120838602592 Centerline is valid? [True, True] Translation: X:196.80, Y:114.36, Z:-0.49 [[ 2.51729845e-01 -9.67796591e-01 -1.35754937e-03 1.96799809e+02] [ 9.67782458e-01 2.51733506e-01 -5.23037547e-03 1.14355648e+02] [ 5.40368021e-03 2.82914550e-06 9.99985400e-01 -4.88201097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.525769231 meters 0.013169155199115254 Centerline is valid? [True, True] Translation: X:196.80, Y:114.38, Z:-0.49 [[ 2.53452133e-01 -9.67346550e-01 -1.63333848e-03 1.96803220e+02] [ 9.67326039e-01 2.53457396e-01 -6.29949968e-03 1.14380307e+02] [ 6.50778100e-03 1.66507972e-05 9.99978824e-01 -4.89742334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55576923100006 meters 0.013456840271000001 Centerline is valid? [True, True] Translation: X:196.81, Y:114.40, Z:-0.49 [[ 2.54330090e-01 -9.67116490e-01 -1.37857673e-03 1.96807599e+02] [ 9.67101837e-01 2.54333825e-01 -5.32383490e-03 1.14403452e+02] [ 5.49938721e-03 2.07873216e-05 9.99984878e-01 -4.88901433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58576923100003 meters 0.01350016182386491 Centerline is valid? [True, True] Translation: X:196.81, Y:114.43, Z:-0.49 [[ 2.54813839e-01 -9.66989455e-01 -1.14086642e-03 1.96813816e+02] [ 9.66979394e-01 2.54816392e-01 -4.41111732e-03 1.14427366e+02] [ 4.55621540e-03 2.08194170e-05 9.99989620e-01 -4.87113910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61576923100006 meters 0.01365461253623148 Centerline is valid? [True, True] Translation: X:196.82, Y:114.45, Z:-0.49 [[ 2.55611099e-01 -9.66779166e-01 -1.00562633e-03 1.96819847e+02] [ 9.66771327e-01 2.55613076e-01 -3.89317095e-03 1.14451228e+02] [ 4.02088781e-03 2.29270079e-05 9.99991916e-01 -4.85094431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64576923100003 meters 0.01495531799584631 Centerline is valid? [True, True] Translation: X:196.82, Y:114.48, Z:-0.49 [[ 2.56458383e-01 -9.66554521e-01 -1.20677998e-03 1.96822920e+02] [ 9.66543206e-01 2.56461220e-01 -4.67693493e-03 1.14475244e+02] [ 4.83000486e-03 3.30341753e-05 9.99988335e-01 -4.87793564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67576923100006 meters 0.01606114348304205 Centerline is valid? [True, True] Translation: X:196.83, Y:114.50, Z:-0.49 [[ 2.58343429e-01 -9.66052093e-01 -1.42338751e-03 1.96828272e+02] [ 9.66036314e-01 2.58347345e-01 -5.52165198e-03 1.14499926e+02] [ 5.70193183e-03 5.14384831e-05 9.99983743e-01 -4.89921190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70576923100003 meters 0.016143694593140932 Centerline is valid? [True, True] Translation: X:196.83, Y:114.52, Z:-0.49 [[ 2.58139516e-01 -9.66106700e-01 -1.35468185e-03 1.96834706e+02] [ 9.66092371e-01 2.58143066e-01 -5.26189992e-03 1.14523132e+02] [ 5.43325849e-03 4.95564957e-05 9.99985239e-01 -4.89311978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73576923100006 meters 0.01578302707822195 Centerline is valid? [True, True] Translation: X:196.84, Y:114.55, Z:-0.49 [[ 2.57371110e-01 -9.66311836e-01 -1.24353723e-03 1.96842322e+02] [ 9.66299737e-01 2.57374111e-01 -4.83591898e-03 1.14546696e+02] [ 4.99306004e-03 4.29961407e-05 9.99987534e-01 -4.88635680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76576923100004 meters 0.014249113355401563 Centerline is valid? [True, True] Translation: X:196.85, Y:114.57, Z:-0.49 [[ 2.54633413e-01 -9.67036643e-01 -1.39870620e-03 1.96854162e+02] [ 9.67021310e-01 2.54637252e-01 -5.44571706e-03 1.14568368e+02] [ 5.62237065e-03 3.40828147e-05 9.99984194e-01 -4.88861534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79576923100007 meters 0.013759302383998123 Centerline is valid? [True, True] Translation: X:196.86, Y:114.59, Z:-0.49 [[ 2.53073486e-01 -9.67446144e-01 -1.33033962e-03 1.96864628e+02] [ 9.67432247e-01 2.53076981e-01 -5.18551448e-03 1.14590627e+02] [ 5.35338432e-03 2.53027773e-05 9.99985670e-01 -4.89921780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82576923100004 meters 0.01324188486660127 Centerline is valid? [True, True] Translation: X:196.87, Y:114.61, Z:-0.49 [[ 2.52303112e-01 -9.67647529e-01 -1.18292007e-03 1.96872677e+02] [ 9.67636517e-01 2.52305884e-01 -4.61647850e-03 1.14613863e+02] [ 4.76558171e-03 2.01152394e-05 9.99988644e-01 -4.88665989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85576923100007 meters 0.013128117596364713 Centerline is valid? [True, True] Translation: X:196.88, Y:114.64, Z:-0.49 [[ 2.51980757e-01 -9.67731745e-01 -9.83936177e-04 1.96880476e+02] [ 9.67724108e-01 2.51982677e-01 -3.84473970e-03 1.14637473e+02] [ 3.96861153e-03 1.66216598e-05 9.99992125e-01 -4.87456906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88576923100004 meters 0.01353794175077026 Centerline is valid? [True, True] Translation: X:196.89, Y:114.66, Z:-0.48 [[ 2.52882019e-01 -9.67496833e-01 -7.49618818e-04 1.96888135e+02] [ 9.67492387e-01 2.52883130e-01 -2.93330293e-03 1.14659536e+02] [ 3.02752725e-03 1.65290698e-05 9.99995417e-01 -4.84600663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91576923100007 meters 0.013948393920192932 Centerline is valid? [True, True] Translation: X:196.89, Y:114.68, Z:-0.48 [[ 2.54026002e-01 -9.67197107e-01 -7.39464573e-04 1.96893605e+02] [ 9.67192768e-01 2.54027077e-01 -2.89707925e-03 1.14683563e+02] [ 2.98989069e-03 2.07286709e-05 9.99995530e-01 -4.82957238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94576923100004 meters 0.01682833646991922 Centerline is valid? [True, True] Translation: X:196.89, Y:114.71, Z:-0.48 [[ 2.58049029e-01 -9.66131742e-01 -3.94196081e-04 1.96894298e+02] [ 9.66130504e-01 2.58049329e-01 -1.54701909e-03 1.14709663e+02] [ 1.59634628e-03 1.83619137e-05 9.99998726e-01 -4.80398246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9757692310001 meters 0.01905506890845115 Centerline is valid? [True, True] Translation: X:196.90, Y:114.73, Z:-0.48 [[ 2.60429530e-01 -9.65492854e-01 -9.67733997e-05 1.96897420e+02] [ 9.65492778e-01 2.60429548e-01 -3.81910072e-04 1.14734969e+02] [ 3.93934098e-04 6.02664197e-06 9.99999922e-01 -4.78558918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00576923100004 meters 0.022814528331046333 Centerline is valid? [True, True] Translation: X:196.90, Y:114.76, Z:-0.48 [[ 2.62370445e-01 -9.64967208e-01 1.95543239e-04 1.96898397e+02] [ 9.64966904e-01 2.62370517e-01 7.65558464e-04 1.14759569e+02] [-7.90043594e-04 -1.21671610e-05 9.99999688e-01 -4.76661752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0357692310001 meters 0.022609407070547944 Centerline is valid? [True, True] Translation: X:196.91, Y:114.78, Z:-0.48 [[ 2.63350961e-01 -9.64700078e-01 1.74164682e-04 1.96906933e+02] [ 9.64699837e-01 2.63351018e-01 6.82557863e-04 1.14783496e+02] [-7.04330070e-04 -1.17356286e-05 9.99999752e-01 -4.75965791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06576923100005 meters 0.02265384917495001 Centerline is valid? [True, True] Translation: X:196.91, Y:114.81, Z:-0.48 [[ 2.62877799e-01 -9.64829085e-01 -3.15507576e-04 1.96913691e+02] [ 9.64828283e-01 2.62877988e-01 -1.24439270e-03 1.14806920e+02] [ 1.28356626e-03 2.27125804e-05 9.99999176e-01 -4.78825424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.095769231 meters 0.022710881812805398 Centerline is valid? [True, True] Translation: X:196.92, Y:114.83, Z:-0.49 [[ 2.62144322e-01 -9.65027622e-01 -1.42954942e-03 1.96922628e+02] [ 9.65011172e-01 2.62148201e-01 -5.63551265e-03 1.14831088e+02] [ 5.81317918e-03 9.77864824e-05 9.99983099e-01 -4.88182825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12576923100005 meters 0.022423953978726117 Centerline is valid? [True, True] Translation: X:196.93, Y:114.85, Z:-0.49 [[ 2.61145722e-01 -9.65297883e-01 -1.70569376e-03 1.96929860e+02] [ 9.65274414e-01 2.61151268e-01 -6.73210982e-03 1.14853352e+02] [ 6.94393544e-03 1.11599136e-04 9.99975884e-01 -4.90843992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.155769231 meters 0.02154035049434143 Centerline is valid? [True, True] Translation: X:196.94, Y:114.88, Z:-0.49 [[ 2.60065741e-01 -9.65589405e-01 -1.70614340e-03 1.96937824e+02] [ 9.65565876e-01 2.60071316e-01 -6.74161476e-03 1.14877205e+02] [ 6.95335074e-03 1.05869196e-04 9.99975820e-01 -4.91078775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18576923100005 meters 0.020717900038402598 Centerline is valid? [True, True] Translation: X:196.95, Y:114.90, Z:-0.49 [[ 2.58977719e-01 -9.65882302e-01 -1.38586983e-03 1.96945540e+02] [ 9.65866743e-01 2.58981414e-01 -5.48294712e-03 1.14899739e+02] [ 5.65479611e-03 8.13955650e-05 9.99984008e-01 -4.86781756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.215769231 meters 0.020760277684909678 Centerline is valid? [True, True] Translation: X:196.95, Y:114.92, Z:-0.48 [[ 2.58982498e-01 -9.65881238e-01 -1.22446088e-03 1.96950836e+02] [ 9.65869063e-01 2.58985382e-01 -4.85023046e-03 1.14923556e+02] [ 5.00186407e-03 7.34559171e-05 9.99987488e-01 -4.84927751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24576923100005 meters 0.022208797748780255 Centerline is valid? [True, True] Translation: X:196.95, Y:114.95, Z:-0.48 [[ 2.59869924e-01 -9.65643236e-01 -8.73658563e-04 1.96952095e+02] [ 9.65637019e-01 2.59871387e-01 -3.46560069e-03 1.14947300e+02] [ 3.57357273e-03 5.69683384e-05 9.99993613e-01 -4.83165165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.275769231 meters 0.0233268331039626 Centerline is valid? [True, True] Translation: X:196.95, Y:114.97, Z:-0.48 [[ 2.60441606e-01 -9.65489366e-01 -6.73810686e-04 1.96954851e+02] [ 9.65485658e-01 2.60442473e-01 -2.67632378e-03 1.14971738e+02] [ 2.75945107e-03 4.64715100e-05 9.99996192e-01 -4.82589689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30576923100006 meters 0.022439173566978565 Centerline is valid? [True, True] Translation: X:196.96, Y:115.00, Z:-0.48 [[ 2.60870287e-01 -9.65373647e-01 -6.44719234e-04 1.96961788e+02] [ 9.65370243e-01 2.60871080e-01 -2.56396454e-03 1.14995414e+02] [ 2.64337240e-03 4.64694027e-05 9.99996505e-01 -4.83190700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33576923100003 meters 0.025203722292513598 Centerline is valid? [True, True] Translation: X:196.96, Y:115.02, Z:-0.49 [[ 2.61428466e-01 -9.65221954e-01 -1.31804311e-03 1.96964748e+02] [ 9.65207706e-01 2.61431770e-01 -5.24537595e-03 1.15019356e+02] [ 5.40753036e-03 9.91052174e-05 9.99985374e-01 -4.87945596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36576923100006 meters 0.026963326759426542 Centerline is valid? [True, True] Translation: X:196.97, Y:115.04, Z:-0.49 [[ 2.62211092e-01 -9.65009100e-01 -1.66764153e-03 1.96967251e+02] [ 9.64986244e-01 2.62216362e-01 -6.64298022e-03 1.15044156e+02] [ 6.84781925e-03 1.32611966e-04 9.99976545e-01 -4.90357923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39576923100003 meters 0.029641086045402262 Centerline is valid? [True, True] Translation: X:196.96, Y:115.07, Z:-0.49 [[ 2.65869586e-01 -9.64006915e-01 -2.00768977e-03 1.96964724e+02] [ 9.63973688e-01 2.65877096e-01 -8.00620568e-03 1.15070900e+02] [ 8.25183636e-03 1.93246474e-04 9.99965934e-01 -4.92390822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42576923100006 meters 0.034825453525556986 Centerline is valid? [True, True] Translation: X:196.96, Y:115.10, Z:-0.49 [[ 2.67742894e-01 -9.63488403e-01 -1.95941484e-03 1.96961474e+02] [ 9.63456678e-01 2.67749984e-01 -7.82151401e-03 1.15096772e+02] [ 8.06057134e-03 2.06343487e-04 9.99967492e-01 -4.94236373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45576923100003 meters 0.037620815244469065 Centerline is valid? [True, True] Translation: X:196.96, Y:115.12, Z:-0.49 [[ 2.70215592e-01 -9.62798875e-01 -1.36417400e-03 1.96960824e+02] [ 9.62783451e-01 2.70218988e-01 -5.45204750e-03 1.15122764e+02] [ 5.61785091e-03 1.59824086e-04 9.99984207e-01 -4.89613317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48576923100006 meters 0.037620815244469065 Centerline is valid? [True, True] Translation: X:196.97, Y:115.15, Z:-0.49 [[ 2.69962851e-01 -9.62869774e-01 -1.36272230e-03 1.96966318e+02] [ 9.62854350e-01 2.69966244e-01 -5.45241061e-03 1.15146313e+02] [ 5.61785039e-03 1.59845224e-04 9.99984207e-01 -4.89665205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51576923100004 meters 0.03885081529010983 Centerline is valid? [True, True] Translation: X:196.97, Y:115.17, Z:-0.49 [[ 2.70348144e-01 -9.62762146e-01 -9.65304956e-04 1.96968115e+02] [ 9.62754385e-01 2.70349842e-01 -3.86753256e-03 1.15170176e+02] [ 3.98448398e-03 1.16228668e-04 9.99992055e-01 -4.86550998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54576923100007 meters 0.034688583368682725 Centerline is valid? [True, True] Translation: X:196.98, Y:115.19, Z:-0.48 [[ 2.70358275e-01 -9.62759507e-01 -7.31626133e-04 1.96975562e+02] [ 9.62755036e-01 2.70359250e-01 -2.93540276e-03 1.15193662e+02] [ 3.02388881e-03 8.92336824e-05 9.99995424e-01 -4.83563192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57576923100004 meters 0.03848668773439452 Centerline is valid? [True, True] Translation: X:196.98, Y:115.22, Z:-0.49 [[ 2.69149313e-01 -9.63098147e-01 -7.78853533e-04 1.96975449e+02] [ 9.63093073e-01 2.69150424e-01 -3.12766321e-03 1.15218115e+02] [ 3.22187540e-03 9.16999597e-05 9.99994806e-01 -4.85816395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60576923100007 meters 0.03667908212407572 Centerline is valid? [True, True] Translation: X:196.98, Y:115.24, Z:-0.49 [[ 2.67033680e-01 -9.63686820e-01 -8.52093483e-04 1.96982992e+02] [ 9.63680737e-01 2.67035023e-01 -3.42532263e-03 1.15241536e+02] [ 3.52847707e-03 9.35304305e-05 9.99993771e-01 -4.87674792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63576923100004 meters 0.031780414195755786 Centerline is valid? [True, True] Translation: X:196.99, Y:115.26, Z:-0.49 [[ 2.62425700e-01 -9.64950935e-01 -1.56364859e-03 1.96991964e+02] [ 9.64930440e-01 2.62430320e-01 -6.29068837e-03 1.15264479e+02] [ 6.48055443e-03 1.42026182e-04 9.99978991e-01 -4.93939716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66576923100007 meters 0.03070743229230393 Centerline is valid? [True, True] Translation: X:197.00, Y:115.29, Z:-0.50 [[ 2.60930584e-01 -9.65355260e-01 -2.11032027e-03 1.96997741e+02] [ 9.65317868e-01 2.60939055e-01 -8.49845405e-03 1.15288142e+02] [ 8.75469229e-03 1.80376714e-04 9.99961661e-01 -4.98004240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69576923100004 meters 0.031517474480190745 Centerline is valid? [True, True] Translation: X:197.00, Y:115.31, Z:-0.50 [[ 2.61017560e-01 -9.65331099e-01 -2.38788903e-03 1.97001286e+02] [ 9.65283123e-01 2.61028400e-01 -9.62640880e-03 1.15312286e+02] [ 9.91597865e-03 2.07672752e-04 9.99950814e-01 -4.98286879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7257692310001 meters 0.03216853513734974 Centerline is valid? [True, True] Translation: X:197.00, Y:115.34, Z:-0.49 [[ 2.61537913e-01 -9.65191401e-01 -1.86551270e-03 1.97004846e+02] [ 9.65162048e-01 2.61544512e-01 -7.52920788e-03 1.15336663e+02] [ 7.75504131e-03 1.68651261e-04 9.99969915e-01 -4.93218910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75576923100004 meters 0.02775030386220245 Centerline is valid? [True, True] Translation: X:197.01, Y:115.36, Z:-0.48 [[ 2.61402929e-01 -9.65229530e-01 -6.80297114e-04 1.97014962e+02] [ 9.65225614e-01 2.61403807e-01 -2.75024891e-03 1.15360219e+02] [ 2.83245372e-03 6.22829215e-05 9.99995987e-01 -4.82123462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7857692310001 meters 0.03163143096034185 Centerline is valid? [True, True] Translation: X:197.02, Y:115.38, Z:-0.48 [[ 2.60710382e-01 -9.65416930e-01 -4.98533738e-04 1.97015151e+02] [ 9.65414821e-01 2.60710855e-01 -2.01823357e-03 1.15384786e+02] [ 2.07841001e-03 4.48825847e-05 9.99997839e-01 -4.82682354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81576923100005 meters 0.03075098441851913 Centerline is valid? [True, True] Translation: X:197.02, Y:115.41, Z:-0.48 [[ 2.59737260e-01 -9.65679201e-01 -4.87144869e-04 1.97022581e+02] [ 9.65677183e-01 2.59737713e-01 -1.97454911e-03 1.15407528e+02] [ 2.03331090e-03 4.24392911e-05 9.99997932e-01 -4.83267377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.845769231 meters 0.02471639463923219 Centerline is valid? [True, True] Translation: X:197.04, Y:115.43, Z:-0.48 [[ 2.56900726e-01 -9.66437672e-01 -4.94072982e-04 1.97038695e+02] [ 9.66435594e-01 2.56901198e-01 -2.00446633e-03 1.15430027e+02] [ 2.06411972e-03 3.74591399e-05 9.99997869e-01 -4.82359651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87576923100005 meters 0.0258968655481153 Centerline is valid? [True, True] Translation: X:197.04, Y:115.45, Z:-0.48 [[ 2.55148323e-01 -9.66901850e-01 -3.81983745e-04 1.97043340e+02] [ 9.66900605e-01 2.55148607e-01 -1.55218498e-03 1.15453943e+02] [ 1.59827314e-03 2.66970787e-05 9.99998722e-01 -4.82258894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.905769231 meters 0.021128615660827316 Centerline is valid? [True, True] Translation: X:197.06, Y:115.48, Z:-0.48 [[ 2.52810124e-01 -9.67515680e-01 -6.71121257e-04 1.97057727e+02] [ 9.67511835e-01 2.52811011e-01 -2.72814438e-03 1.15476245e+02] [ 2.80918931e-03 4.03847605e-05 9.99996053e-01 -4.82765670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93576923100005 meters 0.01832664754965915 Centerline is valid? [True, True] Translation: X:197.07, Y:115.50, Z:-0.48 [[ 2.51939513e-01 -9.67742635e-01 -8.20854158e-04 1.97069056e+02] [ 9.67736872e-01 2.51940846e-01 -3.34029920e-03 1.15500109e+02] [ 3.43935665e-03 4.71825196e-05 9.99994084e-01 -4.81887859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.965769231 meters 0.021691390828620295 Centerline is valid? [True, True] Translation: X:197.07, Y:115.53, Z:-0.48 [[ 2.50706265e-01 -9.68063105e-01 -4.39713156e-04 1.97072044e+02] [ 9.68061446e-01 2.50706649e-01 -1.79249740e-03 1.15525064e+02] [ 1.84548961e-03 2.37209753e-05 9.99998297e-01 -4.81739506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99576923100005 meters 0.019588533024123656 Centerline is valid? [True, True] Translation: X:197.08, Y:115.55, Z:-0.48 [[ 2.50322609e-01 -9.68162446e-01 -2.65140128e-04 1.97082653e+02] [ 9.68161840e-01 2.50322749e-01 -1.08300155e-03 1.15547634e+02] [ 1.11489203e-03 1.44012190e-05 9.99999378e-01 -4.79647259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.025769231 meters 0.016626994169599247 Centerline is valid? [True, True] Translation: X:197.10, Y:115.57, Z:-0.48 [[ 2.48722844e-01 -9.68574643e-01 -3.28363961e-04 1.97097214e+02] [ 9.68573713e-01 2.48723060e-01 -1.34256609e-03 1.15569493e+02] [ 1.38204716e-03 1.58821549e-05 9.99999045e-01 -4.79752320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05576923100006 meters 0.01629784994899625 Centerline is valid? [True, True] Translation: X:197.10, Y:115.59, Z:-0.48 [[ 2.47354619e-01 -9.68924923e-01 -4.31202239e-04 1.97104995e+02] [ 9.68923316e-01 2.47354994e-01 -1.76458183e-03 1.15591741e+02] [ 1.81640734e-03 1.86755626e-05 9.99998350e-01 -4.80672133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08576923100003 meters 0.01514694041750204 Centerline is valid? [True, True] Translation: X:197.12, Y:115.62, Z:-0.48 [[ 2.45937460e-01 -9.69285544e-01 -5.48114675e-04 1.97115162e+02] [ 9.69282945e-01 2.45938070e-01 -2.24466989e-03 1.15615189e+02] [ 2.31052834e-03 2.07702039e-05 9.99997331e-01 -4.81436836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11576923100006 meters 0.013873013919283193 Centerline is valid? [True, True] Translation: X:197.13, Y:115.64, Z:-0.48 [[ 2.43776657e-01 -9.69831062e-01 -8.07940651e-04 1.97129286e+02] [ 9.69825408e-01 2.43777994e-01 -3.31179675e-03 1.15637576e+02] [ 3.40884151e-03 2.37773685e-05 9.99994190e-01 -4.82785948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14576923100003 meters 0.014348476267126273 Centerline is valid? [True, True] Translation: X:197.14, Y:115.66, Z:-0.48 [[ 2.43804936e-01 -9.69823946e-01 -8.16895113e-04 1.97135560e+02] [ 9.69818150e-01 2.43806304e-01 -3.35285883e-03 1.15660914e+02] [ 3.45084695e-03 2.52038250e-05 9.99994045e-01 -4.82659559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17576923100006 meters 0.017444643243728415 Centerline is valid? [True, True] Translation: X:197.14, Y:115.69, Z:-0.48 [[ 2.45874742e-01 -9.69301301e-01 -7.74503884e-04 1.97137024e+02] [ 9.69296077e-01 2.45875960e-01 -3.18239964e-03 1.15685575e+02] [ 3.27513599e-03 3.17481138e-05 9.99994636e-01 -4.84020770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20576923100003 meters 0.01771172283420327 Centerline is valid? [True, True] Translation: X:197.14, Y:115.71, Z:-0.48 [[ 2.47475166e-01 -9.68893937e-01 -7.62154478e-04 1.97142782e+02] [ 9.68888865e-01 2.47476337e-01 -3.13528340e-03 1.15709902e+02] [ 3.22637228e-03 3.74617940e-05 9.99994795e-01 -4.82680673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23576923100006 meters 0.019965136250972914 Centerline is valid? [True, True] Translation: X:197.15, Y:115.73, Z:-0.48 [[ 2.48919902e-01 -9.68523848e-01 -6.61684681e-04 1.97145364e+02] [ 9.68520014e-01 2.48920778e-01 -2.72540346e-03 1.15734497e+02] [ 2.80432531e-03 3.75523041e-05 9.99996067e-01 -4.82691731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26576923100004 meters 0.021546369312836378 Centerline is valid? [True, True] Translation: X:197.15, Y:115.76, Z:-0.48 [[ 2.51260974e-01 -9.67919265e-01 -4.68906809e-04 1.97149765e+02] [ 9.67917333e-01 2.51261410e-01 -1.93412057e-03 1.15759782e+02] [ 1.98989075e-03 3.21059910e-05 9.99998020e-01 -4.80452819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29576923100007 meters 0.022615507181612555 Centerline is valid? [True, True] Translation: X:197.15, Y:115.78, Z:-0.48 [[ 2.51782471e-01 -9.67783670e-01 -5.97072453e-04 1.97153735e+02] [ 9.67780532e-01 2.51783175e-01 -2.46466585e-03 1.15783835e+02] [ 2.53559616e-03 4.27245597e-05 9.99996784e-01 -4.81914672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32576923100004 meters 0.02447862173122214 Centerline is valid? [True, True] Translation: X:197.16, Y:115.81, Z:-0.49 [[ 2.51994931e-01 -9.67727893e-01 -1.13095025e-03 1.97156973e+02] [ 9.67716618e-01 2.51997455e-01 -4.67227980e-03 1.15807714e+02] [ 4.80649208e-03 8.29514811e-05 9.99988445e-01 -4.87136619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35576923100007 meters 0.02257160306344928 Centerline is valid? [True, True] Translation: X:197.17, Y:115.83, Z:-0.49 [[ 2.50914107e-01 -9.68008303e-01 -1.42671258e-03 1.97165534e+02] [ 9.67990324e-01 2.50918144e-01 -5.90062566e-03 1.15831297e+02] [ 6.06984270e-03 9.95062441e-05 9.99981573e-01 -4.88724255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38576923100004 meters 0.01836500050293174 Centerline is valid? [True, True] Translation: X:197.18, Y:115.85, Z:-0.49 [[ 2.45898806e-01 -9.69294130e-01 -1.63286269e-03 1.97179443e+02] [ 9.69270555e-01 2.45904214e-01 -6.76078032e-03 1.15853136e+02] [ 6.95471250e-03 7.97820812e-05 9.99975813e-01 -4.89862932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41576923100007 meters 0.01598560732684914 Centerline is valid? [True, True] Translation: X:197.19, Y:115.88, Z:-0.49 [[ 2.42990433e-01 -9.70027710e-01 -1.37534351e-03 1.97189794e+02] [ 9.70010955e-01 2.42994320e-01 -5.70161632e-03 1.15875237e+02] [ 5.86492648e-03 5.13399470e-05 9.99982800e-01 -4.86814539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44576923100004 meters 0.014234592966220611 Centerline is valid? [True, True] Translation: X:197.20, Y:115.90, Z:-0.48 [[ 2.40708646e-01 -9.70596995e-01 -9.05722346e-04 1.97199408e+02] [ 9.70589714e-01 2.40710348e-01 -3.75970882e-03 1.15899073e+02] [ 3.86717882e-03 2.59096251e-05 9.99992522e-01 -4.83021709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4757692310001 meters 0.013380986013250364 Centerline is valid? [True, True] Translation: X:197.21, Y:115.92, Z:-0.48 [[ 2.39554273e-01 -9.70882931e-01 -2.92419905e-04 1.97206608e+02] [ 9.70882168e-01 2.39554451e-01 -1.21702311e-03 1.15922422e+02] [ 1.25163746e-03 7.63781633e-06 9.99999217e-01 -4.77976319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50576923100004 meters 0.014500132393070908 Centerline is valid? [True, True] Translation: X:197.21, Y:115.95, Z:-0.48 [[ 2.40809893e-01 -9.70572232e-01 -3.72229401e-04 1.97208845e+02] [ 9.70570994e-01 2.40810180e-01 -1.55024104e-03 1.15947491e+02] [ 1.59425753e-03 1.20383182e-05 9.99998729e-01 -4.78807634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5357692310001 meters 0.017648908749424576 Centerline is valid? [True, True] Translation: X:197.21, Y:115.97, Z:-0.48 [[ 2.44656134e-01 -9.69609710e-01 -6.20751412e-04 1.97206596e+02] [ 9.69606261e-01 2.44656920e-01 -2.58643926e-03 1.15974145e+02] [ 2.65970775e-03 3.09037763e-05 9.99996462e-01 -4.81035632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56576923100005 meters 0.019644140786792445 Centerline is valid? [True, True] Translation: X:197.21, Y:116.00, Z:-0.48 [[ 2.46719816e-01 -9.69086640e-01 -6.45367020e-04 1.97208203e+02] [ 9.69082902e-01 2.46720657e-01 -2.69192460e-03 1.16000353e+02] [ 2.76793355e-03 3.87369989e-05 9.99996169e-01 -4.80786430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.595769231 meters 0.021623511091872 Centerline is valid? [True, True] Translation: X:197.21, Y:116.03, Z:-0.48 [[ 2.48502833e-01 -9.68631038e-01 -5.03902231e-04 1.97209956e+02] [ 9.68628752e-01 2.48503341e-01 -2.10469330e-03 1.16026365e+02] [ 2.16389264e-03 3.49280572e-05 9.99997658e-01 -4.79261069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62576923100005 meters 0.023345560335121418 Centerline is valid? [True, True] Translation: X:197.21, Y:116.05, Z:-0.48 [[ 2.51122738e-01 -9.67955218e-01 -2.58154502e-04 1.97211633e+02] [ 9.67954615e-01 2.51122870e-01 -1.08070872e-03 1.16051930e+02] [ 1.11090614e-03 2.15086903e-05 9.99999383e-01 -4.77306079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.655769231 meters 0.02550397351085553 Centerline is valid? [True, True] Translation: X:197.21, Y:116.08, Z:-0.48 [[ 2.51214065e-01 -9.67931544e-01 -1.42538512e-04 1.97212740e+02] [ 9.67931359e-01 2.51214105e-01 -5.98557669e-04 1.16076200e+02] [ 6.15170533e-04 1.23986097e-05 9.99999811e-01 -4.77056459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68576923100005 meters 0.022452338571891634 Centerline is valid? [True, True] Translation: X:197.22, Y:116.10, Z:-0.48 [[ 2.49191987e-01 -9.68454097e-01 1.25793311e-04 1.97219243e+02] [ 9.68453955e-01 2.49192019e-01 5.24226371e-04 1.16100704e+02] [-5.39035866e-04 -8.80798119e-06 9.99999855e-01 -4.75811247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.715769231 meters 0.02063570611434515 Centerline is valid? [True, True] Translation: X:197.23, Y:116.12, Z:-0.48 [[ 2.47011510e-01 -9.69012538e-01 1.22035024e-04 1.97225803e+02] [ 9.69012404e-01 2.47011540e-01 5.09083018e-04 1.16124883e+02] [-5.23451886e-04 -7.49591357e-06 9.99999863e-01 -4.76024690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74576923100005 meters 0.016658445202760493 Centerline is valid? [True, True] Translation: X:197.24, Y:116.15, Z:-0.48 [[ 2.41969328e-01 -9.70283893e-01 -1.06132146e-04 1.97235483e+02] [ 9.70283790e-01 2.41969351e-01 -4.47491930e-04 1.16147785e+02] [ 4.59874938e-04 5.30102094e-06 9.99999894e-01 -4.79049971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.775769231 meters 0.014646312253116267 Centerline is valid? [True, True] Translation: X:197.24, Y:116.17, Z:-0.48 [[ 2.39194642e-01 -9.70971604e-01 -2.60829695e-04 1.97244549e+02] [ 9.70970983e-01 2.39194784e-01 -1.09825127e-03 1.16171342e+02] [ 1.12875990e-03 9.43775323e-06 9.99999363e-01 -4.80232790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80576923100006 meters 0.012834628738843917 Centerline is valid? [True, True] Translation: X:197.26, Y:116.19, Z:-0.48 [[ 2.36426534e-01 -9.71649258e-01 -4.61988716e-04 1.97255270e+02] [ 9.71647310e-01 2.36426985e-01 -1.94568638e-03 1.16194883e+02] [ 1.99975133e-03 1.11217954e-05 9.99998000e-01 -4.80738009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83576923100003 meters 0.011762500654151114 Centerline is valid? [True, True] Translation: X:197.27, Y:116.22, Z:-0.48 [[ 2.31633022e-01 -9.72802980e-01 -7.11171215e-04 1.97267611e+02] [ 9.72798360e-01 2.31634114e-01 -2.99816734e-03 1.16216252e+02] [ 3.08135763e-03 2.64836917e-06 9.99995253e-01 -4.83100354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86576923100006 meters 0.011888854726823262 Centerline is valid? [True, True] Translation: X:197.28, Y:116.24, Z:-0.48 [[ 2.29132500e-01 -9.73395046e-01 -6.17480999e-04 1.97276200e+02] [ 9.73391555e-01 2.29133332e-01 -2.60696193e-03 1.16238274e+02] [ 2.67908931e-03 -3.71108636e-06 9.99996411e-01 -4.82987942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89576923100003 meters 0.012724699272311433 Centerline is valid? [True, True] Translation: X:197.29, Y:116.26, Z:-0.48 [[ 2.26085331e-01 -9.74107435e-01 -3.58898467e-04 1.97286457e+02] [ 9.74106252e-01 2.26085616e-01 -1.51821717e-03 1.16261356e+02] [ 1.56004841e-03 -6.35860932e-06 9.99998783e-01 -4.80836763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92576923100006 meters 0.012627198882607915 Centerline is valid? [True, True] Translation: X:197.29, Y:116.29, Z:-0.48 [[ 2.25833606e-01 -9.74165795e-01 -4.31642382e-04 1.97292380e+02] [ 9.74164080e-01 2.25834018e-01 -1.82774304e-03 1.16285399e+02] [ 1.87800428e-03 -7.72470264e-06 9.99998237e-01 -4.80990336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95576923100003 meters 0.012397429502747869 Centerline is valid? [True, True] Translation: X:197.30, Y:116.31, Z:-0.48 [[ 2.26590847e-01 -9.73989843e-01 -6.11586153e-04 1.97296068e+02] [ 9.73986394e-01 2.26591672e-01 -2.59189528e-03 1.16310323e+02] [ 2.66306001e-03 -8.37684381e-06 9.99996454e-01 -4.81706952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98576923100006 meters 0.012266103436027817 Centerline is valid? [True, True] Translation: X:197.29, Y:116.34, Z:-0.48 [[ 2.32486712e-01 -9.72599167e-01 -8.88213369e-04 1.97289675e+02] [ 9.72591868e-01 2.32488408e-01 -3.76797334e-03 1.16336844e+02] [ 3.87122705e-03 1.21346326e-05 9.99992507e-01 -4.82673767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01576923100004 meters 0.014259161106191286 Centerline is valid? [True, True] Translation: X:197.29, Y:116.36, Z:-0.48 [[ 2.36307631e-01 -9.71677808e-01 -9.70169361e-04 1.97286763e+02] [ 9.71669072e-01 2.36309620e-01 -4.12037957e-03 1.16362404e+02] [ 4.23294174e-03 3.09935694e-05 9.99991041e-01 -4.83780591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04576923100007 meters 0.021891423434248748 Centerline is valid? [True, True] Translation: X:197.27, Y:116.39, Z:-0.49 [[ 2.44296489e-01 -9.69699781e-01 -1.24910823e-03 1.97274054e+02] [ 9.69685249e-01 2.44299667e-01 -5.30942330e-03 1.16390019e+02] [ 5.45370333e-03 8.58316452e-05 9.99985125e-01 -4.86475319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07576923100004 meters 0.023392645318949905 Centerline is valid? [True, True] Translation: X:197.27, Y:116.42, Z:-0.49 [[ 2.46787609e-01 -9.69068788e-01 -1.24929510e-03 1.97273520e+02] [ 9.69054208e-01 2.46790751e-01 -5.31673265e-03 1.16416308e+02] [ 5.46059414e-03 1.01469064e-04 9.99985086e-01 -4.85579583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10576923100007 meters 0.025332566143156297 Centerline is valid? [True, True] Translation: X:197.27, Y:116.44, Z:-0.48 [[ 2.47767277e-01 -9.68819063e-01 -1.00002556e-03 1.97272394e+02] [ 9.68809694e-01 2.47769280e-01 -4.26166976e-03 1.16441333e+02] [ 4.37656252e-03 8.70678584e-05 9.99990419e-01 -4.84861997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13576923100004 meters 0.025169210940871958 Centerline is valid? [True, True] Translation: X:197.27, Y:116.47, Z:-0.48 [[ 2.47572348e-01 -9.68869174e-01 -6.75982338e-04 1.97272877e+02] [ 9.68864879e-01 2.47573263e-01 -2.88526390e-03 1.16466095e+02] [ 2.96279840e-03 5.93760104e-05 9.99995609e-01 -4.82248272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16576923100007 meters 0.028365480838623884 Centerline is valid? [True, True] Translation: X:197.27, Y:116.49, Z:-0.48 [[ 2.47039236e-01 -9.69005349e-01 -4.99895312e-04 1.97267929e+02] [ 9.69002993e-01 2.47039737e-01 -2.13725261e-03 1.16491400e+02] [ 2.19450322e-03 4.35851990e-05 9.99997591e-01 -4.81017296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19576923100004 meters 0.02522601627451136 Centerline is valid? [True, True] Translation: X:197.27, Y:116.52, Z:-0.48 [[ 2.46782052e-01 -9.69070975e-01 -2.54525599e-04 1.97274481e+02] [ 9.69070361e-01 2.46782182e-01 -1.09077480e-03 1.16515630e+02] [ 1.11985058e-03 2.25304285e-05 9.99999373e-01 -4.78437936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2257692310001 meters 0.024435962365541235 Centerline is valid? [True, True] Translation: X:197.28, Y:116.54, Z:-0.48 [[ 2.46176421e-01 -9.69225033e-01 7.17269103e-05 1.97278060e+02] [ 9.69224985e-01 2.46176432e-01 3.04402337e-04 1.16539927e+02] [-3.12691840e-04 -5.41716443e-06 9.99999951e-01 -4.75922819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25576923100004 meters 0.022290668070428427 Centerline is valid? [True, True] Translation: X:197.28, Y:116.56, Z:-0.47 [[ 2.43808713e-01 -9.69823112e-01 6.65351594e-04 1.97281263e+02] [ 9.69818929e-01 2.43809615e-01 2.84903370e-03 1.16564888e+02] [-2.92527785e-03 -4.93486679e-05 9.99995720e-01 -4.71981613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2857692310001 meters 0.02036072563253503 Centerline is valid? [True, True] Translation: X:197.29, Y:116.59, Z:-0.47 [[ 2.42135362e-01 -9.70242172e-01 7.70330441e-04 1.97286535e+02] [ 9.70236552e-01 2.42136581e-01 3.30292971e-03 1.16589605e+02] [-3.39116687e-03 -5.23533282e-05 9.99994249e-01 -4.71255939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31576923100005 meters 0.01858824379976688 Centerline is valid? [True, True] Translation: X:197.29, Y:116.61, Z:-0.47 [[ 2.39613297e-01 -9.70868362e-01 3.00946265e-04 1.97288871e+02] [ 9.70867505e-01 2.39613486e-01 1.29036451e-03 1.16613536e+02] [-1.32488486e-03 -1.70095450e-05 9.99999122e-01 -4.74448543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.345769231 meters 0.018080095661179813 Centerline is valid? [True, True] Translation: X:197.29, Y:116.64, Z:-0.48 [[ 2.38575499e-01 -9.71123946e-01 -1.15352862e-04 1.97293399e+02] [ 9.71123818e-01 2.38575527e-01 -4.98785724e-04 1.16638327e+02] [ 5.11903130e-04 6.97614139e-06 9.99999869e-01 -4.77697526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37576923100005 meters 0.018080095661179813 Centerline is valid? [True, True] Translation: X:197.30, Y:116.66, Z:-0.48 [[ 2.38301952e-01 -9.71191107e-01 -1.15188221e-04 1.97298507e+02] [ 9.71190979e-01 2.38301980e-01 -4.98823888e-04 1.16661954e+02] [ 5.11902905e-04 7.00094541e-06 9.99999869e-01 -4.77749396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.405769231 meters 0.017214638413946638 Centerline is valid? [True, True] Translation: X:197.30, Y:116.69, Z:-0.48 [[ 2.36998597e-01 -9.71509836e-01 -5.51186520e-04 1.97304031e+02] [ 9.71506921e-01 2.36999236e-01 -2.37986383e-03 1.16685677e+02] [ 2.44269190e-03 2.85428690e-05 9.99997016e-01 -4.80683672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43576923100005 meters 0.016574274317049064 Centerline is valid? [True, True] Translation: X:197.31, Y:116.71, Z:-0.48 [[ 2.34692403e-01 -9.72069380e-01 -7.71715762e-04 1.97308139e+02] [ 9.72063659e-01 2.34693670e-01 -3.33524942e-03 1.16709477e+02] [ 3.42321064e-03 3.26008542e-05 9.99994140e-01 -4.83343983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.465769231 meters 0.015629396805426733 Centerline is valid? [True, True] Translation: X:197.31, Y:116.73, Z:-0.48 [[ 2.34299951e-01 -9.72164268e-01 -4.10908640e-04 1.97313769e+02] [ 9.72162640e-01 2.34300311e-01 -1.77937871e-03 1.16733646e+02] [ 1.82612442e-03 1.74383171e-05 9.99998332e-01 -4.79571090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49576923100005 meters 0.015578996862548298 Centerline is valid? [True, True] Translation: X:197.32, Y:116.76, Z:-0.48 [[ 2.34227120e-01 -9.72181904e-01 -3.52465952e-05 1.97318807e+02] [ 9.72181892e-01 2.34227123e-01 -1.55271345e-04 1.16757419e+02] [ 1.59207700e-04 2.10265833e-06 9.99999987e-01 -4.77058844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.525769231 meters 0.01417410011647266 Centerline is valid? [True, True] Translation: X:197.33, Y:116.78, Z:-0.48 [[ 2.32177435e-01 -9.72673408e-01 -2.81535661e-04 1.97328113e+02] [ 9.72672639e-01 2.32177606e-01 -1.22317739e-03 1.16780120e+02] [ 1.25511840e-03 1.01521555e-05 9.99999212e-01 -4.79111253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55576923100006 meters 0.01318591662623211 Centerline is valid? [True, True] Translation: X:197.34, Y:116.80, Z:-0.48 [[ 2.30094036e-01 -9.73168065e-01 -8.07291361e-04 1.97337380e+02] [ 9.73161746e-01 2.30095451e-01 -3.50702799e-03 1.16803640e+02] [ 3.59868171e-03 2.13211538e-05 9.99993524e-01 -4.83360317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58576923100003 meters 0.01294775848923785 Centerline is valid? [True, True] Translation: X:197.35, Y:116.83, Z:-0.49 [[ 2.26812018e-01 -9.73937429e-01 -1.48106698e-03 1.97348944e+02] [ 9.73916133e-01 2.26816853e-01 -6.44066233e-03 1.16825006e+02] [ 6.60873306e-03 1.83845982e-05 9.99978162e-01 -4.90405638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61576923100006 meters 0.012413942533242522 Centerline is valid? [True, True] Translation: X:197.36, Y:116.85, Z:-0.49 [[ 2.25098365e-01 -9.74335028e-01 -1.40704611e-03 1.97357564e+02] [ 9.74315765e-01 2.25102762e-01 -6.12676980e-03 1.16847980e+02] [ 6.28625639e-03 8.21865745e-06 9.99980241e-01 -4.88574190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64576923100003 meters 0.01203158668585266 Centerline is valid? [True, True] Translation: X:197.36, Y:116.87, Z:-0.49 [[ 2.24008244e-01 -9.74586613e-01 -1.11380539e-03 1.97364915e+02] [ 9.74574511e-01 2.24011013e-01 -4.85682789e-03 1.16871559e+02] [ 4.98290412e-03 2.48314921e-06 9.99987585e-01 -4.86143646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67576923100006 meters 0.011693606007339964 Centerline is valid? [True, True] Translation: X:197.37, Y:116.89, Z:-0.48 [[ 2.23163548e-01 -9.74780771e-01 -6.91817405e-04 1.97371889e+02] [ 9.74776089e-01 2.23164621e-01 -3.02130235e-03 1.16893883e+02] [ 3.09949661e-03 -1.22509820e-07 9.99995197e-01 -4.82801873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70576923100003 meters 0.011866556824093745 Centerline is valid? [True, True] Translation: X:197.38, Y:116.92, Z:-0.48 [[ 2.23054344e-01 -9.74805673e-01 -8.11986298e-04 1.97377412e+02] [ 9.74799207e-01 2.23055822e-01 -3.55066798e-03 1.16916659e+02] [ 3.64232956e-03 4.68318798e-07 9.99993367e-01 -4.84129051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73576923100006 meters 0.012059141864712204 Centerline is valid? [True, True] Translation: X:197.38, Y:116.94, Z:-0.49 [[ 2.23152307e-01 -9.74783002e-01 -1.07106177e-03 1.97381574e+02] [ 9.74771725e-01 2.23154877e-01 -4.68872507e-03 1.16940518e+02] [ 4.80950216e-03 2.25908010e-06 9.99988434e-01 -4.86001421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76576923100004 meters 0.011913582680078557 Centerline is valid? [True, True] Translation: X:197.39, Y:116.96, Z:-0.48 [[ 2.23391352e-01 -9.74728345e-01 -9.78776068e-04 1.97385419e+02] [ 9.74718902e-01 2.23393496e-01 -4.29047743e-03 1.16964970e+02] [ 4.40070217e-03 4.42402046e-06 9.99990317e-01 -4.84951014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79576923100007 meters 0.011610618788425932 Centerline is valid? [True, True] Translation: X:197.39, Y:116.99, Z:-0.48 [[ 2.23956015e-01 -9.74599118e-01 -5.11615223e-04 1.97391613e+02] [ 9.74596528e-01 2.23956600e-01 -2.24693753e-03 1.16988744e+02] [ 2.30444294e-03 4.59675547e-06 9.99997345e-01 -4.82087358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82576923100004 meters 0.011730475595117794 Centerline is valid? [True, True] Translation: X:197.40, Y:117.01, Z:-0.48 [[ 2.23797434e-01 -9.74635545e-01 -5.12256265e-04 1.97397261e+02] [ 9.74632941e-01 2.23798020e-01 -2.25290321e-03 1.17011659e+02] [ 2.31040149e-03 4.93212819e-06 9.99997331e-01 -4.82515272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85576923100007 meters 0.01198209810261577 Centerline is valid? [True, True] Translation: X:197.40, Y:117.04, Z:-0.48 [[ 2.24446743e-01 -9.74486104e-01 -7.02483158e-04 1.97401248e+02] [ 9.74481197e-01 2.24447842e-01 -3.09247761e-03 1.17036279e+02] [ 3.17124729e-03 9.53989824e-06 9.99994972e-01 -4.82887304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88576923100004 meters 0.013700515849485579 Centerline is valid? [True, True] Translation: X:197.40, Y:117.06, Z:-0.48 [[ 2.27691691e-01 -9.73732763e-01 -1.00033883e-03 1.97399294e+02] [ 9.73722788e-01 2.27693887e-01 -4.40759938e-03 1.17062779e+02] [ 4.51959496e-03 2.95210430e-05 9.99989786e-01 -4.84924447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91576923100007 meters 0.014967060444861997 Centerline is valid? [True, True] Translation: X:197.40, Y:117.09, Z:-0.48 [[ 2.29369768e-01 -9.73338915e-01 -9.31003133e-04 1.97401682e+02] [ 9.73330248e-01 2.29371655e-01 -4.10754283e-03 1.17087636e+02] [ 4.21157701e-03 3.59726376e-05 9.99991131e-01 -4.84208983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94576923100004 meters 0.017858021873794656 Centerline is valid? [True, True] Translation: X:197.40, Y:117.11, Z:-0.48 [[ 2.32060726e-01 -9.72701007e-01 -7.54986858e-04 1.97403331e+02] [ 9.72695289e-01 2.32061950e-01 -3.33562937e-03 1.17112152e+02] [ 3.41977377e-03 3.96964121e-05 9.99994152e-01 -4.83380397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9757692310001 meters 0.01822746968648136 Centerline is valid? [True, True] Translation: X:197.41, Y:117.14, Z:-0.48 [[ 2.32820581e-01 -9.72519539e-01 -5.68332634e-04 1.97407501e+02] [ 9.72516288e-01 2.32821272e-01 -2.51495438e-03 1.17136259e+02] [ 2.57816220e-03 3.28203957e-05 9.99996676e-01 -4.81505711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00576923100004 meters 0.020054752957699956 Centerline is valid? [True, True] Translation: X:197.41, Y:117.16, Z:-0.48 [[ 2.33664862e-01 -9.72317171e-01 -2.23963929e-04 1.97408638e+02] [ 9.72316663e-01 2.33664969e-01 -9.94133257e-04 1.17160538e+02] [ 1.01894536e-03 1.45301509e-05 9.99999481e-01 -4.78234367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0357692310001 meters 0.01944437292416049 Centerline is valid? [True, True] Translation: X:197.41, Y:117.18, Z:-0.48 [[ 2.33470335e-01 -9.72363917e-01 -1.25961581e-04 1.97414192e+02] [ 9.72363755e-01 2.33470369e-01 -5.60950201e-04 1.17184267e+02] [ 5.74856032e-04 8.48475509e-06 9.99999835e-01 -4.77241303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06576923100005 meters 0.019906339471720654 Centerline is valid? [True, True] Translation: X:197.42, Y:117.21, Z:-0.48 [[ 2.33427101e-01 -9.72374300e-01 -9.59074064e-05 1.97417861e+02] [ 9.72374206e-01 2.33427120e-01 -4.28419081e-04 1.17207979e+02] [ 4.38971094e-04 6.74673577e-06 9.99999904e-01 -4.77141038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.095769231 meters 0.021031673300422823 Centerline is valid? [True, True] Translation: X:197.42, Y:117.23, Z:-0.48 [[ 2.34071584e-01 -9.72219325e-01 -2.80375988e-04 1.97419675e+02] [ 9.72218524e-01 2.34071751e-01 -1.24800972e-03 1.17232457e+02] [ 1.27896727e-03 1.95368827e-05 9.99999182e-01 -4.80397612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12576923100005 meters 0.022180054448558688 Centerline is valid? [True, True] Translation: X:197.42, Y:117.26, Z:-0.48 [[ 2.34592395e-01 -9.72093778e-01 -3.08652508e-04 1.97421967e+02] [ 9.72092805e-01 2.34592597e-01 -1.37565423e-03 1.17257121e+02] [ 1.40967251e-03 2.26791380e-05 9.99999006e-01 -4.80960567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.155769231 meters 0.02186907400577731 Centerline is valid? [True, True] Translation: X:197.43, Y:117.28, Z:-0.48 [[ 2.35278735e-01 -9.71927913e-01 -2.22134901e-04 1.97425408e+02] [ 9.71927407e-01 2.35278839e-01 -9.91917962e-04 1.17281969e+02] [ 1.01633640e-03 1.74782053e-05 9.99999483e-01 -4.79076996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18576923100005 meters 0.02260951212313072 Centerline is valid? [True, True] Translation: X:197.43, Y:117.31, Z:-0.48 [[ 2.35488785e-01 -9.71877038e-01 -2.32979686e-04 1.97427626e+02] [ 9.71876480e-01 2.35488900e-01 -1.04193205e-03 1.17305320e+02] [ 1.06749396e-03 1.89358354e-05 9.99999430e-01 -4.79114797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.215769231 meters 0.024640516569042727 Centerline is valid? [True, True] Translation: X:197.43, Y:117.33, Z:-0.48 [[ 2.36631056e-01 -9.71599494e-01 -4.08396397e-04 1.97428738e+02] [ 9.71597778e-01 2.36631405e-01 -1.82627422e-03 1.17330377e+02] [ 1.87104652e-03 3.53561638e-05 9.99998249e-01 -4.81742830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24576923100005 meters 0.026592841836716924 Centerline is valid? [True, True] Translation: X:197.43, Y:117.35, Z:-0.48 [[ 2.36781656e-01 -9.71562805e-01 -4.03353604e-04 1.97430901e+02] [ 9.71561127e-01 2.36781997e-01 -1.80635619e-03 1.17353909e+02] [ 1.85049536e-03 3.58293273e-05 9.99998287e-01 -4.81922877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.275769231 meters 0.023713432801450305 Centerline is valid? [True, True] Translation: X:197.44, Y:117.38, Z:-0.48 [[ 2.35009789e-01 -9.71993000e-01 -8.79927612e-05 1.97440809e+02] [ 9.71992919e-01 2.35009805e-01 -3.96456466e-04 1.17377772e+02] [ 4.06032071e-04 7.64280939e-06 9.99999918e-01 -4.78589750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30576923100006 meters 0.020965366506772935 Centerline is valid? [True, True] Translation: X:197.45, Y:117.40, Z:-0.48 [[ 2.32273163e-01 -9.72650593e-01 5.09731927e-05 1.97450235e+02] [ 9.72650566e-01 2.32273168e-01 2.25946864e-04 1.17401390e+02] [-2.31607056e-04 -2.90228786e-06 9.99999973e-01 -4.77648367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33576923100003 meters 0.018821856903707114 Centerline is valid? [True, True] Translation: X:197.46, Y:117.42, Z:-0.48 [[ 2.28957146e-01 -9.73436503e-01 1.28303926e-05 1.97459312e+02] [ 9.73436501e-01 2.28957147e-01 5.52786840e-05 1.17423769e+02] [-5.67478990e-05 -1.66877239e-07 9.99999998e-01 -4.78508360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36576923100006 meters 0.013277523397187312 Centerline is valid? [True, True] Translation: X:197.48, Y:117.44, Z:-0.48 [[ 2.23203630e-01 -9.74771686e-01 -5.47068417e-04 1.97478762e+02] [ 9.74768581e-01 2.23204300e-01 -2.46042633e-03 1.17444941e+02] [ 2.52046195e-03 1.59109843e-05 9.99996824e-01 -4.83845198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39576923100003 meters 0.012561283832521827 Centerline is valid? [True, True] Translation: X:197.49, Y:117.47, Z:-0.49 [[ 2.20604155e-01 -9.75362964e-01 -9.45856413e-04 1.97490000e+02] [ 9.75353669e-01 2.20606182e-01 -4.25817378e-03 1.17466866e+02] [ 4.36192677e-03 1.68263052e-05 9.99990487e-01 -4.88263442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42576923100006 meters 0.012149494718524846 Centerline is valid? [True, True] Translation: X:197.51, Y:117.49, Z:-0.49 [[ 2.13704919e-01 -9.76897871e-01 -8.70398408e-04 1.97514110e+02] [ 9.76889991e-01 2.13706692e-01 -3.92373007e-03 1.17487253e+02] [ 4.01909351e-03 -1.17630752e-05 9.99991923e-01 -4.87052649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45576923100003 meters 0.01364295847015285 Centerline is valid? [True, True] Translation: X:197.53, Y:117.51, Z:-0.48 [[ 2.09785055e-01 -9.77747359e-01 -5.77022357e-04 1.97528073e+02] [ 9.77743887e-01 2.09785847e-01 -2.60578764e-03 1.17508986e+02] [ 2.66885311e-03 -1.75247796e-05 9.99996438e-01 -4.82961987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48576923100006 meters 0.01629998056518714 Centerline is valid? [True, True] Translation: X:197.54, Y:117.53, Z:-0.48 [[ 2.06961957e-01 -9.78348918e-01 -3.77181736e-04 1.97541976e+02] [ 9.78347430e-01 2.06962300e-01 -1.70642536e-03 1.17530988e+02] [ 1.74754180e-03 -1.58496497e-05 9.99998473e-01 -4.81565059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51576923100004 meters 0.020640253651251144 Centerline is valid? [True, True] Translation: X:197.56, Y:117.55, Z:-0.49 [[ 2.03563513e-01 -9.79061067e-01 -1.15031507e-03 1.97562279e+02] [ 9.79047235e-01 2.03566752e-01 -5.20478141e-03 1.17551942e+02] [ 5.32996475e-03 -6.67092026e-05 9.99985793e-01 -4.89713456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54576923100007 meters 0.019559652137872745 Centerline is valid? [True, True] Translation: X:197.58, Y:117.58, Z:-0.49 [[ 2.02408179e-01 -9.79299751e-01 -1.71080018e-03 1.97575290e+02] [ 9.79269095e-01 2.02415381e-01 -7.74943705e-03 1.17575185e+02] [ 7.93531404e-03 -1.06784299e-04 9.99968509e-01 -4.92807161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57576923100004 meters 0.020009855575133073 Centerline is valid? [True, True] Translation: X:197.58, Y:117.60, Z:-0.49 [[ 2.02205580e-01 -9.79341672e-01 -1.67116327e-03 1.97584900e+02] [ 9.79312334e-01 2.02212459e-01 -7.58115963e-03 1.17597711e+02] [ 7.76247559e-03 -1.03638023e-04 9.99969866e-01 -4.92290278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60576923100007 meters 0.019574301985678836 Centerline is valid? [True, True] Translation: X:197.59, Y:117.62, Z:-0.49 [[ 2.02082675e-01 -9.79367364e-01 -1.46926185e-03 1.97593430e+02] [ 9.79344626e-01 2.02087996e-01 -6.67421540e-03 1.17621612e+02] [ 6.83342893e-03 -9.01703914e-05 9.99976648e-01 -4.90002689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63576923100004 meters 0.0189643516077052 Centerline is valid? [True, True] Translation: X:197.61, Y:117.64, Z:-0.48 [[ 2.03517866e-01 -9.79070941e-01 -7.55971263e-04 1.97605821e+02] [ 9.79064899e-01 2.03519266e-01 -3.43969985e-03 1.17644330e+02] [ 3.52156488e-03 -4.01045557e-05 9.99993798e-01 -4.84440724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66576923100007 meters 0.01616915077978747 Centerline is valid? [True, True] Translation: X:197.61, Y:117.67, Z:-0.48 [[ 2.04166106e-01 -9.78936199e-01 -3.46266597e-04 1.97610648e+02] [ 9.78934925e-01 2.04166399e-01 -1.57931051e-03 1.17668351e+02] [ 1.61674023e-03 -1.65307882e-05 9.99998693e-01 -4.80114562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69576923100004 meters 0.01564493562180072 Centerline is valid? [True, True] Translation: X:197.62, Y:117.69, Z:-0.48 [[ 2.04765718e-01 -9.78811001e-01 -1.60406919e-04 1.97618471e+02] [ 9.78810725e-01 2.04765781e-01 -7.34157681e-04 1.17691408e+02] [ 7.51447462e-04 -6.67768797e-06 9.99999718e-01 -4.78787818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7257692310001 meters 0.013381369719922803 Centerline is valid? [True, True] Translation: X:197.62, Y:117.71, Z:-0.48 [[ 2.07774834e-01 -9.78176674e-01 -1.16152565e-04 1.97624592e+02] [ 9.78176528e-01 2.07774867e-01 -5.33051479e-04 1.17714371e+02] [ 5.45552106e-04 -2.86302997e-06 9.99999851e-01 -4.77514200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75576923100004 meters 0.011658742294015919 Centerline is valid? [True, True] Translation: X:197.63, Y:117.74, Z:-0.48 [[ 2.10193826e-01 -9.77659734e-01 -1.78948376e-05 1.97626446e+02] [ 9.77659730e-01 2.10193827e-01 -8.45929448e-05 1.17739321e+02] [ 8.64645003e-05 2.85852571e-07 9.99999996e-01 -4.76554718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7857692310001 meters 0.010855154341943464 Centerline is valid? [True, True] Translation: X:197.63, Y:117.76, Z:-0.48 [[ 2.13594785e-01 -9.76922344e-01 3.11462713e-05 1.97626404e+02] [ 9.76922334e-01 2.13594787e-01 1.39770197e-04 1.17764433e+02] [-1.43197309e-04 5.73302990e-07 9.99999990e-01 -4.75722866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81576923100005 meters 0.013465880779714058 Centerline is valid? [True, True] Translation: X:197.62, Y:117.79, Z:-0.47 [[ 2.20224553e-01 -9.75449119e-01 4.03667738e-04 1.97621871e+02] [ 9.75447370e-01 2.20224923e-01 1.84735986e-03 1.17791322e+02] [-1.89090325e-03 -1.30773668e-05 9.99998212e-01 -4.73738473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.845769231 meters 0.016376261557802405 Centerline is valid? [True, True] Translation: X:197.62, Y:117.82, Z:-0.47 [[ 2.22565897e-01 -9.74917517e-01 5.06063876e-04 1.97622127e+02] [ 9.74914758e-01 2.22566471e-01 2.31944407e-03 1.17816586e+02] [-2.37389950e-03 -2.28600086e-05 9.99997182e-01 -4.73406033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87576923100005 meters 0.019298550326380386 Centerline is valid? [True, True] Translation: X:197.62, Y:117.84, Z:-0.48 [[ 2.26433349e-01 -9.74026648e-01 1.65445676e-04 1.97624184e+02] [ 9.74026354e-01 2.26433409e-01 7.57441483e-04 1.17842542e+02] [-7.75230617e-04 -1.03615627e-05 9.99999699e-01 -4.76137560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.905769231 meters 0.021189392627274945 Centerline is valid? [True, True] Translation: X:197.63, Y:117.87, Z:-0.48 [[ 2.27466777e-01 -9.73785792e-01 -3.10651437e-04 1.97626604e+02] [ 9.73784740e-01 2.27466988e-01 -1.43151697e-03 1.17867273e+02] [ 1.46465383e-03 2.31149222e-05 9.99998927e-01 -4.80446993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93576923100005 meters 0.022047271207410023 Centerline is valid? [True, True] Translation: X:197.63, Y:117.89, Z:-0.48 [[ 2.27554814e-01 -9.73765003e-01 -7.25452590e-04 1.97629561e+02] [ 9.73759264e-01 2.27555964e-01 -3.34352261e-03 1.17891597e+02] [ 3.42088637e-03 5.44184865e-05 9.99994147e-01 -4.84326076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.965769231 meters 0.022372105319075287 Centerline is valid? [True, True] Translation: X:197.63, Y:117.92, Z:-0.48 [[ 2.27426104e-01 -9.73795176e-01 -5.68642071e-04 1.97629881e+02] [ 9.73791638e-01 2.27426810e-01 -2.62506071e-03 1.17915448e+02] [ 2.68559591e-03 4.32684366e-05 9.99996393e-01 -4.83721631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99576923100005 meters 0.022073811457154775 Centerline is valid? [True, True] Translation: X:197.63, Y:117.94, Z:-0.48 [[ 2.27587591e-01 -9.73757587e-01 2.26068189e-04 1.97630771e+02] [ 9.73757030e-01 2.27587702e-01 1.04111254e-03 1.17940786e+02] [-1.06524157e-03 -1.68088063e-05 9.99999432e-01 -4.76249160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.025769231 meters 0.022092454027279277 Centerline is valid? [True, True] Translation: X:197.63, Y:117.97, Z:-0.48 [[ 2.27302774e-01 -9.73824126e-01 1.41738575e-04 1.97632793e+02] [ 9.73823908e-01 2.27302818e-01 6.52583079e-04 1.17965479e+02] [-6.67718725e-04 -1.03055314e-05 9.99999777e-01 -4.76790744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05576923100006 meters 0.02236080134478052 Centerline is valid? [True, True] Translation: X:197.63, Y:117.99, Z:-0.48 [[ 2.27089433e-01 -9.73873885e-01 -2.13431365e-04 1.97634104e+02] [ 9.73873381e-01 2.27089532e-01 -9.90823548e-04 1.17990010e+02] [ 1.01340521e-03 1.71504322e-05 9.99999486e-01 -4.80261441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08576923100003 meters 0.02306784038985739 Centerline is valid? [True, True] Translation: X:197.64, Y:118.01, Z:-0.48 [[ 2.27135840e-01 -9.73862918e-01 -5.71842086e-04 1.97635305e+02] [ 9.73859304e-01 2.27136555e-01 -2.65355811e-03 1.18014116e+02] [ 2.71408809e-03 4.58244137e-05 9.99996316e-01 -4.84536463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11576923100006 meters 0.019114627084593747 Centerline is valid? [True, True] Translation: X:197.64, Y:118.04, Z:-0.48 [[ 2.24952094e-01 -9.74369746e-01 -3.92311542e-04 1.97644169e+02] [ 9.74368039e-01 2.24952435e-01 -1.82373099e-03 1.18038333e+02] [ 1.86523974e-03 2.79962767e-05 9.99998260e-01 -4.82419593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14576923100003 meters 0.016731181232228488 Centerline is valid? [True, True] Translation: X:197.65, Y:118.06, Z:-0.48 [[ 2.21700629e-01 -9.75114760e-01 -1.88879537e-04 1.97650674e+02] [ 9.75114363e-01 2.21700709e-01 -8.80219089e-04 1.18061487e+02] [ 9.00189353e-04 1.09659762e-05 9.99999595e-01 -4.79374971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17576923100006 meters 0.017448911955413943 Centerline is valid? [True, True] Translation: X:197.65, Y:118.09, Z:-0.48 [[ 2.20634365e-01 -9.75356530e-01 -3.41939625e-04 1.97651589e+02] [ 9.75355227e-01 2.20634629e-01 -1.59428953e-03 1.18085845e+02] [ 1.63044442e-03 1.82424565e-05 9.99998671e-01 -4.80818303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20576923100003 meters 0.01595403221535537 Centerline is valid? [True, True] Translation: X:197.66, Y:118.11, Z:-0.48 [[ 2.20220316e-01 -9.75450027e-01 -5.07417962e-04 1.97655668e+02] [ 9.75447154e-01 2.20220899e-01 -2.36758028e-03 1.18109987e+02] [ 2.42120029e-03 2.64298703e-05 9.99997069e-01 -4.81250290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23576923100006 meters 0.017408320864163405 Centerline is valid? [True, True] Translation: X:197.65, Y:118.13, Z:-0.48 [[ 2.21263748e-01 -9.75213840e-01 -5.65501190e-04 1.97653661e+02] [ 9.75210265e-01 2.21264468e-01 -2.64070007e-03 1.18134801e+02] [ 2.70037258e-03 3.28086305e-05 9.99996353e-01 -4.81768185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26576923100004 meters 0.018987091350355693 Centerline is valid? [True, True] Translation: X:197.65, Y:118.16, Z:-0.48 [[ 2.21743719e-01 -9.75104889e-01 -4.21524927e-04 1.97653481e+02] [ 9.75102896e-01 2.21744118e-01 -1.97189754e-03 1.18158608e+02] [ 2.01627760e-03 2.62257166e-05 9.99997967e-01 -4.80585091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29576923100007 meters 0.018987091350355693 Centerline is valid? [True, True] Translation: X:197.66, Y:118.18, Z:-0.48 [[ 2.21481389e-01 -9.75164508e-01 -4.20988345e-04 1.97658162e+02] [ 9.75162514e-01 2.21481788e-01 -1.97201225e-03 1.18182334e+02] [ 2.01627760e-03 2.62319589e-05 9.99997967e-01 -4.80636960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32576923100004 meters 0.019054314095469198 Centerline is valid? [True, True] Translation: X:197.66, Y:118.21, Z:-0.48 [[ 2.21763380e-01 -9.75100505e-01 9.23275516e-05 1.97656477e+02] [ 9.75100410e-01 2.21763399e-01 4.29646357e-04 1.18208291e+02] [-4.39423252e-04 -5.25119500e-06 9.99999903e-01 -4.77374877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35576923100007 meters 0.01857183399440795 Centerline is valid? [True, True] Translation: X:197.66, Y:118.23, Z:-0.48 [[ 2.21455544e-01 -9.75170461e-01 1.17663609e-04 1.97659683e+02] [ 9.75170307e-01 2.21455575e-01 5.49011147e-04 1.18232518e+02] [-5.61436715e-04 -6.83950410e-06 9.99999842e-01 -4.76990138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38576923100004 meters 0.0184507502730992 Centerline is valid? [True, True] Translation: X:197.66, Y:118.26, Z:-0.48 [[ 2.21074030e-01 -9.75257029e-01 1.32522850e-05 1.97663408e+02] [ 9.75257027e-01 2.21074031e-01 5.93728858e-05 1.18256994e+02] [-6.08335604e-05 -2.01419086e-07 9.99999998e-01 -4.77378997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41576923100007 meters 0.01745112461102804 Centerline is valid? [True, True] Translation: X:197.67, Y:118.28, Z:-0.48 [[ 2.19447026e-01 -9.75624360e-01 -3.32563962e-04 1.97666732e+02] [ 9.75623102e-01 2.19447277e-01 -1.56674811e-03 1.18281975e+02] [ 1.60153787e-03 1.93611277e-05 9.99998717e-01 -4.79259171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44576923100004 meters 0.01795569391023164 Centerline is valid? [True, True] Translation: X:197.67, Y:118.31, Z:-0.48 [[ 2.17992502e-01 -9.75950388e-01 -3.31071854e-04 1.97667318e+02] [ 9.75949138e-01 2.17992753e-01 -1.56218595e-03 1.18305834e+02] [ 1.59678725e-03 1.74355327e-05 9.99998725e-01 -4.80720678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4757692310001 meters 0.013817925659884255 Centerline is valid? [True, True] Translation: X:197.67, Y:118.33, Z:-0.48 [[ 2.15152346e-01 -9.76580479e-01 1.91858072e-04 1.97674144e+02] [ 9.76580062e-01 2.15152431e-01 9.02084852e-04 1.18330536e+02] [-9.22237187e-04 -6.72090344e-06 9.99999575e-01 -4.76260319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50576923100004 meters 0.013475079265551262 Centerline is valid? [True, True] Translation: X:197.68, Y:118.35, Z:-0.47 [[ 2.14063727e-01 -9.76819559e-01 5.20309428e-04 1.97678487e+02] [ 9.76816476e-01 2.14064359e-01 2.45397304e-03 1.18353947e+02] [-2.50846857e-03 -1.70597934e-05 9.99996854e-01 -4.73248502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5357692310001 meters 0.012816789895176725 Centerline is valid? [True, True] Translation: X:197.68, Y:118.38, Z:-0.47 [[ 2.13135355e-01 -9.77022467e-01 6.48289465e-04 1.97683040e+02] [ 9.77017666e-01 2.13136340e-01 3.06277028e-03 1.18377824e+02] [-3.13056942e-03 -1.93943703e-05 9.99995100e-01 -4.71849359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56576923100005 meters 0.013009178776368974 Centerline is valid? [True, True] Translation: X:197.68, Y:118.40, Z:-0.48 [[ 2.12571246e-01 -9.77145570e-01 3.31648756e-05 1.97682130e+02] [ 9.77145557e-01 2.12571249e-01 1.53991781e-04 1.18402482e+02] [-1.57522285e-04 -3.27313840e-07 9.99999988e-01 -4.77286260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.595769231 meters 0.01338213234776834 Centerline is valid? [True, True] Translation: X:197.68, Y:118.43, Z:-0.48 [[ 2.12636336e-01 -9.77131295e-01 -4.69382771e-04 1.97682167e+02] [ 9.77128753e-01 2.12636854e-01 -2.22892994e-03 1.18427329e+02] [ 2.27776527e-03 1.53040949e-05 9.99997406e-01 -4.81894726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62576923100005 meters 0.012949897973261019 Centerline is valid? [True, True] Translation: X:197.69, Y:118.45, Z:-0.48 [[ 2.11650111e-01 -9.77345434e-01 -3.64843440e-04 1.97686564e+02] [ 9.77343893e-01 2.11650426e-01 -1.73576093e-03 1.18450863e+02] [ 1.77365729e-03 1.07964868e-05 9.99998427e-01 -4.81157446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.655769231 meters 0.0122802024928424 Centerline is valid? [True, True] Translation: X:197.69, Y:118.47, Z:-0.48 [[ 2.10291849e-01 -9.77638641e-01 -1.62874014e-04 1.97692085e+02] [ 9.77638332e-01 2.10291913e-01 -7.77217660e-04 1.18473865e+02] [ 7.94089105e-04 4.21065970e-06 9.99999685e-01 -4.79557135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68576923100005 meters 0.011584934814864304 Centerline is valid? [True, True] Translation: X:197.70, Y:118.50, Z:-0.48 [[ 2.08767678e-01 -9.77965260e-01 -8.06404576e-05 1.97697878e+02] [ 9.77965184e-01 2.08767694e-01 -3.86923616e-04 1.18497522e+02] [ 3.95232977e-04 1.91358500e-06 9.99999922e-01 -4.78790898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.715769231 meters 0.01102843455885174 Centerline is valid? [True, True] Translation: X:197.70, Y:118.52, Z:-0.48 [[ 2.05952560e-01 -9.78561977e-01 -2.48685919e-05 1.97702527e+02] [ 9.78561969e-01 2.05952562e-01 -1.21360536e-04 1.18521241e+02] [ 1.23880557e-04 6.59054935e-07 9.99999992e-01 -4.79685007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74576923100005 meters 0.011038905151503041 Centerline is valid? [True, True] Translation: X:197.70, Y:118.55, Z:-0.48 [[ 2.05079537e-01 -9.78745289e-01 -2.06290243e-04 1.97702378e+02] [ 9.78744791e-01 2.05079641e-01 -9.87974127e-04 1.18546536e+02] [ 1.00928095e-03 7.07775221e-07 9.99999491e-01 -4.80925457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.775769231 meters 0.011268755946417689 Centerline is valid? [True, True] Translation: X:197.70, Y:118.57, Z:-0.48 [[ 2.05484114e-01 -9.78660356e-01 -4.32075310e-04 1.97703146e+02] [ 9.78658169e-01 2.05484569e-01 -2.06894466e-03 1.18571543e+02] [ 2.11357892e-03 2.28122879e-06 9.99997766e-01 -4.82204801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80576923100006 meters 0.011529070478715703 Centerline is valid? [True, True] Translation: X:197.70, Y:118.60, Z:-0.48 [[ 2.06252541e-01 -9.78498642e-01 -5.44659813e-04 1.97704626e+02] [ 9.78495158e-01 2.06253260e-01 -2.61115635e-03 1.18595768e+02] [ 2.66735080e-03 5.61064216e-06 9.99996443e-01 -4.83223658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83576923100003 meters 0.011664688275625468 Centerline is valid? [True, True] Translation: X:197.71, Y:118.62, Z:-0.48 [[ 2.06559105e-01 -9.78433981e-01 -5.30008632e-04 1.97707992e+02] [ 9.78430673e-01 2.06559785e-01 -2.54433232e-03 1.18620367e+02] [ 2.59893967e-03 6.97830568e-06 9.99996623e-01 -4.83633487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86576923100006 meters 0.011436686996982038 Centerline is valid? [True, True] Translation: X:197.71, Y:118.64, Z:-0.48 [[ 2.05877749e-01 -9.78577625e-01 -4.30282445e-04 1.97713253e+02] [ 9.78575437e-01 2.05878198e-01 -2.06900492e-03 1.18644262e+02] [ 2.11326770e-03 4.89824357e-06 9.99997767e-01 -4.82796857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89576923100003 meters 0.011101902443056045 Centerline is valid? [True, True] Translation: X:197.72, Y:118.67, Z:-0.48 [[ 2.04044962e-01 -9.78961506e-01 -1.52613591e-04 1.97717305e+02] [ 9.78961229e-01 2.04045019e-01 -7.36876252e-04 1.18667468e+02] [ 7.52513528e-04 9.53097914e-07 9.99999717e-01 -4.81051982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92576923100006 meters 0.011060262370392246 Centerline is valid? [True, True] Translation: X:197.72, Y:118.69, Z:-0.48 [[ 2.02077067e-01 -9.79369622e-01 -5.64073355e-05 1.97722416e+02] [ 9.79369583e-01 2.02077075e-01 -2.74632035e-04 1.18691159e+02] [ 2.80364901e-04 2.53207546e-07 9.99999961e-01 -4.79301488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95576923100003 meters 0.011687543327576556 Centerline is valid? [True, True] Translation: X:197.73, Y:118.71, Z:-0.48 [[ 1.99847594e-01 -9.79826991e-01 7.78348328e-05 1.97729208e+02] [ 9.79826921e-01 1.99847609e-01 3.72473304e-04 1.18713608e+02] [-3.80514502e-04 1.82677087e-06 9.99999928e-01 -4.78228189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98576923100006 meters 0.014822835100663252 Centerline is valid? [True, True] Translation: X:197.74, Y:118.74, Z:-0.47 [[ 1.94919074e-01 -9.80819241e-01 4.12732754e-04 1.97742001e+02] [ 9.80817223e-01 1.94919510e-01 1.99004830e-03 1.18735648e+02] [-2.03232733e-03 1.69170226e-05 9.99997935e-01 -4.74683903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01576923100004 meters 0.016200670123078912 Centerline is valid? [True, True] Translation: X:197.75, Y:118.76, Z:-0.47 [[ 1.92905469e-01 -9.81217238e-01 4.60803740e-04 1.97750540e+02] [ 9.81214715e-01 1.92906018e-01 2.22505658e-03 1.18759922e+02] [-2.27215569e-03 2.29218269e-05 9.99997418e-01 -4.74896012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04576923100007 meters 0.019319971497778955 Centerline is valid? [True, True] Translation: X:197.76, Y:118.78, Z:-0.48 [[ 1.89081711e-01 -9.81961348e-01 1.31732376e-04 1.97763884e+02] [ 9.81961143e-01 1.89081757e-01 6.34954734e-04 1.18783369e+02] [-6.48409196e-04 9.29774680e-06 9.99999790e-01 -4.79076567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07576923100004 meters 0.022564290914998987 Centerline is valid? [True, True] Translation: X:197.78, Y:118.81, Z:-0.48 [[ 1.86945318e-01 -9.82370318e-01 -7.44741663e-05 1.97776105e+02] [ 9.82370251e-01 1.86945333e-01 -3.63822082e-04 1.18806087e+02] [ 3.71330613e-04 -5.14637052e-06 9.99999931e-01 -4.81001423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10576923100007 meters 0.023494632507608634 Centerline is valid? [True, True] Translation: X:197.79, Y:118.83, Z:-0.48 [[ 1.85168179e-01 -9.82706837e-01 -1.34213606e-04 1.97786209e+02] [ 9.82706619e-01 1.85168227e-01 -6.54075177e-04 1.18830210e+02] [ 6.67616244e-04 -1.07786892e-05 9.99999777e-01 -4.80936767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13576923100004 meters 0.025122556786903297 Centerline is valid? [True, True] Translation: X:197.80, Y:118.85, Z:-0.48 [[ 1.83481522e-01 -9.83023141e-01 1.88960289e-04 1.97800226e+02] [ 9.83022715e-01 1.83481618e-01 9.15581433e-04 1.18853227e+02] [-9.34708475e-04 1.77599812e-05 9.99999563e-01 -4.77333903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16576923100007 meters 0.025002994084734678 Centerline is valid? [True, True] Translation: X:197.81, Y:118.88, Z:-0.48 [[ 1.83446325e-01 -9.83029653e-01 3.83967692e-04 1.97807529e+02] [ 9.83027883e-01 1.83446723e-01 1.86558855e-03 1.18876751e+02] [-1.90436648e-03 3.52155857e-05 9.99998186e-01 -4.75460322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19576923100004 meters 0.022052271576623 Centerline is valid? [True, True] Translation: X:197.82, Y:118.90, Z:-0.48 [[ 1.85979643e-01 -9.82553593e-01 9.46022699e-05 1.97815911e+02] [ 9.82553486e-01 1.85979667e-01 4.58090524e-04 1.18900182e+02] [-4.67692589e-04 7.75627811e-06 9.99999891e-01 -4.78741401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2257692310001 meters 0.018790958593154113 Centerline is valid? [True, True] Translation: X:197.82, Y:118.93, Z:-0.48 [[ 1.88258184e-01 -9.82119551e-01 -2.07509541e-04 1.97820536e+02] [ 9.82119027e-01 1.88258298e-01 -1.01527032e-03 1.18925372e+02] [ 1.03618223e-03 -1.26661216e-05 9.99999463e-01 -4.81291722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25576923100004 meters 0.016499809027863212 Centerline is valid? [True, True] Translation: X:197.83, Y:118.95, Z:-0.48 [[ 1.91184822e-01 -9.81554004e-01 -3.18565996e-04 1.97825033e+02] [ 9.81552765e-01 1.91185087e-01 -1.55954614e-03 1.18948863e+02] [ 1.59168382e-03 -1.45277834e-05 9.99998733e-01 -4.83081061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2857692310001 meters 0.011312638299257462 Centerline is valid? [True, True] Translation: X:197.82, Y:118.97, Z:-0.48 [[ 1.99479389e-01 -9.79901960e-01 -3.50266587e-04 1.97819890e+02] [ 9.79900456e-01 1.99479697e-01 -1.71692371e-03 1.18973882e+02] [ 1.75228798e-03 -7.35495335e-07 9.99998465e-01 -4.83360601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31576923100005 meters 0.012352965076417916 Centerline is valid? [True, True] Translation: X:197.82, Y:119.00, Z:-0.49 [[ 2.03716910e-01 -9.79029662e-01 -5.84423312e-04 1.97818632e+02] [ 9.79025466e-01 2.03717748e-01 -2.86647126e-03 1.18999187e+02] [ 2.92541779e-03 1.17833631e-05 9.99995721e-01 -4.85411667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.345769231 meters 0.02032321609478165 Centerline is valid? [True, True] Translation: X:197.81, Y:119.03, Z:-0.49 [[ 2.12642928e-01 -9.77129454e-01 -1.00815994e-03 1.97810324e+02] [ 9.77116921e-01 2.12645307e-01 -4.94928258e-03 1.19025921e+02] [ 5.05047026e-03 6.73397972e-05 9.99987244e-01 -4.89261893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37576923100005 meters 0.026204351857762157 Centerline is valid? [True, True] Translation: X:197.80, Y:119.05, Z:-0.49 [[ 2.17538952e-01 -9.76051179e-01 -9.48808925e-04 1.97804480e+02] [ 9.76040038e-01 2.17541003e-01 -4.66438455e-03 1.19051542e+02] [ 4.75908288e-03 8.86098270e-05 9.99988672e-01 -4.88027470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.405769231 meters 0.034733099498167525 Centerline is valid? [True, True] Translation: X:197.79, Y:119.08, Z:-0.48 [[ 2.27653922e-01 -9.73741894e-01 -6.45408107e-04 1.97792375e+02] [ 9.73736714e-01 2.27654817e-01 -3.17742132e-03 1.19079464e+02] [ 3.24091852e-03 9.48948561e-05 9.99994744e-01 -4.84017633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43576923100005 meters 0.03826776440944419 Centerline is valid? [True, True] Translation: X:197.79, Y:119.11, Z:-0.48 [[ 2.31491012e-01 -9.72836784e-01 -7.08897056e-04 1.97790276e+02] [ 9.72830516e-01 2.31492066e-01 -3.49438584e-03 1.19106135e+02] [ 3.56357112e-03 1.19282223e-04 9.99993643e-01 -4.84755819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.465769231 meters 0.043394576828767455 Centerline is valid? [True, True] Translation: X:197.78, Y:119.13, Z:-0.49 [[ 2.35327457e-01 -9.71915809e-01 -8.04935187e-04 1.97782706e+02] [ 9.71907700e-01 2.35328785e-01 -3.97308298e-03 1.19132980e+02] [ 4.05092658e-03 1.52652810e-04 9.99991783e-01 -4.86643599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49576923100005 meters 0.04557943689654543 Centerline is valid? [True, True] Translation: X:197.78, Y:119.16, Z:-0.49 [[ 2.35105865e-01 -9.71969511e-01 -7.08146409e-04 1.97780857e+02] [ 9.71963215e-01 2.35106893e-01 -3.50099679e-03 1.19157734e+02] [ 3.56935224e-03 1.34812619e-04 9.99993621e-01 -4.86231716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.525769231 meters 0.04444043693729652 Centerline is valid? [True, True] Translation: X:197.78, Y:119.18, Z:-0.49 [[ 2.33836072e-01 -9.72275825e-01 -6.42197305e-04 1.97783409e+02] [ 9.72270635e-01 2.33836923e-01 -3.17903007e-03 1.19182869e+02] [ 3.24106352e-03 1.18982321e-04 9.99994741e-01 -4.85937563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55576923100006 meters 0.03947889332343278 Centerline is valid? [True, True] Translation: X:197.79, Y:119.21, Z:-0.49 [[ 2.29531202e-01 -9.73301023e-01 -7.39195385e-04 1.97788357e+02] [ 9.73294136e-01 2.29532360e-01 -3.66352921e-03 1.19208096e+02] [ 3.73538599e-03 1.21439729e-04 9.99993016e-01 -4.87870133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58576923100003 meters 0.035955168829904446 Centerline is valid? [True, True] Translation: X:197.80, Y:119.23, Z:-0.49 [[ 2.26514703e-01 -9.74007598e-01 -5.36496808e-04 1.97795215e+02] [ 9.74003960e-01 2.26515324e-01 -2.66336317e-03 1.19232237e+02] [ 2.71566071e-03 8.07409021e-05 9.99996309e-01 -4.86008585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61576923100006 meters 0.030196638405396502 Centerline is valid? [True, True] Translation: X:197.80, Y:119.26, Z:-0.48 [[ 2.21063905e-01 -9.75259315e-01 1.33609471e-04 1.97801946e+02] [ 9.75259092e-01 2.21063945e-01 6.60665931e-04 1.19256516e+02] [-6.73856841e-04 -1.57455396e-05 9.99999773e-01 -4.78762046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64576923100003 meters 0.02858670570479948 Centerline is valid? [True, True] Translation: X:197.80, Y:119.28, Z:-0.48 [[ 2.18941778e-01 -9.75737864e-01 3.44878951e-04 1.97804560e+02] [ 9.75736363e-01 2.18942046e-01 1.71200344e-03 1.19280414e+02] [-1.74597508e-03 -3.83181419e-05 9.99998475e-01 -4.76081132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67576923100006 meters 0.025384635960155784 Centerline is valid? [True, True] Translation: X:197.81, Y:119.31, Z:-0.48 [[ 2.15747004e-01 -9.76449185e-01 4.67427112e-04 1.97806114e+02] [ 9.76446419e-01 2.15747506e-01 2.32456093e-03 1.19306401e+02] [-2.37066186e-03 -4.50995276e-05 9.99997189e-01 -4.75603265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70576923100003 meters 0.022913683094231932 Centerline is valid? [True, True] Translation: X:197.81, Y:119.33, Z:-0.48 [[ 2.13751592e-01 -9.76887998e-01 3.11271372e-04 1.97812247e+02] [ 9.76886770e-01 2.13751817e-01 1.54900687e-03 1.19330649e+02] [-1.57974104e-03 -2.70257984e-05 9.99998752e-01 -4.78115727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73576923100006 meters 0.021280909446963536 Centerline is valid? [True, True] Translation: X:197.82, Y:119.35, Z:-0.48 [[ 2.10979549e-01 -9.77490468e-01 1.23831381e-04 1.97817367e+02] [ 9.77490274e-01 2.10979585e-01 6.15268260e-04 1.19354138e+02] [-6.27544752e-04 -8.76504870e-06 9.99999803e-01 -4.80906464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76576923100004 meters 0.014578482404898825 Centerline is valid? [True, True] Translation: X:197.83, Y:119.38, Z:-0.48 [[ 2.04062588e-01 -9.78957842e-01 -5.50842854e-05 1.97829371e+02] [ 9.78957803e-01 2.04062595e-01 -2.77940722e-04 1.19377847e+02] [ 2.83332892e-04 2.79211209e-06 9.99999960e-01 -4.81057503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79576923100007 meters 0.012078963708771333 Centerline is valid? [True, True] Translation: X:197.84, Y:119.40, Z:-0.48 [[ 2.00621361e-01 -9.79668856e-01 -4.04089963e-05 1.97836794e+02] [ 9.79668835e-01 2.00621365e-01 -2.05394574e-04 1.19401437e+02] [ 2.09325575e-04 1.61910469e-06 9.99999978e-01 -4.80079072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82576923100004 meters 0.011009330111878893 Centerline is valid? [True, True] Translation: X:197.85, Y:119.42, Z:-0.48 [[ 1.95407863e-01 -9.80722059e-01 -1.05614159e-04 1.97845496e+02] [ 9.80721914e-01 1.95407891e-01 -5.32823344e-04 1.19424253e+02] [ 5.43189447e-04 5.39750811e-07 9.99999852e-01 -4.82061118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85576923100007 meters 0.012009688605639758 Centerline is valid? [True, True] Translation: X:197.86, Y:119.45, Z:-0.48 [[ 1.91860304e-01 -9.81422234e-01 -1.52373317e-04 1.97855226e+02] [ 9.81421933e-01 1.91860364e-01 -7.67963395e-04 1.19447082e+02] [ 7.82930750e-04 -2.20082528e-06 9.99999694e-01 -4.83351499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88576923100004 meters 0.016591601642693413 Centerline is valid? [True, True] Translation: X:197.87, Y:119.47, Z:-0.48 [[ 1.85487875e-01 -9.82646514e-01 -2.76149816e-04 1.97871269e+02] [ 9.82645529e-01 1.85488080e-01 -1.39128660e-03 1.19469282e+02] [ 1.41836543e-03 -1.32905865e-05 9.99998994e-01 -4.84376618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91576923100007 meters 0.01938730488564644 Centerline is valid? [True, True] Translation: X:197.88, Y:119.49, Z:-0.48 [[ 1.83063365e-01 -9.83101092e-01 -2.18883360e-04 1.97880814e+02] [ 9.83100470e-01 1.83063495e-01 -1.10543848e-03 1.19491024e+02] [ 1.12682732e-03 -1.28190474e-05 9.99999365e-01 -4.83423865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94576923100004 meters 0.02148632736275928 Centerline is valid? [True, True] Translation: X:197.89, Y:119.51, Z:-0.48 [[ 1.80004397e-01 -9.83665804e-01 5.43321301e-05 1.97890793e+02] [ 9.83665767e-01 1.80004405e-01 2.70996923e-04 1.19514582e+02] [-2.76350429e-04 4.66401871e-06 9.99999962e-01 -4.80004573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9757692310001 meters 0.020291134463870743 Centerline is valid? [True, True] Translation: X:197.90, Y:119.54, Z:-0.48 [[ 1.79420737e-01 -9.83772423e-01 1.40860181e-04 1.97895279e+02] [ 9.83772168e-01 1.79420792e-01 7.08233346e-04 1.19538562e+02] [-7.22013679e-04 1.15025770e-05 9.99999739e-01 -4.79461398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00576923100004 meters 0.020261169407128344 Centerline is valid? [True, True] Translation: X:197.90, Y:119.56, Z:-0.48 [[ 1.79359959e-01 -9.83783514e-01 6.09184235e-05 1.97902145e+02] [ 9.83783466e-01 1.79359969e-01 3.04978051e-04 1.19561968e+02] [-3.10958705e-04 5.22968726e-06 9.99999952e-01 -4.80265309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0357692310001 meters 0.02209494396516351 Centerline is valid? [True, True] Translation: X:197.92, Y:119.58, Z:-0.49 [[ 1.78628049e-01 -9.83916555e-01 -4.83728254e-04 1.97915201e+02] [ 9.83913498e-01 1.78628700e-01 -2.45293574e-03 1.19583996e+02] [ 2.49989183e-03 -3.77836328e-05 9.99996875e-01 -4.86308910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06576923100005 meters 0.02172897646245865 Centerline is valid? [True, True] Translation: X:197.92, Y:119.61, Z:-0.49 [[ 1.77690313e-01 -9.84086193e-01 -7.19143933e-04 1.97922128e+02] [ 9.84079425e-01 1.77691759e-01 -3.65011098e-03 1.19608507e+02] [ 3.71980977e-03 -5.91053848e-05 9.99993080e-01 -4.87193595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0957692310001 meters 0.02201310662003151 Centerline is valid? [True, True] Translation: X:197.93, Y:119.63, Z:-0.48 [[ 1.77450465e-01 -9.84129689e-01 -2.95133753e-04 1.97934483e+02] [ 9.84128544e-01 1.77450709e-01 -1.50184033e-03 1.19630632e+02] [ 1.53037735e-03 -2.39472854e-05 9.99998829e-01 -4.83350146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12576923100005 meters 0.022837295549778844 Centerline is valid? [True, True] Translation: X:197.94, Y:119.65, Z:-0.48 [[ 1.77999749e-01 -9.84030532e-01 2.14515208e-05 1.97944486e+02] [ 9.84030527e-01 1.77999751e-01 1.05888958e-04 1.19652981e+02] [-1.08016333e-04 2.26074336e-06 9.99999994e-01 -4.80141844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.155769231 meters 0.019792575304485024 Centerline is valid? [True, True] Translation: X:197.95, Y:119.68, Z:-0.48 [[ 1.79005480e-01 -9.83848060e-01 1.82229703e-04 1.97948275e+02] [ 9.83847625e-01 1.79005573e-01 9.25203224e-04 1.19677289e+02] [-9.42879530e-04 1.36698123e-05 9.99999555e-01 -4.77803447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18576923100005 meters 0.019792575304485024 Centerline is valid? [True, True] Translation: X:197.95, Y:119.70, Z:-0.48 [[ 1.78731842e-01 -9.83897807e-01 1.81983384e-04 1.97952550e+02] [ 9.83897373e-01 1.78731934e-01 9.25251628e-04 1.19701095e+02] [-9.42879291e-04 1.36810455e-05 9.99999555e-01 -4.77855317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.215769231 meters 0.014740086420052817 Centerline is valid? [True, True] Translation: X:197.95, Y:119.73, Z:-0.48 [[ 1.83343231e-01 -9.83048961e-01 -3.76486875e-06 1.97953128e+02] [ 9.83048961e-01 1.83343231e-01 -2.21554048e-05 1.19727163e+02] [ 2.24701108e-05 3.60993193e-07 1.00000000e+00 -4.78981655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24576923100005 meters 0.011117394739678136 Centerline is valid? [True, True] Translation: X:197.95, Y:119.75, Z:-0.48 [[ 1.91403265e-01 -9.81511422e-01 -3.43437793e-04 1.97948788e+02] [ 9.81509844e-01 1.91403573e-01 -1.76003267e-03 1.19753957e+02] [ 1.79322739e-03 -2.11576116e-07 9.99998392e-01 -4.82548651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.275769231 meters 0.012093836090857077 Centerline is valid? [True, True] Translation: X:197.95, Y:119.78, Z:-0.48 [[ 1.95226348e-01 -9.80758062e-01 -5.43995302e-04 1.97948463e+02] [ 9.80754092e-01 1.95227106e-01 -2.79076457e-03 1.19777925e+02] [ 2.84326748e-03 1.13051581e-05 9.99995958e-01 -4.84518878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30576923100006 meters 0.014019804105511294 Centerline is valid? [True, True] Translation: X:197.95, Y:119.80, Z:-0.49 [[ 1.98502494e-01 -9.80100092e-01 -7.54517766e-04 1.97949390e+02] [ 9.80092435e-01 1.98503926e-01 -3.87440437e-03 1.19804117e+02] [ 3.94707882e-03 2.95817743e-05 9.99992210e-01 -4.86138806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33576923100003 meters 0.01891054167322619 Centerline is valid? [True, True] Translation: X:197.95, Y:119.83, Z:-0.49 [[ 2.04284704e-01 -9.78911265e-01 -7.03755509e-04 1.97945131e+02] [ 9.78904575e-01 2.04285910e-01 -3.61926951e-03 1.19830279e+02] [ 3.68671103e-03 5.04519157e-05 9.99993203e-01 -4.85679625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36576923100006 meters 0.02267419762342921 Centerline is valid? [True, True] Translation: X:197.94, Y:119.86, Z:-0.48 [[ 2.06961523e-01 -9.78348989e-01 -4.27945856e-04 1.97942905e+02] [ 9.78346504e-01 2.06961962e-01 -2.20543675e-03 1.19855087e+02] [ 2.24625533e-03 3.77612175e-05 9.99997476e-01 -4.83858619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39576923100003 meters 0.02383562982310697 Centerline is valid? [True, True] Translation: X:197.94, Y:119.88, Z:-0.48 [[ 2.09329713e-01 -9.77845090e-01 -2.26749648e-04 1.97944820e+02] [ 9.77844388e-01 2.09329835e-01 -1.17144535e-03 1.19881062e+02] [ 1.19295755e-03 2.34924485e-05 9.99999288e-01 -4.81736271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42576923100006 meters 0.027565170096856897 Centerline is valid? [True, True] Translation: X:197.94, Y:119.91, Z:-0.48 [[ 2.12181937e-01 -9.77230116e-01 -3.55699887e-04 1.97940555e+02] [ 9.77228387e-01 2.12182231e-01 -1.83874351e-03 1.19907160e+02] [ 1.87234873e-03 4.25481348e-05 9.99998246e-01 -4.83691655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45576923100003 meters 0.028866168801492568 Centerline is valid? [True, True] Translation: X:197.94, Y:119.93, Z:-0.49 [[ 2.12634421e-01 -9.77131703e-01 -4.87884236e-04 1.97941431e+02] [ 9.77128444e-01 2.12634973e-01 -2.52445180e-03 1.19931716e+02] [ 2.57046314e-03 6.00597845e-05 9.99996695e-01 -4.85470963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48576923100006 meters 0.02712381420894716 Centerline is valid? [True, True] Translation: X:197.95, Y:119.96, Z:-0.49 [[ 2.11225888e-01 -9.77437150e-01 -4.92897743e-04 1.97947459e+02] [ 9.77433815e-01 2.11226455e-01 -2.55373157e-03 1.19956491e+02] [ 2.60022515e-03 5.76392979e-05 9.99996618e-01 -4.85055408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51576923100004 meters 0.025592178768682177 Centerline is valid? [True, True] Translation: X:197.95, Y:119.98, Z:-0.48 [[ 2.09321034e-01 -9.77846919e-01 -3.28986905e-04 1.97953606e+02] [ 9.77845428e-01 2.09321289e-01 -1.70793932e-03 1.19980811e+02] [ 1.73896716e-03 3.58092826e-05 9.99998487e-01 -4.83525790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54576923100007 meters 0.02185686233439296 Centerline is valid? [True, True] Translation: X:197.96, Y:120.00, Z:-0.48 [[ 2.05269446e-01 -9.78705471e-01 2.34314509e-04 1.97962356e+02] [ 9.78704720e-01 2.05269578e-01 1.21301343e-03 1.20003644e+02] [-1.23528053e-03 -1.96698791e-05 9.99999237e-01 -4.78594129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57576923100004 meters 0.01987948187395295 Centerline is valid? [True, True] Translation: X:197.97, Y:120.03, Z:-0.48 [[ 2.02892392e-01 -9.79200962e-01 3.92389316e-04 1.97970376e+02] [ 9.79198844e-01 2.02892770e-01 2.03644254e-03 1.20026781e+02] [-2.07369945e-03 -2.89515339e-05 9.99997849e-01 -4.77030041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60576923100007 meters 0.016178887574198827 Centerline is valid? [True, True] Translation: X:197.98, Y:120.05, Z:-0.48 [[ 1.98535336e-01 -9.80093714e-01 1.80634262e-04 1.97983577e+02] [ 9.80093266e-01 1.98535418e-01 9.37331042e-04 1.20049657e+02] [-9.54534561e-04 -9.05490978e-06 9.99999544e-01 -4.79051262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63576923100004 meters 0.014986365028858714 Centerline is valid? [True, True] Translation: X:197.99, Y:120.07, Z:-0.48 [[ 1.96585617e-01 -9.80486662e-01 -3.74360377e-05 1.97990733e+02] [ 9.80486642e-01 1.96585621e-01 -1.98383576e-04 1.20072355e+02] [ 2.01871836e-04 2.29382270e-06 9.99999980e-01 -4.81202948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66576923100007 meters 0.01418779400921912 Centerline is valid? [True, True] Translation: X:198.00, Y:120.10, Z:-0.48 [[ 1.95320063e-01 -9.80739531e-01 -2.13503936e-04 1.97996981e+02] [ 9.80738894e-01 1.95320179e-01 -1.11767505e-03 1.20096114e+02] [ 1.13784973e-03 8.91274699e-06 9.99999353e-01 -4.83409546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69576923100004 meters 0.015574009344891131 Centerline is valid? [True, True] Translation: X:198.00, Y:120.12, Z:-0.49 [[ 1.96533708e-01 -9.80496902e-01 -5.72199520e-04 1.98000596e+02] [ 9.80492331e-01 1.96534539e-01 -2.99396067e-03 1.20121451e+02] [ 3.04802613e-03 2.73769513e-05 9.99995354e-01 -4.86657436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7257692310001 meters 0.017846115867466872 Centerline is valid? [True, True] Translation: X:198.00, Y:120.15, Z:-0.49 [[ 1.98767780e-01 -9.80046328e-01 -7.51998351e-04 1.98002249e+02] [ 9.80038412e-01 1.98769197e-01 -3.93914446e-03 1.20147142e+02] [ 4.01001817e-03 4.59877283e-05 9.99991959e-01 -4.87720111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75576923100004 meters 0.02307858430953692 Centerline is valid? [True, True] Translation: X:198.00, Y:120.17, Z:-0.49 [[ 2.04558507e-01 -9.78854026e-01 -7.82895055e-04 1.97999328e+02] [ 9.78845413e-01 2.04559992e-01 -4.10704403e-03 1.20173370e+02] [ 4.18034559e-03 7.37975641e-05 9.99991260e-01 -4.85553781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7857692310001 meters 0.027655336888533312 Centerline is valid? [True, True] Translation: X:198.00, Y:120.20, Z:-0.48 [[ 2.07320101e-01 -9.78273049e-01 -4.66530689e-04 1.97995925e+02] [ 9.78269978e-01 2.07320619e-01 -2.45160625e-03 1.20199056e+02] [ 2.49506176e-03 5.18742895e-05 9.99996886e-01 -4.83503471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81576923100005 meters 0.03100818105769142 Centerline is valid? [True, True] Translation: X:197.99, Y:120.23, Z:-0.48 [[ 2.09902261e-01 -9.77722373e-01 -3.85527323e-05 1.97993945e+02] [ 9.77722352e-01 2.09902265e-01 -2.05433092e-04 1.20225534e+02] [ 2.08948836e-04 5.42700243e-06 9.99999978e-01 -4.79583030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8457692310001 meters 0.03343635037814775 Centerline is valid? [True, True] Translation: X:197.99, Y:120.25, Z:-0.48 [[ 2.13423153e-01 -9.76959733e-01 4.87337416e-04 1.97989985e+02] [ 9.76956376e-01 2.13423697e-01 2.56204415e-03 1.20252255e+02] [-2.60702332e-03 -7.06921436e-05 9.99996599e-01 -4.75434447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87576923100005 meters 0.0400108698437334 Centerline is valid? [True, True] Translation: X:197.98, Y:120.28, Z:-0.48 [[ 2.16315947e-01 -9.76323415e-01 -1.41840203e-05 1.97978031e+02] [ 9.76323412e-01 2.16315948e-01 -7.78953992e-05 1.20279109e+02] [ 7.91193319e-05 3.00182602e-06 9.99999997e-01 -4.79470190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.905769231 meters 0.03646948869018722 Centerline is valid? [True, True] Translation: X:197.98, Y:120.30, Z:-0.48 [[ 2.17534420e-01 -9.76052614e-01 -2.66258406e-04 1.97983136e+02] [ 9.76051599e-01 2.17534578e-01 -1.40842249e-03 1.20304430e+02] [ 1.43261486e-03 4.64984273e-05 9.99998973e-01 -4.80796514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93576923100005 meters 0.04385112796686958 Centerline is valid? [True, True] Translation: X:197.97, Y:120.33, Z:-0.48 [[ 2.18242428e-01 -9.75894527e-01 -3.39810485e-04 1.97973304e+02] [ 9.75892870e-01 2.18242684e-01 -1.79944675e-03 1.20331407e+02] [ 1.83023139e-03 6.10969986e-05 9.99998323e-01 -4.83018917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.965769231 meters 0.037464684805535164 Centerline is valid? [True, True] Translation: X:197.98, Y:120.36, Z:-0.48 [[ 2.17434925e-01 -9.76074809e-01 -1.46272395e-04 1.97976946e+02] [ 9.76074499e-01 2.17434972e-01 -7.77545623e-04 1.20356172e+02] [ 7.90747429e-04 2.62928195e-05 9.99999687e-01 -4.81902472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99576923100005 meters 0.038863724944907606 Centerline is valid? [True, True] Translation: X:197.97, Y:120.38, Z:-0.48 [[ 2.15514823e-01 -9.76500558e-01 1.48683846e-04 1.97974911e+02] [ 9.76500242e-01 2.15514873e-01 7.85156475e-04 1.20381225e+02] [-7.98749316e-04 -2.40230465e-05 9.99999681e-01 -4.79445865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.025769231 meters 0.030533003581138626 Centerline is valid? [True, True] Translation: X:197.98, Y:120.41, Z:-0.47 [[ 2.10746650e-01 -9.77540426e-01 7.52198669e-04 1.97981992e+02] [ 9.77532285e-01 2.10747966e-01 3.99076133e-03 1.20406011e+02] [-4.05965487e-03 -1.05741099e-04 9.99991754e-01 -4.73602358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05576923100006 meters 0.02765849900559452 Centerline is valid? [True, True] Translation: X:197.99, Y:120.43, Z:-0.47 [[ 2.07958760e-01 -9.78137309e-01 7.47420684e-04 1.97986140e+02] [ 9.78129253e-01 2.07960081e-01 3.97093962e-03 1.20430880e+02] [-4.03955786e-03 -9.47176429e-05 9.99991836e-01 -4.74083179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08576923100003 meters 0.025593117685373236 Centerline is valid? [True, True] Translation: X:197.99, Y:120.45, Z:-0.48 [[ 2.05088040e-01 -9.78743391e-01 5.20386216e-04 1.97989809e+02] [ 9.78739479e-01 2.05088692e-01 2.76792804e-03 1.20454779e+02] [-2.81581661e-03 -5.83464051e-05 9.99996034e-01 -4.76550534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11576923100006 meters 0.02114463143007397 Centerline is valid? [True, True] Translation: X:198.00, Y:120.48, Z:-0.48 [[ 2.00541202e-01 -9.79685229e-01 -2.80566349e-04 1.97997164e+02] [ 9.79684082e-01 2.00541397e-01 -1.49907415e-03 1.20479591e+02] [ 1.52488597e-03 2.57597469e-05 9.99998837e-01 -4.84451681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14576923100003 meters 0.019863537198217134 Centerline is valid? [True, True] Translation: X:198.00, Y:120.50, Z:-0.49 [[ 1.98327885e-01 -9.80135624e-01 -4.56617559e-04 1.98002176e+02] [ 9.80132583e-01 1.98328408e-01 -2.44185534e-03 1.20503689e+02] [ 2.48390964e-03 3.67422574e-05 9.99996914e-01 -4.86150458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17576923100006 meters 0.016565208798969253 Centerline is valid? [True, True] Translation: X:198.01, Y:120.53, Z:-0.48 [[ 1.94249728e-01 -9.80952111e-01 2.55177700e-06 1.98009951e+02] [ 9.80952110e-01 1.94249728e-01 1.05470416e-05 1.20527414e+02] [-1.08418248e-05 4.54411067e-07 1.00000000e+00 -4.80194534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20576923100003 meters 0.015242431632800884 Centerline is valid? [True, True] Translation: X:198.02, Y:120.55, Z:-0.48 [[ 1.92322896e-01 -9.81331669e-01 2.42396031e-04 1.98015868e+02] [ 9.81330814e-01 1.92323049e-01 1.29528900e-03 1.20550222e+02] [-1.31772646e-03 -1.12430369e-05 9.99999132e-01 -4.77928956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23576923100006 meters 0.014083689981266408 Centerline is valid? [True, True] Translation: X:198.02, Y:120.57, Z:-0.48 [[ 1.90827226e-01 -9.81623591e-01 3.10435354e-04 1.98022952e+02] [ 9.81622184e-01 1.90827478e-01 1.66206903e-03 1.20574062e+02] [-1.69076576e-03 -1.24377913e-05 9.99998571e-01 -4.77284715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26576923100004 meters 0.012939382885923164 Centerline is valid? [True, True] Translation: X:198.03, Y:120.60, Z:-0.48 [[ 1.88937127e-01 -9.81989020e-01 5.72463825e-04 1.98033353e+02] [ 9.81984213e-01 1.88937993e-01 3.07252972e-03 1.20597733e+02] [-3.12535061e-03 -1.83644977e-05 9.99995116e-01 -4.76160828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29576923100007 meters 0.011516728638239743 Centerline is valid? [True, True] Translation: X:198.05, Y:120.62, Z:-0.48 [[ 1.85630385e-01 -9.82619452e-01 6.10710527e-04 1.98046369e+02] [ 9.82613967e-01 1.85631389e-01 3.28310049e-03 1.20620282e+02] [-3.33940544e-03 -9.35051377e-06 9.99994424e-01 -4.75932687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32576923100004 meters 0.011127396395391799 Centerline is valid? [True, True] Translation: X:198.06, Y:120.64, Z:-0.48 [[ 1.83117439e-01 -9.83090894e-01 5.45075647e-04 1.98056550e+02] [ 9.83086514e-01 1.83118251e-01 2.93466344e-03 1.20642677e+02] [-2.98485421e-03 -1.53153778e-06 9.99995545e-01 -4.76170525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35576923100007 meters 0.011144804197567361 Centerline is valid? [True, True] Translation: X:198.07, Y:120.67, Z:-0.48 [[ 1.80872010e-01 -9.83506560e-01 4.02100844e-04 1.98067204e+02] [ 9.83504172e-01 1.80872457e-01 2.16758211e-03 1.20665196e+02] [-2.20456019e-03 3.41292509e-06 9.99997570e-01 -4.76916202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38576923100004 meters 0.011525569388102853 Centerline is valid? [True, True] Translation: X:198.08, Y:120.69, Z:-0.48 [[ 1.79210445e-01 -9.83810724e-01 2.74698791e-04 1.98076659e+02] [ 9.83809608e-01 1.79210655e-01 1.48200324e-03 1.20688706e+02] [-1.50723963e-03 4.66085015e-06 9.99998864e-01 -4.77941544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41576923100007 meters 0.01246984411881832 Centerline is valid? [True, True] Translation: X:198.09, Y:120.71, Z:-0.48 [[ 1.76741720e-01 -9.84257265e-01 5.51890943e-06 1.98088195e+02] [ 9.84257265e-01 1.76741720e-01 2.64527837e-05 1.20711621e+02] [-2.70117662e-05 7.56716225e-07 1.00000000e+00 -4.81278486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44576923100004 meters 0.01395889388986054 Centerline is valid? [True, True] Translation: X:198.10, Y:120.73, Z:-0.48 [[ 1.74440032e-01 -9.84667786e-01 -1.65058483e-04 1.98100912e+02] [ 9.84667376e-01 1.74440110e-01 -8.98316373e-04 1.20733632e+02] [ 9.13336013e-04 -5.82536613e-06 9.99999583e-01 -4.84586215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4757692310001 meters 0.015006596399051995 Centerline is valid? [True, True] Translation: X:198.11, Y:120.76, Z:-0.49 [[ 1.73576356e-01 -9.84820375e-01 -2.77466030e-04 1.98109989e+02] [ 9.84819216e-01 1.73576577e-01 -1.51085057e-03 1.20756464e+02] [ 1.53607803e-03 -1.10059412e-05 9.99998820e-01 -4.85799283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50576923100004 meters 0.015085824991023155 Centerline is valid? [True, True] Translation: X:198.12, Y:120.78, Z:-0.49 [[ 1.72861046e-01 -9.84946148e-01 -3.79020356e-04 1.98116818e+02] [ 9.84943982e-01 1.72861461e-01 -2.06559549e-03 1.20779850e+02] [ 2.10001833e-03 -1.62528221e-05 9.99997795e-01 -4.86153980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5357692310001 meters 0.01568056502903423 Centerline is valid? [True, True] Translation: X:198.13, Y:120.80, Z:-0.48 [[ 1.72044336e-01 -9.85089191e-01 -1.81449252e-04 1.98126350e+02] [ 9.85088691e-01 1.72044432e-01 -9.92327696e-04 1.20802347e+02] [ 1.00874862e-03 -8.01924664e-06 9.99999491e-01 -4.83162821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56576923100005 meters 0.015283588697312368 Centerline is valid? [True, True] Translation: X:198.13, Y:120.83, Z:-0.48 [[ 1.72020212e-01 -9.85093416e-01 8.74020017e-05 1.98131335e+02] [ 9.85093303e-01 1.72020234e-01 4.73826918e-04 1.20826964e+02] [-4.81798690e-04 4.59131975e-06 9.99999884e-01 -4.80648728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5957692310001 meters 0.013732120867000099 Centerline is valid? [True, True] Translation: X:198.13, Y:120.85, Z:-0.48 [[ 1.73431986e-01 -9.84845757e-01 4.26089184e-04 1.98133569e+02] [ 9.84843010e-01 1.73432509e-01 2.32605346e-03 1.20852172e+02] [-2.36470160e-03 1.62188831e-05 9.99997204e-01 -4.77064271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62576923100005 meters 0.013100254917274125 Centerline is valid? [True, True] Translation: X:198.14, Y:120.88, Z:-0.48 [[ 1.73767313e-01 -9.84786652e-01 4.14406789e-04 1.98135407e+02] [ 9.84784046e-01 1.73767806e-01 2.26561739e-03 1.20876633e+02] [-2.30316032e-03 1.44109484e-05 9.99997348e-01 -4.77824042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.655769231 meters 0.013112983408536826 Centerline is valid? [True, True] Translation: X:198.14, Y:120.90, Z:-0.48 [[ 1.74378186e-01 -9.84678733e-01 2.00056237e-04 1.98139000e+02] [ 9.84678126e-01 1.74378301e-01 1.09368408e-03 1.20900389e+02] [-1.11181292e-03 6.27635489e-06 9.99999382e-01 -4.80790362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68576923100005 meters 0.01289523034183131 Centerline is valid? [True, True] Translation: X:198.14, Y:120.92, Z:-0.49 [[ 1.74109460e-01 -9.84726263e-01 -2.88141485e-04 1.98143886e+02] [ 9.84724985e-01 1.74109698e-01 -1.58619322e-03 1.20924851e+02] [ 1.61213434e-03 -7.56887573e-06 9.99998700e-01 -4.85959577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.715769231 meters 0.014940709627542464 Centerline is valid? [True, True] Translation: X:198.16, Y:120.95, Z:-0.49 [[ 1.72021777e-01 -9.85093100e-01 -3.04476014e-04 1.98155901e+02] [ 9.85091669e-01 1.72022046e-01 -1.67883554e-03 1.20946337e+02] [ 1.70618589e-03 -1.11405112e-05 9.99998544e-01 -4.85781652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74576923100005 meters 0.014580397120892832 Centerline is valid? [True, True] Translation: X:198.16, Y:120.97, Z:-0.48 [[ 1.70432303e-01 -9.85369387e-01 -3.59180634e-05 1.98161351e+02] [ 9.85369366e-01 1.70432306e-01 -2.01414346e-04 1.20970429e+02] [ 2.04589129e-04 -1.06504869e-06 9.99999979e-01 -4.81406821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.775769231 meters 0.015346818338146486 Centerline is valid? [True, True] Translation: X:198.17, Y:120.99, Z:-0.48 [[ 1.69031987e-01 -9.85610506e-01 3.42172302e-04 1.98168736e+02] [ 9.85608703e-01 1.69032332e-01 1.88544429e-03 1.20994317e+02] [-1.91615188e-03 1.85476059e-05 9.99998164e-01 -4.77975325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80576923100006 meters 0.015862022296927954 Centerline is valid? [True, True] Translation: X:198.18, Y:121.02, Z:-0.47 [[ 1.68720774e-01 -9.85663496e-01 8.79293532e-04 1.98177352e+02] [ 9.85651522e-01 1.68723059e-01 4.85859033e-03 1.21016955e+02] [-4.93729223e-03 4.69318855e-05 9.99987810e-01 -4.72852837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83576923100003 meters 0.014072049336503424 Centerline is valid? [True, True] Translation: X:198.18, Y:121.04, Z:-0.47 [[ 1.70569489e-01 -9.85345235e-01 9.03586726e-04 1.98178928e+02] [ 9.85332546e-01 1.70571879e-01 5.00084501e-03 1.21042235e+02] [-5.08168529e-03 3.73418293e-05 9.99987087e-01 -4.71976122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86576923100006 meters 0.011081727529279535 Centerline is valid? [True, True] Translation: X:198.17, Y:121.07, Z:-0.48 [[ 1.77861314e-01 -9.84055396e-01 5.75073325e-04 1.98168961e+02] [ 9.84050237e-01 1.77862244e-01 3.18643145e-03 1.21069730e+02] [-3.23790889e-03 -8.41842453e-07 9.99994758e-01 -4.75573042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89576923100003 meters 0.012375343046324042 Centerline is valid? [True, True] Translation: X:198.17, Y:121.09, Z:-0.48 [[ 1.81780860e-01 -9.83339047e-01 1.92410355e-04 1.98165090e+02] [ 9.83338470e-01 1.81780961e-01 1.06544241e-03 1.21094330e+02] [-1.08266766e-03 -4.47253280e-06 9.99999414e-01 -4.79397472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92576923100006 meters 0.015237888615953585 Centerline is valid? [True, True] Translation: X:198.16, Y:121.12, Z:-0.48 [[ 1.84998024e-01 -9.82738885e-01 -1.20208632e-04 1.98161909e+02] [ 9.82738655e-01 1.84998063e-01 -6.72219135e-04 1.21120123e+02] [ 6.82854248e-04 6.22554202e-06 9.99999767e-01 -4.83162205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95576923100003 meters 0.019121846970571305 Centerline is valid? [True, True] Translation: X:198.16, Y:121.15, Z:-0.48 [[ 1.88822521e-01 -9.82011210e-01 -1.95609179e-04 1.98157147e+02] [ 9.82010602e-01 1.88822622e-01 -1.09307880e-03 1.21147084e+02] [ 1.11035107e-03 1.43076059e-05 9.99999383e-01 -4.83491817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98576923100006 meters 0.018578257910973048 Centerline is valid? [True, True] Translation: X:198.16, Y:121.17, Z:-0.48 [[ 1.89377982e-01 -9.81904261e-01 -4.88640817e-05 1.98159631e+02] [ 9.81904222e-01 1.89377989e-01 -2.76213102e-04 1.21171967e+02] [ 2.80468604e-04 4.32883190e-06 9.99999961e-01 -4.81670872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01576923100004 meters 0.018065565693554282 Centerline is valid? [True, True] Translation: X:198.16, Y:121.20, Z:-0.48 [[ 1.87963312e-01 -9.82176021e-01 2.38323515e-04 1.98159823e+02] [ 9.82175122e-01 1.87963463e-01 1.32896687e-03 1.21195846e+02] [-1.35007550e-03 -1.57215873e-05 9.99999089e-01 -4.79547375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04576923100007 meters 0.01573968221268894 Centerline is valid? [True, True] Translation: X:198.17, Y:121.22, Z:-0.48 [[ 1.85387774e-01 -9.82665371e-01 3.76807886e-04 1.98165750e+02] [ 9.82663113e-01 1.85388156e-01 2.10685649e-03 1.21220655e+02] [-2.14019063e-03 -2.03102259e-05 9.99997710e-01 -4.78786730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07576923100004 meters 0.011291484587805517 Centerline is valid? [True, True] Translation: X:198.18, Y:121.24, Z:-0.48 [[ 1.76933538e-01 -9.84222746e-01 3.29279583e-04 1.98177539e+02] [ 9.84221020e-01 1.76933845e-01 1.84355679e-03 1.21242978e+02] [-1.87273123e-03 -2.10313858e-06 9.99998246e-01 -4.80501385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10576923100007 meters 0.011291484587805517 Centerline is valid? [True, True] Translation: X:198.18, Y:121.27, Z:-0.48 [[ 1.76659474e-01 -9.84271976e-01 3.28771321e-04 1.98181399e+02] [ 9.84270249e-01 1.76659780e-01 1.84364741e-03 1.21266841e+02] [-1.87273115e-03 -2.09795329e-06 9.99998246e-01 -4.80553247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13576923100004 meters 0.011732650996297037 Centerline is valid? [True, True] Translation: X:198.19, Y:121.29, Z:-0.48 [[ 1.72090378e-01 -9.85081133e-01 2.52985391e-04 1.98191510e+02] [ 9.85080109e-01 1.72090564e-01 1.42017176e-03 1.21290592e+02] [-1.44252081e-03 4.81298066e-06 9.99998960e-01 -4.81983871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16576923100007 meters 0.014060038995087135 Centerline is valid? [True, True] Translation: X:198.20, Y:121.31, Z:-0.48 [[ 1.67751597e-01 -9.85829288e-01 1.27767570e-04 1.98203279e+02] [ 9.85829028e-01 1.67751645e-01 7.16892753e-04 1.21314818e+02] [-7.28167092e-04 5.69707583e-06 9.99999735e-01 -4.83418607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19576923100004 meters 0.02235436042882303 Centerline is valid? [True, True] Translation: X:198.23, Y:121.33, Z:-0.48 [[ 1.58667591e-01 -9.87332056e-01 8.60899240e-05 1.98225269e+02] [ 9.87331938e-01 1.58667614e-01 4.82637216e-04 1.21334837e+02] [-4.90182877e-04 8.42044714e-06 9.99999880e-01 -4.83796608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2257692310001 meters 0.028688434367996316 Centerline is valid? [True, True] Translation: X:198.24, Y:121.36, Z:-0.48 [[ 1.54094038e-01 -9.88056182e-01 9.44245763e-05 1.98239986e+02] [ 9.88056040e-01 1.54094066e-01 5.30520712e-04 1.21357272e+02] [-5.38734536e-04 1.15466944e-05 9.99999855e-01 -4.83624101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25576923100004 meters 0.034724852562498985 Centerline is valid? [True, True] Translation: X:198.26, Y:121.38, Z:-0.48 [[ 1.47081997e-01 -9.89124278e-01 2.18697571e-04 1.98256288e+02] [ 9.89123508e-01 1.47082156e-01 1.23487567e-03 1.21379971e+02] [-1.25361201e-03 3.46909292e-05 9.99999214e-01 -4.82851663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2857692310001 meters 0.037148099920494046 Centerline is valid? [True, True] Translation: X:198.27, Y:121.40, Z:-0.48 [[ 1.44868676e-01 -9.89450866e-01 2.26874611e-04 1.98266997e+02] [ 9.89450034e-01 1.44868848e-01 1.28320151e-03 1.21403122e+02] [-1.30253191e-03 3.85853874e-05 9.99999151e-01 -4.82570265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31576923100005 meters 0.03820707891215466 Centerline is valid? [True, True] Translation: X:198.28, Y:121.42, Z:-0.48 [[ 1.44038259e-01 -9.89572041e-01 3.93203692e-04 1.98278987e+02] [ 9.89569531e-01 1.44038780e-01 2.22998564e-03 1.21424066e+02] [-2.26336802e-03 6.78991439e-05 9.99997436e-01 -4.80996538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3457692310001 meters 0.036889839550950335 Centerline is valid? [True, True] Translation: X:198.28, Y:121.45, Z:-0.48 [[ 1.44938590e-01 -9.89440581e-01 3.77353476e-04 1.98283227e+02] [ 9.89438261e-01 1.44939068e-01 2.14368528e-03 1.21447903e+02] [-2.17574247e-03 6.26652454e-05 9.99997631e-01 -4.81554562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37576923100005 meters 0.0316641317128619 Centerline is valid? [True, True] Translation: X:198.28, Y:121.47, Z:-0.49 [[ 1.49924211e-01 -9.88697489e-01 7.50369907e-05 1.98284722e+02] [ 9.88697398e-01 1.49924229e-01 4.24294830e-04 1.21471627e+02] [-4.30749096e-04 1.05768100e-05 9.99999907e-01 -4.86076302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.405769231 meters 0.028171275812130275 Centerline is valid? [True, True] Translation: X:198.29, Y:121.50, Z:-0.49 [[ 1.52754533e-01 -9.88264148e-01 -1.60098271e-04 1.98286746e+02] [ 9.88263723e-01 1.52754616e-01 -9.17302381e-04 1.21495889e+02] [ 9.30992806e-04 -1.80972163e-05 9.99999566e-01 -4.87836166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43576923100005 meters 0.024940993920744288 Centerline is valid? [True, True] Translation: X:198.29, Y:121.52, Z:-0.49 [[ 1.55543843e-01 -9.87828962e-01 -2.32549149e-04 1.98288352e+02] [ 9.87828063e-01 1.55544015e-01 -1.33324735e-03 1.21519667e+02] [ 1.35319198e-03 -2.23401588e-05 9.99999084e-01 -4.88305806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.465769231 meters 0.018343599778501224 Centerline is valid? [True, True] Translation: X:198.28, Y:121.54, Z:-0.49 [[ 1.61357423e-01 -9.86896032e-01 -6.10569592e-05 1.98283806e+02] [ 9.86895969e-01 1.61357435e-01 -3.53345681e-04 1.21543805e+02] [ 3.58567444e-04 -3.24191842e-06 9.99999936e-01 -4.85614052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49576923100005 meters 0.015026402994036115 Centerline is valid? [True, True] Translation: X:198.28, Y:121.57, Z:-0.48 [[ 1.64380054e-01 -9.86397056e-01 2.12451612e-04 1.98281478e+02] [ 9.86396308e-01 1.64380191e-01 1.21539354e-03 1.21568452e+02] [-1.23378345e-03 9.77502872e-06 9.99999239e-01 -4.83190342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.525769231 meters 0.01139312911521213 Centerline is valid? [True, True] Translation: X:198.27, Y:121.60, Z:-0.48 [[ 1.71003634e-01 -9.85270280e-01 4.81909832e-04 1.98271999e+02] [ 9.85266398e-01 1.71004314e-01 2.76583128e-03 1.21595042e+02] [-2.80750002e-03 1.84236354e-06 9.99996059e-01 -4.79973753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55576923100006 meters 0.011941220092079654 Centerline is valid? [True, True] Translation: X:198.27, Y:121.62, Z:-0.48 [[ 1.73839380e-01 -9.84773972e-01 3.07104161e-04 1.98268998e+02] [ 9.84772392e-01 1.73839651e-01 1.76409903e-03 1.21619924e+02] [-1.79062569e-03 -4.24218268e-06 9.99998397e-01 -4.82147288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58576923100003 meters 0.015359784891198358 Centerline is valid? [True, True] Translation: X:198.26, Y:121.65, Z:-0.49 [[ 1.79505859e-01 -9.83756890e-01 -1.65435006e-04 1.98257877e+02] [ 9.83756425e-01 1.79505935e-01 -9.56964552e-04 1.21647970e+02] [ 9.71117038e-04 9.03299393e-06 9.99999528e-01 -4.87890539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61576923100006 meters 0.017047791452793216 Centerline is valid? [True, True] Translation: X:198.26, Y:121.67, Z:-0.49 [[ 1.81622171e-01 -9.83368354e-01 -2.58820405e-04 1.98255088e+02] [ 9.83367214e-01 1.81622355e-01 -1.49735994e-03 1.21673881e+02] [ 1.51946395e-03 1.74382631e-05 9.99998845e-01 -4.88370800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64576923100003 meters 0.018465733306616487 Centerline is valid? [True, True] Translation: X:198.25, Y:121.70, Z:-0.49 [[ 1.83123852e-01 -9.83089809e-01 -2.88412089e-04 1.98254126e+02] [ 9.83088389e-01 1.83124077e-01 -1.67098899e-03 1.21699904e+02] [ 1.69554745e-03 2.24633646e-05 9.99998562e-01 -4.88399553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67576923100006 meters 0.018821884137516592 Centerline is valid? [True, True] Translation: X:198.25, Y:121.73, Z:-0.49 [[ 1.83259501e-01 -9.83064539e-01 -2.58793890e-04 1.98250724e+02] [ 9.83063391e-01 1.83259683e-01 -1.50259135e-03 1.21725669e+02] [ 1.52457076e-03 2.09533417e-05 9.99998838e-01 -4.87307765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70576923100003 meters 0.019131851843664997 Centerline is valid? [True, True] Translation: X:198.25, Y:121.75, Z:-0.49 [[ 1.82106668e-01 -9.83278767e-01 -1.69641942e-04 1.98249298e+02] [ 9.83278270e-01 1.82106746e-01 -9.88078527e-04 1.21750354e+02] [ 1.00244958e-03 1.31304533e-05 9.99999497e-01 -4.87732169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73576923100006 meters 0.015445260322778995 Centerline is valid? [True, True] Translation: X:198.25, Y:121.77, Z:-0.49 [[ 1.77732642e-01 -9.84078809e-01 7.36049851e-05 1.98253402e+02] [ 9.84078718e-01 1.77732658e-01 4.24234796e-04 1.21773850e+02] [-4.30562482e-04 -2.96727189e-06 9.99999907e-01 -4.87001384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76576923100004 meters 0.013165956880311238 Centerline is valid? [True, True] Translation: X:198.26, Y:121.80, Z:-0.49 [[ 1.74385396e-01 -9.84677477e-01 2.00091019e-06 1.98261313e+02] [ 9.84677477e-01 1.74385397e-01 8.24235840e-06 1.21797941e+02] [-8.46499426e-06 5.32904263e-07 1.00000000e+00 -4.87551507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79576923100007 meters 0.01200043592166055 Centerline is valid? [True, True] Translation: X:198.27, Y:121.82, Z:-0.49 [[ 1.70959497e-01 -9.85278041e-01 -1.77251291e-04 1.98268303e+02] [ 9.85277495e-01 1.70959589e-01 -1.03725547e-03 1.21821081e+02] [ 1.05228785e-03 2.68696513e-06 9.99999446e-01 -4.89495365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82576923100004 meters 0.012475035731228936 Centerline is valid? [True, True] Translation: X:198.27, Y:121.84, Z:-0.49 [[ 1.66054079e-01 -9.86116470e-01 -5.92442632e-04 1.98274600e+02] [ 9.86110385e-01 1.66055135e-01 -3.46427010e-03 1.21844949e+02] [ 3.51455195e-03 -8.95765178e-06 9.99993824e-01 -4.92269766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85576923100007 meters 0.013109483372070735 Centerline is valid? [True, True] Translation: X:198.28, Y:121.87, Z:-0.49 [[ 1.64185771e-01 -9.86429276e-01 -5.62136993e-04 1.98279388e+02] [ 9.86423780e-01 1.64186732e-01 -3.29280326e-03 1.21868859e+02] [ 3.34041297e-03 -1.38738576e-05 9.99994421e-01 -4.91982284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88576923100004 meters 0.014857015561594208 Centerline is valid? [True, True] Translation: X:198.29, Y:121.89, Z:-0.49 [[ 1.60604973e-01 -9.87018762e-01 -7.39399971e-05 1.98287331e+02] [ 9.87018665e-01 1.60604990e-01 -4.37130800e-04 1.21891644e+02] [ 4.43331433e-04 -2.77477681e-06 9.99999902e-01 -4.86708376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91576923100007 meters 0.01614179870384882 Centerline is valid? [True, True] Translation: X:198.29, Y:121.92, Z:-0.49 [[ 1.58551791e-01 -9.87350654e-01 1.28567065e-04 1.98294265e+02] [ 9.87350368e-01 1.58551843e-01 7.51431090e-04 1.21916462e+02] [-7.62310523e-04 7.79999362e-06 9.99999709e-01 -4.85155714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94576923100004 meters 0.02042195513689405 Centerline is valid? [True, True] Translation: X:198.31, Y:121.94, Z:-0.49 [[ 1.53623735e-01 -9.88129385e-01 2.56536492e-04 1.98308711e+02] [ 9.88128239e-01 1.53623948e-01 1.50515934e-03 1.21940138e+02] [-1.52670232e-03 2.22627519e-05 9.99998834e-01 -4.85095666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9757692310001 meters 0.023341464951481188 Centerline is valid? [True, True] Translation: X:198.32, Y:121.96, Z:-0.49 [[ 1.50662306e-01 -9.88585275e-01 1.51261723e-04 1.98319716e+02] [ 9.88584877e-01 1.50662381e-01 8.87528183e-04 1.21963796e+02] [-9.00186745e-04 1.58180091e-05 9.99999595e-01 -4.86134211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00576923100004 meters 0.025888634694207834 Centerline is valid? [True, True] Translation: X:198.33, Y:121.99, Z:-0.49 [[ 1.47276667e-01 -9.89095335e-01 2.94547273e-05 1.98334267e+02] [ 9.89095321e-01 1.47276670e-01 1.70412329e-04 1.21987250e+02] [-1.72892034e-04 4.03577316e-06 9.99999985e-01 -4.86380526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0357692310001 meters 0.026154054118640132 Centerline is valid? [True, True] Translation: X:198.34, Y:122.01, Z:-0.49 [[ 1.46707210e-01 -9.89179961e-01 5.89412115e-06 1.98341204e+02] [ 9.89179960e-01 1.46707211e-01 3.11996816e-05 1.22011211e+02] [-3.17268100e-05 1.25312826e-06 9.99999999e-01 -4.85973394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06576923100005 meters 0.02707020486203042 Centerline is valid? [True, True] Translation: X:198.35, Y:122.03, Z:-0.49 [[ 1.47347152e-01 -9.89084838e-01 -5.27768134e-08 1.98348667e+02] [ 9.89084838e-01 1.47347152e-01 -4.07539735e-06 1.22033849e+02] [ 4.03869016e-06 5.48297448e-07 1.00000000e+00 -4.86170966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0957692310001 meters 0.020485200040919613 Centerline is valid? [True, True] Translation: X:198.35, Y:122.06, Z:-0.49 [[ 1.51352032e-01 -9.88479917e-01 -1.23640677e-04 1.98347432e+02] [ 9.88479643e-01 1.51352082e-01 -7.36360859e-04 1.22059951e+02] [ 7.46591195e-04 -1.07665797e-05 9.99999721e-01 -4.86574834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12576923100005 meters 0.019611736614979326 Centerline is valid? [True, True] Translation: X:198.35, Y:122.08, Z:-0.49 [[ 1.53972709e-01 -9.88075079e-01 -2.10095407e-04 1.98351225e+02] [ 9.88074286e-01 1.53972851e-01 -1.25134773e-03 1.22083895e+02] [ 1.26877450e-03 -1.49164693e-05 9.99999195e-01 -4.87939904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.155769231 meters 0.01383910177755191 Centerline is valid? [True, True] Translation: X:198.35, Y:122.11, Z:-0.49 [[ 1.59858884e-01 -9.87139815e-01 -3.49330397e-04 1.98347308e+02] [ 9.87137622e-01 1.59859266e-01 -2.08114580e-03 1.22110705e+02] [ 2.11022558e-03 -1.21475319e-05 9.99997773e-01 -4.88626691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18576923100005 meters 0.012791879880491528 Centerline is valid? [True, True] Translation: X:198.35, Y:122.13, Z:-0.49 [[ 1.61884302e-01 -9.86809636e-01 -4.64486542e-04 1.98349190e+02] [ 9.86805744e-01 1.61884968e-01 -2.77158558e-03 1.22134104e+02] [ 2.81022074e-03 -9.68179081e-06 9.99996051e-01 -4.89875103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.215769231 meters 0.012253818557114389 Centerline is valid? [True, True] Translation: X:198.35, Y:122.16, Z:-0.49 [[ 1.63201972e-01 -9.86592578e-01 -4.48349786e-04 1.98352090e+02] [ 9.86588938e-01 1.63202588e-01 -2.67989926e-03 1.22158799e+02] [ 2.71714057e-03 -4.97209379e-06 9.99996309e-01 -4.89276332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24576923100005 meters 0.012080399091900054 Centerline is valid? [True, True] Translation: X:198.36, Y:122.18, Z:-0.49 [[ 1.62870405e-01 -9.86647427e-01 -2.92709582e-04 1.98355696e+02] [ 9.86645868e-01 1.62870668e-01 -1.75410532e-03 1.22183153e+02] [ 1.77835731e-03 -3.10885422e-06 9.99998419e-01 -4.87798114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.275769231 meters 0.011877872984667163 Centerline is valid? [True, True] Translation: X:198.36, Y:122.21, Z:-0.49 [[ 1.63414394e-01 -9.86557493e-01 -2.22442107e-04 1.98358604e+02] [ 9.86556587e-01 1.63414546e-01 -1.33651196e-03 1.22206741e+02] [ 1.35489616e-03 -1.04643422e-06 9.99999082e-01 -4.87828023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30576923100006 meters 0.012507669204910485 Centerline is valid? [True, True] Translation: X:198.36, Y:122.23, Z:-0.49 [[ 1.66556898e-01 -9.86031696e-01 -5.42053596e-04 1.98358358e+02] [ 9.86026317e-01 1.66557780e-01 -3.25702642e-03 1.22231096e+02] [ 3.30181452e-03 8.00110683e-06 9.99994549e-01 -4.92626929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33576923100003 meters 0.014821015256278304 Centerline is valid? [True, True] Translation: X:198.35, Y:122.26, Z:-0.50 [[ 1.70528448e-01 -9.85352411e-01 -8.21812736e-04 1.98353663e+02] [ 9.85340009e-01 1.70530425e-01 -4.94368723e-03 1.22256986e+02] [ 5.01141820e-03 3.32743427e-05 9.99987442e-01 -4.95477869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36576923100006 meters 0.01609217671083444 Centerline is valid? [True, True] Translation: X:198.35, Y:122.28, Z:-0.49 [[ 1.72469864e-01 -9.85014507e-01 -7.53462382e-04 1.98352189e+02] [ 9.85004045e-01 1.72471505e-01 -4.53992168e-03 1.22282977e+02] [ 4.60183950e-03 4.08361804e-05 9.99989411e-01 -4.93555799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39576923100003 meters 0.016652562599412314 Centerline is valid? [True, True] Translation: X:198.35, Y:122.31, Z:-0.49 [[ 1.74079843e-01 -9.84731378e-01 -5.67317491e-04 1.98352609e+02] [ 9.84725420e-01 1.74080764e-01 -3.42558285e-03 1.22308522e+02] [ 3.47203798e-03 3.76729700e-05 9.99993972e-01 -4.90867016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42576923100006 meters 0.01849772377065561 Centerline is valid? [True, True] Translation: X:198.35, Y:122.33, Z:-0.49 [[ 1.75656691e-01 -9.84451478e-01 -1.17481689e-04 1.98348855e+02] [ 9.84451220e-01 1.75656730e-01 -7.13866968e-04 1.22333526e+02] [ 7.23403841e-04 9.74051707e-06 9.99999738e-01 -4.86882881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45576923100003 meters 0.018916612344184673 Centerline is valid? [True, True] Translation: X:198.35, Y:122.36, Z:-0.49 [[ 1.76120083e-01 -9.84368689e-01 -3.81621084e-05 1.98350008e+02] [ 9.84368661e-01 1.76120087e-01 -2.34756818e-04 1.22357949e+02] [ 2.37808375e-04 3.77980672e-06 9.99999972e-01 -4.86995387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48576923100006 meters 0.02054624638506814 Centerline is valid? [True, True] Translation: X:198.35, Y:122.38, Z:-0.49 [[ 1.76787704e-01 -9.84248864e-01 -5.29659220e-04 1.98347824e+02] [ 9.84243614e-01 1.76788491e-01 -3.21527503e-03 1.22383347e+02] [ 3.25826845e-03 4.71073856e-05 9.99994691e-01 -4.93498023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51576923100004 meters 0.020460935161128912 Centerline is valid? [True, True] Translation: X:198.35, Y:122.41, Z:-0.50 [[ 1.76162308e-01 -9.84360756e-01 -8.62536485e-04 1.98350790e+02] [ 9.84346796e-01 1.76164403e-01 -5.24293908e-03 1.22407544e+02] [ 5.31289170e-03 7.45732218e-05 9.99985884e-01 -4.97579545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54576923100007 meters 0.019277895051420378 Centerline is valid? [True, True] Translation: X:198.36, Y:122.43, Z:-0.50 [[ 1.74494772e-01 -9.84657534e-01 -1.05590105e-03 1.98355658e+02] [ 9.84636551e-01 1.74497947e-01 -6.42877592e-03 1.22432039e+02] [ 6.51439521e-03 8.21090241e-05 9.99978778e-01 -4.99711268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57576923100004 meters 0.0166581103245852 Centerline is valid? [True, True] Translation: X:198.36, Y:122.46, Z:-0.50 [[ 1.70377211e-01 -9.85378293e-01 -1.10708732e-03 1.98363245e+02] [ 9.85355176e-01 1.70380797e-01 -6.74997266e-03 1.22455435e+02] [ 6.83990296e-03 5.91672908e-05 9.99976606e-01 -5.00586122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60576923100007 meters 0.014031214223317701 Centerline is valid? [True, True] Translation: X:198.37, Y:122.48, Z:-0.50 [[ 1.66513264e-01 -9.86038768e-01 -9.38212844e-04 1.98373052e+02] [ 9.86022116e-01 1.66515904e-01 -5.73064063e-03 1.22479771e+02] [ 5.80686119e-03 2.91290613e-05 9.99983140e-01 -4.98076138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63576923100004 meters 0.01367291766318906 Centerline is valid? [True, True] Translation: X:198.38, Y:122.50, Z:-0.50 [[ 1.65973577e-01 -9.86129895e-01 -7.76195592e-04 1.98377061e+02] [ 9.86118453e-01 1.65975390e-01 -4.75048478e-03 1.22504370e+02] [ 4.81342442e-03 2.30341554e-05 9.99988415e-01 -4.96356406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66576923100007 meters 0.01402289448965496 Centerline is valid? [True, True] Translation: X:198.38, Y:122.53, Z:-0.50 [[ 1.66597993e-01 -9.86024612e-01 -7.57582126e-04 1.98378594e+02] [ 9.86013671e-01 1.66599714e-01 -4.64501204e-03 1.22529599e+02] [ 4.70630916e-03 2.68633529e-05 9.99988925e-01 -4.95770845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69576923100004 meters 0.01730475855952175 Centerline is valid? [True, True] Translation: X:198.37, Y:122.56, Z:-0.50 [[ 1.70198488e-01 -9.85409410e-01 -8.76765322e-04 1.98370543e+02] [ 9.85394699e-01 1.70200738e-01 -5.38474553e-03 1.22555190e+02] [ 5.45540502e-03 5.25156470e-05 9.99985118e-01 -4.97579579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7257692310001 meters 0.019232634635430262 Centerline is valid? [True, True] Translation: X:198.37, Y:122.58, Z:-0.50 [[ 1.72719219e-01 -9.84970729e-01 -8.57345426e-04 1.98368474e+02] [ 9.84956613e-01 1.72721334e-01 -5.27367679e-03 1.22581174e+02] [ 5.34249911e-03 6.64172885e-05 9.99985727e-01 -4.97131295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75576923100004 meters 0.02338396774530023 Centerline is valid? [True, True] Translation: X:198.36, Y:122.61, Z:-0.50 [[ 1.77390157e-01 -9.84140324e-01 -7.44919502e-04 1.98362911e+02] [ 9.84129623e-01 1.77391702e-01 -4.59012078e-03 1.22607911e+02] [ 4.64946549e-03 8.11448976e-05 9.99989188e-01 -4.95812034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7857692310001 meters 0.024668233882939764 Centerline is valid? [True, True] Translation: X:198.36, Y:122.63, Z:-0.50 [[ 1.78203862e-01 -9.83993219e-01 -8.53737193e-04 1.98362934e+02] [ 9.83979115e-01 1.78205880e-01 -5.26924411e-03 1.22632451e+02] [ 5.33704146e-03 9.89400847e-05 9.99985753e-01 -4.96934451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81576923100005 meters 0.026036502197266605 Centerline is valid? [True, True] Translation: X:198.36, Y:122.66, Z:-0.50 [[ 1.77599459e-01 -9.84102429e-01 -9.16975966e-04 1.98362046e+02] [ 9.84086101e-01 1.77601795e-01 -5.66996770e-03 1.22656888e+02] [ 5.74268557e-03 1.04599891e-04 9.99983505e-01 -4.98850784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8457692310001 meters 0.021050231811421776 Centerline is valid? [True, True] Translation: X:198.37, Y:122.68, Z:-0.49 [[ 1.73837310e-01 -9.84774170e-01 -6.50379751e-04 1.98369654e+02] [ 9.84765932e-01 1.73838517e-01 -4.02861113e-03 1.22681791e+02] [ 4.08033324e-03 5.98511018e-05 9.99991674e-01 -4.94611097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87576923100005 meters 0.019228013383303835 Centerline is valid? [True, True] Translation: X:198.38, Y:122.71, Z:-0.49 [[ 1.71054635e-01 -9.85261440e-01 -4.55187423e-04 1.98375180e+02] [ 9.85257391e-01 1.71055237e-01 -2.82468830e-03 1.22705214e+02] [ 2.86091866e-03 3.46992543e-05 9.99995907e-01 -4.92698877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.905769231 meters 0.014509152588531953 Centerline is valid? [True, True] Translation: X:198.39, Y:122.73, Z:-0.49 [[ 1.65322801e-01 -9.86239463e-01 -3.03358544e-04 1.98387660e+02] [ 9.86237658e-01 1.65323079e-01 -1.88692485e-03 1.22728638e+02] [ 1.91111192e-03 1.27680819e-05 9.99998174e-01 -4.91597053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93576923100005 meters 0.013203407215508113 Centerline is valid? [True, True] Translation: X:198.40, Y:122.75, Z:-0.49 [[ 1.62282709e-01 -9.86744150e-01 -5.52371940e-04 1.98396231e+02] [ 9.86738156e-01 1.62283649e-01 -3.43941515e-03 1.22752433e+02] [ 3.48346371e-03 1.31111379e-05 9.99993933e-01 -4.94696373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.965769231 meters 0.01316596552728953 Centerline is valid? [True, True] Translation: X:198.41, Y:122.77, Z:-0.50 [[ 1.57860662e-01 -9.87460905e-01 -9.86224752e-04 1.98407888e+02] [ 9.87441762e-01 1.57863742e-01 -6.14867408e-03 1.22774946e+02] [ 6.22726440e-03 -3.20574793e-06 9.99980610e-01 -5.00582975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99576923100005 meters 0.01316596552728953 Centerline is valid? [True, True] Translation: X:198.41, Y:122.80, Z:-0.50 [[ 1.57590961e-01 -9.87503985e-01 -9.84553049e-04 1.98411320e+02] [ 9.87484840e-01 1.57594036e-01 -6.14894206e-03 1.22798873e+02] [ 6.22726447e-03 -3.21352259e-06 9.99980610e-01 -5.00634838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.025769231 meters 0.013291331725506506 Centerline is valid? [True, True] Translation: X:198.42, Y:122.82, Z:-0.50 [[ 1.55998998e-01 -9.87756695e-01 -1.01225994e-03 1.98419128e+02] [ 9.87736390e-01 1.56002281e-01 -6.33348791e-03 1.22822958e+02] [ 6.41385994e-03 -1.18282154e-05 9.99979431e-01 -4.99810921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05576923100006 meters 0.014204029014619795 Centerline is valid? [True, True] Translation: X:198.43, Y:122.84, Z:-0.50 [[ 1.52850282e-01 -9.88249051e-01 -7.78010773e-04 1.98433522e+02] [ 9.88237012e-01 1.52852260e-01 -4.87800525e-03 1.22844455e+02] [ 4.93960476e-03 -2.32545646e-05 9.99987800e-01 -4.97760554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08576923100003 meters 0.014784951374410861 Centerline is valid? [True, True] Translation: X:198.44, Y:122.87, Z:-0.50 [[ 1.51454093e-01 -9.88464011e-01 -7.46147131e-04 1.98441556e+02] [ 9.88452901e-01 1.51455929e-01 -4.68661097e-03 1.22868478e+02] [ 4.74555468e-03 -2.77248809e-05 9.99988739e-01 -4.96524033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11576923100006 meters 0.014425298489925003 Centerline is valid? [True, True] Translation: X:198.45, Y:122.89, Z:-0.50 [[ 1.52326329e-01 -9.88329869e-01 -8.71528537e-04 1.98448487e+02] [ 9.88314655e-01 1.52328820e-01 -5.48384735e-03 1.22890872e+02] [ 5.55260905e-03 -2.60100918e-05 9.99984584e-01 -4.98595510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14576923100003 meters 0.01357331150526377 Centerline is valid? [True, True] Translation: X:198.45, Y:122.91, Z:-0.50 [[ 1.53813671e-01 -9.88099532e-01 -8.17822275e-04 1.98453064e+02] [ 9.88086084e-01 1.53815845e-01 -5.15521030e-03 1.22914939e+02] [ 5.21965491e-03 -1.51369861e-05 9.99986377e-01 -4.97466637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17576923100006 meters 0.012857887186311747 Centerline is valid? [True, True] Translation: X:198.46, Y:122.94, Z:-0.49 [[ 1.55929116e-01 -9.87768064e-01 -6.01360398e-04 1.98457283e+02] [ 9.87760759e-01 1.55930276e-01 -3.79888144e-03 1.22937859e+02] [ 3.84618406e-03 -1.64397863e-06 9.99992603e-01 -4.94772237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20576923100003 meters 0.013304081249244197 Centerline is valid? [True, True] Translation: X:198.46, Y:122.96, Z:-0.49 [[ 1.60591342e-01 -9.87020983e-01 -8.08448725e-06 1.98460481e+02] [ 9.87020981e-01 1.60591342e-01 -5.48400539e-05 1.22962153e+02] [ 5.54265825e-05 8.27279318e-07 9.99999998e-01 -4.85967022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23576923100006 meters 0.015100230348578148 Centerline is valid? [True, True] Translation: X:198.46, Y:122.99, Z:-0.49 [[ 1.63026663e-01 -9.86621663e-01 3.22402687e-05 1.98461546e+02] [ 9.86621643e-01 1.63026666e-01 2.00454773e-04 1.22986746e+02] [-2.03029045e-04 -8.70525749e-07 9.99999979e-01 -4.85802782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26576923100004 meters 0.02092391367639284 Centerline is valid? [True, True] Translation: X:198.46, Y:123.01, Z:-0.49 [[ 1.68921529e-01 -9.85629352e-01 -5.45694385e-04 1.98456786e+02] [ 9.85623261e-01 1.68922403e-01 -3.46549521e-03 1.23010893e+02] [ 3.50787380e-03 4.75476681e-05 9.99993846e-01 -4.93566801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29576923100007 meters 0.024494329453340125 Centerline is valid? [True, True] Translation: X:198.46, Y:123.04, Z:-0.50 [[ 1.71880121e-01 -9.85117486e-01 -8.73046870e-04 1.98455805e+02] [ 9.85101847e-01 1.71882312e-01 -5.55177164e-03 1.23036226e+02] [ 5.61920864e-03 9.41990955e-05 9.99984208e-01 -4.97554534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32576923100004 meters 0.02803383915427861 Centerline is valid? [True, True] Translation: X:198.45, Y:123.06, Z:-0.50 [[ 1.74643623e-01 -9.84631077e-01 -1.11715611e-03 1.98454227e+02] [ 9.84605373e-01 1.74647138e-01 -7.11597592e-03 1.23061153e+02] [ 7.20171915e-03 1.42801910e-04 9.99974057e-01 -5.00189627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35576923100007 meters 0.03276103635921304 Centerline is valid? [True, True] Translation: X:198.45, Y:123.09, Z:-0.50 [[ 1.78351400e-01 -9.83966308e-01 -1.04033739e-03 1.98448362e+02] [ 9.83943925e-01 1.78354362e-01 -6.63877351e-03 1.23086638e+02] [ 6.71787817e-03 1.60400898e-04 9.99977422e-01 -4.98406422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38576923100004 meters 0.029430105470870844 Centerline is valid? [True, True] Translation: X:198.46, Y:123.11, Z:-0.49 [[ 1.78760570e-01 -9.83892229e-01 -8.60529272e-04 1.98455359e+02] [ 9.83876852e-01 1.78762589e-01 -5.50240642e-03 1.23110444e+02] [ 5.56760536e-03 1.36958479e-04 9.99984491e-01 -4.94567835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41576923100007 meters 0.03161186879379917 Centerline is valid? [True, True] Translation: X:198.45, Y:123.13, Z:-0.49 [[ 1.79392784e-01 -9.83777367e-01 -5.66664522e-04 1.98453675e+02] [ 9.83770668e-01 1.79393654e-01 -3.63188207e-03 1.23134304e+02] [ 3.67461940e-03 9.40655002e-05 9.99993244e-01 -4.90823571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44576923100004 meters 0.031972684276310545 Centerline is valid? [True, True] Translation: X:198.45, Y:123.16, Z:-0.49 [[ 1.78830844e-01 -9.83879738e-01 -4.35891765e-04 1.98454227e+02] [ 9.83875757e-01 1.78831360e-01 -2.79980056e-03 1.23158333e+02] [ 2.83261816e-03 7.18273553e-05 9.99995986e-01 -4.89858982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4757692310001 meters 0.0323154545173446 Centerline is valid? [True, True] Translation: X:198.45, Y:123.18, Z:-0.49 [[ 1.76691761e-01 -9.84266187e-01 -3.06110121e-04 1.98452080e+02] [ 9.84264217e-01 1.76692020e-01 -1.97030663e-03 1.23183752e+02] [ 1.99339341e-03 4.68437105e-05 9.99998012e-01 -4.90414268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50576923100004 meters 0.026422028179404315 Centerline is valid? [True, True] Translation: X:198.46, Y:123.21, Z:-0.49 [[ 1.74260278e-01 -9.84699553e-01 -3.81960046e-04 1.98462270e+02] [ 9.84696477e-01 1.74260689e-01 -2.46177428e-03 1.23208173e+02] [ 2.49066865e-03 5.28747593e-05 9.99996897e-01 -4.90820280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5357692310001 meters 0.026769854816418817 Centerline is valid? [True, True] Translation: X:198.46, Y:123.23, Z:-0.49 [[ 1.71053594e-01 -9.85261574e-01 -5.47393976e-04 1.98464062e+02] [ 9.85255242e-01 1.71054458e-01 -3.53278489e-03 1.23232820e+02] [ 3.57435138e-03 6.49727683e-05 9.99993610e-01 -4.94102723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56576923100005 meters 0.0191329078207716 Centerline is valid? [True, True] Translation: X:198.48, Y:123.26, Z:-0.49 [[ 1.65136093e-01 -9.86270476e-01 -7.86820752e-04 1.98477118e+02] [ 9.86257369e-01 1.65137956e-01 -5.08513343e-03 1.23256116e+02] [ 5.14525094e-03 6.37313040e-05 9.99986761e-01 -4.94371696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5957692310001 meters 0.017015621495989088 Centerline is valid? [True, True] Translation: X:198.48, Y:123.28, Z:-0.49 [[ 1.62697130e-01 -9.86675771e-01 -7.53514589e-04 1.98483664e+02] [ 9.86663709e-01 1.62698867e-01 -4.87901333e-03 1.23280630e+02] [ 4.93660021e-03 5.03359680e-05 9.99987814e-01 -4.93715372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62576923100005 meters 0.01480288156882428 Centerline is valid? [True, True] Translation: X:198.49, Y:123.30, Z:-0.49 [[ 1.58283488e-01 -9.87393518e-01 -6.14374270e-04 1.98491081e+02] [ 9.87385472e-01 1.58284679e-01 -3.98629637e-03 1.23303946e+02] [ 4.03328924e-03 2.43406679e-05 9.99991866e-01 -4.92839093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.655769231 meters 0.01384756015249761 Centerline is valid? [True, True] Translation: X:198.50, Y:123.33, Z:-0.49 [[ 1.56627336e-01 -9.87657628e-01 -5.35390875e-04 1.98495798e+02] [ 9.87651496e-01 1.56628250e-01 -3.48060173e-03 1.23327955e+02] [ 3.52150018e-03 1.63777767e-05 9.99993799e-01 -4.92069701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68576923100005 meters 0.013489172591936572 Centerline is valid? [True, True] Translation: X:198.50, Y:123.35, Z:-0.49 [[ 1.55794047e-01 -9.87789406e-01 -5.51960096e-04 1.98499521e+02] [ 9.87782864e-01 1.55795024e-01 -3.59503015e-03 1.23352822e+02] [ 3.63712533e-03 1.48675717e-05 9.99993386e-01 -4.92210745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.715769231 meters 0.013709890889710299 Centerline is valid? [True, True] Translation: X:198.50, Y:123.38, Z:-0.49 [[ 1.55984562e-01 -9.87759345e-01 -5.40457172e-04 1.98503181e+02] [ 9.87753048e-01 1.55985497e-01 -3.52723582e-03 1.23376720e+02] [ 3.56836363e-03 1.63561150e-05 9.99993633e-01 -4.91646321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74576923100005 meters 0.01562751177259541 Centerline is valid? [True, True] Translation: X:198.50, Y:123.40, Z:-0.49 [[ 1.58939152e-01 -9.87288166e-01 -6.50223084e-04 1.98502824e+02] [ 9.87279021e-01 1.58940479e-01 -4.24952122e-03 1.23402805e+02] [ 4.29884878e-03 3.34636910e-05 9.99990759e-01 -4.91838553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.775769231 meters 0.017191546967178686 Centerline is valid? [True, True] Translation: X:198.50, Y:123.43, Z:-0.49 [[ 1.61068661e-01 -9.86942944e-01 -7.14711838e-04 1.98501373e+02] [ 9.86931855e-01 1.61070239e-01 -4.67878357e-03 1.23428631e+02] [ 4.73281124e-03 4.82335242e-05 9.99988799e-01 -4.92448758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80576923100006 meters 0.019056132664978277 Centerline is valid? [True, True] Translation: X:198.50, Y:123.45, Z:-0.49 [[ 1.63178107e-01 -9.86596427e-01 -6.29194853e-04 1.98499583e+02] [ 9.86587799e-01 1.63179312e-01 -4.12648295e-03 1.23454634e+02] [ 4.17384491e-03 5.25957127e-05 9.99991288e-01 -4.91691581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83576923100003 meters 0.02250391792005284 Centerline is valid? [True, True] Translation: X:198.50, Y:123.48, Z:-0.49 [[ 1.66594160e-01 -9.86025523e-01 -2.32539849e-04 1.98497281e+02] [ 9.86024335e-01 1.66594320e-01 -1.53055522e-03 1.23479253e+02] [ 1.54790633e-03 2.56916120e-05 9.99998802e-01 -4.87398410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86576923100006 meters 0.023179408124536012 Centerline is valid? [True, True] Translation: X:198.50, Y:123.50, Z:-0.49 [[ 1.66963975e-01 -9.85962951e-01 -3.00425222e-04 1.98500826e+02] [ 9.85960965e-01 1.66964241e-01 -1.97950779e-03 1.23504421e+02] [ 2.00188161e-03 3.42989469e-05 9.99997996e-01 -4.88055434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89576923100003 meters 0.02312267505157468 Centerline is valid? [True, True] Translation: X:198.50, Y:123.53, Z:-0.49 [[ 1.66911396e-01 -9.85971538e-01 -8.44079672e-04 1.98502720e+02] [ 9.85955841e-01 1.66913502e-01 -5.56441663e-03 1.23529977e+02] [ 5.62724471e-03 9.65392642e-05 9.99984162e-01 -4.93930396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92576923100006 meters 0.024491404574355048 Centerline is valid? [True, True] Translation: X:198.50, Y:123.55, Z:-0.50 [[ 1.66860665e-01 -9.85980031e-01 -9.47313610e-04 1.98502466e+02] [ 9.85960181e-01 1.66863318e-01 -6.25738886e-03 1.23553485e+02] [ 6.32773236e-03 1.10098568e-04 9.99979974e-01 -4.96611871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95576923100003 meters 0.02345120802242352 Centerline is valid? [True, True] Translation: X:198.51, Y:123.58, Z:-0.50 [[ 1.66184896e-01 -9.86094234e-01 -8.61726146e-04 1.98506665e+02] [ 9.86077747e-01 1.66187101e-01 -5.70293273e-03 1.23577773e+02] [ 5.76683685e-03 9.80123044e-05 9.99983367e-01 -4.95158481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98576923100006 meters 0.02299578726773443 Centerline is valid? [True, True] Translation: X:198.51, Y:123.60, Z:-0.49 [[ 1.64719029e-01 -9.86340323e-01 -6.39451762e-04 1.98511508e+02] [ 9.86331211e-01 1.64720256e-01 -4.24025523e-03 1.23602004e+02] [ 4.28766537e-03 6.77394938e-05 9.99990806e-01 -4.91900292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01576923100004 meters 0.021536141084700155 Centerline is valid? [True, True] Translation: X:198.52, Y:123.63, Z:-0.49 [[ 1.63814341e-01 -9.86491032e-01 -5.53260231e-04 1.98516721e+02] [ 9.86484183e-01 1.63815266e-01 -3.67634813e-03 1.23626049e+02] [ 3.71731693e-03 5.64560783e-05 9.99993089e-01 -4.89622664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04576923100007 meters 0.022550787638848494 Centerline is valid? [True, True] Translation: X:198.52, Y:123.65, Z:-0.49 [[ 1.63606336e-01 -9.86525645e-01 -3.43632586e-04 1.98517570e+02] [ 9.86522991e-01 1.63606693e-01 -2.28872500e-03 1.23650174e+02] [ 2.31410650e-03 3.54484647e-05 9.99997322e-01 -4.88386708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07576923100004 meters 0.022376372007628834 Centerline is valid? [True, True] Translation: X:198.52, Y:123.67, Z:-0.49 [[ 1.63562957e-01 -9.86532880e-01 -1.89263849e-04 1.98521879e+02] [ 9.86532069e-01 1.63563066e-01 -1.26471764e-03 1.23674328e+02] [ 1.27864211e-03 2.01461005e-05 9.99999182e-01 -4.86721535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10576923100007 meters 0.019305054408319672 Centerline is valid? [True, True] Translation: X:198.53, Y:123.70, Z:-0.48 [[ 1.61578463e-01 -9.86859868e-01 2.33130450e-05 1.98530981e+02] [ 9.86859857e-01 1.61578465e-01 1.51756133e-04 1.23698759e+02] [-1.53528924e-04 -1.51381460e-06 9.99999988e-01 -4.84265868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13576923100004 meters 0.01899845594919681 Centerline is valid? [True, True] Translation: X:198.53, Y:123.72, Z:-0.49 [[ 1.60211332e-01 -9.87082734e-01 -7.50680290e-05 1.98533969e+02] [ 9.87082604e-01 1.60211349e-01 -5.06281483e-04 1.23722433e+02] [ 5.11768460e-04 7.01368500e-06 9.99999869e-01 -4.85725492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16576923100007 meters 0.018429184253372137 Centerline is valid? [True, True] Translation: X:198.54, Y:123.75, Z:-0.49 [[ 1.59119182e-01 -9.87259357e-01 -2.19043083e-04 1.98538193e+02] [ 9.87258260e-01 1.59119332e-01 -1.47161768e-03 1.23747028e+02] [ 1.48772231e-03 1.79105091e-05 9.99998893e-01 -4.88519930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19576923100004 meters 0.015799086057835282 Centerline is valid? [True, True] Translation: X:198.55, Y:123.77, Z:-0.49 [[ 1.55521544e-01 -9.87832440e-01 -3.45015928e-04 1.98549344e+02] [ 9.87829717e-01 1.55521926e-01 -2.31974941e-03 1.23770445e+02] [ 2.34518126e-03 1.99540235e-05 9.99997250e-01 -4.89869760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2257692310001 meters 0.014578336079008507 Centerline is valid? [True, True] Translation: X:198.56, Y:123.79, Z:-0.49 [[ 1.52826931e-01 -9.88252950e-01 -1.90998991e-04 1.98557041e+02] [ 9.88252110e-01 1.52827050e-01 -1.28815901e-03 1.23793439e+02] [ 1.30221675e-03 8.11023171e-06 9.99999152e-01 -4.88176213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25576923100004 meters 0.012683688794090344 Centerline is valid? [True, True] Translation: X:198.57, Y:123.82, Z:-0.49 [[ 1.48532177e-01 -9.88907574e-01 5.15935841e-05 1.98566524e+02] [ 9.88907514e-01 1.48532186e-01 3.43594165e-04 1.23817065e+02] [-3.47446180e-04 -1.35062601e-08 9.99999940e-01 -4.85186351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2857692310001 meters 0.012493136939334236 Centerline is valid? [True, True] Translation: X:198.57, Y:123.84, Z:-0.49 [[ 1.46553045e-01 -9.89202813e-01 1.95565704e-05 1.98571374e+02] [ 9.89202804e-01 1.46553046e-01 1.27883959e-04 1.23840086e+02] [-1.29369247e-04 6.03630686e-07 9.99999992e-01 -4.86650007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31576923100005 meters 0.012707405100557076 Centerline is valid? [True, True] Translation: X:198.58, Y:123.86, Z:-0.49 [[ 1.44709768e-01 -9.89474142e-01 -6.98973160e-05 1.98577333e+02] [ 9.89474027e-01 1.44709784e-01 -4.76935617e-04 1.23864294e+02] [ 4.82030286e-04 -1.44336596e-07 9.99999884e-01 -4.87594436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3457692310001 meters 0.014569341445292563 Centerline is valid? [True, True] Translation: X:198.59, Y:123.89, Z:-0.49 [[ 1.40900934e-01 -9.90023623e-01 -3.90671253e-04 1.98591660e+02] [ 9.90020075e-01 1.40901475e-01 -2.65039416e-03 1.23887047e+02] [ 2.67899898e-03 -1.33293711e-05 9.99996411e-01 -4.91972705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37576923100005 meters 0.015420376251332623 Centerline is valid? [True, True] Translation: X:198.60, Y:123.91, Z:-0.49 [[ 1.38783966e-01 -9.90322511e-01 -5.78344913e-04 1.98599931e+02] [ 9.90314717e-01 1.38785169e-01 -3.92914926e-03 1.23911460e+02] [ 3.97139066e-03 -2.74405610e-05 9.99992114e-01 -4.92788754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.405769231 meters 0.016280750849327494 Centerline is valid? [True, True] Translation: X:198.61, Y:123.93, Z:-0.49 [[ 1.37518578e-01 -9.90498995e-01 -6.17582259e-04 1.98607077e+02] [ 9.90490072e-01 1.37519960e-01 -4.20456524e-03 1.23934225e+02] [ 4.24954754e-03 -3.35032644e-05 9.99990970e-01 -4.93083989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43576923100005 meters 0.014827592304272875 Centerline is valid? [True, True] Translation: X:198.61, Y:123.96, Z:-0.49 [[ 1.39295355e-01 -9.90250745e-01 -5.16048632e-04 1.98611565e+02] [ 9.90244487e-01 1.39296310e-01 -3.52060487e-03 1.23958784e+02] [ 3.55816526e-03 -2.06104069e-05 9.99993669e-01 -4.91414411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.465769231 meters 0.013438685622081012 Centerline is valid? [True, True] Translation: X:198.61, Y:123.98, Z:-0.49 [[ 1.42665609e-01 -9.89770820e-01 -4.98397153e-04 1.98613300e+02] [ 9.89764958e-01 1.42666480e-01 -3.40625264e-03 1.23982225e+02] [ 3.44251403e-03 -7.34092941e-06 9.99994075e-01 -4.90605157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49576923100005 meters 0.012817248740106597 Centerline is valid? [True, True] Translation: X:198.61, Y:124.01, Z:-0.49 [[ 1.44086548e-01 -9.89565002e-01 -4.17813346e-04 1.98613897e+02] [ 9.89560862e-01 1.44087153e-01 -2.86212453e-03 1.24006837e+02] [ 2.89245980e-03 -1.05809231e-06 9.99995817e-01 -4.88674215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.525769231 meters 0.012870595174554945 Centerline is valid? [True, True] Translation: X:198.61, Y:124.03, Z:-0.49 [[ 1.45647200e-01 -9.89336549e-01 -2.92364514e-04 1.98614437e+02] [ 9.89334513e-01 1.45647493e-01 -2.00748530e-03 1.24031160e+02] [ 2.02866074e-03 3.13830856e-06 9.99997942e-01 -4.87775826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55576923100006 meters 0.013415322563629527 Centerline is valid? [True, True] Translation: X:198.61, Y:124.06, Z:-0.48 [[ 1.48574553e-01 -9.88901209e-01 -2.44277425e-05 1.98613669e+02] [ 9.88901194e-01 1.48574555e-01 -1.71939645e-04 1.24055920e+02] [ 1.73660664e-04 1.38923217e-06 9.99999985e-01 -4.84439451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58576923100003 meters 0.01439587620287417 Centerline is valid? [True, True] Translation: X:198.61, Y:124.08, Z:-0.48 [[ 1.49635781e-01 -9.88741186e-01 -2.18798840e-05 1.98614131e+02] [ 9.88741174e-01 1.49635783e-01 -1.54504360e-04 1.24079512e+02] [ 1.56038837e-04 1.48583836e-06 9.99999988e-01 -4.83890652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61576923100006 meters 0.014511760961870023 Centerline is valid? [True, True] Translation: X:198.62, Y:124.10, Z:-0.49 [[ 1.49400888e-01 -9.88776700e-01 -1.13771322e-04 1.98615712e+02] [ 9.88776385e-01 1.49400931e-01 -7.88226832e-04 1.24104269e+02] [ 7.96377867e-04 5.26739206e-06 9.99999683e-01 -4.85358623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64576923100003 meters 0.013710710316478357 Centerline is valid? [True, True] Translation: X:198.62, Y:124.13, Z:-0.49 [[ 1.47807262e-01 -9.89016169e-01 -1.72947847e-04 1.98620717e+02] [ 9.89015443e-01 1.47807363e-01 -1.19856833e-03 1.24128610e+02] [ 1.21096642e-03 6.10901107e-06 9.99999267e-01 -4.86697507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67576923100006 meters 0.013267799202635582 Centerline is valid? [True, True] Translation: X:198.63, Y:124.15, Z:-0.49 [[ 1.45391865e-01 -9.89374097e-01 -3.20314966e-04 1.98626490e+02] [ 9.89371604e-01 1.45392218e-01 -2.22094532e-03 1.24151350e+02] [ 2.24391707e-03 5.99685116e-06 9.99997482e-01 -4.89557914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70576923100003 meters 0.013377021193371636 Centerline is valid? [True, True] Translation: X:198.64, Y:124.17, Z:-0.49 [[ 1.40671336e-01 -9.90056234e-01 -4.77486813e-04 1.98637382e+02] [ 9.90050685e-01 1.40672146e-01 -3.31488618e-03 1.24174510e+02] [ 3.34909282e-03 -6.42667910e-06 9.99994392e-01 -4.91649247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73576923100006 meters 0.014027606524051784 Centerline is valid? [True, True] Translation: X:198.64, Y:124.20, Z:-0.49 [[ 1.37972404e-01 -9.90436015e-01 -3.39128291e-04 1.98643479e+02] [ 9.90433203e-01 1.37972820e-01 -2.36015905e-03 1.24197270e+02] [ 2.38437702e-03 -1.02471009e-05 9.99997157e-01 -4.88173417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76576923100004 meters 0.013456755101560695 Centerline is valid? [True, True] Translation: X:198.65, Y:124.22, Z:-0.48 [[ 1.38241884e-01 -9.90398486e-01 -1.45289881e-04 1.98645078e+02] [ 9.90397965e-01 1.38241960e-01 -1.01570579e-03 1.24222437e+02] [ 1.02603863e-03 -3.48172030e-06 9.99999474e-01 -4.84833459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79576923100007 meters 0.012919572207609179 Centerline is valid? [True, True] Translation: X:198.65, Y:124.25, Z:-0.48 [[ 1.39307762e-01 -9.90249133e-01 3.93291723e-05 1.98646012e+02] [ 9.90249096e-01 1.39307768e-01 2.69896630e-04 1.24245882e+02] [-2.72743763e-04 1.34698174e-06 9.99999963e-01 -4.82513074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82576923100004 meters 0.01253311393421005 Centerline is valid? [True, True] Translation: X:198.64, Y:124.27, Z:-0.48 [[ 1.42849436e-01 -9.89744426e-01 9.85707253e-05 1.98640868e+02] [ 9.89744189e-01 1.42849470e-01 6.84644213e-04 1.24271091e+02] [-6.91703570e-04 -2.41237337e-07 9.99999761e-01 -4.81557319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85576923100007 meters 0.013242717346902976 Centerline is valid? [True, True] Translation: X:198.64, Y:124.30, Z:-0.48 [[ 1.44955139e-01 -9.89438228e-01 3.57438757e-05 1.98636634e+02] [ 9.89438197e-01 1.44955143e-01 2.45850414e-04 1.24295758e+02] [-2.48435057e-04 -2.70924987e-07 9.99999969e-01 -4.83281682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88576923100004 meters 0.016176773565119283 Centerline is valid? [True, True] Translation: X:198.63, Y:124.32, Z:-0.49 [[ 1.49350020e-01 -9.88784381e-01 -1.41184979e-04 1.98627617e+02] [ 9.88783880e-01 1.49350087e-01 -9.95121468e-04 1.24322128e+02] [ 1.00504655e-03 9.01998012e-06 9.99999495e-01 -4.86036281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91576923100007 meters 0.016176773565119283 Centerline is valid? [True, True] Translation: X:198.63, Y:124.35, Z:-0.49 [[ 1.49081431e-01 -9.88824912e-01 -1.40917352e-04 1.98630639e+02] [ 9.88824412e-01 1.49081497e-01 -9.95159480e-04 1.24346113e+02] [ 1.00504666e-03 9.01728144e-06 9.99999495e-01 -4.86088145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94576923100004 meters 0.016152213687436873 Centerline is valid? [True, True] Translation: X:198.63, Y:124.37, Z:-0.49 [[ 1.49830466e-01 -9.88711679e-01 -2.19152947e-04 1.98633402e+02] [ 9.88710466e-01 1.49830625e-01 -1.54889201e-03 1.24370974e+02] [ 1.56424345e-03 1.53923996e-05 9.99998776e-01 -4.86306051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9757692310001 meters 0.01592004938460126 Centerline is valid? [True, True] Translation: X:198.64, Y:124.39, Z:-0.49 [[ 1.48538335e-01 -9.88906618e-01 -2.51940874e-04 1.98636598e+02] [ 9.88905011e-01 1.48538548e-01 -1.78314743e-03 1.24394413e+02] [ 1.80078923e-03 1.57201585e-05 9.99998378e-01 -4.87130329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00576923100004 meters 0.012904148052358988 Centerline is valid? [True, True] Translation: X:198.65, Y:124.42, Z:-0.49 [[ 1.42208851e-01 -9.89836667e-01 -1.25852571e-04 1.98648779e+02] [ 9.89836263e-01 1.42208907e-01 -8.94257993e-04 1.24418720e+02] [ 9.03066707e-04 2.59796341e-06 9.99999592e-01 -4.85476311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0357692310001 meters 0.012674390842723744 Centerline is valid? [True, True] Translation: X:198.66, Y:124.44, Z:-0.49 [[ 1.38599656e-01 -9.90348491e-01 -2.86652015e-05 1.98657190e+02] [ 9.90348470e-01 1.38599659e-01 -2.07625552e-04 1.24442492e+02] [ 2.09594640e-04 3.88291773e-07 9.99999978e-01 -4.85286083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06576923100005 meters 0.015674963902817016 Centerline is valid? [True, True] Translation: X:198.67, Y:124.47, Z:-0.49 [[ 1.32726016e-01 -9.91152757e-01 -1.27959020e-04 1.98672421e+02] [ 9.91152337e-01 1.32726078e-01 -9.12867735e-04 1.24465404e+02] [ 9.21774871e-04 -5.66558363e-06 9.99999575e-01 -4.88203325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0957692310001 meters 0.016646138417667194 Centerline is valid? [True, True] Translation: X:198.68, Y:124.49, Z:-0.49 [[ 1.30835536e-01 -9.91404046e-01 -2.83890374e-04 1.98678020e+02] [ 9.91401977e-01 1.30835842e-01 -2.02528888e-03 1.24488503e+02] [ 2.04502262e-03 -1.64697228e-05 9.99997909e-01 -4.89815242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12576923100005 meters 0.01705722729275898 Centerline is valid? [True, True] Translation: X:198.68, Y:124.51, Z:-0.49 [[ 1.30282918e-01 -9.91476757e-01 -4.49531316e-04 1.98681912e+02] [ 9.91471558e-01 1.30283691e-01 -3.21099096e-03 1.24512100e+02] [ 3.24218950e-03 -2.73602413e-05 9.99994744e-01 -4.92401738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.155769231 meters 0.015720094598557097 Centerline is valid? [True, True] Translation: X:198.68, Y:124.54, Z:-0.50 [[ 1.31588937e-01 -9.91304109e-01 -7.18046405e-04 1.98684197e+02] [ 9.91290800e-01 1.31590891e-01 -5.13676549e-03 1.24536522e+02] [ 5.18658510e-03 -3.58512847e-05 9.99986549e-01 -4.95039001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18576923100005 meters 0.015207486553589517 Centerline is valid? [True, True] Translation: X:198.69, Y:124.56, Z:-0.50 [[ 1.32215858e-01 -9.91220679e-01 -7.29186485e-04 1.98688314e+02] [ 9.91206897e-01 1.32217865e-01 -5.22715695e-03 1.24561289e+02] [ 5.27767754e-03 -3.16616318e-05 9.99986072e-01 -4.95152998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.215769231 meters 0.014295232470380241 Centerline is valid? [True, True] Translation: X:198.69, Y:124.58, Z:-0.49 [[ 1.33236809e-01 -9.91084097e-01 -5.15203230e-04 1.98694718e+02] [ 9.91077181e-01 1.33237804e-01 -3.70261587e-03 1.24583871e+02] [ 3.73824825e-03 -1.72814395e-05 9.99993013e-01 -4.91026316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24576923100005 meters 0.013954351145386422 Centerline is valid? [True, True] Translation: X:198.70, Y:124.61, Z:-0.49 [[ 1.33264661e-01 -9.91080424e-01 -3.49920778e-04 1.98698997e+02] [ 9.91077218e-01 1.33265120e-01 -2.52117011e-03 1.24608677e+02] [ 2.54531458e-03 -1.08156320e-05 9.99996761e-01 -4.88740492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.275769231 meters 0.013946566817246335 Centerline is valid? [True, True] Translation: X:198.70, Y:124.63, Z:-0.49 [[ 1.33532903e-01 -9.91044361e-01 -1.97500735e-04 1.98703300e+02] [ 9.91043332e-01 1.33533049e-01 -1.42808862e-03 1.24632066e+02] [ 1.44167205e-03 -5.03496643e-06 9.99998961e-01 -4.87407959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30576923100006 meters 0.01290980306380073 Centerline is valid? [True, True] Translation: X:198.70, Y:124.66, Z:-0.49 [[ 1.34986923e-01 -9.90847376e-01 -9.20722787e-05 1.98704928e+02] [ 9.90847149e-01 1.34986955e-01 -6.69689427e-04 1.24655447e+02] [ 6.75988567e-04 -8.30239521e-07 9.99999772e-01 -4.85771939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33576923100003 meters 0.012810669759815208 Centerline is valid? [True, True] Translation: X:198.71, Y:124.68, Z:-0.49 [[ 1.35737406e-01 -9.90744826e-01 -2.16534235e-04 1.98707158e+02] [ 9.90743579e-01 1.35737578e-01 -1.57173775e-03 1.24680482e+02] [ 1.58658288e-03 -1.18629785e-06 9.99998741e-01 -4.87614544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36576923100006 meters 0.013464227890780642 Centerline is valid? [True, True] Translation: X:198.71, Y:124.71, Z:-0.49 [[ 1.38001767e-01 -9.90431746e-01 -6.84862482e-04 1.98706483e+02] [ 9.90419270e-01 1.38003466e-01 -4.97127409e-03 1.24705537e+02] [ 5.01822108e-03 7.74361074e-06 9.99987409e-01 -4.94071600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39576923100003 meters 0.01350976321585478 Centerline is valid? [True, True] Translation: X:198.71, Y:124.73, Z:-0.49 [[ 1.39138981e-01 -9.90272612e-01 -7.05850142e-04 1.98707030e+02] [ 9.90259300e-01 1.39140770e-01 -5.13459369e-03 1.24730755e+02] [ 5.18286003e-03 1.54474637e-05 9.99986569e-01 -4.93079525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42576923100006 meters 0.014089213980963163 Centerline is valid? [True, True] Translation: X:198.71, Y:124.75, Z:-0.49 [[ 1.40094210e-01 -9.90137992e-01 -6.07807640e-04 1.98706661e+02] [ 9.90128073e-01 1.40095527e-01 -4.43191529e-03 1.24754306e+02] [ 4.47335884e-03 1.90782639e-05 9.99989994e-01 -4.92021770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45576923100003 meters 0.013501262286055728 Centerline is valid? [True, True] Translation: X:198.71, Y:124.78, Z:-0.49 [[ 1.40123268e-01 -9.90134046e-01 -2.03920588e-04 1.98709133e+02] [ 9.90132920e-01 1.40123417e-01 -1.49317413e-03 1.24779081e+02] [ 1.50701659e-03 7.31995254e-06 9.99998864e-01 -4.85898490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48576923100006 meters 0.013359929898281657 Centerline is valid? [True, True] Translation: X:198.71, Y:124.80, Z:-0.49 [[ 1.39588254e-01 -9.90209632e-01 -6.31835160e-05 1.98712813e+02] [ 9.90209522e-01 1.39588268e-01 -4.67048388e-04 1.24802797e+02] [ 4.71295490e-04 2.62954964e-06 9.99999889e-01 -4.85122792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51576923100004 meters 0.013037095534004223 Centerline is valid? [True, True] Translation: X:198.72, Y:124.83, Z:-0.48 [[ 1.38330340e-01 -9.90386145e-01 4.23828898e-05 1.98718073e+02] [ 9.90386097e-01 1.38330346e-01 3.06464369e-04 1.24825571e+02] [-3.09380905e-04 -4.17895442e-07 9.99999952e-01 -4.84424167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54576923100007 meters 0.01259997391173037 Centerline is valid? [True, True] Translation: X:198.73, Y:124.85, Z:-0.48 [[ 1.34685331e-01 -9.90888410e-01 1.46084241e-04 1.98728230e+02] [ 9.90887833e-01 1.34685411e-01 1.06859910e-03 1.24848043e+02] [-1.07853788e-03 8.28472787e-07 9.99999418e-01 -4.84319821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57576923100004 meters 0.012787151411110923 Centerline is valid? [True, True] Translation: X:198.73, Y:124.87, Z:-0.48 [[ 1.33037073e-01 -9.91111041e-01 2.01844599e-04 1.98733605e+02] [ 9.91109934e-01 1.33037226e-01 1.48153886e-03 1.24872652e+02] [-1.49522236e-03 2.95059399e-06 9.99998882e-01 -4.84109261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60576923100007 meters 0.013109584112689861 Centerline is valid? [True, True] Translation: X:198.74, Y:124.90, Z:-0.48 [[ 1.31885750e-01 -9.91264904e-01 1.99145819e-04 1.98738061e+02] [ 9.91263822e-01 1.31885900e-01 1.46465869e-03 1.24896229e+02] [-1.47812928e-03 4.23843535e-06 9.99998908e-01 -4.84459728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63576923100004 meters 0.012934071152945432 Centerline is valid? [True, True] Translation: X:198.74, Y:124.92, Z:-0.49 [[ 1.32205830e-01 -9.91222283e-01 6.48296898e-05 1.98740182e+02] [ 9.91222169e-01 1.32205846e-01 4.74750679e-04 1.24920772e+02] [-4.79154316e-04 1.49581818e-06 9.99999885e-01 -4.85230834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66576923100007 meters 0.012872285516528222 Centerline is valid? [True, True] Translation: X:198.74, Y:124.94, Z:-0.49 [[ 1.33031416e-01 -9.91111818e-01 -8.34765135e-05 1.98741491e+02] [ 9.91111622e-01 1.33031442e-01 -6.23333977e-04 1.24944462e+02] [ 6.28898672e-04 1.88458796e-07 9.99999802e-01 -4.87313811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69576923100004 meters 0.01304582256620672 Centerline is valid? [True, True] Translation: X:198.74, Y:124.97, Z:-0.49 [[ 1.33988814e-01 -9.90982825e-01 -1.95916857e-04 1.98742657e+02] [ 9.90981750e-01 1.33988957e-01 -1.45946075e-03 1.24968925e+02] [ 1.47255123e-03 1.40138467e-06 9.99998916e-01 -4.88466855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7257692310001 meters 0.013284482452345382 Centerline is valid? [True, True] Translation: X:198.74, Y:124.99, Z:-0.49 [[ 1.35812651e-01 -9.90734536e-01 -6.11201282e-05 1.98742961e+02] [ 9.90734429e-01 1.35812665e-01 -4.59429298e-04 1.24993449e+02] [ 4.63473360e-04 1.84249563e-06 9.99999893e-01 -4.86657632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75576923100004 meters 0.013415094772650354 Centerline is valid? [True, True] Translation: X:198.74, Y:125.02, Z:-0.49 [[ 1.36376339e-01 -9.90657096e-01 1.09621852e-04 1.98744566e+02] [ 9.90656763e-01 1.36376383e-01 8.12888032e-04 1.25017409e+02] [-8.20243129e-04 -2.26106500e-06 9.99999664e-01 -4.85525971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7857692310001 meters 0.013803283954257433 Centerline is valid? [True, True] Translation: X:198.75, Y:125.04, Z:-0.49 [[ 1.36826818e-01 -9.90594973e-01 1.43720651e-04 1.98747330e+02] [ 9.90594396e-01 1.36826894e-01 1.06972018e-03 1.25041693e+02] [-1.07932428e-03 -3.99753737e-06 9.99999418e-01 -4.86000670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81576923100005 meters 0.013768595076316947 Centerline is valid? [True, True] Translation: X:198.75, Y:125.07, Z:-0.49 [[ 1.36800991e-01 -9.90598545e-01 -1.05928360e-04 1.98751009e+02] [ 9.90598224e-01 1.36801032e-01 -7.98248635e-04 1.25066198e+02] [ 8.05235046e-04 4.26875876e-06 9.99999676e-01 -4.88707401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8457692310001 meters 0.014887856408009636 Centerline is valid? [True, True] Translation: X:198.75, Y:125.09, Z:-0.49 [[ 1.38110244e-01 -9.90416643e-01 -6.58232849e-04 1.98751492e+02] [ 9.90404297e-01 1.38111809e-01 -4.94530748e-03 1.25091493e+02] [ 4.98882456e-03 3.10809773e-05 9.99987555e-01 -4.93691784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87576923100005 meters 0.01583327991263807 Centerline is valid? [True, True] Translation: X:198.75, Y:125.11, Z:-0.49 [[ 1.39278281e-01 -9.90253058e-01 -6.64327210e-04 1.98751303e+02] [ 9.90240419e-01 1.39279860e-01 -5.00323682e-03 1.25114949e+02] [ 5.04699796e-03 3.89985676e-05 9.99987263e-01 -4.93961547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.905769231 meters 0.017703330173582492 Centerline is valid? [True, True] Translation: X:198.75, Y:125.14, Z:-0.49 [[ 1.40815457e-01 -9.90035723e-01 -5.23483911e-04 1.98750313e+02] [ 9.90027834e-01 1.40816424e-01 -3.95244815e-03 1.25138545e+02] [ 3.98678000e-03 3.83021486e-05 9.99992052e-01 -4.93302809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93576923100005 meters 0.01946348917346923 Centerline is valid? [True, True] Translation: X:198.75, Y:125.16, Z:-0.49 [[ 1.43764928e-01 -9.89611836e-01 -2.42465409e-04 1.98751964e+02] [ 9.89610133e-01 1.43765130e-01 -1.83616415e-03 1.25164131e+02] [ 1.85194784e-03 2.40297803e-05 9.99998285e-01 -4.89279110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.965769231 meters 0.02089134482939876 Centerline is valid? [True, True] Translation: X:198.75, Y:125.19, Z:-0.49 [[ 1.44533182e-01 -9.89499946e-01 -1.27219836e-04 1.98753332e+02] [ 9.89499473e-01 1.44533237e-01 -9.68053373e-04 1.25187533e+02] [ 9.76276255e-04 1.40318733e-05 9.99999523e-01 -4.88105993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99576923100005 meters 0.020644027784198365 Centerline is valid? [True, True] Translation: X:198.76, Y:125.21, Z:-0.48 [[ 1.45177937e-01 -9.89405546e-01 1.79312346e-04 1.98757259e+02] [ 9.89404617e-01 1.45178046e-01 1.35614760e-03 1.25211677e+02] [-1.36781218e-03 -1.94702478e-05 9.99999064e-01 -4.83443547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.025769231 meters 0.021079287613360427 Centerline is valid? [True, True] Translation: X:198.76, Y:125.24, Z:-0.48 [[ 1.45032303e-01 -9.89426863e-01 3.37176901e-04 1.98759328e+02] [ 9.89423553e-01 1.45032690e-01 2.55974119e-03 1.25235170e+02] [-2.58157837e-03 -3.76343923e-05 9.99996667e-01 -4.81124534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05576923100006 meters 0.021507510058136427 Centerline is valid? [True, True] Translation: X:198.76, Y:125.26, Z:-0.48 [[ 1.45141241e-01 -9.89410854e-01 4.27638658e-04 1.98761729e+02] [ 9.89405501e-01 1.45141863e-01 3.25497263e-03 1.25259442e+02] [-3.28257352e-03 -4.93227270e-05 9.99994611e-01 -4.79669747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08576923100003 meters 0.02100164098438515 Centerline is valid? [True, True] Translation: X:198.77, Y:125.28, Z:-0.48 [[ 1.44942107e-01 -9.89440110e-01 2.34148649e-04 1.98766385e+02] [ 9.89438502e-01 1.44942294e-01 1.78397547e-03 1.25283981e+02] [-1.79907492e-03 -2.68974745e-05 9.99998381e-01 -4.83602445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11576923100006 meters 0.02135321425841217 Centerline is valid? [True, True] Translation: X:198.77, Y:125.31, Z:-0.49 [[ 1.44612546e-01 -9.89488357e-01 6.17962614e-05 1.98769625e+02] [ 9.89488246e-01 1.44612559e-01 4.68298074e-04 1.25307170e+02] [-4.72312008e-04 -6.57510254e-06 9.99999888e-01 -4.86472099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14576923100003 meters 0.02103623379741765 Centerline is valid? [True, True] Translation: X:198.78, Y:125.33, Z:-0.49 [[ 1.44289781e-01 -9.89535468e-01 -1.30274529e-04 1.98775178e+02] [ 9.89534958e-01 1.44289839e-01 -1.00435040e-03 1.25331301e+02] [ 1.01263763e-03 1.60062985e-05 9.99999487e-01 -4.88743155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17576923100006 meters 0.022291475694581113 Centerline is valid? [True, True] Translation: X:198.78, Y:125.35, Z:-0.49 [[ 1.44278771e-01 -9.89537069e-01 -1.62140148e-04 1.98776261e+02] [ 9.89536277e-01 1.44278860e-01 -1.25192707e-03 1.25354559e+02] [ 1.26222164e-03 2.01829394e-05 9.99999203e-01 -4.88786578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20576923100003 meters 0.02207018602031338 Centerline is valid? [True, True] Translation: X:198.78, Y:125.38, Z:-0.49 [[ 1.44184731e-01 -9.89550776e-01 -1.56248095e-04 1.98779848e+02] [ 9.89550038e-01 1.44184814e-01 -1.20891631e-03 1.25379146e+02] [ 1.21881267e-03 1.96919649e-05 9.99999257e-01 -4.88515973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23576923100006 meters 0.020947392435831755 Centerline is valid? [True, True] Translation: X:198.78, Y:125.40, Z:-0.49 [[ 1.44195513e-01 -9.89549212e-01 1.02999946e-04 1.98784988e+02] [ 9.89548896e-01 1.44195549e-01 7.90840511e-04 1.25403431e+02] [-7.97427739e-04 -1.21121706e-05 9.99999682e-01 -4.85978580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26576923100004 meters 0.02312628488127422 Centerline is valid? [True, True] Translation: X:198.78, Y:125.43, Z:-0.48 [[ 1.44805114e-01 -9.89460172e-01 2.17095347e-04 1.98784975e+02] [ 9.89458753e-01 1.44805275e-01 1.67608878e-03 1.25427829e+02] [-1.68985965e-03 -2.78993367e-05 9.99998572e-01 -4.84612124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29576923100007 meters 0.025202793281834505 Centerline is valid? [True, True] Translation: X:198.79, Y:125.45, Z:-0.48 [[ 1.46485317e-01 -9.89212806e-01 2.76228601e-04 1.98786006e+02] [ 9.89210495e-01 1.46485572e-01 2.13863581e-03 1.25453193e+02] [-2.15602943e-03 -4.00305144e-05 9.99997675e-01 -4.83017042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32576923100004 meters 0.026184802378079446 Centerline is valid? [True, True] Translation: X:198.79, Y:125.48, Z:-0.48 [[ 1.47472802e-01 -9.89066084e-01 2.32967245e-04 1.98787870e+02] [ 9.89064435e-01 1.47472982e-01 1.80662518e-03 1.25478305e+02] [-1.82122807e-03 -3.60084612e-05 9.99998341e-01 -4.83380922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35576923100007 meters 0.02974585455826989 Centerline is valid? [True, True] Translation: X:198.79, Y:125.50, Z:-0.48 [[ 1.49051260e-01 -9.88829454e-01 1.78510600e-04 1.98785857e+02] [ 9.88828483e-01 1.49051364e-01 1.38619026e-03 1.25503072e+02] [-1.39731300e-03 -3.00970391e-05 9.99999023e-01 -4.84368278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38576923100004 meters 0.030569808447813554 Centerline is valid? [True, True] Translation: X:198.79, Y:125.53, Z:-0.49 [[ 1.53098549e-01 -9.88210925e-01 -4.71307059e-05 1.98786198e+02] [ 9.88210855e-01 1.53098556e-01 -3.72235104e-04 1.25528655e+02] [ 3.75062440e-04 1.04135792e-05 9.99999930e-01 -4.87951073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41576923100007 meters 0.032389659794098476 Centerline is valid? [True, True] Translation: X:198.79, Y:125.55, Z:-0.49 [[ 1.55165771e-01 -9.87888433e-01 -1.65317902e-04 1.98785153e+02] [ 9.87887582e-01 1.55165854e-01 -1.29731648e-03 1.25554817e+02] [ 1.30725564e-03 3.79836090e-05 9.99999145e-01 -4.89912874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44576923100004 meters 0.036015964855755325 Centerline is valid? [True, True] Translation: X:198.78, Y:125.58, Z:-0.49 [[ 1.57092487e-01 -9.87583862e-01 -2.57294060e-04 1.98781757e+02] [ 9.87581796e-01 1.57092685e-01 -2.02116448e-03 1.25580282e+02] [ 2.03648843e-03 6.34108242e-05 9.99997924e-01 -4.91510324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4757692310001 meters 0.04032799269950308 Centerline is valid? [True, True] Translation: X:198.78, Y:125.61, Z:-0.49 [[ 1.60276991e-01 -9.87072067e-01 -1.45460796e-04 1.98778460e+02] [ 9.87071402e-01 1.60277052e-01 -1.14619443e-03 1.25605190e+02] [ 1.15469053e-03 4.01284014e-05 9.99999333e-01 -4.88746840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50576923100004 meters 0.03960129992149417 Centerline is valid? [True, True] Translation: X:198.78, Y:125.63, Z:-0.49 [[ 1.60801976e-01 -9.86986689e-01 -1.10200291e-05 1.98781790e+02] [ 9.86986685e-01 1.60801976e-01 -9.11348140e-05 1.25630167e+02] [ 9.17208907e-05 3.77803619e-06 9.99999996e-01 -4.86149113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5357692310001 meters 0.04535731209214204 Centerline is valid? [True, True] Translation: X:198.77, Y:125.65, Z:-0.49 [[ 1.60646013e-01 -9.87012072e-01 1.65205255e-04 1.98772037e+02] [ 9.87011220e-01 1.60646092e-01 1.29796211e-03 1.25654990e+02] [-1.30764385e-03 -4.54529981e-05 9.99999144e-01 -4.87165639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56576923100005 meters 0.04078942247864477 Centerline is valid? [True, True] Translation: X:198.78, Y:125.68, Z:-0.49 [[ 1.59890893e-01 -9.87134678e-01 1.72555917e-04 1.98779523e+02] [ 9.87133743e-01 1.59890980e-01 1.35924445e-03 1.25678739e+02] [-1.36934747e-03 -4.69950413e-05 9.99999061e-01 -4.87323040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5957692310001 meters 0.04056379832832681 Centerline is valid? [True, True] Translation: X:198.78, Y:125.70, Z:-0.49 [[ 1.58859105e-01 -9.87301248e-01 1.72198158e-04 1.98782264e+02] [ 9.87300313e-01 1.58859192e-01 1.35951756e-03 1.25703151e+02] [-1.36960864e-03 -4.59604473e-05 9.99999061e-01 -4.87690037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62576923100005 meters 0.04018657386326979 Centerline is valid? [True, True] Translation: X:198.79, Y:125.73, Z:-0.49 [[ 1.57809212e-01 -9.87469613e-01 1.27478699e-04 1.98785103e+02] [ 9.87469100e-01 1.57809260e-01 1.00741934e-03 1.25727675e+02] [-1.01491331e-03 -3.30987765e-05 9.99999484e-01 -4.87913262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.655769231 meters 0.037857387498025176 Centerline is valid? [True, True] Translation: X:198.79, Y:125.75, Z:-0.49 [[ 1.55451918e-01 -9.87843452e-01 -1.29080931e-04 1.98788443e+02] [ 9.87842914e-01 1.55451968e-01 -1.03094767e-03 1.25753222e+02] [ 1.03848079e-03 3.27511097e-05 9.99999460e-01 -4.90426034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68576923100005 meters 0.0362182903471951 Centerline is valid? [True, True] Translation: X:198.79, Y:125.78, Z:-0.49 [[ 1.53974158e-01 -9.88074853e-01 -2.07522569e-04 1.98791534e+02] [ 9.88073463e-01 1.53974290e-01 -1.65853522e-03 1.25778318e+02] [ 1.67071008e-03 5.03240212e-05 9.99998603e-01 -4.92066048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.715769231 meters 0.0358681671715576 Centerline is valid? [True, True] Translation: X:198.79, Y:125.80, Z:-0.49 [[ 1.51708796e-01 -9.88425179e-01 -3.26576903e-04 1.98792947e+02] [ 9.88421727e-01 1.51709130e-01 -2.61332474e-03 1.25802658e+02] [ 2.63262067e-03 7.36686446e-05 9.99996532e-01 -4.94458842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74576923100005 meters 0.03407247158151311 Centerline is valid? [True, True] Translation: X:198.80, Y:125.83, Z:-0.50 [[ 1.50166002e-01 -9.88660723e-01 -3.82431798e-04 1.98797421e+02] [ 9.88655974e-01 1.50166467e-01 -3.06562509e-03 1.25827452e+02] [ 3.08829155e-03 8.22591826e-05 9.99995228e-01 -4.95790982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.775769231 meters 0.031717304876499874 Centerline is valid? [True, True] Translation: X:198.80, Y:125.85, Z:-0.50 [[ 1.48160597e-01 -9.88963234e-01 -3.99755583e-04 1.98802750e+02] [ 9.88958024e-01 1.48161114e-01 -3.21101532e-03 1.25852426e+02] [ 3.23480433e-03 8.04044548e-05 9.99994765e-01 -4.95897304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80576923100006 meters 0.031717304876499874 Centerline is valid? [True, True] Translation: X:198.81, Y:125.88, Z:-0.50 [[ 1.47891599e-01 -9.89003496e-01 -3.98850038e-04 1.98805365e+02] [ 9.88998287e-01 1.47892115e-01 -3.21112801e-03 1.25876464e+02] [ 3.23480361e-03 8.04368533e-05 9.99994765e-01 -4.95949185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83576923100003 meters 0.027707391277581525 Centerline is valid? [True, True] Translation: X:198.81, Y:125.90, Z:-0.50 [[ 1.42727616e-01 -9.89761940e-01 -3.59268814e-04 1.98813359e+02] [ 9.89757694e-01 1.42728056e-01 -2.89977650e-03 1.25899145e+02] [ 2.92136616e-03 5.82891146e-05 9.99995731e-01 -4.96034673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86576923100006 meters 0.024549326575522425 Centerline is valid? [True, True] Translation: X:198.82, Y:125.92, Z:-0.50 [[ 1.39513348e-01 -9.90220122e-01 -3.69627292e-04 1.98820691e+02] [ 9.90215608e-01 1.39513828e-01 -2.99012538e-03 1.25922575e+02] [ 3.01245044e-03 5.11516887e-05 9.99995461e-01 -4.96157157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89576923100003 meters 0.021883311442069734 Centerline is valid? [True, True] Translation: X:198.83, Y:125.95, Z:-0.50 [[ 1.36430516e-01 -9.90649584e-01 -3.40094379e-04 1.98826806e+02] [ 9.90645746e-01 1.36430935e-01 -2.75800767e-03 1.25945165e+02] [ 2.77861854e-03 3.93633607e-05 9.99996139e-01 -4.96415000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92576923100006 meters 0.018074502549826007 Centerline is valid? [True, True] Translation: X:198.83, Y:125.97, Z:-0.49 [[ 1.32322406e-01 -9.91206721e-01 -1.31192760e-04 1.98834743e+02] [ 9.91206144e-01 1.32322471e-01 -1.06906999e-03 1.25968848e+02] [ 1.07702911e-03 1.14228449e-05 9.99999420e-01 -4.93148119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95576923100003 meters 0.01622475394753562 Centerline is valid? [True, True] Translation: X:198.84, Y:125.99, Z:-0.49 [[ 1.30260674e-01 -9.91479780e-01 5.33004512e-05 1.98841435e+02] [ 9.91479687e-01 1.30260684e-01 4.28413480e-04 1.25992349e+02] [-4.31706256e-04 -2.95911374e-06 9.99999907e-01 -4.89662203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98576923100006 meters 0.013902347950315681 Centerline is valid? [True, True] Translation: X:198.85, Y:126.01, Z:-0.49 [[ 1.26457306e-01 -9.91972032e-01 1.93866330e-04 1.98852761e+02] [ 9.91970781e-01 1.26457454e-01 1.57517509e-03 1.26014034e+02] [-1.58704548e-03 -6.88266332e-06 9.99998741e-01 -4.87454039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01576923100004 meters 0.013407341411474023 Centerline is valid? [True, True] Translation: X:198.86, Y:126.04, Z:-0.49 [[ 1.25020790e-01 -9.92154122e-01 -2.39262593e-05 1.98858169e+02] [ 9.92154102e-01 1.25020793e-01 -2.00596362e-04 1.26036900e+02] [ 2.02013787e-04 1.34017941e-06 9.99999980e-01 -4.90793477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04576923100007 meters 0.013683646909920364 Centerline is valid? [True, True] Translation: X:198.86, Y:126.06, Z:-0.50 [[ 1.24531153e-01 -9.92215654e-01 -2.97866063e-04 1.98860616e+02] [ 9.92212642e-01 1.24531508e-01 -2.44484597e-03 1.26060271e+02] [ 2.46290815e-03 8.91301286e-06 9.99996967e-01 -4.95579635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07576923100004 meters 0.014211190864015915 Centerline is valid? [True, True] Translation: X:198.86, Y:126.08, Z:-0.50 [[ 1.25064665e-01 -9.92148514e-01 -3.95676689e-04 1.98859907e+02] [ 9.92143177e-01 1.25065290e-01 -3.25418297e-03 1.26083708e+02] [ 3.27811822e-03 1.44153749e-05 9.99994627e-01 -4.97069954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10576923100007 meters 0.014213789428393426 Centerline is valid? [True, True] Translation: X:198.86, Y:126.11, Z:-0.49 [[ 1.25289421e-01 -9.92120218e-01 -1.83254788e-04 1.98861381e+02] [ 9.92119064e-01 1.25289555e-01 -1.51336854e-03 1.26107788e+02] [ 1.52440344e-03 7.79849883e-06 9.99998838e-01 -4.93122520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13576923100004 meters 0.015049148970406306 Centerline is valid? [True, True] Translation: X:198.86, Y:126.13, Z:-0.49 [[ 1.26613929e-01 -9.91952069e-01 7.86252770e-05 1.98862378e+02] [ 9.91951860e-01 1.26613953e-01 6.43477537e-04 1.26130938e+02] [-6.48253932e-04 -3.48072924e-06 9.99999790e-01 -4.88473024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16576923100007 meters 0.01578317465035417 Centerline is valid? [True, True] Translation: X:198.86, Y:126.15, Z:-0.49 [[ 1.27274561e-01 -9.91867525e-01 5.90427606e-06 1.98864004e+02] [ 9.91867524e-01 1.27274561e-01 4.38228751e-05 1.26154626e+02] [-4.42179508e-05 2.78722497e-07 9.99999999e-01 -4.90070572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19576923100004 meters 0.016734583035439714 Centerline is valid? [True, True] Translation: X:198.87, Y:126.18, Z:-0.49 [[ 1.27936459e-01 -9.91782363e-01 -7.80771470e-05 1.98865604e+02] [ 9.91782149e-01 1.27936483e-01 -6.52158064e-04 1.26178964e+02] [ 6.56787781e-04 5.99927306e-06 9.99999784e-01 -4.92548955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2257692310001 meters 0.017524539683109252 Centerline is valid? [True, True] Translation: X:198.87, Y:126.20, Z:-0.49 [[ 1.28422356e-01 -9.91719550e-01 -1.81134574e-04 1.98868341e+02] [ 9.91718401e-01 1.28422483e-01 -1.50990320e-03 1.26203102e+02] [ 1.52066228e-03 1.42708366e-05 9.99998844e-01 -4.94127784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25576923100004 meters 0.017666965035625894 Centerline is valid? [True, True] Translation: X:198.87, Y:126.23, Z:-0.49 [[ 1.28163358e-01 -9.91753059e-01 -1.51479666e-04 1.98871108e+02] [ 9.91752251e-01 1.28163447e-01 -1.26649084e-03 1.26227121e+02] [ 1.27546032e-03 1.20874191e-05 9.99999187e-01 -4.93322496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2857692310001 meters 0.017596787399502167 Centerline is valid? [True, True] Translation: X:198.87, Y:126.25, Z:-0.49 [[ 1.27742315e-01 -9.91807388e-01 -7.38013716e-05 1.98873806e+02] [ 9.91807194e-01 1.27742336e-01 -6.21242451e-04 1.26250295e+02] [ 6.25580413e-04 6.16221746e-06 9.99999804e-01 -4.91974798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31576923100005 meters 0.017930896204466414 Centerline is valid? [True, True] Translation: X:198.88, Y:126.27, Z:-0.49 [[ 1.27777761e-01 -9.91802824e-01 -3.84362914e-05 1.98875936e+02] [ 9.91802771e-01 1.27777766e-01 -3.26563540e-04 1.26274187e+02] [ 3.28797945e-04 3.60633752e-06 9.99999946e-01 -4.91542382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3457692310001 meters 0.018242694780672163 Centerline is valid? [True, True] Translation: X:198.88, Y:126.30, Z:-0.49 [[ 1.27766521e-01 -9.91804272e-01 -5.01417559e-05 1.98878041e+02] [ 9.91804180e-01 1.27766531e-01 -4.25683557e-04 1.26297303e+02] [ 4.28601209e-04 4.65730400e-06 9.99999908e-01 -4.92331013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37576923100005 meters 0.017279099380538312 Centerline is valid? [True, True] Translation: X:198.88, Y:126.32, Z:-0.49 [[ 1.26489249e-01 -9.91967978e-01 -1.65860362e-05 1.98882942e+02] [ 9.91967968e-01 1.26489250e-01 -1.44363673e-04 1.26320642e+02] [ 1.45302096e-04 1.80763596e-06 9.99999989e-01 -4.92540733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.405769231 meters 0.01658812533417236 Centerline is valid? [True, True] Translation: X:198.89, Y:126.34, Z:-0.49 [[ 1.25316908e-01 -9.92116763e-01 -1.82458797e-05 1.98886838e+02] [ 9.92116751e-01 1.25316910e-01 -1.58671028e-04 1.26344341e+02] [ 1.59706704e-04 1.78211988e-06 9.99999987e-01 -4.92986183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43576923100005 meters 0.01446250309946508 Centerline is valid? [True, True] Translation: X:198.89, Y:126.37, Z:-0.49 [[ 1.22325357e-01 -9.92490051e-01 -7.84265643e-05 1.98893033e+02] [ 9.92489827e-01 1.22325382e-01 -6.67232050e-04 1.26367429e+02] [ 6.71814731e-04 3.78183151e-06 9.99999774e-01 -4.93923923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.465769231 meters 0.013334692609679616 Centerline is valid? [True, True] Translation: X:198.90, Y:126.39, Z:-0.49 [[ 1.20906100e-01 -9.92663939e-01 -1.35518668e-04 1.98897086e+02] [ 9.92663271e-01 1.20906176e-01 -1.15237116e-03 1.26391425e+02] [ 1.16030234e-03 4.80429870e-06 9.99999327e-01 -4.93180228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49576923100005 meters 0.013194633311559801 Centerline is valid? [True, True] Translation: X:198.90, Y:126.42, Z:-0.49 [[ 1.20003105e-01 -9.92773499e-01 -1.87253841e-04 1.98898608e+02] [ 9.92772219e-01 1.20003251e-01 -1.59413624e-03 1.26416553e+02] [ 1.60508728e-03 5.40088722e-06 9.99998712e-01 -4.93910097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.525769231 meters 0.013126414713156682 Centerline is valid? [True, True] Translation: X:198.90, Y:126.44, Z:-0.50 [[ 1.18861747e-01 -9.92910773e-01 -2.86480351e-04 1.98900120e+02] [ 9.92907769e-01 1.18862092e-01 -2.44227076e-03 1.26441515e+02] [ 2.45900860e-03 5.84400307e-06 9.99996977e-01 -4.95573116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55576923100006 meters 0.013129729858143646 Centerline is valid? [True, True] Translation: X:198.90, Y:126.47, Z:-0.50 [[ 1.18408305e-01 -9.92964940e-01 -3.18182097e-04 1.98901420e+02] [ 9.92961217e-01 1.18408732e-01 -2.71905140e-03 1.26465345e+02] [ 2.73759825e-03 6.01578471e-06 9.99996253e-01 -4.96962978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58576923100003 meters 0.013141857794082681 Centerline is valid? [True, True] Translation: X:198.90, Y:126.49, Z:-0.50 [[ 1.17944693e-01 -9.93020110e-01 -3.31002304e-04 1.98901859e+02] [ 9.93016063e-01 1.17945157e-01 -2.83530734e-03 1.26489451e+02] [ 2.85455733e-03 5.71884962e-06 9.99995926e-01 -4.96888365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61576923100006 meters 0.012841150473283375 Centerline is valid? [True, True] Translation: X:198.90, Y:126.52, Z:-0.49 [[ 1.18225452e-01 -9.92986775e-01 -8.94042019e-05 1.98898997e+02] [ 9.92986475e-01 1.18225485e-01 -7.71422027e-04 1.26515002e+02] [ 7.76581725e-04 2.42455415e-06 9.99999698e-01 -4.92199513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64576923100003 meters 0.01296117568927822 Centerline is valid? [True, True] Translation: X:198.90, Y:126.54, Z:-0.49 [[ 1.18404618e-01 -9.92965429e-01 -6.17870438e-05 1.98898233e+02] [ 9.92965284e-01 1.18404635e-01 -5.36269554e-04 1.26538845e+02] [ 5.39813000e-04 2.14440239e-06 9.99999854e-01 -4.91352936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67576923100006 meters 0.012962377456762961 Centerline is valid? [True, True] Translation: X:198.90, Y:126.56, Z:-0.49 [[ 1.18507511e-01 -9.92953155e-01 -4.68575493e-05 1.98898217e+02] [ 9.92953071e-01 1.18507520e-01 -4.08930809e-04 1.26563488e+02] [ 4.11602109e-04 1.93402493e-06 9.99999915e-01 -4.90822375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70576923100003 meters 0.012797656338595354 Centerline is valid? [True, True] Translation: X:198.90, Y:126.59, Z:-0.49 [[ 1.17563859e-01 -9.93065324e-01 -3.65837274e-05 1.98897626e+02] [ 9.93065272e-01 1.17563865e-01 -3.21329001e-04 1.26588835e+02] [ 3.23401613e-04 1.44664821e-06 9.99999948e-01 -4.91247244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73576923100006 meters 0.012765838907390047 Centerline is valid? [True, True] Translation: X:198.90, Y:126.61, Z:-0.49 [[ 1.17115462e-01 -9.93118304e-01 -5.03682392e-05 1.98898903e+02] [ 9.93118206e-01 1.17115473e-01 -4.41141077e-04 1.26612807e+02] [ 4.44004178e-04 1.64282569e-06 9.99999901e-01 -4.91306101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76576923100004 meters 0.012550225124874725 Centerline is valid? [True, True] Translation: X:198.90, Y:126.64, Z:-0.49 [[ 1.15965587e-01 -9.93253230e-01 -5.94460935e-05 1.98899362e+02] [ 9.93253094e-01 1.15965603e-01 -5.20794281e-04 1.26636263e+02] [ 5.24174304e-04 1.34919840e-06 9.99999863e-01 -4.90881845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79576923100007 meters 0.012386691461771038 Centerline is valid? [True, True] Translation: X:198.90, Y:126.66, Z:-0.49 [[ 1.14950415e-01 -9.93371230e-01 2.55715924e-05 1.98901734e+02] [ 9.93371207e-01 1.14950418e-01 2.16972441e-04 1.26660504e+02] [-2.18473646e-04 4.61011385e-07 9.99999976e-01 -4.89397628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82576923100004 meters 0.012349545486282167 Centerline is valid? [True, True] Translation: X:198.90, Y:126.69, Z:-0.49 [[ 1.14761903e-01 -9.93393025e-01 5.82742800e-05 1.98902644e+02] [ 9.93392898e-01 1.14761918e-01 5.02626081e-04 1.26685031e+02] [-5.05992911e-04 2.06930244e-07 9.99999872e-01 -4.88871846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85576923100007 meters 0.01259302113262706 Centerline is valid? [True, True] Translation: X:198.90, Y:126.71, Z:-0.49 [[ 1.15877767e-01 -9.93263481e-01 -2.52232345e-05 1.98899297e+02] [ 9.93263455e-01 1.15877770e-01 -2.26431905e-04 1.26709569e+02] [ 2.27829354e-04 1.18510642e-06 9.99999974e-01 -4.89918542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88576923100004 meters 0.012838169567069823 Centerline is valid? [True, True] Translation: X:198.90, Y:126.73, Z:-0.49 [[ 1.16318637e-01 -9.93211949e-01 7.23573057e-06 1.98898493e+02] [ 9.93211947e-01 1.16318637e-01 5.77819970e-05 1.26733686e+02] [-5.82314203e-05 4.65490935e-07 9.99999998e-01 -4.89667646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91576923100007 meters 0.012921426145224178 Centerline is valid? [True, True] Translation: X:198.90, Y:126.76, Z:-0.49 [[ 1.16663317e-01 -9.93171518e-01 8.20784627e-05 1.98898928e+02] [ 9.93171260e-01 1.16663346e-01 7.16146189e-04 1.26758803e+02] [-7.20831546e-04 -2.03002000e-06 9.99999740e-01 -4.88678102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94576923100004 meters 0.013158227873937155 Centerline is valid? [True, True] Translation: X:198.90, Y:126.78, Z:-0.49 [[ 1.17158503e-01 -9.93113206e-01 2.12249334e-04 1.98896387e+02] [ 9.93111455e-01 1.17158695e-01 1.86520603e-03 1.26783649e+02] [-1.87722760e-03 -7.73750158e-06 9.99998238e-01 -4.88044615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9757692310001 meters 0.013238549730944191 Centerline is valid? [True, True] Translation: X:198.90, Y:126.81, Z:-0.49 [[ 1.16708545e-01 -9.93166188e-01 1.94463492e-04 1.98897008e+02] [ 9.93164712e-01 1.16708706e-01 1.71278564e-03 1.26807779e+02] [-1.72377637e-03 -6.76244129e-06 9.99998514e-01 -4.89869712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00576923100004 meters 0.012596484021357195 Centerline is valid? [True, True] Translation: X:198.90, Y:126.83, Z:-0.50 [[ 1.13605182e-01 -9.93525966e-01 -1.33800279e-04 1.98902620e+02] [ 9.93525252e-01 1.13605261e-01 -1.19107689e-03 1.26830951e+02] [ 1.19856623e-03 2.37855175e-06 9.99999282e-01 -4.96283162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0357692310001 meters 0.01287959031059616 Centerline is valid? [True, True] Translation: X:198.91, Y:126.85, Z:-0.50 [[ 1.11064814e-01 -9.93813093e-01 -3.77964582e-04 1.98909987e+02] [ 9.93807405e-01 1.11065458e-01 -3.36252952e-03 1.26854852e+02] [ 3.38370467e-03 -2.16528368e-06 9.99994275e-01 -5.00019339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06576923100005 meters 0.013827961408959744 Centerline is valid? [True, True] Translation: X:198.92, Y:126.88, Z:-0.50 [[ 1.07998936e-01 -9.94150854e-01 -5.56583987e-04 1.98917865e+02] [ 9.94138479e-01 1.08000369e-01 -4.96027174e-03 1.26879865e+02] [ 4.99136967e-03 -1.76174870e-05 9.99987543e-01 -5.02941989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0957692310001 meters 0.017421723068079216 Centerline is valid? [True, True] Translation: X:198.93, Y:126.90, Z:-0.50 [[ 1.01425488e-01 -9.94842998e-01 -5.28382417e-04 1.98930540e+02] [ 9.94831801e-01 1.01426853e-01 -4.72035424e-03 1.26904268e+02] [ 4.74960353e-03 -4.68873999e-05 9.99988719e-01 -5.02805424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12576923100005 meters 0.01919251171351192 Centerline is valid? [True, True] Translation: X:198.94, Y:126.93, Z:-0.50 [[ 9.87438337e-02 -9.95112804e-01 -4.04310299e-04 1.98937893e+02] [ 9.95106214e-01 9.87446513e-02 -3.62172675e-03 1.26928995e+02] [ 3.64395014e-03 -4.47085073e-05 9.99993360e-01 -5.01764080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.155769231 meters 0.0219784728657563 Centerline is valid? [True, True] Translation: X:198.95, Y:126.95, Z:-0.50 [[ 9.62538776e-02 -9.95356746e-01 -3.73209393e-04 1.98947693e+02] [ 9.95351107e-01 9.62545887e-02 -3.35069308e-03 1.26952964e+02] [ 3.37105807e-03 -4.89571817e-05 9.99994317e-01 -5.01944302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18576923100005 meters 0.02523597348824122 Centerline is valid? [True, True] Translation: X:198.96, Y:126.98, Z:-0.50 [[ 9.28452825e-02 -9.95680433e-01 -4.77615236e-04 1.98963367e+02] [ 9.95671156e-01 9.28464795e-02 -4.29883099e-03 1.26975717e+02] [ 4.32460679e-03 -7.64215372e-05 9.99990646e-01 -5.03552023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.215769231 meters 0.026225977596588956 Centerline is valid? [True, True] Translation: X:198.97, Y:127.00, Z:-0.51 [[ 9.23217252e-02 -9.95729022e-01 -6.42861416e-04 1.98970012e+02] [ 9.95712132e-01 9.23239042e-02 -5.80057485e-03 1.26998145e+02] [ 5.83515220e-03 -1.04585833e-04 9.99982970e-01 -5.05870182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24576923100005 meters 0.023501299499275034 Centerline is valid? [True, True] Translation: X:198.97, Y:127.02, Z:-0.51 [[ 9.48034727e-02 -9.95495527e-01 -9.78730214e-04 1.98970536e+02] [ 9.95456181e-01 9.48084284e-02 -8.85177398e-03 1.27022324e+02] [ 8.90469327e-03 -1.35104129e-04 9.99960343e-01 -5.10135880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.275769231 meters 0.021303063512032965 Centerline is valid? [True, True] Translation: X:198.97, Y:127.05, Z:-0.51 [[ 9.71616457e-02 -9.95268133e-01 -9.78505826e-04 1.98970616e+02] [ 9.95228583e-01 9.71665086e-02 -8.87337767e-03 1.27046012e+02] [ 8.92646803e-03 -1.11684990e-04 9.99960152e-01 -5.10306763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30576923100006 meters 0.017941375407675857 Centerline is valid? [True, True] Translation: X:198.97, Y:127.07, Z:-0.51 [[ 1.00275912e-01 -9.94959294e-01 -8.63351553e-04 1.98968668e+02] [ 9.94928321e-01 1.00279603e-01 -7.85098814e-03 1.27070290e+02] [ 7.89799017e-03 -7.17079128e-05 9.99968808e-01 -5.07493118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33576923100003 meters 0.014958177295893509 Centerline is valid? [True, True] Translation: X:198.97, Y:127.09, Z:-0.50 [[ 1.03758061e-01 -9.94602348e-01 -6.59517850e-04 1.98965926e+02] [ 9.94584155e-01 1.03760152e-01 -6.01577115e-03 1.27093853e+02] [ 6.05173178e-03 -3.17612557e-05 9.99981688e-01 -5.03828972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36576923100006 meters 0.012949689801112389 Centerline is valid? [True, True] Translation: X:198.96, Y:127.12, Z:-0.50 [[ 1.10069695e-01 -9.93923788e-01 -4.08401570e-04 1.98955923e+02] [ 9.93916760e-01 1.10070452e-01 -3.73750459e-03 1.27117884e+02] [ 3.75974766e-03 5.46882332e-06 9.99992932e-01 -5.00904843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39576923100003 meters 0.01364389943233981 Centerline is valid? [True, True] Translation: X:198.95, Y:127.14, Z:-0.50 [[ 1.11772080e-01 -9.93733768e-01 -4.47556829e-04 1.98953707e+02] [ 9.93725281e-01 1.11772975e-01 -4.10696479e-03 1.27141318e+02] [ 4.13125435e-03 1.42954615e-05 9.99991466e-01 -5.01976373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42576923100006 meters 0.01406937270050621 Centerline is valid? [True, True] Translation: X:198.96, Y:127.16, Z:-0.50 [[ 1.12046004e-01 -9.93702863e-01 -5.59672469e-04 1.98955981e+02] [ 9.93689527e-01 1.12047400e-01 -5.14827851e-03 1.27163990e+02] [ 5.17856894e-03 2.07033627e-05 9.99986591e-01 -5.03409898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45576923100003 meters 0.013432558329379243 Centerline is valid? [True, True] Translation: X:198.96, Y:127.19, Z:-0.50 [[ 1.10829544e-01 -9.93839306e-01 -4.96350167e-04 1.98960985e+02] [ 9.93828758e-01 1.10830655e-01 -4.57872889e-03 1.27187470e+02] [ 4.60553155e-03 1.41713670e-05 9.99989394e-01 -5.01142714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48576923100006 meters 0.012985869382812206 Centerline is valid? [True, True] Translation: X:198.97, Y:127.21, Z:-0.50 [[ 1.09497903e-01 -9.93986962e-01 -3.58593380e-04 1.98965473e+02] [ 9.93981421e-01 1.09498490e-01 -3.31901835e-03 1.27209587e+02] [ 3.33832640e-03 6.99039044e-06 9.99994428e-01 -4.98442865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51576923100004 meters 0.012268241258945952 Centerline is valid? [True, True] Translation: X:198.97, Y:127.23, Z:-0.49 [[ 1.07673395e-01 -9.94186320e-01 1.81071851e-05 1.98972714e+02] [ 9.94186307e-01 1.07673396e-01 1.61850320e-04 1.27231897e+02] [-1.62859036e-04 5.74942138e-07 9.99999987e-01 -4.92554589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54576923100007 meters 0.01219712264225559 Centerline is valid? [True, True] Translation: X:198.98, Y:127.26, Z:-0.49 [[ 1.06582098e-01 -9.94303901e-01 9.64926559e-05 1.98978983e+02] [ 9.94303502e-01 1.06582142e-01 8.90623239e-04 1.27255519e+02] [-8.95834555e-04 1.01849193e-06 9.99999599e-01 -4.91445834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57576923100004 meters 0.012333989127485687 Centerline is valid? [True, True] Translation: X:198.99, Y:127.28, Z:-0.49 [[ 1.06024003e-01 -9.94363570e-01 -2.85073852e-05 1.98989222e+02] [ 9.94363533e-01 1.06024006e-01 -2.71512483e-04 1.27277772e+02] [ 2.73004589e-04 4.40135934e-07 9.99999963e-01 -4.92837222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60576923100007 meters 0.012386686359157042 Centerline is valid? [True, True] Translation: X:198.99, Y:127.30, Z:-0.49 [[ 1.06423810e-01 -9.94320856e-01 -9.45781086e-05 1.98993333e+02] [ 9.94320458e-01 1.06423852e-01 -8.89380468e-04 1.27300361e+02] [ 8.94394914e-04 6.10309529e-07 9.99999600e-01 -4.93840670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63576923100004 meters 0.013066566634906672 Centerline is valid? [True, True] Translation: X:199.00, Y:127.32, Z:-0.50 [[ 1.09457351e-01 -9.93991470e-01 -2.13838885e-04 1.98995966e+02] [ 9.93989440e-01 1.09457559e-01 -2.00882253e-03 1.27324275e+02] [ 2.02015875e-03 7.32679899e-06 9.99997959e-01 -4.95016064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66576923100007 meters 0.014041845716102943 Centerline is valid? [True, True] Translation: X:199.00, Y:127.35, Z:-0.50 [[ 1.10811903e-01 -9.93841377e-01 -1.99107470e-04 1.98997737e+02] [ 9.93839606e-01 1.10812081e-01 -1.87643081e-03 1.27347036e+02] [ 1.88693810e-03 1.00499794e-05 9.99998220e-01 -4.95364899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69576923100004 meters 0.014918323529865775 Centerline is valid? [True, True] Translation: X:199.00, Y:127.37, Z:-0.50 [[ 1.11824554e-01 -9.93727943e-01 -2.09480824e-04 1.99000343e+02] [ 9.93725974e-01 1.11824750e-01 -1.97859978e-03 1.27371036e+02] [ 1.98961503e-03 1.30895020e-05 9.99998021e-01 -4.96012402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7257692310001 meters 0.014918323529865775 Centerline is valid? [True, True] Translation: X:199.00, Y:127.39, Z:-0.50 [[ 1.11548645e-01 -9.93758953e-01 -2.08930733e-04 1.99002354e+02] [ 9.93756983e-01 1.11548840e-01 -1.97865802e-03 1.27394302e+02] [ 1.98961511e-03 1.30902462e-05 9.99998021e-01 -4.96062473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75576923100004 meters 0.016938204365575454 Centerline is valid? [True, True] Translation: X:199.00, Y:127.42, Z:-0.50 [[ 1.13482806e-01 -9.93539940e-01 -1.98973474e-04 1.99004220e+02] [ 9.93538143e-01 1.13482979e-01 -1.89015315e-03 1.27416817e+02] [ 1.90052275e-03 1.68121461e-05 9.99998194e-01 -4.96709237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7857692310001 meters 0.01824648300428751 Centerline is valid? [True, True] Translation: X:199.01, Y:127.44, Z:-0.50 [[ 1.14589236e-01 -9.93412945e-01 -1.66600449e-04 1.99006680e+02] [ 9.93411677e-01 1.14589356e-01 -1.58723682e-03 1.27440337e+02] [ 1.59587224e-03 1.63774239e-05 9.99998726e-01 -4.95585650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81576923100005 meters 0.0212546151127083 Centerline is valid? [True, True] Translation: X:199.01, Y:127.46, Z:-0.49 [[ 1.17099312e-01 -9.93120202e-01 -1.27425875e-04 1.99009521e+02] [ 9.93119455e-01 1.17099380e-01 -1.21827124e-03 1.27464090e+02] [ 1.22481127e-03 1.61096081e-05 9.99999250e-01 -4.94207298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8457692310001 meters 0.0197050012492226 Centerline is valid? [True, True] Translation: X:199.02, Y:127.49, Z:-0.49 [[ 1.18540573e-01 -9.92949189e-01 -2.03253295e-04 1.99016094e+02] [ 9.92947283e-01 1.18540744e-01 -1.94536665e-03 1.27488554e+02] [ 1.95574403e-03 2.87850709e-05 9.99998087e-01 -4.94316584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87576923100005 meters 0.026146163524380657 Centerline is valid? [True, True] Translation: X:199.01, Y:127.51, Z:-0.50 [[ 1.20476570e-01 -9.92716124e-01 -3.05875540e-04 1.99009211e+02] [ 9.92711792e-01 1.20476948e-01 -2.93301128e-03 1.27513391e+02] [ 2.94849854e-03 4.97128822e-05 9.99995652e-01 -4.98710045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.905769231 meters 0.02748188110131393 Centerline is valid? [True, True] Translation: X:199.01, Y:127.54, Z:-0.50 [[ 1.22544494e-01 -9.92462924e-01 -4.37576307e-04 1.99009684e+02] [ 9.92454023e-01 1.22545249e-01 -4.20399067e-03 1.27538049e+02] [ 4.22592777e-03 8.09015435e-05 9.99991067e-01 -5.01133624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93576923100005 meters 0.03197819623318364 Centerline is valid? [True, True] Translation: X:199.01, Y:127.56, Z:-0.50 [[ 1.27002240e-01 -9.91902222e-01 -6.42024044e-04 1.99005554e+02] [ 9.91882973e-01 1.27003777e-01 -6.18127428e-03 1.27563322e+02] [ 6.21275918e-03 1.48222965e-04 9.99980690e-01 -5.02416315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.965769231 meters 0.03413998969305462 Centerline is valid? [True, True] Translation: X:199.00, Y:127.59, Z:-0.50 [[ 1.28528567e-01 -9.91705630e-01 -5.91655536e-04 1.99003339e+02] [ 9.91689185e-01 1.28529844e-01 -5.71308778e-03 1.27587502e+02] [ 5.74174671e-03 1.47556588e-04 9.99983505e-01 -5.01298784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99576923100005 meters 0.04145859995569884 Centerline is valid? [True, True] Translation: X:198.99, Y:127.61, Z:-0.50 [[ 1.30431899e-01 -9.91457241e-01 -2.42359525e-04 1.98991365e+02] [ 9.91454458e-01 1.30432107e-01 -2.35025420e-03 1.27611910e+02] [ 2.36178801e-03 6.62596864e-05 9.99997209e-01 -4.96674774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.025769231 meters 0.03407467819629652 Centerline is valid? [True, True] Translation: X:199.00, Y:127.64, Z:-0.49 [[ 1.30273783e-01 -9.91478050e-01 -1.35900613e-04 1.99001611e+02] [ 9.91477167e-01 1.30273848e-01 -1.32382045e-03 1.27636089e+02] [ 1.33024322e-03 3.77167430e-05 9.99999115e-01 -4.93881024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05576923100006 meters 0.02941692284444267 Centerline is valid? [True, True] Translation: X:199.01, Y:127.66, Z:-0.50 [[ 1.28216765e-01 -9.91746127e-01 -2.82581690e-04 1.99006256e+02] [ 9.91742307e-01 1.28217056e-01 -2.75379457e-03 1.27660843e+02] [ 2.76729690e-03 7.28344138e-05 9.99996168e-01 -4.96564225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08576923100003 meters 0.03757641958132522 Centerline is valid? [True, True] Translation: X:198.99, Y:127.69, Z:-0.50 [[ 1.26006928e-01 -9.92029260e-01 -4.48791405e-04 1.98994665e+02] [ 9.92019588e-01 1.26007682e-01 -4.38181065e-03 1.27686938e+02] [ 4.40343554e-03 1.06928634e-04 9.99990299e-01 -5.03060717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11576923100006 meters 0.02842054390976863 Centerline is valid? [True, True] Translation: X:199.01, Y:127.71, Z:-0.50 [[ 1.23273443e-01 -9.92372591e-01 -5.46176294e-04 1.99006260e+02] [ 9.92358200e-01 1.23274597e-01 -5.34573225e-03 1.27710285e+02] [ 5.37228783e-03 1.16984294e-04 9.99985562e-01 -5.02543108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14576923100003 meters 0.02658990618571851 Centerline is valid? [True, True] Translation: X:199.01, Y:127.73, Z:-0.50 [[ 1.20932198e-01 -9.92660602e-01 -5.76665665e-04 1.99008426e+02] [ 9.92644473e-01 1.20933521e-01 -5.65988174e-03 1.27733709e+02] [ 5.68807982e-03 1.12037951e-04 9.99983816e-01 -5.03444943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17576923100006 meters 0.02112581525250911 Centerline is valid? [True, True] Translation: X:199.01, Y:127.76, Z:-0.50 [[ 1.16872695e-01 -9.93146740e-01 -5.70924140e-04 1.99013242e+02] [ 9.93130852e-01 1.16874055e-01 -5.61840223e-03 1.27758665e+02] [ 5.64662408e-03 8.96354333e-05 9.99984054e-01 -5.01447784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20576923100003 meters 0.021456637005654727 Centerline is valid? [True, True] Translation: X:199.01, Y:127.78, Z:-0.50 [[ 1.15192835e-01 -9.93343032e-01 -4.80300379e-04 1.99011636e+02] [ 9.93331720e-01 1.15193816e-01 -4.74121376e-03 1.27783347e+02] [ 4.76497929e-03 6.90562546e-05 9.99988645e-01 -5.00233050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23576923100006 meters 0.022683976305025784 Centerline is valid? [True, True] Translation: X:199.01, Y:127.81, Z:-0.50 [[ 1.14499901e-01 -9.93423204e-01 -3.32064497e-04 1.99008110e+02] [ 9.93417757e-01 1.14500373e-01 -3.28997106e-03 1.27806312e+02] [ 3.30635510e-03 4.68225942e-05 9.99994533e-01 -4.98283557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26576923100004 meters 0.02116073259515878 Centerline is valid? [True, True] Translation: X:199.01, Y:127.83, Z:-0.49 [[ 1.15373031e-01 -9.93322222e-01 -1.61633646e-04 1.99006715e+02] [ 9.93320920e-01 1.15373142e-01 -1.60874640e-03 1.27830993e+02] [ 1.61665173e-03 2.50518658e-05 9.99998693e-01 -4.93168031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29576923100007 meters 0.02134788501363093 Centerline is valid? [True, True] Translation: X:199.01, Y:127.86, Z:-0.49 [[ 1.15339267e-01 -9.93326147e-01 -1.40428477e-04 1.99006125e+02] [ 9.93325157e-01 1.15339350e-01 -1.40249556e-03 1.27856300e+02] [ 1.40933244e-03 2.22716710e-05 9.99999007e-01 -4.93656010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32576923100004 meters 0.021192650095024378 Centerline is valid? [True, True] Translation: X:199.00, Y:127.88, Z:-0.49 [[ 1.14922041e-01 -9.93374513e-01 -3.60985552e-05 1.99002171e+02] [ 9.93374446e-01 1.14922046e-01 -3.66322256e-04 1.27880662e+02] [ 3.68043712e-04 6.23911896e-06 9.99999932e-01 -4.92576231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35576923100007 meters 0.02169557241412025 Centerline is valid? [True, True] Translation: X:199.00, Y:127.90, Z:-0.49 [[ 1.14894584e-01 -9.93377690e-01 -3.67636442e-06 1.99000724e+02] [ 9.93377689e-01 1.14894584e-01 -4.30302620e-05 1.27904344e+02] [ 4.31676966e-05 1.29192567e-06 9.99999999e-01 -4.92053384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38576923100004 meters 0.021587116708011726 Centerline is valid? [True, True] Translation: X:199.00, Y:127.93, Z:-0.49 [[ 1.14451327e-01 -9.93428857e-01 9.62718222e-06 1.99000563e+02] [ 9.93428853e-01 1.14451328e-01 9.05713896e-05 1.27928792e+02] [-9.10780759e-05 -8.02095167e-07 9.99999996e-01 -4.91780004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41576923100007 meters 0.020698599699764675 Centerline is valid? [True, True] Translation: X:199.00, Y:127.95, Z:-0.49 [[ 1.13004137e-01 -9.93594517e-01 1.04723932e-05 1.99000023e+02] [ 9.93594512e-01 1.13004137e-01 9.93467085e-05 1.27953990e+02] [-9.98937687e-05 -8.21276635e-07 9.99999995e-01 -4.91870512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44576923100004 meters 0.020539392786404185 Centerline is valid? [True, True] Translation: X:199.00, Y:127.98, Z:-0.49 [[ 1.12488772e-01 -9.93652995e-01 -4.77779728e-05 1.98999403e+02] [ 9.93652875e-01 1.12488782e-01 -4.87949530e-04 1.27978616e+02] [ 4.90226998e-04 7.41412358e-06 9.99999880e-01 -4.93777574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4757692310001 meters 0.0223173173017047 Centerline is valid? [True, True] Translation: X:198.99, Y:128.00, Z:-0.50 [[ 1.13466418e-01 -9.93541784e-01 -3.09193179e-04 1.98992141e+02] [ 9.93536845e-01 1.13466829e-01 -3.13300553e-03 1.28003678e+02] [ 3.14785507e-03 4.82960995e-05 9.99995044e-01 -4.99444024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50576923100004 meters 0.023407550135878325 Centerline is valid? [True, True] Translation: X:198.99, Y:128.03, Z:-0.50 [[ 1.14185973e-01 -9.93459347e-01 -3.00513451e-04 1.98989703e+02] [ 9.93454654e-01 1.14186357e-01 -3.05385822e-03 1.28029115e+02] [ 3.06819852e-03 5.01612854e-05 9.99995292e-01 -4.99428873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5357692310001 meters 0.024301117985794776 Centerline is valid? [True, True] Translation: X:198.99, Y:128.05, Z:-0.50 [[ 1.14797610e-01 -9.93388872e-01 -2.41583490e-04 1.98987301e+02] [ 9.93385819e-01 1.14797856e-01 -2.46300099e-03 1.28053724e+02] [ 2.47445104e-03 4.27610135e-05 9.99996938e-01 -4.98372022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56576923100005 meters 0.024850196818157307 Centerline is valid? [True, True] Translation: X:198.99, Y:128.08, Z:-0.50 [[ 1.14919868e-01 -9.93374737e-01 -2.37216600e-04 1.98985361e+02] [ 9.93371777e-01 1.14920105e-01 -2.42525883e-03 1.28078553e+02] [ 2.43645181e-03 4.30661499e-05 9.99997031e-01 -4.97524124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5957692310001 meters 0.021720875410928958 Centerline is valid? [True, True] Translation: X:198.99, Y:128.10, Z:-0.50 [[ 1.12464653e-01 -9.93655635e-01 -4.26104436e-04 1.98986753e+02] [ 9.93646055e-01 1.12465441e-01 -4.36373802e-03 1.28103951e+02] [ 4.38397490e-03 6.73692932e-05 9.99990388e-01 -5.00016028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62576923100005 meters 0.01903905606445153 Centerline is valid? [True, True] Translation: X:198.99, Y:128.13, Z:-0.50 [[ 1.08289602e-01 -9.94119318e-01 -3.79106282e-04 1.98990805e+02] [ 9.94111694e-01 1.08290257e-01 -3.89351407e-03 1.28128547e+02] [ 3.91167107e-03 4.47531022e-05 9.99992348e-01 -5.00310011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.655769231 meters 0.01720568080836533 Centerline is valid? [True, True] Translation: X:199.00, Y:128.15, Z:-0.50 [[ 1.05937582e-01 -9.94372754e-01 -2.33280637e-04 1.98995391e+02] [ 9.94369845e-01 1.05937836e-01 -2.40564066e-03 1.28151765e+02] [ 2.41681678e-03 2.28805238e-05 9.99997079e-01 -4.96972424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68576923100005 meters 0.015562439170863985 Centerline is valid? [True, True] Translation: X:199.00, Y:128.18, Z:-0.49 [[ 1.03621675e-01 -9.94616778e-01 -1.12224451e-04 1.98999127e+02] [ 9.94616097e-01 1.03621735e-01 -1.16397851e-03 1.28175414e+02] [ 1.16934144e-03 8.99315706e-06 9.99999316e-01 -4.94209807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.715769231 meters 0.013573129504165286 Centerline is valid? [True, True] Translation: X:199.00, Y:128.20, Z:-0.50 [[ 9.97776407e-02 -9.95009734e-01 -2.29403491e-04 1.99004121e+02] [ 9.95006889e-01 9.97779040e-02 -2.37942537e-03 1.28199381e+02] [ 2.39044080e-03 9.15539570e-06 9.99997143e-01 -4.96546455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74576923100005 meters 0.013150005411654835 Centerline is valid? [True, True] Translation: X:199.01, Y:128.22, Z:-0.50 [[ 9.76503616e-02 -9.95220742e-01 -2.87381636e-04 1.99008076e+02] [ 9.95216255e-01 9.76507843e-02 -2.98847247e-03 1.28223077e+02] [ 3.00225283e-03 5.81854145e-06 9.99995493e-01 -4.98111700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.775769231 meters 0.012972537073971243 Centerline is valid? [True, True] Translation: X:199.01, Y:128.25, Z:-0.50 [[ 9.53361311e-02 -9.95445102e-01 -2.67884300e-04 1.99012795e+02] [ 9.95441179e-01 9.53365075e-02 -2.79459590e-03 1.28246310e+02] [ 2.80740596e-03 -2.37102352e-07 9.99996059e-01 -4.97899846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80576923100006 meters 0.014315269050564553 Centerline is valid? [True, True] Translation: X:199.02, Y:128.27, Z:-0.49 [[ 9.04392688e-02 -9.95901967e-01 -1.01916518e-04 1.99021698e+02] [ 9.95901392e-01 9.04393261e-02 -1.07076378e-03 1.28268294e+02] [ 1.07559301e-03 -4.65970855e-06 9.99999422e-01 -4.94803668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83576923100003 meters 0.015802274357476873 Centerline is valid? [True, True] Translation: X:199.03, Y:128.29, Z:-0.49 [[ 8.81237589e-02 -9.96109533e-01 -3.53979819e-05 1.99026952e+02] [ 9.96109462e-01 8.81237660e-02 -3.77284454e-04 1.28290900e+02] [ 3.78936044e-04 -2.01254047e-06 9.99999928e-01 -4.93200607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86576923100006 meters 0.019263394549943455 Centerline is valid? [True, True] Translation: X:199.04, Y:128.31, Z:-0.49 [[ 8.41084306e-02 -9.96456608e-01 3.60524368e-05 1.99036452e+02] [ 9.96456538e-01 8.41084382e-02 3.72492175e-04 1.28314380e+02] [-3.74204604e-04 4.59495407e-06 9.99999930e-01 -4.92988835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89576923100003 meters 0.018910709361194523 Centerline is valid? [True, True] Translation: X:199.04, Y:128.34, Z:-0.49 [[ 8.16329523e-02 -9.96662461e-01 -3.08196295e-07 1.99039553e+02] [ 9.96662461e-01 8.16329523e-02 -9.59347448e-06 1.28339194e+02] [ 9.58661478e-06 4.75975968e-07 1.00000000e+00 -4.93214531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92576923100006 meters 0.024668915943723738 Centerline is valid? [True, True] Translation: X:199.05, Y:128.36, Z:-0.50 [[ 7.88765126e-02 -9.96884393e-01 -5.22855964e-05 1.99052128e+02] [ 9.96884236e-01 7.88765296e-02 -5.58731975e-04 1.28362451e+02] [ 5.61115292e-04 -8.05185719e-06 9.99999843e-01 -4.95461993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95576923100003 meters 0.029769067824222933 Centerline is valid? [True, True] Translation: X:199.07, Y:128.38, Z:-0.50 [[ 7.46813634e-02 -9.97207438e-01 -1.41190953e-04 1.99065505e+02] [ 9.97206306e-01 7.46814913e-02 -1.50240251e-03 1.28384596e+02] [ 1.50875131e-03 -2.85950404e-05 9.99998861e-01 -4.98083988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98576923100006 meters 0.03170334532753989 Centerline is valid? [True, True] Translation: X:199.07, Y:128.41, Z:-0.50 [[ 7.29535784e-02 -9.97335313e-01 -2.19908062e-04 1.99072283e+02] [ 9.97332562e-01 7.29538938e-02 -2.34297122e-03 1.28408173e+02] [ 2.35277109e-03 -4.83933359e-05 9.99997231e-01 -5.00231260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01576923100004 meters 0.029190596634038272 Centerline is valid? [True, True] Translation: X:199.08, Y:128.43, Z:-0.50 [[ 7.12740809e-02 -9.97456703e-01 -3.62789297e-04 1.99075896e+02] [ 9.97449183e-01 7.12749526e-02 -3.87395207e-03 1.28432200e+02] [ 3.88995725e-03 -8.57515153e-05 9.99992430e-01 -5.02290201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04576923100007 meters 0.028667012524474244 Centerline is valid? [True, True] Translation: X:199.08, Y:128.46, Z:-0.50 [[ 7.07860218e-02 -9.97491446e-01 -3.92817659e-04 1.99080598e+02] [ 9.97482580e-01 7.07870493e-02 -4.20672922e-03 1.28456923e+02] [ 4.22398281e-03 -9.40511461e-05 9.99991075e-01 -5.02288199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07576923100004 meters 0.03196418189224946 Centerline is valid? [True, True] Translation: X:199.09, Y:128.48, Z:-0.50 [[ 7.05940953e-02 -9.97505049e-01 -3.89817423e-04 1.99091089e+02] [ 9.97496261e-01 7.05951100e-02 -4.18811388e-03 1.28479845e+02] [ 4.20518394e-03 -9.31853120e-05 9.99991154e-01 -5.02646931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10576923100007 meters 0.02910734285632331 Centerline is valid? [True, True] Translation: X:199.10, Y:128.50, Z:-0.50 [[ 7.04142095e-02 -9.97517820e-01 -1.96677890e-04 1.99097807e+02] [ 9.97515560e-01 7.04144687e-02 -2.12349284e-03 1.28503432e+02] [ 2.13207092e-03 -4.66651856e-05 9.99997726e-01 -4.96801466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13576923100004 meters 0.03457102326713834 Centerline is valid? [True, True] Translation: X:199.11, Y:128.52, Z:-0.50 [[ 7.01804578e-02 -9.97534310e-01 -6.73512683e-05 1.99111426e+02] [ 9.97534039e-01 7.01804884e-02 -7.34509440e-04 1.28524648e+02] [ 7.37425112e-04 -1.56369739e-05 9.99999728e-01 -4.95797446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16576923100007 meters 0.028392364369748308 Centerline is valid? [True, True] Translation: X:199.11, Y:128.55, Z:-0.49 [[ 7.11457281e-02 -9.97465932e-01 -2.75018932e-05 1.99113670e+02] [ 9.97465885e-01 7.11457332e-02 -3.04695526e-04 1.28548405e+02] [ 3.05880049e-04 -5.75441516e-06 9.99999953e-01 -4.94774809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19576923100004 meters 0.0272482503212634 Centerline is valid? [True, True] Translation: X:199.12, Y:128.57, Z:-0.50 [[ 7.20771309e-02 -9.97399041e-01 -1.99848650e-04 1.99117799e+02] [ 9.97396663e-01 7.20773955e-02 -2.17858568e-03 1.28571823e+02] [ 2.18732383e-03 -4.23021719e-05 9.99997607e-01 -4.98139452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2257692310001 meters 0.02561829253040505 Centerline is valid? [True, True] Translation: X:199.12, Y:128.60, Z:-0.50 [[ 7.33287920e-02 -9.97307763e-01 -3.39308864e-04 1.99119506e+02] [ 9.97300879e-01 7.33295468e-02 -3.70603029e-03 1.28595854e+02] [ 3.72093414e-03 -6.66343039e-05 9.99993075e-01 -5.00889833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25576923100004 meters 0.01919401547038081 Centerline is valid? [True, True] Translation: X:199.11, Y:128.62, Z:-0.50 [[ 7.82888143e-02 -9.96930628e-01 -4.30096372e-04 1.99114934e+02] [ 9.96919505e-01 7.82899726e-02 -4.70961529e-03 1.28621412e+02] [ 4.72883196e-03 -6.00612659e-05 9.99988817e-01 -5.00155419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2857692310001 meters 0.020423732735530064 Centerline is valid? [True, True] Translation: X:199.12, Y:128.65, Z:-0.50 [[ 8.07210554e-02 -9.96736658e-01 -3.80671219e-04 1.99120642e+02] [ 9.96727883e-01 8.07219422e-02 -4.18272402e-03 1.28645113e+02] [ 4.19980288e-03 -4.17917210e-05 9.99991180e-01 -5.02643508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31576923100005 meters 0.014893853901865366 Centerline is valid? [True, True] Translation: X:199.12, Y:128.67, Z:-0.50 [[ 8.48142480e-02 -9.96396700e-01 -3.98618420e-04 1.99116529e+02] [ 9.96387016e-01 8.48151812e-02 -4.39301649e-03 1.28670234e+02] [ 4.41099603e-03 -2.45878277e-05 9.99990271e-01 -5.00761803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3457692310001 meters 0.013818870828808404 Centerline is valid? [True, True] Translation: X:199.12, Y:128.69, Z:-0.50 [[ 8.63569931e-02 -9.96264164e-01 -4.30239709e-04 1.99116062e+02] [ 9.96252813e-01 8.63580630e-02 -4.75580089e-03 1.28694934e+02] [ 4.77518867e-03 -1.79308551e-05 9.99988599e-01 -5.01112587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37576923100005 meters 0.013427603260855545 Centerline is valid? [True, True] Translation: X:199.12, Y:128.72, Z:-0.50 [[ 8.77931977e-02 -9.96138621e-01 -4.49856905e-04 1.99116303e+02] [ 9.96126137e-01 8.77943496e-02 -4.98711887e-03 1.28719071e+02] [ 5.00735661e-03 -1.02791080e-05 9.99987463e-01 -5.02042242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.405769231 meters 0.013019591895228857 Centerline is valid? [True, True] Translation: X:199.11, Y:128.74, Z:-0.50 [[ 9.03706175e-02 -9.95908144e-01 -3.47063811e-04 1.99113868e+02] [ 9.95900652e-01 9.03712838e-02 -3.86287267e-03 1.28742402e+02] [ 3.87843096e-03 3.44911279e-06 9.99992479e-01 -5.00601667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43576923100005 meters 0.012999229274490057 Centerline is valid? [True, True] Translation: X:199.11, Y:128.77, Z:-0.50 [[ 9.16721232e-02 -9.95789226e-01 -1.98968077e-04 1.99112936e+02] [ 9.95786741e-01 9.16723389e-02 -2.22473322e-03 1.28766629e+02] [ 2.23360524e-03 5.81624501e-06 9.99997505e-01 -4.96652006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.465769231 meters 0.01321652703869088 Centerline is valid? [True, True] Translation: X:199.11, Y:128.79, Z:-0.49 [[ 9.27019780e-02 -9.95693900e-01 -3.19500974e-05 1.99111161e+02] [ 9.95693833e-01 9.27019835e-02 -3.64515764e-04 1.28790682e+02] [ 3.65907960e-04 1.97881742e-06 9.99999933e-01 -4.92751871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49576923100005 meters 0.014095511712089998 Centerline is valid? [True, True] Translation: X:199.10, Y:128.82, Z:-0.49 [[ 9.45915053e-02 -9.95516171e-01 1.21742227e-05 1.99104394e+02] [ 9.95516163e-01 9.45915060e-02 1.29799321e-04 1.28815926e+02] [-1.30368901e-04 -1.58277726e-07 9.99999992e-01 -4.91217155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.525769231 meters 0.015201948766659574 Centerline is valid? [True, True] Translation: X:199.10, Y:128.84, Z:-0.49 [[ 9.58135983e-02 -9.95399292e-01 -6.67758127e-05 1.99101235e+02] [ 9.95399003e-01 9.58136214e-02 -7.58351154e-04 1.28840195e+02] [ 7.61260234e-04 6.19177548e-06 9.99999710e-01 -4.93562578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55576923100006 meters 0.01695779917757872 Centerline is valid? [True, True] Translation: X:199.10, Y:128.86, Z:-0.50 [[ 9.73310279e-02 -9.95252043e-01 -2.04207401e-04 1.99096671e+02] [ 9.95249355e-01 9.73312396e-02 -2.31335010e-03 1.28863988e+02] [ 2.32224217e-03 2.19234588e-05 9.99997303e-01 -4.97387497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58576923100003 meters 0.016077972462886964 Centerline is valid? [True, True] Translation: X:199.10, Y:128.89, Z:-0.50 [[ 9.63161473e-02 -9.95350771e-01 -2.07151523e-04 1.99099031e+02] [ 9.95347989e-01 9.63163678e-02 -2.35345101e-03 1.28888069e+02] [ 2.36246135e-03 2.04874823e-05 9.99997209e-01 -4.96739965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61576923100006 meters 0.016077972462886964 Centerline is valid? [True, True] Translation: X:199.10, Y:128.91, Z:-0.50 [[ 9.60416102e-02 -9.95377299e-01 -2.06503153e-04 1.99100774e+02] [ 9.95374516e-01 9.60418300e-02 -2.35350807e-03 1.28912186e+02] [ 2.36246144e-03 2.04867280e-05 9.99997209e-01 -4.96791829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64576923100003 meters 0.015018315778232738 Centerline is valid? [True, True] Translation: X:199.10, Y:128.94, Z:-0.50 [[ 9.39878007e-02 -9.95573331e-01 -1.87900619e-04 1.99103277e+02] [ 9.95571011e-01 9.39879873e-02 -2.14938675e-03 1.28935329e+02] [ 2.15753253e-03 1.49477249e-05 9.99997672e-01 -4.96636550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67576923100006 meters 0.013019395648009956 Centerline is valid? [True, True] Translation: X:199.11, Y:128.96, Z:-0.49 [[ 8.93206842e-02 -9.96002912e-01 -1.18409721e-04 1.99109367e+02] [ 9.96001981e-01 8.93207626e-02 -1.36175960e-03 1.28959064e+02] [ 1.36689297e-03 3.69698241e-06 9.99999066e-01 -4.94963927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70576923100003 meters 0.01276358141261807 Centerline is valid? [True, True] Translation: X:199.11, Y:128.98, Z:-0.49 [[ 8.70786846e-02 -9.96201433e-01 -8.44779478e-05 1.99113884e+02] [ 9.96200954e-01 8.70787256e-02 -9.77037986e-04 1.28982304e+02] [ 9.80682874e-04 9.22170403e-07 9.99999519e-01 -4.94227226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73576923100006 meters 0.013113783458204348 Centerline is valid? [True, True] Translation: X:199.12, Y:129.00, Z:-0.49 [[ 8.40066658e-02 -9.96465188e-01 -9.80613394e-05 1.99118648e+02] [ 9.96464539e-01 8.40067230e-02 -1.13722433e-03 1.29004474e+02] [ 1.14144226e-03 -2.18022339e-06 9.99999349e-01 -4.94977092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76576923100004 meters 0.01359762443738018 Centerline is valid? [True, True] Translation: X:199.12, Y:129.03, Z:-0.50 [[ 8.24229851e-02 -9.96597431e-01 -1.10648307e-04 1.99121493e+02] [ 9.96596600e-01 8.24230593e-02 -1.28662575e-03 1.29027060e+02] [ 1.29136789e-03 -4.22419169e-06 9.99999166e-01 -4.95432171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79576923100007 meters 0.014276234773097496 Centerline is valid? [True, True] Translation: X:199.13, Y:129.05, Z:-0.50 [[ 8.08811870e-02 -9.96723741e-01 -1.30496771e-04 1.99125366e+02] [ 9.96722581e-01 8.08812920e-02 -1.52103856e-03 1.29050581e+02] [ 1.52660999e-03 -7.04567403e-06 9.99998835e-01 -4.96054990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82576923100004 meters 0.01750320244796468 Centerline is valid? [True, True] Translation: X:199.14, Y:129.07, Z:-0.50 [[ 7.66159711e-02 -9.97060643e-01 -2.59643501e-04 1.99136399e+02] [ 9.97056041e-01 7.66164064e-02 -3.02941529e-03 1.29073199e+02] [ 3.04040371e-03 -2.67775268e-05 9.99995378e-01 -4.99490014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85576923100007 meters 0.01962155895518474 Centerline is valid? [True, True] Translation: X:199.14, Y:129.10, Z:-0.50 [[ 7.38456983e-02 -9.97269624e-01 -3.31565757e-04 1.99143803e+02] [ 9.97262079e-01 7.38464294e-02 -3.87939230e-03 1.29096812e+02] [ 3.89328505e-03 -4.41815234e-05 9.99992420e-01 -5.01500551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88576923100004 meters 0.02606537829023676 Centerline is valid? [True, True] Translation: X:199.16, Y:129.12, Z:-0.50 [[ 6.81027400e-02 -9.97678253e-01 -3.46868729e-04 1.99160032e+02] [ 9.97669948e-01 6.81035886e-02 -4.07140054e-03 1.29118721e+02] [ 4.08557078e-03 -6.87869743e-05 9.99991652e-01 -5.02080132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91576923100007 meters 0.024884209325270013 Centerline is valid? [True, True] Translation: X:199.16, Y:129.14, Z:-0.50 [[ 6.55787628e-02 -9.97847375e-01 -2.07199200e-04 1.99162441e+02] [ 9.97844387e-01 6.55790735e-02 -2.44225413e-03 1.29143783e+02] [ 2.45058480e-03 -4.65925550e-05 9.99996996e-01 -4.97196615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94576923100004 meters 0.029964789560687318 Centerline is valid? [True, True] Translation: X:199.17, Y:129.17, Z:-0.49 [[ 6.38687205e-02 -9.97958308e-01 -4.74461713e-05 1.99173787e+02] [ 9.97958147e-01 6.38687372e-02 -5.66602875e-04 1.29167148e+02] [ 5.68476373e-04 -1.11610926e-05 9.99999838e-01 -4.93817185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9757692310001 meters 0.029789974557069526 Centerline is valid? [True, True] Translation: X:199.18, Y:129.19, Z:-0.49 [[ 6.40938999e-02 -9.97943861e-01 1.49827358e-04 1.99178853e+02] [ 9.97942300e-01 6.40940647e-02 1.76567810e-03 1.29189543e+02] [-1.77165066e-03 3.63498632e-05 9.99998430e-01 -4.89074513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00576923100004 meters 0.026628615531150708 Centerline is valid? [True, True] Translation: X:199.18, Y:129.21, Z:-0.49 [[ 6.64539879e-02 -9.97789485e-01 1.03570201e-04 1.99177800e+02] [ 9.97788737e-01 6.64540650e-02 1.22246628e-03 1.29213949e+02] [-1.22664666e-03 2.21034205e-05 9.99999247e-01 -4.90114993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0357692310001 meters 0.019124118795816245 Centerline is valid? [True, True] Translation: X:199.17, Y:129.24, Z:-0.50 [[ 7.30370517e-02 -9.97329222e-01 -1.11002340e-04 1.99168778e+02] [ 9.97328336e-01 7.30371348e-02 -1.32945346e-03 1.29238693e+02] [ 1.33401007e-03 -1.36064184e-05 9.99999110e-01 -4.95962579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06576923100005 meters 0.01715305050461486 Centerline is valid? [True, True] Translation: X:199.17, Y:129.26, Z:-0.50 [[ 7.51329198e-02 -9.97173505e-01 -2.12076628e-04 1.99165887e+02] [ 9.97170263e-01 7.51332164e-02 -2.54272246e-03 1.29261792e+02] [ 2.55146946e-03 -2.04343444e-05 9.99996745e-01 -4.97996235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0957692310001 meters 0.016493060725156605 Centerline is valid? [True, True] Translation: X:199.17, Y:129.29, Z:-0.50 [[ 7.56037090e-02 -9.97137911e-01 -2.54376337e-04 1.99165283e+02] [ 9.97133220e-01 7.56041336e-02 -3.05874729e-03 1.29285737e+02] [ 3.06922479e-03 -2.23944558e-05 9.99995290e-01 -4.98672288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12576923100005 meters 0.01717448005693938 Centerline is valid? [True, True] Translation: X:199.17, Y:129.31, Z:-0.50 [[ 7.45422248e-02 -9.97217836e-01 -2.10578642e-04 1.99168634e+02] [ 9.97214596e-01 7.45425194e-02 -2.54207768e-03 1.29309370e+02] [ 2.55070227e-03 -2.04999694e-05 9.99996747e-01 -4.97258355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.155769231 meters 0.018740097992447732 Centerline is valid? [True, True] Translation: X:199.17, Y:129.33, Z:-0.50 [[ 7.25765194e-02 -9.97362838e-01 -1.34832523e-04 1.99174938e+02] [ 9.97361496e-01 7.25766430e-02 -1.63627652e-03 1.29331723e+02] [ 1.64174708e-03 -1.57215126e-05 9.99998652e-01 -4.96137128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18576923100005 meters 0.022446635169345145 Centerline is valid? [True, True] Translation: X:199.19, Y:129.36, Z:-0.50 [[ 6.74745108e-02 -9.97720995e-01 -8.43089188e-05 1.99186347e+02] [ 9.97720464e-01 6.74745618e-02 -1.02894220e-03 1.29355579e+02] [ 1.03228594e-03 -1.46893620e-05 9.99999467e-01 -4.95267066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.215769231 meters 0.022982899710087035 Centerline is valid? [True, True] Translation: X:199.19, Y:129.38, Z:-0.49 [[ 6.49277703e-02 -9.97889962e-01 -9.46270825e-05 1.99191285e+02] [ 9.97889290e-01 6.49278364e-02 -1.15758967e-03 1.29380603e+02] [ 1.16129105e-03 -1.92676358e-05 9.99999326e-01 -4.94880297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24576923100005 meters 0.026514055500907883 Centerline is valid? [True, True] Translation: X:199.20, Y:129.40, Z:-0.50 [[ 6.32523466e-02 -9.97997557e-01 -1.27901488e-04 1.99201204e+02] [ 9.97996328e-01 6.32524695e-02 -1.56659215e-03 1.29404422e+02] [ 1.57154523e-03 -2.85545859e-05 9.99998765e-01 -4.96203017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.275769231 meters 0.025113514139890165 Centerline is valid? [True, True] Translation: X:199.21, Y:129.43, Z:-0.50 [[ 6.25939704e-02 -9.98039049e-01 -2.27187715e-04 1.99206023e+02] [ 9.98035155e-01 6.25943609e-02 -2.78840207e-03 1.29428546e+02] [ 2.79715482e-03 -5.22041696e-05 9.99996087e-01 -4.97207009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30576923100006 meters 0.026566277039458384 Centerline is valid? [True, True] Translation: X:199.21, Y:129.45, Z:-0.50 [[ 6.46902305e-02 -9.97905369e-01 -2.21616336e-04 1.99211072e+02] [ 9.97901634e-01 6.46905948e-02 -2.73056088e-03 1.29451549e+02] [ 2.73917785e-03 -4.45106908e-05 9.99996247e-01 -4.98710161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33576923100003 meters 0.016877221496523438 Centerline is valid? [True, True] Translation: X:199.20, Y:129.48, Z:-0.50 [[ 7.18675315e-02 -9.97414138e-01 -3.08719995e-04 1.99198682e+02] [ 9.97406847e-01 7.18681866e-02 -3.81379906e-03 1.29477233e+02] [ 3.82612425e-03 -3.38311122e-05 9.99992680e-01 -4.97990906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36576923100006 meters 0.014657523737035702 Centerline is valid? [True, True] Translation: X:199.20, Y:129.50, Z:-0.50 [[ 7.52987839e-02 -9.97160950e-01 -3.65056265e-04 1.99196303e+02] [ 9.97150687e-01 7.52996652e-02 -4.52409096e-03 1.29502017e+02] [ 4.53873546e-03 -2.33575572e-05 9.99989700e-01 -4.99363226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39576923100003 meters 0.013875298121042367 Centerline is valid? [True, True] Translation: X:199.19, Y:129.53, Z:-0.50 [[ 7.83225222e-02 -9.96927974e-01 -4.43052648e-04 1.99194766e+02] [ 9.96912739e-01 7.83237747e-02 -5.51155413e-03 1.29525216e+02] [ 5.52932405e-03 -1.00060073e-05 9.99984713e-01 -5.02319838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42576923100006 meters 0.013967324376390498 Centerline is valid? [True, True] Translation: X:199.19, Y:129.55, Z:-0.50 [[ 8.34999652e-02 -9.96507676e-01 -4.55158428e-04 1.99188104e+02] [ 9.96491473e-01 8.35012031e-02 -5.68276430e-03 1.29549875e+02] [ 5.70092452e-03 2.09491290e-05 9.99983749e-01 -5.01813537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45576923100003 meters 0.01541223702877571 Centerline is valid? [True, True] Translation: X:199.18, Y:129.57, Z:-0.50 [[ 8.58186234e-02 -9.96310680e-01 -4.38663509e-04 1.99184022e+02] [ 9.96295510e-01 8.58197375e-02 -5.49820724e-03 1.29573211e+02] [ 5.51556858e-03 3.48100918e-05 9.99984789e-01 -5.02126748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48576923100006 meters 0.018088220172288352 Centerline is valid? [True, True] Translation: X:199.18, Y:129.60, Z:-0.50 [[ 8.98348145e-02 -9.95956596e-01 -4.06415247e-04 1.99177459e+02] [ 9.95943470e-01 8.98357172e-02 -5.11356805e-03 1.29597468e+02] [ 5.12940243e-03 5.46098254e-05 9.99986843e-01 -4.99303142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51576923100004 meters 0.019837084028793386 Centerline is valid? [True, True] Translation: X:199.18, Y:129.62, Z:-0.50 [[ 9.15688922e-02 -9.95798674e-01 -3.71764264e-04 1.99175056e+02] [ 9.95787608e-01 9.15696274e-02 -4.69508407e-03 1.29621687e+02] [ 4.70940081e-03 5.97253999e-05 9.99988909e-01 -4.98656675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54576923100007 meters 0.021320368242645788 Centerline is valid? [True, True] Translation: X:199.17, Y:129.65, Z:-0.50 [[ 9.29889850e-02 -9.95667087e-01 -3.17983758e-04 1.99173530e+02] [ 9.95658926e-01 9.29895104e-02 -4.03169674e-03 1.29646307e+02] [ 4.04379690e-03 5.83000207e-05 9.99991822e-01 -4.97975600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57576923100004 meters 0.020680860548431188 Centerline is valid? [True, True] Translation: X:199.17, Y:129.67, Z:-0.49 [[ 9.39221682e-02 -9.95579535e-01 -1.29185054e-04 1.99173477e+02] [ 9.95578170e-01 9.39222534e-02 -1.64863588e-03 1.29671102e+02] [ 1.65348149e-03 2.62296368e-05 9.99998633e-01 -4.93879302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60576923100007 meters 0.020300978485084064 Centerline is valid? [True, True] Translation: X:199.17, Y:129.70, Z:-0.49 [[ 9.31798720e-02 -9.95649291e-01 -2.22242683e-05 1.99173833e+02] [ 9.95649249e-01 9.31798746e-02 -2.91197707e-04 1.29695406e+02] [ 2.92001645e-04 5.00618904e-06 9.99999957e-01 -4.91410161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63576923100004 meters 0.01943662444312903 Centerline is valid? [True, True] Translation: X:199.18, Y:129.72, Z:-0.49 [[ 9.20049197e-02 -9.95758550e-01 6.90824591e-05 1.99175003e+02] [ 9.95758165e-01 9.20049448e-02 8.75967493e-04 1.29720145e+02] [-8.78608049e-04 -1.18038961e-05 9.99999614e-01 -4.89496253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66576923100007 meters 0.01826462065909247 Centerline is valid? [True, True] Translation: X:199.18, Y:129.74, Z:-0.49 [[ 8.83307203e-02 -9.96091197e-01 1.09385527e-04 1.99176085e+02] [ 9.96090217e-01 8.83307868e-02 1.39699265e-03 1.29744912e+02] [-1.40119419e-03 -1.44395138e-05 9.99999018e-01 -4.88850622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69576923100004 meters 0.016147863940818685 Centerline is valid? [True, True] Translation: X:199.18, Y:129.77, Z:-0.49 [[ 8.54583658e-02 -9.96341739e-01 8.09485688e-05 1.99180733e+02] [ 9.96341201e-01 8.54584038e-02 1.03546971e-03 1.29768906e+02] [-1.03859943e-03 -7.83715487e-06 9.99999461e-01 -4.89993737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7257692310001 meters 0.012902715137520298 Centerline is valid? [True, True] Translation: X:199.19, Y:129.79, Z:-0.49 [[ 7.88928096e-02 -9.96883101e-01 -8.11709782e-05 1.99191465e+02] [ 9.96882541e-01 7.88928513e-02 -1.05704384e-03 1.29792667e+02] [ 1.06015295e-03 2.47522754e-06 9.99999438e-01 -4.94414165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75576923100004 meters 0.01294315944269321 Centerline is valid? [True, True] Translation: X:199.20, Y:129.82, Z:-0.49 [[ 7.58372236e-02 -9.97120199e-01 -1.58701960e-04 1.99197566e+02] [ 9.97118055e-01 7.58373897e-02 -2.06755438e-03 1.29816977e+02] [ 2.07363577e-03 -1.44700596e-06 9.99997850e-01 -4.94911462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7857692310001 meters 0.01410286293668585 Centerline is valid? [True, True] Translation: X:199.21, Y:129.84, Z:-0.49 [[ 7.14906717e-02 -9.97441266e-01 -6.70448856e-05 1.99206287e+02] [ 9.97440876e-01 7.14907030e-02 -8.81734554e-04 1.29840114e+02] [ 8.84271516e-04 -3.83751398e-06 9.99999609e-01 -4.92243599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81576923100005 meters 0.014977341950920429 Centerline is valid? [True, True] Translation: X:199.21, Y:129.86, Z:-0.49 [[ 7.02037158e-02 -9.97532675e-01 1.54757145e-05 1.99210690e+02] [ 9.97532656e-01 7.02037175e-02 1.93725188e-04 1.29862553e+02] [-1.94333658e-04 1.83730259e-06 9.99999981e-01 -4.90278756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8457692310001 meters 0.015443357188048821 Centerline is valid? [True, True] Translation: X:199.21, Y:129.89, Z:-0.49 [[ 6.93869595e-02 -9.97589820e-01 9.59743117e-06 1.99213183e+02] [ 9.97589813e-01 6.93869601e-02 1.18001076e-04 1.29885841e+02] [-1.18382609e-04 1.38656370e-06 9.99999993e-01 -4.89986921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87576923100005 meters 0.015185992044675928 Centerline is valid? [True, True] Translation: X:199.21, Y:129.91, Z:-0.49 [[ 6.88525338e-02 -9.97626844e-01 -8.82649550e-05 1.99213666e+02] [ 9.97626156e-01 6.88525900e-02 -1.17220183e-03 1.29909396e+02] [ 1.17549729e-03 -7.34636134e-06 9.99999309e-01 -4.92518292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.905769231 meters 0.016498511698181118 Centerline is valid? [True, True] Translation: X:199.22, Y:129.93, Z:-0.50 [[ 6.86212609e-02 -9.97642720e-01 -3.53792709e-04 1.99217131e+02] [ 9.97631689e-01 6.86221659e-02 -4.69157412e-03 1.29932629e+02] [ 4.70479278e-03 -3.10130867e-05 9.99988932e-01 -5.01669920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93576923100005 meters 0.015742847141759348 Centerline is valid? [True, True] Translation: X:199.22, Y:129.96, Z:-0.50 [[ 6.82556624e-02 -9.97667811e-01 -3.20215310e-04 1.99218294e+02] [ 9.97658700e-01 6.82564076e-02 -4.26389316e-03 1.29956700e+02] [ 4.27580571e-03 -2.84307375e-05 9.99990858e-01 -5.00080533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.965769231 meters 0.015251248370593797 Centerline is valid? [True, True] Translation: X:199.22, Y:129.98, Z:-0.50 [[ 6.80736795e-02 -9.97680261e-01 -2.68221782e-04 1.99219100e+02] [ 9.97673815e-01 6.80742038e-02 -3.58620955e-03 1.29981022e+02] [ 3.59614946e-03 -2.34713698e-05 9.99993534e-01 -4.97373182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99576923100005 meters 0.015038668949717128 Centerline is valid? [True, True] Translation: X:199.22, Y:130.00, Z:-0.50 [[ 6.83497468e-02 -9.97661400e-01 -2.08771392e-04 1.99219855e+02] [ 9.97657458e-01 6.83500636e-02 -2.80458863e-03 1.30004310e+02] [ 2.81229936e-03 -1.65894136e-05 9.99996045e-01 -4.95488280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.025769231 meters 0.01471551447461532 Centerline is valid? [True, True] Translation: X:199.22, Y:130.03, Z:-0.50 [[ 6.94695323e-02 -9.97584053e-01 -2.01805966e-04 1.99219058e+02] [ 9.97580337e-01 6.94698243e-02 -2.72299356e-03 1.30027201e+02] [ 2.73043438e-03 -1.21525748e-05 9.99996272e-01 -4.95800530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05576923100006 meters 0.012868870909715313 Centerline is valid? [True, True] Translation: X:199.21, Y:130.05, Z:-0.49 [[ 7.46695678e-02 -9.97208322e-01 -1.31510051e-04 1.99206424e+02] [ 9.97206727e-01 7.46696836e-02 -1.78362177e-03 1.30051344e+02] [ 1.78846229e-03 2.03955937e-06 9.99998401e-01 -4.93434294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08576923100003 meters 0.01554550869713623 Centerline is valid? [True, True] Translation: X:199.19, Y:130.08, Z:-0.49 [[ 8.00530024e-02 -9.96790601e-01 -1.22532621e-04 1.99192544e+02] [ 9.96789204e-01 8.00530954e-02 -1.66894021e-03 1.30075129e+02] [ 1.67339303e-03 1.14644805e-05 9.99998600e-01 -4.92979684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11576923100006 meters 0.015955355508067662 Centerline is valid? [True, True] Translation: X:199.19, Y:130.10, Z:-0.49 [[ 8.19573677e-02 -9.96635823e-01 -1.59736452e-04 1.99190982e+02] [ 9.96633439e-01 8.19575211e-02 -2.17996569e-03 1.30100472e+02] [ 2.18572350e-03 1.94655594e-05 9.99997611e-01 -4.93076931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14576923100003 meters 0.017398606895301583 Centerline is valid? [True, True] Translation: X:199.19, Y:130.13, Z:-0.49 [[ 8.38055087e-02 -9.96482114e-01 -1.83183146e-04 1.99188304e+02] [ 9.96478958e-01 8.38057044e-02 -2.50791757e-03 1.30126657e+02] [ 2.51444680e-03 2.76391581e-05 9.99996838e-01 -4.94045350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17576923100006 meters 0.01927329960130038 Centerline is valid? [True, True] Translation: X:199.18, Y:130.15, Z:-0.50 [[ 8.55098980e-02 -9.96337301e-01 -1.98218694e-04 1.99184967e+02] [ 9.96333579e-01 8.55101204e-02 -2.72362152e-03 1.30151098e+02] [ 2.73059542e-03 3.54046577e-05 9.99996271e-01 -4.95031738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20576923100003 meters 0.0215834918095207 Centerline is valid? [True, True] Translation: X:199.18, Y:130.18, Z:-0.49 [[ 8.72857721e-02 -9.96183298e-01 -1.75154990e-04 1.99180178e+02] [ 9.96180368e-01 8.72859403e-02 -2.41629143e-03 1.30176254e+02] [ 2.42235773e-03 3.64219007e-05 9.99997065e-01 -4.94668302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23576923100006 meters 0.021288278447544867 Centerline is valid? [True, True] Translation: X:199.18, Y:130.20, Z:-0.49 [[ 8.68853259e-02 -9.96218302e-01 -1.85164477e-04 1.99179132e+02] [ 9.96215004e-01 8.68855147e-02 -2.56395431e-03 1.30200642e+02] [ 2.57034632e-03 3.83063762e-05 9.99996696e-01 -4.94998128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26576923100004 meters 0.024395041607547015 Centerline is valid? [True, True] Translation: X:199.17, Y:130.22, Z:-0.50 [[ 8.60928176e-02 -9.96287097e-01 -2.18475043e-04 1.99174670e+02] [ 9.96282472e-01 8.60930837e-02 -3.03608193e-03 1.30224577e+02] [ 3.04361845e-03 4.37219929e-05 9.99995367e-01 -4.97629180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29576923100007 meters 0.020432356973030544 Centerline is valid? [True, True] Translation: X:199.18, Y:130.25, Z:-0.50 [[ 8.51530614e-02 -9.96367848e-01 -2.60832120e-04 1.99181052e+02] [ 9.96361213e-01 8.51534464e-02 -3.63654122e-03 1.30248778e+02] [ 3.64554350e-03 4.97796097e-05 9.99993354e-01 -4.96473510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32576923100004 meters 0.019945524178778228 Centerline is valid? [True, True] Translation: X:199.18, Y:130.27, Z:-0.50 [[ 8.40717533e-02 -9.96459680e-01 -2.15932546e-04 1.99180786e+02] [ 9.96455087e-01 8.40720214e-02 -3.02580257e-03 1.30272094e+02] [ 3.03324414e-03 3.92174433e-05 9.99995399e-01 -4.96306964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35576923100007 meters 0.019607352788168338 Centerline is valid? [True, True] Translation: X:199.18, Y:130.30, Z:-0.49 [[ 8.35784835e-02 -9.96501187e-01 -1.49446863e-04 1.99181158e+02] [ 9.96498963e-01 8.35786127e-02 -2.10534460e-03 1.30295593e+02] [ 2.11046895e-03 2.70378651e-05 9.99997773e-01 -4.94501096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38576923100004 meters 0.01953960925537576 Centerline is valid? [True, True] Translation: X:199.18, Y:130.32, Z:-0.49 [[ 8.31858483e-02 -9.96534047e-01 -9.29289065e-05 1.99181043e+02] [ 9.96533175e-01 8.31858985e-02 -1.31842962e-03 1.30318145e+02] [ 1.32159038e-03 1.70679480e-05 9.99999127e-01 -4.93095177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41576923100007 meters 0.017772148514101072 Centerline is valid? [True, True] Translation: X:199.18, Y:130.34, Z:-0.49 [[ 8.18655607e-02 -9.96643377e-01 -9.79962680e-05 1.99184360e+02] [ 9.96642401e-01 8.18656177e-02 -1.39480501e-03 1.30342693e+02] [ 1.39814570e-03 1.65192584e-05 9.99999022e-01 -4.92705779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44576923100004 meters 0.017288735944291832 Centerline is valid? [True, True] Translation: X:199.19, Y:130.37, Z:-0.49 [[ 8.08902372e-02 -9.96723002e-01 -1.62777244e-04 1.99187300e+02] [ 9.96720301e-01 8.08903970e-02 -2.32054598e-03 1.30366800e+02] [ 2.32610867e-03 2.54661311e-05 9.99997294e-01 -4.94895249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4757692310001 meters 0.016219032892635623 Centerline is valid? [True, True] Translation: X:199.19, Y:130.39, Z:-0.50 [[ 7.85288962e-02 -9.96911814e-01 -2.18562230e-04 1.99190737e+02] [ 9.96906912e-01 7.85291955e-02 -3.12625871e-03 1.30390619e+02] [ 3.13376776e-03 2.76154482e-05 9.99995089e-01 -4.96541490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50576923100004 meters 0.015652540294294623 Centerline is valid? [True, True] Translation: X:199.19, Y:130.41, Z:-0.50 [[ 7.76667113e-02 -9.96979356e-01 -2.15490524e-04 1.99192085e+02] [ 9.96974556e-01 7.76670061e-02 -3.09377775e-03 1.30414842e+02] [ 3.10116905e-03 2.54449739e-05 9.99995191e-01 -4.95481555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5357692310001 meters 0.015652540294294623 Centerline is valid? [True, True] Translation: X:199.19, Y:130.44, Z:-0.50 [[ 7.73829503e-02 -9.97001421e-01 -2.14581405e-04 1.99193385e+02] [ 9.96996621e-01 7.73832437e-02 -3.09384103e-03 1.30438988e+02] [ 3.10116891e-03 2.54736110e-05 9.99995191e-01 -4.95533423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56576923100005 meters 0.01613235657469486 Centerline is valid? [True, True] Translation: X:199.19, Y:130.46, Z:-0.50 [[ 7.80230292e-02 -9.96951535e-01 -2.10821966e-04 1.99190152e+02] [ 9.96946862e-01 7.80233090e-02 -3.05232233e-03 1.30464306e+02] [ 3.05946646e-03 2.79731373e-05 9.99995319e-01 -4.95195667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5957692310001 meters 0.01768579181391417 Centerline is valid? [True, True] Translation: X:199.19, Y:130.49, Z:-0.49 [[ 7.92412555e-02 -9.96855444e-01 -2.16205726e-04 1.99187647e+02] [ 9.96850493e-01 7.92415434e-02 -3.14190047e-03 1.30488809e+02] [ 3.14915307e-03 3.34433530e-05 9.99995041e-01 -4.94998147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62576923100005 meters 0.01870454493558882 Centerline is valid? [True, True] Translation: X:199.19, Y:130.51, Z:-0.49 [[ 8.07114189e-02 -9.96737486e-01 -2.25287132e-04 1.99186036e+02] [ 9.96732073e-01 8.07117231e-02 -3.28530848e-03 1.30514582e+02] [ 3.29277343e-03 4.06109984e-05 9.99994578e-01 -4.94888754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.655769231 meters 0.024360279835230977 Centerline is valid? [True, True] Translation: X:199.18, Y:130.54, Z:-0.50 [[ 8.40495468e-02 -9.96461558e-01 -1.92614816e-04 1.99175676e+02] [ 9.96457565e-01 8.40497554e-02 -2.82130727e-03 1.30539828e+02] [ 2.82751346e-03 4.51971070e-05 9.99996002e-01 -4.96277625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68576923100005 meters 0.025754845651336837 Centerline is valid? [True, True] Translation: X:199.17, Y:130.56, Z:-0.49 [[ 8.53528812e-02 -9.96350776e-01 -1.29918986e-04 1.99173271e+02] [ 9.96348939e-01 8.53529733e-02 -1.91363040e-03 1.30563915e+02] [ 1.91773610e-03 3.38892239e-05 9.99998161e-01 -4.94693829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.715769231 meters 0.024814063347958937 Centerline is valid? [True, True] Translation: X:199.17, Y:130.59, Z:-0.49 [[ 8.65664260e-02 -9.96246080e-01 -4.05725147e-05 1.99174028e+02] [ 9.96245896e-01 8.65664347e-02 -6.05233272e-04 1.30589045e+02] [ 6.06473493e-04 1.19726800e-05 9.99999816e-01 -4.90293277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74576923100005 meters 0.02504843475962409 Centerline is valid? [True, True] Translation: X:199.17, Y:130.61, Z:-0.49 [[ 8.63797879e-02 -9.96262278e-01 -7.91271650e-05 1.99173257e+02] [ 9.96261581e-01 8.63798211e-02 -1.17817281e-03 1.30613623e+02] [ 1.18060412e-03 2.29389631e-05 9.99999303e-01 -4.91094663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.775769231 meters 0.025745296836407503 Centerline is valid? [True, True] Translation: X:199.17, Y:130.64, Z:-0.49 [[ 8.66058058e-02 -9.96242651e-01 -1.24868309e-04 1.99171021e+02] [ 9.96240912e-01 8.66058880e-02 -1.86174055e-03 1.30638170e+02] [ 1.86555967e-03 3.68386225e-05 9.99998259e-01 -4.92544645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80576923100006 meters 0.027091248638182602 Centerline is valid? [True, True] Translation: X:199.17, Y:130.66, Z:-0.49 [[ 8.80765756e-02 -9.96113706e-01 -4.81019434e-05 1.99165858e+02] [ 9.96113442e-01 8.80765873e-02 -7.24670976e-04 1.30663744e+02] [ 7.26091347e-04 1.59115456e-05 9.99999736e-01 -4.92293445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83576923100003 meters 0.026407720808915184 Centerline is valid? [True, True] Translation: X:199.17, Y:130.69, Z:-0.49 [[ 8.73751925e-02 -9.96175474e-01 1.98880079e-05 1.99166379e+02] [ 9.96175432e-01 8.73751946e-02 2.88509849e-04 1.30688877e+02] [-2.89144154e-04 -5.39665878e-06 9.99999958e-01 -4.91302455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86576923100006 meters 0.024731960337318566 Centerline is valid? [True, True] Translation: X:199.17, Y:130.71, Z:-0.50 [[ 8.38552258e-02 -9.96477946e-01 -6.31209249e-05 1.99169040e+02] [ 9.96477487e-01 8.38552478e-02 -9.57063064e-04 1.30712754e+02] [ 9.58985257e-04 1.73561588e-05 9.99999540e-01 -4.95101683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89576923100003 meters 0.02232093306231481 Centerline is valid? [True, True] Translation: X:199.17, Y:130.74, Z:-0.50 [[ 8.11624589e-02 -9.96700872e-01 -1.67123852e-04 1.99174177e+02] [ 9.96697661e-01 8.11626216e-02 -2.53029241e-03 1.30736812e+02] [ 2.53550886e-03 3.87928017e-05 9.99996785e-01 -4.98269033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92576923100006 meters 0.019876912403788898 Centerline is valid? [True, True] Translation: X:199.18, Y:130.76, Z:-0.50 [[ 7.82279387e-02 -9.96935473e-01 -2.29337077e-04 1.99179767e+02] [ 9.96929387e-01 7.82282625e-02 -3.48372508e-03 1.30760649e+02] [ 3.49098975e-03 4.38917599e-05 9.99993906e-01 -4.99358151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95576923100003 meters 0.01719126964965507 Centerline is valid? [True, True] Translation: X:199.19, Y:130.78, Z:-0.50 [[ 7.36059586e-02 -9.97287371e-01 -2.50485810e-04 1.99185170e+02] [ 9.97280050e-01 7.36063781e-02 -3.82140121e-03 1.30783442e+02] [ 3.82947252e-03 3.14733981e-05 9.99992667e-01 -4.99747987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98576923100006 meters 0.014538477150581618 Centerline is valid? [True, True] Translation: X:199.19, Y:130.81, Z:-0.50 [[ 7.18774256e-02 -9.97413442e-01 -2.47854239e-04 1.99190317e+02] [ 9.97406211e-01 7.18778483e-02 -3.79818173e-03 1.30808174e+02] [ 3.80617274e-03 2.57921673e-05 9.99992756e-01 -4.96998712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01576923100004 meters 0.01488564333410825 Centerline is valid? [True, True] Translation: X:199.19, Y:130.83, Z:-0.50 [[ 7.10098010e-02 -9.97475594e-01 -2.17750315e-04 1.99188445e+02] [ 9.97469956e-01 7.10101318e-02 -3.35390340e-03 1.30831601e+02] [ 3.36089926e-03 2.09606156e-05 9.99994352e-01 -4.98675754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04576923100007 meters 0.015832165874198827 Centerline is valid? [True, True] Translation: X:199.18, Y:130.86, Z:-0.50 [[ 7.24953169e-02 -9.97368737e-01 -1.78115783e-04 1.99182442e+02] [ 9.97364926e-01 7.24955323e-02 -2.75710308e-03 1.30856183e+02] [ 2.76276101e-03 2.22306264e-05 9.99996183e-01 -4.97771678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07576923100004 meters 0.01734456719439627 Centerline is valid? [True, True] Translation: X:199.18, Y:130.88, Z:-0.50 [[ 7.38419756e-02 -9.97269935e-01 -1.97211860e-04 1.99177809e+02] [ 9.97265226e-01 7.38422330e-02 -3.06498213e-03 1.30880488e+02] [ 3.07117709e-03 2.96518060e-05 9.99995283e-01 -4.98110916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10576923100007 meters 0.01706789140448505 Centerline is valid? [True, True] Translation: X:199.17, Y:130.91, Z:-0.50 [[ 7.40343309e-02 -9.97255657e-01 -2.68755843e-04 1.99174593e+02] [ 9.97246848e-01 7.40348066e-02 -4.19177695e-03 1.30905139e+02] [ 4.20017056e-03 4.23194843e-05 9.99991178e-01 -4.99603910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13576923100004 meters 0.01524085301458825 Centerline is valid? [True, True] Translation: X:199.18, Y:130.93, Z:-0.50 [[ 7.15377579e-02 -9.97437865e-01 -2.33843999e-04 1.99178210e+02] [ 9.97431135e-01 7.15381342e-02 -3.66425512e-03 1.30929580e+02] [ 3.67159557e-03 2.88893106e-05 9.99993259e-01 -4.99360846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16576923100007 meters 0.013671202995921521 Centerline is valid? [True, True] Translation: X:199.18, Y:130.95, Z:-0.50 [[ 6.78155019e-02 -9.97697865e-01 -1.66439699e-04 1.99184147e+02] [ 9.97694420e-01 6.78157051e-02 -2.62175930e-03 1.30953785e+02] [ 2.62701089e-03 1.17399637e-05 9.99996549e-01 -4.97918614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19576923100004 meters 0.014119557494264443 Centerline is valid? [True, True] Translation: X:199.20, Y:130.98, Z:-0.49 [[ 5.83420449e-02 -9.98296652e-01 -3.57733334e-05 1.99203242e+02] [ 9.98296486e-01 5.83420558e-02 -5.74856886e-04 1.30975159e+02] [ 5.75964794e-04 -2.17406678e-06 9.99999834e-01 -4.94451082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2257692310001 meters 0.017233163935754383 Centerline is valid? [True, True] Translation: X:199.21, Y:131.00, Z:-0.49 [[ 5.29318500e-02 -9.98598127e-01 -1.77817346e-05 1.99213217e+02] [ 9.98598084e-01 5.29318529e-02 -2.91378547e-04 1.30998967e+02] [ 2.91911291e-04 -2.33360056e-06 9.99999957e-01 -4.93790860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25576923100004 meters 0.026111519538263173 Centerline is valid? [True, True] Translation: X:199.23, Y:131.02, Z:-0.49 [[ 4.30637992e-02 -9.99072324e-01 -2.10830860e-05 1.99234468e+02] [ 9.99072264e-01 4.30638039e-02 -3.45381631e-04 1.31022176e+02] [ 3.45969147e-04 -6.19008126e-06 9.99999940e-01 -4.94235254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2857692310001 meters 0.033675766033439615 Centerline is valid? [True, True] Translation: X:199.25, Y:131.05, Z:-0.50 [[ 3.89353668e-02 -9.99241731e-01 -2.98948513e-05 1.99250507e+02] [ 9.99241612e-01 3.89353768e-02 -4.88082780e-04 1.31045194e+02] [ 4.88876649e-04 -1.08684973e-05 9.99999880e-01 -4.95683108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31576923100005 meters 0.03655287823737198 Centerline is valid? [True, True] Translation: X:199.27, Y:131.07, Z:-0.50 [[ 3.38335565e-02 -9.99427480e-01 -4.49258430e-05 1.99265712e+02] [ 9.99427213e-01 3.38335803e-02 -7.31527678e-04 1.31068552e+02] [ 7.32628866e-04 -2.01499271e-05 9.99999731e-01 -4.95872039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3457692310001 meters 0.037481061155365446 Centerline is valid? [True, True] Translation: X:199.27, Y:131.09, Z:-0.49 [[ 3.23420708e-02 -9.99476857e-01 -4.40892315e-05 1.99273852e+02] [ 9.99476597e-01 3.23420942e-02 -7.21580558e-04 1.31092579e+02] [ 7.22629007e-04 -2.07287456e-05 9.99999739e-01 -4.94888812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37576923100005 meters 0.03747567733970553 Centerline is valid? [True, True] Translation: X:199.28, Y:131.12, Z:-0.49 [[ 3.11359860e-02 -9.99515157e-01 -3.63232103e-05 1.99281736e+02] [ 9.99514977e-01 3.11360022e-02 -5.99295555e-04 1.31116452e+02] [ 6.00135950e-04 -1.76459347e-05 9.99999820e-01 -4.93910352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.405769231 meters 0.0400534708673645 Centerline is valid? [True, True] Translation: X:199.30, Y:131.14, Z:-0.49 [[ 2.99528012e-02 -9.99551312e-01 -6.79665005e-05 1.99301430e+02] [ 9.99550686e-01 2.99528586e-02 -1.11887785e-03 1.31137930e+02] [ 1.12041161e-03 -3.44224365e-05 9.99999372e-01 -4.94794614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43576923100005 meters 0.040676864387464824 Centerline is valid? [True, True] Translation: X:199.31, Y:131.16, Z:-0.50 [[ 2.93954434e-02 -9.99567857e-01 -8.60696579e-05 1.99311232e+02] [ 9.99566848e-01 2.93955361e-02 -1.42083736e-03 1.31160006e+02] [ 1.42275342e-03 -4.42662324e-05 9.99998987e-01 -4.96305453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.465769231 meters 0.03795673359959721 Centerline is valid? [True, True] Translation: X:199.33, Y:131.18, Z:-0.50 [[ 3.03140223e-02 -9.99540417e-01 -1.24226201e-04 1.99325142e+02] [ 9.99538306e-01 3.03142137e-02 -2.05484595e-03 1.31183113e+02] [ 2.05766740e-03 -6.18782000e-05 9.99997881e-01 -4.97954155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49576923100005 meters 0.035200593265263085 Centerline is valid? [True, True] Translation: X:199.33, Y:131.21, Z:-0.50 [[ 3.21524944e-02 -9.99482966e-01 -1.36513668e-04 1.99329865e+02] [ 9.99480393e-01 3.21527215e-02 -2.26870718e-03 1.31207132e+02] [ 2.27192347e-03 -6.34981398e-05 9.99997417e-01 -4.97921664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.525769231 meters 0.02949941806235124 Centerline is valid? [True, True] Translation: X:199.33, Y:131.23, Z:-0.50 [[ 3.92705866e-02 -9.99228605e-01 -1.24012505e-04 1.99333622e+02] [ 9.99226458e-01 3.92707593e-02 -2.07212571e-03 1.31230696e+02] [ 2.07539735e-03 -4.25429843e-05 9.99997845e-01 -4.95526264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55576923100006 meters 0.02325913889526047 Centerline is valid? [True, True] Translation: X:199.33, Y:131.26, Z:-0.50 [[ 4.36341048e-02 -9.99047573e-01 -1.10006037e-04 1.99329508e+02] [ 9.99045864e-01 4.36342337e-02 -1.84819808e-03 1.31255219e+02] [ 1.85123784e-03 -2.92566077e-05 9.99998286e-01 -4.95712337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58576923100003 meters 0.015788378778986586 Centerline is valid? [True, True] Translation: X:199.33, Y:131.28, Z:-0.50 [[ 5.23508610e-02 -9.98628749e-01 -9.93267325e-05 1.99326310e+02] [ 9.98627339e-01 5.23509540e-02 -1.67809414e-03 1.31278839e+02] [ 1.68099290e-03 -1.13407173e-05 9.99998587e-01 -4.97150530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61576923100006 meters 0.013458802769933526 Centerline is valid? [True, True] Translation: X:199.32, Y:131.30, Z:-0.50 [[ 5.59299779e-02 -9.98434688e-01 -1.11327945e-04 1.99324258e+02] [ 9.98432902e-01 5.59300884e-02 -1.88813621e-03 1.31303279e+02] [ 1.89140726e-03 -5.55006706e-06 9.99998211e-01 -4.97594435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64576923100003 meters 0.012755889217267417 Centerline is valid? [True, True] Translation: X:199.32, Y:131.33, Z:-0.50 [[ 5.93843262e-02 -9.98235184e-01 -1.36652056e-04 1.99321259e+02] [ 9.98232470e-01 5.93844834e-02 -2.32776270e-03 1.31327578e+02] [ 2.33176964e-03 1.82210039e-06 9.99997281e-01 -4.98162407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67576923100006 meters 0.016685823218833065 Centerline is valid? [True, True] Translation: X:199.31, Y:131.35, Z:-0.50 [[ 6.70570877e-02 -9.97749126e-01 -1.68444617e-04 1.99311071e+02] [ 9.97744966e-01 6.70572945e-02 -2.88132050e-03 1.31351808e+02] [ 2.88613046e-03 2.51481930e-05 9.99995835e-01 -4.99732402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70576923100003 meters 0.02008268748083024 Centerline is valid? [True, True] Translation: X:199.31, Y:131.38, Z:-0.50 [[ 7.04656911e-02 -9.97514194e-01 -1.41338764e-04 1.99307459e+02] [ 9.97511233e-01 7.04658264e-02 -2.43052832e-03 1.31375780e+02] [ 2.43444605e-03 3.02818532e-05 9.99997036e-01 -4.98343622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73576923100006 meters 0.026510655545781844 Centerline is valid? [True, True] Translation: X:199.30, Y:131.40, Z:-0.50 [[ 7.58827201e-02 -9.97116742e-01 -1.23133220e-04 1.99300802e+02] [ 9.97114469e-01 7.58828100e-02 -2.12972114e-03 1.31398879e+02] [ 2.13292430e-03 3.88311181e-05 9.99997725e-01 -4.97839563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76576923100004 meters 0.026514925988656034 Centerline is valid? [True, True] Translation: X:199.30, Y:131.42, Z:-0.50 [[ 7.79228952e-02 -9.96959379e-01 -1.39062364e-04 1.99301426e+02] [ 9.96956456e-01 7.79230036e-02 -2.41452305e-03 1.31423558e+02] [ 2.41801755e-03 4.95075053e-05 9.99997075e-01 -4.97845799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79576923100007 meters 0.028300469918722097 Centerline is valid? [True, True] Translation: X:199.30, Y:131.45, Z:-0.50 [[ 7.95273857e-02 -9.96832671e-01 -1.44466067e-04 1.99298617e+02] [ 9.96829488e-01 7.95274969e-02 -2.51992707e-03 1.31448335e+02] [ 2.52343466e-03 5.63951760e-05 9.99996815e-01 -4.98253440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82576923100004 meters 0.03326752532311228 Centerline is valid? [True, True] Translation: X:199.29, Y:131.47, Z:-0.50 [[ 8.36880793e-02 -9.96491990e-01 -1.41236608e-04 1.99289576e+02] [ 9.96488917e-01 8.36881721e-02 -2.47563008e-03 1.31472595e+02] [ 2.47876538e-03 6.64400116e-05 9.99996926e-01 -4.97711989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85576923100007 meters 0.03612452440285731 Centerline is valid? [True, True] Translation: X:199.29, Y:131.50, Z:-0.50 [[ 8.57136549e-02 -9.96319801e-01 -1.50242520e-04 1.99285176e+02] [ 9.96316293e-01 8.57137519e-02 -2.64504511e-03 1.31497477e+02] [ 2.64818867e-03 7.70274133e-05 9.99996491e-01 -4.97590539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88576923100004 meters 0.03914833822302287 Centerline is valid? [True, True] Translation: X:199.28, Y:131.52, Z:-0.50 [[ 8.95543971e-02 -9.95981924e-01 -1.34288109e-04 1.99277026e+02] [ 9.95979093e-01 8.95544629e-02 -2.37577900e-03 1.31523179e+02] [ 2.37825904e-03 7.90133073e-05 9.99997169e-01 -4.96613520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91576923100007 meters 0.04013084938208519 Centerline is valid? [True, True] Translation: X:199.27, Y:131.55, Z:-0.50 [[ 9.12664609e-02 -9.95826503e-01 -9.55471376e-05 1.99273024e+02] [ 9.95825053e-01 9.12664912e-02 -1.70068875e-03 1.31548911e+02] [ 1.70231118e-03 6.00676099e-05 9.99998549e-01 -4.95215031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94576923100004 meters 0.04172361069621719 Centerline is valid? [True, True] Translation: X:199.26, Y:131.58, Z:-0.49 [[ 9.43232409e-02 -9.95541624e-01 -3.25526680e-05 1.99263523e+02] [ 9.95541450e-01 9.43232437e-02 -5.88738039e-04 1.31575087e+02] [ 5.89183696e-04 2.31241496e-05 9.99999826e-01 -4.93425016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9757692310001 meters 0.042786042213986956 Centerline is valid? [True, True] Translation: X:199.26, Y:131.60, Z:-0.49 [[ 9.53057396e-02 -9.95448047e-01 -4.23182511e-05 1.99259223e+02] [ 9.95447752e-01 9.53057440e-02 -7.66516827e-04 1.31600534e+02] [ 7.67060851e-04 3.09278452e-05 9.99999705e-01 -4.92730732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00576923100004 meters 0.050187856445977085 Centerline is valid? [True, True] Translation: X:199.25, Y:131.63, Z:-0.49 [[ 9.58079831e-02 -9.95399832e-01 -6.85930947e-05 1.99246229e+02] [ 9.95399059e-01 9.58079943e-02 -1.24184972e-03 1.31626051e+02] [ 1.24270877e-03 5.07016153e-05 9.99999227e-01 -4.94243377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0357692310001 meters 0.04481294827665153 Centerline is valid? [True, True] Translation: X:199.25, Y:131.65, Z:-0.50 [[ 9.58846526e-02 -9.95392445e-01 -1.21735628e-04 1.99250400e+02] [ 9.95390005e-01 9.58846873e-02 -2.20557067e-03 1.31651805e+02] [ 2.20708096e-03 9.03059499e-05 9.99997560e-01 -4.95714702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06576923100005 meters 0.04282681953324358 Centerline is valid? [True, True] Translation: X:199.25, Y:131.68, Z:-0.50 [[ 9.39378451e-02 -9.95578048e-01 -1.75295344e-04 1.99245766e+02] [ 9.95572955e-01 9.39379256e-02 -3.18720658e-03 1.31677460e+02] [ 3.18957979e-03 1.24880014e-04 9.99994905e-01 -4.97667551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0957692310001 meters 0.04608417653053312 Centerline is valid? [True, True] Translation: X:199.24, Y:131.70, Z:-0.50 [[ 9.23898282e-02 -9.95722899e-01 -1.69605487e-04 1.99238667e+02] [ 9.95718080e-01 9.23899091e-02 -3.10000639e-03 1.31702181e+02] [ 3.10241718e-03 1.17529808e-04 9.99995181e-01 -4.98025243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12576923100005 meters 0.04196174795364771 Centerline is valid? [True, True] Translation: X:199.24, Y:131.73, Z:-0.50 [[ 9.03002078e-02 -9.95914587e-01 -9.16031676e-05 1.99236806e+02] [ 9.95913160e-01 9.03002336e-02 -1.68689319e-03 1.31727304e+02] [ 1.68827332e-03 6.10980057e-05 9.99998573e-01 -4.95641906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.155769231 meters 0.04181178837404123 Centerline is valid? [True, True] Translation: X:199.23, Y:131.75, Z:-0.49 [[ 8.97496621e-02 -9.95964354e-01 -5.65437054e-05 1.99233550e+02] [ 9.95963801e-01 8.97496719e-02 -1.05095202e-03 1.31752423e+02] [ 1.05178553e-03 3.80071050e-05 9.99999446e-01 -4.94642958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18576923100005 meters 0.042876951714793596 Centerline is valid? [True, True] Translation: X:199.23, Y:131.78, Z:-0.49 [[ 8.96563644e-02 -9.95972758e-01 -2.83792618e-05 1.99228638e+02] [ 9.95972614e-01 8.96563667e-02 -5.36080570e-04 1.31775998e+02] [ 5.36466025e-04 1.97980673e-05 9.99999856e-01 -4.93933320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.215769231 meters 0.04419486483190296 Centerline is valid? [True, True] Translation: X:199.22, Y:131.80, Z:-0.49 [[ 9.07165501e-02 -9.95876753e-01 -2.35768993e-05 1.99219469e+02] [ 9.95876652e-01 9.07165516e-02 -4.47985206e-04 1.31801770e+02] [ 4.48276868e-04 1.71599889e-05 9.99999899e-01 -4.93849941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24576923100005 meters 0.04555819367389407 Centerline is valid? [True, True] Translation: X:199.21, Y:131.83, Z:-0.49 [[ 9.12194520e-02 -9.95830814e-01 -4.92816358e-05 1.99214599e+02] [ 9.95830379e-01 9.12194583e-02 -9.30481989e-04 1.31826681e+02] [ 9.31098080e-04 3.58019071e-05 9.99999566e-01 -4.94694633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.275769231 meters 0.04690863057522129 Centerline is valid? [True, True] Translation: X:199.20, Y:131.85, Z:-0.49 [[ 9.13549929e-02 -9.95818388e-01 -5.04109865e-05 1.99204352e+02] [ 9.95817930e-01 9.13549992e-02 -9.56356590e-04 1.31850722e+02] [ 9.56962774e-04 3.71677853e-05 9.99999541e-01 -4.94522796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30576923100006 meters 0.04687764695430005 Centerline is valid? [True, True] Translation: X:199.20, Y:131.88, Z:-0.49 [[ 9.11882359e-02 -9.95833673e-01 -4.03707577e-05 1.99200530e+02] [ 9.95833374e-01 9.11882398e-02 -7.72076208e-04 1.31875311e+02] [ 7.72540824e-04 3.02017194e-05 9.99999701e-01 -4.94390435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33576923100003 meters 0.04723584952098989 Centerline is valid? [True, True] Translation: X:199.20, Y:131.90, Z:-0.49 [[ 9.10683921e-02 -9.95844640e-01 -1.64484857e-05 1.99195948e+02] [ 9.95844588e-01 9.10683927e-02 -3.22633318e-04 1.31900086e+02] [ 3.22790597e-04 1.30015620e-05 9.99999948e-01 -4.93940408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36576923100006 meters 0.04902721345650845 Centerline is valid? [True, True] Translation: X:199.19, Y:131.92, Z:-0.49 [[ 9.16225551e-02 -9.95793807e-01 -3.13098482e-05 1.99185603e+02] [ 9.95793622e-01 9.16225572e-02 -6.07895035e-04 1.31924100e+02] [ 6.08206800e-04 2.45187492e-05 9.99999815e-01 -4.94464188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39576923100003 meters 0.049910331873979266 Centerline is valid? [True, True] Translation: X:199.18, Y:131.95, Z:-0.50 [[ 9.20033939e-02 -9.95758692e-01 -5.00780566e-05 1.99179917e+02] [ 9.95758220e-01 9.20033991e-02 -9.70695527e-04 1.31948981e+02] [ 9.71185860e-04 3.94416464e-05 9.99999528e-01 -4.95112228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42576923100006 meters 0.049910331873979266 Centerline is valid? [True, True] Translation: X:199.18, Y:131.97, Z:-0.50 [[ 9.17171856e-02 -9.95785095e-01 -4.97808483e-05 1.99180706e+02] [ 9.95784623e-01 9.17171907e-02 -9.70710915e-04 1.31972309e+02] [ 9.71185220e-04 3.94598699e-05 9.99999528e-01 -4.95162339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45576923100003 meters 0.05297089257455118 Centerline is valid? [True, True] Translation: X:199.16, Y:132.00, Z:-0.50 [[ 9.33845126e-02 -9.95630109e-01 -1.39824331e-04 1.99164338e+02] [ 9.95626405e-01 9.33845470e-02 -2.71795891e-03 1.31996393e+02] [ 2.71913916e-03 1.14602473e-04 9.99996297e-01 -4.98553299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48576923100006 meters 0.05132769156401965 Centerline is valid? [True, True] Translation: X:199.16, Y:132.02, Z:-0.50 [[ 9.36671345e-02 -9.95603555e-01 -1.69832881e-04 1.99161508e+02] [ 9.95598049e-01 9.36671819e-02 -3.31411307e-03 1.32022220e+02] [ 3.31545052e-03 1.41338190e-04 9.99994494e-01 -4.99497047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51576923100004 meters 0.04986101438344628 Centerline is valid? [True, True] Translation: X:199.16, Y:132.05, Z:-0.50 [[ 9.11916258e-02 -9.95833342e-01 -2.05373575e-04 1.99156213e+02] [ 9.95825206e-01 9.11917116e-02 -4.02885075e-03 1.32046115e+02] [ 4.03079228e-03 1.62881267e-04 9.99991863e-01 -5.01737035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54576923100007 meters 0.04939416377163644 Centerline is valid? [True, True] Translation: X:199.16, Y:132.07, Z:-0.50 [[ 8.81545908e-02 -9.96106783e-01 -2.12421439e-04 1.99155040e+02] [ 9.96097991e-01 8.81547059e-02 -4.18810314e-03 1.32070373e+02] [ 4.19052389e-03 1.57607950e-04 9.99991207e-01 -5.03104502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57576923100004 meters 0.03699807774193915 Centerline is valid? [True, True] Translation: X:199.17, Y:132.09, Z:-0.50 [[ 7.93906902e-02 -9.96843563e-01 -1.72847544e-04 1.99167945e+02] [ 9.96837669e-01 7.93908154e-02 -3.42915852e-03 1.32093869e+02] [ 3.43205710e-03 9.99423183e-05 9.99994105e-01 -5.01647339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60576923100007 meters 0.03062346635486634 Centerline is valid? [True, True] Translation: X:199.17, Y:132.12, Z:-0.50 [[ 7.45770531e-02 -9.97215243e-01 -1.52005570e-04 1.99174801e+02] [ 9.97210638e-01 7.45771709e-02 -3.03126580e-03 1.32118543e+02] [ 3.03416060e-03 7.44812991e-05 9.99995394e-01 -5.00617476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63576923100004 meters 0.027318232083964993 Centerline is valid? [True, True] Translation: X:199.18, Y:132.14, Z:-0.50 [[ 7.02574886e-02 -9.97528876e-01 -1.63804833e-04 1.99177635e+02] [ 9.97523470e-01 7.02576473e-02 -3.28477527e-03 1.32142390e+02] [ 3.28816672e-03 6.73808955e-05 9.99994592e-01 -5.01385958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66576923100007 meters 0.02003653686376325 Centerline is valid? [True, True] Translation: X:199.19, Y:132.17, Z:-0.50 [[ 6.42840850e-02 -9.97931619e-01 -2.01245601e-04 1.99185150e+02] [ 9.97923388e-01 6.42843722e-02 -4.05345726e-03 1.32167784e+02] [ 4.05801011e-03 5.97450984e-05 9.99991764e-01 -5.03052923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69576923100004 meters 0.019963043318080773 Centerline is valid? [True, True] Translation: X:199.18, Y:132.19, Z:-0.51 [[ 6.21637344e-02 -9.98065940e-01 -2.24364714e-04 1.99184814e+02] [ 9.98055605e-01 6.21641119e-02 -4.54222267e-03 1.32191180e+02] [ 4.54738517e-03 5.84330633e-05 9.99989659e-01 -5.05758967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7257692310001 meters 0.018982723224328975 Centerline is valid? [True, True] Translation: X:199.18, Y:132.21, Z:-0.51 [[ 6.06223082e-02 -9.98160753e-01 -2.18933420e-04 1.99184634e+02] [ 9.98150783e-01 6.06226812e-02 -4.46140613e-03 1.32214317e+02] [ 4.46647283e-03 5.19321731e-05 9.99990024e-01 -5.05446349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75576923100004 meters 0.019314192792499452 Centerline is valid? [True, True] Translation: X:199.18, Y:132.24, Z:-0.51 [[ 6.00571532e-02 -9.98194916e-01 -2.17592193e-04 1.99183346e+02] [ 9.98184947e-01 6.00575259e-02 -4.46151520e-03 1.32237695e+02] [ 4.46652984e-03 5.07486507e-05 9.99990024e-01 -5.05392835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7857692310001 meters 0.017978635580050206 Centerline is valid? [True, True] Translation: X:199.19, Y:132.26, Z:-0.50 [[ 5.91727823e-02 -9.98247735e-01 -2.01378175e-04 1.99185796e+02] [ 9.98239090e-01 5.91731079e-02 -4.15479186e-03 1.32261062e+02] [ 4.15942774e-03 4.48270279e-05 9.99991349e-01 -5.04636194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81576923100005 meters 0.016679296078767728 Centerline is valid? [True, True] Translation: X:199.19, Y:132.28, Z:-0.51 [[ 5.72921291e-02 -9.98357432e-01 -2.24980959e-04 1.99188475e+02] [ 9.98346517e-01 5.72925548e-02 -4.66856022e-03 1.32284980e+02] [ 4.67378152e-03 4.28627983e-05 9.99989077e-01 -5.05546512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8457692310001 meters 0.016747698837452592 Centerline is valid? [True, True] Translation: X:199.19, Y:132.31, Z:-0.51 [[ 5.71194194e-02 -9.98367331e-01 -2.09509173e-04 1.99188454e+02] [ 9.98357746e-01 5.71197891e-02 -4.37505766e-03 1.32308604e+02] [ 4.37988176e-03 4.07356474e-05 9.99990407e-01 -5.05653269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87576923100005 meters 0.016816467014223062 Centerline is valid? [True, True] Translation: X:199.19, Y:132.33, Z:-0.50 [[ 5.70177839e-02 -9.98373154e-01 -1.31302699e-04 1.99187200e+02] [ 9.98369326e-01 5.70179289e-02 -2.76476117e-03 1.32331988e+02] [ 2.76774994e-03 2.65519677e-05 9.99996169e-01 -5.02759733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.905769231 meters 0.015928104559353538 Centerline is valid? [True, True] Translation: X:199.19, Y:132.36, Z:-0.50 [[ 5.67311320e-02 -9.98389489e-01 -8.20893161e-05 1.99189035e+02] [ 9.98387968e-01 5.67311889e-02 -1.74303233e-03 1.32356277e+02] [ 1.74488218e-03 1.69272114e-05 9.99998478e-01 -5.00394306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93576923100005 meters 0.015589714192089555 Centerline is valid? [True, True] Translation: X:199.19, Y:132.38, Z:-0.50 [[ 5.59910883e-02 -9.98431266e-01 -6.77411476e-05 1.99190972e+02] [ 9.98430214e-01 5.59911277e-02 -1.44930069e-03 1.32380734e+02] [ 1.45082002e-03 1.35131142e-05 9.99998947e-01 -4.99991798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.965769231 meters 0.014186782171091207 Centerline is valid? [True, True] Translation: X:199.20, Y:132.40, Z:-0.50 [[ 5.35479921e-02 -9.98565274e-01 -7.80741347e-05 1.99196201e+02] [ 9.98563862e-01 5.35480477e-02 -1.67935137e-03 1.32404049e+02] [ 1.68112268e-03 1.19638845e-05 9.99998587e-01 -5.01303024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99576923100005 meters 0.01375961285549988 Centerline is valid? [True, True] Translation: X:199.20, Y:132.43, Z:-0.50 [[ 5.21086152e-02 -9.98641414e-01 -1.35997683e-04 1.99200053e+02] [ 9.98637109e-01 5.21087899e-02 -2.93225544e-03 1.32428599e+02] [ 2.93535840e-03 1.69834372e-05 9.99995692e-01 -5.03070381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.025769231 meters 0.013297626369256783 Centerline is valid? [True, True] Translation: X:199.20, Y:132.45, Z:-0.51 [[ 5.02145533e-02 -9.98738428e-01 -2.26883241e-04 1.99204486e+02] [ 9.98726351e-01 5.02150619e-02 -4.91164364e-03 1.32451908e+02] [ 4.91684020e-03 2.00417199e-05 9.99987912e-01 -5.06446867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05576923100006 meters 0.012943633797549474 Centerline is valid? [True, True] Translation: X:199.21, Y:132.48, Z:-0.51 [[ 4.93573010e-02 -9.98781162e-01 -2.16230106e-04 1.99206013e+02] [ 9.98770051e-01 4.93577719e-02 -4.71128213e-03 1.32476045e+02] [ 4.71621248e-03 1.65720167e-05 9.99988878e-01 -5.05445094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08576923100003 meters 0.01282001209843816 Centerline is valid? [True, True] Translation: X:199.21, Y:132.50, Z:-0.50 [[ 4.94304325e-02 -9.98777558e-01 -1.46938267e-04 1.99205951e+02] [ 9.98772349e-01 4.94306493e-02 -3.22589120e-03 1.32500905e+02] [ 3.22921099e-03 1.26993195e-05 9.99994786e-01 -5.01939138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11576923100006 meters 0.012831259986826282 Centerline is valid? [True, True] Translation: X:199.21, Y:132.53, Z:-0.50 [[ 4.95068220e-02 -9.98773779e-01 -1.17374321e-04 1.99205932e+02] [ 9.98770406e-01 4.95069598e-02 -2.59577199e-03 1.32525267e+02] [ 2.59839985e-03 1.12784238e-05 9.99996624e-01 -5.00894230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14576923100003 meters 0.013194208428849772 Centerline is valid? [True, True] Translation: X:199.20, Y:132.55, Z:-0.50 [[ 4.99731779e-02 -9.98750551e-01 -1.35482138e-04 1.99203385e+02] [ 9.98746006e-01 4.99733592e-02 -3.01298872e-03 1.32549579e+02] [ 3.01599465e-03 1.52563770e-05 9.99995452e-01 -5.02019513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17576923100006 meters 0.013520396668331951 Centerline is valid? [True, True] Translation: X:199.20, Y:132.57, Z:-0.50 [[ 5.04613580e-02 -9.98726003e-01 -1.46729236e-04 1.99200537e+02] [ 9.98720608e-01 5.04615677e-02 -3.28281947e-03 1.32574222e+02] [ 3.28604136e-03 1.91140170e-05 9.99994601e-01 -5.02207025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20576923100003 meters 0.014235495371853946 Centerline is valid? [True, True] Translation: X:199.20, Y:132.60, Z:-0.50 [[ 5.09392687e-02 -9.98701742e-01 -1.48850037e-04 1.99196917e+02] [ 9.98696114e-01 5.09394814e-02 -3.35264296e-03 1.32597930e+02] [ 3.35587270e-03 2.21252270e-05 9.99994369e-01 -5.02252918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23576923100006 meters 0.014108385715458246 Centerline is valid? [True, True] Translation: X:199.19, Y:132.62, Z:-0.50 [[ 5.14876743e-02 -9.98673629e-01 -4.49570385e-05 1.99191241e+02] [ 9.98673099e-01 5.14876933e-02 -1.02899574e-03 1.32622994e+02] [ 1.02994564e-03 8.08321240e-06 9.99999470e-01 -4.97500350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26576923100004 meters 0.014111187994056657 Centerline is valid? [True, True] Translation: X:199.19, Y:132.65, Z:-0.49 [[ 5.11794634e-02 -9.98689472e-01 9.52145614e-06 1.99189072e+02] [ 9.98689452e-01 5.11794643e-02 2.01749881e-04 1.32646540e+02] [-2.01972785e-04 -8.16472820e-07 9.99999980e-01 -4.94999520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29576923100007 meters 0.013604772475160022 Centerline is valid? [True, True] Translation: X:199.19, Y:132.67, Z:-0.49 [[ 4.99606085e-02 -9.98751189e-01 2.94764457e-05 1.99187079e+02] [ 9.98750971e-01 4.99606171e-02 6.59958090e-04 1.32669888e+02] [-6.60606589e-04 -3.53227910e-06 9.99999782e-01 -4.94718073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32576923100004 meters 0.012518616929940917 Centerline is valid? [True, True] Translation: X:199.19, Y:132.69, Z:-0.50 [[ 4.76197028e-02 -9.98865538e-01 1.95698300e-06 1.99189788e+02] [ 9.98865538e-01 4.76197028e-02 3.09129629e-05 1.32694632e+02] [-3.09710844e-05 4.82696774e-07 1.00000000e+00 -4.96135886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35576923100007 meters 0.011573738078812032 Centerline is valid? [True, True] Translation: X:199.19, Y:132.72, Z:-0.50 [[ 4.40262987e-02 -9.99030372e-01 -1.24588922e-05 1.99194163e+02] [ 9.99030326e-01 4.40263005e-02 -3.03473955e-04 1.32719473e+02] [ 3.03728217e-04 9.14023848e-07 9.99999954e-01 -4.96024296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38576923100004 meters 0.013129947247065496 Centerline is valid? [True, True] Translation: X:199.20, Y:132.74, Z:-0.49 [[ 3.70518741e-02 -9.99313343e-01 2.38355041e-05 1.99204475e+02] [ 9.99313196e-01 3.70518815e-02 5.42528102e-04 1.32744656e+02] [-5.43038721e-04 3.71745089e-06 9.99999853e-01 -4.94657367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41576923100007 meters 0.01505442835767968 Centerline is valid? [True, True] Translation: X:199.21, Y:132.77, Z:-0.49 [[ 3.37955341e-02 -9.99428766e-01 5.32577034e-05 1.99209973e+02] [ 9.99428001e-01 3.37955741e-02 1.23711678e-03 1.32768517e+02] [-1.23820997e-03 1.14182177e-05 9.99999233e-01 -4.94303986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44576923100004 meters 0.018804798903754603 Centerline is valid? [True, True] Translation: X:199.22, Y:132.79, Z:-0.49 [[ 2.91651740e-02 -9.99574603e-01 7.63916398e-05 1.99217795e+02] [ 9.99572996e-01 2.91652641e-02 1.79241039e-03 1.32792477e+02] [-1.79387589e-03 2.40830593e-05 9.99998391e-01 -4.93542228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4757692310001 meters 0.02001770465795345 Centerline is valid? [True, True] Translation: X:199.22, Y:132.82, Z:-0.49 [[ 2.83816322e-02 -9.99597158e-01 6.80614348e-05 1.99219736e+02] [ 9.99595868e-01 2.83817050e-02 1.60578276e-03 1.32816027e+02] [-1.60706758e-03 2.24591933e-05 9.99998708e-01 -4.94125613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50576923100004 meters 0.018602894487019857 Centerline is valid? [True, True] Translation: X:199.22, Y:132.84, Z:-0.49 [[ 2.84462165e-02 -9.99595324e-01 3.22252489e-05 1.99217503e+02] [ 9.99595037e-01 2.84462328e-02 7.57469613e-04 1.32840667e+02] [-7.58079770e-04 1.06650542e-05 9.99999713e-01 -4.94272014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5357692310001 meters 0.017168229640707567 Centerline is valid? [True, True] Translation: X:199.22, Y:132.86, Z:-0.50 [[ 3.04724033e-02 -9.99535608e-01 -4.27892899e-05 1.99216069e+02] [ 9.99535059e-01 3.04724315e-02 -1.04732146e-03 1.32864667e+02] [ 1.04813898e-03 -1.08549935e-05 9.99999451e-01 -4.97591832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56576923100005 meters 0.015135528471769081 Centerline is valid? [True, True] Translation: X:199.21, Y:132.89, Z:-0.50 [[ 3.22055973e-02 -9.99481265e-01 -3.39243421e-05 1.99214964e+02] [ 9.99480912e-01 3.22056144e-02 -8.39107756e-04 1.32889829e+02] [ 8.39765036e-04 -6.88276593e-06 9.99999647e-01 -4.98095806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5957692310001 meters 0.014604150414032277 Centerline is valid? [True, True] Translation: X:199.22, Y:132.91, Z:-0.50 [[ 3.27911403e-02 -9.99462226e-01 -4.28269477e-06 1.99215578e+02] [ 9.99462219e-01 3.27911405e-02 -1.20664099e-04 1.32913558e+02] [ 1.20739643e-04 -3.23678217e-07 9.99999993e-01 -4.97107958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62576923100005 meters 0.014681320719659077 Centerline is valid? [True, True] Translation: X:199.22, Y:132.94, Z:-0.50 [[ 3.27472307e-02 -9.99463666e-01 9.62685061e-07 1.99216968e+02] [ 9.99463666e-01 3.27472307e-02 7.87430209e-06 1.32936747e+02] [-7.90160418e-06 7.04307155e-07 1.00000000e+00 -4.97167998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.655769231 meters 0.015017949016522624 Centerline is valid? [True, True] Translation: X:199.22, Y:132.96, Z:-0.50 [[ 3.24243048e-02 -9.99474191e-01 -7.33946145e-05 1.99218170e+02] [ 9.99472501e-01 3.24243850e-02 -1.83828757e-03 1.32959931e+02] [ 1.83970076e-03 -1.37507024e-05 9.99998308e-01 -5.00480367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68576923100005 meters 0.014854228378183466 Centerline is valid? [True, True] Translation: X:199.22, Y:132.98, Z:-0.50 [[ 3.22672103e-02 -9.99479270e-01 -1.23137056e-04 1.99217635e+02] [ 9.99474477e-01 3.22674369e-02 -3.09545066e-03 1.32984209e+02] [ 3.09781209e-03 -2.31907867e-05 9.99995201e-01 -5.02918719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.715769231 meters 0.015151444798881919 Centerline is valid? [True, True] Translation: X:199.22, Y:133.01, Z:-0.51 [[ 3.22245686e-02 -9.99480638e-01 -1.75329839e-04 1.99217687e+02] [ 9.99470810e-01 3.22250293e-02 -4.43257365e-03 1.33008262e+02] [ 4.43592155e-03 -3.23992824e-05 9.99990161e-01 -5.06578634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74576923100005 meters 0.015042792484445575 Centerline is valid? [True, True] Translation: X:199.22, Y:133.03, Z:-0.51 [[ 3.19754435e-02 -9.99488635e-01 -1.98178893e-04 1.99218727e+02] [ 9.99475905e-01 3.19760365e-02 -5.04469779e-03 1.33033076e+02] [ 5.04845509e-03 -3.67685793e-05 9.99987256e-01 -5.07925567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.775769231 meters 0.015561915308534657 Centerline is valid? [True, True] Translation: X:199.22, Y:133.06, Z:-0.51 [[ 3.15291762e-02 -9.99502808e-01 -2.19472305e-04 1.99221615e+02] [ 9.99486964e-01 3.15299122e-02 -5.62784387e-03 1.33056309e+02] [ 5.63196569e-03 -4.19184265e-05 9.99984139e-01 -5.09509563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80576923100006 meters 0.014464537351032198 Centerline is valid? [True, True] Translation: X:199.22, Y:133.08, Z:-0.51 [[ 3.16897612e-02 -9.99497737e-01 -1.82860222e-04 1.99224279e+02] [ 9.99486561e-01 3.16902716e-02 -4.72669439e-03 1.33080642e+02] [ 4.73011524e-03 -3.29785176e-05 9.99988812e-01 -5.05328786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83576923100003 meters 0.014077877635546339 Centerline is valid? [True, True] Translation: X:199.23, Y:133.10, Z:-0.50 [[ 3.16480111e-02 -9.99499068e-01 -1.25544063e-04 1.99226720e+02] [ 9.99493704e-01 3.16482526e-02 -3.27470877e-03 1.33104957e+02] [ 3.27704161e-03 -2.18424811e-05 9.99994630e-01 -5.03169600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86576923100006 meters 0.014171293379608253 Centerline is valid? [True, True] Translation: X:199.23, Y:133.13, Z:-0.50 [[ 3.14951106e-02 -9.99503905e-01 -5.04152891e-05 1.99232357e+02] [ 9.99503012e-01 3.14951499e-02 -1.33579226e-03 1.33128029e+02] [ 1.33671742e-03 -8.31930821e-06 9.99999107e-01 -5.00850978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89576923100003 meters 0.013993757856231623 Centerline is valid? [True, True] Translation: X:199.23, Y:133.15, Z:-0.50 [[ 3.14814905e-02 -9.99504334e-01 -3.87521027e-05 1.99233816e+02] [ 9.99503793e-01 3.14815138e-02 -1.03978505e-03 1.33150642e+02] [ 1.04048963e-03 -5.99889058e-06 9.99999459e-01 -5.00560061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92576923100006 meters 0.012730170548650272 Centerline is valid? [True, True] Translation: X:199.23, Y:133.18, Z:-0.50 [[ 3.33112332e-02 -9.99445024e-01 -7.43641755e-05 1.99231586e+02] [ 9.99443038e-01 3.33113152e-02 -1.99260556e-03 1.33175783e+02] [ 1.99397688e-03 -7.94660895e-06 9.99998012e-01 -5.00699693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95576923100003 meters 0.01203303520955301 Centerline is valid? [True, True] Translation: X:199.23, Y:133.20, Z:-0.50 [[ 3.48170573e-02 -9.99393699e-01 -8.85601971e-05 1.99230821e+02] [ 9.99390842e-01 3.48171695e-02 -2.38928529e-03 1.33199348e+02] [ 2.39092007e-03 -5.31836726e-06 9.99997142e-01 -5.01027447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98576923100006 meters 0.011772840774638367 Centerline is valid? [True, True] Translation: X:199.23, Y:133.22, Z:-0.50 [[ 3.59663311e-02 -9.99353000e-01 -7.31628362e-05 1.99230781e+02] [ 9.99351013e-01 3.59664055e-02 -1.99252153e-03 1.33222774e+02] [ 1.99386377e-03 -1.45166547e-06 9.99998012e-01 -5.00341304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01576923100004 meters 0.011433149757319112 Centerline is valid? [True, True] Translation: X:199.23, Y:133.25, Z:-0.50 [[ 3.64914295e-02 -9.99333966e-01 -3.73693640e-06 1.99233132e+02] [ 9.99333959e-01 3.64914297e-02 -1.18717533e-04 1.33247392e+02] [ 1.18774829e-04 5.97725030e-07 9.99999993e-01 -4.97295175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04576923100007 meters 0.011408253536339041 Centerline is valid? [True, True] Translation: X:199.24, Y:133.27, Z:-0.50 [[ 3.53089467e-02 -9.99376444e-01 2.82188855e-05 1.99235573e+02] [ 9.99376158e-01 3.53089580e-02 7.56563240e-04 1.33270640e+02] [-7.57087860e-04 1.48783025e-06 9.99999713e-01 -4.96699491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07576923100004 meters 0.012840620417142685 Centerline is valid? [True, True] Translation: X:199.24, Y:133.30, Z:-0.50 [[ 3.09903027e-02 -9.99519685e-01 2.60153100e-05 1.99244536e+02] [ 9.99519438e-01 3.09903134e-02 7.02628960e-04 1.33295192e+02] [-7.03097700e-04 4.22812381e-06 9.99999753e-01 -4.96908576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10576923100007 meters 0.014538814520796427 Centerline is valid? [True, True] Translation: X:199.25, Y:133.32, Z:-0.50 [[ 2.78482533e-02 -9.99612162e-01 1.04165403e-05 1.99252262e+02] [ 9.99612124e-01 2.78482551e-02 2.74464961e-04 1.33320101e+02] [-2.74648595e-04 2.76913019e-06 9.99999962e-01 -4.97542509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13576923100004 meters 0.017172472565018283 Centerline is valid? [True, True] Translation: X:199.26, Y:133.34, Z:-0.50 [[ 2.43500649e-02 -9.99703493e-01 -5.28857871e-06 1.99261456e+02] [ 9.99703480e-01 2.43500655e-02 -1.63243130e-04 1.33344539e+02] [ 1.63323504e-04 -1.31202974e-06 9.99999987e-01 -4.98240421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16576923100007 meters 0.02478087260002185 Centerline is valid? [True, True] Translation: X:199.28, Y:133.37, Z:-0.50 [[ 1.73553052e-02 -9.99849385e-01 1.57541412e-05 1.99281184e+02] [ 9.99849294e-01 1.73553103e-02 4.27136724e-04 1.33366946e+02] [-4.27345809e-04 8.33867876e-06 9.99999909e-01 -4.97173436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19576923100004 meters 0.03012023124670696 Centerline is valid? [True, True] Translation: X:199.30, Y:133.39, Z:-0.50 [[ 1.10158665e-02 -9.99939324e-01 7.73401626e-07 1.99297552e+02] [ 9.99939324e-01 1.10158665e-02 4.28150546e-06 1.33390331e+02] [-4.28976544e-06 7.26190208e-07 1.00000000e+00 -4.98243772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2257692310001 meters 0.035983755973008034 Centerline is valid? [True, True] Translation: X:199.31, Y:133.41, Z:-0.50 [[ 7.96031544e-03 -9.99968316e-01 -2.65982908e-05 1.99312148e+02] [ 9.99968010e-01 7.96033383e-03 -7.82837449e-04 1.33413411e+02] [ 7.83024377e-04 -2.03658068e-05 9.99999693e-01 -5.00503218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25576923100004 meters 0.03572190185280511 Centerline is valid? [True, True] Translation: X:199.32, Y:133.44, Z:-0.50 [[ 5.57664180e-03 -9.99984449e-01 -5.06029176e-05 1.99319504e+02] [ 9.99983348e-01 5.57671078e-03 -1.48443923e-03 1.33438179e+02] [ 1.48469835e-03 -4.23238891e-05 9.99998897e-01 -5.00855067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2857692310001 meters 0.04152456930722208 Centerline is valid? [True, True] Translation: X:199.34, Y:133.46, Z:-0.50 [[ 2.65900246e-03 -9.99996462e-01 -7.09851108e-05 1.99340101e+02] [ 9.99994270e-01 2.65914534e-03 -2.09490325e-03 1.33460847e+02] [ 2.09508460e-03 -6.54143511e-05 9.99997803e-01 -5.02073516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31576923100005 meters 0.03596944527718265 Centerline is valid? [True, True] Translation: X:199.34, Y:133.49, Z:-0.50 [[ 3.02784209e-03 -9.99995414e-01 -7.10760888e-05 1.99338187e+02] [ 9.99993180e-01 3.02798561e-03 -2.11443132e-03 1.33485741e+02] [ 2.11463684e-03 -6.46734399e-05 9.99997762e-01 -5.01093411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3457692310001 meters 0.03596944527718265 Centerline is valid? [True, True] Translation: X:199.34, Y:133.51, Z:-0.50 [[ 2.74155200e-03 -9.99996239e-01 -7.04690685e-05 1.99338633e+02] [ 9.99994006e-01 2.74169488e-03 -2.11445172e-03 1.33509939e+02] [ 2.11463698e-03 -6.46717667e-05 9.99997762e-01 -5.01145299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37576923100005 meters 0.03012911521062328 Centerline is valid? [True, True] Translation: X:199.34, Y:133.54, Z:-0.50 [[ 8.25529628e-03 -9.99965921e-01 -8.59106227e-05 1.99339835e+02] [ 9.99962555e-01 8.25549146e-03 -2.59527114e-03 1.33535040e+02] [ 2.59589193e-03 -6.44826736e-05 9.99996629e-01 -5.00167393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.405769231 meters 0.02758536485478264 Centerline is valid? [True, True] Translation: X:199.34, Y:133.56, Z:-0.50 [[ 1.30240514e-02 -9.99915180e-01 -8.88742548e-05 1.99339610e+02] [ 9.99911511e-01 1.30242444e-02 -2.70911593e-03 1.33558558e+02] [ 2.71004367e-03 -5.35827253e-05 9.99996326e-01 -5.00342839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43576923100005 meters 0.01993769221269347 Centerline is valid? [True, True] Translation: X:199.33, Y:133.58, Z:-0.50 [[ 1.83834972e-02 -9.99831004e-01 -1.03426877e-04 1.99330257e+02] [ 9.99825957e-01 1.83837331e-02 -3.17724574e-03 1.33583466e+02] [ 3.17861017e-03 -4.49999881e-05 9.99994947e-01 -4.99587671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.465769231 meters 0.012522914762648989 Centerline is valid? [True, True] Translation: X:199.31, Y:133.61, Z:-0.50 [[ 2.96812371e-02 -9.99559405e-01 -1.40157174e-04 1.99314875e+02] [ 9.99549995e-01 2.96815658e-02 -4.33720689e-03 1.33607981e+02] [ 4.33945602e-03 -1.13604369e-05 9.99990584e-01 -5.02751406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49576923100005 meters 0.012417844203648297 Centerline is valid? [True, True] Translation: X:199.31, Y:133.63, Z:-0.50 [[ 3.42870342e-02 -9.99412017e-01 -1.38821514e-04 1.99307406e+02] [ 9.99402593e-01 3.42873138e-02 -4.34029778e-03 1.33630719e+02] [ 4.34250558e-03 1.00773576e-05 9.99990571e-01 -5.04004070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.525769231 meters 0.015676921699279377 Centerline is valid? [True, True] Translation: X:199.30, Y:133.66, Z:-0.50 [[ 4.09309685e-02 -9.99161975e-01 -6.21868089e-05 1.99295025e+02] [ 9.99160032e-01 4.09310115e-02 -1.97053085e-03 1.33655868e+02] [ 1.97142486e-03 1.85211621e-05 9.99998057e-01 -4.99966487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55576923100006 meters 0.017314221828116864 Centerline is valid? [True, True] Translation: X:199.29, Y:133.68, Z:-0.50 [[ 4.29928054e-02 -9.99075382e-01 -5.12417281e-06 1.99290491e+02] [ 9.99075365e-01 4.29928056e-02 -1.81343478e-04 1.33681083e+02] [ 1.81396107e-04 2.67703002e-06 9.99999984e-01 -4.96805575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58576923100003 meters 0.021771410007608634 Centerline is valid? [True, True] Translation: X:199.28, Y:133.70, Z:-0.49 [[ 4.58775597e-02 -9.98947070e-01 3.40321254e-05 1.99281376e+02] [ 9.98946499e-01 4.58775699e-02 1.06765710e-03 1.33704885e+02] [-1.06809425e-03 -1.49852300e-05 9.99999429e-01 -4.94333055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61576923100006 meters 0.02047005285201931 Centerline is valid? [True, True] Translation: X:199.28, Y:133.73, Z:-0.50 [[ 4.65496956e-02 -9.98915975e-01 -1.10768942e-05 1.99282806e+02] [ 9.98915905e-01 4.65496965e-02 -3.74979902e-04 1.33730472e+02] [ 3.75089041e-04 6.39031453e-06 9.99999930e-01 -4.96288017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64576923100003 meters 0.022429086856324842 Centerline is valid? [True, True] Translation: X:199.28, Y:133.75, Z:-0.50 [[ 4.74865278e-02 -9.98871877e-01 -6.09896265e-05 1.99278452e+02] [ 9.98869872e-01 4.74865547e-02 -2.00169353e-03 1.33754701e+02] [ 2.00233156e-03 3.41327750e-05 9.99997995e-01 -4.99887469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67576923100006 meters 0.02619109629269636 Centerline is valid? [True, True] Translation: X:199.27, Y:133.78, Z:-0.50 [[ 4.98731488e-02 -9.98755557e-01 -7.66862767e-05 1.99269107e+02] [ 9.98752342e-01 4.98731829e-02 -2.53486482e-03 1.33778813e+02] [ 2.53553491e-03 4.98310919e-05 9.99996784e-01 -5.01412576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70576923100003 meters 0.026878716303556382 Centerline is valid? [True, True] Translation: X:199.27, Y:133.80, Z:-0.50 [[ 5.08675955e-02 -9.98705405e-01 -5.10967190e-05 1.99266364e+02] [ 9.98703937e-01 5.08676084e-02 -1.71274079e-03 1.33802670e+02] [ 1.71312265e-03 3.60925112e-05 9.99998532e-01 -4.99412914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73576923100006 meters 0.02810320847672719 Centerline is valid? [True, True] Translation: X:199.26, Y:133.83, Z:-0.50 [[ 5.14948009e-02 -9.98673261e-01 -5.24265717e-05 1.99261941e+02] [ 9.98671685e-01 5.14948127e-02 -1.77495768e-03 1.33825810e+02] [ 1.77530247e-03 3.90441594e-05 9.99998423e-01 -5.00125498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76576923100004 meters 0.030527966736996735 Centerline is valid? [True, True] Translation: X:199.26, Y:133.85, Z:-0.50 [[ 5.03640497e-02 -9.98730924e-01 -6.84199658e-05 1.99257515e+02] [ 9.98728200e-01 5.03640722e-02 -2.33311078e-03 1.33848414e+02] [ 2.33359579e-03 4.91719581e-05 9.99997276e-01 -5.02690067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79576923100007 meters 0.024635832175123357 Centerline is valid? [True, True] Translation: X:199.26, Y:133.87, Z:-0.50 [[ 4.84023834e-02 -9.98827915e-01 -7.34685986e-05 1.99264999e+02] [ 9.98824727e-01 4.84024146e-02 -2.52424415e-03 1.33873389e+02] [ 2.52484158e-03 4.87971803e-05 9.99996811e-01 -5.02154445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82576923100004 meters 0.022884230931664997 Centerline is valid? [True, True] Translation: X:199.27, Y:133.90, Z:-0.50 [[ 4.53750294e-02 -9.98970018e-01 -9.58485145e-05 1.99267417e+02] [ 9.98964514e-01 4.53750976e-02 -3.31678500e-03 1.33897025e+02] [ 3.31771791e-03 5.47499523e-05 9.99994495e-01 -5.04206698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85576923100007 meters 0.02014667445870283 Centerline is valid? [True, True] Translation: X:199.27, Y:133.92, Z:-0.50 [[ 4.34648547e-02 -9.99054952e-01 -1.01573123e-04 1.99271335e+02] [ 9.99048655e-01 4.34649414e-02 -3.54744800e-03 1.33922164e+02] [ 3.54851036e-03 5.27128194e-05 9.99993703e-01 -5.04823624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88576923100004 meters 0.02104744588744437 Centerline is valid? [True, True] Translation: X:199.27, Y:133.95, Z:-0.51 [[ 4.26164200e-02 -9.99091503e-01 -9.61489913e-05 1.99269930e+02] [ 9.99085736e-01 4.26165007e-02 -3.39514105e-03 1.33945931e+02] [ 3.39615411e-03 4.86276714e-05 9.99994232e-01 -5.05524081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91576923100007 meters 0.018660129176143896 Centerline is valid? [True, True] Translation: X:199.27, Y:133.97, Z:-0.50 [[ 4.13537327e-02 -9.99144566e-01 -7.55797768e-05 1.99273763e+02] [ 9.99140918e-01 4.13537860e-02 -2.69992197e-03 1.33970040e+02] [ 2.70073787e-03 3.61370037e-05 9.99996352e-01 -5.04193392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94576923100004 meters 0.017560797370565366 Centerline is valid? [True, True] Translation: X:199.28, Y:133.99, Z:-0.50 [[ 3.83826004e-02 -9.99263116e-01 -4.24042473e-05 1.99276590e+02] [ 9.99261931e-01 3.83826202e-02 -1.53904616e-03 1.33994503e+02] [ 1.53953965e-03 1.66996437e-05 9.99998815e-01 -5.02054445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9757692310001 meters 0.016203892932843807 Centerline is valid? [True, True] Translation: X:199.28, Y:134.02, Z:-0.50 [[ 3.67021968e-02 -9.99326247e-01 -2.31793963e-05 1.99279644e+02] [ 9.99325876e-01 3.67022031e-02 -8.61208538e-04 1.34017674e+02] [ 8.61479031e-04 8.44447472e-06 9.99999629e-01 -5.00290200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00576923100004 meters 0.014608034015007338 Centerline is valid? [True, True] Translation: X:199.28, Y:134.04, Z:-0.50 [[ 3.46887067e-02 -9.99398165e-01 2.75277899e-05 1.99284531e+02] [ 9.99397681e-01 3.46887170e-02 9.83899752e-04 1.34041845e+02] [-9.84262511e-04 -6.61900054e-06 9.99999516e-01 -4.97215700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0357692310001 meters 0.014767423293724373 Centerline is valid? [True, True] Translation: X:199.29, Y:134.06, Z:-0.50 [[ 3.45582128e-02 -9.99402686e-01 3.14601788e-05 1.99286158e+02] [ 9.99402037e-01 3.45582263e-02 1.13872384e-03 1.34064593e+02] [-1.13913087e-03 -7.91089389e-06 9.99999351e-01 -4.97248614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06576923100005 meters 0.01520590715709548 Centerline is valid? [True, True] Translation: X:199.29, Y:134.09, Z:-0.50 [[ 3.51939013e-02 -9.99380503e-01 -2.27475741e-05 1.99288232e+02] [ 9.99380122e-01 3.51939078e-02 -8.72298553e-04 1.34088419e+02] [ 8.72558742e-04 7.96611585e-06 9.99999619e-01 -5.00022342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0957692310001 meters 0.016329707241399035 Centerline is valid? [True, True] Translation: X:199.29, Y:134.11, Z:-0.50 [[ 3.52674046e-02 -9.99377909e-01 -6.86669029e-05 1.99287251e+02] [ 9.99374484e-01 3.52674636e-02 -2.61675012e-03 1.34111323e+02] [ 2.61754397e-03 2.36620347e-05 9.99996574e-01 -5.03494660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12576923100005 meters 0.01593373789673038 Centerline is valid? [True, True] Translation: X:199.29, Y:134.14, Z:-0.50 [[ 3.54417560e-02 -9.99371740e-01 -8.61140659e-05 1.99288919e+02] [ 9.99366251e-01 3.54418467e-02 -3.31249269e-03 1.34135271e+02] [ 3.31346362e-03 3.13410664e-05 9.99994510e-01 -5.03795269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.155769231 meters 0.01657499135960336 Centerline is valid? [True, True] Translation: X:199.29, Y:134.16, Z:-0.50 [[ 3.59832975e-02 -9.99352391e-01 -4.21155926e-05 1.99290028e+02] [ 9.99351024e-01 3.59833180e-02 -1.65281906e-03 1.34158515e+02] [ 1.65326414e-03 1.73856194e-05 9.99998633e-01 -5.00978332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18576923100005 meters 0.016660217923652784 Centerline is valid? [True, True] Translation: X:199.29, Y:134.18, Z:-0.50 [[ 3.56755735e-02 -9.99363424e-01 -2.04093367e-05 1.99291421e+02] [ 9.99363085e-01 3.56755783e-02 -8.23221071e-04 1.34181408e+02] [ 8.23425143e-04 8.97254621e-06 9.99999661e-01 -4.99631213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.215769231 meters 0.014906685105343542 Centerline is valid? [True, True] Translation: X:199.30, Y:134.21, Z:-0.50 [[ 3.32439687e-02 -9.99447266e-01 -2.53304639e-05 1.99297549e+02] [ 9.99446741e-01 3.32439772e-02 -1.02461720e-03 1.34205723e+02] [ 1.02489295e-03 8.74589270e-06 9.99999475e-01 -5.00915024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24576923100005 meters 0.013524728575364221 Centerline is valid? [True, True] Translation: X:199.30, Y:134.23, Z:-0.50 [[ 3.12146036e-02 -9.99512705e-01 -3.08214787e-05 1.99302388e+02] [ 9.99511914e-01 3.12146176e-02 -1.25760427e-03 1.34229811e+02] [ 1.25795353e-03 8.44918371e-06 9.99999209e-01 -5.01015491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.275769231 meters 0.011917331558541128 Centerline is valid? [True, True] Translation: X:199.31, Y:134.25, Z:-0.50 [[ 2.75012809e-02 -9.99621767e-01 -4.01503038e-05 1.99311577e+02] [ 9.99620403e-01 2.75013097e-02 -1.65138135e-03 1.34252929e+02] [ 1.65186093e-03 5.28003952e-06 9.99998636e-01 -5.02385092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30576923100006 meters 0.011921222247449534 Centerline is valid? [True, True] Translation: X:199.31, Y:134.28, Z:-0.50 [[ 2.70367634e-02 -9.99634438e-01 -5.47243714e-05 1.99313748e+02] [ 9.99631869e-01 2.70368180e-02 -2.26642072e-03 1.34277052e+02] [ 2.26707178e-03 6.57245511e-06 9.99997430e-01 -5.03044233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33576923100003 meters 0.01337645457331114 Centerline is valid? [True, True] Translation: X:199.31, Y:134.30, Z:-0.50 [[ 2.98786079e-02 -9.99553531e-01 -8.33222675e-05 1.99311315e+02] [ 9.99547475e-01 2.98787169e-02 -3.47966237e-03 1.34301313e+02] [ 3.48059837e-03 2.06829054e-05 9.99993942e-01 -5.03921097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36576923100006 meters 0.014786720980697667 Centerline is valid? [True, True] Translation: X:199.31, Y:134.33, Z:-0.50 [[ 3.22735559e-02 -9.99479069e-01 -8.85064422e-05 1.99308742e+02] [ 9.99472100e-01 3.22736614e-02 -3.73253157e-03 1.34326715e+02] [ 3.73344361e-03 3.20023466e-05 9.99993030e-01 -5.03556717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39576923100003 meters 0.01698008197095825 Centerline is valid? [True, True] Translation: X:199.30, Y:134.35, Z:-0.50 [[ 3.44172189e-02 -9.99407549e-01 -7.95049832e-05 1.99304233e+02] [ 9.99401783e-01 3.44172904e-02 -3.39506602e-03 1.34351706e+02] [ 3.39579095e-03 3.73913083e-05 9.99994234e-01 -5.02752093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42576923100006 meters 0.023052700131024947 Centerline is valid? [True, True] Translation: X:199.29, Y:134.38, Z:-0.50 [[ 3.90604521e-02 -9.99236849e-01 -3.46884739e-05 1.99291814e+02] [ 9.99235700e-01 3.90604598e-02 -1.51529508e-03 1.34375422e+02] [ 1.51549363e-03 2.45261493e-05 9.99998851e-01 -4.99688521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45576923100003 meters 0.03361384277298204 Centerline is valid? [True, True] Translation: X:199.29, Y:134.40, Z:-0.50 [[ 4.08940078e-02 -9.99163490e-01 -2.81908422e-05 1.99291370e+02] [ 9.99162711e-01 4.08940111e-02 -1.24753903e-03 1.34400879e+02] [ 1.24764829e-03 2.28496325e-05 9.99999221e-01 -4.95849078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48576923100006 meters 0.028585541952954475 Centerline is valid? [True, True] Translation: X:199.28, Y:134.43, Z:-0.50 [[ 4.30100331e-02 -9.99074639e-01 -4.84504018e-05 1.99280900e+02] [ 9.99072321e-01 4.30100376e-02 -2.15290936e-03 1.34425818e+02] [ 2.15300099e-03 4.41912473e-05 9.99997681e-01 -5.02787284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51576923100004 meters 0.026910844403809215 Centerline is valid? [True, True] Translation: X:199.28, Y:134.45, Z:-0.50 [[ 4.37171136e-02 -9.99043948e-01 -6.06454078e-05 1.99281666e+02] [ 9.99040234e-01 4.37171164e-02 -2.72478433e-03 1.34450015e+02] [ 2.72483054e-03 5.85325037e-05 9.99996286e-01 -5.03938598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54576923100007 meters 0.02927811948833636 Centerline is valid? [True, True] Translation: X:199.28, Y:134.47, Z:-0.51 [[ 4.51964098e-02 -9.98978113e-01 -1.15592608e-04 1.99276886e+02] [ 9.98964383e-01 4.51963948e-02 -5.23896783e-03 1.34473401e+02] [ 5.23883857e-03 1.21309639e-04 9.99986270e-01 -5.08367636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57576923100004 meters 0.02921403187275888 Centerline is valid? [True, True] Translation: X:199.28, Y:134.50, Z:-0.51 [[ 4.48945139e-02 -9.98991724e-01 -1.32021517e-04 1.99276973e+02] [ 9.98973396e-01 4.48944902e-02 -6.05295109e-03 1.34497644e+02] [ 6.05277509e-03 1.39858314e-04 9.99981672e-01 -5.09799526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60576923100007 meters 0.028640201762366414 Centerline is valid? [True, True] Translation: X:199.28, Y:134.52, Z:-0.51 [[ 4.42794043e-02 -9.99019177e-01 -1.36196604e-04 1.99277934e+02] [ 9.98999170e-01 4.42793797e-02 -6.32420675e-03 1.34522111e+02] [ 6.32403452e-03 1.43971813e-04 9.99979993e-01 -5.10055550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63576923100004 meters 0.027522013721189984 Centerline is valid? [True, True] Translation: X:199.28, Y:134.55, Z:-0.51 [[ 4.22345729e-02 -9.99107714e-01 -1.30524985e-04 1.99279067e+02] [ 9.99088884e-01 4.22345785e-02 -6.13538587e-03 1.34545677e+02] [ 6.13542402e-03 1.28719341e-04 9.99981170e-01 -5.10600501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66576923100007 meters 0.026955189538096946 Centerline is valid? [True, True] Translation: X:199.28, Y:134.57, Z:-0.51 [[ 4.08809191e-02 -9.99164019e-01 -1.13961869e-04 1.99280135e+02] [ 9.99149216e-01 4.08809339e-02 -5.43996429e-03 1.34568749e+02] [ 5.44007546e-03 1.08525828e-04 9.99985197e-01 -5.09243935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69576923100004 meters 0.02267180735402549 Centerline is valid? [True, True] Translation: X:199.29, Y:134.59, Z:-0.50 [[ 3.90138889e-02 -9.99238666e-01 -7.50216568e-05 1.99288538e+02] [ 9.99232055e-01 3.90139037e-02 -3.63532183e-03 1.34593544e+02] [ 3.63548102e-03 6.68639976e-05 9.99993389e-01 -5.03788040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7257692310001 meters 0.02189067917784962 Centerline is valid? [True, True] Translation: X:199.29, Y:134.62, Z:-0.50 [[ 3.77677123e-02 -9.99286543e-01 -7.54894779e-05 1.99290935e+02] [ 9.99279656e-01 3.77677323e-02 -3.71043704e-03 1.34617678e+02] [ 3.71064087e-03 6.46996192e-05 9.99993113e-01 -5.04019445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75576923100004 meters 0.021928352125984648 Centerline is valid? [True, True] Translation: X:199.29, Y:134.64, Z:-0.51 [[ 3.59089581e-02 -9.99355062e-01 -7.88514511e-05 1.99292036e+02] [ 9.99347341e-01 3.59089906e-02 -3.92894357e-03 1.34641392e+02] [ 3.92924112e-03 6.22842817e-05 9.99992279e-01 -5.06016111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7857692310001 meters 0.021089573510917812 Centerline is valid? [True, True] Translation: X:199.30, Y:134.66, Z:-0.51 [[ 3.39121555e-02 -9.99424815e-01 -6.76633841e-05 1.99295251e+02] [ 9.99418936e-01 3.39121881e-02 -3.42853738e-03 1.34664212e+02] [ 3.42885995e-03 4.86450253e-05 9.99994120e-01 -5.06104199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81576923100005 meters 0.019924076095706095 Centerline is valid? [True, True] Translation: X:199.30, Y:134.69, Z:-0.50 [[ 3.43030991e-02 -9.99411475e-01 -4.22261887e-05 1.99297572e+02] [ 9.99409097e-01 3.43031096e-02 -2.18041961e-03 1.34689099e+02] [ 2.18058487e-03 3.25939129e-05 9.99997622e-01 -5.02095379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8457692310001 meters 0.022237474320572142 Centerline is valid? [True, True] Translation: X:199.29, Y:134.71, Z:-0.50 [[ 3.48052887e-02 -9.99394112e-01 -2.48454674e-05 1.99293852e+02] [ 9.99393250e-01 3.48052913e-02 -1.31285982e-03 1.34712818e+02] [ 1.31292913e-03 2.08640729e-05 9.99999138e-01 -5.00817158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87576923100005 meters 0.021022410120619756 Centerline is valid? [True, True] Translation: X:199.30, Y:134.74, Z:-0.50 [[ 3.49328521e-02 -9.99389662e-01 -1.58173926e-05 1.99295205e+02] [ 9.99389291e-01 3.49328528e-02 -8.60288760e-04 1.34737423e+02] [ 8.60316240e-04 1.42446072e-05 9.99999630e-01 -4.99540284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.905769231 meters 0.0208819799039803 Centerline is valid? [True, True] Translation: X:199.30, Y:134.76, Z:-0.50 [[ 3.31882564e-02 -9.99449118e-01 -2.59137110e-05 1.99297475e+02] [ 9.99448124e-01 3.31882599e-02 -1.40981773e-03 1.34761588e+02] [ 1.40990112e-03 2.08899826e-05 9.99999006e-01 -5.01590995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93576923100005 meters 0.01534273191194079 Centerline is valid? [True, True] Translation: X:199.31, Y:134.79, Z:-0.50 [[ 2.75131905e-02 -9.99621439e-01 -5.29760002e-05 1.99310165e+02] [ 9.99617257e-01 2.75132287e-02 -2.89172120e-03 1.34785680e+02] [ 2.89208404e-03 2.66047523e-05 9.99995818e-01 -5.03842826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.965769231 meters 0.013354648165832641 Centerline is valid? [True, True] Translation: X:199.32, Y:134.81, Z:-0.50 [[ 2.42576750e-02 -9.99705738e-01 -4.41398893e-05 1.99315365e+02] [ 9.99702728e-01 2.42577103e-02 -2.45352028e-03 1.34810095e+02] [ 2.45386904e-03 1.53899299e-05 9.99996989e-01 -5.03518760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99576923100005 meters 0.011988804089764564 Centerline is valid? [True, True] Translation: X:199.32, Y:134.83, Z:-0.50 [[ 2.13354640e-02 -9.99772373e-01 -2.52726031e-05 1.99320222e+02] [ 9.99771329e-01 2.13354783e-02 -1.44449182e-03 1.34834040e+02] [ 1.44470222e-03 5.55207926e-06 9.99998956e-01 -5.01556244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.025769231 meters 0.011196349880803064 Centerline is valid? [True, True] Translation: X:199.33, Y:134.86, Z:-0.50 [[ 1.80543842e-02 -9.99837006e-01 8.15318707e-06 1.99328136e+02] [ 9.99836916e-01 1.80543860e-02 4.24264952e-04 1.34856619e+02] [-4.24343001e-04 4.92014991e-07 9.99999910e-01 -4.98509056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05576923100006 meters 0.011226636682896345 Centerline is valid? [True, True] Translation: X:199.33, Y:134.88, Z:-0.50 [[ 1.77645805e-02 -9.99842197e-01 3.49865801e-06 1.99330306e+02] [ 9.99842184e-01 1.77645808e-02 1.63557226e-04 1.34879078e+02] [-1.63593569e-04 5.92580356e-07 9.99999987e-01 -4.99735711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08576923100003 meters 0.01142547586553298 Centerline is valid? [True, True] Translation: X:199.33, Y:134.90, Z:-0.50 [[ 1.83645222e-02 -9.99831358e-01 -2.67137325e-05 1.99332807e+02] [ 9.99830065e-01 1.83645414e-02 -1.60771859e-03 1.34903007e+02] [ 1.60793805e-03 2.81579083e-06 9.99998707e-01 -5.02249392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11576923100006 meters 0.011757175904749154 Centerline is valid? [True, True] Translation: X:199.33, Y:134.93, Z:-0.50 [[ 1.85912908e-02 -9.99827166e-01 -4.48174168e-05 1.99332997e+02] [ 9.99823462e-01 1.85913439e-02 -2.72172123e-03 1.34925811e+02] [ 2.72208404e-03 5.79080618e-06 9.99996295e-01 -5.03832758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14576923100003 meters 0.013298457291598164 Centerline is valid? [True, True] Translation: X:199.33, Y:134.95, Z:-0.51 [[ 2.15618652e-02 -9.99767514e-01 -6.01230672e-05 1.99329628e+02] [ 9.99760670e-01 2.15619400e-02 -3.69945283e-03 1.34949637e+02] [ 3.69988913e-03 1.96584250e-05 9.99993155e-01 -5.05108936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17576923100006 meters 0.01459767137393264 Centerline is valid? [True, True] Translation: X:199.33, Y:134.97, Z:-0.51 [[ 2.32891452e-02 -9.99728769e-01 -6.05468632e-05 1.99327811e+02] [ 9.99721577e-01 2.32892073e-02 -3.79215122e-03 1.34973308e+02] [ 3.79253276e-03 2.77859547e-05 9.99992808e-01 -5.05313384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20576923100003 meters 0.015481308811060392 Centerline is valid? [True, True] Translation: X:199.33, Y:135.00, Z:-0.50 [[ 2.48117213e-02 -9.99692141e-01 -5.24014810e-05 1.99327866e+02] [ 9.99686524e-01 2.48117575e-02 -3.35104595e-03 1.34997724e+02] [ 3.35131447e-03 3.07601635e-05 9.99994384e-01 -5.04521741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23576923100006 meters 0.015481308811060392 Centerline is valid? [True, True] Translation: X:199.33, Y:135.02, Z:-0.50 [[ 2.45067323e-02 -9.99699664e-01 -5.13690075e-05 1.99327809e+02] [ 9.99694048e-01 2.45067668e-02 -3.35106203e-03 1.35021077e+02] [ 3.35131448e-03 3.07702890e-05 9.99994384e-01 -5.04571814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26576923100004 meters 0.01695526701537713 Centerline is valid? [True, True] Translation: X:199.33, Y:135.05, Z:-0.50 [[ 2.62001198e-02 -9.99656717e-01 -3.71261787e-05 1.99328710e+02] [ 9.99653641e-01 2.62001313e-02 -2.48024061e-03 1.35045520e+02] [ 2.48036189e-03 2.78692813e-05 9.99996924e-01 -5.03652663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29576923100007 meters 0.017161730470817867 Centerline is valid? [True, True] Translation: X:199.33, Y:135.07, Z:-0.50 [[ 2.60972964e-02 -9.99659407e-01 -3.28673013e-05 1.99328728e+02] [ 9.99656884e-01 2.60973044e-02 -2.24602189e-03 1.35069430e+02] [ 2.24611466e-03 2.57590749e-05 9.99997477e-01 -5.02869259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32576923100004 meters 0.01817757788791899 Centerline is valid? [True, True] Translation: X:199.33, Y:135.09, Z:-0.50 [[ 2.67955730e-02 -9.99640933e-01 -3.83839671e-05 1.99326542e+02] [ 9.99637366e-01 2.67955799e-02 -2.67102885e-03 1.35092110e+02] [ 2.67109830e-03 3.32017009e-05 9.99996432e-01 -5.03096657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35576923100007 meters 0.019136207381875894 Centerline is valid? [True, True] Translation: X:199.32, Y:135.12, Z:-0.50 [[ 2.73676959e-02 -9.99625434e-01 -4.04914417e-05 1.99324690e+02] [ 9.99621311e-01 2.73676994e-02 -2.87105401e-03 1.35116506e+02] [ 2.87108676e-03 3.80980250e-05 9.99995878e-01 -5.03619037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38576923100004 meters 0.02128521479841771 Centerline is valid? [True, True] Translation: X:199.32, Y:135.14, Z:-0.50 [[ 2.92995578e-02 -9.99570675e-01 -3.65401288e-05 1.99320507e+02] [ 9.99567170e-01 2.92995518e-02 -2.64760612e-03 1.35141124e+02] [ 2.64754005e-03 4.10493755e-05 9.99996494e-01 -5.02819040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41576923100007 meters 0.023483613948717497 Centerline is valid? [True, True] Translation: X:199.32, Y:135.16, Z:-0.50 [[ 3.07437436e-02 -9.99527299e-01 -3.54771714e-05 1.99316133e+02] [ 9.99523842e-01 3.07437306e-02 -2.62922535e-03 1.35164111e+02] [ 2.62907321e-03 4.53719512e-05 9.99996543e-01 -5.03527354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44576923100004 meters 0.02820068726074225 Centerline is valid? [True, True] Translation: X:199.31, Y:135.19, Z:-0.50 [[ 3.49061668e-02 -9.99390593e-01 -4.31845792e-05 1.99306359e+02] [ 9.99385296e-01 3.49061224e-02 -3.25462979e-03 1.35188327e+02] [ 3.25415380e-03 7.04486168e-05 9.99994703e-01 -5.04508813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4757692310001 meters 0.030156603657062016 Centerline is valid? [True, True] Translation: X:199.30, Y:135.21, Z:-0.50 [[ 3.61957871e-02 -9.99344717e-01 -4.46585125e-05 1.99301932e+02] [ 9.99338796e-01 3.61957264e-02 -3.44092180e-03 1.35211564e+02] [ 3.44028347e-03 7.99178887e-05 9.99994079e-01 -5.04750545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50576923100004 meters 0.030692524759827613 Centerline is valid? [True, True] Translation: X:199.30, Y:135.24, Z:-0.50 [[ 3.62824346e-02 -9.99341575e-01 -4.35882312e-05 1.99299594e+02] [ 9.99335677e-01 3.62823703e-02 -3.43420276e-03 1.35235537e+02] [ 3.43352308e-03 8.10419626e-05 9.99994102e-01 -5.04602437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5357692310001 meters 0.029291450788501983 Centerline is valid? [True, True] Translation: X:199.30, Y:135.26, Z:-0.50 [[ 3.44550770e-02 -9.99406247e-01 -3.29402436e-05 1.99298714e+02] [ 9.99402686e-01 3.44550422e-02 -2.66868006e-03 1.35258290e+02] [ 2.66823048e-03 5.90290090e-05 9.99996439e-01 -5.03381738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56576923100005 meters 0.027876243924203892 Centerline is valid? [True, True] Translation: X:199.30, Y:135.28, Z:-0.50 [[ 3.25392310e-02 -9.99470459e-01 -2.50159308e-05 1.99299062e+02] [ 9.99468281e-01 3.25392124e-02 -2.08662393e-03 1.35280989e+02] [ 2.08633298e-03 4.28945089e-05 9.99997823e-01 -5.03314747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5957692310001 meters 0.02386291299628704 Centerline is valid? [True, True] Translation: X:199.30, Y:135.31, Z:-0.50 [[ 2.86396557e-02 -9.99589801e-01 -1.78266532e-05 1.99303489e+02] [ 9.99588629e-01 2.86396494e-02 -1.53073763e-03 1.35305359e+02] [ 1.53062027e-03 2.60204789e-05 9.99998828e-01 -5.03730687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62576923100005 meters 0.022197182679082553 Centerline is valid? [True, True] Translation: X:199.31, Y:135.33, Z:-0.50 [[ 2.67405268e-02 -9.99642408e-01 -2.17835636e-05 1.99306239e+02] [ 9.99640590e-01 2.67405198e-02 -1.90643963e-03 1.35329115e+02] [ 1.90634041e-03 2.92034658e-05 9.99998183e-01 -5.04628395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.655769231 meters 0.016985980520862465 Centerline is valid? [True, True] Translation: X:199.31, Y:135.35, Z:-0.50 [[ 2.33290492e-02 -9.99727841e-01 -1.71606745e-05 1.99314226e+02] [ 9.99726649e-01 2.33290479e-02 -1.54384719e-03 1.35354751e+02] [ 1.54382736e-03 1.88605036e-05 9.99998808e-01 -5.00929338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68576923100005 meters 0.0178409008963785 Centerline is valid? [True, True] Translation: X:199.31, Y:135.38, Z:-0.50 [[ 2.19002606e-02 -9.99760161e-01 -1.57698055e-06 1.99311440e+02] [ 9.99760141e-01 2.19002605e-02 -1.98847607e-04 1.35378162e+02] [ 1.98834451e-04 2.77821210e-06 9.99999980e-01 -4.98629992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.715769231 meters 0.01705595815433913 Centerline is valid? [True, True] Translation: X:199.31, Y:135.40, Z:-0.50 [[ 2.09010026e-02 -9.99781550e-01 7.21839712e-06 1.99311244e+02] [ 9.99781366e-01 2.09010031e-02 6.06518870e-04 1.35402108e+02] [-6.06537248e-04 -5.46003353e-06 9.99999816e-01 -4.96884714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74576923100005 meters 0.016227919595558478 Centerline is valid? [True, True] Translation: X:199.31, Y:135.42, Z:-0.50 [[ 1.94303359e-02 -9.99811213e-01 1.40657870e-06 1.99312699e+02] [ 9.99811211e-01 1.94303359e-02 7.34810407e-05 1.35424943e+02] [-7.34944988e-05 -2.14481427e-08 9.99999997e-01 -4.99807952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.775769231 meters 0.01510508243895864 Centerline is valid? [True, True] Translation: X:199.32, Y:135.45, Z:-0.50 [[ 1.80042712e-02 -9.99837910e-01 -6.58865627e-07 1.99315743e+02] [ 9.99837903e-01 1.80042712e-02 -1.22132475e-04 1.35448860e+02] [ 1.22124541e-04 1.54014738e-06 9.99999993e-01 -5.00719234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80576923100006 meters 0.01184612930103575 Centerline is valid? [True, True] Translation: X:199.32, Y:135.47, Z:-0.50 [[ 1.35055926e-02 -9.99908795e-01 1.20395333e-06 1.99324786e+02] [ 9.99908794e-01 1.35055927e-02 5.67257758e-05 1.35473162e+02] [-5.67368623e-05 4.37728305e-07 9.99999998e-01 -4.99635783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83576923100003 meters 0.011334239221091098 Centerline is valid? [True, True] Translation: X:199.33, Y:135.50, Z:-0.50 [[ 1.12056940e-02 -9.99937214e-01 2.94757407e-06 1.99327147e+02] [ 9.99937187e-01 1.12056944e-02 2.34404390e-04 1.35495830e+02] [-2.34422703e-04 3.20725048e-07 9.99999973e-01 -4.99094379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86576923100006 meters 0.011163152622758184 Centerline is valid? [True, True] Translation: X:199.33, Y:135.52, Z:-0.50 [[ 9.54344082e-03 -9.99954460e-01 1.48517661e-06 1.99328264e+02] [ 9.99954456e-01 9.54344091e-03 8.79378028e-05 1.35519429e+02] [-8.79479719e-05 6.45879760e-07 9.99999996e-01 -4.98182607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89576923100003 meters 0.011395701753924 Centerline is valid? [True, True] Translation: X:199.33, Y:135.54, Z:-0.50 [[ 1.02296356e-02 -9.99947676e-01 -8.01758876e-06 1.99325233e+02] [ 9.99947221e-01 1.02296386e-02 -9.53410039e-04 1.35543159e+02] [ 9.53442170e-04 1.73587167e-06 9.99999545e-01 -4.99868997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92576923100006 meters 0.011982550594965164 Centerline is valid? [True, True] Translation: X:199.32, Y:135.57, Z:-0.50 [[ 1.21355782e-02 -9.99926361e-01 -1.58949473e-05 1.99321069e+02] [ 9.99924604e-01 1.21355867e-02 -1.87442683e-03 1.35568256e+02] [ 1.87448170e-03 6.85350446e-06 9.99998243e-01 -5.01940317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95576923100003 meters 0.015485775922011108 Centerline is valid? [True, True] Translation: X:199.31, Y:135.59, Z:-0.50 [[ 1.73766918e-02 -9.99849014e-01 -2.15004461e-05 1.99308792e+02] [ 9.99845701e-01 1.73766896e-02 -2.57374879e-03 1.35593024e+02] [ 2.57373379e-03 2.32261108e-05 9.99996688e-01 -5.03833762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98576923100006 meters 0.01699092988469823 Centerline is valid? [True, True] Translation: X:199.30, Y:135.62, Z:-0.50 [[ 1.95472230e-02 -9.99808935e-01 -1.96115018e-05 1.99303568e+02] [ 9.99805953e-01 1.95472126e-02 -2.44208789e-03 1.35617892e+02] [ 2.44200464e-03 2.81283403e-05 9.99997018e-01 -5.03016899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01576923100004 meters 0.02023089860982457 Centerline is valid? [True, True] Translation: X:199.29, Y:135.64, Z:-0.50 [[ 2.24058875e-02 -9.99748957e-01 -8.16150572e-06 1.99294491e+02] [ 9.99748357e-01 2.24058830e-02 -1.09459138e-03 1.35641665e+02] [ 1.09449946e-03 1.63658394e-05 9.99999401e-01 -5.00680300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04576923100007 meters 0.019968813468933127 Centerline is valid? [True, True] Translation: X:199.29, Y:135.67, Z:-0.50 [[ 2.23303617e-02 -9.99750646e-01 -3.11537434e-06 1.99293973e+02] [ 9.99750530e-01 2.23303606e-02 -4.81515613e-04 1.35666609e+02] [ 4.81465113e-04 7.63782066e-06 9.99999884e-01 -4.99241895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07576923100004 meters 0.019096075631169575 Centerline is valid? [True, True] Translation: X:199.29, Y:135.69, Z:-0.50 [[ 2.11400112e-02 -9.99776525e-01 -4.84669789e-07 1.99292153e+02] [ 9.99776514e-01 2.11400110e-02 -1.46076218e-04 1.35690934e+02] [ 1.46053820e-04 2.60349142e-06 9.99999989e-01 -4.98755719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10576923100007 meters 0.0197805556015416 Centerline is valid? [True, True] Translation: X:199.29, Y:135.71, Z:-0.50 [[ 2.05267168e-02 -9.99789305e-01 -3.32911047e-06 1.99287954e+02] [ 9.99789147e-01 2.05267154e-02 -5.61995120e-04 1.35714089e+02] [ 5.61945046e-04 8.20750613e-06 9.99999842e-01 -5.01058683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13576923100004 meters 0.01851727732044213 Centerline is valid? [True, True] Translation: X:199.29, Y:135.74, Z:-0.50 [[ 1.97244672e-02 -9.99805454e-01 -5.98731150e-06 1.99287549e+02] [ 9.99804990e-01 1.97244638e-02 -9.62584340e-04 1.35739139e+02] [ 9.62515169e-04 1.30003193e-05 9.99999537e-01 -5.01817007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16576923100007 meters 0.016695080674895973 Centerline is valid? [True, True] Translation: X:199.29, Y:135.76, Z:-0.50 [[ 1.71975626e-02 -9.99852111e-01 -8.20325223e-06 1.99289128e+02] [ 9.99851191e-01 1.71975579e-02 -1.35618020e-03 1.35761738e+02] [ 1.35612071e-03 1.51209623e-05 9.99999080e-01 -5.03872309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19576923100004 meters 0.01423054462473511 Centerline is valid? [True, True] Translation: X:199.29, Y:135.79, Z:-0.50 [[ 1.44442369e-02 -9.99895677e-01 -1.16583733e-05 1.99294676e+02] [ 9.99893757e-01 1.44442320e-02 -1.95937962e-03 1.35786812e+02] [ 1.95934361e-03 1.66446088e-05 9.99998080e-01 -5.04367559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2257692310001 meters 0.011374299034353177 Centerline is valid? [True, True] Translation: X:199.31, Y:135.81, Z:-0.51 [[ 5.66730140e-03 -9.99983941e-01 -1.51083682e-05 1.99310163e+02] [ 9.99980496e-01 5.66732153e-03 -2.62469610e-03 1.35810964e+02] [ 2.62473957e-03 -2.33129663e-07 9.99996555e-01 -5.06839240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25576923100004 meters 0.013497920794784405 Centerline is valid? [True, True] Translation: X:199.32, Y:135.83, Z:-0.51 [[ 1.19405234e-04 -9.99999993e-01 -1.17963494e-05 1.99321674e+02] [ 9.99997598e-01 1.19430764e-04 -2.18843902e-03 1.35834525e+02] [ 2.18844042e-03 -1.15350100e-05 9.99997605e-01 -5.07877730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2857692310001 meters 0.022189400412641436 Centerline is valid? [True, True] Translation: X:199.34, Y:135.86, Z:-0.51 [[-9.32889261e-03 -9.99956485e-01 -7.10216472e-06 1.99344831e+02] [ 9.99955456e-01 -9.32887282e-03 -1.43480621e-03 1.35857973e+02] [ 1.43467752e-03 -2.04870014e-05 9.99998971e-01 -5.06476264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31576923100005 meters 0.022694330357003602 Centerline is valid? [True, True] Translation: X:199.35, Y:135.88, Z:-0.50 [[-1.32267458e-02 -9.99912523e-01 -2.92220196e-06 1.99349875e+02] [ 9.99912289e-01 -1.32267407e-02 -6.83830503e-04 1.35883382e+02] [ 6.83732032e-04 -1.19667979e-05 9.99999766e-01 -5.04235593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3457692310001 meters 0.029725155078895997 Centerline is valid? [True, True] Translation: X:199.36, Y:135.91, Z:-0.50 [[-1.64348215e-02 -9.99864939e-01 -2.96039836e-08 1.99364092e+02] [ 9.99864929e-01 -1.64348213e-02 -1.41829262e-04 1.35907159e+02] [ 1.41809620e-04 -2.36053859e-06 9.99999990e-01 -5.03823410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37576923100005 meters 0.03070306755420467 Centerline is valid? [True, True] Translation: X:199.37, Y:135.93, Z:-0.50 [[-2.00656558e-02 -9.99798664e-01 -4.61965119e-07 1.99374754e+02] [ 9.99798637e-01 -2.00656552e-02 -2.35033040e-04 1.35931783e+02] [ 2.34976450e-04 -5.17796419e-06 9.99999972e-01 -5.03673131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.405769231 meters 0.032042402242084454 Centerline is valid? [True, True] Translation: X:199.39, Y:135.96, Z:-0.50 [[-2.09381582e-02 -9.99780773e-01 -2.99946384e-06 1.99388287e+02] [ 9.99780397e-01 -2.09381477e-02 -8.66759504e-04 1.35955165e+02] [ 8.66506683e-04 -2.11471527e-05 9.99999624e-01 -5.04779699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43576923100005 meters 0.032235325268830266 Centerline is valid? [True, True] Translation: X:199.40, Y:135.98, Z:-0.51 [[-2.15206960e-02 -9.99768403e-01 -5.88930400e-06 1.99395882e+02] [ 9.99767020e-01 -2.15206564e-02 -1.66363357e-03 1.35979351e+02] [ 1.66312153e-03 -4.16904842e-05 9.99998616e-01 -5.06036659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.465769231 meters 0.033001754915353794 Centerline is valid? [True, True] Translation: X:199.40, Y:136.00, Z:-0.51 [[-2.24369515e-02 -9.99748260e-01 -7.27588833e-06 1.99404012e+02] [ 9.99745888e-01 -2.24368824e-02 -2.17857862e-03 1.36003348e+02] [ 2.17786693e-03 -5.61547023e-05 9.99997627e-01 -5.07088903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49576923100005 meters 0.032318817889404335 Centerline is valid? [True, True] Translation: X:199.42, Y:136.03, Z:-0.51 [[-2.23260314e-02 -9.99750743e-01 -6.39243313e-06 1.99415650e+02] [ 9.99748505e-01 -2.23259679e-02 -2.11599309e-03 1.36027032e+02] [ 2.11532294e-03 -5.36325536e-05 9.99997761e-01 -5.06370179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.525769231 meters 0.029199749209318532 Centerline is valid? [True, True] Translation: X:199.42, Y:136.05, Z:-0.51 [[-2.12120240e-02 -9.99775000e-01 -5.45033184e-06 1.99416645e+02] [ 9.99772957e-01 -2.12119697e-02 -2.02161986e-03 1.36050833e+02] [ 2.02104938e-03 -4.83317433e-05 9.99997957e-01 -5.05163942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55576923100006 meters 0.02363835221740722 Centerline is valid? [True, True] Translation: X:199.42, Y:136.07, Z:-0.51 [[-1.53720392e-02 -9.99881843e-01 -6.23835387e-06 1.99417655e+02] [ 9.99878629e-01 -1.53719740e-02 -2.53579047e-03 1.36074447e+02] [ 2.53539495e-03 -4.52178673e-05 9.99996785e-01 -5.05609304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58576923100003 meters 0.01862031796567084 Centerline is valid? [True, True] Translation: X:199.41, Y:136.10, Z:-0.51 [[-1.08624910e-02 -9.99941001e-01 -5.00583712e-06 1.99412773e+02] [ 9.99938240e-01 -1.08624492e-02 -2.35015165e-03 1.36099252e+02] [ 2.34995862e-03 -3.05340290e-05 9.99997238e-01 -5.05307256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61576923100006 meters 0.011621561925222436 Centerline is valid? [True, True] Translation: X:199.40, Y:136.12, Z:-0.50 [[ 4.79129727e-04 -9.99999885e-01 -2.87103845e-06 1.99397944e+02] [ 9.99998453e-01 4.79133900e-04 -1.69269133e-03 1.36122595e+02] [ 1.69269251e-03 -2.06001527e-06 9.99998567e-01 -5.04254213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64576923100003 meters 0.01228153421722847 Centerline is valid? [True, True] Translation: X:199.39, Y:136.15, Z:-0.50 [[ 5.92633093e-03 -9.99982439e-01 -2.03456402e-06 1.99389490e+02] [ 9.99981361e-01 5.92632753e-03 -1.46811639e-03 1.36147664e+02] [ 1.46810267e-03 6.66601749e-06 9.99998922e-01 -5.03572029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67576923100006 meters 0.01964881224940163 Centerline is valid? [True, True] Translation: X:199.37, Y:136.17, Z:-0.50 [[ 1.59468728e-02 -9.99872841e-01 -2.23370107e-06 1.99373395e+02] [ 9.99871085e-01 1.59468490e-02 -1.87409412e-03 1.36171899e+02] [ 1.87389144e-03 2.76525274e-05 9.99998244e-01 -5.03176116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70576923100003 meters 0.02391785182291963 Centerline is valid? [True, True] Translation: X:199.37, Y:136.20, Z:-0.50 [[ 1.96492568e-02 -9.99806935e-01 -2.13901989e-06 1.99365117e+02] [ 9.99804491e-01 1.96492135e-02 -2.21088496e-03 1.36195655e+02] [ 2.21050014e-03 4.13036445e-05 9.99997556e-01 -5.03914491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73576923100006 meters 0.027732727535902075 Centerline is valid? [True, True] Translation: X:199.36, Y:136.22, Z:-0.50 [[ 2.27069952e-02 -9.99742163e-01 -1.14338451e-06 1.99357188e+02] [ 9.99740468e-01 2.27069588e-02 -1.84145957e-03 1.36219223e+02] [ 1.84101074e-03 4.06709259e-05 9.99998305e-01 -5.04258022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76576923100004 meters 0.030800250767918907 Centerline is valid? [True, True] Translation: X:199.35, Y:136.24, Z:-0.50 [[ 2.69015950e-02 -9.99638087e-01 2.55139228e-07 1.99348343e+02] [ 9.99637970e-01 2.69015917e-02 -4.83723595e-04 1.36244014e+02] [ 4.83541665e-04 1.32679831e-05 9.99999883e-01 -5.02872822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79576923100007 meters 0.032260304056683994 Centerline is valid? [True, True] Translation: X:199.34, Y:136.27, Z:-0.50 [[ 2.90056813e-02 -9.99579247e-01 -1.37121433e-07 1.99341788e+02] [ 9.99577871e-01 2.90056417e-02 -1.65881925e-03 1.36269655e+02] [ 1.65812527e-03 4.79781191e-05 9.99998624e-01 -5.04539885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82576923100004 meters 0.03205821707271374 Centerline is valid? [True, True] Translation: X:199.34, Y:136.30, Z:-0.51 [[ 2.91514360e-02 -9.99575007e-01 1.28266205e-07 1.99339522e+02] [ 9.99571109e-01 2.91513219e-02 -2.79268300e-03 1.36295601e+02] [ 2.79149239e-03 8.15389309e-05 9.99996100e-01 -5.06392579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85576923100007 meters 0.0329778520294408 Centerline is valid? [True, True] Translation: X:199.34, Y:136.32, Z:-0.51 [[ 2.90107548e-02 -9.99579099e-01 1.18050597e-06 1.99336026e+02] [ 9.99569867e-01 2.90104817e-02 -4.29810875e-03 1.36319430e+02] [ 4.29626543e-03 1.25871377e-04 9.99990763e-01 -5.08929877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88576923100004 meters 0.03432998863342021 Centerline is valid? [True, True] Translation: X:199.33, Y:136.34, Z:-0.51 [[ 2.89742008e-02 -9.99580160e-01 2.98196879e-06 1.99330774e+02] [ 9.99562277e-01 2.89736646e-02 -5.98166822e-03 1.36343932e+02] [ 5.97907048e-03 1.76294720e-04 9.99982110e-01 -5.12441433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91576923100007 meters 0.03451717726604019 Centerline is valid? [True, True] Translation: X:199.33, Y:136.37, Z:-0.51 [[ 2.86891567e-02 -9.99588381e-01 3.91841348e-06 1.99329052e+02] [ 9.99576515e-01 2.86887970e-02 -4.87271982e-03 1.36368676e+02] [ 4.87060170e-03 1.43710976e-04 9.99988128e-01 -5.11186565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94576923100004 meters 0.031238587430388744 Centerline is valid? [True, True] Translation: X:199.33, Y:136.39, Z:-0.50 [[ 2.73907150e-02 -9.99624804e-01 1.31302125e-06 1.99330798e+02] [ 9.99624511e-01 2.73907059e-02 -7.66049306e-04 1.36393683e+02] [ 7.65725923e-04 2.22951664e-05 9.99999707e-01 -5.04064029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9757692310001 meters 0.030634471450745947 Centerline is valid? [True, True] Translation: X:199.33, Y:136.42, Z:-0.50 [[ 2.62511401e-02 -9.99655379e-01 6.25479660e-07 1.99329427e+02] [ 9.99655379e-01 2.62511401e-02 -3.01266453e-05 1.36418775e+02] [ 3.00998434e-05 1.41612290e-06 1.00000000e+00 -5.02725915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00576923100004 meters 0.03062417855992406 Centerline is valid? [True, True] Translation: X:199.33, Y:136.44, Z:-0.51 [[ 2.49618405e-02 -9.99688405e-01 5.07293570e-06 1.99325080e+02] [ 9.99684166e-01 2.49617199e-02 -2.91211319e-03 1.36441996e+02] [ 2.91107916e-03 7.77630385e-05 9.99995760e-01 -5.07070865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0357692310001 meters 0.03201045164965828 Centerline is valid? [True, True] Translation: X:199.32, Y:136.47, Z:-0.51 [[ 2.42182003e-02 -9.99706696e-01 8.36532022e-06 1.99320821e+02] [ 9.99697632e-01 2.42179451e-02 -4.25867320e-03 1.36465279e+02] [ 4.25722153e-03 1.11500191e-04 9.99990932e-01 -5.09691366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06576923100005 meters 0.029834122957226754 Centerline is valid? [True, True] Translation: X:199.32, Y:136.49, Z:-0.51 [[ 2.30453374e-02 -9.99734421e-01 1.02136230e-05 1.99321638e+02] [ 9.99723844e-01 2.30450466e-02 -4.60024136e-03 1.36489982e+02] [ 4.59878425e-03 1.16224917e-04 9.99989419e-01 -5.09824294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0957692310001 meters 0.028191563470300305 Centerline is valid? [True, True] Translation: X:199.32, Y:136.51, Z:-0.51 [[ 2.01199272e-02 -9.99797574e-01 5.34973815e-06 1.99320826e+02] [ 9.99795610e-01 2.01198770e-02 -1.98190737e-03 1.36513697e+02] [ 1.98139855e-03 4.52244767e-05 9.99998036e-01 -5.05601535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12576923100005 meters 0.026300967883123555 Centerline is valid? [True, True] Translation: X:199.32, Y:136.54, Z:-0.50 [[ 1.83803593e-02 -9.99831067e-01 2.55739402e-06 1.99322009e+02] [ 9.99830808e-01 1.83803527e-02 -7.19897832e-04 1.36538003e+02] [ 7.19729211e-04 1.57889421e-05 9.99999741e-01 -5.03104045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.155769231 meters 0.026300967883123555 Centerline is valid? [True, True] Translation: X:199.32, Y:136.56, Z:-0.50 [[ 1.80804962e-02 -9.99836534e-01 2.78711544e-06 1.99321534e+02] [ 9.99836275e-01 1.80804895e-02 -7.19897088e-04 1.36561357e+02] [ 7.19729017e-04 1.58027557e-05 9.99999741e-01 -5.03154127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18576923100005 meters 0.023539085650186076 Centerline is valid? [True, True] Translation: X:199.32, Y:136.59, Z:-0.50 [[ 1.47485998e-02 -9.99891233e-01 4.15192048e-06 1.99324477e+02] [ 9.99890651e-01 1.47485867e-02 -1.07953110e-03 1.36585745e+02] [ 1.07935244e-03 2.00730386e-05 9.99999417e-01 -5.03918475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.215769231 meters 0.022895293945733784 Centerline is valid? [True, True] Translation: X:199.33, Y:136.61, Z:-0.51 [[ 1.29054311e-02 -9.99916721e-01 1.10500326e-05 1.99325634e+02] [ 9.99912491e-01 1.29053444e-02 -2.90898153e-03 1.36608819e+02] [ 2.90859667e-03 4.85907263e-05 9.99995769e-01 -5.07596437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24576923100005 meters 0.018664304637919852 Centerline is valid? [True, True] Translation: X:199.33, Y:136.63, Z:-0.51 [[ 9.31044056e-03 -9.99956657e-01 2.12242585e-05 1.99334361e+02] [ 9.99942381e-01 9.31019422e-03 -5.34371250e-03 1.36633507e+02] [ 5.34328329e-03 7.09753532e-05 9.99985722e-01 -5.10924620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.275769231 meters 0.01703205416238695 Centerline is valid? [True, True] Translation: X:199.34, Y:136.66, Z:-0.51 [[ 7.08313716e-03 -9.99974914e-01 2.01320419e-05 1.99337637e+02] [ 9.99963785e-01 7.08296334e-03 -4.71806507e-03 1.36658626e+02] [ 4.71780412e-03 5.35500149e-05 9.99988870e-01 -5.09978749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30576923100006 meters 0.0150404382480038 Centerline is valid? [True, True] Translation: X:199.34, Y:136.68, Z:-0.51 [[ 3.99792048e-03 -9.99992008e-01 8.94970273e-06 1.99342646e+02] [ 9.99990252e-01 3.99789668e-03 -1.87435284e-03 1.36682666e+02] [ 1.87430208e-03 1.64431291e-05 9.99998243e-01 -5.05490425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33576923100003 meters 0.014847519077858121 Centerline is valid? [True, True] Translation: X:199.34, Y:136.71, Z:-0.50 [[ 3.21306609e-03 -9.99994838e-01 6.97278504e-06 1.99343850e+02] [ 9.99993955e-01 3.21305399e-03 -1.32930296e-03 1.36705392e+02] [ 1.32927370e-03 1.12438812e-05 9.99999116e-01 -5.04766331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36576923100006 meters 0.013822321065248942 Centerline is valid? [True, True] Translation: X:199.35, Y:136.73, Z:-0.51 [[ 2.06964678e-03 -9.99997858e-01 1.31625189e-05 1.99348635e+02] [ 9.99994758e-01 2.06960758e-03 -2.49031826e-03 1.36730463e+02] [ 2.49028568e-03 1.83165290e-05 9.99996899e-01 -5.06348105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39576923100003 meters 0.013871394617938949 Centerline is valid? [True, True] Translation: X:199.35, Y:136.75, Z:-0.51 [[ 1.04122547e-03 -9.99999458e-01 1.48298583e-05 1.99348651e+02] [ 9.99995926e-01 1.04118237e-03 -2.65790824e-03 1.36753952e+02] [ 2.65789136e-03 1.75972796e-05 9.99996468e-01 -5.07634567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42576923100006 meters 0.012732417317151435 Centerline is valid? [True, True] Translation: X:199.35, Y:136.78, Z:-0.51 [[-1.13722780e-03 -9.99999353e-01 1.17358394e-05 1.99352616e+02] [ 9.99997409e-01 -1.13724874e-03 -1.97212076e-03 1.36777577e+02] [ 1.97213283e-03 9.49305847e-06 9.99998055e-01 -5.06175070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45576923100003 meters 0.012232420781111341 Centerline is valid? [True, True] Translation: X:199.36, Y:136.80, Z:-0.51 [[-2.50336304e-03 -9.99996867e-01 1.29065860e-05 1.99356668e+02] [ 9.99994727e-01 -2.50338438e-03 -2.06847737e-03 1.36801382e+02] [ 2.06850320e-03 7.72836814e-06 9.99997861e-01 -5.06115259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48576923100006 meters 0.011811434109932767 Centerline is valid? [True, True] Translation: X:199.36, Y:136.83, Z:-0.51 [[-4.14778078e-03 -9.99991398e-01 1.77961268e-05 1.99361925e+02] [ 9.99987623e-01 -4.14781402e-03 -2.74771145e-03 1.36825283e+02] [ 2.74776163e-03 6.39900178e-06 9.99996225e-01 -5.07047892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51576923100004 meters 0.012020753983334962 Centerline is valid? [True, True] Translation: X:199.37, Y:136.85, Z:-0.51 [[-7.17674753e-03 -9.99974246e-01 3.13855175e-05 1.99371273e+02] [ 9.99963262e-01 -7.17681580e-03 -4.68707147e-03 1.36848621e+02] [ 4.68717600e-03 -2.25356413e-06 9.99989015e-01 -5.11962840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54576923100007 meters 0.01221683364493621 Centerline is valid? [True, True] Translation: X:199.37, Y:136.87, Z:-0.51 [[-6.65536050e-03 -9.99977852e-01 4.02514013e-05 1.99372846e+02] [ 9.99961244e-01 -6.65548195e-03 -5.76321077e-03 1.36871991e+02] [ 5.76335102e-03 1.89359609e-06 9.99983392e-01 -5.13347704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57576923100004 meters 0.012239410294602534 Centerline is valid? [True, True] Translation: X:199.37, Y:136.90, Z:-0.51 [[-5.00287054e-03 -9.99987485e-01 3.56041151e-05 1.99371442e+02] [ 9.99975605e-01 -5.00298466e-03 -4.87442341e-03 1.36895652e+02] [ 4.87454053e-03 1.12171373e-05 9.99988119e-01 -5.11533885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60576923100007 meters 0.012877668341105224 Centerline is valid? [True, True] Translation: X:199.37, Y:136.92, Z:-0.51 [[-2.83249978e-03 -9.99995988e-01 2.85631533e-05 1.99369163e+02] [ 9.99989017e-01 -2.83258669e-03 -3.73406705e-03 1.36919289e+02] [ 3.73413297e-03 1.79860955e-05 9.99993028e-01 -5.08136093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63576923100004 meters 0.017060143437496497 Centerline is valid? [True, True] Translation: X:199.36, Y:136.94, Z:-0.51 [[ 1.96080225e-03 -9.99998077e-01 2.19578661e-05 1.99361723e+02] [ 9.99994326e-01 1.96073475e-03 -2.73910870e-03 1.36942133e+02] [ 2.73906038e-03 2.73285920e-05 9.99996248e-01 -5.07110353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66576923100007 meters 0.017744940059043087 Centerline is valid? [True, True] Translation: X:199.36, Y:136.97, Z:-0.51 [[ 3.14731495e-03 -9.99995047e-01 3.23531873e-05 1.99360743e+02] [ 9.99987315e-01 3.14716337e-03 -3.93268158e-03 1.36966548e+02] [ 3.93256028e-03 4.47301644e-05 9.99992266e-01 -5.09520796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69576923100004 meters 0.017759555927272453 Centerline is valid? [True, True] Translation: X:199.36, Y:136.99, Z:-0.52 [[ 2.30101189e-03 -9.99997351e-01 5.57791737e-05 1.99363061e+02] [ 9.99975583e-01 2.30059374e-03 -6.59849755e-03 1.36990675e+02] [ 6.59835175e-03 7.09610330e-05 9.99978228e-01 -5.15777757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7257692310001 meters 0.0161494138212712 Centerline is valid? [True, True] Translation: X:199.37, Y:137.02, Z:-0.51 [[ 1.43306064e-04 -9.99999988e-01 5.36587407e-05 1.99367610e+02] [ 9.99981193e-01 1.42974369e-04 -6.13136880e-03 1.37015181e+02] [ 6.13136106e-03 5.45363939e-05 9.99981202e-01 -5.14286985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75576923100004 meters 0.013225667334407502 Centerline is valid? [True, True] Translation: X:199.37, Y:137.04, Z:-0.50 [[-3.34567531e-03 -9.99994403e-01 1.33667945e-05 1.99373738e+02] [ 9.99993386e-01 -3.34569097e-03 -1.42658481e-03 1.37039507e+02] [ 1.42662155e-03 8.59381653e-06 9.99998982e-01 -5.03360730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7857692310001 meters 0.013403526617862913 Centerline is valid? [True, True] Translation: X:199.37, Y:137.06, Z:-0.50 [[-3.29894594e-03 -9.99994558e-01 -1.21302721e-05 1.99372373e+02] [ 9.99993602e-01 -3.29895956e-03 1.38340626e-03 1.37062317e+02] [-1.38343874e-03 -7.56641208e-06 9.99999043e-01 -4.98449837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81576923100005 meters 0.014718550407696252 Centerline is valid? [True, True] Translation: X:199.37, Y:137.08, Z:-0.50 [[-2.11780063e-03 -9.99997757e-01 -1.79387507e-05 1.99369470e+02] [ 9.99995861e-01 -2.11783155e-03 1.94746362e-03 1.37084945e+02] [-1.94749724e-03 -1.38143368e-05 9.99998104e-01 -4.96992178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8457692310001 meters 0.018664713008023855 Centerline is valid? [True, True] Translation: X:199.36, Y:137.11, Z:-0.51 [[ 2.10296163e-03 -9.99997788e-01 3.75945668e-05 1.99364169e+02] [ 9.99990721e-01 2.10280542e-03 -3.75988298e-03 1.37108570e+02] [ 3.75979560e-03 4.55011076e-05 9.99992931e-01 -5.07734058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87576923100005 meters 0.024015227319555247 Centerline is valid? [True, True] Translation: X:199.35, Y:137.13, Z:-0.52 [[ 6.11727668e-03 -9.99981285e-01 9.38188529e-05 1.99354018e+02] [ 9.99938816e-01 6.11615212e-03 -9.21721978e-03 1.37131815e+02] [ 9.21647347e-03 1.50197396e-04 9.99957516e-01 -5.18658693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.905769231 meters 0.025358822821731988 Centerline is valid? [True, True] Translation: X:199.35, Y:137.16, Z:-0.52 [[ 7.32893153e-03 -9.99973140e-01 8.04471322e-05 1.99349618e+02] [ 9.99943666e-01 7.32809776e-03 -7.67874679e-03 1.37155622e+02] [ 7.67795101e-03 1.36719610e-04 9.99970515e-01 -5.16078589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93576923100005 meters 0.026316224185684273 Centerline is valid? [True, True] Translation: X:199.35, Y:137.18, Z:-0.51 [[ 8.24909538e-03 -9.99965975e-01 4.53266794e-05 1.99346569e+02] [ 9.99957218e-01 8.24883341e-03 -4.18558663e-03 1.37179183e+02] [ 4.18507032e-03 7.98520435e-05 9.99991239e-01 -5.08980941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.965769231 meters 0.02622355329891953 Centerline is valid? [True, True] Translation: X:199.35, Y:137.20, Z:-0.50 [[ 7.85065925e-03 -9.99969183e-01 -1.31667449e-05 1.99346200e+02] [ 9.99968395e-01 7.85063653e-03 1.25581067e-03 1.37202772e+02] [-1.25566860e-03 -2.30252704e-05 9.99999211e-01 -4.97666196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99576923100005 meters 0.023640423188406718 Centerline is valid? [True, True] Translation: X:199.35, Y:137.23, Z:-0.50 [[ 7.13986240e-03 -9.99974511e-01 -1.90242871e-05 1.99347674e+02] [ 9.99972986e-01 7.13981828e-03 1.74643168e-03 1.37226234e+02] [-1.74625134e-03 -3.14930551e-05 9.99998475e-01 -4.96731703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.025769231 meters 0.023362219971169062 Centerline is valid? [True, True] Translation: X:199.34, Y:137.25, Z:-0.50 [[ 7.47385181e-03 -9.99972070e-01 1.28884876e-05 1.99341524e+02] [ 9.99971498e-01 7.47383373e-03 -1.07045036e-03 1.37251709e+02] [ 1.07032413e-03 2.08885076e-05 9.99999427e-01 -5.03036621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05576923100006 meters 0.024820529071738068 Centerline is valid? [True, True] Translation: X:199.34, Y:137.28, Z:-0.51 [[ 8.74743564e-03 -9.99961740e-01 3.60867676e-05 1.99336027e+02] [ 9.99957194e-01 8.74728703e-03 -3.01589707e-03 1.37276934e+02] [ 3.01546602e-03 6.24665884e-05 9.99995452e-01 -5.05976363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08576923100003 meters 0.031401614872522236 Centerline is valid? [True, True] Translation: X:199.32, Y:137.30, Z:-0.51 [[ 1.01630792e-02 -9.99948353e-01 5.08590884e-05 1.99323998e+02] [ 9.99939656e-01 1.01627786e-02 -4.17167636e-03 1.37301221e+02] [ 4.17094403e-03 9.32530967e-05 9.99991297e-01 -5.09487580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11576923100006 meters 0.029806723247744995 Centerline is valid? [True, True] Translation: X:199.32, Y:137.33, Z:-0.51 [[ 1.28331908e-02 -9.99917649e-01 6.42449468e-05 1.99320117e+02] [ 9.99904309e-01 1.28326876e-02 -5.16671022e-03 1.37326182e+02] [ 5.16546030e-03 1.30544177e-04 9.99986650e-01 -5.08395260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14576923100003 meters 0.03822727984039802 Centerline is valid? [True, True] Translation: X:199.30, Y:137.35, Z:-0.51 [[ 1.45274310e-02 -9.99894468e-01 7.82347210e-05 1.99301688e+02] [ 9.99875373e-01 1.45266699e-02 -6.18171968e-03 1.37350551e+02] [ 6.17993083e-03 1.68029477e-04 9.99980890e-01 -5.13133295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17576923100006 meters 0.03853282312807598 Centerline is valid? [True, True] Translation: X:199.30, Y:137.37, Z:-0.51 [[ 1.42692926e-02 -9.99898185e-01 8.21748781e-05 1.99298357e+02] [ 9.99878020e-01 1.42684827e-02 -6.35259387e-03 1.37374102e+02] [ 6.35077457e-03 1.72811875e-04 9.99979819e-01 -5.13700294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20576923100003 meters 0.038327699038865196 Centerline is valid? [True, True] Translation: X:199.30, Y:137.40, Z:-0.51 [[ 1.36446075e-02 -9.99906905e-01 7.34604816e-05 1.99296343e+02] [ 9.99891502e-01 1.36439894e-02 -5.55207488e-03 1.37397004e+02] [ 5.55055571e-03 1.49208394e-04 9.99984584e-01 -5.12275778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23576923100006 meters 0.031596321552942085 Centerline is valid? [True, True] Translation: X:199.30, Y:137.42, Z:-0.51 [[ 1.35349873e-02 -9.99908397e-01 4.02168525e-05 1.99299729e+02] [ 9.99904034e-01 1.35348094e-02 -2.95504056e-03 1.37421686e+02] [ 2.95422554e-03 8.02094295e-05 9.99995633e-01 -5.05323673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26576923100004 meters 0.03299528301990541 Centerline is valid? [True, True] Translation: X:199.29, Y:137.45, Z:-0.51 [[ 1.36806925e-02 -9.99906414e-01 4.00797633e-05 1.99293982e+02] [ 9.99902249e-01 1.36805198e-02 -2.88707146e-03 1.37445016e+02] [ 2.88625296e-03 7.95729825e-05 9.99995832e-01 -5.05818314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29576923100007 meters 0.032821687062026345 Centerline is valid? [True, True] Translation: X:199.29, Y:137.47, Z:-0.51 [[ 1.39038648e-02 -9.99903335e-01 5.65996461e-05 1.99291112e+02] [ 9.99895273e-01 1.39035253e-02 -4.01685840e-03 1.37469948e+02] [ 4.01568318e-03 1.12443575e-04 9.99991931e-01 -5.07951176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32576923100004 meters 0.03427121286808242 Centerline is valid? [True, True] Translation: X:199.29, Y:137.49, Z:-0.51 [[ 1.40753277e-02 -9.99900931e-01 1.14233568e-04 1.99285313e+02] [ 9.99869036e-01 1.40739660e-02 -7.98967857e-03 1.37493368e+02] [ 7.98727932e-03 2.26675952e-04 9.99968075e-01 -5.14018616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35576923100007 meters 0.035847574189146185 Centerline is valid? [True, True] Translation: X:199.28, Y:137.52, Z:-0.51 [[ 1.45129581e-02 -9.99894675e-01 1.13514739e-04 1.99277057e+02] [ 9.99864507e-01 1.45116380e-02 -7.77048875e-03 1.37516786e+02] [ 7.76802304e-03 2.26272136e-04 9.99969803e-01 -5.14223817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38576923100004 meters 0.035009194409651306 Centerline is valid? [True, True] Translation: X:199.27, Y:137.54, Z:-0.51 [[ 1.43979792e-02 -9.99896341e-01 7.95444036e-05 1.99274973e+02] [ 9.99882128e-01 1.43973502e-02 -5.33355309e-03 1.37540983e+02] [ 5.33185499e-03 1.56327414e-04 9.99985773e-01 -5.09814837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41576923100007 meters 0.035589944831396755 Centerline is valid? [True, True] Translation: X:199.27, Y:137.56, Z:-0.51 [[ 1.39542587e-02 -9.99902634e-01 3.92063454e-05 1.99271222e+02] [ 9.99899380e-01 1.39541133e-02 -2.55179328e-03 1.37563772e+02] [ 2.55099773e-03 7.48107841e-05 9.99996743e-01 -5.05259961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44576923100004 meters 0.031113310408018215 Centerline is valid? [True, True] Translation: X:199.27, Y:137.59, Z:-0.50 [[ 1.13007034e-02 -9.99936145e-01 1.24204033e-05 1.99271644e+02] [ 9.99935851e-01 1.13006905e-02 -7.67618735e-04 1.37588189e+02] [ 7.67429359e-04 2.10942382e-05 9.99999705e-01 -5.01987462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4757692310001 meters 0.029581496854305687 Centerline is valid? [True, True] Translation: X:199.27, Y:137.61, Z:-0.50 [[ 8.96794440e-03 -9.99959787e-01 2.85760125e-05 1.99270685e+02] [ 9.99958195e-01 8.96787912e-03 -1.78486825e-03 1.37612271e+02] [ 1.78454021e-03 4.45814172e-05 9.99998407e-01 -5.04287646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50576923100004 meters 0.02584401572401643 Centerline is valid? [True, True] Translation: X:199.27, Y:137.64, Z:-0.51 [[ 4.19447858e-03 -9.99991201e-01 6.27214512e-05 1.99272664e+02] [ 9.99983640e-01 4.19420290e-03 -3.88958901e-03 1.37636016e+02] [ 3.88929172e-03 7.90352228e-05 9.99992434e-01 -5.08472809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5357692310001 meters 0.023413952156490805 Centerline is valid? [True, True] Translation: X:199.27, Y:137.66, Z:-0.51 [[ 1.39459430e-03 -9.99999025e-01 7.00651758e-05 1.99274999e+02] [ 9.99989873e-01 1.39428173e-03 -4.27899050e-03 1.37661317e+02] [ 4.27888864e-03 7.60319220e-05 9.99990843e-01 -5.09419018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56576923100005 meters 0.019832047389310464 Centerline is valid? [True, True] Translation: X:199.28, Y:137.68, Z:-0.51 [[-3.95648088e-03 -9.99992169e-01 9.27496565e-05 1.99279144e+02] [ 9.99976645e-01 -3.95693631e-03 -5.57247073e-03 1.37684932e+02] [ 5.57279410e-03 7.07001164e-05 9.99984469e-01 -5.11808809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5957692310001 meters 0.017444031021041192 Centerline is valid? [True, True] Translation: X:199.28, Y:137.71, Z:-0.51 [[-6.51322177e-03 -9.99978783e-01 1.04879119e-04 1.99281815e+02] [ 9.99959602e-01 -6.51374647e-03 -6.19404086e-03 1.37708867e+02] [ 6.19459260e-03 6.45317204e-05 9.99980811e-01 -5.12235746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62576923100005 meters 0.014972954836434495 Centerline is valid? [True, True] Translation: X:199.29, Y:137.73, Z:-0.51 [[-1.02049192e-02 -9.99947925e-01 8.76326176e-05 1.99286121e+02] [ 9.99935042e-01 -1.02052326e-02 -5.07585069e-03 1.37732094e+02] [ 5.07648068e-03 3.58282789e-05 9.99987114e-01 -5.10425388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.655769231 meters 0.01416893014797569 Centerline is valid? [True, True] Translation: X:199.29, Y:137.76, Z:-0.51 [[-1.16232991e-02 -9.99932445e-01 7.26631751e-05 1.99288049e+02] [ 9.99923909e-01 -1.16235001e-02 -4.13164432e-03 1.37755848e+02] [ 4.13220980e-03 2.46343084e-05 9.99991462e-01 -5.08371380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68576923100005 meters 0.013293260889792163 Centerline is valid? [True, True] Translation: X:199.29, Y:137.78, Z:-0.51 [[-1.27155595e-02 -9.99919152e-01 6.38740634e-05 1.99290833e+02] [ 9.99912783e-01 -1.27157065e-02 -3.56905439e-03 1.37780651e+02] [ 3.56957804e-03 1.84859690e-05 9.99993629e-01 -5.06472602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.715769231 meters 0.013036441841137726 Centerline is valid? [True, True] Translation: X:199.30, Y:137.81, Z:-0.51 [[-1.42656903e-02 -9.99898236e-01 8.97965061e-05 1.99295788e+02] [ 9.99885983e-01 -1.42659600e-02 -4.95012916e-03 1.37805451e+02] [ 4.95090645e-03 1.91692582e-05 9.99987744e-01 -5.08610275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74576923100005 meters 0.013233122367354683 Centerline is valid? [True, True] Translation: X:199.30, Y:137.83, Z:-0.51 [[-1.50214547e-02 -9.99887167e-01 9.58770394e-05 1.99296904e+02] [ 9.99873650e-01 -1.50217502e-02 -5.19921921e-03 1.37829592e+02] [ 5.20007281e-03 1.77650895e-05 9.99986479e-01 -5.10888741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.775769231 meters 0.01333875057563443 Centerline is valid? [True, True] Translation: X:199.30, Y:137.85, Z:-0.51 [[-1.45494425e-02 -9.99894148e-01 8.01144604e-05 1.99297414e+02] [ 9.99885039e-01 -1.45496519e-02 -4.26816565e-03 1.37853685e+02] [ 4.26887950e-03 1.80058197e-05 9.99990888e-01 -5.08354339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80576923100006 meters 0.013727052929235777 Centerline is valid? [True, True] Translation: X:199.29, Y:137.88, Z:-0.51 [[-1.33908592e-02 -9.99910335e-01 8.22095085e-05 1.99294875e+02] [ 9.99901020e-01 -1.33910893e-02 -4.31608261e-03 1.37878282e+02] [ 4.31679648e-03 2.44053169e-05 9.99990682e-01 -5.07201099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83576923100003 meters 0.015322949680386352 Centerline is valid? [True, True] Translation: X:199.29, Y:137.90, Z:-0.50 [[-1.04631758e-02 -9.99945259e-01 4.09495518e-05 1.99288738e+02] [ 9.99943064e-01 -1.04632386e-02 -2.09492518e-03 1.37900846e+02] [ 2.09523896e-03 1.90276499e-05 9.99997805e-01 -5.01715540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86576923100006 meters 0.01589302780002862 Centerline is valid? [True, True] Translation: X:199.29, Y:137.93, Z:-0.50 [[-9.84780220e-03 -9.99951509e-01 7.73203206e-06 1.99286321e+02] [ 9.99951443e-01 -9.84780437e-03 -3.65048254e-04 1.37925618e+02] [ 3.65106696e-04 4.13673362e-06 9.99999933e-01 -4.98189401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89576923100003 meters 0.01615705932067689 Centerline is valid? [True, True] Translation: X:199.28, Y:137.95, Z:-0.50 [[-1.12247236e-02 -9.99937001e-01 1.32869188e-06 1.99283104e+02] [ 9.99937000e-01 -1.12247237e-02 -3.24240978e-05 1.37948560e+02] [ 3.24369692e-05 9.64656639e-07 9.99999999e-01 -4.99559650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92576923100006 meters 0.014481482070061051 Centerline is valid? [True, True] Translation: X:199.28, Y:137.97, Z:-0.50 [[-1.28417647e-02 -9.99917541e-01 3.97744859e-06 1.99284594e+02] [ 9.99917528e-01 -1.28417652e-02 -1.65035554e-04 1.37972886e+02] [ 1.65073023e-04 1.85777282e-06 9.99999986e-01 -5.00321550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95576923100003 meters 0.012864710398953436 Centerline is valid? [True, True] Translation: X:199.29, Y:138.00, Z:-0.50 [[-1.58267991e-02 -9.99874748e-01 -1.12369852e-05 1.99287160e+02] [ 9.99874579e-01 -1.58268029e-02 5.82475434e-04 1.37995624e+02] [-5.82580324e-04 -2.01685416e-06 9.99999830e-01 -4.97919447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98576923100006 meters 0.01226024287418858 Centerline is valid? [True, True] Translation: X:199.29, Y:138.02, Z:-0.50 [[-1.75998803e-02 -9.99845110e-01 -1.13601369e-05 1.99287623e+02] [ 9.99844942e-01 -1.75998839e-02 5.79757719e-04 1.38018200e+02] [-5.79867858e-04 -1.15470895e-06 9.99999832e-01 -4.97043841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01576923100004 meters 0.012070696120182713 Centerline is valid? [True, True] Translation: X:199.29, Y:138.04, Z:-0.50 [[-1.90544854e-02 -9.99818447e-01 1.36539862e-05 1.99286844e+02] [ 9.99818256e-01 -1.90544902e-02 -6.17716303e-04 1.38041747e+02] [ 6.17864325e-04 1.88123836e-06 9.99999809e-01 -4.99021287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04576923100007 meters 0.012070696120182713 Centerline is valid? [True, True] Translation: X:199.29, Y:138.07, Z:-0.50 [[-1.93552608e-02 -9.99812669e-01 1.38399477e-05 1.99285923e+02] [ 9.99812478e-01 -1.93552657e-02 -6.17712262e-04 1.38065086e+02] [ 6.17864422e-04 1.88137047e-06 9.99999809e-01 -4.99071357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07576923100004 meters 0.012795327965641581 Centerline is valid? [True, True] Translation: X:199.28, Y:138.09, Z:-0.51 [[-1.97846907e-02 -9.99804257e-01 1.13641069e-04 1.99281102e+02] [ 9.99790646e-01 -1.97850143e-02 -5.21710880e-03 1.38087595e+02] [ 5.21833598e-03 1.03983938e-05 9.99986384e-01 -5.08614805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10576923100007 meters 0.013231732415552346 Centerline is valid? [True, True] Translation: X:199.28, Y:138.11, Z:-0.51 [[-1.93329933e-02 -9.99813090e-01 1.43777599e-04 1.99276858e+02] [ 9.99791827e-01 -1.93335198e-02 -6.52062075e-03 1.38111910e+02] [ 6.52218171e-03 1.76845509e-05 9.99978730e-01 -5.11796462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13576923100004 meters 0.014286796087519827 Centerline is valid? [True, True] Translation: X:199.27, Y:138.14, Z:-0.51 [[-1.72312172e-02 -9.99851520e-01 1.55286139e-04 1.99267488e+02] [ 9.99827380e-01 -1.72318803e-02 -6.94786664e-03 1.38135097e+02] [ 6.94951089e-03 3.55391336e-05 9.99975851e-01 -5.12161317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16576923100007 meters 0.015158092448979945 Centerline is valid? [True, True] Translation: X:199.26, Y:138.16, Z:-0.51 [[-1.58777267e-02 -9.99873929e-01 1.55899645e-04 1.99260762e+02] [ 9.99850222e-01 -1.58784238e-02 -6.88539091e-03 1.38159200e+02] [ 6.88699830e-03 4.65519401e-05 9.99976283e-01 -5.12618616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19576923100004 meters 0.01846313234529177 Centerline is valid? [True, True] Translation: X:199.25, Y:138.18, Z:-0.51 [[-1.17430141e-02 -9.99931037e-01 1.48186626e-04 1.99246262e+02] [ 9.99910157e-01 -1.17437266e-02 -6.46239101e-03 1.38182776e+02] [ 6.46368561e-03 7.22853643e-05 9.99979108e-01 -5.12129291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2257692310001 meters 0.0209403361762586 Centerline is valid? [True, True] Translation: X:199.24, Y:138.21, Z:-0.51 [[-9.54249269e-03 -9.99954459e-01 1.43854412e-04 1.99238646e+02] [ 9.99935290e-01 -9.54320057e-03 -6.19213125e-03 1.38206214e+02] [ 6.19322209e-03 8.47567360e-05 9.99980818e-01 -5.12252846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25576923100004 meters 0.022807741147266025 Centerline is valid? [True, True] Translation: X:199.23, Y:138.23, Z:-0.51 [[-7.99357432e-03 -9.99968041e-01 1.39962129e-04 1.99231890e+02] [ 9.99950331e-01 -7.99426583e-03 -5.95205104e-03 1.38230356e+02] [ 5.95297971e-03 9.23770145e-05 9.99982277e-01 -5.12028066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2857692310001 meters 0.023205472541092235 Centerline is valid? [True, True] Translation: X:199.22, Y:138.25, Z:-0.51 [[-6.20813744e-03 -9.99980719e-01 1.41014920e-04 1.99223600e+02] [ 9.99963168e-01 -6.20886409e-03 -5.92562239e-03 1.38254908e+02] [ 5.92638368e-03 1.04222648e-04 9.99982433e-01 -5.11514706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31576923100005 meters 0.02545876850205821 Centerline is valid? [True, True] Translation: X:199.21, Y:138.28, Z:-0.51 [[-6.22827043e-03 -9.99980598e-01 1.10913335e-04 1.99213318e+02] [ 9.99970062e-01 -6.22871403e-03 -4.59115640e-03 1.38277940e+02] [ 4.59175817e-03 8.23150509e-05 9.99989454e-01 -5.11183743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3457692310001 meters 0.024844438042646355 Centerline is valid? [True, True] Translation: X:199.21, Y:138.30, Z:-0.51 [[-7.23653919e-03 -9.99973812e-01 8.32620923e-05 1.99211506e+02] [ 9.99968024e-01 -7.23678064e-03 -3.40282699e-03 1.38301890e+02] [ 3.40334043e-03 5.86347391e-05 9.99994207e-01 -5.09126099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37576923100005 meters 0.022751598647618693 Centerline is valid? [True, True] Translation: X:199.21, Y:138.33, Z:-0.51 [[-9.39356503e-03 -9.99955877e-01 6.71076911e-05 1.99212328e+02] [ 9.99952215e-01 -9.39371228e-03 -2.70677240e-03 1.38326125e+02] [ 2.70728336e-03 4.16782418e-05 9.99996334e-01 -5.07961462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.405769231 meters 0.01677129495274417 Centerline is valid? [True, True] Translation: X:199.22, Y:138.35, Z:-0.51 [[-1.70121722e-02 -9.99855278e-01 9.29231759e-05 1.99218693e+02] [ 9.99848383e-01 -1.70124000e-02 -3.71328800e-03 1.38349122e+02] [ 3.71433145e-03 2.97379922e-05 9.99993101e-01 -5.11316826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43576923100005 meters 0.0135508617872202 Centerline is valid? [True, True] Translation: X:199.22, Y:138.37, Z:-0.51 [[-2.12600935e-02 -9.99773975e-01 8.87236205e-05 1.99223422e+02] [ 9.99767838e-01 -2.12602738e-02 -3.50285102e-03 1.38372456e+02] [ 3.50394557e-03 1.42320822e-05 9.99993861e-01 -5.11081149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.465769231 meters 0.012178900035668568 Centerline is valid? [True, True] Translation: X:199.23, Y:138.40, Z:-0.51 [[-2.75506348e-02 -9.99620409e-01 3.30862394e-05 1.99231920e+02] [ 9.99619592e-01 -2.75506546e-02 -1.27773409e-03 1.38396728e+02] [ 1.27816062e-03 -2.12873227e-06 9.99999183e-01 -5.05301171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49576923100005 meters 0.013211461642825996 Centerline is valid? [True, True] Translation: X:199.23, Y:138.42, Z:-0.50 [[-3.00614638e-02 -9.99548052e-01 2.63604762e-05 1.99234203e+02] [ 9.99547551e-01 -3.00614752e-02 -1.00065752e-03 1.38419961e+02] [ 1.00099771e-03 -3.73268049e-06 9.99999499e-01 -5.04598895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.525769231 meters 0.01530943315900312 Centerline is valid? [True, True] Translation: X:199.23, Y:138.44, Z:-0.51 [[-3.28915522e-02 -9.99458925e-01 5.24554936e-05 1.99234920e+02] [ 9.99456935e-01 -3.28915914e-02 -1.99455817e-03 1.38444202e+02] [ 1.99520431e-03 -1.31771074e-05 9.99998009e-01 -5.07925312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55576923100006 meters 0.015054552358486755 Centerline is valid? [True, True] Translation: X:199.23, Y:138.47, Z:-0.51 [[-3.36047967e-02 -9.99435198e-01 5.11666916e-05 1.99232250e+02] [ 9.99433350e-01 -3.36048330e-02 -1.92175774e-03 1.38468475e+02] [ 1.92239177e-03 -1.34425801e-05 9.99998152e-01 -5.07118261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58576923100003 meters 0.015458785456884075 Centerline is valid? [True, True] Translation: X:199.23, Y:138.49, Z:-0.51 [[-3.36433561e-02 -9.99433901e-01 4.49236994e-05 1.99231869e+02] [ 9.99432516e-01 -3.36433843e-02 -1.66410461e-03 1.38491642e+02] [ 1.66467395e-03 -1.10878582e-05 9.99998614e-01 -5.06043511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61576923100006 meters 0.01448568978162687 Centerline is valid? [True, True] Translation: X:199.23, Y:138.51, Z:-0.50 [[-3.27966018e-02 -9.99462046e-01 3.30425976e-05 1.99229098e+02] [ 9.99461319e-01 -3.27966178e-02 -1.20577656e-03 1.38514219e+02] [ 1.20621160e-03 -6.52057561e-06 9.99999273e-01 -5.03659740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64576923100003 meters 0.012984421349909984 Centerline is valid? [True, True] Translation: X:199.22, Y:138.54, Z:-0.50 [[-3.20830849e-02 -9.99485205e-01 1.26879778e-05 1.99222781e+02] [ 9.99485107e-01 -3.20830874e-02 -4.42559587e-04 1.38538351e+02] [ 4.42738829e-04 -1.51723200e-06 9.99999902e-01 -5.01922280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67576923100006 meters 0.012702826224852628 Centerline is valid? [True, True] Translation: X:199.22, Y:138.56, Z:-0.50 [[-3.16066835e-02 -9.99500384e-01 -1.61658884e-05 1.99220696e+02] [ 9.99500196e-01 -3.16066875e-02 6.12027917e-04 1.38561239e+02] [-6.12233088e-04 3.18636409e-06 9.99999813e-01 -5.00981224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70576923100003 meters 0.012263108699545083 Centerline is valid? [True, True] Translation: X:199.22, Y:138.58, Z:-0.50 [[-3.11636150e-02 -9.99514295e-01 -5.75205719e-05 1.99219681e+02] [ 9.99512106e-01 -3.11636672e-02 2.09192146e-03 1.38583596e+02] [-2.09269796e-03 7.69932725e-06 9.99997810e-01 -4.98071903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73576923100006 meters 0.011666095541875973 Centerline is valid? [True, True] Translation: X:199.22, Y:138.61, Z:-0.49 [[-3.00527896e-02 -9.99548310e-01 -8.15714190e-05 1.99217902e+02] [ 9.99544029e-01 -3.00528996e-02 2.92531091e-03 1.38607884e+02] [-2.92644103e-03 6.37952831e-06 9.99995718e-01 -4.94805967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76576923100004 meters 0.011546765600352045 Centerline is valid? [True, True] Translation: X:199.21, Y:138.63, Z:-0.50 [[-2.90702397e-02 -9.99577371e-01 -2.54093322e-05 1.99214257e+02] [ 9.99576950e-01 -2.90702508e-02 9.17651865e-04 1.38630746e+02] [-9.18002695e-04 1.27777692e-06 9.99999579e-01 -4.98380884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79576923100007 meters 0.011515633551957428 Centerline is valid? [True, True] Translation: X:199.21, Y:138.65, Z:-0.50 [[-2.88823297e-02 -9.99582819e-01 -4.62287839e-06 1.99212694e+02] [ 9.99582802e-01 -2.88823301e-02 1.83905956e-04 1.38654973e+02] [-1.83962754e-04 6.90682740e-07 9.99999983e-01 -5.00025919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82576923100004 meters 0.011509764171008184 Centerline is valid? [True, True] Translation: X:199.21, Y:138.68, Z:-0.50 [[-2.89601940e-02 -9.99580566e-01 -7.27089750e-06 1.99212310e+02] [ 9.99580528e-01 -2.89601949e-02 2.73598885e-04 1.38677575e+02] [-2.73694695e-04 6.55629217e-07 9.99999963e-01 -5.00360905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85576923100007 meters 0.011307014931847903 Centerline is valid? [True, True] Translation: X:199.21, Y:138.70, Z:-0.50 [[-2.96151560e-02 -9.99561373e-01 -6.51215735e-05 1.99214528e+02] [ 9.99558859e-01 -2.96152275e-02 2.24167270e-03 1.38700721e+02] [-2.24261803e-03 1.29464092e-06 9.99997485e-01 -4.96754406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88576923100004 meters 0.0114104038662703 Centerline is valid? [True, True] Translation: X:199.22, Y:138.72, Z:-0.50 [[-3.09418981e-02 -9.99521182e-01 -8.13004578e-05 1.99216365e+02] [ 9.99517358e-01 -3.09420046e-02 2.76478961e-03 1.38724980e+02] [-2.76598138e-03 4.28661968e-06 9.99996175e-01 -4.96217197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91576923100007 meters 0.012084448452065426 Centerline is valid? [True, True] Translation: X:199.22, Y:138.75, Z:-0.50 [[-3.35840844e-02 -9.99435895e-01 -3.36603890e-05 1.99222373e+02] [ 9.99435237e-01 -3.35841009e-02 1.14659533e-03 1.38748714e+02] [-1.14707899e-03 4.86597548e-06 9.99999342e-01 -5.00023912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94576923100004 meters 0.01279440302021167 Centerline is valid? [True, True] Translation: X:199.23, Y:138.77, Z:-0.50 [[-3.47732478e-02 -9.99395228e-01 1.36641211e-05 1.99225827e+02] [ 9.99395135e-01 -3.47732504e-02 -4.29533473e-04 1.38771252e+02] [ 4.29748848e-04 -1.28041775e-06 9.99999908e-01 -5.03147506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9757692310001 meters 0.014110882783051122 Centerline is valid? [True, True] Translation: X:199.23, Y:138.80, Z:-0.51 [[-3.72131863e-02 -9.99307347e-01 6.74095221e-05 1.99234110e+02] [ 9.99304955e-01 -3.72132447e-02 -2.18649054e-03 1.38795592e+02] [ 2.18748459e-03 -1.40036103e-05 9.99997607e-01 -5.05553265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00576923100004 meters 0.014653480142237869 Centerline is valid? [True, True] Translation: X:199.24, Y:138.82, Z:-0.51 [[-3.82718767e-02 -9.99267362e-01 5.82870626e-05 1.99237912e+02] [ 9.99265614e-01 -3.82719187e-02 -1.86882883e-03 1.38819417e+02] [ 1.86969041e-03 -1.32793289e-05 9.99998252e-01 -5.05108852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0357692310001 meters 0.014987852635279745 Centerline is valid? [True, True] Translation: X:199.24, Y:138.84, Z:-0.50 [[-3.90190662e-02 -9.99238466e-01 3.78255864e-05 1.99241029e+02] [ 9.99237753e-01 -3.90190835e-02 -1.19362103e-03 1.38843291e+02] [ 1.19418797e-03 -8.77722409e-06 9.99999287e-01 -5.04103046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06576923100005 meters 0.014194466884979445 Centerline is valid? [True, True] Translation: X:199.24, Y:138.87, Z:-0.50 [[-3.81614993e-02 -9.99271584e-01 3.68761659e-05 1.99243958e+02] [ 9.99270921e-01 -3.81615165e-02 -1.15080538e-03 1.38866177e+02] [ 1.15137437e-03 -7.06717856e-06 9.99999337e-01 -5.04435207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0957692310001 meters 0.012853327528510492 Centerline is valid? [True, True] Translation: X:199.24, Y:138.89, Z:-0.51 [[-3.49608007e-02 -9.99388675e-01 1.40232359e-04 1.99239590e+02] [ 9.99379019e-01 -3.49610794e-02 -4.39311920e-03 1.38889346e+02] [ 4.39533625e-03 -1.34416873e-05 9.99990340e-01 -5.11472162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12576923100005 meters 0.012531667396871372 Centerline is valid? [True, True] Translation: X:199.24, Y:138.91, Z:-0.51 [[-3.37338302e-02 -9.99430836e-01 1.83038016e-04 1.99236687e+02] [ 9.99414638e-01 -3.37343256e-02 -5.69007044e-03 1.38913719e+02] [ 5.69300652e-03 -9.01699803e-06 9.99983795e-01 -5.12574822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.155769231 meters 0.01259653429415123 Centerline is valid? [True, True] Translation: X:199.24, Y:138.94, Z:-0.51 [[-3.32427908e-02 -9.99447288e-01 1.90545288e-04 1.99235487e+02] [ 9.99430089e-01 -3.32433365e-02 -5.86331348e-03 1.38936156e+02] [ 5.86640711e-03 -4.47620917e-06 9.99982792e-01 -5.13998738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18576923100005 meters 0.012638016833262869 Centerline is valid? [True, True] Translation: X:199.24, Y:138.96, Z:-0.51 [[-3.55183475e-02 -9.99369013e-01 1.54176353e-04 1.99239947e+02] [ 9.99357978e-01 -3.55186798e-02 -4.69630168e-03 1.38960080e+02] [ 4.69881452e-03 -1.27275067e-05 9.99988960e-01 -5.10610868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.215769231 meters 0.013528669719709677 Centerline is valid? [True, True] Translation: X:199.24, Y:138.98, Z:-0.51 [[-3.82106657e-02 -9.99269696e-01 1.37515154e-04 1.99244947e+02] [ 9.99261089e-01 -3.82109073e-02 -4.14757226e-03 1.38983932e+02] [ 4.14979785e-03 -2.10679546e-05 9.99991389e-01 -5.09749374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24576923100005 meters 0.018352102627414366 Centerline is valid? [True, True] Translation: X:199.26, Y:139.01, Z:-0.51 [[-4.42128928e-02 -9.99022131e-01 5.34223139e-05 1.99260625e+02] [ 9.99020875e-01 -4.42129219e-02 -1.58417005e-03 1.39007320e+02] [ 1.58498290e-03 -1.66707340e-05 9.99998744e-01 -5.05865387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.275769231 meters 0.020987531520454957 Centerline is valid? [True, True] Translation: X:199.27, Y:139.03, Z:-0.50 [[-4.73755189e-02 -9.98877150e-01 1.38209425e-05 1.99267365e+02] [ 9.98877073e-01 -4.73755207e-02 -3.92505487e-04 1.39031245e+02] [ 3.92719536e-04 -4.78972851e-06 9.99999923e-01 -5.03870902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30576923100006 meters 0.024034843511870754 Centerline is valid? [True, True] Translation: X:199.28, Y:139.06, Z:-0.50 [[-5.19580027e-02 -9.98649271e-01 -5.68163042e-06 1.99277989e+02] [ 9.98649253e-01 -5.19580029e-02 1.85724188e-04 1.39056026e+02] [-1.85768531e-04 3.97590190e-06 9.99999983e-01 -5.03468085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33576923100003 meters 0.028134540858615286 Centerline is valid? [True, True] Translation: X:199.29, Y:139.08, Z:-0.50 [[-5.36276193e-02 -9.98561004e-01 -1.38576929e-06 1.99286346e+02] [ 9.98561002e-01 -5.36276193e-02 5.98079232e-05 1.39079616e+02] [-5.97961754e-05 1.82358137e-06 9.99999998e-01 -5.03949669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36576923100006 meters 0.02741216703331531 Centerline is valid? [True, True] Translation: X:199.29, Y:139.10, Z:-0.50 [[-5.35996439e-02 -9.98562505e-01 4.63229482e-05 1.99292126e+02] [ 9.98561626e-01 -5.35996582e-02 -1.32541570e-03 1.39103613e+02] [ 1.32599331e-03 -2.47854910e-05 9.99999121e-01 -5.04127803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39576923100003 meters 0.022154787588113935 Centerline is valid? [True, True] Translation: X:199.29, Y:139.13, Z:-0.50 [[-5.25376937e-02 -9.98618938e-01 8.31225639e-05 1.99287415e+02] [ 9.98616123e-01 -5.25377430e-02 -2.37152080e-03 1.39128236e+02] [ 2.37261265e-03 -4.15867007e-05 9.99997184e-01 -5.04071495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42576923100006 meters 0.020321687577020773 Centerline is valid? [True, True] Translation: X:199.29, Y:139.15, Z:-0.51 [[-5.15704145e-02 -9.98669355e-01 1.07568172e-04 1.99287160e+02] [ 9.98664708e-01 -5.15705028e-02 -3.04690438e-03 1.39153382e+02] [ 3.04839737e-03 -4.97055850e-05 9.99995352e-01 -5.05495285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45576923100003 meters 0.02300914150734525 Centerline is valid? [True, True] Translation: X:199.30, Y:139.18, Z:-0.51 [[-4.97834437e-02 -9.98760032e-01 8.84465856e-05 1.99298493e+02] [ 9.98756940e-01 -4.97835097e-02 -2.48534643e-03 1.39177868e+02] [ 2.48666786e-03 -3.53924628e-05 9.99996908e-01 -5.08563057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48576923100006 meters 0.02177229520385698 Centerline is valid? [True, True] Translation: X:199.30, Y:139.20, Z:-0.51 [[-4.90268034e-02 -9.98797462e-01 4.69661045e-05 1.99300727e+02] [ 9.98796619e-01 -4.90268230e-02 -1.29807744e-03 1.39199989e+02] [ 1.29881905e-03 -1.67310012e-05 9.99999156e-01 -5.06485782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51576923100004 meters 0.017058171789794237 Centerline is valid? [True, True] Translation: X:199.30, Y:139.22, Z:-0.50 [[-4.73391295e-02 -9.98878875e-01 6.97762446e-06 1.99303087e+02] [ 9.98878859e-01 -4.73391300e-02 -1.75707872e-04 1.39224038e+02] [ 1.75841196e-04 -1.34805616e-06 9.99999985e-01 -5.01714486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54576923100007 meters 0.015918678482902526 Centerline is valid? [True, True] Translation: X:199.31, Y:139.25, Z:-0.50 [[-4.65403511e-02 -9.98916411e-01 4.11756806e-06 1.99305110e+02] [ 9.98916406e-01 -4.65403513e-02 -9.49609630e-05 1.39247949e+02] [ 9.50496973e-05 -3.06410268e-07 9.99999995e-01 -5.00452801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57576923100004 meters 0.015452664750010982 Centerline is valid? [True, True] Translation: X:199.31, Y:139.27, Z:-0.50 [[-4.42847272e-02 -9.99018950e-01 -2.91965060e-05 1.99311312e+02] [ 9.99018617e-01 -4.42847363e-02 8.15851429e-04 1.39271752e+02] [-8.16343998e-04 6.96190501e-06 9.99999667e-01 -5.00050977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60576923100007 meters 0.014199816030791549 Centerline is valid? [True, True] Translation: X:199.31, Y:139.29, Z:-0.50 [[-4.28966078e-02 -9.99079517e-01 -5.04608108e-06 1.99310340e+02] [ 9.99079505e-01 -4.28966080e-02 1.55780400e-04 1.39294116e+02] [-1.55853467e-04 1.64101455e-06 9.99999988e-01 -5.01879622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63576923100004 meters 0.011962084934355507 Centerline is valid? [True, True] Translation: X:199.31, Y:139.32, Z:-0.51 [[-3.89244786e-02 -9.99242147e-01 1.31645164e-04 1.99305915e+02] [ 9.99235953e-01 -3.89247009e-02 -3.51836088e-03 1.39318009e+02] [ 3.52081872e-03 -5.40578214e-06 9.99993802e-01 -5.08177875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66576923100007 meters 0.011949364457929997 Centerline is valid? [True, True] Translation: X:199.30, Y:139.34, Z:-0.51 [[-3.77643901e-02 -9.99286656e-01 1.74179604e-04 1.99304894e+02] [ 9.99275962e-01 -3.77647918e-02 -4.62291188e-03 1.39342014e+02] [ 4.62619201e-03 -5.27956421e-07 9.99989299e-01 -5.10580551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69576923100004 meters 0.011653554915217612 Centerline is valid? [True, True] Translation: X:199.31, Y:139.36, Z:-0.51 [[-3.70542251e-02 -9.99313250e-01 1.13199539e-04 1.99307208e+02] [ 9.99308829e-01 -3.70543979e-02 -2.97267559e-03 1.39364553e+02] [ 2.97482865e-03 2.97110853e-06 9.99995575e-01 -5.06886089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7257692310001 meters 0.011410696794381078 Centerline is valid? [True, True] Translation: X:199.31, Y:139.39, Z:-0.50 [[-3.75128901e-02 -9.99296143e-01 4.46149057e-05 1.99308408e+02] [ 9.99295479e-01 -3.75129166e-02 -1.15223948e-03 1.39388340e+02] [ 1.15310210e-03 1.35964061e-06 9.99999335e-01 -5.03252506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75576923100004 meters 0.011139997150172117 Centerline is valid? [True, True] Translation: X:199.31, Y:139.41, Z:-0.50 [[-3.80720965e-02 -9.99274993e-01 -5.44587933e-05 1.99310943e+02] [ 9.99273966e-01 -3.80721355e-02 1.43298827e-03 1.39412463e+02] [-1.43402270e-03 1.37613291e-07 9.99998972e-01 -4.98624091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7857692310001 meters 0.011239233975945498 Centerline is valid? [True, True] Translation: X:199.31, Y:139.43, Z:-0.50 [[-3.80144917e-02 -9.99277186e-01 -6.24602042e-05 1.99310097e+02] [ 9.99275859e-01 -3.80145430e-02 1.62830750e-03 1.39434912e+02] [-1.62950494e-03 -5.15692108e-07 9.99998672e-01 -4.99028936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81576923100005 meters 0.011290505743557305 Centerline is valid? [True, True] Translation: X:199.31, Y:139.46, Z:-0.50 [[-3.75734803e-02 -9.99293866e-01 -6.19517336e-05 1.99308048e+02] [ 9.99292581e-01 -3.75735313e-02 1.60202992e-03 1.39458798e+02] [-1.60322641e-03 -1.71406836e-06 9.99998715e-01 -4.99226962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8457692310001 meters 0.012640274743912073 Centerline is valid? [True, True] Translation: X:199.30, Y:139.48, Z:-0.50 [[-3.41269314e-02 -9.99417505e-01 -5.84591954e-05 1.99299337e+02] [ 9.99416378e-01 -3.41269807e-02 1.50104030e-03 1.39482738e+02] [-1.50216098e-03 -7.19917805e-06 9.99998872e-01 -4.97949434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87576923100005 meters 0.01701117566137221 Centerline is valid? [True, True] Translation: X:199.28, Y:139.51, Z:-0.50 [[-2.86577129e-02 -9.99589283e-01 -2.64630493e-05 1.99284158e+02] [ 9.99589050e-01 -2.86577243e-02 6.83312906e-04 1.39505558e+02] [-6.83790628e-04 -6.86998928e-06 9.99999766e-01 -5.00181506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.905769231 meters 0.020182696137092587 Centerline is valid? [True, True] Translation: X:199.27, Y:139.53, Z:-0.50 [[-2.58054396e-02 -9.99666984e-01 -1.46336726e-05 1.99274736e+02] [ 9.99666911e-01 -2.58054433e-02 3.82062195e-04 1.39528175e+02] [-3.82312591e-04 -4.76951534e-06 9.99999927e-01 -5.01650732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93576923100005 meters 0.022644492226973206 Centerline is valid? [True, True] Translation: X:199.27, Y:139.55, Z:-0.50 [[-2.34096776e-02 -9.99725956e-01 -1.96446216e-05 1.99266460e+02] [ 9.99725829e-01 -2.34096845e-02 5.03278806e-04 1.39552187e+02] [-5.03600760e-04 -7.85764099e-06 9.99999873e-01 -5.01596598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.965769231 meters 0.022644492226973206 Centerline is valid? [True, True] Translation: X:199.27, Y:139.58, Z:-0.50 [[-2.37044322e-02 -9.99719010e-01 -1.97710971e-05 1.99265099e+02] [ 9.99718884e-01 -2.37044391e-02 5.03273787e-04 1.39575522e+02] [-5.03601035e-04 -7.83571971e-06 9.99999873e-01 -5.01646678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99576923100005 meters 0.025243069715962116 Centerline is valid? [True, True] Translation: X:199.25, Y:139.60, Z:-0.50 [[-2.12957508e-02 -9.99773220e-01 -1.81452155e-05 1.99253456e+02] [ 9.99773114e-01 -2.12957569e-02 4.59380787e-04 1.39599384e+02] [-4.59663025e-04 -8.35823985e-06 9.99999894e-01 -5.01505774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.025769231 meters 0.023973542302159246 Centerline is valid? [True, True] Translation: X:199.25, Y:139.62, Z:-0.50 [[-2.18498519e-02 -9.99761263e-01 2.37156395e-05 1.99250593e+02] [ 9.99761106e-01 -2.18498617e-02 -5.60744584e-04 1.39623005e+02] [ 5.61128897e-04 1.14577879e-05 9.99999843e-01 -5.03303507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05576923100006 meters 0.021412973451832722 Centerline is valid? [True, True] Translation: X:199.25, Y:139.65, Z:-0.51 [[-2.61338403e-02 -9.99658445e-01 1.27761182e-04 1.99246239e+02] [ 9.99653735e-01 -2.61341094e-02 -3.06884895e-03 1.39646389e+02] [ 3.07113969e-03 4.75161343e-05 9.99995283e-01 -5.08369853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08576923100003 meters 0.018555001398133146 Centerline is valid? [True, True] Translation: X:199.25, Y:139.67, Z:-0.51 [[-2.91941781e-02 -9.99573748e-01 1.48900879e-04 1.99245955e+02] [ 9.99567425e-01 -2.91945231e-02 -3.55572239e-03 1.39670943e+02] [ 3.55855385e-03 4.50300755e-05 9.99993667e-01 -5.10155011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11576923100006 meters 0.022654788170391914 Centerline is valid? [True, True] Translation: X:199.25, Y:139.70, Z:-0.51 [[-3.44037854e-02 -9.99408007e-01 1.25445095e-04 1.99247961e+02] [ 9.99403588e-01 -3.44040064e-02 -2.97200140e-03 1.39695217e+02] [ 2.97455781e-03 2.31221793e-05 9.99995576e-01 -5.06264855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14576923100003 meters 0.013278678118972232 Centerline is valid? [True, True] Translation: X:199.25, Y:139.72, Z:-0.51 [[-3.70813835e-02 -9.99312245e-01 9.23329449e-05 1.99248410e+02] [ 9.99309895e-01 -3.70814966e-02 -2.16713452e-03 1.39718274e+02] [ 2.16906791e-03 1.19088789e-05 9.99997647e-01 -5.08749247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17576923100006 meters 0.011629897742627529 Centerline is valid? [True, True] Translation: X:199.25, Y:139.74, Z:-0.51 [[-4.21192423e-02 -9.99112589e-01 5.60348849e-05 1.99250870e+02] [ 9.99111743e-01 -4.21192795e-02 -1.30073353e-03 1.39742388e+02] [ 1.30193939e-03 1.19920079e-06 9.99999152e-01 -5.06643365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20576923100003 meters 0.011837410597786749 Centerline is valid? [True, True] Translation: X:199.25, Y:139.77, Z:-0.51 [[-4.44015595e-02 -9.99013762e-01 7.49975158e-05 1.99250787e+02] [ 9.99012257e-01 -4.44016228e-02 -1.73372497e-03 1.39766368e+02] [ 1.73534512e-03 -2.05665500e-06 9.99998494e-01 -5.07572396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23576923100006 meters 0.012148165598819522 Centerline is valid? [True, True] Translation: X:199.25, Y:139.79, Z:-0.51 [[-4.59259199e-02 -9.98944845e-01 7.76754267e-05 1.99250742e+02] [ 9.98943253e-01 -4.59259854e-02 -1.78385043e-03 1.39790103e+02] [ 1.78553551e-03 -4.33162859e-06 9.99998406e-01 -5.08147569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26576923100004 meters 0.0121044191478393 Centerline is valid? [True, True] Translation: X:199.25, Y:139.81, Z:-0.51 [[-4.71055972e-02 -9.98889915e-01 2.82132198e-05 1.99251177e+02] [ 9.98889714e-01 -4.71056057e-02 -6.33302619e-04 1.39814317e+02] [ 6.33928600e-04 -1.65020304e-06 9.99999799e-01 -5.06021760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29576923100007 meters 0.012334420279650947 Centerline is valid? [True, True] Translation: X:199.25, Y:139.84, Z:-0.50 [[-4.80355199e-02 -9.98845628e-01 -1.42407590e-05 1.99251210e+02] [ 9.98845570e-01 -4.80355220e-02 3.40695669e-04 1.39837231e+02] [-3.40986442e-04 2.14117457e-06 9.99999942e-01 -5.04545374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32576923100004 meters 0.013829321397638311 Centerline is valid? [True, True] Translation: X:199.26, Y:139.86, Z:-0.50 [[-5.12161168e-02 -9.98687587e-01 -1.16775432e-04 1.99255598e+02] [ 9.98684041e-01 -5.12162461e-02 2.66129800e-03 1.39860408e+02] [-2.66378607e-03 1.96795889e-05 9.99996452e-01 -5.00698637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35576923100007 meters 0.015444785568557266 Centerline is valid? [True, True] Translation: X:199.26, Y:139.88, Z:-0.50 [[-5.35840445e-02 -9.98563338e-01 -1.04385230e-04 1.99260084e+02] [ 9.98560540e-01 -5.35841415e-02 2.36390987e-03 1.39884913e+02] [-2.36610712e-03 2.24328798e-05 9.99997201e-01 -5.01276907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38576923100004 meters 0.015729871456026737 Centerline is valid? [True, True] Translation: X:199.26, Y:139.91, Z:-0.50 [[-5.37278517e-02 -9.98555615e-01 -2.82632718e-05 1.99260047e+02] [ 9.98555406e-01 -5.37278587e-02 6.46747906e-04 1.39907531e+02] [-6.47332278e-04 6.52593275e-06 9.99999790e-01 -5.04485415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41576923100007 meters 0.014805251250415574 Centerline is valid? [True, True] Translation: X:199.26, Y:139.93, Z:-0.51 [[-5.27857667e-02 -9.98605858e-01 6.10197759e-05 1.99256807e+02] [ 9.98604958e-01 -5.27858011e-02 -1.34046576e-03 1.39930964e+02] [ 1.34181794e-03 -9.82286241e-06 9.99999100e-01 -5.08115006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44576923100004 meters 0.012018586069128766 Centerline is valid? [True, True] Translation: X:199.25, Y:139.95, Z:-0.51 [[-4.77116091e-02 -9.98861142e-01 1.48104603e-04 1.99246969e+02] [ 9.98855845e-01 -4.77118384e-02 -3.25289753e-03 1.39954804e+02] [ 3.25625928e-03 -7.26582680e-06 9.99994698e-01 -5.10193537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4757692310001 meters 0.01163173620667211 Centerline is valid? [True, True] Translation: X:199.24, Y:139.98, Z:-0.51 [[-4.43379669e-02 -9.99016581e-01 1.22186376e-04 1.99239066e+02] [ 9.99013031e-01 -4.43381351e-02 -2.66350298e-03 1.39978693e+02] [ 2.66630116e-03 3.97147500e-06 9.99996445e-01 -5.08690414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50576923100004 meters 0.015513574304119546 Centerline is valid? [True, True] Translation: X:199.22, Y:140.00, Z:-0.50 [[-3.69477294e-02 -9.99317199e-01 1.30577792e-05 1.99222887e+02] [ 9.99317163e-01 -3.69477316e-02 -2.70254803e-04 1.40000648e+02] [ 2.70552728e-04 3.06356155e-06 9.99999963e-01 -5.03873795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5357692310001 meters 0.01849052675652886 Centerline is valid? [True, True] Translation: X:199.21, Y:140.02, Z:-0.50 [[-3.39597151e-02 -9.99423202e-01 -1.82048082e-05 1.99214873e+02] [ 9.99423119e-01 -3.39597197e-02 4.07490241e-04 1.40023318e+02] [-4.07873432e-04 -4.35605370e-06 9.99999917e-01 -5.03284428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56576923100005 meters 0.021389835872689708 Centerline is valid? [True, True] Translation: X:199.21, Y:140.05, Z:-0.51 [[-3.14790668e-02 -9.99504411e-01 -1.76259587e-05 1.99206343e+02] [ 9.99504334e-01 -3.14790713e-02 3.91943061e-04 1.40047223e+02] [-3.92303667e-04 -5.27922031e-06 9.99999923e-01 -5.05074796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5957692310001 meters 0.021215951486678684 Centerline is valid? [True, True] Translation: X:199.20, Y:140.07, Z:-0.51 [[-3.20233514e-02 -9.99487121e-01 2.80384960e-05 1.99204500e+02] [ 9.99486949e-01 -3.20233624e-02 -5.85777433e-04 1.40071046e+02] [ 5.86374887e-04 9.26555418e-06 9.99999828e-01 -5.07441565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62576923100005 meters 0.01982812039738322 Centerline is valid? [True, True] Translation: X:199.21, Y:140.09, Z:-0.51 [[-3.42311533e-02 -9.99413926e-01 1.83072257e-04 1.99205453e+02] [ 9.99406421e-01 -3.42316057e-02 -3.87324834e-03 1.40094458e+02] [ 3.87724519e-03 5.03778313e-05 9.99992482e-01 -5.14189803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.655769231 meters 0.01871926149023672 Centerline is valid? [True, True] Translation: X:199.21, Y:140.12, Z:-0.52 [[-3.56807427e-02 -9.99363220e-01 1.96209004e-04 1.99205335e+02] [ 9.99354697e-01 -3.56812488e-02 -4.12765643e-03 1.40117946e+02] [ 4.13202900e-03 4.88045430e-05 9.99991462e-01 -5.15449108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68576923100005 meters 0.017473261301780642 Centerline is valid? [True, True] Translation: X:199.20, Y:140.14, Z:-0.51 [[-3.73078502e-02 -9.99303809e-01 1.47345877e-04 1.99203351e+02] [ 9.99299071e-01 -3.73081270e-02 -3.07731126e-03 1.40140646e+02] [ 3.08066606e-03 3.24347303e-05 9.99995254e-01 -5.13844236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.715769231 meters 0.018750853975766597 Centerline is valid? [True, True] Translation: X:199.20, Y:140.16, Z:-0.51 [[-3.63071792e-02 -9.99340670e-01 1.19801307e-04 1.99197592e+02] [ 9.99337579e-01 -3.63073649e-02 -2.48551630e-03 1.40164880e+02] [ 2.48822720e-03 2.94798625e-05 9.99996904e-01 -5.11783426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74576923100005 meters 0.021116686574789316 Centerline is valid? [True, True] Translation: X:199.19, Y:140.19, Z:-0.51 [[-3.43068922e-02 -9.99411341e-01 9.74334135e-05 1.99189840e+02] [ 9.99409324e-01 -3.43070187e-02 -2.00781190e-03 1.40188795e+02] [ 2.00997263e-03 2.84940756e-05 9.99997980e-01 -5.10159740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.775769231 meters 0.026755454029447068 Centerline is valid? [True, True] Translation: X:199.17, Y:140.21, Z:-0.51 [[-2.97435905e-02 -9.99557561e-01 3.36513460e-05 1.99174323e+02] [ 9.99557329e-01 -2.97436065e-02 -6.81163837e-04 1.40211651e+02] [ 6.81863376e-04 1.33761913e-05 9.99999767e-01 -5.07741844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80576923100006 meters 0.024621347133097972 Centerline is valid? [True, True] Translation: X:199.17, Y:140.24, Z:-0.51 [[-2.79332688e-02 -9.99609789e-01 -4.59018174e-05 1.99171948e+02] [ 9.99609335e-01 -2.79332999e-02 9.52901175e-04 1.40236597e+02] [-9.53811531e-04 -1.92662405e-05 9.99999545e-01 -5.05313514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83576923100003 meters 0.03216786721814342 Centerline is valid? [True, True] Translation: X:199.15, Y:140.26, Z:-0.50 [[-2.58672951e-02 -9.99665366e-01 -1.96672218e-04 1.99152120e+02] [ 9.99657282e-01 -2.58678771e-02 4.02139173e-03 1.40260400e+02] [-4.02513353e-03 -9.25822877e-05 9.99991895e-01 -5.01964596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86576923100006 meters 0.032146817197090116 Centerline is valid? [True, True] Translation: X:199.15, Y:140.28, Z:-0.50 [[-2.64158223e-02 -9.99651024e-01 -1.87420240e-04 1.99148535e+02] [ 9.99643759e-01 -2.64163450e-02 3.81204856e-03 1.40282835e+02] [-3.81566921e-03 -8.66550757e-05 9.99992717e-01 -5.02883662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89576923100003 meters 0.028525962049696176 Centerline is valid? [True, True] Translation: X:199.15, Y:140.31, Z:-0.51 [[-3.00471367e-02 -9.99548483e-01 -5.41988800e-06 1.99149734e+02] [ 9.99548475e-01 -3.00471371e-02 1.21834084e-04 1.40305715e+02] [-1.21941926e-04 -1.75667541e-06 9.99999993e-01 -5.09553979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92576923100006 meters 0.02358877011940374 Centerline is valid? [True, True] Translation: X:199.15, Y:140.33, Z:-0.51 [[-3.33679076e-02 -9.99443135e-01 4.71104531e-05 1.99153489e+02] [ 9.99442701e-01 -3.33679370e-02 -9.32216038e-04 1.40330104e+02] [ 9.33268898e-04 1.59780999e-05 9.99999564e-01 -5.11580456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95576923100003 meters 0.018093146484851108 Centerline is valid? [True, True] Translation: X:199.16, Y:140.35, Z:-0.51 [[-3.98488743e-02 -9.99205717e-01 4.75758220e-05 1.99158326e+02] [ 9.99205279e-01 -3.98489014e-02 -9.36156734e-04 1.40353596e+02] [ 9.37309005e-04 1.02332204e-05 9.99999561e-01 -5.12532174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98576923100006 meters 0.014323146414424991 Centerline is valid? [True, True] Translation: X:199.16, Y:140.38, Z:-0.51 [[-4.23225754e-02 -9.99103998e-01 -1.26300544e-05 1.99163829e+02] [ 9.99103964e-01 -4.23225772e-02 2.62996647e-04 1.40377646e+02] [-2.63295538e-04 -1.48804199e-06 9.99999965e-01 -5.09173027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01576923100004 meters 0.014842882017416393 Centerline is valid? [True, True] Translation: X:199.16, Y:140.40, Z:-0.50 [[-4.30487261e-02 -9.99072965e-01 -1.31857841e-04 1.99162245e+02] [ 9.99069558e-01 -4.30489237e-02 2.60928383e-03 1.40400207e+02] [-2.61254127e-03 -1.94088103e-05 9.99996587e-01 -5.03547535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04576923100007 meters 0.015183658339231182 Centerline is valid? [True, True] Translation: X:199.16, Y:140.42, Z:-0.50 [[-4.18656404e-02 -9.99123240e-01 -1.41639377e-04 1.99159570e+02] [ 9.99119359e-01 -4.18658726e-02 2.78480304e-03 1.40424078e+02] [-2.78829130e-03 -2.49270811e-05 9.99996112e-01 -5.03180362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07576923100004 meters 0.018252260921341478 Centerline is valid? [True, True] Translation: X:199.15, Y:140.45, Z:-0.50 [[-4.03187272e-02 -9.99186863e-01 -1.16885230e-04 1.99151830e+02] [ 9.99184246e-01 -4.03188892e-02 2.28698912e-03 1.40447211e+02] [-2.28984217e-03 -2.45813894e-05 9.99997378e-01 -5.04464126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10576923100007 meters 0.019104583521155388 Centerline is valid? [True, True] Translation: X:199.15, Y:140.47, Z:-0.51 [[-3.69299076e-02 -9.99317858e-01 -2.12459127e-05 1.99147544e+02] [ 9.99317769e-01 -3.69299133e-02 4.22689528e-04 1.40472116e+02] [-4.23185804e-04 -5.62153280e-06 9.99999910e-01 -5.08349056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13576923100004 meters 0.02403273062611389 Centerline is valid? [True, True] Translation: X:199.14, Y:140.50, Z:-0.51 [[-3.48097897e-02 -9.99393956e-01 -4.90696652e-06 1.99138385e+02] [ 9.99393950e-01 -3.48097900e-02 1.05834086e-04 1.40495871e+02] [-1.05940756e-04 -1.21993038e-06 9.99999994e-01 -5.09543841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16576923100007 meters 0.022401056771442662 Centerline is valid? [True, True] Translation: X:199.14, Y:140.52, Z:-0.51 [[-3.40323664e-02 -9.99420731e-01 -1.91513792e-05 1.99138683e+02] [ 9.99420660e-01 -3.40323712e-02 3.77596907e-04 1.40520894e+02] [-3.78029944e-04 -6.28976778e-06 9.99999929e-01 -5.08853169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19576923100004 meters 0.025587559853303035 Centerline is valid? [True, True] Translation: X:199.13, Y:140.54, Z:-0.51 [[-3.28497043e-02 -9.99460303e-01 -8.40734041e-07 1.99132226e+02] [ 9.99460302e-01 -3.28497044e-02 2.75318932e-05 1.40544293e+02] [-2.75446523e-05 6.41342557e-08 1.00000000e+00 -5.09876299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2257692310001 meters 0.027677431595887675 Centerline is valid? [True, True] Translation: X:199.13, Y:140.57, Z:-0.51 [[-3.03289824e-02 -9.99539968e-01 7.75667526e-05 1.99126874e+02] [ 9.99538905e-01 -3.03290633e-02 -1.45775457e-03 1.40568408e+02] [ 1.45943649e-03 3.33187741e-05 9.99998934e-01 -5.11857528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25576923100004 meters 0.03177037636384328 Centerline is valid? [True, True] Translation: X:199.12, Y:140.59, Z:-0.51 [[-2.91692872e-02 -9.99574484e-01 6.41904935e-05 1.99118895e+02] [ 9.99573767e-01 -2.91693431e-02 -1.19702488e-03 1.40591348e+02] [ 1.19838792e-03 2.92467709e-05 9.99999282e-01 -5.11127884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2857692310001 meters 0.033917776623461585 Centerline is valid? [True, True] Translation: X:199.11, Y:140.62, Z:-0.51 [[-2.57932605e-02 -9.99667298e-01 -1.88659886e-05 1.99111083e+02] [ 9.99667232e-01 -2.57932656e-02 3.64767636e-04 1.40615400e+02] [-3.65132893e-04 -9.45116392e-06 9.99999933e-01 -5.08304738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31576923100005 meters 0.033632181289480104 Centerline is valid? [True, True] Translation: X:199.11, Y:140.64, Z:-0.51 [[-2.37439815e-02 -9.99718071e-01 -3.00390391e-05 1.99108141e+02] [ 9.99717909e-01 -2.37439948e-02 5.70642361e-04 1.40640587e+02] [-5.71194727e-04 -1.64812436e-05 9.99999837e-01 -5.08759180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3457692310001 meters 0.042560398426516946 Centerline is valid? [True, True] Translation: X:199.09, Y:140.66, Z:-0.51 [[-1.88208096e-02 -9.99822873e-01 2.17397743e-05 1.99090834e+02] [ 9.99822796e-01 -1.88208167e-02 -3.92567452e-04 1.40663630e+02] [ 3.92907078e-04 1.43474847e-05 9.99999923e-01 -5.10884542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37576923100005 meters 0.044805074240717176 Centerline is valid? [True, True] Translation: X:199.08, Y:140.69, Z:-0.51 [[-1.72176086e-02 -9.99851766e-01 2.61946817e-05 1.99084704e+02] [ 9.99851654e-01 -1.72176190e-02 -4.72903423e-04 1.40687874e+02] [ 4.73284332e-04 1.80485298e-05 9.99999888e-01 -5.11247104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.405769231 meters 0.041035279394150664 Centerline is valid? [True, True] Translation: X:199.09, Y:140.71, Z:-0.51 [[-1.82382075e-02 -9.99833670e-01 -1.04112743e-05 1.99087211e+02] [ 9.99833650e-01 -1.82382093e-02 2.01807661e-04 1.40713125e+02] [-2.01963977e-04 -6.72893241e-06 9.99999980e-01 -5.10956770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43576923100005 meters 0.042151470451070316 Centerline is valid? [True, True] Translation: X:199.08, Y:140.74, Z:-0.51 [[-2.09814444e-02 -9.99779865e-01 -3.50338111e-05 1.99084896e+02] [ 9.99779653e-01 -2.09814628e-02 6.51617670e-04 1.40736477e+02] [-6.52209287e-04 -2.13542116e-05 9.99999787e-01 -5.10351823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.465769231 meters 0.035384737646388255 Centerline is valid? [True, True] Translation: X:199.09, Y:140.76, Z:-0.51 [[-2.64329585e-02 -9.99650588e-01 -2.38385581e-05 1.99093856e+02] [ 9.99650489e-01 -2.64329664e-02 4.44245870e-04 1.40761762e+02] [-4.44720769e-04 -1.20874937e-05 9.99999901e-01 -5.10439246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49576923100005 meters 0.03182243587317138 Centerline is valid? [True, True] Translation: X:199.10, Y:140.79, Z:-0.51 [[-2.86195725e-02 -9.99590376e-01 5.33881544e-06 1.99096616e+02] [ 9.99590373e-01 -2.86195728e-02 -8.51265501e-05 1.40786156e+02] [ 8.52444748e-05 2.90034305e-06 9.99999996e-01 -5.11586064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.525769231 meters 0.03080254964590084 Centerline is valid? [True, True] Translation: X:199.09, Y:140.81, Z:-0.51 [[-3.03584597e-02 -9.99539076e-01 1.96417593e-05 1.99094841e+02] [ 9.99539017e-01 -3.03584646e-02 -3.41444565e-04 1.40809365e+02] [ 3.41883478e-04 9.26697377e-06 9.99999942e-01 -5.12826158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55576923100006 meters 0.031201744335674943 Centerline is valid? [True, True] Translation: X:199.09, Y:140.83, Z:-0.51 [[-3.07288660e-02 -9.99527757e-01 2.61892747e-06 1.99091912e+02] [ 9.99527756e-01 -3.07288661e-02 -3.49786239e-05 1.40831773e+02] [ 3.50425821e-05 1.54283725e-06 9.99999999e-01 -5.12810197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58576923100003 meters 0.029574351362142693 Centerline is valid? [True, True] Translation: X:199.09, Y:140.86, Z:-0.51 [[-3.06020104e-02 -9.99531649e-01 -1.68627128e-05 1.99091894e+02] [ 9.99531600e-01 -3.06020142e-02 3.10960970e-04 1.40856288e+02] [-3.11331364e-04 -7.33878349e-06 9.99999952e-01 -5.11759180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61576923100006 meters 0.0326234391036076 Centerline is valid? [True, True] Translation: X:199.08, Y:140.88, Z:-0.51 [[-2.98799891e-02 -9.99553488e-01 -1.05991949e-04 1.99083383e+02] [ 9.99551707e-01 -2.98801360e-02 1.88724344e-03 1.40880052e+02] [-1.88956782e-03 -4.95536199e-05 9.99998214e-01 -5.08105793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64576923100003 meters 0.030358835232115466 Centerline is valid? [True, True] Translation: X:199.08, Y:140.90, Z:-0.51 [[-3.01915171e-02 -9.99544112e-01 -1.99995907e-04 1.99082043e+02] [ 9.99537868e-01 -3.01920357e-02 3.53446013e-03 1.40904995e+02] [-3.53888710e-03 -9.31927690e-05 9.99993734e-01 -5.05825869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67576923100006 meters 0.03075540851488039 Centerline is valid? [True, True] Translation: X:199.08, Y:140.93, Z:-0.51 [[-3.17352062e-02 -9.99496293e-01 -1.90467117e-04 1.99078822e+02] [ 9.99490685e-01 -3.17356664e-02 3.34945484e-03 1.40928838e+02] [-3.35381230e-03 -8.40744690e-05 9.99994372e-01 -5.06632167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70576923100003 meters 0.02716742870216003 Centerline is valid? [True, True] Translation: X:199.08, Y:140.95, Z:-0.51 [[-3.41899089e-02 -9.99415344e-01 -1.44508656e-04 1.99080521e+02] [ 9.99412141e-01 -3.41901653e-02 2.53085436e-03 1.40953942e+02] [-2.53431545e-03 -5.78940248e-05 9.99996787e-01 -5.08179259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73576923100006 meters 0.024922226199745486 Centerline is valid? [True, True] Translation: X:199.08, Y:140.98, Z:-0.51 [[-3.81080661e-02 -9.99273623e-01 3.05381869e-05 1.99077543e+02] [ 9.99273488e-01 -3.81080768e-02 -5.19379374e-04 1.40977694e+02] [ 5.20165861e-04 1.07234570e-05 9.99999865e-01 -5.13763311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76576923100004 meters 0.026377328093769085 Centerline is valid? [True, True] Translation: X:199.07, Y:141.00, Z:-0.52 [[-3.88730848e-02 -9.99244150e-01 1.11983671e-04 1.99072038e+02] [ 9.99242303e-01 -3.88732283e-02 -1.92125357e-03 1.41000285e+02] [ 1.92415456e-03 3.72137680e-05 9.99998148e-01 -5.16594058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79576923100007 meters 0.024193803900478456 Centerline is valid? [True, True] Translation: X:199.07, Y:141.02, Z:-0.51 [[-3.90214819e-02 -9.99238370e-01 6.12384787e-05 1.99070817e+02] [ 9.99237829e-01 -3.90215245e-02 -1.04022200e-03 1.41024408e+02] [ 1.04181936e-03 2.06008005e-05 9.99999457e-01 -5.12670998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82576923100004 meters 0.02479451842080555 Centerline is valid? [True, True] Translation: X:199.07, Y:141.05, Z:-0.51 [[-3.89697053e-02 -9.99240392e-01 1.07347676e-05 1.99066440e+02] [ 9.99240378e-01 -3.89697066e-02 -1.71796213e-04 1.41047197e+02] [ 1.72084046e-04 4.03176547e-06 9.99999985e-01 -5.11025703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85576923100007 meters 0.02479451842080555 Centerline is valid? [True, True] Translation: X:199.06, Y:141.07, Z:-0.51 [[-3.92712491e-02 -9.99228587e-01 1.07611404e-05 1.99064657e+02] [ 9.99228572e-01 -3.92712503e-02 -1.71794563e-04 1.41070475e+02] [ 1.72084642e-04 4.00625186e-06 9.99999985e-01 -5.11075779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88576923100004 meters 0.026580149025718258 Centerline is valid? [True, True] Translation: X:199.06, Y:141.09, Z:-0.51 [[-3.80766246e-02 -9.99274822e-01 2.53724235e-05 1.99055901e+02] [ 9.99274735e-01 -3.80766319e-02 -4.17888048e-04 1.41093572e+02] [ 4.18551101e-04 9.44225543e-06 9.99999912e-01 -5.12789335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91576923100007 meters 0.026802947703209415 Centerline is valid? [True, True] Translation: X:199.05, Y:141.12, Z:-0.52 [[-3.80451389e-02 -9.99276018e-01 8.97460444e-05 1.99052453e+02] [ 9.99274894e-01 -3.80452308e-02 -1.49861470e-03 1.41117171e+02] [ 1.50094414e-03 3.26659644e-05 9.99998873e-01 -5.15355610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94576923100004 meters 0.02755906662414739 Centerline is valid? [True, True] Translation: X:199.05, Y:141.14, Z:-0.52 [[-3.80985871e-02 -9.99273979e-01 1.11498262e-04 1.99048311e+02] [ 9.99272260e-01 -3.80987285e-02 -1.85424921e-03 1.41139984e+02] [ 1.85715093e-03 4.07728454e-05 9.99998275e-01 -5.16248557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9757692310001 meters 0.027531936686655014 Centerline is valid? [True, True] Translation: X:199.04, Y:141.16, Z:-0.51 [[-3.84683962e-02 -9.99259817e-01 4.06739723e-06 1.99042215e+02] [ 9.99259816e-01 -3.84683964e-02 -5.70709633e-05 1.41163281e+02] [ 5.71851866e-05 1.86895818e-06 9.99999998e-01 -5.13014432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00576923100004 meters 0.02877369948418391 Centerline is valid? [True, True] Translation: X:199.03, Y:141.19, Z:-0.51 [[-3.77190036e-02 -9.99288385e-01 -3.05144252e-05 1.99032676e+02] [ 9.99288252e-01 -3.77190143e-02 5.15810740e-04 1.41186954e+02] [-5.16594656e-04 -1.10368395e-05 9.99999867e-01 -5.11886034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0357692310001 meters 0.029674062494099637 Centerline is valid? [True, True] Translation: X:199.03, Y:141.21, Z:-0.51 [[-3.73979121e-02 -9.99300453e-01 -2.22426065e-05 1.99027123e+02] [ 9.99300382e-01 -3.73979178e-02 3.77290344e-04 1.41209653e+02] [-3.77858239e-04 -8.11717405e-06 9.99999929e-01 -5.12974034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06576923100005 meters 0.030528158525599786 Centerline is valid? [True, True] Translation: X:199.02, Y:141.23, Z:-0.51 [[-3.71152088e-02 -9.99310993e-01 5.17236456e-06 1.99022057e+02] [ 9.99310990e-01 -3.71152090e-02 -7.47540549e-05 1.41233542e+02] [ 7.48945222e-05 2.39428840e-06 9.99999997e-01 -5.14095513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0957692310001 meters 0.03291587880610528 Centerline is valid? [True, True] Translation: X:199.01, Y:141.26, Z:-0.52 [[-3.58532281e-02 -9.99357064e-01 6.73185810e-05 1.99011228e+02] [ 9.99356471e-01 -3.58532802e-02 -1.08903523e-03 1.41255844e+02] [ 1.09074864e-03 2.82298309e-05 9.99999405e-01 -5.15781582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12576923100005 meters 0.03353528130170739 Centerline is valid? [True, True] Translation: X:199.01, Y:141.28, Z:-0.52 [[-3.54296780e-02 -9.99372171e-01 4.35050605e-05 1.99005097e+02] [ 9.99371928e-01 -3.54296997e-02 -6.97173729e-04 1.41279387e+02] [ 6.98277395e-04 1.87770954e-05 9.99999756e-01 -5.15328664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.155769231 meters 0.03392155204573628 Centerline is valid? [True, True] Translation: X:199.00, Y:141.30, Z:-0.51 [[-3.52804915e-02 -9.99377449e-01 -4.41334149e-05 1.98997305e+02] [ 9.99377187e-01 -3.52805142e-02 7.24044015e-04 1.41302602e+02] [-7.25150310e-04 -1.85612993e-05 9.99999737e-01 -5.12845082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18576923100005 meters 0.032755747552253175 Centerline is valid? [True, True] Translation: X:198.99, Y:141.33, Z:-0.51 [[-3.66646706e-02 -9.99327621e-01 -9.19909116e-05 1.98994909e+02] [ 9.99326509e-01 -3.66647670e-02 1.49118812e-03 1.41326639e+02] [-1.49355831e-03 -3.72550352e-05 9.99998884e-01 -5.11564832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.215769231 meters 0.02758928385236612 Centerline is valid? [True, True] Translation: X:199.00, Y:141.35, Z:-0.51 [[-4.19304433e-02 -9.99120521e-01 -1.49965387e-04 1.98996104e+02] [ 9.99117607e-01 -4.19306833e-02 2.41359664e-03 1.41349477e+02] [-2.41776208e-03 -4.86298821e-05 9.99997076e-01 -5.09689378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24576923100005 meters 0.02453972999076329 Centerline is valid? [True, True] Translation: X:199.00, Y:141.37, Z:-0.51 [[-4.52542616e-02 -9.98975493e-01 -1.29782467e-04 1.98996965e+02] [ 9.98973328e-01 -4.52544338e-02 2.08009692e-03 1.41372922e+02] [-2.08383908e-03 -3.55159728e-05 9.99997828e-01 -5.11015003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.275769231 meters 0.018652122731797387 Centerline is valid? [True, True] Translation: X:199.00, Y:141.40, Z:-0.52 [[-5.14861907e-02 -9.98673707e-01 4.40509893e-06 1.99003524e+02] [ 9.98673705e-01 -5.14861909e-02 -6.03315288e-05 1.41396416e+02] [ 6.04783132e-05 1.29301587e-06 9.99999998e-01 -5.16265122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30576923100006 meters 0.01598860654233602 Centerline is valid? [True, True] Translation: X:199.01, Y:141.42, Z:-0.52 [[-5.43331726e-02 -9.98522862e-01 2.85163025e-05 1.99006075e+02] [ 9.98522764e-01 -5.43331799e-02 -4.41312595e-04 1.41420970e+02] [ 4.42210096e-04 4.49626380e-06 9.99999902e-01 -5.16285862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33576923100003 meters 0.012473561899669073 Centerline is valid? [True, True] Translation: X:199.01, Y:141.45, Z:-0.51 [[-5.88553657e-02 -9.98266517e-01 -8.26591915e-05 1.99009744e+02] [ 9.98265657e-01 -5.88554235e-02 1.31043060e-03 1.41445875e+02] [-1.31302393e-03 -5.38995997e-06 9.99999138e-01 -5.11140299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36576923100006 meters 0.011621587268927699 Centerline is valid? [True, True] Translation: X:199.01, Y:141.47, Z:-0.51 [[-6.06637886e-02 -9.98158247e-01 -1.33317745e-04 1.99009514e+02] [ 9.98156041e-01 -6.06639348e-02 2.09897383e-03 1.41469270e+02] [-2.10319561e-03 -5.74020768e-06 9.99997788e-01 -5.09080141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39576923100003 meters 0.011114108125887213 Centerline is valid? [True, True] Translation: X:199.01, Y:141.49, Z:-0.51 [[-6.36326796e-02 -9.97973377e-01 -1.43694574e-04 1.99008267e+02] [ 9.97970839e-01 -6.36328419e-02 2.25058381e-03 1.41492124e+02] [-2.25516642e-03 -1.92316871e-07 9.99997457e-01 -5.10324702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42576923100006 meters 0.011158717005256604 Centerline is valid? [True, True] Translation: X:199.01, Y:141.52, Z:-0.51 [[-6.54067838e-02 -9.97858674e-01 -1.36733825e-04 1.99007736e+02] [ 9.97856398e-01 -6.54069266e-02 2.13154004e-03 1.41515524e+02] [-2.13591905e-03 2.97645617e-06 9.99997719e-01 -5.11143763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45576923100003 meters 0.01260646327926683 Centerline is valid? [True, True] Translation: X:199.01, Y:141.54, Z:-0.51 [[-6.88838926e-02 -9.97624676e-01 -1.22829747e-04 1.99009567e+02] [ 9.97622853e-01 -6.88840016e-02 1.90743028e-03 1.41538409e+02] [-1.91136052e-03 8.85345966e-06 9.99998173e-01 -5.12482456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48576923100006 meters 0.013558721834767636 Centerline is valid? [True, True] Translation: X:199.01, Y:141.56, Z:-0.51 [[-7.11232342e-02 -9.97467529e-01 -1.16561141e-04 1.99009489e+02] [ 9.97465901e-01 -7.11233287e-02 1.80245705e-03 1.41562523e+02] [-1.80618260e-03 1.19308115e-05 9.99998369e-01 -5.12855905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51576923100004 meters 0.015338998680488249 Centerline is valid? [True, True] Translation: X:199.01, Y:141.59, Z:-0.51 [[-7.35325476e-02 -9.97292814e-01 -8.61580913e-05 1.99011142e+02] [ 9.97291929e-01 -7.35325971e-02 1.32890987e-03 1.41586080e+02] [-1.33164769e-03 1.17933590e-05 9.99999113e-01 -5.13407245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54576923100007 meters 0.019935322996782027 Centerline is valid? [True, True] Translation: X:199.02, Y:141.61, Z:-0.51 [[-7.72120588e-02 -9.97014689e-01 -8.52381758e-05 1.99017145e+02] [ 9.97013830e-01 -7.72121042e-02 1.30874998e-03 1.41609963e+02] [-1.31142437e-03 1.60676403e-05 9.99999140e-01 -5.12654527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57576923100004 meters 0.020024871856373673 Centerline is valid? [True, True] Translation: X:199.02, Y:141.63, Z:-0.51 [[-7.90649128e-02 -9.96869462e-01 -1.20714461e-04 1.99016268e+02] [ 9.96867763e-01 -7.90650009e-02 1.84112264e-03 1.41633843e+02] [-1.84490323e-03 2.52318468e-05 9.99998298e-01 -5.11992503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60576923100007 meters 0.020119476559758247 Centerline is valid? [True, True] Translation: X:199.02, Y:141.66, Z:-0.51 [[-7.91730945e-02 -9.96860876e-01 -1.21388094e-04 1.99015670e+02] [ 9.96859172e-01 -7.91731837e-02 1.84340851e-03 1.41657069e+02] [-1.84723251e-03 2.49415215e-05 9.99998294e-01 -5.12068697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63576923100004 meters 0.017994106456906824 Centerline is valid? [True, True] Translation: X:199.01, Y:141.68, Z:-0.51 [[-7.87824061e-02 -9.96891830e-01 -1.10371112e-04 1.99011763e+02] [ 9.96890432e-01 -7.87824805e-02 1.66942588e-03 1.41680431e+02] [-1.67293233e-03 2.14934826e-05 9.99998600e-01 -5.12389907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66576923100007 meters 0.01722390759028914 Centerline is valid? [True, True] Translation: X:199.01, Y:141.70, Z:-0.51 [[-7.57778897e-02 -9.97124716e-01 -1.14115291e-04 1.99010972e+02] [ 9.97123236e-01 -7.57779738e-02 1.71777483e-03 1.41703280e+02] [-1.72148317e-03 1.63823440e-05 9.99998518e-01 -5.11869278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69576923100004 meters 0.01159595674348458 Centerline is valid? [True, True] Translation: X:199.00, Y:141.73, Z:-0.51 [[-7.01040946e-02 -9.97539671e-01 -1.46630887e-04 1.98998149e+02] [ 9.97537258e-01 -7.01042475e-02 2.19411203e-03 1.41726553e+02] [-2.19899324e-03 7.54646425e-06 9.99997582e-01 -5.09597446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7257692310001 meters 0.01110622584580808 Centerline is valid? [True, True] Translation: X:198.99, Y:141.75, Z:-0.51 [[-6.63253285e-02 -9.97798044e-01 -1.20171679e-04 1.98990323e+02] [ 9.97796435e-01 -6.63254373e-02 1.79210204e-03 1.41749923e+02] [-1.79612635e-03 -1.04511680e-06 9.99998387e-01 -5.10786396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75576923100004 meters 0.01491000161600037 Centerline is valid? [True, True] Translation: X:198.98, Y:141.77, Z:-0.52 [[-5.90899490e-02 -9.98252662e-01 -6.56282208e-06 1.98976612e+02] [ 9.98252657e-01 -5.90899493e-02 1.06211555e-04 1.41773408e+02] [-1.06413764e-04 -2.75319206e-07 9.99999994e-01 -5.15058814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7857692310001 meters 0.017314777792934596 Centerline is valid? [True, True] Translation: X:198.97, Y:141.80, Z:-0.52 [[-5.64442588e-02 -9.98405749e-01 7.42739089e-05 1.98969324e+02] [ 9.98405162e-01 -5.64443061e-02 -1.08280196e-03 1.41797218e+02] [ 1.08526805e-03 1.30374997e-05 9.99999411e-01 -5.17217986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81576923100005 meters 0.020252759070849825 Centerline is valid? [True, True] Translation: X:198.96, Y:141.82, Z:-0.52 [[-5.42125519e-02 -9.98529405e-01 1.64915409e-04 1.98961727e+02] [ 9.98526510e-01 -5.42127919e-02 -2.40455319e-03 1.41820302e+02] [ 2.40995759e-03 3.43154432e-05 9.99997095e-01 -5.20357022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8457692310001 meters 0.020977987705974525 Centerline is valid? [True, True] Translation: X:198.96, Y:141.84, Z:-0.52 [[-5.42805358e-02 -9.98525691e-01 2.58690116e-04 1.98958965e+02] [ 9.98518612e-01 -5.42811252e-02 -3.76042937e-03 1.41843306e+02] [ 3.76892733e-03 5.41887737e-05 9.99992896e-01 -5.23407045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87576923100005 meters 0.0170689096606886 Centerline is valid? [True, True] Translation: X:198.96, Y:141.87, Z:-0.52 [[-5.81327380e-02 -9.98308860e-01 6.59309023e-05 1.98964629e+02] [ 9.98308410e-01 -5.81327744e-02 -9.47841401e-04 1.41867515e+02] [ 9.50071215e-04 1.07187584e-05 9.99999549e-01 -5.18230120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.905769231 meters 0.01586896402644176 Centerline is valid? [True, True] Translation: X:198.96, Y:141.89, Z:-0.52 [[-5.98194937e-02 -9.98209209e-01 -5.26496761e-05 1.98964467e+02] [ 9.98208912e-01 -5.98195166e-02 7.70079212e-04 1.41890765e+02] [-7.71849639e-04 -6.48962736e-06 9.99999702e-01 -5.15227959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93576923100005 meters 0.015512441801086319 Centerline is valid? [True, True] Translation: X:198.96, Y:141.91, Z:-0.51 [[-6.04128318e-02 -9.98173470e-01 -1.13641000e-04 1.98961823e+02] [ 9.98172116e-01 -6.04129370e-02 1.64411529e-03 1.41914391e+02] [-1.64797765e-03 -1.41076169e-05 9.99998642e-01 -5.12899196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.965769231 meters 0.019670853384755327 Centerline is valid? [True, True] Translation: X:198.95, Y:141.94, Z:-0.51 [[-5.66402969e-02 -9.98394648e-01 -6.28386824e-05 1.98948198e+02] [ 9.98394234e-01 -5.66403307e-02 9.09309013e-04 1.41937075e+02] [-9.11408456e-04 -1.12342457e-05 9.99999585e-01 -5.14115725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99576923100005 meters 0.022688905405595133 Centerline is valid? [True, True] Translation: X:198.94, Y:141.96, Z:-0.52 [[-5.39737764e-02 -9.98542353e-01 -1.41022548e-05 1.98938034e+02] [ 9.98542331e-01 -5.39737782e-02 2.09854363e-04 1.41960273e+02] [-2.10309622e-04 -2.75506593e-06 9.99999978e-01 -5.15726024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.025769231 meters 0.024000478512232252 Centerline is valid? [True, True] Translation: X:198.93, Y:141.99, Z:-0.51 [[-5.05499223e-02 -9.98721534e-01 -4.50620771e-05 1.98926723e+02] [ 9.98721324e-01 -5.05499409e-02 6.48655700e-04 1.41985133e+02] [-6.50104301e-04 -1.22149621e-05 9.99999789e-01 -5.14897119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05576923100006 meters 0.023344338021003996 Centerline is valid? [True, True] Translation: X:198.92, Y:142.01, Z:-0.51 [[-5.05906024e-02 -9.98719474e-01 -5.91913430e-05 1.98923065e+02] [ 9.98719115e-01 -5.05906344e-02 8.46924538e-04 1.42009711e+02] [-8.48834557e-04 -1.62691031e-05 9.99999640e-01 -5.14295033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08576923100003 meters 0.0214265054486867 Centerline is valid? [True, True] Translation: X:198.92, Y:142.03, Z:-0.52 [[-5.37302170e-02 -9.98555489e-01 -7.52462844e-06 1.98923467e+02] [ 9.98555482e-01 -5.37302176e-02 1.14814006e-04 1.42033927e+02] [-1.15052456e-04 -1.34477752e-06 9.99999993e-01 -5.15440857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11576923100006 meters 0.019686569259336303 Centerline is valid? [True, True] Translation: X:198.92, Y:142.06, Z:-0.52 [[-5.69184469e-02 -9.98378831e-01 1.61359795e-05 1.98924677e+02] [ 9.98378807e-01 -5.69184491e-02 -2.18342009e-04 1.42057918e+02] [ 2.18906474e-04 3.68213190e-06 9.99999976e-01 -5.16333293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14576923100003 meters 0.016116002153262938 Centerline is valid? [True, True] Translation: X:198.93, Y:142.08, Z:-0.52 [[-6.03953605e-02 -9.98174534e-01 7.26236756e-06 1.98928218e+02] [ 9.98174530e-01 -6.03953609e-02 -9.33942553e-05 1.42083816e+02] [ 9.36623805e-05 1.60853061e-06 9.99999996e-01 -5.16084106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17576923100006 meters 0.01271218496077774 Centerline is valid? [True, True] Translation: X:198.93, Y:142.11, Z:-0.52 [[-6.57795864e-02 -9.97834176e-01 -6.50389579e-05 1.98933120e+02] [ 9.97833756e-01 -6.57796184e-02 9.15164735e-04 1.42108151e+02] [-9.17460887e-04 -4.69890980e-06 9.99999579e-01 -5.15912551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20576923100003 meters 0.01148067429733126 Centerline is valid? [True, True] Translation: X:198.94, Y:142.13, Z:-0.52 [[-6.87090759e-02 -9.97636737e-01 -6.12489385e-05 1.98937523e+02] [ 9.97636367e-01 -6.87091032e-02 8.58870271e-04 1.42132518e+02] [-8.61048894e-04 -2.09198585e-06 9.99999629e-01 -5.16283158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23576923100006 meters 0.011238755231885061 Centerline is valid? [True, True] Translation: X:198.94, Y:142.16, Z:-0.52 [[-6.98605806e-02 -9.97556765e-01 6.56847904e-06 1.98938752e+02] [ 9.97556762e-01 -6.98605809e-02 -8.19809372e-05 1.42157015e+02] [ 8.22395162e-05 8.25194815e-07 9.99999997e-01 -5.17403694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26576923100004 meters 0.011235884950565612 Centerline is valid? [True, True] Translation: X:198.94, Y:142.18, Z:-0.52 [[-7.22138424e-02 -9.97389162e-01 1.42973603e-04 1.98941931e+02] [ 9.97387240e-01 -7.22139839e-02 -1.95790931e-03 1.42181156e+02] [ 1.96312222e-03 1.21189299e-06 9.99998073e-01 -5.21091118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29576923100007 meters 0.011386376983013155 Centerline is valid? [True, True] Translation: X:198.94, Y:142.20, Z:-0.52 [[-7.32260406e-02 -9.97315351e-01 1.94246712e-04 1.98941528e+02] [ 9.97311825e-01 -7.32262982e-02 -2.65193046e-03 1.42204892e+02] [ 2.65903492e-03 -4.65823971e-07 9.99996465e-01 -5.22388070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32576923100004 meters 0.011354167644226016 Centerline is valid? [True, True] Translation: X:198.94, Y:142.23, Z:-0.52 [[-7.36553432e-02 -9.97283732e-01 2.18838050e-04 1.98940193e+02] [ 9.97279292e-01 -7.36556683e-02 -2.97589651e-03 1.42228837e+02] [ 2.98393184e-03 -9.48023947e-07 9.99995548e-01 -5.22871378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35576923100007 meters 0.011462556006695017 Centerline is valid? [True, True] Translation: X:198.94, Y:142.25, Z:-0.52 [[-7.24131795e-02 -9.97374685e-01 2.64677379e-04 1.98936546e+02] [ 9.97368241e-01 -7.24136631e-02 -3.58506772e-03 1.42251713e+02] [ 3.59482205e-03 4.37465950e-06 9.99993539e-01 -5.24131960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38576923100004 meters 0.011753206334657209 Centerline is valid? [True, True] Translation: X:198.93, Y:142.28, Z:-0.52 [[-7.03682890e-02 -9.97521049e-01 2.46483246e-04 1.98931129e+02] [ 9.97515508e-01 -7.03687197e-02 -3.32499403e-03 1.42276088e+02] [ 3.33409625e-03 1.18967190e-05 9.99994442e-01 -5.22711529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41576923100007 meters 0.012417220456899645 Centerline is valid? [True, True] Translation: X:198.93, Y:142.30, Z:-0.52 [[-6.98312065e-02 -9.97558785e-01 2.68949473e-04 1.98926138e+02] [ 9.97552241e-01 -6.98317226e-02 -3.61336781e-03 1.42299317e+02] [ 3.62332801e-03 1.59653165e-05 9.99993436e-01 -5.24727073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44576923100004 meters 0.012723522302619843 Centerline is valid? [True, True] Translation: X:198.92, Y:142.32, Z:-0.53 [[-6.98295441e-02 -9.97558890e-01 3.09460727e-04 1.98922470e+02] [ 9.97550292e-01 -6.98302271e-02 -4.14176856e-03 1.42323091e+02] [ 4.15326776e-03 1.94848280e-05 9.99991375e-01 -5.25732223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4757692310001 meters 0.012285247748033091 Centerline is valid? [True, True] Translation: X:198.92, Y:142.35, Z:-0.53 [[-7.11503665e-02 -9.97465567e-01 2.62456672e-04 1.98919620e+02] [ 9.97459440e-01 -7.11508494e-02 -3.49605197e-03 1.42345991e+02] [ 3.50586548e-03 1.30445058e-05 9.99993854e-01 -5.25087930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50576923100004 meters 0.011804411810089047 Centerline is valid? [True, True] Translation: X:198.91, Y:142.37, Z:-0.52 [[-7.17234797e-02 -9.97424525e-01 2.42624441e-04 1.98914928e+02] [ 9.97419331e-01 -7.17238892e-02 -3.21896923e-03 1.42370789e+02] [ 3.22808082e-03 1.11226336e-05 9.99994790e-01 -5.22549887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5357692310001 meters 0.011843651099059908 Centerline is valid? [True, True] Translation: X:198.91, Y:142.39, Z:-0.52 [[-7.19057747e-02 -9.97411397e-01 2.53014618e-04 1.98909812e+02] [ 9.97405792e-01 -7.19062188e-02 -3.34396869e-03 1.42394645e+02] [ 3.35350581e-03 1.19075859e-05 9.99994377e-01 -5.22727398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56576923100005 meters 0.012068424994896274 Centerline is valid? [True, True] Translation: X:198.90, Y:142.42, Z:-0.52 [[-7.20178581e-02 -9.97403307e-01 2.66377384e-04 1.98904729e+02] [ 9.97397144e-01 -7.20183495e-02 -3.50635320e-03 1.42417769e+02] [ 3.51643233e-03 1.31639954e-05 9.99993817e-01 -5.23419601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5957692310001 meters 0.011593843791397777 Centerline is valid? [True, True] Translation: X:198.90, Y:142.44, Z:-0.52 [[-7.42258868e-02 -9.97241417e-01 2.70521281e-04 1.98902099e+02] [ 9.97235112e-01 -7.42263795e-02 -3.54622772e-03 1.42441204e+02] [ 3.55652497e-03 6.55142230e-06 9.99993676e-01 -5.23572308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62576923100005 meters 0.011436116307459466 Centerline is valid? [True, True] Translation: X:198.90, Y:142.46, Z:-0.52 [[-7.59001524e-02 -9.97115399e-01 2.17572574e-04 1.98900337e+02] [ 9.97111360e-01 -7.59004642e-02 -2.83826891e-03 1.42464135e+02] [ 2.84659549e-03 1.51904224e-06 9.99995948e-01 -5.23011857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6557692310001 meters 0.011280080585190375 Centerline is valid? [True, True] Translation: X:198.90, Y:142.49, Z:-0.52 [[-7.82220626e-02 -9.96935960e-01 2.16093401e-05 1.98898964e+02] [ 9.96935923e-01 -7.82220655e-02 -2.72874005e-04 1.42488209e+02] [ 2.73728235e-04 1.98359984e-07 9.99999963e-01 -5.19042269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68576923100005 meters 0.011451060279041435 Centerline is valid? [True, True] Translation: X:198.90, Y:142.51, Z:-0.52 [[-7.87611757e-02 -9.96893513e-01 8.29716204e-06 1.98896437e+02] [ 9.96893509e-01 -7.87611762e-02 -9.87059757e-05 1.42510796e+02] [ 9.90528411e-05 4.97188285e-07 9.99999995e-01 -5.18958233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.715769231 meters 0.011665337288887563 Centerline is valid? [True, True] Translation: X:198.89, Y:142.54, Z:-0.52 [[-7.91675230e-02 -9.96861306e-01 1.99295718e-04 1.98893206e+02] [ 9.96857997e-01 -7.91677737e-02 -2.56866478e-03 1.42535576e+02] [ 2.57638033e-03 -4.68529764e-06 9.99996681e-01 -5.22819652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74576923100005 meters 0.011912670735005137 Centerline is valid? [True, True] Translation: X:198.89, Y:142.56, Z:-0.52 [[-8.01421515e-02 -9.96783415e-01 2.44673583e-04 1.98891685e+02] [ 9.96778465e-01 -8.01425246e-02 -3.14129118e-03 1.42558624e+02] [ 3.15079571e-03 -7.86447492e-06 9.99995036e-01 -5.24096680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.775769231 meters 0.011912670735005137 Centerline is valid? [True, True] Translation: X:198.89, Y:142.58, Z:-0.52 [[-8.04483175e-02 -9.96758751e-01 2.45605557e-04 1.98889447e+02] [ 9.96753801e-01 -8.04486921e-02 -3.14121855e-03 1.42581845e+02] [ 3.15079572e-03 -7.89747444e-06 9.99995036e-01 -5.24146747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80576923100006 meters 0.012935488111173725 Centerline is valid? [True, True] Translation: X:198.89, Y:142.61, Z:-0.52 [[-8.34411914e-02 -9.96512696e-01 1.16530237e-04 1.98890166e+02] [ 9.96511597e-01 -8.34412725e-02 -1.48008912e-03 1.42605507e+02] [ 1.48465104e-03 -7.37666706e-06 9.99998898e-01 -5.21860770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83576923100003 meters 0.013509290109431894 Centerline is valid? [True, True] Translation: X:198.89, Y:142.63, Z:-0.52 [[-8.47467099e-02 -9.96402525e-01 6.51400906e-05 1.98889067e+02] [ 9.96402187e-01 -8.47467348e-02 -8.20451879e-04 1.42629452e+02] [ 8.23020734e-04 -4.62486866e-06 9.99999661e-01 -5.20408639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86576923100006 meters 0.013486819406210753 Centerline is valid? [True, True] Translation: X:198.89, Y:142.65, Z:-0.52 [[-8.55203652e-02 -9.96336420e-01 7.31265022e-05 1.98886819e+02] [ 9.96335996e-01 -8.55203963e-02 -9.18923007e-04 1.42653674e+02] [ 9.21810267e-04 -5.72806480e-06 9.99999575e-01 -5.20345410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89576923100003 meters 0.015414296647714903 Centerline is valid? [True, True] Translation: X:198.89, Y:142.68, Z:-0.53 [[-8.73452219e-02 -9.96178063e-01 2.81210843e-04 1.98888072e+02] [ 9.96171759e-01 -8.73456696e-02 -3.54423187e-03 1.42678255e+02] [ 3.55524859e-03 -2.94374188e-05 9.99993680e-01 -5.26474417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92576923100006 meters 0.0167504599771622 Centerline is valid? [True, True] Translation: X:198.89, Y:142.70, Z:-0.53 [[-8.88871055e-02 -9.96041609e-01 4.41955890e-04 1.98887283e+02] [ 9.96026129e-01 -8.88881882e-02 -5.55346726e-03 1.42702808e+02] [ 5.57076913e-03 -5.34320162e-05 9.99984482e-01 -5.30098608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95576923100003 meters 0.019088895132439127 Centerline is valid? [True, True] Translation: X:198.89, Y:142.73, Z:-0.53 [[-9.23067477e-02 -9.95730494e-01 4.98030028e-04 1.98888613e+02] [ 9.95710972e-01 -9.23080568e-02 -6.23556051e-03 1.42727150e+02] [ 6.25490993e-03 -7.96903475e-05 9.99980435e-01 -5.31414156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98576923100006 meters 0.020701587271617947 Centerline is valid? [True, True] Translation: X:198.89, Y:142.75, Z:-0.53 [[-9.46326713e-02 -9.95512161e-01 4.42532363e-04 1.98890194e+02] [ 9.95496872e-01 -9.46336708e-02 -5.51775155e-03 1.42750988e+02] [ 5.53486722e-03 -8.16199849e-05 9.99984679e-01 -5.29925939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01576923100004 meters 0.024380308023908625 Centerline is valid? [True, True] Translation: X:198.90, Y:142.78, Z:-0.53 [[-9.93321143e-02 -9.95054242e-01 4.31693303e-04 1.98895913e+02] [ 9.95039792e-01 -9.93329987e-02 -5.36351066e-03 1.42776022e+02] [ 5.37986543e-03 -1.03216840e-04 9.99985523e-01 -5.29568833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04576923100007 meters 0.027514804147610875 Centerline is valid? [True, True] Translation: X:198.90, Y:142.80, Z:-0.53 [[-1.01273749e-01 -9.94858500e-01 4.39163309e-04 1.98900046e+02] [ 9.94843662e-01 -1.01274637e-01 -5.43464346e-03 1.42799813e+02] [ 5.45117735e-03 -1.13487881e-04 9.99985136e-01 -5.30747572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07576923100004 meters 0.028262813803207932 Centerline is valid? [True, True] Translation: X:198.90, Y:142.82, Z:-0.53 [[-1.03093358e-01 -9.94671600e-01 4.10765487e-04 1.98902016e+02] [ 9.94658719e-01 -1.03094114e-01 -5.06333955e-03 1.42823701e+02] [ 5.07870755e-03 -1.13425202e-04 9.99987097e-01 -5.30132889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10576923100007 meters 0.03029261010145385 Centerline is valid? [True, True] Translation: X:198.91, Y:142.85, Z:-0.53 [[-1.05627056e-01 -9.94405762e-01 3.25523732e-04 1.98911003e+02] [ 9.94397736e-01 -1.05627511e-01 -3.99650235e-03 1.42848977e+02] [ 4.00852923e-03 -9.84387144e-05 9.99991961e-01 -5.26980484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13576923100004 meters 0.03192020130888867 Centerline is valid? [True, True] Translation: X:198.92, Y:142.87, Z:-0.52 [[-1.06899179e-01 -9.94269841e-01 2.21875382e-04 1.98918150e+02] [ 9.94266148e-01 -1.06899387e-01 -2.71071172e-03 1.42872528e+02] [ 2.71889725e-03 -6.91696749e-05 9.99996301e-01 -5.23814474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16576923100007 meters 0.027672388054981432 Centerline is valid? [True, True] Translation: X:198.91, Y:142.90, Z:-0.52 [[-1.06131051e-01 -9.94352144e-01 1.19466213e-04 1.98913157e+02] [ 9.94351085e-01 -1.06131112e-01 -1.45153031e-03 1.42897313e+02] [ 1.45601135e-03 -3.52610784e-05 9.99998939e-01 -5.20882866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19576923100004 meters 0.028257416109276092 Centerline is valid? [True, True] Translation: X:198.91, Y:142.92, Z:-0.52 [[-1.03985909e-01 -9.94578771e-01 -7.62825226e-06 1.98914341e+02] [ 9.94578765e-01 -1.03985909e-01 1.00856297e-04 1.42921061e+02] [-1.01102763e-04 2.90073597e-06 9.99999995e-01 -5.18662978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2257692310001 meters 0.02037373218349454 Centerline is valid? [True, True] Translation: X:198.90, Y:142.94, Z:-0.52 [[-9.66608820e-02 -9.95317372e-01 -5.46525949e-05 1.98903485e+02] [ 9.95317146e-01 -9.66608969e-02 6.70319822e-04 1.42943928e+02] [-6.72463733e-04 1.03970404e-05 9.99999774e-01 -5.17512315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25576923100004 meters 0.015255384017907839 Centerline is valid? [True, True] Translation: X:198.89, Y:142.97, Z:-0.52 [[-9.27662581e-02 -9.95687914e-01 -1.70924002e-06 1.98892876e+02] [ 9.95687913e-01 -9.27662582e-02 2.80788093e-05 1.42968662e+02] [-2.81162910e-05 9.02896453e-07 1.00000000e+00 -5.18203035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2857692310001 meters 0.012031324896059957 Centerline is valid? [True, True] Translation: X:198.88, Y:142.99, Z:-0.52 [[-8.62552590e-02 -9.96273070e-01 9.49981499e-06 1.98882596e+02] [ 9.96273064e-01 -8.62552596e-02 -1.06622197e-04 1.42991750e+02] [ 1.07044232e-04 2.67684599e-07 9.99999994e-01 -5.19261247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31576923100005 meters 0.011316267309230065 Centerline is valid? [True, True] Translation: X:198.88, Y:143.01, Z:-0.52 [[-8.44000289e-02 -9.96431952e-01 -3.07529092e-06 1.98876352e+02] [ 9.96431951e-01 -8.44000290e-02 4.48835871e-05 1.43014969e+02] [-4.49829951e-05 7.23857925e-07 9.99999999e-01 -5.18914712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3457692310001 meters 0.011366643468099258 Centerline is valid? [True, True] Translation: X:198.87, Y:143.04, Z:-0.52 [[-8.35277367e-02 -9.96505449e-01 8.51764024e-05 1.98871691e+02] [ 9.96504938e-01 -8.35277801e-02 -1.00915702e-03 1.43037226e+02] [ 1.01274507e-03 5.86103561e-07 9.99999487e-01 -5.21825811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37576923100005 meters 0.011393569761757191 Centerline is valid? [True, True] Translation: X:198.87, Y:143.06, Z:-0.52 [[-8.51802990e-02 -9.96365548e-01 1.03617618e-04 1.98871024e+02] [ 9.96364795e-01 -8.51803620e-02 -1.22506823e-03 1.43060932e+02] [ 1.22944197e-03 -1.11073185e-06 9.99999244e-01 -5.21666082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4057692310001 meters 0.013019139268429743 Centerline is valid? [True, True] Translation: X:198.88, Y:143.09, Z:-0.52 [[-9.01181704e-02 -9.95931079e-01 -3.86922868e-05 1.98875316e+02] [ 9.95930970e-01 -9.01181787e-02 4.66556943e-04 1.43085170e+02] [-4.68145438e-04 3.51041136e-06 9.99999890e-01 -5.18612029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43576923100005 meters 0.014623756337464301 Centerline is valid? [True, True] Translation: X:198.88, Y:143.11, Z:-0.52 [[-9.25214858e-02 -9.95710687e-01 -4.15030258e-05 1.98876372e+02] [ 9.95710563e-01 -9.25214950e-02 4.98251743e-04 1.43108608e+02] [-4.99954508e-04 4.77399035e-06 9.99999875e-01 -5.18432797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.465769231 meters 0.015053188668454683 Centerline is valid? [True, True] Translation: X:198.88, Y:143.13, Z:-0.52 [[-9.34226711e-02 -9.95626537e-01 6.39474285e-05 1.98875006e+02] [ 9.95626258e-01 -9.34226928e-02 -7.44677574e-04 1.43132028e+02] [ 7.47394895e-04 -5.90202914e-06 9.99999721e-01 -5.20547643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49576923100005 meters 0.014061905319439443 Centerline is valid? [True, True] Translation: X:198.87, Y:143.16, Z:-0.52 [[-9.22568660e-02 -9.95735227e-01 1.66382783e-04 1.98870198e+02] [ 9.95733332e-01 -9.22570150e-02 -1.94307404e-03 1.43155863e+02] [ 1.95013725e-03 -1.35890384e-05 9.99998098e-01 -5.21931045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.525769231 meters 0.013028689786015535 Centerline is valid? [True, True] Translation: X:198.86, Y:143.18, Z:-0.52 [[-9.05194740e-02 -9.95894651e-01 2.64353769e-04 1.98864201e+02] [ 9.95889888e-01 -9.05198587e-02 -3.07988744e-03 1.43178409e+02] [ 3.09117269e-03 -1.55225451e-05 9.99995222e-01 -5.24053749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55576923100006 meters 0.01188451897846073 Centerline is valid? [True, True] Translation: X:198.85, Y:143.20, Z:-0.53 [[-8.69040046e-02 -9.96216591e-01 4.44644160e-04 1.98852858e+02] [ 9.96203183e-01 -8.69051419e-02 -5.16864865e-03 1.43202680e+02] [ 5.18773540e-03 -6.22033867e-06 9.99986544e-01 -5.27683443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58576923100003 meters 0.011982027668341777 Centerline is valid? [True, True] Translation: X:198.85, Y:143.23, Z:-0.53 [[-8.53264272e-02 -9.96352932e-01 4.85755682e-04 1.98846639e+02] [ 9.96337055e-01 -8.53278098e-02 -5.62480080e-03 1.43225183e+02] [ 5.64573523e-03 4.03222961e-06 9.99984063e-01 -5.29616344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61576923100006 meters 0.012071610359944234 Centerline is valid? [True, True] Translation: X:198.84, Y:143.25, Z:-0.53 [[-8.42745902e-02 -9.96442480e-01 4.21143582e-04 1.98840707e+02] [ 9.96430636e-01 -8.42756419e-02 -4.85846706e-03 1.43249024e+02] [ 4.87667511e-03 1.01950465e-05 9.99988109e-01 -5.28950226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64576923100003 meters 0.011872427027079625 Centerline is valid? [True, True] Translation: X:198.84, Y:143.27, Z:-0.53 [[-8.53339717e-02 -9.96352333e-01 3.75386480e-04 1.98838618e+02] [ 9.96342996e-01 -8.53347972e-02 -4.31347177e-03 1.43272049e+02] [ 4.32977120e-03 5.92801190e-06 9.99990626e-01 -5.28763209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67576923100006 meters 0.012463890480762897 Centerline is valid? [True, True] Translation: X:198.84, Y:143.30, Z:-0.53 [[-8.98219739e-02 -9.95957782e-01 3.32346451e-04 1.98842220e+02] [ 9.95950514e-01 -8.98225881e-02 -3.80479051e-03 1.43295161e+02] [ 3.81926294e-03 -1.07531755e-05 9.99992707e-01 -5.27878245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70576923100003 meters 0.013698483837005386 Centerline is valid? [True, True] Translation: X:198.84, Y:143.32, Z:-0.53 [[-9.25683335e-02 -9.95706271e-01 3.54091349e-04 1.98844257e+02] [ 9.95698071e-01 -9.25690082e-02 -4.04104586e-03 1.43319031e+02] [ 4.05647259e-03 -2.15048069e-05 9.99991772e-01 -5.28532362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73576923100006 meters 0.016912027653024957 Centerline is valid? [True, True] Translation: X:198.85, Y:143.34, Z:-0.53 [[-9.65914987e-02 -9.95324028e-01 4.02008009e-04 1.98849745e+02] [ 9.95313523e-01 -9.65923263e-02 -4.57316671e-03 1.43342553e+02] [ 4.59061360e-03 -4.16050184e-05 9.99989462e-01 -5.30346290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76576923100004 meters 0.01718046697810178 Centerline is valid? [True, True] Translation: X:198.85, Y:143.37, Z:-0.53 [[-9.85376176e-02 -9.95133253e-01 3.83444847e-04 1.98848396e+02] [ 9.95123766e-01 -9.85383527e-02 -4.34542861e-03 1.43366138e+02] [ 4.36206453e-03 -4.66131032e-05 9.99990485e-01 -5.28711157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79576923100007 meters 0.01811269569628321 Centerline is valid? [True, True] Translation: X:198.85, Y:143.39, Z:-0.53 [[-1.00170321e-01 -9.94970265e-01 2.78924273e-04 1.98848526e+02] [ 9.94965286e-01 -1.00170703e-01 -3.14788639e-03 1.43389674e+02] [ 3.15999340e-03 -3.78048224e-05 9.99995006e-01 -5.26295077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82576923100004 meters 0.019366420917531733 Centerline is valid? [True, True] Translation: X:198.85, Y:143.41, Z:-0.52 [[-1.01955657e-01 -9.94788942e-01 6.98014686e-05 1.98850600e+02] [ 9.94788637e-01 -1.01955680e-01 -7.79134150e-04 1.43413033e+02] [ 7.82190693e-04 -9.99942629e-06 9.99999694e-01 -5.21413565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85576923100007 meters 0.01965002426680939 Centerline is valid? [True, True] Translation: X:198.85, Y:143.44, Z:-0.52 [[-1.01701521e-01 -9.94814958e-01 -5.97954135e-06 1.98850523e+02] [ 9.94814955e-01 -1.01701521e-01 7.48241851e-05 1.43436052e+02] [-7.50443471e-05 1.66119628e-06 9.99999997e-01 -5.19943262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88576923100004 meters 0.017148545090961004 Centerline is valid? [True, True] Translation: X:198.85, Y:143.46, Z:-0.52 [[-1.00229501e-01 -9.94964344e-01 -4.21947038e-05 1.98847382e+02] [ 9.94964228e-01 -1.00229509e-01 4.79569924e-04 1.43459470e+02] [-4.81384130e-04 6.08483319e-06 9.99999884e-01 -5.18785131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91576923100007 meters 0.016474181282620987 Centerline is valid? [True, True] Translation: X:198.85, Y:143.48, Z:-0.52 [[-9.99750242e-02 -9.94989945e-01 6.05859024e-05 1.98845024e+02] [ 9.94989721e-01 -9.99750423e-02 -6.68291628e-04 1.43482998e+02] [ 6.71000528e-04 -6.53012151e-06 9.99999775e-01 -5.20947487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94576923100004 meters 0.015427275676424048 Centerline is valid? [True, True] Translation: X:198.84, Y:143.51, Z:-0.52 [[-9.88022936e-02 -9.95107041e-01 2.90639088e-04 1.98842494e+02] [ 9.95101822e-01 -9.88027168e-02 -3.22292200e-03 1.43507117e+02] [ 3.23586830e-03 -2.92165999e-05 9.99994764e-01 -5.24705130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9757692310001 meters 0.015575565028617717 Centerline is valid? [True, True] Translation: X:198.84, Y:143.53, Z:-0.53 [[-9.84346672e-02 -9.95143461e-01 3.28796430e-04 1.98840987e+02] [ 9.95136828e-01 -9.84352117e-02 -3.63360316e-03 1.43529865e+02] [ 3.64832157e-03 -3.04750819e-05 9.99993344e-01 -5.25622094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00576923100004 meters 0.0147445786131375 Centerline is valid? [True, True] Translation: X:198.84, Y:143.55, Z:-0.52 [[-9.83921753e-02 -9.95147666e-01 3.21414677e-04 1.98837243e+02] [ 9.95141371e-01 -9.83926962e-02 -3.53959476e-03 1.43553008e+02] [ 3.55404432e-03 -2.84153857e-05 9.99993684e-01 -5.23916146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0357692310001 meters 0.012466646747032602 Centerline is valid? [True, True] Translation: X:198.83, Y:143.58, Z:-0.52 [[-9.55206332e-02 -9.95427444e-01 1.09221323e-04 1.98830502e+02] [ 9.95426728e-01 -9.55206955e-02 -1.19391755e-03 1.43576447e+02] [ 1.19889119e-03 -5.32193623e-06 9.99999281e-01 -5.19547412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06576923100005 meters 0.011136913586219186 Centerline is valid? [True, True] Translation: X:198.82, Y:143.60, Z:-0.52 [[-9.15136636e-02 -9.95803819e-01 -5.69684560e-05 1.98820898e+02] [ 9.95803619e-01 -9.15136814e-02 6.31916205e-04 1.43598706e+02] [-6.34477963e-04 1.09957235e-06 9.99999799e-01 -5.17642649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0957692310001 meters 0.01110543570639683 Centerline is valid? [True, True] Translation: X:198.81, Y:143.62, Z:-0.52 [[-9.02715033e-02 -9.95917192e-01 3.95691040e-05 1.98814898e+02] [ 9.95917102e-01 -9.02715120e-02 -4.24853892e-04 1.43622535e+02] [ 4.26691258e-04 1.05534787e-06 9.99999909e-01 -5.19947440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12576923100005 meters 0.011632931538443103 Centerline is valid? [True, True] Translation: X:198.81, Y:143.65, Z:-0.52 [[-8.91050879e-02 -9.96022211e-01 1.97588314e-04 1.98809483e+02] [ 9.96019904e-01 -8.91053068e-02 -2.14346929e-03 1.43646482e+02] [ 2.15254919e-03 5.80787423e-06 9.99997683e-01 -5.23247438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1557692310001 meters 0.01274293443110086 Centerline is valid? [True, True] Translation: X:198.80, Y:143.67, Z:-0.53 [[-8.75503753e-02 -9.96159988e-01 4.58822390e-04 1.98804109e+02] [ 9.96147586e-01 -8.75515748e-02 -4.97070687e-03 1.43669804e+02] [ 4.99178992e-03 2.18675645e-05 9.99987541e-01 -5.26541252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18576923100005 meters 0.01303067813604579 Centerline is valid? [True, True] Translation: X:198.80, Y:143.69, Z:-0.53 [[-8.69698396e-02 -9.96210836e-01 4.65279686e-04 1.98799422e+02] [ 9.96198170e-01 -8.69710801e-02 -5.02365689e-03 1.43693106e+02] [ 5.04508731e-03 2.66041372e-05 9.99987273e-01 -5.26451645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.215769231 meters 0.014469478641014138 Centerline is valid? [True, True] Translation: X:198.79, Y:143.71, Z:-0.52 [[-8.45601567e-02 -9.96418360e-01 1.75517881e-04 1.98788494e+02] [ 9.96416580e-01 -8.45603375e-02 -1.88382543e-03 1.43714724e+02] [ 1.89192009e-03 1.55923532e-05 9.99998210e-01 -5.20476631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24576923100005 meters 0.015547768139774586 Centerline is valid? [True, True] Translation: X:198.78, Y:143.74, Z:-0.52 [[-8.33694704e-02 -9.96518705e-01 4.15455718e-05 1.98781249e+02] [ 9.96518608e-01 -8.33694806e-02 -4.39213426e-04 1.43738444e+02] [ 4.41148027e-04 4.78394466e-06 9.99999903e-01 -5.18306062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.275769231 meters 0.017684593720981835 Centerline is valid? [True, True] Translation: X:198.77, Y:143.76, Z:-0.52 [[-8.19007696e-02 -9.96640489e-01 8.24705392e-06 1.98771733e+02] [ 9.96640485e-01 -8.19007701e-02 -8.12641435e-05 1.43760595e+02] [ 8.16665757e-05 1.56375193e-06 9.99999997e-01 -5.18308225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30576923100006 meters 0.017844511619661784 Centerline is valid? [True, True] Translation: X:198.77, Y:143.78, Z:-0.52 [[-8.17135913e-02 -9.96655848e-01 9.44159038e-05 1.98767490e+02] [ 9.96655346e-01 -8.17136449e-02 -1.00062895e-03 1.43784510e+02] [ 1.00499777e-03 1.23351298e-05 9.99999495e-01 -5.19995850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33576923100003 meters 0.019510541555817627 Centerline is valid? [True, True] Translation: X:198.76, Y:143.81, Z:-0.52 [[-8.16471094e-02 -9.96661285e-01 1.80278408e-04 1.98760690e+02] [ 9.96659455e-01 -8.16473050e-02 -1.91022296e-03 1.43806346e+02] [ 1.91856452e-03 2.37119972e-05 9.99998159e-01 -5.21770905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36576923100006 meters 0.017437116091078553 Centerline is valid? [True, True] Translation: X:198.76, Y:143.83, Z:-0.52 [[-8.28842236e-02 -9.96559177e-01 1.10007788e-04 1.98756409e+02] [ 9.96558503e-01 -8.28842955e-02 -1.15957841e-03 1.43830002e+02] [ 1.16470643e-03 1.35184404e-05 9.99999322e-01 -5.19116867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39576923100003 meters 0.015509791103791117 Centerline is valid? [True, True] Translation: X:198.75, Y:143.85, Z:-0.51 [[-8.52697979e-02 -9.96357878e-01 -1.99239389e-04 1.98754102e+02] [ 9.96355639e-01 -8.52700287e-02 2.11238452e-03 1.43853754e+02] [-2.12168011e-03 -1.83906878e-05 9.99997749e-01 -5.13851860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42576923100006 meters 0.014143677396514478 Centerline is valid? [True, True] Translation: X:198.75, Y:143.88, Z:-0.51 [[-8.66941318e-02 -9.96234946e-01 -2.46410124e-04 1.98753932e+02] [ 9.96231545e-01 -8.66944797e-02 2.60291408e-03 1.43878191e+02] [-2.61447637e-03 -1.98241624e-05 9.99996582e-01 -5.13388601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45576923100003 meters 0.013953727314986349 Centerline is valid? [True, True] Translation: X:198.75, Y:143.90, Z:-0.51 [[-8.78920103e-02 -9.96129991e-01 -1.90658404e-04 1.98751988e+02] [ 9.96127964e-01 -8.78922160e-02 2.00925825e-03 1.43901341e+02] [-2.01823979e-03 -1.33224210e-05 9.99997963e-01 -5.13936486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48576923100006 meters 0.013373417113676993 Centerline is valid? [True, True] Translation: X:198.75, Y:143.93, Z:-0.52 [[-8.85967574e-02 -9.96067575e-01 8.07861332e-07 1.98749073e+02] [ 9.96067575e-01 -8.85967574e-02 -1.53302797e-06 1.43925435e+02] [ 1.59857327e-06 6.68863174e-07 1.00000000e+00 -5.16877544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51576923100004 meters 0.013770877056819446 Centerline is valid? [True, True] Translation: X:198.74, Y:143.95, Z:-0.52 [[-8.85315116e-02 -9.96073376e-01 3.61519312e-05 1.98744074e+02] [ 9.96073307e-01 -8.85315190e-02 -3.69990975e-04 1.43947798e+02] [ 3.71738744e-04 3.25411336e-06 9.99999931e-01 -5.17563347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54576923100007 meters 0.015693368885748585 Centerline is valid? [True, True] Translation: X:198.74, Y:143.97, Z:-0.52 [[-8.61434302e-02 -9.96282744e-01 -6.24234860e-05 1.98735111e+02] [ 9.96282528e-01 -8.61434526e-02 6.55821917e-04 1.43970806e+02] [-6.58761434e-04 -5.69667890e-06 9.99999783e-01 -5.15376689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57576923100004 meters 0.017015089297521064 Centerline is valid? [True, True] Translation: X:198.73, Y:143.99, Z:-0.52 [[-8.47111592e-02 -9.96405548e-01 -5.40316288e-05 1.98728207e+02] [ 9.96405387e-01 -8.47111762e-02 5.66834832e-04 1.43993962e+02] [-5.69374455e-04 -5.82017035e-06 9.99999838e-01 -5.15379980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60576923100007 meters 0.020705154998413293 Centerline is valid? [True, True] Translation: X:198.71, Y:144.02, Z:-0.52 [[-8.20072841e-02 -9.96631709e-01 2.03435319e-04 1.98714072e+02] [ 9.96629507e-01 -8.20075306e-02 -2.09552764e-03 1.44016230e+02] [ 2.10515252e-03 3.09011110e-05 9.99997784e-01 -5.21478158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63576923100004 meters 0.02373436990610228 Centerline is valid? [True, True] Translation: X:198.70, Y:144.04, Z:-0.53 [[-8.12137559e-02 -9.96696647e-01 3.46126648e-04 1.98704435e+02] [ 9.96690294e-01 -8.12144742e-02 -3.55906625e-03 1.44038944e+02] [ 3.57541989e-03 5.59359327e-05 9.99993607e-01 -5.25498668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66576923100007 meters 0.02373436990610228 Centerline is valid? [True, True] Translation: X:198.70, Y:144.06, Z:-0.53 [[-8.14939628e-02 -9.96673775e-01 3.47086776e-04 1.98701722e+02] [ 9.96667422e-01 -8.14946828e-02 -3.55897282e-03 1.44062108e+02] [ 3.57542061e-03 5.58952837e-05 9.99993607e-01 -5.25548742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69576923100004 meters 0.021683761007787634 Centerline is valid? [True, True] Translation: X:198.70, Y:144.09, Z:-0.53 [[-8.10484104e-02 -9.96710070e-01 4.37930976e-04 1.98699405e+02] [ 9.96700018e-01 -8.10495601e-02 -4.47687737e-03 1.44085631e+02] [ 4.49764287e-03 7.36420176e-05 9.99989883e-01 -5.25541508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7257692310001 meters 0.022559959873944626 Centerline is valid? [True, True] Translation: X:198.69, Y:144.11, Z:-0.53 [[-8.06417586e-02 -9.96743053e-01 4.40329630e-04 1.98688308e+02] [ 9.96732953e-01 -8.06429240e-02 -4.48762063e-03 1.44109028e+02] [ 4.50851415e-03 7.70014335e-05 9.99989834e-01 -5.25516793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75576923100004 meters 0.02061493930028791 Centerline is valid? [True, True] Translation: X:198.68, Y:144.13, Z:-0.53 [[-8.25119914e-02 -9.96590006e-01 3.63396195e-04 1.98680387e+02] [ 9.96583173e-01 -8.25127715e-02 -3.69068123e-03 1.44132232e+02] [ 3.70808085e-03 5.76290753e-05 9.99993123e-01 -5.25425355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7857692310001 meters 0.019700334628071102 Centerline is valid? [True, True] Translation: X:198.68, Y:144.16, Z:-0.53 [[-8.52385592e-02 -9.96360527e-01 2.97212101e-04 1.98677309e+02] [ 9.96355988e-01 -8.52390680e-02 -3.00780528e-03 1.44155179e+02] [ 3.02219254e-03 3.97480680e-05 9.99995432e-01 -5.25484204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81576923100005 meters 0.015555821342324916 Centerline is valid? [True, True] Translation: X:198.68, Y:144.18, Z:-0.52 [[-8.94712385e-02 -9.95989371e-01 2.63733669e-04 1.98681166e+02] [ 9.95985819e-01 -8.94716238e-02 -2.66029202e-03 1.44179440e+02] [ 2.67321926e-03 2.46553722e-05 9.99996427e-01 -5.24454915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8457692310001 meters 0.011599290826022781 Centerline is valid? [True, True] Translation: X:198.69, Y:144.20, Z:-0.52 [[-1.00346507e-01 -9.94952533e-01 1.87733829e-04 1.98694804e+02] [ 9.94950746e-01 -1.00346683e-01 -1.88608988e-03 1.44204420e+02] [ 1.89540837e-03 -2.47661742e-06 9.99998204e-01 -5.23008841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87576923100005 meters 0.01742038443793668 Centerline is valid? [True, True] Translation: X:198.71, Y:144.23, Z:-0.52 [[-1.10780357e-01 -9.93844909e-01 9.57877876e-05 1.98708983e+02] [ 9.93844449e-01 -1.10780398e-01 -9.56652325e-04 1.44230565e+02] [ 9.61375453e-04 -1.07801251e-05 9.99999538e-01 -5.20951127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9057692310001 meters 0.02217422645537134 Centerline is valid? [True, True] Translation: X:198.72, Y:144.25, Z:-0.52 [[-1.14625339e-01 -9.93408793e-01 4.92772459e-05 1.98716726e+02] [ 9.93408673e-01 -1.14625349e-01 -4.87163775e-04 1.44254604e+02] [ 4.89601199e-04 -6.88886917e-06 9.99999880e-01 -5.20649354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93576923100005 meters 0.02333732585079587 Centerline is valid? [True, True] Translation: X:198.72, Y:144.28, Z:-0.52 [[-1.17886991e-01 -9.93027017e-01 2.78717805e-05 1.98719369e+02] [ 9.93026980e-01 -1.17886994e-01 -2.72071210e-04 1.44279326e+02] [ 2.73459783e-04 -4.39622641e-06 9.99999963e-01 -5.19855285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.965769231 meters 0.032426632081128566 Centerline is valid? [True, True] Translation: X:198.74, Y:144.30, Z:-0.52 [[-1.21086505e-01 -9.92641955e-01 8.09100920e-05 1.98736877e+02] [ 9.92641634e-01 -1.21086531e-01 -7.99631343e-04 1.44304792e+02] [ 8.03544742e-04 -1.65098389e-05 9.99999677e-01 -5.22038162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99576923100005 meters 0.026577474138864216 Centerline is valid? [True, True] Translation: X:198.73, Y:144.33, Z:-0.52 [[-1.21429310e-01 -9.92600080e-01 6.73828467e-05 1.98730314e+02] [ 9.92599859e-01 -1.21429328e-01 -6.62628793e-04 1.44328136e+02] [ 6.65907647e-04 -1.35783532e-05 9.99999778e-01 -5.20123426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.025769231 meters 0.02831510584318869 Centerline is valid? [True, True] Translation: X:198.73, Y:144.35, Z:-0.52 [[-1.21526013e-01 -9.92588247e-01 1.82574619e-05 1.98734820e+02] [ 9.92588232e-01 -1.21526014e-01 -1.74265866e-04 1.44352050e+02] [ 1.75193007e-04 -3.05569413e-06 9.99999985e-01 -5.19562099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05576923100006 meters 0.027264937793210414 Centerline is valid? [True, True] Translation: X:198.74, Y:144.38, Z:-0.52 [[-1.22193964e-01 -9.92506239e-01 -1.12112123e-05 1.98740986e+02] [ 9.92506232e-01 -1.22193964e-01 1.17109225e-04 1.44377077e+02] [-1.17601579e-04 3.18284232e-06 9.99999993e-01 -5.18846649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08576923100003 meters 0.025555390892739116 Centerline is valid? [True, True] Translation: X:198.74, Y:144.40, Z:-0.52 [[-1.21333553e-01 -9.92611791e-01 -2.96909713e-05 1.98744438e+02] [ 9.92611746e-01 -1.21333556e-01 2.98582278e-04 1.44401493e+02] [-2.99978801e-04 6.75644173e-06 9.99999955e-01 -5.17821490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11576923100006 meters 0.024657965331527417 Centerline is valid? [True, True] Translation: X:198.74, Y:144.42, Z:-0.52 [[-1.19935566e-01 -9.92781677e-01 3.30018509e-05 1.98744424e+02] [ 9.92781627e-01 -1.19935571e-01 -3.17229656e-04 1.44424646e+02] [ 3.18897886e-04 -5.28348718e-06 9.99999949e-01 -5.19383643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14576923100003 meters 0.021422535462228227 Centerline is valid? [True, True] Translation: X:198.74, Y:144.45, Z:-0.52 [[-1.17972025e-01 -9.93016908e-01 1.47557644e-04 1.98741304e+02] [ 9.93015868e-01 -1.17972115e-01 -1.43736422e-03 1.44448916e+02] [ 1.44473467e-03 -2.30416867e-05 9.99998956e-01 -5.20569615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17576923100006 meters 0.01944567783444133 Centerline is valid? [True, True] Translation: X:198.74, Y:144.47, Z:-0.52 [[-1.14651446e-01 -9.93405744e-01 2.70255880e-04 1.98744055e+02] [ 9.93402266e-01 -1.14651759e-01 -2.62913697e-03 1.44472721e+02] [ 2.64278508e-03 -3.29615507e-05 9.99996507e-01 -5.23268162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20576923100003 meters 0.017844483288550622 Centerline is valid? [True, True] Translation: X:198.74, Y:144.50, Z:-0.52 [[-1.13441921e-01 -9.93544601e-01 2.38460966e-04 1.98742062e+02] [ 9.93541909e-01 -1.13442169e-01 -2.31278193e-03 1.44496741e+02] [ 2.32490353e-03 -2.54454628e-05 9.99997297e-01 -5.22471918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23576923100006 meters 0.0133323226649435 Centerline is valid? [True, True] Translation: X:198.74, Y:144.52, Z:-0.52 [[-1.08782410e-01 -9.94065583e-01 6.57312600e-05 1.98735563e+02] [ 9.94065382e-01 -1.08782430e-01 -6.31112482e-04 1.44520562e+02] [ 6.34517604e-04 -3.31276677e-06 9.99999799e-01 -5.18037611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26576923100004 meters 0.011521261763139203 Centerline is valid? [True, True] Translation: X:198.73, Y:144.54, Z:-0.52 [[-1.05888218e-01 -9.94378039e-01 7.34680018e-06 1.98729355e+02] [ 9.94378037e-01 -1.05888218e-01 -6.46444395e-05 1.44544179e+02] [ 6.50589505e-05 4.60412243e-07 9.99999998e-01 -5.17554889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29576923100007 meters 0.010974724431740326 Centerline is valid? [True, True] Translation: X:198.72, Y:144.57, Z:-0.52 [[-1.03015997e-01 -9.94679699e-01 -1.10441671e-05 1.98723015e+02] [ 9.94679693e-01 -1.03015998e-01 1.13073086e-04 1.44566298e+02] [-1.13609229e-04 6.62927985e-07 9.99999994e-01 -5.17545468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32576923100004 meters 0.012821920533726307 Centerline is valid? [True, True] Translation: X:198.71, Y:144.59, Z:-0.52 [[-9.77499183e-02 -9.95211009e-01 3.34776563e-05 1.98711013e+02] [ 9.95210959e-01 -9.77499240e-02 -3.15152721e-04 1.44588800e+02] [ 3.16915896e-04 2.51117776e-06 9.99999950e-01 -5.17854195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35576923100007 meters 0.01617663622714437 Centerline is valid? [True, True] Translation: X:198.70, Y:144.61, Z:-0.52 [[-9.34268895e-02 -9.95626121e-01 2.10685123e-04 1.98699907e+02] [ 9.95624087e-01 -9.34271245e-02 -2.01220310e-03 1.44612354e+02] [ 2.02308567e-03 2.17693068e-05 9.99997953e-01 -5.20230193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38576923100004 meters 0.01752335492783573 Centerline is valid? [True, True] Translation: X:198.69, Y:144.64, Z:-0.52 [[-9.21572596e-02 -9.95744405e-01 3.45256133e-04 1.98694235e+02] [ 9.95738965e-01 -9.21578974e-02 -3.29171431e-03 1.44635940e+02] [ 3.30952419e-03 4.04296145e-05 9.99994523e-01 -5.22733211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41576923100007 meters 0.018307737676325306 Centerline is valid? [True, True] Translation: X:198.69, Y:144.66, Z:-0.52 [[-9.17488712e-02 -9.95782087e-01 4.22968804e-04 1.98689154e+02] [ 9.95773966e-01 -9.17498314e-02 -4.02219822e-03 1.44659584e+02] [ 4.04404026e-03 5.21491769e-05 9.99991821e-01 -5.23911616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44576923100004 meters 0.017330287943613642 Centerline is valid? [True, True] Translation: X:198.69, Y:144.68, Z:-0.52 [[-9.33019263e-02 -9.95637840e-01 2.07186153e-04 1.98685062e+02] [ 9.95635909e-01 -9.33021534e-02 -1.96088100e-03 1.44682536e+02] [ 1.97165824e-03 2.33279996e-05 9.99998056e-01 -5.21999290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4757692310001 meters 0.015981258961017535 Centerline is valid? [True, True] Translation: X:198.68, Y:144.71, Z:-0.52 [[-9.51434528e-02 -9.95463571e-01 5.04960522e-05 1.98683168e+02] [ 9.95463459e-01 -9.51434660e-02 -4.71726410e-04 1.44705741e+02] [ 4.74390826e-04 5.38529532e-06 9.99999887e-01 -5.19125033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50576923100004 meters 0.013900666316698887 Centerline is valid? [True, True] Translation: X:198.68, Y:144.73, Z:-0.52 [[-9.82637794e-02 -9.95160404e-01 3.15799666e-05 1.98681880e+02] [ 9.95160361e-01 -9.82637844e-02 -2.91835319e-04 1.44729161e+02] [ 2.93526121e-04 2.75028949e-06 9.99999957e-01 -5.18853061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5357692310001 meters 0.013002745413054923 Centerline is valid? [True, True] Translation: X:198.68, Y:144.75, Z:-0.52 [[-9.99741792e-02 -9.94990019e-01 1.58839177e-04 1.98679530e+02] [ 9.94988905e-01 -9.99743049e-02 -1.48882919e-03 1.44752860e+02] [ 1.49725002e-03 9.19874204e-06 9.99998879e-01 -5.20891564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56576923100005 meters 0.012644005272685683 Centerline is valid? [True, True] Translation: X:198.68, Y:144.78, Z:-0.52 [[-1.01536157e-01 -9.94831810e-01 2.79489191e-04 1.98676144e+02] [ 9.94828370e-01 -1.01536540e-01 -2.61634623e-03 1.44775777e+02] [ 2.63120282e-03 1.23900356e-05 9.99996538e-01 -5.22613677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5957692310001 meters 0.01148077469029256 Centerline is valid? [True, True] Translation: X:198.67, Y:144.80, Z:-0.52 [[-1.04578033e-01 -9.94516662e-01 2.08159393e-04 1.98674663e+02] [ 9.94514767e-01 -1.04578240e-01 -1.94142502e-03 1.44798819e+02] [ 1.95254848e-03 3.98717968e-06 9.99998094e-01 -5.21061253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62576923100005 meters 0.011074136295641274 Centerline is valid? [True, True] Translation: X:198.67, Y:144.82, Z:-0.52 [[-1.06256818e-01 -9.94338715e-01 9.40575991e-05 1.98672643e+02] [ 9.94338333e-01 -1.06256859e-01 -8.71691461e-04 1.44823081e+02] [ 8.76750832e-04 9.01915433e-07 9.99999616e-01 -5.18838867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6557692310001 meters 0.010911958952423546 Centerline is valid? [True, True] Translation: X:198.67, Y:144.85, Z:-0.52 [[-1.07081975e-01 -9.94250192e-01 -8.56592544e-05 1.98667490e+02] [ 9.94249867e-01 -1.07082009e-01 8.03231398e-04 1.44845535e+02] [-8.07785536e-04 8.44901768e-07 9.99999674e-01 -5.15909736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68576923100005 meters 0.010909978854978361 Centerline is valid? [True, True] Translation: X:198.66, Y:144.87, Z:-0.52 [[-1.06959624e-01 -9.94263360e-01 -1.02087580e-04 1.98661632e+02] [ 9.94262903e-01 -1.06959673e-01 9.53097068e-04 1.44867645e+02] [-9.58548748e-04 4.41010105e-07 9.99999541e-01 -5.15511668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.715769231 meters 0.011022373009499268 Centerline is valid? [True, True] Translation: X:198.65, Y:144.89, Z:-0.52 [[-1.05993132e-01 -9.94366859e-01 -7.26189677e-05 1.98654651e+02] [ 9.94366628e-01 -1.05993157e-01 6.77814945e-04 1.44890646e+02] [-6.81693832e-04 -3.66148810e-07 9.99999768e-01 -5.15546720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74576923100005 meters 0.011811392475849843 Centerline is valid? [True, True] Translation: X:198.64, Y:144.91, Z:-0.52 [[-1.03339125e-01 -9.94646180e-01 -5.23641350e-05 1.98642990e+02] [ 9.94646059e-01 -1.03339139e-01 4.88895131e-04 1.44914253e+02] [-4.91688939e-04 -1.56178531e-06 9.99999879e-01 -5.15234649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.775769231 meters 0.013467410455651266 Centerline is valid? [True, True] Translation: X:198.63, Y:144.94, Z:-0.51 [[-1.01715840e-01 -9.94813484e-01 -1.38520150e-04 1.98632658e+02] [ 9.94812661e-01 -1.01715934e-01 1.28019432e-03 1.44936995e+02] [-1.28764428e-03 -7.58555900e-06 9.99999171e-01 -5.14890327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80576923100006 meters 0.016098648243568128 Centerline is valid? [True, True] Translation: X:198.62, Y:144.96, Z:-0.51 [[-9.84040898e-02 -9.95146512e-01 -2.34361880e-04 1.98618277e+02] [ 9.95144177e-01 -9.84043666e-02 2.15566283e-03 1.44959300e+02] [-2.16826258e-03 -2.10978221e-05 9.99997649e-01 -5.13251509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83576923100003 meters 0.016731464518401625 Centerline is valid? [True, True] Translation: X:198.61, Y:144.98, Z:-0.51 [[-9.77407373e-02 -9.95211881e-01 -2.46191724e-04 1.98611803e+02] [ 9.95209320e-01 -9.77410443e-02 2.25788200e-03 1.44982801e+02] [-2.27113403e-03 -2.43252467e-05 9.99997421e-01 -5.13815415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86576923100006 meters 0.01618420627700465 Centerline is valid? [True, True] Translation: X:198.60, Y:145.01, Z:-0.52 [[-9.88562244e-02 -9.95101727e-01 -1.85565304e-05 1.98604141e+02] [ 9.95101711e-01 -9.88562261e-02 1.75235014e-04 1.45006086e+02] [-1.76211093e-04 -1.14256328e-06 9.99999984e-01 -5.18177482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89576923100003 meters 0.015555409756656988 Centerline is valid? [True, True] Translation: X:198.60, Y:145.03, Z:-0.52 [[-9.99712970e-02 -9.94990314e-01 1.23322405e-04 1.98599148e+02] [ 9.94989688e-01 -9.99713725e-02 -1.11572869e-03 1.45029418e+02] [ 1.12246795e-03 1.11636764e-05 9.99999370e-01 -5.21000607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92576923100006 meters 0.015258931695442462 Centerline is valid? [True, True] Translation: X:198.59, Y:145.05, Z:-0.52 [[-1.01846647e-01 -9.94800106e-01 9.71082070e-05 1.98590723e+02] [ 9.94799722e-01 -1.01846693e-01 -8.74583011e-04 1.45051831e+02] [ 8.79925422e-04 7.52987032e-06 9.99999613e-01 -5.21770867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95576923100003 meters 0.014545624275176259 Centerline is valid? [True, True] Translation: X:198.59, Y:145.07, Z:-0.52 [[-1.03047523e-01 -9.94676434e-01 -1.81890740e-05 1.98586098e+02] [ 9.94676419e-01 -1.03047524e-01 1.70418205e-04 1.45074121e+02] [-1.71385312e-04 -5.31069100e-07 9.99999985e-01 -5.19555832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98576923100006 meters 0.013372465454430769 Centerline is valid? [True, True] Translation: X:198.58, Y:145.10, Z:-0.52 [[-1.04577024e-01 -9.94516786e-01 -8.80799324e-05 1.98582748e+02] [ 9.94516464e-01 -1.04577061e-01 8.00082067e-04 1.45097577e+02] [-8.04906187e-04 -3.92674115e-06 9.99999676e-01 -5.17921867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01576923100004 meters 0.011496843623257579 Centerline is valid? [True, True] Translation: X:198.58, Y:145.12, Z:-0.52 [[-1.07806579e-01 -9.94171887e-01 1.62098779e-05 1.98582269e+02] [ 9.94171877e-01 -1.07806580e-01 -1.39836834e-04 1.45121679e+02] [ 1.40769381e-04 1.04007411e-06 9.99999990e-01 -5.18742980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04576923100007 meters 0.011200965434942345 Centerline is valid? [True, True] Translation: X:198.58, Y:145.15, Z:-0.52 [[-1.09586608e-01 -9.93977249e-01 6.85817852e-05 1.98579717e+02] [ 9.93977062e-01 -1.09586630e-01 -6.09243982e-04 1.45145635e+02] [ 6.13090303e-04 1.40373974e-06 9.99999812e-01 -5.19567771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07576923100004 meters 0.011244897460123521 Centerline is valid? [True, True] Translation: X:198.57, Y:145.17, Z:-0.52 [[-1.11839219e-01 -9.93726310e-01 9.96387568e-05 1.98574847e+02] [ 9.93725916e-01 -1.11839264e-01 -8.85119588e-04 1.45167815e+02] [ 8.90710147e-04 2.25310689e-08 9.99999603e-01 -5.19885009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10576923100007 meters 0.011245110865744914 Centerline is valid? [True, True] Translation: X:198.57, Y:145.19, Z:-0.52 [[-1.12542356e-01 -9.93646927e-01 5.24911865e-05 1.98570176e+02] [ 9.93646819e-01 -1.12542369e-01 -4.62323581e-04 1.45190909e+02] [ 4.65293888e-04 1.26715314e-07 9.99999892e-01 -5.19379023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13576923100004 meters 0.01119693775169433 Centerline is valid? [True, True] Translation: X:198.57, Y:145.21, Z:-0.52 [[-1.13311329e-01 -9.93559529e-01 -6.55956867e-05 1.98565200e+02] [ 9.93559354e-01 -1.13311348e-01 5.89542755e-04 1.45213645e+02] [-5.93178558e-04 1.62866516e-06 9.99999824e-01 -5.17474092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16576923100007 meters 0.01152263501338962 Centerline is valid? [True, True] Translation: X:198.56, Y:145.24, Z:-0.52 [[-1.14275916e-01 -9.93449046e-01 -8.67922665e-05 1.98562911e+02] [ 9.93448743e-01 -1.14275949e-01 7.75845214e-04 1.45236745e+02] [-7.80680956e-04 2.43675474e-06 9.99999695e-01 -5.17719031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19576923100004 meters 0.011754196292799356 Centerline is valid? [True, True] Translation: X:198.56, Y:145.26, Z:-0.52 [[-1.15775345e-01 -9.93275424e-01 -3.52419910e-05 1.98560185e+02] [ 9.93275373e-01 -1.15775350e-01 3.17556759e-04 1.45260179e+02] [-3.19501479e-04 1.76024140e-06 9.99999949e-01 -5.18363889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2257692310001 meters 0.013648808045899206 Centerline is valid? [True, True] Translation: X:198.56, Y:145.28, Z:-0.52 [[-1.19450353e-01 -9.92840169e-01 1.08620916e-04 1.98563244e+02] [ 9.92839712e-01 -1.19450402e-01 -9.52577906e-04 1.45284754e+02] [ 9.58732421e-04 -5.94260787e-06 9.99999540e-01 -5.20555883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25576923100004 meters 0.01492344545008694 Centerline is valid? [True, True] Translation: X:198.57, Y:145.31, Z:-0.52 [[-1.21695980e-01 -9.92567422e-01 4.05906336e-05 1.98565434e+02] [ 9.92567360e-01 -1.21695987e-01 -3.51394136e-04 1.45309276e+02] [ 3.53722089e-04 -2.47431573e-06 9.99999937e-01 -5.19456200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2857692310001 meters 0.017613011695507528 Centerline is valid? [True, True] Translation: X:198.57, Y:145.33, Z:-0.51 [[-1.25350200e-01 -9.92112487e-01 -3.74590942e-04 1.98572587e+02] [ 9.92107024e-01 -1.25350753e-01 3.29272521e-03 1.45334512e+02] [-3.31370906e-03 4.11094588e-05 9.99994509e-01 -5.13589021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31576923100005 meters 0.017697270351430316 Centerline is valid? [True, True] Translation: X:198.57, Y:145.36, Z:-0.51 [[-1.26552560e-01 -9.91959761e-01 -5.31853109e-04 1.98571593e+02] [ 9.91948814e-01 -1.26553662e-01 4.66059193e-03 1.45358935e+02] [-4.69042761e-03 6.22387772e-05 9.99988998e-01 -5.11582177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3457692310001 meters 0.018615882099998135 Centerline is valid? [True, True] Translation: X:198.57, Y:145.38, Z:-0.51 [[-1.27017995e-01 -9.91900357e-01 -3.33541928e-04 1.98574260e+02] [ 9.91896068e-01 -1.27018427e-01 2.91711024e-03 1.45382657e+02] [-2.93584866e-03 3.96865671e-05 9.99995690e-01 -5.13174551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37576923100005 meters 0.01828288294834456 Centerline is valid? [True, True] Translation: X:198.57, Y:145.41, Z:-0.52 [[-1.26562084e-01 -9.91958686e-01 -6.05528496e-05 1.98572124e+02] [ 9.91958543e-01 -1.26562098e-01 5.32933630e-04 1.45405661e+02] [-5.36311840e-04 7.38327444e-06 9.99999856e-01 -5.17520679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4057692310001 meters 0.014960577852856318 Centerline is valid? [True, True] Translation: X:198.57, Y:145.43, Z:-0.52 [[-1.24032142e-01 -9.92278181e-01 1.99621213e-04 1.98565544e+02] [ 9.92276677e-01 -1.24032301e-01 -1.72763961e-03 1.45429939e+02] [ 1.73905857e-03 -1.62033667e-05 9.99998488e-01 -5.21395043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43576923100005 meters 0.015043085747509637 Centerline is valid? [True, True] Translation: X:198.56, Y:145.45, Z:-0.52 [[-1.23026447e-01 -9.92403379e-01 1.65092844e-04 1.98563435e+02] [ 9.92402356e-01 -1.23026557e-01 -1.42451848e-03 1.45453139e+02] [ 1.43400776e-03 -1.14149202e-05 9.99998972e-01 -5.21938427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.465769231 meters 0.013919242876518472 Centerline is valid? [True, True] Translation: X:198.56, Y:145.48, Z:-0.52 [[-1.22177743e-01 -9.92508236e-01 3.36964145e-06 1.98559119e+02] [ 9.92508236e-01 -1.22177743e-01 -2.35291362e-05 1.45476772e+02] [ 2.37645566e-05 4.69660139e-07 1.00000000e+00 -5.19192643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49576923100005 meters 0.013069004988652034 Centerline is valid? [True, True] Translation: X:198.55, Y:145.50, Z:-0.52 [[-1.21026103e-01 -9.92649324e-01 -4.60559794e-05 1.98554862e+02] [ 9.92649242e-01 -1.21026112e-01 4.02520632e-04 1.45499290e+02] [-4.05135809e-04 2.99807047e-06 9.99999918e-01 -5.16995796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.525769231 meters 0.012659768143814854 Centerline is valid? [True, True] Translation: X:198.55, Y:145.52, Z:-0.52 [[-1.20726254e-01 -9.92685837e-01 1.93831921e-05 1.98550197e+02] [ 9.92685824e-01 -1.20726256e-01 -1.61016069e-04 1.45522492e+02] [ 1.62178431e-04 -1.97446863e-07 9.99999987e-01 -5.17935104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55576923100006 meters 0.01149026407296093 Centerline is valid? [True, True] Translation: X:198.54, Y:145.55, Z:-0.52 [[-1.18993033e-01 -9.92895089e-01 1.74991157e-05 1.98541213e+02] [ 9.92895079e-01 -1.18993035e-01 -1.44253623e-04 1.45545033e+02] [ 1.45310987e-04 2.09609688e-07 9.99999989e-01 -5.18443683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58576923100003 meters 0.01149026407296093 Centerline is valid? [True, True] Translation: X:198.54, Y:145.57, Z:-0.52 [[-1.19297920e-01 -9.92858503e-01 1.75428314e-05 1.98538080e+02] [ 9.92858492e-01 -1.19297921e-01 -1.44248412e-04 1.45568149e+02] [ 1.45311086e-04 2.09013592e-07 9.99999989e-01 -5.18493753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61576923100006 meters 0.011201810218751898 Centerline is valid? [True, True] Translation: X:198.53, Y:145.59, Z:-0.52 [[-1.18741411e-01 -9.92925209e-01 -8.61709124e-05 1.98532926e+02] [ 9.92924933e-01 -1.18741442e-01 7.40258991e-04 1.45590288e+02] [-7.45253871e-04 2.33814934e-06 9.99999722e-01 -5.17458326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64576923100003 meters 0.01099611698533017 Centerline is valid? [True, True] Translation: X:198.53, Y:145.61, Z:-0.52 [[-1.18361559e-01 -9.92970544e-01 -1.99663195e-04 1.98526385e+02] [ 9.92969084e-01 -1.18361727e-01 1.70280708e-03 1.45612408e+02] [-1.71446975e-03 3.28752071e-06 9.99998530e-01 -5.15628382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67576923100006 meters 0.010959084515778102 Centerline is valid? [True, True] Translation: X:198.52, Y:145.64, Z:-0.52 [[-1.18733310e-01 -9.92926166e-01 -1.71266045e-04 1.98521827e+02] [ 9.92925097e-01 -1.18733434e-01 1.45752693e-03 1.45635959e+02] [-1.46755163e-03 3.00264182e-06 9.99998923e-01 -5.16202208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70576923100003 meters 0.011186928395572738 Centerline is valid? [True, True] Translation: X:198.52, Y:145.66, Z:-0.52 [[-1.19257793e-01 -9.92863322e-01 -5.88902255e-05 1.98516982e+02] [ 9.92863194e-01 -1.19257807e-01 5.03600219e-04 1.45659346e+02] [-5.07029306e-04 1.58831324e-06 9.99999871e-01 -5.17738217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73576923100006 meters 0.01137051691389235 Centerline is valid? [True, True] Translation: X:198.51, Y:145.68, Z:-0.52 [[-1.19473577e-01 -9.92837359e-01 2.08107788e-04 1.98510393e+02] [ 9.92835817e-01 -1.19473758e-01 -1.74960279e-03 1.45683006e+02] [ 1.76193443e-03 -2.41443712e-06 9.99998448e-01 -5.21682371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76576923100004 meters 0.011370637082430432 Centerline is valid? [True, True] Translation: X:198.51, Y:145.71, Z:-0.52 [[-1.19227229e-01 -9.92866951e-01 2.93929511e-04 1.98505358e+02] [ 9.92863887e-01 -1.19227591e-01 -2.46644363e-03 1.45705225e+02] [ 2.48389488e-03 -2.23524224e-06 9.99996915e-01 -5.24184099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79576923100007 meters 0.011073369168623731 Centerline is valid? [True, True] Translation: X:198.50, Y:145.73, Z:-0.52 [[-1.18028203e-01 -9.93010227e-01 1.78600021e-04 1.98496259e+02] [ 9.93009106e-01 -1.18028338e-01 -1.49255006e-03 1.45727976e+02] [ 1.50319734e-03 1.18844620e-06 9.99998870e-01 -5.20874328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82576923100004 meters 0.01107711705408176 Centerline is valid? [True, True] Translation: X:198.49, Y:145.75, Z:-0.52 [[-1.17451919e-01 -9.93078570e-01 2.66308749e-05 1.98490177e+02] [ 9.93078546e-01 -1.17451922e-01 -2.16917649e-04 1.45749920e+02] [ 2.18544116e-04 9.69156493e-07 9.99999976e-01 -5.19354201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85576923100007 meters 0.011025655739827712 Centerline is valid? [True, True] Translation: X:198.48, Y:145.77, Z:-0.52 [[-1.17547594e-01 -9.93067242e-01 -1.26597508e-04 1.98483979e+02] [ 9.93066674e-01 -1.17547662e-01 1.06188546e-03 1.45773082e+02] [-1.06940490e-03 -8.97685454e-07 9.99999428e-01 -5.17376303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88576923100004 meters 0.010934449127030626 Centerline is valid? [True, True] Translation: X:198.48, Y:145.80, Z:-0.52 [[-1.18696538e-01 -9.92930568e-01 -1.35381703e-04 1.98481258e+02] [ 9.92929923e-01 -1.18696615e-01 1.13221810e-03 1.45796973e+02] [-1.14028331e-03 -3.41743585e-08 9.99999350e-01 -5.17603578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91576923100007 meters 0.01080189406175263 Centerline is valid? [True, True] Translation: X:198.48, Y:145.82, Z:-0.52 [[-1.20358826e-01 -9.92730444e-01 -1.39026343e-04 1.98480058e+02] [ 9.92729766e-01 -1.20358906e-01 1.15952968e-03 1.45820704e+02] [-1.16783347e-03 1.54404188e-06 9.99999318e-01 -5.17752467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94576923100004 meters 0.012334608720825632 Centerline is valid? [True, True] Translation: X:198.49, Y:145.85, Z:-0.52 [[-1.24994610e-01 -9.92157409e-01 -1.53807291e-04 1.98485314e+02] [ 9.92156585e-01 -1.24994704e-01 1.27887238e-03 1.45845874e+02] [-1.28806780e-03 7.25123643e-06 9.99999170e-01 -5.17426709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9757692310001 meters 0.013794892024273952 Centerline is valid? [True, True] Translation: X:198.49, Y:145.87, Z:-0.52 [[-1.28204367e-01 -9.91747750e-01 -2.03929028e-04 1.98487441e+02] [ 9.91746311e-01 -1.28204528e-01 1.68945546e-03 1.45871347e+02] [-1.70165828e-03 1.43497066e-05 9.99998552e-01 -5.16878450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00576923100004 meters 0.018915494551654453 Centerline is valid? [True, True] Translation: X:198.50, Y:145.90, Z:-0.52 [[-1.34348070e-01 -9.90934173e-01 -2.45781437e-04 1.98497081e+02] [ 9.90932094e-01 -1.34348292e-01 2.03039937e-03 1.45896274e+02] [-2.04501244e-03 2.92275233e-05 9.99997909e-01 -5.16267499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0357692310001 meters 0.02130841271143739 Centerline is valid? [True, True] Translation: X:198.50, Y:145.92, Z:-0.52 [[-1.36816377e-01 -9.90596396e-01 -2.44801501e-04 1.98499457e+02] [ 9.90594342e-01 -1.36816592e-01 2.01721501e-03 1.45919780e+02] [-2.03173883e-03 3.34890678e-05 9.99997935e-01 -5.16631681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06576923100005 meters 0.022103996676483537 Centerline is valid? [True, True] Translation: X:198.50, Y:145.94, Z:-0.52 [[-1.38585130e-01 -9.90350505e-01 -1.95559292e-04 1.98499245e+02] [ 9.90349200e-01 -1.38585264e-01 1.60840117e-03 1.45944423e+02] [-1.61998255e-03 2.92284965e-05 9.99998687e-01 -5.17656780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0957692310001 meters 0.02341631074080542 Centerline is valid? [True, True] Translation: X:198.50, Y:145.97, Z:-0.52 [[-1.39869821e-01 -9.90169886e-01 -1.74573449e-04 1.98503280e+02] [ 9.90168849e-01 -1.39869927e-01 1.43283101e-03 1.45968246e+02] [-1.44316369e-03 2.75526257e-05 9.99998958e-01 -5.17594367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12576923100005 meters 0.023391230074743998 Centerline is valid? [True, True] Translation: X:198.50, Y:145.99, Z:-0.52 [[-1.40299961e-01 -9.90109025e-01 -2.01180436e-04 1.98503581e+02] [ 9.90107657e-01 -1.40300102e-01 1.64608797e-03 1.45992606e+02] [-1.65803219e-03 3.17557875e-05 9.99998625e-01 -5.17220607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1557692310001 meters 0.02478635335430742 Centerline is valid? [True, True] Translation: X:198.51, Y:146.02, Z:-0.52 [[-1.41834408e-01 -9.89890387e-01 -1.48523483e-04 1.98508771e+02] [ 9.89889644e-01 -1.41834484e-01 1.21357132e-03 1.46016717e+02] [-1.22236833e-03 2.51043120e-05 9.99999253e-01 -5.17947363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18576923100005 meters 0.026708677554866687 Centerline is valid? [True, True] Translation: X:198.51, Y:146.04, Z:-0.52 [[-1.43706793e-01 -9.89620308e-01 -6.26078705e-05 1.98510853e+02] [ 9.89620175e-01 -1.43706807e-01 5.13359546e-04 1.46040665e+02] [-5.17028209e-04 1.18152425e-05 9.99999866e-01 -5.19320246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.215769231 meters 0.031737264535284165 Centerline is valid? [True, True] Translation: X:198.52, Y:146.07, Z:-0.52 [[-1.48450515e-01 -9.88919836e-01 -4.50308988e-05 1.98521731e+02] [ 9.88919767e-01 -1.48450521e-01 3.69584451e-04 1.46066233e+02] [-3.72174256e-04 1.03330560e-05 9.99999931e-01 -5.20996481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24576923100005 meters 0.034019405130576455 Centerline is valid? [True, True] Translation: X:198.53, Y:146.09, Z:-0.52 [[-1.51110061e-01 -9.88516942e-01 -6.49607778e-05 1.98526307e+02] [ 9.88516801e-01 -1.51110074e-01 5.29696339e-04 1.46091001e+02] [-5.33430033e-04 1.58276255e-05 9.99999858e-01 -5.20721490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.275769231 meters 0.03508645201002288 Centerline is valid? [True, True] Translation: X:198.53, Y:146.12, Z:-0.52 [[-1.53399764e-01 -9.88164206e-01 -1.22628104e-04 1.98529239e+02] [ 9.88163707e-01 -1.53399809e-01 9.93027630e-04 1.46115462e+02] [-1.00008549e-03 3.11535617e-05 9.99999499e-01 -5.19480413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30576923100006 meters 0.037883560418427366 Centerline is valid? [True, True] Translation: X:198.54, Y:146.14, Z:-0.52 [[-1.54046846e-01 -9.88063545e-01 -3.12949041e-05 1.98537487e+02] [ 9.88063511e-01 -1.54046849e-01 2.56875660e-04 1.46139981e+02] [-2.58630357e-04 8.64953241e-06 9.99999967e-01 -5.20262093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33576923100003 meters 0.036514200852718635 Centerline is valid? [True, True] Translation: X:198.54, Y:146.16, Z:-0.52 [[-1.52826332e-01 -9.88253048e-01 1.60792167e-04 1.98535555e+02] [ 9.88252215e-01 -1.52826412e-01 -1.28339889e-03 1.46163254e+02] [ 1.29289616e-03 -3.72339305e-05 9.99999164e-01 -5.23314046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36576923100006 meters 0.03244570221160975 Centerline is valid? [True, True] Translation: X:198.53, Y:146.19, Z:-0.53 [[-1.49003946e-01 -9.88836525e-01 3.88561627e-04 1.98532610e+02] [ 9.88831665e-01 -1.49004432e-01 -3.10124224e-03 1.46186876e+02] [ 3.12451901e-03 -7.78752907e-05 9.99995116e-01 -5.27273929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39576923100003 meters 0.0306417278886381 Centerline is valid? [True, True] Translation: X:198.53, Y:146.21, Z:-0.53 [[-1.47542947e-01 -9.89055596e-01 3.25583673e-04 1.98528654e+02] [ 9.89052202e-01 -1.47543294e-01 -2.59186094e-03 1.46210753e+02] [ 2.61153225e-03 -6.03915520e-05 9.99996588e-01 -5.25969810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42576923100006 meters 0.028884562090809345 Centerline is valid? [True, True] Translation: X:198.52, Y:146.23, Z:-0.52 [[-1.46287307e-01 -9.89242130e-01 1.81147392e-04 1.98524448e+02] [ 9.89241087e-01 -1.46287415e-01 -1.43647744e-03 1.46234757e+02] [ 1.44752359e-03 -3.09399730e-05 9.99998952e-01 -5.23818170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45576923100003 meters 0.027386184455492662 Centerline is valid? [True, True] Translation: X:198.52, Y:146.26, Z:-0.52 [[-1.44917811e-01 -9.89443690e-01 1.07740881e-04 1.98522706e+02] [ 9.89443325e-01 -1.44917850e-01 -8.50140510e-04 1.46257878e+02] [ 8.56779741e-04 -1.65970065e-05 9.99999633e-01 -5.22818230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48576923100006 meters 0.028085010420385272 Centerline is valid? [True, True] Translation: X:198.52, Y:146.28, Z:-0.52 [[-1.45672093e-01 -9.89332911e-01 1.82239806e-04 1.98522617e+02] [ 9.89331866e-01 -1.45672204e-01 -1.43839901e-03 1.46282171e+02] [ 1.44960276e-03 -2.92389464e-05 9.99998949e-01 -5.24472544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51576923100004 meters 0.030115436587527807 Centerline is valid? [True, True] Translation: X:198.53, Y:146.31, Z:-0.53 [[-1.49931908e-01 -9.88696308e-01 1.81848918e-04 1.98526905e+02] [ 9.88695272e-01 -1.49932014e-01 -1.43172549e-03 1.46306895e+02] [ 1.44280668e-03 -3.48681682e-05 9.99998959e-01 -5.25154674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54576923100007 meters 0.03261457323659711 Centerline is valid? [True, True] Translation: X:198.53, Y:146.33, Z:-0.52 [[-1.52719047e-01 -9.88269639e-01 1.17468325e-04 1.98529534e+02] [ 9.88269210e-01 -1.52719090e-01 -9.21082824e-04 1.46331989e+02] [ 9.28217846e-04 -2.45765623e-05 9.99999569e-01 -5.23738520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57576923100004 meters 0.034463462164937564 Centerline is valid? [True, True] Translation: X:198.53, Y:146.36, Z:-0.52 [[-1.54977462e-01 -9.87918006e-01 -2.34266863e-05 1.98531722e+02] [ 9.87917987e-01 -1.54977464e-01 1.89446401e-04 1.46356188e+02] [-1.90788119e-04 6.21627760e-06 9.99999982e-01 -5.21644803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60576923100007 meters 0.040754833681425254 Centerline is valid? [True, True] Translation: X:198.54, Y:146.38, Z:-0.52 [[-1.56696161e-01 -9.87646813e-01 -2.92642971e-04 1.98542850e+02] [ 9.87644136e-01 -1.56696418e-01 2.30078711e-03 1.46381211e+02] [-2.31822116e-03 7.14973919e-05 9.99997310e-01 -5.17632072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63576923100004 meters 0.03607758487741886 Centerline is valid? [True, True] Translation: X:198.54, Y:146.40, Z:-0.52 [[-1.57108310e-01 -9.87581335e-01 -2.93933083e-04 1.98535668e+02] [ 9.87578647e-01 -1.57108569e-01 2.30530501e-03 1.46404474e+02] [-2.32285560e-03 7.19005380e-05 9.99997300e-01 -5.17713136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66576923100007 meters 0.03732937765072673 Centerline is valid? [True, True] Translation: X:198.54, Y:146.43, Z:-0.52 [[-1.57856123e-01 -9.87462123e-01 -2.57025242e-05 1.98539895e+02] [ 9.87462101e-01 -1.57856125e-01 2.05878398e-04 1.46428283e+02] [-2.07354421e-04 7.11889729e-06 9.99999978e-01 -5.22386547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69576923100004 meters 0.041044961508172745 Centerline is valid? [True, True] Translation: X:198.54, Y:146.45, Z:-0.52 [[-1.57951611e-01 -9.87446850e-01 8.58184664e-05 1.98544939e+02] [ 9.87446627e-01 -1.57951633e-01 -6.62961402e-04 1.46452216e+02] [ 6.68194315e-04 -1.99746663e-05 9.99999777e-01 -5.23967962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7257692310001 meters 0.037855899271231876 Centerline is valid? [True, True] Translation: X:198.54, Y:146.48, Z:-0.52 [[-1.57635776e-01 -9.87497313e-01 1.39361368e-04 1.98540562e+02] [ 9.87496725e-01 -1.57635834e-01 -1.07766649e-03 1.46476273e+02] [ 1.08616111e-03 -3.22598981e-05 9.99999410e-01 -5.24366395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75576923100004 meters 0.037198019040340896 Centerline is valid? [True, True] Translation: X:198.54, Y:146.50, Z:-0.52 [[-1.56857923e-01 -9.87621155e-01 2.15633525e-04 1.98542846e+02] [ 9.87619751e-01 -1.56858064e-01 -1.66608308e-03 1.46500106e+02] [ 1.67928275e-03 -4.83744029e-05 9.99998589e-01 -5.24074809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7857692310001 meters 0.03552528099203627 Centerline is valid? [True, True] Translation: X:198.54, Y:146.52, Z:-0.52 [[-1.57036719e-01 -9.87592758e-01 1.16159585e-04 1.98540018e+02] [ 9.87592355e-01 -1.57036760e-01 -8.92996572e-04 1.46523671e+02] [ 9.00158272e-04 -2.55149338e-05 9.99999595e-01 -5.22149190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81576923100005 meters 0.03575536349981478 Centerline is valid? [True, True] Translation: X:198.54, Y:146.55, Z:-0.52 [[-1.56909589e-01 -9.87612971e-01 2.32071032e-05 1.98542518e+02] [ 9.87612956e-01 -1.56909591e-01 -1.73811978e-04 1.46547010e+02] [ 1.75300381e-04 -4.35313033e-06 9.99999985e-01 -5.21701267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8457692310001 meters 0.03675485248366926 Centerline is valid? [True, True] Translation: X:198.54, Y:146.57, Z:-0.52 [[-1.57143436e-01 -9.87575790e-01 1.25222715e-05 1.98543264e+02] [ 9.87575785e-01 -1.57143437e-01 -9.11915295e-05 1.46570033e+02] [ 9.20263395e-05 -1.96345814e-06 9.99999996e-01 -5.22380928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87576923100005 meters 0.03665229498941445 Centerline is valid? [True, True] Translation: X:198.54, Y:146.59, Z:-0.52 [[-1.57619946e-01 -9.87499849e-01 1.52354328e-05 1.98542189e+02] [ 9.87499843e-01 -1.57619947e-01 -1.12017041e-04 1.46593806e+02] [ 1.13018219e-04 -2.61113244e-06 9.99999994e-01 -5.23174371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9057692310001 meters 0.03654428853443925 Centerline is valid? [True, True] Translation: X:198.54, Y:146.62, Z:-0.52 [[-1.57349413e-01 -9.87542990e-01 7.26201490e-05 1.98544911e+02] [ 9.87542836e-01 -1.57349429e-01 -5.51087555e-04 1.46617305e+02] [ 5.55649390e-04 -1.49977952e-05 9.99999846e-01 -5.23403169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93576923100005 meters 0.0359248992621875 Centerline is valid? [True, True] Translation: X:198.54, Y:146.64, Z:-0.53 [[-1.56703119e-01 -9.87645734e-01 1.93022613e-04 1.98544424e+02] [ 9.87644641e-01 -1.56703232e-01 -1.46967286e-03 1.46640383e+02] [ 1.48176340e-03 -3.96645705e-05 9.99998901e-01 -5.25135370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.965769231 meters 0.033453493658657775 Centerline is valid? [True, True] Translation: X:198.54, Y:146.66, Z:-0.53 [[-1.54533153e-01 -9.87987514e-01 4.21348905e-04 1.98542549e+02] [ 9.87982316e-01 -1.54533707e-01 -3.20573984e-03 1.46664382e+02] [ 3.23234354e-03 -7.91078169e-05 9.99994773e-01 -5.28778025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99576923100005 meters 0.03185922702875732 Centerline is valid? [True, True] Translation: X:198.54, Y:146.69, Z:-0.53 [[-1.53491244e-01 -9.88149926e-01 4.02431426e-04 1.98538303e+02] [ 9.88145206e-01 -1.53491755e-01 -3.05513641e-03 1.46687485e+02] [ 3.08070272e-03 -7.12760049e-05 9.99995252e-01 -5.28289638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.025769231 meters 0.030705539102844542 Centerline is valid? [True, True] Translation: X:198.53, Y:146.71, Z:-0.53 [[-1.52768322e-01 -9.88261991e-01 2.76432259e-04 1.98534317e+02] [ 9.88259779e-01 -1.52768565e-01 -2.09154862e-03 1.46711502e+02] [ 2.10922816e-03 -4.63354897e-05 9.99997775e-01 -5.26319957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05576923100006 meters 0.02971753145064836 Centerline is valid? [True, True] Translation: X:198.53, Y:146.73, Z:-0.52 [[-1.51904737e-01 -9.88395139e-01 -1.18969763e-05 1.98533144e+02] [ 9.88395134e-01 -1.51904738e-01 9.49694215e-05 1.46734139e+02] [-9.56745217e-05 2.66739157e-06 9.99999995e-01 -5.22368928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08576923100003 meters 0.02952546580410054 Centerline is valid? [True, True] Translation: X:198.53, Y:146.76, Z:-0.52 [[-1.52113792e-01 -9.88362985e-01 -6.43607713e-05 1.98531626e+02] [ 9.88362863e-01 -1.52113805e-01 4.90956578e-04 1.46757000e+02] [-4.95033470e-04 1.10694703e-05 9.99999877e-01 -5.22049702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11576923100006 meters 0.029828464690398255 Centerline is valid? [True, True] Translation: X:198.53, Y:146.78, Z:-0.52 [[-1.52634115e-01 -9.88282767e-01 -2.33964489e-05 1.98530887e+02] [ 9.88282750e-01 -1.52634116e-01 1.81261522e-04 1.46780541e+02] [-1.82708735e-04 4.54438512e-06 9.99999983e-01 -5.22975924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14576923100003 meters 0.03130688576949752 Centerline is valid? [True, True] Translation: X:198.54, Y:146.80, Z:-0.52 [[-1.53847111e-01 -9.88094665e-01 -1.03623732e-06 1.98535253e+02] [ 9.88094665e-01 -1.53847111e-01 1.29647750e-05 1.46803726e+02] [-1.29698472e-05 9.70692609e-07 1.00000000e+00 -5.23420986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17576923100006 meters 0.03162984151088719 Centerline is valid? [True, True] Translation: X:198.54, Y:146.83, Z:-0.52 [[-1.54168499e-01 -9.88044571e-01 -1.62561925e-05 1.98535258e+02] [ 9.88044563e-01 -1.54168500e-01 1.26992032e-04 1.46825712e+02] [-1.27979981e-04 3.51632833e-06 9.99999992e-01 -5.22500557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20576923100003 meters 0.028496788704826564 Centerline is valid? [True, True] Translation: X:198.53, Y:146.85, Z:-0.52 [[-1.51676106e-01 -9.88430248e-01 5.71756279e-05 1.98530780e+02] [ 9.88430158e-01 -1.51676117e-01 -4.22620380e-04 1.46847836e+02] [ 4.26402944e-04 -7.58729877e-06 9.99999909e-01 -5.22833324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23576923100006 meters 0.025075587930991357 Centerline is valid? [True, True] Translation: X:198.52, Y:146.87, Z:-0.52 [[-1.49181352e-01 -9.88809838e-01 1.67971158e-04 1.98522673e+02] [ 9.88809050e-01 -1.49181445e-01 -1.24829407e-03 1.46869948e+02] [ 1.25938364e-03 -2.01307963e-05 9.99999207e-01 -5.24589041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26576923100004 meters 0.020394377765752956 Centerline is valid? [True, True] Translation: X:198.51, Y:146.89, Z:-0.52 [[-1.45652837e-01 -9.89335748e-01 1.70025036e-04 1.98511890e+02] [ 9.89334945e-01 -1.45652935e-01 -1.26076512e-03 1.46892019e+02] [ 1.27208465e-03 -1.54223071e-05 9.99999191e-01 -5.23803004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29576923100007 meters 0.011536957288418732 Centerline is valid? [True, True] Translation: X:198.49, Y:146.91, Z:-0.52 [[-1.36861497e-01 -9.90590189e-01 -8.68546917e-05 1.98490091e+02] [ 9.90589976e-01 -1.36861524e-01 6.49862439e-04 1.46912130e+02] [-6.55634422e-04 2.90375911e-06 9.99999785e-01 -5.19044991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32576923100004 meters 0.010410928641838985 Centerline is valid? [True, True] Translation: X:198.48, Y:146.93, Z:-0.52 [[-1.33584081e-01 -9.91037465e-01 -1.91367510e-04 1.98477643e+02] [ 9.91036443e-01 -1.33584218e-01 1.42289466e-03 1.46932724e+02] [-1.43570559e-03 4.23899016e-07 9.99998969e-01 -5.17691495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35576923100007 meters 0.011118232920768262 Centerline is valid? [True, True] Translation: X:198.47, Y:146.95, Z:-0.52 [[-1.31232669e-01 -9.91351576e-01 -1.97139874e-04 1.98466171e+02] [ 9.91350498e-01 -1.31232817e-01 1.46222192e-03 1.46954130e+02] [-1.47544723e-03 -3.54342613e-06 9.99998912e-01 -5.17812915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38576923100004 meters 0.011773172132119 Centerline is valid? [True, True] Translation: X:198.46, Y:146.98, Z:-0.52 [[-1.29787362e-01 -9.91541802e-01 -3.10404661e-04 1.98455534e+02] [ 9.91539147e-01 -1.29787732e-01 2.29450838e-03 1.46976416e+02] [-2.31538769e-03 -9.98018410e-06 9.99997319e-01 -5.17757079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41576923100007 meters 0.011505306833750641 Centerline is valid? [True, True] Translation: X:198.45, Y:147.00, Z:-0.52 [[-1.31221343e-01 -9.91353012e-01 -4.05678632e-04 1.98452032e+02] [ 9.91348501e-01 -1.31221969e-01 2.99060616e-03 1.46998969e+02] [-3.01798038e-03 -9.73754731e-06 9.99995446e-01 -5.16132433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44576923100004 meters 0.011592221592507407 Centerline is valid? [True, True] Translation: X:198.46, Y:147.02, Z:-0.52 [[-1.38444802e-01 -9.90370112e-01 -2.80206347e-04 1.98459956e+02] [ 9.90367964e-01 -1.38445085e-01 2.06242779e-03 1.47022069e+02] [-2.08136003e-03 8.02501683e-06 9.99997834e-01 -5.18635953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4757692310001 meters 0.011592221592507407 Centerline is valid? [True, True] Translation: X:198.46, Y:147.04, Z:-0.52 [[-1.38733745e-01 -9.90329677e-01 -2.80830730e-04 1.98456401e+02] [ 9.90327530e-01 -1.38734029e-01 2.06234277e-03 1.47044319e+02] [-2.08136002e-03 8.00213223e-06 9.99997834e-01 -5.18684224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50576923100004 meters 0.013943391794279936 Centerline is valid? [True, True] Translation: X:198.46, Y:147.07, Z:-0.52 [[-1.43538960e-01 -9.89644667e-01 -2.09791455e-05 1.98457552e+02] [ 9.89644654e-01 -1.43538962e-01 1.58107803e-04 1.47068478e+02] [-1.59481869e-04 1.93273052e-06 9.99999987e-01 -5.22363340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5357692310001 meters 0.017421803392533807 Centerline is valid? [True, True] Translation: X:198.46, Y:147.09, Z:-0.52 [[-1.47922970e-01 -9.88998883e-01 6.19789090e-05 1.98460118e+02] [ 9.88998782e-01 -1.47922983e-01 -4.47416079e-04 1.47093360e+02] [ 4.51662107e-04 -4.88604963e-06 9.99999898e-01 -5.24765786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56576923100005 meters 0.029958675603900684 Centerline is valid? [True, True] Translation: X:198.48, Y:147.12, Z:-0.52 [[-1.54891805e-01 -9.87931431e-01 -1.27658315e-04 1.98477998e+02] [ 9.87930990e-01 -1.54891856e-01 9.33863908e-04 1.47119874e+02] [-9.42366740e-04 1.85302600e-05 9.99999556e-01 -5.22519291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5957692310001 meters 0.03510083915807234 Centerline is valid? [True, True] Translation: X:198.47, Y:147.14, Z:-0.52 [[-1.57855342e-01 -9.87462240e-01 -1.27935240e-04 1.98473259e+02] [ 9.87461798e-01 -1.57855392e-01 9.33934728e-04 1.47143155e+02] [-9.42420546e-04 2.10954233e-05 9.99999556e-01 -5.18763646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62576923100005 meters 0.031128340852536684 Centerline is valid? [True, True] Translation: X:198.48, Y:147.17, Z:-0.53 [[-1.61152591e-01 -9.86929440e-01 3.50192410e-04 1.98483131e+02] [ 9.86926193e-01 -1.61152959e-01 -2.53242671e-03 1.47168007e+02] [ 2.55576102e-03 -6.24930636e-05 9.99996732e-01 -5.28306276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6557692310001 meters 0.040071746630834806 Centerline is valid? [True, True] Translation: X:198.50, Y:147.19, Z:-0.53 [[-1.62254143e-01 -9.86748859e-01 5.31079115e-04 1.98496931e+02] [ 9.86741414e-01 -1.62254983e-01 -3.83438647e-03 1.47192760e+02] [ 3.86974671e-03 -9.81073352e-05 9.99992508e-01 -5.34084384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68576923100005 meters 0.03095255848799736 Centerline is valid? [True, True] Translation: X:198.49, Y:147.22, Z:-0.53 [[-1.62832020e-01 -9.86653633e-01 5.84945266e-04 1.98487587e+02] [ 9.86644640e-01 -1.62833034e-01 -4.21400745e-03 1.47215584e+02] [ 4.25301417e-03 -1.09042234e-04 9.99990950e-01 -5.32225729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.715769231 meters 0.02880816048543273 Centerline is valid? [True, True] Translation: X:198.49, Y:147.24, Z:-0.53 [[-1.61766406e-01 -9.86828957e-01 4.89950650e-04 1.98493077e+02] [ 9.86822680e-01 -1.61767125e-01 -3.52079468e-03 1.47240541e+02] [ 3.55368004e-03 -8.60518881e-05 9.99993682e-01 -5.30471703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74576923100005 meters 0.027122118588279138 Centerline is valid? [True, True] Translation: X:198.49, Y:147.26, Z:-0.53 [[-1.60173770e-01 -9.87088763e-01 3.70024052e-04 1.98491943e+02] [ 9.87085203e-01 -1.60174186e-01 -2.65172501e-03 1.47263740e+02] [ 2.67675626e-03 -5.94915257e-05 9.99996416e-01 -5.27966022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.775769231 meters 0.020442322563427155 Centerline is valid? [True, True] Translation: X:198.49, Y:147.29, Z:-0.52 [[-1.54125708e-01 -9.88051246e-01 -2.79702190e-05 1.98485567e+02] [ 9.88051225e-01 -1.54125710e-01 2.05060775e-04 1.47287719e+02] [-2.06921484e-04 3.96912786e-06 9.99999979e-01 -5.22163128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80576923100006 meters 0.01619960102922825 Centerline is valid? [True, True] Translation: X:198.48, Y:147.31, Z:-0.52 [[-1.50112665e-01 -9.88668893e-01 -8.88740471e-05 1.98477443e+02] [ 9.88668686e-01 -1.50112691e-01 6.39893176e-04 1.47311578e+02] [-6.45983601e-04 8.18908257e-06 9.99999791e-01 -5.20743989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83576923100003 meters 0.013244302919590415 Centerline is valid? [True, True] Translation: X:198.47, Y:147.33, Z:-0.52 [[-1.45827519e-01 -9.89310024e-01 -1.03291839e-04 1.98470649e+02] [ 9.89309746e-01 -1.45827555e-01 7.41572203e-04 1.47334248e+02] [-7.48707611e-04 5.95401132e-06 9.99999720e-01 -5.21161967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86576923100006 meters 0.010533831249700715 Centerline is valid? [True, True] Translation: X:198.46, Y:147.36, Z:-0.52 [[-1.38198394e-01 -9.90404565e-01 4.99190730e-05 1.98460012e+02] [ 9.90404502e-01 -1.38198403e-01 -3.50503505e-04 1.47355911e+02] [ 3.54039008e-04 1.00105305e-06 9.99999937e-01 -5.23515966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89576923100003 meters 0.011742381510321682 Centerline is valid? [True, True] Translation: X:198.45, Y:147.38, Z:-0.52 [[-1.34624063e-01 -9.90896744e-01 6.81476677e-05 1.98452441e+02] [ 9.90896628e-01 -1.34624080e-01 -4.79170296e-04 1.47379558e+02] [ 4.83982603e-04 3.01944204e-06 9.99999883e-01 -5.22820365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92576923100006 meters 0.01732339707888125 Centerline is valid? [True, True] Translation: X:198.44, Y:147.40, Z:-0.52 [[-1.27067961e-01 -9.91894013e-01 -1.69563308e-05 1.98438326e+02] [ 9.91894005e-01 -1.27067962e-01 1.24722364e-04 1.47401869e+02] [-1.25865973e-04 -9.70666426e-07 9.99999992e-01 -5.21879721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95576923100003 meters 0.020226717507628545 Centerline is valid? [True, True] Translation: X:198.43, Y:147.43, Z:-0.52 [[-1.23868540e-01 -9.92298637e-01 -2.74786211e-05 1.98429924e+02] [ 9.92298617e-01 -1.23868543e-01 1.98824708e-04 1.47425470e+02] [-2.00697223e-04 -2.63887149e-06 9.99999980e-01 -5.21523400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98576923100006 meters 0.02502466671129953 Centerline is valid? [True, True] Translation: X:198.42, Y:147.45, Z:-0.52 [[-1.20808826e-01 -9.92675791e-01 -4.71237240e-05 1.98419809e+02] [ 9.92675734e-01 -1.20808835e-01 3.36752397e-04 1.47447644e+02] [-3.39978915e-04 -6.09591550e-06 9.99999942e-01 -5.21205696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01576923100004 meters 0.030338278114516146 Centerline is valid? [True, True] Translation: X:198.41, Y:147.47, Z:-0.52 [[-1.16199523e-01 -9.93225886e-01 -1.00370944e-04 1.98409685e+02] [ 9.93225632e-01 -1.16199565e-01 7.11207775e-04 1.47470307e+02] [-7.18053033e-04 -1.70489901e-05 9.99999742e-01 -5.19330868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04576923100007 meters 0.029898918038013842 Centerline is valid? [True, True] Translation: X:198.41, Y:147.49, Z:-0.52 [[-1.14656696e-01 -9.93405175e-01 9.02629762e-06 1.98406327e+02] [ 9.93405173e-01 -1.14656697e-01 -5.89166867e-05 1.47494500e+02] [ 5.95630669e-05 2.21157809e-06 9.99999998e-01 -5.20510692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07576923100004 meters 0.032313872367809034 Centerline is valid? [True, True] Translation: X:198.40, Y:147.52, Z:-0.52 [[-1.12963543e-01 -9.93599116e-01 1.87230437e-04 1.98398779e+02] [ 9.93598255e-01 -1.12963692e-01 -1.30813442e-03 1.47517690e+02] [ 1.32091144e-03 3.82603365e-05 9.99999127e-01 -5.23406675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10576923100007 meters 0.03509111826960245 Centerline is valid? [True, True] Translation: X:198.39, Y:147.54, Z:-0.53 [[-1.09439658e-01 -9.93993380e-01 3.49790332e-04 1.98389527e+02] [ 9.93990381e-01 -1.09440188e-01 -2.44274082e-03 1.47540877e+02] [ 2.46634932e-03 8.03555053e-05 9.99996955e-01 -5.27146061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13576923100004 meters 0.037345303495675546 Centerline is valid? [True, True] Translation: X:198.38, Y:147.56, Z:-0.53 [[-1.08686696e-01 -9.94075998e-01 3.35611057e-04 1.98381286e+02] [ 9.94073251e-01 -1.08687185e-01 -2.33817911e-03 1.47563227e+02] [ 2.36080436e-03 7.94930135e-05 9.99997210e-01 -5.27480411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16576923100007 meters 0.03824192213700928 Centerline is valid? [True, True] Translation: X:198.37, Y:147.59, Z:-0.52 [[-1.07438974e-01 -9.94211680e-01 4.06690624e-05 1.98373663e+02] [ 9.94211641e-01 -1.07438981e-01 -2.78872454e-04 1.47586894e+02] [ 2.81627694e-04 1.04718848e-05 9.99999960e-01 -5.24065217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19576923100004 meters 0.039008267441047725 Centerline is valid? [True, True] Translation: X:198.37, Y:147.61, Z:-0.52 [[-1.07863295e-01 -9.94165728e-01 -1.21623435e-04 1.98368148e+02] [ 9.94165365e-01 -1.07863360e-01 8.50097282e-04 1.47609456e+02] [-8.58256296e-04 -2.92195130e-05 9.99999631e-01 -5.21473665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2257692310001 meters 0.037262795804757394 Centerline is valid? [True, True] Translation: X:198.37, Y:147.63, Z:-0.52 [[-1.08837503e-01 -9.94059518e-01 -2.70235841e-04 1.98365346e+02] [ 9.94057744e-01 -1.08837820e-01 1.87885623e-03 1.47633773e+02] [-1.89710680e-03 -6.41400085e-05 9.99998198e-01 -5.19390662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25576923100004 meters 0.038292246596660244 Centerline is valid? [True, True] Translation: X:198.36, Y:147.66, Z:-0.52 [[-1.11162967e-01 -9.93802123e-01 -3.68082820e-04 1.98356658e+02] [ 9.93798849e-01 -1.11163546e-01 2.55206451e-03 1.47656147e+02] [-2.57716451e-03 -8.21052214e-05 9.99996676e-01 -5.19315992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2857692310001 meters 0.03516204282060768 Centerline is valid? [True, True] Translation: X:198.35, Y:147.68, Z:-0.52 [[-1.12791651e-01 -9.93618577e-01 -4.09026844e-04 1.98354877e+02] [ 9.93614552e-01 -1.12792359e-01 2.82935158e-03 1.47679998e+02] [-2.85743140e-03 -8.72877866e-05 9.99995914e-01 -5.20800272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31576923100005 meters 0.03472340436244759 Centerline is valid? [True, True] Translation: X:198.35, Y:147.70, Z:-0.52 [[-1.14119709e-01 -9.93466953e-01 -3.24613175e-04 1.98349964e+02] [ 9.93464426e-01 -1.14120151e-01 2.24170734e-03 1.47703085e+02] [-2.26410706e-03 -6.66686518e-05 9.99997435e-01 -5.21714435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3457692310001 meters 0.03175733611974937 Centerline is valid? [True, True] Translation: X:198.35, Y:147.73, Z:-0.52 [[-1.16037618e-01 -9.93244818e-01 -4.79408109e-05 1.98346752e+02] [ 9.93244762e-01 -1.16037627e-01 3.34150571e-04 1.47726751e+02] [-3.37456261e-04 -8.84292312e-06 9.99999943e-01 -5.24311447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37576923100005 meters 0.03180379691276176 Centerline is valid? [True, True] Translation: X:198.34, Y:147.75, Z:-0.53 [[-1.17840632e-01 -9.93032516e-01 8.48252055e-05 1.98340799e+02] [ 9.93032348e-01 -1.17840662e-01 -5.77587111e-04 1.47749233e+02] [ 5.83558640e-04 1.61709427e-05 9.99999830e-01 -5.26153114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4057692310001 meters 0.027068010184191867 Centerline is valid? [True, True] Translation: X:198.34, Y:147.77, Z:-0.53 [[-1.23104955e-01 -9.92393646e-01 1.43724343e-04 1.98340752e+02] [ 9.92393163e-01 -1.23105037e-01 -9.79966805e-04 1.47772210e+02] [ 9.90206021e-04 2.19922853e-05 9.99999510e-01 -5.27169518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43576923100005 meters 0.023854879428159233 Centerline is valid? [True, True] Translation: X:198.34, Y:147.80, Z:-0.53 [[-1.26424468e-01 -9.91976231e-01 1.01279922e-04 1.98341273e+02] [ 9.91975993e-01 -1.26424508e-01 -6.88189982e-04 1.47797264e+02] [ 6.95472369e-04 1.34631987e-05 9.99999758e-01 -5.26740294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.465769231 meters 0.020699333792672636 Centerline is valid? [True, True] Translation: X:198.34, Y:147.82, Z:-0.53 [[-1.30360907e-01 -9.91466606e-01 6.42366687e-05 1.98342309e+02] [ 9.91466511e-01 -1.30360922e-01 -4.33761383e-04 1.47820969e+02] [ 4.38433877e-04 7.14297870e-06 9.99999904e-01 -5.26448104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49576923100005 meters 0.01382602259453631 Centerline is valid? [True, True] Translation: X:198.35, Y:147.85, Z:-0.53 [[-1.38147579e-01 -9.90411636e-01 1.94245664e-04 1.98348907e+02] [ 9.90410759e-01 -1.38147715e-01 -1.31812790e-03 1.47846332e+02] [ 1.33232380e-03 1.02868176e-05 9.99999112e-01 -5.27760451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.525769231 meters 0.011802125263827736 Centerline is valid? [True, True] Translation: X:198.35, Y:147.87, Z:-0.53 [[-1.41528077e-01 -9.89934196e-01 3.01752386e-04 1.98349524e+02] [ 9.89932083e-01 -1.41528398e-01 -2.04532302e-03 1.47870720e+02] [ 2.06744173e-03 9.24373561e-06 9.99997863e-01 -5.28760136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55576923100006 meters 0.011293531726977751 Centerline is valid? [True, True] Translation: X:198.35, Y:147.89, Z:-0.53 [[-1.43859073e-01 -9.89598135e-01 3.12776796e-04 1.98348372e+02] [ 9.89595875e-01 -1.43859413e-01 -2.11528657e-03 1.47893597e+02] [ 2.13827953e-03 5.21946256e-06 9.99997714e-01 -5.29211873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58576923100003 meters 0.010938694963283594 Centerline is valid? [True, True] Translation: X:198.35, Y:147.92, Z:-0.53 [[-1.44983651e-01 -9.89434034e-01 1.85314086e-04 1.98347158e+02] [ 9.89433245e-01 -1.44983769e-01 -1.24882626e-03 1.47917295e+02] [ 1.26249874e-03 2.29652656e-06 9.99999203e-01 -5.26157421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61576923100006 meters 0.010958407691496228 Centerline is valid? [True, True] Translation: X:198.34, Y:147.94, Z:-0.53 [[-1.45122418e-01 -9.89413696e-01 1.48982814e-04 1.98342354e+02] [ 9.89413190e-01 -1.45122495e-01 -1.00073476e-03 1.47939382e+02] [ 1.01176144e-03 2.17651283e-06 9.99999488e-01 -5.26037137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64576923100003 meters 0.0112775699324371 Centerline is valid? [True, True] Translation: X:198.33, Y:147.96, Z:-0.53 [[-1.44154218e-01 -9.89555224e-01 1.40948982e-04 1.98334655e+02] [ 9.89554773e-01 -1.44154287e-01 -9.44607708e-04 1.47962864e+02] [ 9.55059893e-04 3.30755275e-06 9.99999544e-01 -5.26004236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67576923100006 meters 0.011648543896817019 Centerline is valid? [True, True] Translation: X:198.33, Y:147.99, Z:-0.53 [[-1.43664125e-01 -9.89626487e-01 1.86655083e-04 1.98329199e+02] [ 9.89625698e-01 -1.43664247e-01 -1.24947030e-03 1.47985233e+02] [ 1.26332457e-03 5.21460898e-06 9.99999202e-01 -5.26662145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70576923100003 meters 0.011894221020702665 Centerline is valid? [True, True] Translation: X:198.32, Y:148.01, Z:-0.53 [[-1.43297499e-01 -9.89679640e-01 1.94530777e-04 1.98324864e+02] [ 9.89678786e-01 -1.43297631e-01 -1.29997188e-03 1.48008865e+02] [ 1.31443151e-03 6.24026373e-06 9.99999136e-01 -5.26486553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73576923100006 meters 0.01349501120742861 Centerline is valid? [True, True] Translation: X:198.32, Y:148.03, Z:-0.52 [[-1.41063795e-01 -9.90000504e-01 8.77807591e-05 1.98316798e+02] [ 9.90000333e-01 -1.41063822e-01 -5.82879703e-04 1.48031391e+02] [ 5.89433889e-04 4.67975785e-06 9.99999826e-01 -5.24991003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76576923100004 meters 0.01406647252929348 Centerline is valid? [True, True] Translation: X:198.31, Y:148.05, Z:-0.52 [[-1.39546953e-01 -9.90215453e-01 -7.30486086e-05 1.98310406e+02] [ 9.90215330e-01 -1.39546972e-01 4.92221406e-04 1.48054503e+02] [-4.97598955e-04 -3.64585456e-06 9.99999876e-01 -5.23781136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79576923100007 meters 0.017611451987191253 Centerline is valid? [True, True] Translation: X:198.30, Y:148.08, Z:-0.52 [[-1.36471708e-01 -9.90643900e-01 -3.68133585e-04 1.98297960e+02] [ 9.90640853e-01 -1.36472201e-01 2.45735095e-03 1.48075582e+02] [-2.48459973e-03 -2.93292885e-05 9.99996913e-01 -5.20463151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82576923100004 meters 0.017127530015611122 Centerline is valid? [True, True] Translation: X:198.29, Y:148.10, Z:-0.52 [[-1.36083527e-01 -9.90697278e-01 -4.21551015e-04 1.98293270e+02] [ 9.90693301e-01 -1.36084175e-01 2.80736596e-03 1.48099014e+02] [-2.83861624e-03 -3.55915048e-05 9.99995970e-01 -5.19907610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85576923100007 meters 0.0184972260807191 Centerline is valid? [True, True] Translation: X:198.29, Y:148.12, Z:-0.52 [[-1.36271412e-01 -9.90671439e-01 -4.49682604e-04 1.98285851e+02] [ 9.90666934e-01 -1.36272148e-01 2.98800691e-03 1.48120655e+02] [-3.02141232e-03 -3.83057662e-05 9.99995435e-01 -5.19439621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88576923100004 meters 0.014767525914764584 Centerline is valid? [True, True] Translation: X:198.29, Y:148.15, Z:-0.52 [[-1.39955286e-01 -9.90157564e-01 -7.18125280e-04 1.98287787e+02] [ 9.90146129e-01 -1.39957121e-01 4.75887055e-03 1.48145086e+02] [-4.81253842e-03 -4.50198798e-05 9.99988419e-01 -5.17114342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91576923100007 meters 0.012630208330517464 Centerline is valid? [True, True] Translation: X:198.29, Y:148.17, Z:-0.52 [[-1.43577787e-01 -9.89638751e-01 -7.49073040e-04 1.98290258e+02] [ 9.89626355e-01 -1.43579738e-01 4.95340638e-03 1.48168506e+02] [-5.00963461e-03 -3.01032956e-05 9.99987451e-01 -5.16849133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94576923100004 meters 0.010849158322297135 Centerline is valid? [True, True] Translation: X:198.29, Y:148.19, Z:-0.52 [[-1.47894111e-01 -9.89002926e-01 -7.37410949e-04 1.98294485e+02] [ 9.88990956e-01 -1.47895949e-01 4.86602805e-03 1.48192704e+02] [-4.92157607e-03 -9.63586729e-06 9.99987889e-01 -5.16703024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9757692310001 meters 0.012789415544083815 Centerline is valid? [True, True] Translation: X:198.31, Y:148.22, Z:-0.52 [[-1.56432157e-01 -9.87688511e-01 -6.20923721e-04 1.98309074e+02] [ 9.87680044e-01 -1.56433387e-01 4.08965699e-03 1.48218749e+02] [-4.13644043e-03 2.64798966e-05 9.99991445e-01 -5.18160372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00576923100004 meters 0.015167815005425158 Centerline is valid? [True, True] Translation: X:198.31, Y:148.24, Z:-0.52 [[-1.59863686e-01 -9.87138962e-01 -5.21047447e-04 1.98313141e+02] [ 9.87133019e-01 -1.59864531e-01 3.42564089e-03 1.48242935e+02] [-3.46488060e-03 3.32924397e-05 9.99993997e-01 -5.20008081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0357692310001 meters 0.01819727566817627 Centerline is valid? [True, True] Translation: X:198.32, Y:148.27, Z:-0.52 [[-1.64276127e-01 -9.86414385e-01 -1.20538954e-04 1.98321393e+02] [ 9.86414066e-01 -1.64276171e-01 7.94280231e-04 1.48268216e+02] [-8.03291124e-04 1.15799602e-05 9.99999677e-01 -5.24864411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06576923100005 meters 0.01825723685193985 Centerline is valid? [True, True] Translation: X:198.32, Y:148.29, Z:-0.53 [[-1.65949844e-01 -9.86134194e-01 -1.72085337e-05 1.98320993e+02] [ 9.86134187e-01 -1.65949845e-01 1.16508184e-04 1.48293799e+02] [-1.17748458e-04 2.36459152e-06 9.99999993e-01 -5.25596249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0957692310001 meters 0.021350549939129427 Centerline is valid? [True, True] Translation: X:198.33, Y:148.32, Z:-0.53 [[-1.66931960e-01 -9.85968417e-01 -3.18258231e-05 1.98325131e+02] [ 9.85968394e-01 -1.66931963e-01 2.12177059e-04 1.48318821e+02] [-2.14512627e-04 4.03987658e-06 9.99999977e-01 -5.25688932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12576923100005 meters 0.021559027412650346 Centerline is valid? [True, True] Translation: X:198.33, Y:148.34, Z:-0.52 [[-1.67543702e-01 -9.85864546e-01 -4.52218439e-04 1.98329710e+02] [ 9.85860135e-01 -1.67544305e-01 2.94973257e-03 1.48343789e+02] [-2.98380338e-03 4.83849836e-05 9.99995547e-01 -5.20129730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1557692310001 meters 0.021552911156836198 Centerline is valid? [True, True] Translation: X:198.33, Y:148.37, Z:-0.52 [[-1.67870111e-01 -9.85808919e-01 -6.33771162e-04 1.98330416e+02] [ 9.85800295e-01 -1.67871294e-01 4.12401914e-03 1.48367708e+02] [-4.17188684e-03 6.75277540e-05 9.99991295e-01 -5.17878782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18576923100005 meters 0.02302465746595659 Centerline is valid? [True, True] Translation: X:198.34, Y:148.39, Z:-0.52 [[-1.69169367e-01 -9.85586923e-01 -3.77865712e-04 1.98339081e+02] [ 9.85583865e-01 -1.69169784e-01 2.45562430e-03 1.48392873e+02] [-2.48415466e-03 4.29980608e-05 9.99996914e-01 -5.22676403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.215769231 meters 0.02319080348861241 Centerline is valid? [True, True] Translation: X:198.34, Y:148.42, Z:-0.53 [[-1.70401580e-01 -9.85374701e-01 6.24149693e-06 1.98340601e+02] [ 9.85374700e-01 -1.70401580e-01 -3.62112019e-05 1.48417116e+02] [ 3.67451631e-05 -2.02328426e-08 9.99999999e-01 -5.27721467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24576923100005 meters 0.02522088739199874 Centerline is valid? [True, True] Translation: X:198.34, Y:148.44, Z:-0.53 [[-1.71473917e-01 -9.85188615e-01 2.98886765e-04 1.98344947e+02] [ 9.85186731e-01 -1.71474174e-01 -1.92688245e-03 1.48440920e+02] [ 1.94959402e-03 -3.59508073e-05 9.99998099e-01 -5.32015971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.275769231 meters 0.024585397786019425 Centerline is valid? [True, True] Translation: X:198.35, Y:148.47, Z:-0.53 [[-1.72538535e-01 -9.85002702e-01 3.62872175e-04 1.98345205e+02] [ 9.84999933e-01 -1.72538911e-01 -2.33574060e-03 1.48465479e+02] [ 2.36332037e-03 -4.55761938e-05 9.99997206e-01 -5.31915467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30576923100006 meters 0.024214779008373818 Centerline is valid? [True, True] Translation: X:198.35, Y:148.49, Z:-0.52 [[-1.73581973e-01 -9.84819406e-01 -1.89636238e-04 1.98351199e+02] [ 9.84818645e-01 -1.73582075e-01 1.22473400e-03 1.48490936e+02] [-1.23905927e-03 2.58344417e-05 9.99999232e-01 -5.23591926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33576923100003 meters 0.02555557084584751 Centerline is valid? [True, True] Translation: X:198.35, Y:148.51, Z:-0.52 [[-1.73760750e-01 -9.84787829e-01 -3.66173262e-04 1.98353158e+02] [ 9.84785012e-01 -1.73761129e-01 2.35585016e-03 1.48514695e+02] [-2.38363925e-03 4.87523521e-05 9.99997158e-01 -5.21154097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36576923100006 meters 0.02372645743192984 Centerline is valid? [True, True] Translation: X:198.35, Y:148.54, Z:-0.52 [[-1.72059448e-01 -9.85086525e-01 -2.89557947e-04 1.98353697e+02] [ 9.85084770e-01 -1.72059688e-01 1.85983694e-03 1.48538670e+02] [-1.88192156e-03 3.47633932e-05 9.99998229e-01 -5.23739320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39576923100003 meters 0.02372645743192984 Centerline is valid? [True, True] Translation: X:198.35, Y:148.56, Z:-0.52 [[-1.72354300e-01 -9.85034980e-01 -2.90103853e-04 1.98349660e+02] [ 9.85033225e-01 -1.72354541e-01 1.85975177e-03 1.48561731e+02] [-1.88192126e-03 3.47742812e-05 9.99998229e-01 -5.23789399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42576923100006 meters 0.019786978724925706 Centerline is valid? [True, True] Translation: X:198.34, Y:148.59, Z:-0.53 [[-1.70410268e-01 -9.85373188e-01 -1.43030966e-04 1.98344091e+02] [ 9.85372761e-01 -1.70410328e-01 9.17304609e-04 1.48585331e+02] [-9.28261321e-04 1.53793064e-05 9.99999569e-01 -5.26470576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45576923100003 meters 0.01815368917406613 Centerline is valid? [True, True] Translation: X:198.34, Y:148.61, Z:-0.53 [[-1.68403818e-01 -9.85718086e-01 -9.46035715e-05 1.98341800e+02] [ 9.85717899e-01 -1.68403844e-01 6.06927761e-04 1.48608968e+02] [-6.14191277e-04 8.95651847e-06 9.99999811e-01 -5.27292015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48576923100006 meters 0.01523031358389645 Centerline is valid? [True, True] Translation: X:198.34, Y:148.63, Z:-0.53 [[-1.64267390e-01 -9.86415838e-01 -1.39942890e-04 1.98340068e+02] [ 9.86415433e-01 -1.64267450e-01 8.93928696e-04 1.48632764e+02] [-9.04773485e-04 8.80150795e-06 9.99999591e-01 -5.26450894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51576923100004 meters 0.012575441961085926 Centerline is valid? [True, True] Translation: X:198.33, Y:148.66, Z:-0.53 [[-1.62016780e-01 -9.86787977e-01 -2.26511491e-04 1.98333430e+02] [ 9.86786924e-01 -1.62016938e-01 1.44155723e-03 1.48655959e+02] [-1.45921004e-03 1.00378829e-05 9.99998935e-01 -5.25038654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54576923100007 meters 0.010783920538258992 Centerline is valid? [True, True] Translation: X:198.33, Y:148.68, Z:-0.52 [[-1.57808710e-01 -9.87469628e-01 -3.80581223e-04 1.98329644e+02] [ 9.87466676e-01 -1.57809169e-01 2.41435864e-03 1.48678256e+02] [-2.44416504e-03 5.19554749e-06 9.99997013e-01 -5.23732017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57576923100004 meters 0.010634589618734562 Centerline is valid? [True, True] Translation: X:198.33, Y:148.70, Z:-0.52 [[-1.56545244e-01 -9.87670734e-01 -3.27767972e-04 1.98327098e+02] [ 9.87668553e-01 -1.56545587e-01 2.07564326e-03 1.48701678e+02] [-2.10136274e-03 1.20596201e-06 9.99997792e-01 -5.24644577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60576923100007 meters 0.010748408088806019 Centerline is valid? [True, True] Translation: X:198.32, Y:148.72, Z:-0.52 [[-1.55240088e-01 -9.87876728e-01 -2.93725169e-04 1.98324441e+02] [ 9.87874983e-01 -1.55240366e-01 1.85681048e-03 1.48724881e+02] [-1.87989787e-03 -1.91232299e-06 9.99998233e-01 -5.24547785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63576923100004 meters 0.012361961450510306 Centerline is valid? [True, True] Translation: X:198.32, Y:148.75, Z:-0.52 [[-1.51454371e-01 -9.88464140e-01 -4.66608655e-04 1.98319963e+02] [ 9.88459764e-01 -1.51455089e-01 2.94115534e-03 1.48747344e+02] [-2.97789684e-03 -1.57730478e-05 9.99995566e-01 -5.22743022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66576923100007 meters 0.01412968765901221 Centerline is valid? [True, True] Translation: X:198.31, Y:148.77, Z:-0.52 [[-1.49033736e-01 -9.88831996e-01 -4.78529452e-04 1.98313903e+02] [ 9.88827414e-01 -1.49034502e-01 3.01034613e-03 1.48770688e+02] [-3.04804397e-03 -2.45399098e-05 9.99995354e-01 -5.22722774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69576923100004 meters 0.019855299035767975 Centerline is valid? [True, True] Translation: X:198.30, Y:148.79, Z:-0.52 [[-1.42921010e-01 -9.89734056e-01 -2.90030527e-04 1.98302032e+02] [ 9.89732378e-01 -1.42921302e-01 1.82271071e-03 1.48792096e+02] [-1.84545040e-03 -2.65489478e-05 9.99998297e-01 -5.24747169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7257692310001 meters 0.023012590583513362 Centerline is valid? [True, True] Translation: X:198.29, Y:148.81, Z:-0.53 [[-1.39810329e-01 -9.90178287e-01 -1.78871992e-04 1.98293090e+02] [ 9.90177650e-01 -1.39810442e-01 1.12346402e-03 1.48814757e+02] [-1.13743785e-03 -2.00431738e-05 9.99999353e-01 -5.25975271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75576923100004 meters 0.024703328755502827 Centerline is valid? [True, True] Translation: X:198.29, Y:148.84, Z:-0.53 [[-1.36964315e-01 -9.90575978e-01 -9.55317703e-05 1.98285376e+02] [ 9.90575796e-01 -1.36964347e-01 6.00597536e-04 1.48838362e+02] [-6.08021938e-04 -1.23710294e-05 9.99999815e-01 -5.26525684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7857692310001 meters 0.030823911826959195 Centerline is valid? [True, True] Translation: X:198.27, Y:148.86, Z:-0.53 [[-1.30644281e-01 -9.91429293e-01 -1.69225887e-04 1.98268871e+02] [ 9.91428728e-01 -1.30644387e-01 1.05909626e-03 1.48860205e+02] [-1.07212747e-03 -2.94105363e-05 9.99999425e-01 -5.25363733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81576923100005 meters 0.03655985149082597 Centerline is valid? [True, True] Translation: X:198.25, Y:148.88, Z:-0.53 [[-1.28084253e-01 -9.91763270e-01 -1.99124488e-04 1.98254658e+02] [ 9.91762492e-01 -1.28084402e-01 1.24326842e-03 1.48881575e+02] [-1.25853269e-03 -3.82410911e-05 9.99999207e-01 -5.25316049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8457692310001 meters 0.03859773842403765 Centerline is valid? [True, True] Translation: X:198.24, Y:148.90, Z:-0.53 [[-1.25491487e-01 -9.92094695e-01 5.68101380e-05 1.98241002e+02] [ 9.92094634e-01 -1.25491499e-01 -3.49058386e-04 1.48903944e+02] [ 3.53428162e-04 1.25571774e-05 9.99999937e-01 -5.27810811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87576923100005 meters 0.03921972591172405 Centerline is valid? [True, True] Translation: X:198.23, Y:148.93, Z:-0.53 [[-1.25384461e-01 -9.92108222e-01 1.13582532e-04 1.98231655e+02] [ 9.92107975e-01 -1.25384510e-01 -7.00362911e-04 1.48926795e+02] [ 7.09077292e-04 2.48715100e-05 9.99999748e-01 -5.28670930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9057692310001 meters 0.03732054380155527 Centerline is valid? [True, True] Translation: X:198.23, Y:148.95, Z:-0.53 [[-1.25651395e-01 -9.92074456e-01 3.12359894e-05 1.98225331e+02] [ 9.92074438e-01 -1.25651399e-01 -1.89246489e-04 1.48950420e+02] [ 1.91671454e-04 7.20934118e-06 9.99999982e-01 -5.27801594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93576923100005 meters 0.04208330846201066 Centerline is valid? [True, True] Translation: X:198.21, Y:148.97, Z:-0.52 [[-1.26193903e-01 -9.92005558e-01 -2.67782389e-04 1.98206857e+02] [ 9.92004174e-01 -1.26194175e-01 1.65808723e-03 1.48970469e+02] [-1.67862432e-03 -5.64007485e-05 9.99998590e-01 -5.23586018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.965769231 meters 0.03606868188783601 Centerline is valid? [True, True] Translation: X:198.21, Y:149.00, Z:-0.52 [[-1.27969115e-01 -9.91778091e-01 -3.53167560e-04 1.98206488e+02] [ 9.91775695e-01 -1.27969582e-01 2.18116679e-03 1.48995195e+02] [-2.20842814e-03 -7.11410194e-05 9.99997559e-01 -5.22640723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99576923100005 meters 0.03414022673368056 Centerline is valid? [True, True] Translation: X:198.20, Y:149.02, Z:-0.52 [[-1.31714013e-01 -9.91287742e-01 -1.77490149e-04 1.98196526e+02] [ 9.91287136e-01 -1.31714129e-01 1.09611230e-03 1.49017193e+02] [-1.10994065e-03 -3.15703515e-05 9.99999384e-01 -5.24824394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.025769231 meters 0.03191014122396351 Centerline is valid? [True, True] Translation: X:198.19, Y:149.04, Z:-0.53 [[-1.33100307e-01 -9.91102563e-01 -1.34997023e-04 1.98191496e+02] [ 9.91102213e-01 -1.33100373e-01 8.33073966e-04 1.49040860e+02] [-8.43629897e-04 -2.29134478e-05 9.99999644e-01 -5.25054126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05576923100006 meters 0.03216748352380597 Centerline is valid? [True, True] Translation: X:198.18, Y:149.06, Z:-0.52 [[-1.33481116e-01 -9.91051331e-01 -2.23857528e-04 1.98183516e+02] [ 9.91050376e-01 -1.33481298e-01 1.37639589e-03 1.49063194e+02] [-1.39395978e-03 -3.81312277e-05 9.99999028e-01 -5.24067576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08576923100003 meters 0.034169529338550775 Centerline is valid? [True, True] Translation: X:198.17, Y:149.08, Z:-0.52 [[-1.32570803e-01 -9.91173485e-01 -3.25292785e-04 1.98168746e+02] [ 9.91171480e-01 -1.32571189e-01 1.99431870e-03 1.49084444e+02] [-2.01984026e-03 -5.80325002e-05 9.99997958e-01 -5.22348895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11576923100006 meters 0.034544748340783756 Centerline is valid? [True, True] Translation: X:198.16, Y:149.11, Z:-0.52 [[-1.32687609e-01 -9.91157849e-01 -3.41045057e-04 1.98159698e+02] [ 9.91155654e-01 -1.32688033e-01 2.08680647e-03 1.49106761e+02] [-2.11360722e-03 -6.11353743e-05 9.99997764e-01 -5.22500837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14576923100003 meters 0.030977369003456105 Centerline is valid? [True, True] Translation: X:198.15, Y:149.13, Z:-0.52 [[-1.33868731e-01 -9.90999061e-01 -1.55617606e-04 1.98153448e+02] [ 9.90998603e-01 -1.33868819e-01 9.52634434e-04 1.49130270e+02] [-9.64892175e-04 -2.66888675e-05 9.99999534e-01 -5.24809379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17576923100006 meters 0.03366399498489803 Centerline is valid? [True, True] Translation: X:198.14, Y:149.15, Z:-0.53 [[-1.34870993e-01 -9.90863166e-01 -3.58111035e-05 1.98143369e+02] [ 9.90863141e-01 -1.34870998e-01 2.22035316e-04 1.49151820e+02] [-2.24836495e-04 -5.53777891e-06 9.99999975e-01 -5.26302069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20576923100003 meters 0.03174186975284963 Centerline is valid? [True, True] Translation: X:198.14, Y:149.18, Z:-0.53 [[-1.35888578e-01 -9.90724124e-01 6.48616712e-05 1.98138953e+02] [ 9.90724047e-01 -1.35888593e-01 -3.89992859e-04 1.49175153e+02] [ 3.95189295e-04 1.12644423e-05 9.99999922e-01 -5.27939008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23576923100006 meters 0.030696845159279347 Centerline is valid? [True, True] Translation: X:198.13, Y:149.20, Z:-0.53 [[-1.37857406e-01 -9.90452063e-01 2.14151424e-04 1.98128445e+02] [ 9.90451218e-01 -1.37857569e-01 -1.29415321e-03 1.49197120e+02] [ 1.31131911e-03 3.36979342e-05 9.99999140e-01 -5.30331746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26576923100004 meters 0.02669622851389756 Centerline is valid? [True, True] Translation: X:198.13, Y:149.22, Z:-0.53 [[-1.39567936e-01 -9.90212468e-01 2.43050174e-04 1.98125355e+02] [ 9.90211383e-01 -1.39568143e-01 -1.46642409e-03 1.49220710e+02] [ 1.48599348e-03 3.60052651e-05 9.99998895e-01 -5.29954847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29576923100007 meters 0.024815225948614326 Centerline is valid? [True, True] Translation: X:198.12, Y:149.24, Z:-0.53 [[-1.43242991e-01 -9.89687533e-01 1.78174060e-04 1.98115991e+02] [ 9.89686953e-01 -1.43243100e-01 -1.07202534e-03 1.49242766e+02] [ 1.08649232e-03 2.27764255e-05 9.99999410e-01 -5.29331304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32576923100004 meters 0.02440950324869029 Centerline is valid? [True, True] Translation: X:198.11, Y:149.26, Z:-0.53 [[-1.45590725e-01 -9.89344885e-01 1.96076681e-04 1.98108302e+02] [ 9.89344185e-01 -1.45590855e-01 -1.17778038e-03 1.49264848e+02] [ 1.19377797e-03 2.25134245e-05 9.99999287e-01 -5.29598302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35576923100007 meters 0.02089782551584001 Centerline is valid? [True, True] Translation: X:198.10, Y:149.29, Z:-0.53 [[-1.48090328e-01 -9.88973817e-01 2.11042105e-04 1.98104576e+02] [ 9.88973007e-01 -1.48090477e-01 -1.26601334e-03 1.49289198e+02] [ 1.28330737e-03 2.12306146e-05 9.99999176e-01 -5.29941613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38576923100004 meters 0.018110956893755515 Centerline is valid? [True, True] Translation: X:198.10, Y:149.31, Z:-0.53 [[-1.53208648e-01 -9.88193786e-01 3.90580033e-04 1.98098224e+02] [ 9.88191011e-01 -1.53209143e-01 -2.34184807e-03 1.49311512e+02] [ 2.37404015e-03 2.71763011e-05 9.99997182e-01 -5.33151730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41576923100007 meters 0.014416536121906805 Centerline is valid? [True, True] Translation: X:198.10, Y:149.34, Z:-0.53 [[-1.56858675e-01 -9.87620937e-01 4.90356665e-04 1.98098571e+02] [ 9.87616575e-01 -1.56859440e-01 -2.93563545e-03 1.49336265e+02] [ 2.97621211e-03 2.38044821e-05 9.99995571e-01 -5.33587995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44576923100004 meters 0.011891979684750434 Centerline is valid? [True, True] Translation: X:198.10, Y:149.36, Z:-0.54 [[-1.65800856e-01 -9.86159085e-01 5.79324530e-04 1.98104783e+02] [ 9.86153007e-01 -1.65801868e-01 -3.46226342e-03 1.49360722e+02] [ 3.51039561e-03 -2.74361276e-06 9.99993839e-01 -5.35470146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4757692310001 meters 0.0131681289773773 Centerline is valid? [True, True] Translation: X:198.11, Y:149.38, Z:-0.53 [[-1.70588163e-01 -9.85342293e-01 4.95101008e-04 1.98106015e+02] [ 9.85337869e-01 -1.70588881e-01 -2.95256087e-03 1.49384846e+02] [ 2.99374183e-03 -1.58301635e-05 9.99995519e-01 -5.32969473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50576923100004 meters 0.015840713947270383 Centerline is valid? [True, True] Translation: X:198.11, Y:149.41, Z:-0.53 [[-1.74961126e-01 -9.84575307e-01 2.64634253e-04 1.98107277e+02] [ 9.84574049e-01 -1.74961326e-01 -1.57358731e-03 1.49409742e+02] [ 1.59561596e-03 -1.47645888e-05 9.99998727e-01 -5.30948811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5357692310001 meters 0.021658170123737337 Centerline is valid? [True, True] Translation: X:198.11, Y:149.43, Z:-0.53 [[-1.81552288e-01 -9.83381271e-01 -2.04482659e-04 1.98114651e+02] [ 9.83380514e-01 -1.81552402e-01 1.22057884e-03 1.49434787e+02] [-1.23741869e-03 2.05146182e-05 9.99999234e-01 -5.25929996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56576923100005 meters 0.023471630726346435 Centerline is valid? [True, True] Translation: X:198.12, Y:149.46, Z:-0.53 [[-1.84596987e-01 -9.82814276e-01 -2.27840035e-04 1.98115076e+02] [ 9.82813339e-01 -1.84597126e-01 1.35699796e-03 1.49459475e+02] [-1.37573558e-03 2.65735086e-05 9.99999053e-01 -5.25242708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5957692310001 meters 0.02677106126065633 Centerline is valid? [True, True] Translation: X:198.12, Y:149.48, Z:-0.53 [[-1.87301081e-01 -9.82302544e-01 -1.28067254e-04 1.98118057e+02] [ 9.82302248e-01 -1.87301124e-01 7.63142626e-04 1.49483843e+02] [-7.73624084e-04 1.71366870e-05 9.99999701e-01 -5.26779982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62576923100005 meters 0.026994511940789813 Centerline is valid? [True, True] Translation: X:198.12, Y:149.51, Z:-0.53 [[-1.88949509e-01 -9.81986790e-01 1.68108656e-04 1.98119001e+02] [ 9.81986290e-01 -1.88949582e-01 -9.90415327e-04 1.49508178e+02] [ 1.00433883e-03 -2.20580936e-05 9.99999495e-01 -5.29742460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6557692310001 meters 0.02533119732579291 Centerline is valid? [True, True] Translation: X:198.12, Y:149.53, Z:-0.53 [[-1.87862362e-01 -9.82195344e-01 1.97451525e-04 1.98115341e+02] [ 9.82194657e-01 -1.87862465e-01 -1.16208772e-03 1.49532402e+02] [ 1.17849088e-03 -2.43767120e-05 9.99999305e-01 -5.29784441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68576923100005 meters 0.020492986630481883 Centerline is valid? [True, True] Translation: X:198.11, Y:149.56, Z:-0.53 [[-1.83046983e-01 -9.83104145e-01 2.05601200e-04 1.98109885e+02] [ 9.83103403e-01 -1.83047097e-01 -1.20807679e-03 1.49556581e+02] [ 1.22530000e-03 -1.90075721e-05 9.99999249e-01 -5.29091173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.715769231 meters 0.01848820583580137 Centerline is valid? [True, True] Translation: X:198.10, Y:149.58, Z:-0.53 [[-1.79958778e-01 -9.83674129e-01 2.15853178e-04 1.98104174e+02] [ 9.83673315e-01 -1.79958907e-01 -1.26577609e-03 1.49579142e+02] [ 1.28395589e-03 -1.54585073e-05 9.99999176e-01 -5.29290715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74576923100005 meters 0.01587673869518255 Centerline is valid? [True, True] Translation: X:198.10, Y:149.60, Z:-0.53 [[-1.76422727e-01 -9.84314466e-01 2.32176719e-04 1.98095937e+02] [ 9.84313527e-01 -1.76422879e-01 -1.35973633e-03 1.49601740e+02] [ 1.37936942e-03 -1.13537051e-05 9.99999049e-01 -5.29227671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.775769231 meters 0.011234616792776592 Centerline is valid? [True, True] Translation: X:198.08, Y:149.62, Z:-0.53 [[-1.69734104e-01 -9.85489895e-01 -5.72339292e-06 1.98080065e+02] [ 9.85489895e-01 -1.69734104e-01 3.73866420e-05 1.49623315e+02] [-3.78156130e-05 7.05442311e-07 9.99999999e-01 -5.25975514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80576923100006 meters 0.011105078711723858 Centerline is valid? [True, True] Translation: X:198.07, Y:149.64, Z:-0.53 [[-1.67599599e-01 -9.85855144e-01 -1.02238116e-04 1.98072122e+02] [ 9.85854960e-01 -1.67599630e-01 6.02201186e-04 1.49644941e+02] [-6.10818207e-04 1.36723720e-07 9.99999813e-01 -5.25216980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83576923100003 meters 0.011769163758867924 Centerline is valid? [True, True] Translation: X:198.06, Y:149.67, Z:-0.52 [[-1.64881844e-01 -9.86313302e-01 -2.20203914e-04 1.98063266e+02] [ 9.86312458e-01 -1.64881991e-01 1.28993602e-03 1.49667637e+02] [-1.30858871e-03 -4.50283497e-06 9.99999144e-01 -5.23532742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86576923100006 meters 0.011987007337227466 Centerline is valid? [True, True] Translation: X:198.06, Y:149.69, Z:-0.52 [[-1.64813737e-01 -9.86324677e-01 -2.51670071e-04 1.98058330e+02] [ 9.86323580e-01 -1.64813929e-01 1.47092597e-03 1.49691164e+02] [-1.49228932e-03 -5.79931833e-06 9.99998887e-01 -5.23715330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89576923100003 meters 0.011744639899223424 Centerline is valid? [True, True] Translation: X:198.05, Y:149.72, Z:-0.52 [[-1.65789568e-01 -9.86161134e-01 -1.92372185e-04 1.98054929e+02] [ 9.86160494e-01 -1.65789680e-01 1.12317760e-03 1.49715077e+02] [-1.13952742e-03 -3.49871872e-06 9.99999351e-01 -5.24344567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92576923100006 meters 0.011186897226319078 Centerline is valid? [True, True] Translation: X:198.05, Y:149.74, Z:-0.53 [[-1.68271316e-01 -9.85740709e-01 -1.36017647e-04 1.98053074e+02] [ 9.85740389e-01 -1.68271371e-01 7.93915474e-04 1.49737921e+02] [-8.05482679e-04 -4.84886343e-07 9.99999676e-01 -5.26002633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95576923100003 meters 0.011064830977755706 Centerline is valid? [True, True] Translation: X:198.05, Y:149.76, Z:-0.53 [[-1.69343318e-01 -9.85557121e-01 -3.93573924e-05 1.98048784e+02] [ 9.85557094e-01 -1.69343323e-01 2.31863814e-04 1.49761703e+02] [-2.35179945e-04 4.75630444e-07 9.99999972e-01 -5.26339045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98576923100006 meters 0.011328156349145267 Centerline is valid? [True, True] Translation: X:198.04, Y:149.78, Z:-0.53 [[-1.69334779e-01 -9.85558552e-01 2.70916091e-04 1.98041064e+02] [ 9.85557312e-01 -1.69334996e-01 -1.56349042e-03 1.49783248e+02] [ 1.58678692e-03 2.25003026e-06 9.99998741e-01 -5.29097807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01576923100004 meters 0.011595605679538074 Centerline is valid? [True, True] Translation: X:198.03, Y:149.81, Z:-0.53 [[-1.68401045e-01 -9.85718479e-01 4.11167027e-04 1.98033394e+02] [ 9.85715628e-01 -1.68401547e-01 -2.37055167e-03 1.49805554e+02] [ 2.40593775e-03 6.09038633e-06 9.99997106e-01 -5.30579819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04576923100007 meters 0.012048234624747682 Centerline is valid? [True, True] Translation: X:198.03, Y:149.83, Z:-0.53 [[-1.67196160e-01 -9.85923558e-01 4.26705755e-04 1.98025482e+02] [ 9.85920499e-01 -1.67196704e-01 -2.45603693e-03 1.49828240e+02] [ 2.49280846e-03 1.00580075e-05 9.99996893e-01 -5.30159059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07576923100004 meters 0.01328155740902768 Centerline is valid? [True, True] Translation: X:198.01, Y:149.85, Z:-0.53 [[-1.65005313e-01 -9.86292669e-01 1.35782328e-04 1.98014864e+02] [ 9.86292362e-01 -1.65005369e-01 -7.77385273e-04 1.49850026e+02] [ 7.89134208e-04 5.64837234e-06 9.99999689e-01 -5.26451273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10576923100007 meters 0.01377850037931302 Centerline is valid? [True, True] Translation: X:198.01, Y:149.87, Z:-0.52 [[-1.64469602e-01 -9.86382152e-01 -1.81890772e-06 1.98008362e+02] [ 9.86382152e-01 -1.64469602e-01 1.41837122e-05 1.49872684e+02] [-1.42897156e-05 5.38651385e-07 1.00000000e+00 -5.24988275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13576923100004 meters 0.014933192966691041 Centerline is valid? [True, True] Translation: X:198.00, Y:149.89, Z:-0.53 [[-1.63593165e-01 -9.86527889e-01 3.58637696e-05 1.97999166e+02] [ 9.86527868e-01 -1.63593169e-01 -2.01814796e-04 1.49894616e+02] [ 2.04962992e-04 2.36508703e-06 9.99999979e-01 -5.25137178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16576923100007 meters 0.014625465749491348 Centerline is valid? [True, True] Translation: X:197.99, Y:149.92, Z:-0.53 [[-1.63944382e-01 -9.86469581e-01 7.31557260e-05 1.97992662e+02] [ 9.86469494e-01 -1.63944399e-01 -4.15009561e-04 1.49917689e+02] [ 4.21387779e-04 4.12740589e-06 9.99999911e-01 -5.25686303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19576923100004 meters 0.013643598511572262 Centerline is valid? [True, True] Translation: X:197.99, Y:149.94, Z:-0.53 [[-1.64704640e-01 -9.86342927e-01 1.11609223e-04 1.97987499e+02] [ 9.86342723e-01 -1.64704678e-01 -6.33628489e-04 1.49941468e+02] [ 6.43357540e-04 5.72339218e-06 9.99999793e-01 -5.25641854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2257692310001 meters 0.013992617469174514 Centerline is valid? [True, True] Translation: X:197.98, Y:149.96, Z:-0.53 [[-1.65774924e-01 -9.86163614e-01 1.70517401e-05 1.97979234e+02] [ 9.86163610e-01 -1.65774924e-01 -9.31190393e-05 1.49963192e+02] [ 9.46573592e-05 1.37900397e-06 9.99999996e-01 -5.25311902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25576923100004 meters 0.013384135408040626 Centerline is valid? [True, True] Translation: X:197.97, Y:149.99, Z:-0.52 [[-1.66743348e-01 -9.86000320e-01 -1.55145230e-04 1.97974815e+02] [ 9.85999922e-01 -1.66743420e-01 8.86726743e-04 1.49986907e+02] [-9.00182299e-04 -5.11739891e-06 9.99999595e-01 -5.23638383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2857692310001 meters 0.013384135408040626 Centerline is valid? [True, True] Translation: X:197.97, Y:150.01, Z:-0.52 [[-1.67034865e-01 -9.85950977e-01 -1.55407380e-04 1.97970350e+02] [ 9.85950579e-01 -1.67034937e-01 8.86680741e-04 1.50009851e+02] [-9.00182205e-04 -5.11739831e-06 9.99999595e-01 -5.23688453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31576923100005 meters 0.012048192117987067 Centerline is valid? [True, True] Translation: X:197.97, Y:150.03, Z:-0.52 [[-1.69630188e-01 -9.85507758e-01 -2.43071162e-04 1.97965628e+02] [ 9.85506788e-01 -1.69630362e-01 1.38237615e-03 1.50033595e+02] [-1.40357467e-03 -5.05555448e-06 9.99999015e-01 -5.23196425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3457692310001 meters 0.011417797444132922 Centerline is valid? [True, True] Translation: X:197.96, Y:150.06, Z:-0.53 [[-1.71870129e-01 -9.85119612e-01 -9.16206515e-05 1.97962212e+02] [ 9.85119474e-01 -1.71870153e-01 5.22526267e-04 1.50056587e+02] [-5.30497729e-04 -4.50631225e-07 9.99999859e-01 -5.25600132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37576923100005 meters 0.011236780941212334 Centerline is valid? [True, True] Translation: X:197.96, Y:150.08, Z:-0.53 [[-1.73906243e-01 -9.84762203e-01 1.50681780e-04 1.97960082e+02] [ 9.84761838e-01 -1.73906309e-01 -8.48033703e-04 1.50080623e+02] [ 8.61316049e-04 9.07311252e-07 9.99999629e-01 -5.28085651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4057692310001 meters 0.01176152983799221 Centerline is valid? [True, True] Translation: X:197.96, Y:150.11, Z:-0.53 [[-1.76892235e-01 -9.84230199e-01 2.27219419e-04 1.97960966e+02] [ 9.84229369e-01 -1.76892381e-01 -1.27843832e-03 1.50105106e+02] [ 1.29847098e-03 -2.50978551e-06 9.99999157e-01 -5.27981530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43576923100005 meters 0.011764325963336125 Centerline is valid? [True, True] Translation: X:197.96, Y:150.13, Z:-0.53 [[-1.77421562e-01 -9.84134935e-01 1.37388673e-04 1.97956743e+02] [ 9.84134634e-01 -1.77421615e-01 -7.70061857e-04 1.50127875e+02] [ 7.82220496e-04 -1.41662587e-06 9.99999694e-01 -5.26951732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.465769231 meters 0.01142050518395148 Centerline is valid? [True, True] Translation: X:197.95, Y:150.15, Z:-0.53 [[-1.76405366e-01 -9.84317584e-01 1.99468785e-04 1.97947205e+02] [ 9.84316949e-01 -1.76405479e-01 -1.11807811e-03 1.50150116e+02] [ 1.13573133e-03 -8.94473433e-07 9.99999355e-01 -5.28326935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49576923100005 meters 0.011506189108293534 Centerline is valid? [True, True] Translation: X:197.94, Y:150.17, Z:-0.53 [[-1.75721979e-01 -9.84439765e-01 3.68271489e-04 1.97940635e+02] [ 9.84437602e-01 -1.75722365e-01 -2.06355782e-03 1.50172031e+02] [ 2.09616191e-03 -7.21636333e-08 9.99997803e-01 -5.29989146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.525769231 meters 0.011565753818617658 Centerline is valid? [True, True] Translation: X:197.93, Y:150.19, Z:-0.53 [[-1.74999646e-01 -9.84568403e-01 4.29668545e-04 1.97934639e+02] [ 9.84565470e-01 -1.75000173e-01 -2.40296868e-03 1.50193299e+02] [ 2.44107911e-03 2.51814389e-06 9.99997021e-01 -5.30694624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55576923100006 meters 0.011782919268692018 Centerline is valid? [True, True] Translation: X:197.93, Y:150.22, Z:-0.53 [[-1.72898217e-01 -9.84939639e-01 3.37877778e-04 1.97926967e+02] [ 9.84937834e-01 -1.72898547e-01 -1.88572338e-03 1.50215893e+02] [ 1.91574229e-03 6.75039638e-06 9.99998165e-01 -5.28420280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58576923100003 meters 0.01282002932159307 Centerline is valid? [True, True] Translation: X:197.92, Y:150.24, Z:-0.53 [[-1.71570824e-01 -9.85171773e-01 1.74587352e-04 1.97918436e+02] [ 9.85171295e-01 -1.71570913e-01 -9.70649572e-04 1.50237531e+02] [ 9.86210671e-04 5.46330023e-06 9.99999514e-01 -5.27969352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61576923100006 meters 0.01366245129505571 Centerline is valid? [True, True] Translation: X:197.91, Y:150.26, Z:-0.53 [[-1.69659440e-01 -9.85502718e-01 2.61125688e-04 1.97910482e+02] [ 9.85501649e-01 -1.69659640e-01 -1.45138671e-03 1.50260155e+02] [ 1.47464804e-03 1.10983401e-05 9.99998913e-01 -5.28115019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64576923100003 meters 0.01457894882006751 Centerline is valid? [True, True] Translation: X:197.90, Y:150.28, Z:-0.53 [[-1.69433043e-01 -9.85541539e-01 5.64051314e-04 1.97903977e+02] [ 9.85536559e-01 -1.69433980e-01 -3.13318921e-03 1.50281864e+02] [ 3.18345758e-03 2.50274088e-05 9.99994932e-01 -5.31031677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67576923100006 meters 0.01440133931672379 Centerline is valid? [True, True] Translation: X:197.90, Y:150.30, Z:-0.53 [[-1.69344625e-01 -9.85556540e-01 8.40000561e-04 1.97898856e+02] [ 9.85545526e-01 -1.69346703e-01 -4.65936594e-03 1.50304904e+02] [ 4.73431989e-03 3.88202203e-05 9.99988792e-01 -5.32153950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70576923100003 meters 0.015263636691700283 Centerline is valid? [True, True] Translation: X:197.89, Y:150.33, Z:-0.53 [[-1.69365643e-01 -9.85552989e-01 7.65226892e-04 1.97888294e+02] [ 9.85543884e-01 -1.69367368e-01 -4.23641070e-03 1.50326733e+02] [ 4.30481169e-03 3.66622609e-05 9.99990734e-01 -5.32927586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73576923100006 meters 0.015327342602801473 Centerline is valid? [True, True] Translation: X:197.88, Y:150.35, Z:-0.53 [[-1.68576766e-01 -9.85688450e-01 3.92579619e-04 1.97878579e+02] [ 9.85686066e-01 -1.68577222e-01 -2.16775995e-03 1.50349086e+02] [ 2.20291592e-03 2.15262980e-05 9.99997573e-01 -5.29439470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76576923100004 meters 0.016837951738955425 Centerline is valid? [True, True] Translation: X:197.87, Y:150.37, Z:-0.53 [[-1.67884327e-01 -9.85806655e-01 3.02858327e-04 1.97868653e+02] [ 9.85805243e-01 -1.67884600e-01 -1.66831362e-03 1.50370553e+02] [ 1.69547992e-03 1.84756174e-05 9.99998563e-01 -5.28898932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79576923100007 meters 0.017911047381873674 Centerline is valid? [True, True] Translation: X:197.86, Y:150.39, Z:-0.53 [[-1.67151270e-01 -9.85931228e-01 2.59041624e-04 1.97858474e+02] [ 9.85930199e-01 -1.67151470e-01 -1.42414657e-03 1.50391797e+02] [ 1.44740977e-03 1.73490517e-05 9.99998952e-01 -5.28257844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82576923100004 meters 0.01781551632061686 Centerline is valid? [True, True] Translation: X:197.85, Y:150.41, Z:-0.53 [[-1.66474906e-01 -9.86045667e-01 2.19536341e-04 1.97849547e+02] [ 9.86044932e-01 -1.66475050e-01 -1.20430215e-03 1.50414560e+02] [ 1.22404424e-03 1.59866084e-05 9.99999251e-01 -5.27496404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85576923100007 meters 0.017779074789757696 Centerline is valid? [True, True] Translation: X:197.84, Y:150.44, Z:-0.53 [[-1.66607707e-01 -9.86023255e-01 1.11003549e-04 1.97835918e+02] [ 9.86023069e-01 -1.66607743e-01 -6.05955531e-04 1.50436296e+02] [ 6.15980296e-04 8.49519918e-06 9.99999810e-01 -5.27251783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88576923100004 meters 0.0170331759032435 Centerline is valid? [True, True] Translation: X:197.83, Y:150.46, Z:-0.53 [[-1.67695364e-01 -9.85838844e-01 1.96403182e-04 1.97829087e+02] [ 9.85838260e-01 -1.67695478e-01 -1.07309865e-03 1.50459373e+02] [ 1.09083825e-03 1.36681035e-05 9.99999405e-01 -5.28014229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91576923100007 meters 0.015434016016554771 Centerline is valid? [True, True] Translation: X:197.82, Y:150.48, Z:-0.53 [[-1.70908005e-01 -9.85286923e-01 3.64833620e-04 1.97820993e+02] [ 9.85284908e-01 -1.70908394e-01 -1.99293928e-03 1.50480984e+02] [ 2.02597014e-03 1.88557829e-05 9.99997948e-01 -5.29824239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94576923100004 meters 0.0139332546873375 Centerline is valid? [True, True] Translation: X:197.82, Y:150.50, Z:-0.53 [[-1.72803802e-01 -9.84956226e-01 2.81280284e-04 1.97815754e+02] [ 9.84955033e-01 -1.72804031e-01 -1.53308945e-03 1.50504193e+02] [ 1.55863237e-03 1.21247451e-05 9.99998785e-01 -5.28934962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9757692310001 meters 0.012506653290846543 Centerline is valid? [True, True] Translation: X:197.81, Y:150.53, Z:-0.53 [[-1.76011227e-01 -9.84388155e-01 -9.48781899e-05 1.97807925e+02] [ 9.84388017e-01 -1.76011253e-01 5.21205025e-04 1.50525982e+02] [-5.29767682e-04 -1.65901698e-06 9.99999860e-01 -5.25660360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00576923100004 meters 0.011692802934059077 Centerline is valid? [True, True] Translation: X:197.80, Y:150.55, Z:-0.52 [[-1.77634630e-01 -9.84096493e-01 -1.73502297e-04 1.97803248e+02] [ 9.84096036e-01 -1.77634714e-01 9.48273462e-04 1.50549648e+02] [-9.64012620e-04 -2.29671733e-06 9.99999535e-01 -5.24879406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0357692310001 meters 0.01141505731381118 Centerline is valid? [True, True] Translation: X:197.80, Y:150.57, Z:-0.53 [[-1.79796873e-01 -9.83703757e-01 -5.41619133e-05 1.97799199e+02] [ 9.83703712e-01 -1.79796882e-01 2.98143929e-04 1.50571815e+02] [-3.03023446e-04 3.26071024e-07 9.99999954e-01 -5.26980038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06576923100005 meters 0.01230434891635253 Centerline is valid? [True, True] Translation: X:197.80, Y:150.60, Z:-0.53 [[-1.84663070e-01 -9.82801783e-01 4.54934025e-04 1.97799143e+02] [ 9.82798692e-01 -1.84663630e-01 -2.46484443e-03 1.50595851e+02] [ 2.50646327e-03 -8.05717361e-06 9.99996859e-01 -5.32898563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0957692310001 meters 0.01404903346904469 Centerline is valid? [True, True] Translation: X:197.80, Y:150.62, Z:-0.53 [[-1.87478903e-01 -9.82268461e-01 5.76452810e-04 1.97799126e+02] [ 9.82263512e-01 -1.87479789e-01 -3.11811126e-03 1.50618844e+02] [ 3.17089560e-03 -1.83515182e-05 9.99994973e-01 -5.34616020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12576923100005 meters 0.017086774741493414 Centerline is valid? [True, True] Translation: X:197.80, Y:150.64, Z:-0.53 [[-1.91983280e-01 -9.81397931e-01 7.21634744e-04 1.97801843e+02] [ 9.81390190e-01 -1.91984632e-01 -3.89834056e-03 1.50644243e+02] [ 3.96436614e-03 -4.02109488e-05 9.99992141e-01 -5.34481751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1557692310001 meters 0.018672910844389667 Centerline is valid? [True, True] Translation: X:197.80, Y:150.67, Z:-0.54 [[-1.93990113e-01 -9.81003167e-01 7.89337280e-04 1.97799473e+02] [ 9.80993930e-01 -1.93991712e-01 -4.25730142e-03 1.50668691e+02] [ 4.32955106e-03 -5.15393011e-05 9.99990626e-01 -5.35166132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18576923100005 meters 0.02129886289102889 Centerline is valid? [True, True] Translation: X:197.80, Y:150.69, Z:-0.54 [[-1.96037311e-01 -9.80596211e-01 6.65350370e-04 1.97798765e+02] [ 9.80589673e-01 -1.96038434e-01 -3.58138775e-03 1.50691578e+02] [ 3.64232951e-03 -4.96499244e-05 9.99993365e-01 -5.35296064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.215769231 meters 0.02234886585014959 Centerline is valid? [True, True] Translation: X:197.80, Y:150.71, Z:-0.53 [[-1.97432457e-01 -9.80316489e-01 7.86312958e-05 1.97796520e+02] [ 9.80316399e-01 -1.97432472e-01 -4.19253081e-04 1.50713925e+02] [ 4.26525080e-04 -5.69061714e-06 9.99999909e-01 -5.29197056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24576923100005 meters 0.02275479675237116 Centerline is valid? [True, True] Translation: X:197.79, Y:150.74, Z:-0.53 [[-1.97396688e-01 -9.80323695e-01 -2.42143128e-06 1.97793093e+02] [ 9.80323695e-01 -1.97396688e-01 1.67809089e-05 1.50735616e+02] [-1.69287052e-05 9.38709386e-07 1.00000000e+00 -5.28286879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.275769231 meters 0.019036015200737104 Centerline is valid? [True, True] Translation: X:197.78, Y:150.76, Z:-0.53 [[-1.96715821e-01 -9.80460450e-01 4.38105403e-04 1.97783356e+02] [ 9.80457647e-01 -1.96716306e-01 -2.34448559e-03 1.50757855e+02] [ 2.38485788e-03 -3.16536142e-05 9.99997156e-01 -5.31930706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30576923100006 meters 0.020505792870939298 Centerline is valid? [True, True] Translation: X:197.78, Y:150.78, Z:-0.54 [[-1.96600587e-01 -9.80483372e-01 7.52554711e-04 1.97780254e+02] [ 9.80475122e-01 -1.96602020e-01 -4.02249127e-03 1.50780503e+02] [ 4.09193958e-03 -5.29629714e-05 9.99991627e-01 -5.36402816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33576923100003 meters 0.01985483577712582 Centerline is valid? [True, True] Translation: X:197.77, Y:150.80, Z:-0.54 [[-1.96053780e-01 -9.80592689e-01 9.44843577e-04 1.97773871e+02] [ 9.80579721e-01 -1.96056047e-01 -5.04343808e-03 1.50803333e+02] [ 5.13080080e-03 -6.22906496e-05 9.99986835e-01 -5.39157149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36576923100006 meters 0.015841430454659775 Centerline is valid? [True, True] Translation: X:197.76, Y:150.83, Z:-0.54 [[-1.93737419e-01 -9.81053054e-01 8.47280435e-04 1.97762736e+02] [ 9.81042669e-01 -1.93739267e-01 -4.51423132e-03 1.50825443e+02] [ 4.59285191e-03 -4.33572653e-05 9.99989452e-01 -5.35642361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39576923100003 meters 0.015411699413485164 Centerline is valid? [True, True] Translation: X:197.76, Y:150.85, Z:-0.53 [[-1.92355892e-01 -9.81325063e-01 5.75758124e-04 1.97757621e+02] [ 9.81320290e-01 -1.92356752e-01 -3.06073679e-03 1.50847573e+02] [ 3.11432869e-03 -2.37476246e-05 9.99995150e-01 -5.33477419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42576923100006 meters 0.012322259929449844 Centerline is valid? [True, True] Translation: X:197.75, Y:150.87, Z:-0.53 [[-1.89648600e-01 -9.81852028e-01 -6.44914279e-05 1.97745400e+02] [ 9.81851967e-01 -1.89648611e-01 3.46316540e-04 1.50869590e+02] [-3.52262307e-04 2.35741162e-06 9.99999938e-01 -5.25581089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45576923100003 meters 0.012209941580475545 Centerline is valid? [True, True] Translation: X:197.74, Y:150.89, Z:-0.53 [[-1.89594545e-01 -9.81862443e-01 -2.25695027e-04 1.97740468e+02] [ 9.81861709e-01 -1.89594679e-01 1.20084795e-03 1.50892084e+02] [-1.22185808e-03 6.07291557e-06 9.99999254e-01 -5.25436188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48576923100006 meters 0.01255684145950674 Centerline is valid? [True, True] Translation: X:197.74, Y:150.91, Z:-0.53 [[-1.90408980e-01 -9.81704837e-01 -1.85291031e-04 1.97738061e+02] [ 9.81704343e-01 -1.90409070e-01 9.84789944e-04 1.50914754e+02] [-1.00205414e-03 5.61183869e-06 9.99999498e-01 -5.26679055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51576923100004 meters 0.014835815104544705 Centerline is valid? [True, True] Translation: X:197.74, Y:150.94, Z:-0.53 [[-1.92944300e-01 -9.81209710e-01 3.41031683e-05 1.97741907e+02] [ 9.81209695e-01 -1.92944303e-01 -1.76591880e-04 1.50938663e+02] [ 1.79853679e-04 -6.10037354e-07 9.99999984e-01 -5.29661099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54576923100007 meters 0.015748483325129983 Centerline is valid? [True, True] Translation: X:197.74, Y:150.96, Z:-0.53 [[-1.94310864e-01 -9.80939999e-01 8.31138532e-05 1.97739922e+02] [ 9.80939903e-01 -1.94310882e-01 -4.34473539e-04 1.50961228e+02] [ 4.42342399e-04 -2.89323378e-06 9.99999902e-01 -5.29781175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57576923100004 meters 0.01587833675166395 Centerline is valid? [True, True] Translation: X:197.74, Y:150.98, Z:-0.53 [[-1.95529849e-01 -9.80697709e-01 2.85622932e-04 1.97737458e+02] [ 9.80696561e-01 -1.95530058e-01 -1.50083681e-03 1.50984975e+02] [ 1.52771509e-03 -1.33489692e-05 9.99998833e-01 -5.31401374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60576923100007 meters 0.016490661691250894 Centerline is valid? [True, True] Translation: X:197.74, Y:151.01, Z:-0.53 [[-1.95189940e-01 -9.80765385e-01 3.82408188e-04 1.97735539e+02] [ 9.80763332e-01 -1.95190313e-01 -2.00694932e-03 1.51007929e+02] [ 2.04298879e-03 -1.66843869e-05 9.99997913e-01 -5.32464653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63576923100004 meters 0.01327568955806386 Centerline is valid? [True, True] Translation: X:197.72, Y:151.03, Z:-0.53 [[-1.92680870e-01 -9.81261428e-01 3.04932032e-04 1.97724835e+02] [ 9.81260128e-01 -1.92681111e-01 -1.59713986e-03 1.51030192e+02] [ 1.62596638e-03 -8.52065239e-06 9.99998678e-01 -5.29306130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66576923100007 meters 0.012147023975088267 Centerline is valid? [True, True] Translation: X:197.72, Y:151.05, Z:-0.53 [[-1.91035401e-01 -9.81583109e-01 2.76645579e-04 1.97715290e+02] [ 9.81582044e-01 -1.91035602e-01 -1.44587878e-03 1.51052733e+02] [ 1.47209934e-03 -4.66369969e-06 9.99998916e-01 -5.28510391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69576923100004 meters 0.011633614148115971 Centerline is valid? [True, True] Translation: X:197.71, Y:151.07, Z:-0.53 [[-1.89440867e-01 -9.81892065e-01 3.60837102e-04 1.97707732e+02] [ 9.81890259e-01 -1.89441211e-01 -1.88351961e-03 1.51074463e+02] [ 1.91777037e-03 -2.51315200e-06 9.99998161e-01 -5.29744904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7257692310001 meters 0.011369669884432129 Centerline is valid? [True, True] Translation: X:197.70, Y:151.10, Z:-0.53 [[-1.87562918e-01 -9.82252586e-01 9.77177961e-05 1.97701241e+02] [ 9.82252455e-01 -1.87562943e-01 -5.06626151e-04 1.51097368e+02] [ 5.15963084e-04 9.59265955e-07 9.99999867e-01 -5.26986258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75576923100004 meters 0.011436753101306726 Centerline is valid? [True, True] Translation: X:197.69, Y:151.12, Z:-0.52 [[-1.87020012e-01 -9.82356087e-01 -1.82900810e-04 1.97694508e+02] [ 9.82355621e-01 -1.87020101e-01 9.57040420e-04 1.51119303e+02] [-9.74360611e-04 -6.87928507e-07 9.99999525e-01 -5.24829081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7857692310001 meters 0.012089496118443947 Centerline is valid? [True, True] Translation: X:197.68, Y:151.14, Z:-0.53 [[-1.84985507e-01 -9.82741236e-01 -1.56864006e-04 1.97683197e+02] [ 9.82740895e-01 -1.84985573e-01 8.19697023e-04 1.51141258e+02] [-8.34567644e-04 -2.52460449e-06 9.99999652e-01 -5.25566457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81576923100005 meters 0.013858310769984767 Centerline is valid? [True, True] Translation: X:197.67, Y:151.16, Z:-0.53 [[-1.83618963e-01 -9.82997487e-01 1.32289490e-04 1.97673713e+02] [ 9.82997249e-01 -1.83619011e-01 -6.83665471e-04 1.51162352e+02] [ 6.96332305e-04 4.50625920e-06 9.99999758e-01 -5.30031459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8457692310001 meters 0.017212246614986534 Centerline is valid? [True, True] Translation: X:197.67, Y:151.19, Z:-0.53 [[-1.82000195e-01 -9.83298414e-01 3.98116056e-04 1.97668371e+02] [ 9.83296253e-01 -1.82000630e-01 -2.06137524e-03 1.51186328e+02] [ 2.09940437e-03 1.62953313e-05 9.99997796e-01 -5.28297670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87576923100005 meters 0.016602496943858472 Centerline is valid? [True, True] Translation: X:197.66, Y:151.21, Z:-0.53 [[-1.79147747e-01 -9.83822129e-01 3.21422169e-04 1.97657560e+02] [ 9.83820728e-01 -1.79148034e-01 -1.66072743e-03 1.51207447e+02] [ 1.69144255e-03 1.87062150e-05 9.99998569e-01 -5.29242559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9057692310001 meters 0.017299128300687278 Centerline is valid? [True, True] Translation: X:197.65, Y:151.23, Z:-0.53 [[-1.78099815e-01 -9.84012379e-01 3.05943563e-04 1.97649670e+02] [ 9.84011114e-01 -1.78100077e-01 -1.57812333e-03 1.51230888e+02] [ 1.60738147e-03 1.99883927e-05 9.99998708e-01 -5.28279264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93576923100005 meters 0.019728429018866157 Centerline is valid? [True, True] Translation: X:197.64, Y:151.25, Z:-0.53 [[-1.76516380e-01 -9.84297563e-01 5.23818077e-04 1.97638734e+02] [ 9.84293861e-01 -1.76517153e-01 -2.69986897e-03 1.51252047e+02] [ 2.74993732e-03 3.90198217e-05 9.99996218e-01 -5.30470384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.965769231 meters 0.020473486442837138 Centerline is valid? [True, True] Translation: X:197.63, Y:151.27, Z:-0.53 [[-1.76312820e-01 -9.84333971e-01 6.50889684e-04 1.97631247e+02] [ 9.84328271e-01 -1.76314014e-01 -3.35010102e-03 1.51274121e+02] [ 3.41237921e-03 5.00233604e-05 9.99994177e-01 -5.32551728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99576923100005 meters 0.02055945233687275 Centerline is valid? [True, True] Translation: X:197.62, Y:151.30, Z:-0.53 [[-1.75885828e-01 -9.84410316e-01 7.11026915e-04 1.97621889e+02] [ 9.84403535e-01 -1.75887256e-01 -3.65415790e-03 1.51296848e+02] [ 3.72225131e-03 5.72228218e-05 9.99993071e-01 -5.33677887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.025769231 meters 0.02191014541558548 Centerline is valid? [True, True] Translation: X:197.61, Y:151.32, Z:-0.53 [[-1.75361537e-01 -9.84503919e-01 6.03926366e-04 1.97612068e+02] [ 9.84499046e-01 -1.75362569e-01 -3.09788883e-03 1.51318766e+02] [ 3.15578977e-03 5.13143843e-05 9.99995019e-01 -5.32380167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05576923100006 meters 0.02272478330925147 Centerline is valid? [True, True] Translation: X:197.60, Y:151.34, Z:-0.53 [[-1.74249122e-01 -9.84701512e-01 4.19612228e-04 1.97603154e+02] [ 9.84699169e-01 -1.74249623e-01 -2.14813901e-03 1.51341467e+02] [ 2.18839300e-03 3.88804750e-05 9.99997605e-01 -5.30275069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08576923100003 meters 0.02430356932084 Centerline is valid? [True, True] Translation: X:197.59, Y:151.36, Z:-0.53 [[-1.72538977e-01 -9.85002675e-01 1.76694249e-04 1.97589586e+02] [ 9.85002263e-01 -1.72539067e-01 -9.01208053e-04 1.51363214e+02] [ 9.18179004e-04 1.85507196e-05 9.99999578e-01 -5.28088921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11576923100006 meters 0.026090469118122385 Centerline is valid? [True, True] Translation: X:197.58, Y:151.38, Z:-0.53 [[-1.72934695e-01 -9.84933267e-01 2.25279347e-04 1.97578344e+02] [ 9.84932599e-01 -1.72934840e-01 -1.14775820e-03 1.51384244e+02] [ 1.16942388e-03 2.33977585e-05 9.99999316e-01 -5.29400746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14576923100003 meters 0.02393358954199345 Centerline is valid? [True, True] Translation: X:197.57, Y:151.41, Z:-0.53 [[-1.74703292e-01 -9.84621097e-01 2.36030359e-04 1.97567626e+02] [ 9.84620364e-01 -1.74703450e-01 -1.20134220e-03 1.51407058e+02] [ 1.22410219e-03 2.25218603e-05 9.99999251e-01 -5.30841445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17576923100006 meters 0.02227806129839903 Centerline is valid? [True, True] Translation: X:197.56, Y:151.43, Z:-0.53 [[-1.76509599e-01 -9.84298889e-01 2.41442366e-04 1.97561100e+02] [ 9.84298125e-01 -1.76509763e-01 -1.22672324e-03 1.51430730e+02] [ 1.25007925e-03 2.11228416e-05 9.99999218e-01 -5.30726359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20576923100003 meters 0.02227806129839903 Centerline is valid? [True, True] Translation: X:197.56, Y:151.45, Z:-0.53 [[-1.76804196e-01 -9.84246015e-01 2.41801076e-04 1.97556183e+02] [ 9.84245251e-01 -1.76804360e-01 -1.22665268e-03 1.51453550e+02] [ 1.25007949e-03 2.11142204e-05 9.99999218e-01 -5.30776434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23576923100006 meters 0.020374869616082092 Centerline is valid? [True, True] Translation: X:197.55, Y:151.48, Z:-0.53 [[-1.78905255e-01 -9.83866276e-01 2.48205514e-04 1.97550157e+02] [ 9.83865472e-01 -1.78905426e-01 -1.25731366e-03 1.51477176e+02] [ 1.28143382e-03 1.92608154e-05 9.99999179e-01 -5.29721411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26576923100004 meters 0.015745125559261705 Centerline is valid? [True, True] Translation: X:197.55, Y:151.50, Z:-0.53 [[-1.84318805e-01 -9.82866507e-01 8.24168225e-05 1.97546019e+02] [ 9.82866420e-01 -1.84318823e-01 -4.14540994e-04 1.51500164e+02] [ 4.22629431e-04 4.59702671e-06 9.99999911e-01 -5.27872997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29576923100007 meters 0.013365015949984462 Centerline is valid? [True, True] Translation: X:197.54, Y:151.52, Z:-0.53 [[-1.87328224e-01 -9.82297377e-01 -8.93145915e-06 1.97542751e+02] [ 9.82297376e-01 -1.87328225e-01 4.86254303e-05 1.51524177e+02] [-4.94377471e-05 3.35566645e-07 9.99999999e-01 -5.26824465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32576923100004 meters 0.011971317878416926 Centerline is valid? [True, True] Translation: X:197.54, Y:151.55, Z:-0.53 [[-1.91042615e-01 -9.81581739e-01 9.21432136e-05 1.97535857e+02] [ 9.81581630e-01 -1.91042637e-01 -4.62299644e-04 1.51546693e+02] [ 4.71388171e-04 2.12715308e-06 9.99999889e-01 -5.28570603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35576923100007 meters 0.011531172097605262 Centerline is valid? [True, True] Translation: X:197.53, Y:151.57, Z:-0.53 [[-1.92580270e-01 -9.81281217e-01 1.09450858e-04 1.97530079e+02] [ 9.81281064e-01 -1.92580301e-01 -5.48837108e-04 1.51568429e+02] [ 5.59641625e-04 1.70685617e-06 9.99999843e-01 -5.29243352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38576923100004 meters 0.011374101403809957 Centerline is valid? [True, True] Translation: X:197.52, Y:151.59, Z:-0.53 [[-1.93990680e-01 -9.81003372e-01 1.10967600e-05 1.97524412e+02] [ 9.81003371e-01 -1.93990681e-01 -5.25863346e-05 1.51591524e+02] [ 5.37400395e-05 6.84700140e-07 9.99999999e-01 -5.28381212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41576923100007 meters 0.011322371158656964 Centerline is valid? [True, True] Translation: X:197.52, Y:151.61, Z:-0.53 [[-1.96345183e-01 -9.80534827e-01 -1.50107939e-04 1.97519643e+02] [ 9.80534534e-01 -1.96345240e-01 7.58455305e-04 1.51613463e+02] [-7.73164821e-04 1.73302762e-06 9.99999701e-01 -5.26710094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44576923100004 meters 0.01186284255133283 Centerline is valid? [True, True] Translation: X:197.52, Y:151.64, Z:-0.53 [[-1.98299464e-01 -9.80141478e-01 -7.75195490e-05 1.97515706e+02] [ 9.80141399e-01 -1.98299479e-01 3.92570933e-04 1.51637162e+02] [-4.00147141e-04 1.86648642e-06 9.99999920e-01 -5.27508976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4757692310001 meters 0.015032613178365448 Centerline is valid? [True, True] Translation: X:197.52, Y:151.66, Z:-0.53 [[-2.03249855e-01 -9.79126895e-01 1.40679322e-04 1.97516892e+02] [ 9.79126643e-01 -2.03249904e-01 -7.02114601e-04 1.51661332e+02] [ 7.16052348e-04 -4.96181845e-06 9.99999744e-01 -5.30516772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50576923100004 meters 0.01599727962899182 Centerline is valid? [True, True] Translation: X:197.51, Y:151.68, Z:-0.53 [[-2.06028986e-01 -9.78545833e-01 3.30706299e-04 1.97513130e+02] [ 9.78544439e-01 -2.06029251e-01 -1.65216232e-03 1.51684637e+02] [ 1.68485173e-03 -1.67825187e-05 9.99998580e-01 -5.31707431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5357692310001 meters 0.0192953596152114 Centerline is valid? [True, True] Translation: X:197.51, Y:151.71, Z:-0.54 [[-2.08061190e-01 -9.78115622e-01 6.09371533e-04 1.97513556e+02] [ 9.78110892e-01 -2.08062079e-01 -3.04198090e-03 1.51708695e+02] [ 3.10219615e-03 -3.68852324e-05 9.99995187e-01 -5.35519168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56576923100005 meters 0.01963270150712006 Centerline is valid? [True, True] Translation: X:197.51, Y:151.73, Z:-0.54 [[-2.10478352e-01 -9.77598146e-01 8.52977502e-04 1.97509399e+02] [ 9.77588897e-01 -2.10480071e-01 -4.25291896e-03 1.51732736e+02] [ 4.33718046e-03 -6.12860383e-05 9.99990593e-01 -5.36278232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5957692310001 meters 0.01994244775885955 Centerline is valid? [True, True] Translation: X:197.51, Y:151.76, Z:-0.53 [[-2.11034293e-01 -9.77478454e-01 6.31011013e-04 1.97505256e+02] [ 9.77473413e-01 -2.11035232e-01 -3.13980415e-03 1.51755516e+02] [ 3.20225646e-03 -4.58098610e-05 9.99994872e-01 -5.34640530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62576923100005 meters 0.022538332046016348 Centerline is valid? [True, True] Translation: X:197.50, Y:151.78, Z:-0.53 [[-2.11844303e-01 -9.77303427e-01 6.09860034e-05 1.97504174e+02] [ 9.77303381e-01 -2.11844312e-01 -2.99737346e-04 1.51778361e+02] [ 3.05853873e-04 -3.89582183e-06 9.99999953e-01 -5.29452864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6557692310001 meters 0.02070637045563179 Centerline is valid? [True, True] Translation: X:197.50, Y:151.80, Z:-0.53 [[-2.12432993e-01 -9.77175634e-01 -5.45945496e-05 1.97496322e+02] [ 9.77175596e-01 -2.12433000e-01 2.74409397e-04 1.51800737e+02] [-2.79743861e-04 4.94514814e-06 9.99999961e-01 -5.27665282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68576923100005 meters 0.023743701594826094 Centerline is valid? [True, True] Translation: X:197.50, Y:151.82, Z:-0.53 [[-2.13436142e-01 -9.76957017e-01 -3.36421775e-05 1.97496348e+02] [ 9.76957002e-01 -2.13436144e-01 1.70193189e-04 1.51824307e+02] [-1.73451887e-04 3.45841673e-06 9.99999985e-01 -5.28887960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.715769231 meters 0.026084023410881497 Centerline is valid? [True, True] Translation: X:197.50, Y:151.85, Z:-0.53 [[-2.15221377e-01 -9.76565257e-01 2.40302881e-04 1.97497072e+02] [ 9.76564537e-01 -2.15221510e-01 -1.18583772e-03 1.51846676e+02] [ 1.20976627e-03 -2.05463554e-05 9.99999268e-01 -5.32506284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74576923100005 meters 0.028268528133772543 Centerline is valid? [True, True] Translation: X:197.50, Y:151.87, Z:-0.54 [[-2.17094347e-01 -9.76150452e-01 5.82446134e-04 1.97497330e+02] [ 9.76146221e-01 -2.17095122e-01 -2.87447968e-03 1.51869926e+02] [ 2.93237085e-03 -5.54806960e-05 9.99995699e-01 -5.36231567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.775769231 meters 0.030207293467555817 Centerline is valid? [True, True] Translation: X:197.50, Y:151.89, Z:-0.54 [[-2.18687135e-01 -9.75794810e-01 6.52700367e-04 1.97496147e+02] [ 9.75789511e-01 -2.18688099e-01 -3.21645597e-03 1.51892479e+02] [ 3.28133884e-03 -6.64993689e-05 9.99994614e-01 -5.37583754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80576923100006 meters 0.026137781763530737 Centerline is valid? [True, True] Translation: X:197.49, Y:151.91, Z:-0.54 [[-2.19933594e-01 -9.75514621e-01 6.61485139e-04 1.97487242e+02] [ 9.75509194e-01 -2.19934577e-01 -3.25474980e-03 1.51914895e+02] [ 3.32053947e-03 -7.05439850e-05 9.99994485e-01 -5.35187004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83576923100003 meters 0.028368977703808345 Centerline is valid? [True, True] Translation: X:197.49, Y:151.94, Z:-0.53 [[-2.20551603e-01 -9.75375108e-01 6.24219338e-04 1.97487833e+02] [ 9.75370292e-01 -2.20552476e-01 -3.06587855e-03 1.51938275e+02] [ 3.12805474e-03 -6.73394297e-05 9.99995105e-01 -5.34643561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86576923100006 meters 0.028466368649558628 Centerline is valid? [True, True] Translation: X:197.48, Y:151.96, Z:-0.53 [[-2.20753434e-01 -9.75329467e-01 5.94221040e-04 1.97483297e+02] [ 9.75325116e-01 -2.20754224e-01 -2.91390396e-03 1.51960757e+02] [ 2.97319320e-03 -6.36955995e-05 9.99995578e-01 -5.34093261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89576923100003 meters 0.029131628161146006 Centerline is valid? [True, True] Translation: X:197.48, Y:151.98, Z:-0.53 [[-2.21270798e-01 -9.75212235e-01 5.75455336e-04 1.97480234e+02] [ 9.75208167e-01 -2.21271538e-01 -2.81738265e-03 1.51983127e+02] [ 2.87487791e-03 -6.22157632e-05 9.99995866e-01 -5.34144346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92576923100006 meters 0.029135591193040527 Centerline is valid? [True, True] Translation: X:197.48, Y:152.01, Z:-0.53 [[-2.21786383e-01 -9.75095120e-01 5.53915865e-04 1.97476816e+02] [ 9.75091362e-01 -2.21787067e-01 -2.70780820e-03 1.52006580e+02] [ 2.76322194e-03 -6.04364124e-05 9.99996180e-01 -5.33466166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95576923100003 meters 0.02838784342982888 Centerline is valid? [True, True] Translation: X:197.47, Y:152.03, Z:-0.53 [[-2.22686512e-01 -9.74889822e-01 7.43691578e-04 1.97474628e+02] [ 9.74883063e-01 -2.22687738e-01 -3.63104308e-03 1.52030707e+02] [ 3.70547794e-03 -8.35719938e-05 9.99993131e-01 -5.34295332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98576923100006 meters 0.02811139623165898 Centerline is valid? [True, True] Translation: X:197.47, Y:152.05, Z:-0.53 [[-2.23502488e-01 -9.74702945e-01 8.98860014e-04 1.97470093e+02] [ 9.74693100e-01 -2.23504271e-01 -4.38203389e-03 1.52053886e+02] [ 4.47208039e-03 -1.03282823e-04 9.99989995e-01 -5.34734301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01576923100004 meters 0.029516912160841718 Centerline is valid? [True, True] Translation: X:197.47, Y:152.08, Z:-0.54 [[-2.24093651e-01 -9.74567229e-01 8.66686818e-04 1.97468206e+02] [ 9.74558106e-01 -2.24095305e-01 -4.21810037e-03 1.52077148e+02] [ 4.30504283e-03 -1.00612850e-04 9.99990728e-01 -5.35391541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04576923100007 meters 0.029327211809801492 Centerline is valid? [True, True] Translation: X:197.47, Y:152.10, Z:-0.53 [[-2.23743151e-01 -9.74648081e-01 3.46289380e-04 1.97466881e+02] [ 9.74646633e-01 -2.23743416e-01 -1.68076289e-03 1.52100478e+02] [ 1.71563230e-03 -3.85494068e-05 9.99998528e-01 -5.31156618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07576923100004 meters 0.02620008540198602 Centerline is valid? [True, True] Translation: X:197.46, Y:152.12, Z:-0.53 [[-2.22648854e-01 -9.74898704e-01 7.00669556e-05 1.97459158e+02] [ 9.74898646e-01 -2.22648865e-01 -3.36961816e-04 1.52123439e+02] [ 3.44103965e-04 -6.71598197e-06 9.99999941e-01 -5.28344875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10576923100007 meters 0.02674444622105085 Centerline is valid? [True, True] Translation: X:197.46, Y:152.15, Z:-0.53 [[-2.17992363e-01 -9.75950475e-01 2.65635005e-06 1.97455771e+02] [ 9.75950475e-01 -2.17992363e-01 -9.66182321e-06 1.52146937e+02] [ 1.00085249e-05 4.86262420e-07 1.00000000e+00 -5.27896855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13576923100004 meters 0.01938736184890454 Centerline is valid? [True, True] Translation: X:197.44, Y:152.17, Z:-0.53 [[-2.15202772e-01 -9.76569369e-01 1.85303235e-04 1.97439423e+02] [ 9.76568960e-01 -2.15202852e-01 -8.93958949e-04 1.52168174e+02] [ 9.12890711e-04 -1.14210572e-05 9.99999583e-01 -5.28732094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16576923100007 meters 0.016241877051627836 Centerline is valid? [True, True] Translation: X:197.43, Y:152.19, Z:-0.53 [[-2.12550223e-01 -9.77150067e-01 3.86467950e-04 1.97428593e+02] [ 9.77148288e-01 -2.12550574e-01 -1.86485937e-03 1.52190656e+02] [ 1.90439145e-03 -1.87397804e-05 9.99998186e-01 -5.30320548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19576923100004 meters 0.013245002027385579 Centerline is valid? [True, True] Translation: X:197.42, Y:152.21, Z:-0.53 [[-2.09031733e-01 -9.77908764e-01 4.29320943e-04 1.97417654e+02] [ 9.77906576e-01 -2.09032174e-01 -2.06866809e-03 1.52213240e+02] [ 2.11271054e-03 -1.25815027e-05 9.99997768e-01 -5.30884624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2257692310001 meters 0.01335304412496721 Centerline is valid? [True, True] Translation: X:197.41, Y:152.24, Z:-0.53 [[-2.08598911e-01 -9.78001209e-01 3.59667494e-04 1.97412289e+02] [ 9.77999680e-01 -2.08599220e-01 -1.72947558e-03 1.52235308e+02] [ 1.76645557e-03 -9.01202798e-06 9.99998440e-01 -5.31395797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25576923100004 meters 0.01304160375606554 Centerline is valid? [True, True] Translation: X:197.41, Y:152.26, Z:-0.53 [[-2.09328798e-01 -9.77845278e-01 2.59172640e-04 1.97405495e+02] [ 9.77844487e-01 -2.09328958e-01 -1.24344616e-03 1.52258515e+02] [ 1.27015030e-03 -6.85855307e-06 9.99999193e-01 -5.29872253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2857692310001 meters 0.014022479460153817 Centerline is valid? [True, True] Translation: X:197.40, Y:152.28, Z:-0.53 [[-2.10034838e-01 -9.77693843e-01 3.39623761e-04 1.97402492e+02] [ 9.77692489e-01 -2.10035112e-01 -1.62769071e-03 1.52280809e+02] [ 1.66271610e-03 -9.82415528e-06 9.99998618e-01 -5.32005336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31576923100005 meters 0.015041254376161722 Centerline is valid? [True, True] Translation: X:197.40, Y:152.30, Z:-0.54 [[-2.11157326e-01 -9.77451827e-01 7.13949103e-04 1.97397465e+02] [ 9.77445844e-01 -2.11158532e-01 -3.41999227e-03 1.52302254e+02] [ 3.49363414e-03 -2.43098393e-05 9.99993897e-01 -5.35359333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3457692310001 meters 0.013999931869771894 Centerline is valid? [True, True] Translation: X:197.39, Y:152.33, Z:-0.53 [[-2.11147954e-01 -9.77453845e-01 7.23490542e-04 1.97388848e+02] [ 9.77447719e-01 -2.11149192e-01 -3.46047262e-03 1.52325082e+02] [ 3.53521671e-03 -2.34975323e-05 9.99993751e-01 -5.33752151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37576923100005 meters 0.01283092008422507 Centerline is valid? [True, True] Translation: X:197.38, Y:152.35, Z:-0.53 [[-2.09392605e-01 -9.77831561e-01 4.18637460e-04 1.97378633e+02] [ 9.77829520e-01 -2.09393023e-01 -1.99772718e-03 1.52346290e+02] [ 2.04110045e-03 -8.95323143e-06 9.99997917e-01 -5.32062339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4057692310001 meters 0.01230449251352063 Centerline is valid? [True, True] Translation: X:197.37, Y:152.37, Z:-0.53 [[-2.08396584e-01 -9.78044325e-01 4.02565031e-04 1.97370692e+02] [ 9.78042444e-01 -2.08396973e-01 -1.91805205e-03 1.52367543e+02] [ 1.95983325e-03 -5.98980793e-06 9.99998080e-01 -5.31883020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43576923100005 meters 0.012036285876050146 Centerline is valid? [True, True] Translation: X:197.36, Y:152.39, Z:-0.53 [[-2.07755882e-01 -9.78180561e-01 5.32378258e-04 1.97362894e+02] [ 9.78177280e-01 -2.07756564e-01 -2.53342482e-03 1.52388034e+02] [ 2.58875199e-03 -5.57359166e-06 9.99996649e-01 -5.33563118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.465769231 meters 0.011884082763277268 Centerline is valid? [True, True] Translation: X:197.35, Y:152.41, Z:-0.54 [[-2.07299556e-01 -9.78277265e-01 6.98159780e-04 1.97354440e+02] [ 9.78271637e-01 -2.07300732e-01 -3.31823972e-03 1.52409097e+02] [ 3.39088751e-03 -4.87971034e-06 9.99994251e-01 -5.35754317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49576923100005 meters 0.011758747559641595 Centerline is valid? [True, True] Translation: X:197.35, Y:152.43, Z:-0.53 [[-2.08345321e-01 -9.78055210e-01 4.82296018e-04 1.97349359e+02] [ 9.78052534e-01 -2.08345880e-01 -2.28790361e-03 1.52432637e+02] [ 2.33818043e-03 -4.96316922e-06 9.99997266e-01 -5.32587163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.525769231 meters 0.013232011631939964 Centerline is valid? [True, True] Translation: X:197.35, Y:152.46, Z:-0.53 [[-2.11699695e-01 -9.77334731e-01 2.51122159e-04 1.97348698e+02] [ 9.77334009e-01 -2.11699844e-01 -1.18778290e-03 1.52455667e+02] [ 1.21402401e-03 -6.02305218e-06 9.99999263e-01 -5.31081789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55576923100006 meters 0.013773679846176957 Centerline is valid? [True, True] Translation: X:197.34, Y:152.48, Z:-0.53 [[-2.13288032e-01 -9.76989261e-01 4.45707928e-04 1.97344351e+02] [ 9.76986988e-01 -2.13288497e-01 -2.10756399e-03 1.52478885e+02] [ 2.15413176e-03 -1.40673286e-05 9.99997680e-01 -5.32109595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58576923100003 meters 0.015024785536977217 Centerline is valid? [True, True] Translation: X:197.34, Y:152.50, Z:-0.53 [[-2.14472494e-01 -9.76729741e-01 7.50062782e-04 1.97341929e+02] [ 9.76723315e-01 -2.14473803e-01 -3.54324029e-03 1.52501867e+02] [ 3.62165699e-03 -2.73237745e-05 9.99993441e-01 -5.34708455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61576923100006 meters 0.014052786811269544 Centerline is valid? [True, True] Translation: X:197.33, Y:152.52, Z:-0.53 [[-2.14522469e-01 -9.76718767e-01 7.48925730e-04 1.97334740e+02] [ 9.76712380e-01 -2.14523774e-01 -3.53216452e-03 1.52524543e+02] [ 3.61059375e-03 -2.62436188e-05 9.99993481e-01 -5.33256509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64576923100003 meters 0.01417130246778471 Centerline is valid? [True, True] Translation: X:197.33, Y:152.55, Z:-0.53 [[-2.14011556e-01 -9.76830904e-01 6.63129942e-04 1.97329834e+02] [ 9.76825915e-01 -2.14012582e-01 -3.12187666e-03 1.52547203e+02] [ 3.19146375e-03 -2.03551683e-05 9.99994907e-01 -5.34303973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67576923100006 meters 0.013573674452425787 Centerline is valid? [True, True] Translation: X:197.33, Y:152.57, Z:-0.53 [[-2.13886884e-01 -9.76858415e-01 1.95677538e-04 1.97326109e+02] [ 9.76857984e-01 -2.13886973e-01 -9.17817990e-04 1.52571008e+02] [ 9.38431103e-04 -5.16006461e-06 9.99999560e-01 -5.30293180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70576923100003 meters 0.013399583455317223 Centerline is valid? [True, True] Translation: X:197.32, Y:152.59, Z:-0.53 [[-2.14658325e-01 -9.76689205e-01 -1.24977273e-05 1.97322796e+02] [ 9.76689203e-01 -2.14658326e-01 6.19663105e-05 1.52594521e+02] [-6.32045678e-05 1.09518913e-06 9.99999998e-01 -5.28366486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73576923100006 meters 0.014831889755513106 Centerline is valid? [True, True] Translation: X:197.32, Y:152.62, Z:-0.53 [[-2.16058951e-01 -9.76380274e-01 3.00500539e-04 1.97323578e+02] [ 9.76379261e-01 -2.16059160e-01 -1.40652869e-03 1.52617676e+02] [ 1.43823276e-03 -1.04906191e-05 9.99998966e-01 -5.31795859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76576923100004 meters 0.01571270531476308 Centerline is valid? [True, True] Translation: X:197.32, Y:152.64, Z:-0.53 [[-2.17145342e-01 -9.76139168e-01 4.75122080e-04 1.97320981e+02] [ 9.76136638e-01 -2.17145861e-01 -2.22225165e-03 1.52640079e+02] [ 2.27239767e-03 -1.87675232e-05 9.99997418e-01 -5.34087549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79576923100007 meters 0.01515666472923227 Centerline is valid? [True, True] Translation: X:197.32, Y:152.66, Z:-0.53 [[-2.17522898e-01 -9.76055145e-01 3.77160397e-04 1.97317314e+02] [ 9.76053557e-01 -2.17523224e-01 -1.76081202e-03 1.52663529e+02] [ 1.80069078e-03 -1.48881865e-05 9.99998379e-01 -5.31700394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82576923100004 meters 0.015241221972863223 Centerline is valid? [True, True] Translation: X:197.31, Y:152.69, Z:-0.53 [[-2.16951157e-01 -9.76182440e-01 1.97152248e-04 1.97313307e+02] [ 9.76182009e-01 -2.16951247e-01 -9.17357344e-04 1.52685733e+02] [ 9.38280556e-04 -6.56525954e-06 9.99999560e-01 -5.30538639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85576923100007 meters 0.013693594565472986 Centerline is valid? [True, True] Translation: X:197.31, Y:152.71, Z:-0.53 [[-2.16161746e-01 -9.76357561e-01 1.10997834e-04 1.97305420e+02] [ 9.76357426e-01 -2.16161774e-01 -5.14380657e-04 1.52708634e+02] [ 5.26212932e-04 -2.81586130e-06 9.99999862e-01 -5.28863052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88576923100004 meters 0.012393035121868304 Centerline is valid? [True, True] Translation: X:197.30, Y:152.73, Z:-0.53 [[-2.13571796e-01 -9.76927364e-01 1.13419739e-04 1.97295026e+02] [ 9.76927223e-01 -2.13571826e-01 -5.24785244e-04 1.52730068e+02] [ 5.36900325e-04 -1.27649646e-06 9.99999856e-01 -5.30018480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91576923100007 meters 0.011534689709282318 Centerline is valid? [True, True] Translation: X:197.28, Y:152.75, Z:-0.53 [[-2.12110599e-01 -9.77245664e-01 8.06358979e-05 1.97284960e+02] [ 9.77245593e-01 -2.12110614e-01 -3.71766124e-04 1.52752699e+02] [ 3.80410562e-04 -5.44594153e-08 9.99999928e-01 -5.30483930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94576923100004 meters 0.011352140599239524 Centerline is valid? [True, True] Translation: X:197.28, Y:152.77, Z:-0.53 [[-2.11026333e-01 -9.77480371e-01 1.02338802e-04 1.97276593e+02] [ 9.77480258e-01 -2.11026357e-01 -4.71847667e-04 1.52774250e+02] [ 4.82818017e-04 4.61875779e-07 9.99999883e-01 -5.31302737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9757692310001 meters 0.01145909731205428 Centerline is valid? [True, True] Translation: X:197.27, Y:152.80, Z:-0.53 [[-2.12074001e-01 -9.77253594e-01 1.77025849e-04 1.97272496e+02] [ 9.77253252e-01 -2.12074074e-01 -8.17461679e-04 1.52798028e+02] [ 8.36409957e-04 -3.63281949e-07 9.99999650e-01 -5.32039519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00576923100004 meters 0.011843996754921374 Centerline is valid? [True, True] Translation: X:197.27, Y:152.82, Z:-0.53 [[-2.13591647e-01 -9.76923008e-01 2.13599342e-04 1.97268938e+02] [ 9.76922510e-01 -2.13591754e-01 -9.85553120e-04 1.52821909e+02] [ 1.00843258e-03 -1.83590883e-06 9.99999492e-01 -5.32067072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0357692310001 meters 0.013857488669870514 Centerline is valid? [True, True] Translation: X:197.27, Y:152.85, Z:-0.53 [[-2.17542952e-01 -9.76050730e-01 1.91005423e-04 1.97269913e+02] [ 9.76050334e-01 -2.17543035e-01 -8.79831966e-04 1.52846074e+02] [ 9.00312532e-04 -4.97033635e-06 9.99999595e-01 -5.32112517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06576923100005 meters 0.016022761020911266 Centerline is valid? [True, True] Translation: X:197.27, Y:152.87, Z:-0.53 [[-2.20523848e-01 -9.75381583e-01 -1.41151364e-05 1.97271864e+02] [ 9.75381580e-01 -2.20523849e-01 6.82573669e-05 1.52869454e+02] [-6.96897028e-05 1.28473323e-06 9.99999998e-01 -5.29962208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0957692310001 meters 0.016022761020911266 Centerline is valid? [True, True] Translation: X:197.27, Y:152.89, Z:-0.53 [[-2.20811516e-01 -9.75316500e-01 -1.41614141e-05 1.97266479e+02] [ 9.75316497e-01 -2.20811516e-01 6.82474314e-05 1.52892175e+02] [-6.96898493e-05 1.25795800e-06 9.99999998e-01 -5.30012274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12576923100005 meters 0.01621650328637734 Centerline is valid? [True, True] Translation: X:197.26, Y:152.92, Z:-0.53 [[-2.21328554e-01 -9.75199294e-01 9.06849373e-05 1.97262196e+02] [ 9.75199206e-01 -2.21328572e-01 -4.14327917e-04 1.52915787e+02] [ 4.24123460e-04 -3.26671986e-06 9.99999910e-01 -5.30587154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1557692310001 meters 0.01576973385541146 Centerline is valid? [True, True] Translation: X:197.26, Y:152.94, Z:-0.53 [[-2.20890799e-01 -9.75298509e-01 2.70909498e-04 1.97255777e+02] [ 9.75297718e-01 -2.20890965e-01 -1.24193629e-03 1.52938641e+02] [ 1.27110008e-03 -1.01148859e-05 9.99999192e-01 -5.32567323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18576923100005 meters 0.014228644043735757 Centerline is valid? [True, True] Translation: X:197.25, Y:152.96, Z:-0.54 [[-2.18920981e-01 -9.75742446e-01 5.31401313e-04 1.97246446e+02] [ 9.75739407e-01 -2.18921625e-01 -2.43553879e-03 1.52960790e+02] [ 2.49279382e-03 -1.46813389e-05 9.99996893e-01 -5.35101615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.215769231 meters 0.011985449634862347 Centerline is valid? [True, True] Translation: X:197.23, Y:152.98, Z:-0.54 [[-2.13195418e-01 -9.77009379e-01 6.22305765e-04 1.97230998e+02] [ 9.77005227e-01 -2.13196327e-01 -2.84820075e-03 1.52980893e+02] [ 2.91539215e-03 7.72634628e-07 9.99995750e-01 -5.35427038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24576923100005 meters 0.012425532820936069 Centerline is valid? [True, True] Translation: X:197.22, Y:153.00, Z:-0.53 [[-2.10572288e-01 -9.77578194e-01 4.31889339e-04 1.97223027e+02] [ 9.77576204e-01 -2.10572730e-01 -1.97262299e-03 1.53001299e+02] [ 2.01933734e-03 6.82500485e-06 9.99997961e-01 -5.33649169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.275769231 meters 0.012389952799557865 Centerline is valid? [True, True] Translation: X:197.22, Y:153.02, Z:-0.53 [[-2.10684827e-01 -9.77554012e-01 2.40168186e-04 1.97218117e+02] [ 9.77553400e-01 -2.10684963e-01 -1.09389596e-03 1.53023232e+02] [ 1.11994221e-03 4.30994682e-06 9.99999373e-01 -5.31975904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30576923100006 meters 0.011999651417935155 Centerline is valid? [True, True] Translation: X:197.21, Y:153.05, Z:-0.53 [[-2.11574301e-01 -9.77361913e-01 8.45155010e-05 1.97214209e+02] [ 9.77361838e-01 -2.11574318e-01 -3.82405568e-04 1.53045831e+02] [ 3.91629946e-04 1.69503485e-06 9.99999923e-01 -5.30992702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33576923100003 meters 0.011619464410411402 Centerline is valid? [True, True] Translation: X:197.21, Y:153.07, Z:-0.53 [[-2.13205507e-01 -9.77007375e-01 3.53939849e-05 1.97211249e+02] [ 9.77007362e-01 -2.13205510e-01 -1.58007896e-04 1.53068164e+02] [ 1.61921072e-04 8.92030306e-07 9.99999987e-01 -5.31841855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36576923100006 meters 0.011996800324626472 Centerline is valid? [True, True] Translation: X:197.21, Y:153.09, Z:-0.53 [[-2.17135763e-01 -9.76141384e-01 2.42669130e-04 1.97213859e+02] [ 9.76140764e-01 -2.17135899e-01 -1.10051817e-03 1.53093010e+02] [ 1.12695351e-03 -2.08262349e-06 9.99999365e-01 -5.34002447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39576923100003 meters 0.013772831202752814 Centerline is valid? [True, True] Translation: X:197.22, Y:153.12, Z:-0.53 [[-2.20120720e-01 -9.75472616e-01 2.12048104e-04 1.97217644e+02] [ 9.75472143e-01 -2.20120822e-01 -9.59745059e-04 1.53117434e+02] [ 9.82881226e-04 -4.41275531e-06 9.99999517e-01 -5.34605904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42576923100006 meters 0.013397136078074074 Centerline is valid? [True, True] Translation: X:197.21, Y:153.14, Z:-0.53 [[-2.20940243e-01 -9.75287335e-01 1.53267885e-04 1.97213468e+02] [ 9.75287090e-01 -2.20940296e-01 -6.91832665e-04 1.53140743e+02] [ 7.08598688e-04 -3.37348754e-06 9.99999749e-01 -5.32937853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45576923100003 meters 0.014314645730990354 Centerline is valid? [True, True] Translation: X:197.21, Y:153.16, Z:-0.53 [[-2.21461771e-01 -9.75169040e-01 1.65282039e-04 1.97212090e+02] [ 9.75168755e-01 -2.21461832e-01 -7.45234437e-04 1.53163990e+02] [ 7.63333214e-04 -3.86305794e-06 9.99999709e-01 -5.34070268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48576923100006 meters 0.014495452851715933 Centerline is valid? [True, True] Translation: X:197.21, Y:153.19, Z:-0.53 [[-2.21867828e-01 -9.75076734e-01 1.75070413e-04 1.97208918e+02] [ 9.75076415e-01 -2.21867897e-01 -7.88508328e-04 1.53186830e+02] [ 8.07698629e-04 -4.23759987e-06 9.99999674e-01 -5.34288701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51576923100004 meters 0.014776154167238794 Centerline is valid? [True, True] Translation: X:197.21, Y:153.21, Z:-0.54 [[-2.22155607e-01 -9.75011118e-01 4.54260413e-04 1.97207941e+02] [ 9.75008968e-01 -2.22156071e-01 -2.04765859e-03 1.53209106e+02] [ 2.09740660e-03 -1.19908609e-05 9.99997800e-01 -5.37091869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54576923100007 meters 0.01363891842128276 Centerline is valid? [True, True] Translation: X:197.20, Y:153.23, Z:-0.54 [[-2.21886064e-01 -9.75072393e-01 6.34702228e-04 1.97200887e+02] [ 9.75068205e-01 -2.21886971e-01 -2.85809263e-03 1.53231938e+02] [ 2.92767938e-03 -1.52929628e-05 9.99995714e-01 -5.37029681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57576923100004 meters 0.012175990302406176 Centerline is valid? [True, True] Translation: X:197.19, Y:153.25, Z:-0.53 [[-2.18875547e-01 -9.75752757e-01 2.29874957e-04 1.97191837e+02] [ 9.75752211e-01 -2.18875667e-01 -1.03160298e-03 1.53253887e+02] [ 1.05690349e-03 -1.49166827e-06 9.99999441e-01 -5.34903923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60576923100007 meters 0.011546140502554621 Centerline is valid? [True, True] Translation: X:197.18, Y:153.28, Z:-0.53 [[-2.17006298e-01 -9.76170176e-01 -2.31434214e-04 1.97181740e+02] [ 9.76169619e-01 -2.17006421e-01 1.04321429e-03 1.53276399e+02] [-1.06857739e-03 4.65022757e-07 9.99999429e-01 -5.30153414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63576923100004 meters 0.012734557627696404 Centerline is valid? [True, True] Translation: X:197.17, Y:153.30, Z:-0.53 [[-2.13084351e-01 -9.77033708e-01 -4.39954804e-04 1.97168102e+02] [ 9.77031706e-01 -2.13084805e-01 1.97769433e-03 1.53297196e+02] [-2.02602170e-03 -8.43408045e-06 9.99997948e-01 -5.28262080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66576923100007 meters 0.013687098274892354 Centerline is valid? [True, True] Translation: X:197.16, Y:153.32, Z:-0.53 [[-2.11922670e-01 -9.77286427e-01 -1.47203699e-04 1.97159743e+02] [ 9.77286202e-01 -2.11922721e-01 6.62672504e-04 1.53319421e+02] [-6.78816652e-04 -3.42481782e-06 9.99999770e-01 -5.31083537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69576923100004 meters 0.014228182366415647 Centerline is valid? [True, True] Translation: X:197.15, Y:153.34, Z:-0.54 [[-2.11589909e-01 -9.77358499e-01 2.74179647e-04 1.97152878e+02] [ 9.77357732e-01 -2.11590087e-01 -1.22438081e-03 1.53342397e+02] [ 1.25467269e-03 8.90497270e-06 9.99999213e-01 -5.35141667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7257692310001 meters 0.01387052093914931 Centerline is valid? [True, True] Translation: X:197.15, Y:153.37, Z:-0.54 [[-2.12835670e-01 -9.77087810e-01 6.24216993e-04 1.97148383e+02] [ 9.77083834e-01 -2.12836585e-01 -2.78733327e-03 1.53365852e+02] [ 2.85632557e-03 1.66683883e-05 9.99995921e-01 -5.38433885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75576923100004 meters 0.013082905641826799 Centerline is valid? [True, True] Translation: X:197.14, Y:153.39, Z:-0.54 [[-2.14127707e-01 -9.76805536e-01 5.19991025e-04 1.97144549e+02] [ 9.76802785e-01 -2.14128338e-01 -2.31801463e-03 1.53389507e+02] [ 2.37559434e-03 1.15775229e-05 9.99997178e-01 -5.37037039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7857692310001 meters 0.012103393327370844 Centerline is valid? [True, True] Translation: X:197.14, Y:153.41, Z:-0.53 [[-2.16608316e-01 -9.76258531e-01 3.44396619e-04 1.97141827e+02] [ 9.76257329e-01 -2.16608590e-01 -1.53189580e-03 1.53413711e+02] [ 1.57012561e-03 4.39835465e-06 9.99998767e-01 -5.34937397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81576923100005 meters 0.012176771339985735 Centerline is valid? [True, True] Translation: X:197.14, Y:153.44, Z:-0.53 [[-2.17191271e-01 -9.76129028e-01 2.68591422e-04 1.97136616e+02] [ 9.76128300e-01 -2.17191437e-01 -1.19211093e-03 1.53436433e+02] [ 1.22198984e-03 3.26360103e-06 9.99999253e-01 -5.34428546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8457692310001 meters 0.012193730969011368 Centerline is valid? [True, True] Translation: X:197.13, Y:153.46, Z:-0.53 [[-2.17579595e-01 -9.76042567e-01 1.63927822e-04 1.97130824e+02] [ 9.76042298e-01 -2.17579657e-01 -7.25270245e-04 1.53458730e+02] [ 7.43561991e-04 2.19648164e-06 9.99999724e-01 -5.34525493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87576923100005 meters 0.01227798479235235 Centerline is valid? [True, True] Translation: X:197.12, Y:153.48, Z:-0.53 [[-2.16786672e-01 -9.76218977e-01 -2.18066002e-04 1.97122907e+02] [ 9.76218495e-01 -2.16786782e-01 9.70559840e-04 1.53481437e+02] [-9.94752761e-04 -2.47562644e-06 9.99999505e-01 -5.31292899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9057692310001 meters 0.012716480496953635 Centerline is valid? [True, True] Translation: X:197.11, Y:153.50, Z:-0.53 [[-2.16081530e-01 -9.76375273e-01 -3.12698207e-04 1.97114933e+02] [ 9.76374286e-01 -2.16081757e-01 1.38856454e-03 1.53503479e+02] [-1.42332846e-03 -5.26733806e-06 9.99998987e-01 -5.30188761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93576923100005 meters 0.013654191465133607 Centerline is valid? [True, True] Translation: X:197.10, Y:153.53, Z:-0.53 [[-2.14088285e-01 -9.76814301e-01 -1.64520487e-04 1.97104898e+02] [ 9.76814028e-01 -2.14088348e-01 7.30930748e-04 1.53525793e+02] [-7.49205527e-04 -4.22220877e-06 9.99999719e-01 -5.30931660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.965769231 meters 0.014553151934826349 Centerline is valid? [True, True] Translation: X:197.10, Y:153.55, Z:-0.53 [[-2.13508829e-01 -9.76941134e-01 -2.55489018e-05 1.97096050e+02] [ 9.76941127e-01 -2.13508831e-01 1.16027253e-04 1.53547423e+02] [-1.18806712e-04 -1.86930078e-07 9.99999993e-01 -5.32548636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99576923100005 meters 0.01469284922974744 Centerline is valid? [True, True] Translation: X:197.09, Y:153.57, Z:-0.53 [[-2.13421874e-01 -9.76960130e-01 -9.54272429e-05 1.97088467e+02] [ 9.76960038e-01 -2.13421895e-01 4.23967574e-04 1.53569762e+02] [-4.34565679e-04 -2.74464871e-06 9.99999906e-01 -5.32777604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.025769231 meters 0.01402391816680171 Centerline is valid? [True, True] Translation: X:197.08, Y:153.59, Z:-0.53 [[-2.14695172e-01 -9.76681053e-01 -3.20978837e-04 1.97084796e+02] [ 9.76680025e-01 -2.14695412e-01 1.41704853e-03 1.53592237e+02] [-1.45291713e-03 -9.26014045e-06 9.99998944e-01 -5.31374055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05576923100006 meters 0.013130962055261547 Centerline is valid? [True, True] Translation: X:197.08, Y:153.62, Z:-0.53 [[-2.16484336e-01 -9.76285991e-01 -4.42781961e-04 1.97081907e+02] [ 9.76284042e-01 -2.16484789e-01 1.95075141e-03 1.53616203e+02] [-2.00034683e-03 -9.97383887e-06 9.99997999e-01 -5.31215795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08576923100003 meters 0.012142585706175497 Centerline is valid? [True, True] Translation: X:197.08, Y:153.64, Z:-0.53 [[-2.18989262e-01 -9.75727237e-01 -2.49302980e-04 1.97081452e+02] [ 9.75726619e-01 -2.18989404e-01 1.09810303e-03 1.53641066e+02] [-1.12604374e-03 -2.77878189e-06 9.99999366e-01 -5.32406291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11576923100006 meters 0.01218370644944676 Centerline is valid? [True, True] Translation: X:197.08, Y:153.66, Z:-0.53 [[-2.19496147e-01 -9.75613362e-01 -1.00360714e-04 1.97076142e+02] [ 9.75613261e-01 -2.19496170e-01 4.43370874e-04 1.53662964e+02] [-4.54587341e-04 -5.95045377e-07 9.99999897e-01 -5.33701814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14576923100003 meters 0.01335183859130342 Centerline is valid? [True, True] Translation: X:197.07, Y:153.69, Z:-0.54 [[-2.17474374e-01 -9.76066026e-01 1.02342889e-04 1.97067693e+02] [ 9.76065924e-01 -2.17474398e-01 -4.45441594e-04 1.53686150e+02] [ 4.57037364e-04 3.02127526e-06 9.99999896e-01 -5.35154882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17576923100006 meters 0.015441272249641513 Centerline is valid? [True, True] Translation: X:197.06, Y:153.71, Z:-0.53 [[-2.14778622e-01 -9.76662758e-01 -4.10573687e-05 1.97057243e+02] [ 9.76662741e-01 -2.14778626e-01 1.82485873e-04 1.53707581e+02] [-1.87045402e-04 -9.05137845e-07 9.99999983e-01 -5.34239939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20576923100003 meters 0.017573313135879624 Centerline is valid? [True, True] Translation: X:197.05, Y:153.73, Z:-0.53 [[-2.11631121e-01 -9.77349607e-01 -1.19702262e-04 1.97046857e+02] [ 9.77349466e-01 -2.11631154e-01 5.25758690e-04 1.53729805e+02] [-5.39182777e-04 -5.72404149e-06 9.99999855e-01 -5.32642709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23576923100006 meters 0.022878361556595866 Centerline is valid? [True, True] Translation: X:197.03, Y:153.75, Z:-0.53 [[-2.05247454e-01 -9.78710110e-01 -5.17238466e-05 1.97029841e+02] [ 9.78710084e-01 -2.05247461e-01 2.28431871e-04 1.53751047e+02] [-2.34184770e-04 -3.73759020e-06 9.99999973e-01 -5.33620615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26576923100004 meters 0.027126589468481125 Centerline is valid? [True, True] Translation: X:197.02, Y:153.77, Z:-0.54 [[-2.02501372e-01 -9.79281973e-01 1.12007561e-04 1.97016761e+02] [ 9.79281853e-01 -2.02501402e-01 -4.85058249e-04 1.53772261e+02] [ 4.97690487e-04 1.14620109e-05 9.99999876e-01 -5.35041869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29576923100007 meters 0.030030888540424225 Centerline is valid? [True, True] Translation: X:197.00, Y:153.79, Z:-0.54 [[-1.99452920e-01 -9.79907288e-01 4.89253966e-04 1.97004429e+02] [ 9.79904984e-01 -1.99453513e-01 -2.12586238e-03 1.53794547e+02] [ 2.18073146e-03 5.54129396e-05 9.99997621e-01 -5.38485448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32576923100004 meters 0.03147262753169881 Centerline is valid? [True, True] Translation: X:197.00, Y:153.82, Z:-0.54 [[-1.99961089e-01 -9.79803620e-01 6.55276380e-04 1.96995493e+02] [ 9.79799496e-01 -1.99962149e-01 -2.84374005e-03 1.53815582e+02] [ 2.91733727e-03 7.34021083e-05 9.99995742e-01 -5.40698383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35576923100007 meters 0.02848996737917074 Centerline is valid? [True, True] Translation: X:196.99, Y:153.84, Z:-0.54 [[-2.01514921e-01 -9.79485142e-01 7.70617103e-04 1.96991848e+02] [ 9.79479449e-01 -2.01516378e-01 -3.34033627e-03 1.53839221e+02] [ 3.42710171e-03 8.16760174e-05 9.99994124e-01 -5.40599334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38576923100004 meters 0.023173912647806272 Centerline is valid? [True, True] Translation: X:196.99, Y:153.86, Z:-0.54 [[-2.06224725e-01 -9.78504551e-01 4.54624602e-04 1.96991534e+02] [ 9.78502575e-01 -2.06225223e-01 -1.96661358e-03 1.53863689e+02] [ 2.01809540e-03 3.92869972e-05 9.99997963e-01 -5.38998614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41576923100007 meters 0.02294318693784405 Centerline is valid? [True, True] Translation: X:196.99, Y:153.89, Z:-0.54 [[-2.09121170e-01 -9.77889722e-01 1.67624065e-04 1.96986435e+02] [ 9.77889455e-01 -2.09121237e-01 -7.22232563e-04 1.53886780e+02] [ 7.41317552e-04 1.28836866e-05 9.99999725e-01 -5.38230750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44576923100004 meters 0.017001288773796027 Centerline is valid? [True, True] Translation: X:196.99, Y:153.91, Z:-0.54 [[-2.14752392e-01 -9.76668526e-01 -3.02673701e-05 1.96990073e+02] [ 9.76668517e-01 -2.14752394e-01 1.33609478e-04 1.53912302e+02] [-1.36992162e-04 -8.68232542e-07 9.99999991e-01 -5.36653780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4757692310001 meters 0.015057529956271134 Centerline is valid? [True, True] Translation: X:196.99, Y:153.94, Z:-0.54 [[-2.17522897e-01 -9.76055217e-01 -5.35744112e-05 1.96987479e+02] [ 9.76055189e-01 -2.17522903e-01 2.34036121e-04 1.53936384e+02] [-2.40085838e-04 -1.38336701e-06 9.99999971e-01 -5.36468782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50576923100004 meters 0.01387608543464679 Centerline is valid? [True, True] Translation: X:196.98, Y:153.96, Z:-0.54 [[-2.19756916e-01 -9.75554662e-01 -4.21290302e-06 1.96984047e+02] [ 9.75554661e-01 -2.19756916e-01 2.09672057e-05 1.53960622e+02] [-2.13804699e-05 4.97771288e-07 1.00000000e+00 -5.37104619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5357692310001 meters 0.012679855604232744 Centerline is valid? [True, True] Translation: X:196.98, Y:153.98, Z:-0.54 [[-2.22700219e-01 -9.74886966e-01 1.26104789e-04 1.96982402e+02] [ 9.74886817e-01 -2.22700254e-01 -5.39534129e-04 1.53983874e+02] [ 5.54068358e-04 2.78352783e-06 9.99999847e-01 -5.38891861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56576923100005 meters 0.012546210214662845 Centerline is valid? [True, True] Translation: X:196.98, Y:154.01, Z:-0.54 [[-2.23505536e-01 -9.74702616e-01 2.93662186e-04 1.96978141e+02] [ 9.74701803e-01 -2.23505729e-01 -1.25867165e-03 1.54007547e+02] [ 1.29246573e-03 4.91298109e-06 9.99999165e-01 -5.40750865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5957692310001 meters 0.012793873034457351 Centerline is valid? [True, True] Translation: X:196.97, Y:154.03, Z:-0.54 [[-2.23738214e-01 -9.74649162e-01 4.71228369e-04 1.96972037e+02] [ 9.74647072e-01 -2.23738710e-01 -2.01845467e-03 1.54029933e+02] [ 2.07271718e-03 7.67590806e-06 9.99997852e-01 -5.42962354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62576923100005 meters 0.012745857464273818 Centerline is valid? [True, True] Translation: X:196.97, Y:154.05, Z:-0.54 [[-2.23865007e-01 -9.74620113e-01 3.06084504e-04 1.96966244e+02] [ 9.74619235e-01 -2.23865217e-01 -1.30834022e-03 1.54052569e+02] [ 1.34365637e-03 5.42425128e-06 9.99999097e-01 -5.41339123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6557692310001 meters 0.01255020375627949 Centerline is valid? [True, True] Translation: X:196.96, Y:154.08, Z:-0.54 [[-2.24369765e-01 -9.74504081e-01 7.20601406e-05 1.96961117e+02] [ 9.74504033e-01 -2.24369777e-01 -3.05370948e-04 1.54076227e+02] [ 3.13753352e-04 1.70688966e-06 9.99999951e-01 -5.39832019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68576923100005 meters 0.012002550154423934 Centerline is valid? [True, True] Translation: X:196.96, Y:154.10, Z:-0.54 [[-2.26777339e-01 -9.73946624e-01 1.08614974e-04 1.96960056e+02] [ 9.73946515e-01 -2.26777365e-01 -4.61073627e-04 1.54100357e+02] [ 4.73692520e-04 1.22412519e-06 9.99999888e-01 -5.40781378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.715769231 meters 0.012125361169121388 Centerline is valid? [True, True] Translation: X:196.96, Y:154.12, Z:-0.54 [[-2.28260909e-01 -9.73599939e-01 3.41273584e-04 1.96957104e+02] [ 9.73598855e-01 -2.28261164e-01 -1.45278472e-03 1.54122725e+02] [ 1.49233062e-03 6.49609137e-07 9.99998886e-01 -5.43970423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74576923100005 meters 0.012763453643323352 Centerline is valid? [True, True] Translation: X:196.96, Y:154.15, Z:-0.55 [[-2.30870203e-01 -9.72984296e-01 7.14316955e-04 1.96958501e+02] [ 9.72979547e-01 -2.30871308e-01 -3.03988423e-03 1.54146989e+02] [ 3.12267491e-03 -6.80290199e-06 9.99995124e-01 -5.48291714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.775769231 meters 0.012963161425491759 Centerline is valid? [True, True] Translation: X:196.96, Y:154.17, Z:-0.55 [[-2.32006194e-01 -9.72714067e-01 6.86157219e-04 1.96955841e+02] [ 9.72709696e-01 -2.32007208e-01 -2.91609442e-03 1.54171216e+02] [ 2.99571948e-03 -9.12018703e-06 9.99995513e-01 -5.47499933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80576923100006 meters 0.013899987727403475 Centerline is valid? [True, True] Translation: X:196.96, Y:154.20, Z:-0.55 [[-2.33561627e-01 -9.72341784e-01 6.49247796e-04 1.96955943e+02] [ 9.72337881e-01 -2.33562529e-01 -2.75512898e-03 1.54195057e+02] [ 2.83056699e-03 -1.22041817e-05 9.99995994e-01 -5.47865450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83576923100003 meters 0.013653001469515902 Centerline is valid? [True, True] Translation: X:196.95, Y:154.22, Z:-0.55 [[-2.34508810e-01 -9.72113623e-01 8.49965195e-04 1.96951768e+02] [ 9.72106947e-01 -2.34510350e-01 -3.60267708e-03 1.54218250e+02] [ 3.70153710e-03 -1.86024453e-05 9.99993149e-01 -5.48314060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86576923100006 meters 0.01474791274432116 Centerline is valid? [True, True] Translation: X:196.95, Y:154.24, Z:-0.55 [[-2.35827567e-01 -9.71794535e-01 8.60803713e-04 1.96950498e+02] [ 9.71787706e-01 -2.35829137e-01 -3.64325193e-03 1.54241598e+02] [ 3.74349491e-03 -2.26607710e-05 9.99992993e-01 -5.50269188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89576923100003 meters 0.014911188251385057 Centerline is valid? [True, True] Translation: X:196.95, Y:154.27, Z:-0.55 [[-2.36817854e-01 -9.71553966e-01 4.41156028e-04 1.96950531e+02] [ 9.71552180e-01 -2.36818265e-01 -1.86326533e-03 1.54265080e+02] [ 1.91473662e-03 -1.26483968e-05 9.99998167e-01 -5.46129139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92576923100006 meters 0.014775414270755509 Centerline is valid? [True, True] Translation: X:196.95, Y:154.29, Z:-0.55 [[-2.36888065e-01 -9.71536888e-01 3.47422842e-04 1.96947016e+02] [ 9.71535783e-01 -2.36888320e-01 -1.46480882e-03 1.54287801e+02] [ 1.50541621e-03 -9.46200297e-06 9.99998867e-01 -5.45513780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95576923100003 meters 0.013898685660870215 Centerline is valid? [True, True] Translation: X:196.95, Y:154.31, Z:-0.54 [[-2.36820815e-01 -9.71553331e-01 1.64134652e-04 1.96946530e+02] [ 9.71553086e-01 -2.36820871e-01 -6.89477244e-04 1.54312545e+02] [ 7.08734424e-04 -3.81703453e-06 9.99999749e-01 -5.43952847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98576923100006 meters 0.014824493006817263 Centerline is valid? [True, True] Translation: X:196.95, Y:154.34, Z:-0.54 [[-2.37649007e-01 -9.71351093e-01 -5.66084086e-05 1.96947670e+02] [ 9.71351063e-01 -2.37649014e-01 2.41465234e-04 1.54335855e+02] [-2.48000451e-04 2.39733515e-06 9.99999969e-01 -5.42700471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01576923100004 meters 0.014824493006817263 Centerline is valid? [True, True] Translation: X:196.94, Y:154.36, Z:-0.54 [[-2.37951220e-01 -9.71277105e-01 -5.67093111e-05 1.96941979e+02] [ 9.71277075e-01 -2.37951226e-01 2.41441374e-04 1.54357655e+02] [-2.48000529e-04 2.37081578e-06 9.99999969e-01 -5.42748743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04576923100007 meters 0.014969907555731894 Centerline is valid? [True, True] Translation: X:196.94, Y:154.38, Z:-0.54 [[-2.38546554e-01 -9.71131021e-01 -2.86448685e-04 1.96941476e+02] [ 9.71130272e-01 -2.38546726e-01 1.20619098e-03 1.54381407e+02] [-1.23970087e-03 9.55371243e-06 9.99999232e-01 -5.40593170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07576923100004 meters 0.01480138079184415 Centerline is valid? [True, True] Translation: X:196.94, Y:154.41, Z:-0.54 [[-2.38943108e-01 -9.71033374e-01 -6.14579632e-04 1.96943324e+02] [ 9.71029944e-01 -2.38943897e-01 2.58101183e-03 1.54406028e+02] [-2.65309868e-03 1.99397624e-05 9.99996480e-01 -5.38755891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10576923100007 meters 0.014383119043145542 Centerline is valid? [True, True] Translation: X:196.94, Y:154.43, Z:-0.54 [[-2.38423105e-01 -9.71161105e-01 -7.29032377e-04 1.96939788e+02] [ 9.71156294e-01 -2.38424219e-01 3.05684149e-03 1.54428199e+02] [-3.14250454e-03 2.08172592e-05 9.99995062e-01 -5.38218660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13576923100004 meters 0.012234973858340232 Centerline is valid? [True, True] Translation: X:196.94, Y:154.45, Z:-0.54 [[-2.35154821e-01 -9.71957652e-01 -7.30410329e-04 1.96935400e+02] [ 9.71952840e-01 -2.35155955e-01 3.05831399e-03 1.54450477e+02] [-3.14431203e-03 9.25288574e-06 9.99995057e-01 -5.38313060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16576923100007 meters 0.011799885936711087 Centerline is valid? [True, True] Translation: X:196.93, Y:154.47, Z:-0.54 [[-2.33357691e-01 -9.72390768e-01 -6.18786262e-04 1.96929938e+02] [ 9.72387324e-01 -2.33358511e-01 2.58785296e-03 1.54472499e+02] [-2.66080337e-03 2.19547341e-06 9.99996460e-01 -5.39333210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19576923100004 meters 0.011967766486655767 Centerline is valid? [True, True] Translation: X:196.92, Y:154.49, Z:-0.54 [[-2.31498366e-01 -9.72835210e-01 -4.00315162e-04 1.96923258e+02] [ 9.72833772e-01 -2.31498712e-01 1.67290348e-03 1.54494754e+02] [-1.72013185e-03 -2.16568697e-06 9.99998521e-01 -5.40972253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2257692310001 meters 0.01469463772941447 Centerline is valid? [True, True] Translation: X:196.91, Y:154.52, Z:-0.55 [[-2.27025312e-01 -9.73888853e-01 1.03999684e-04 1.96913864e+02] [ 9.73888757e-01 -2.27025336e-01 -4.30335402e-04 1.54515024e+02] [ 4.42709414e-04 3.58709418e-06 9.99999902e-01 -5.46606092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25576923100004 meters 0.01623613984519235 Centerline is valid? [True, True] Translation: X:196.91, Y:154.54, Z:-0.55 [[-2.24680557e-01 -9.74432468e-01 1.12922407e-04 1.96906947e+02] [ 9.74432356e-01 -2.24680586e-01 -4.67213378e-04 1.54538335e+02] [ 4.80639357e-04 5.06148485e-06 9.99999884e-01 -5.46758598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2857692310001 meters 0.020413014811354248 Centerline is valid? [True, True] Translation: X:196.90, Y:154.56, Z:-0.54 [[-2.19941458e-01 -9.75513044e-01 -2.38897376e-04 1.96898142e+02] [ 9.75512536e-01 -2.19941587e-01 9.95375269e-04 1.54561147e+02] [-1.02354503e-03 -1.41230980e-05 9.99999476e-01 -5.42900767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31576923100005 meters 0.022256341381589488 Centerline is valid? [True, True] Translation: X:196.89, Y:154.58, Z:-0.54 [[-2.17747812e-01 -9.76004968e-01 -4.39058650e-04 1.96890040e+02] [ 9.76003262e-01 -2.17748252e-01 1.82487707e-03 1.54583674e+02] [-1.87669334e-03 -3.11596866e-05 9.99998239e-01 -5.41284883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3457692310001 meters 0.028894548750046205 Centerline is valid? [True, True] Translation: X:196.87, Y:154.60, Z:-0.54 [[-2.15495738e-01 -9.76504675e-01 -4.55358418e-04 1.96874472e+02] [ 9.76502846e-01 -2.15496215e-01 1.88998397e-03 1.54603399e+02] [-1.94370620e-03 -3.73753019e-05 9.99998110e-01 -5.41127921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37576923100005 meters 0.03145619166298347 Centerline is valid? [True, True] Translation: X:196.86, Y:154.63, Z:-0.54 [[-2.10018660e-01 -9.77697349e-01 -2.36157395e-04 1.96864775e+02] [ 9.77696858e-01 -2.10018791e-01 9.80164353e-04 1.54625691e+02] [-1.00790158e-03 -2.50375394e-05 9.99999492e-01 -5.43926969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4057692310001 meters 0.031451599143386307 Centerline is valid? [True, True] Translation: X:196.86, Y:154.65, Z:-0.55 [[-2.08110029e-01 -9.78105417e-01 -9.83175286e-05 1.96858976e+02] [ 9.78105331e-01 -2.08110052e-01 4.09168563e-04 1.54649011e+02] [-4.20670854e-04 -1.10128175e-05 9.99999911e-01 -5.45034206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43576923100005 meters 0.0329173625317873 Centerline is valid? [True, True] Translation: X:196.85, Y:154.67, Z:-0.55 [[-2.06697810e-01 -9.78404819e-01 -1.57768504e-04 1.96851185e+02] [ 9.78404601e-01 -2.06697869e-01 6.54007677e-04 1.54672127e+02] [-6.72494677e-04 -1.91794759e-05 9.99999774e-01 -5.45467597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.465769231 meters 0.03558548159431622 Centerline is valid? [True, True] Translation: X:196.84, Y:154.69, Z:-0.54 [[-2.07485756e-01 -9.78237985e-01 -3.25637845e-04 1.96842207e+02] [ 9.78237061e-01 -2.07486007e-01 1.34531480e-03 1.54693328e+02] [-1.38360334e-03 -3.94173508e-05 9.99999042e-01 -5.44296315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49576923100005 meters 0.03437194961850366 Centerline is valid? [True, True] Translation: X:196.84, Y:154.72, Z:-0.54 [[-2.08482029e-01 -9.78026117e-01 -3.98170747e-04 1.96838423e+02] [ 9.78024740e-01 -2.08482404e-01 1.64199818e-03 1.54716696e+02] [-1.68892870e-03 -4.70937291e-05 9.99998573e-01 -5.43916313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.525769231 meters 0.03184863552035357 Centerline is valid? [True, True] Translation: X:196.84, Y:154.74, Z:-0.54 [[-2.09781024e-01 -9.77748324e-01 -3.69592156e-04 1.96836938e+02] [ 9.77747140e-01 -2.09781345e-01 1.52243030e-03 1.54741483e+02] [-1.56608721e-03 -4.19906867e-05 9.99998773e-01 -5.44109755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55576923100006 meters 0.033140631764364166 Centerline is valid? [True, True] Translation: X:196.83, Y:154.76, Z:-0.54 [[-2.10410651e-01 -9.77612965e-01 -4.98394414e-04 1.96829040e+02] [ 9.77610819e-01 -2.10411234e-01 2.04940503e-03 1.54763136e+02] [-2.10839271e-03 -5.60191236e-05 9.99997776e-01 -5.43874222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58576923100003 meters 0.0347717466436095 Centerline is valid? [True, True] Translation: X:196.82, Y:154.78, Z:-0.54 [[-2.09753279e-01 -9.77754019e-01 -8.00451949e-04 1.96819191e+02] [ 9.77748504e-01 -2.09754785e-01 3.28534906e-03 1.54784790e+02] [-3.38016188e-03 -9.35279576e-05 9.99994283e-01 -5.41558764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61576923100006 meters 0.043168126468312466 Centerline is valid? [True, True] Translation: X:196.80, Y:154.80, Z:-0.54 [[-2.09115906e-01 -9.77890553e-01 -7.76961623e-04 1.96801862e+02] [ 9.77885371e-01 -2.09117329e-01 3.18494788e-03 1.54804807e+02] [-3.27700658e-03 -9.37561420e-05 9.99994626e-01 -5.41153827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64576923100003 meters 0.034446851239736884 Centerline is valid? [True, True] Translation: X:196.81, Y:154.83, Z:-0.54 [[-2.08723880e-01 -9.77974357e-01 -7.06813990e-04 1.96806602e+02] [ 9.77970079e-01 -2.08725059e-01 2.89395945e-03 1.54830808e+02] [-2.97774793e-03 -8.72044872e-05 9.99995563e-01 -5.41896913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67576923100006 meters 0.03502020087111311 Centerline is valid? [True, True] Translation: X:196.80, Y:154.85, Z:-0.54 [[-2.08832292e-01 -9.77951416e-01 -3.20044703e-04 1.96796775e+02] [ 9.77950539e-01 -2.08832533e-01 1.31022510e-03 1.54851748e+02] [-1.34817224e-03 -3.93705797e-05 9.99999090e-01 -5.43851529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70576923100003 meters 0.03587130308369985 Centerline is valid? [True, True] Translation: X:196.79, Y:154.87, Z:-0.54 [[-2.09264636e-01 -9.77858996e-01 -3.08736321e-04 1.96787166e+02] [ 9.77858182e-01 -2.09264860e-01 1.26232162e-03 1.54873081e+02] [-1.29898021e-03 -3.77410643e-05 9.99999156e-01 -5.44019007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73576923100006 meters 0.035312262778327705 Centerline is valid? [True, True] Translation: X:196.78, Y:154.90, Z:-0.54 [[-2.09888210e-01 -9.77725167e-01 -6.60968005e-04 1.96776171e+02] [ 9.77721454e-01 -2.09889235e-01 2.69571857e-03 1.54895397e+02] [-2.77440196e-03 -8.04430558e-05 9.99996148e-01 -5.42002575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76576923100004 meters 0.035071338017643124 Centerline is valid? [True, True] Translation: X:196.77, Y:154.92, Z:-0.54 [[-2.10461265e-01 -9.77601664e-01 -1.02130238e-03 1.96767336e+02] [ 9.77592827e-01 -2.10463707e-01 4.15854471e-03 1.54917873e+02] [-4.28034731e-03 -1.23205297e-04 9.99990832e-01 -5.39842660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79576923100007 meters 0.035075722811063345 Centerline is valid? [True, True] Translation: X:196.76, Y:154.94, Z:-0.54 [[-2.11095282e-01 -9.77464715e-01 -1.22979436e-03 1.96757082e+02] [ 9.77451935e-01 -2.11098814e-01 5.00058167e-03 1.54940048e+02] [-5.14750026e-03 -1.46465674e-04 9.99986741e-01 -5.38676574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82576923100004 meters 0.030169753903701704 Centerline is valid? [True, True] Translation: X:196.75, Y:154.96, Z:-0.54 [[-2.11722120e-01 -9.77329244e-01 -1.13707695e-03 1.96748146e+02] [ 9.77318343e-01 -2.11725131e-01 4.61791944e-03 1.54963120e+02] [-4.75397548e-03 -1.33570466e-04 9.99988691e-01 -5.40667237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85576923100007 meters 0.03436550549771037 Centerline is valid? [True, True] Translation: X:196.73, Y:154.98, Z:-0.54 [[-2.12487762e-01 -9.77163247e-01 -9.69576098e-04 1.96731920e+02] [ 9.77155339e-01 -2.12489944e-01 3.93290321e-03 1.54983206e+02] [-4.04911364e-03 -1.11732662e-04 9.99991796e-01 -5.41401590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88576923100004 meters 0.03003623842980934 Centerline is valid? [True, True] Translation: X:196.72, Y:155.01, Z:-0.54 [[-2.16405950e-01 -9.76303117e-01 -8.30289681e-04 1.96722621e+02] [ 9.76297325e-01 -2.16407527e-01 3.36389694e-03 1.55005848e+02] [-3.46386401e-03 -8.26422806e-05 9.99993997e-01 -5.42502228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91576923100007 meters 0.02795754339473677 Centerline is valid? [True, True] Translation: X:196.71, Y:155.03, Z:-0.54 [[-2.19879868e-01 -9.75526634e-01 -7.93597796e-04 1.96714935e+02] [ 9.75521351e-01 -2.19881290e-01 3.21133650e-03 1.55028133e+02] [-3.30724160e-03 -6.80633454e-05 9.99994529e-01 -5.42871287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94576923100004 meters 0.024589768048116 Centerline is valid? [True, True] Translation: X:196.71, Y:155.05, Z:-0.54 [[-2.23337611e-01 -9.74740880e-01 -7.26263967e-04 1.96709954e+02] [ 9.74736462e-01 -2.23338786e-01 2.93540422e-03 1.55050772e+02] [-3.02346140e-03 -5.23298037e-05 9.99995428e-01 -5.43397995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9757692310001 meters 0.01771298515865652 Centerline is valid? [True, True] Translation: X:196.71, Y:155.07, Z:-0.55 [[-2.30294388e-01 -9.73120885e-01 -4.87449594e-04 1.96709363e+02] [ 9.73118894e-01 -2.30294903e-01 1.96856808e-03 1.55073993e+02] [-2.02791187e-03 -2.09962286e-05 9.99997944e-01 -5.46347586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00576923100004 meters 0.014755927198691763 Centerline is valid? [True, True] Translation: X:196.71, Y:155.10, Z:-0.55 [[-2.33962389e-01 -9.72245583e-01 -3.56914046e-04 1.96706809e+02] [ 9.72244516e-01 -2.33962661e-01 1.44024024e-03 1.55097182e+02] [-1.48377177e-03 -1.00456777e-05 9.99998899e-01 -5.47783570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0357692310001 meters 0.012738631249008972 Centerline is valid? [True, True] Translation: X:196.70, Y:155.12, Z:-0.55 [[-2.37166986e-01 -9.71468843e-01 -3.28719908e-04 1.96703346e+02] [ 9.71467939e-01 -2.37167214e-01 1.32494277e-03 1.55120396e+02] [-1.36510220e-03 -5.10816774e-06 9.99999068e-01 -5.48083337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06576923100005 meters 0.011543345781306714 Centerline is valid? [True, True] Translation: X:196.70, Y:155.14, Z:-0.55 [[-2.41064928e-01 -9.70508706e-01 -7.43523980e-04 1.96701619e+02] [ 9.70504102e-01 -2.41066074e-01 2.98940513e-03 1.55142394e+02] [-3.08048211e-03 -9.52341667e-07 9.99995255e-01 -5.45781090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0957692310001 meters 0.011693757320492403 Centerline is valid? [True, True] Translation: X:196.70, Y:155.17, Z:-0.54 [[-2.43474606e-01 -9.69906489e-01 -1.23223809e-03 1.96699923e+02] [ 9.69893880e-01 -2.43477724e-01 4.94567320e-03 1.55166035e+02] [-5.09686306e-03 9.00565200e-06 9.99987011e-01 -5.42512041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12576923100005 meters 0.011940984136508657 Centerline is valid? [True, True] Translation: X:196.70, Y:155.19, Z:-0.54 [[-2.44676954e-01 -9.69604120e-01 -1.01920602e-03 1.96696858e+02] [ 9.69595512e-01 -2.44679077e-01 4.08553047e-03 1.55189217e+02] [-4.21072557e-03 1.14175662e-05 9.99991135e-01 -5.43301162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1557692310001 meters 0.012261921790209178 Centerline is valid? [True, True] Translation: X:196.69, Y:155.21, Z:-0.55 [[-2.45568475e-01 -9.69379083e-01 -5.62670851e-04 1.96693327e+02] [ 9.69376464e-01 -2.45569120e-01 2.25369349e-03 1.55212143e+02] [-2.32285792e-03 7.99619552e-06 9.99997302e-01 -5.47680837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18576923100005 meters 0.012445206567834583 Centerline is valid? [True, True] Translation: X:196.69, Y:155.23, Z:-0.55 [[-2.46182202e-01 -9.69223534e-01 -2.54825766e-04 1.96690160e+02] [ 9.69222996e-01 -2.46182334e-01 1.02086439e-03 1.55233629e+02] [-1.05217940e-03 4.33565308e-06 9.99999446e-01 -5.50673120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.215769231 meters 0.012433011265888293 Centerline is valid? [True, True] Translation: X:196.69, Y:155.26, Z:-0.55 [[-2.47162369e-01 -9.68973839e-01 -6.79664160e-04 1.96686150e+02] [ 9.68970037e-01 -2.47163303e-01 2.71461675e-03 1.55257217e+02] [-2.79838066e-03 1.23769011e-05 9.99996084e-01 -5.47663178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24576923100005 meters 0.013590877066179473 Centerline is valid? [True, True] Translation: X:196.68, Y:155.28, Z:-0.54 [[-2.48491215e-01 -9.68633654e-01 -9.80185108e-04 1.96683704e+02] [ 9.68625768e-01 -2.48493147e-01 3.90854117e-03 1.55279972e+02] [-4.02951380e-03 2.18055900e-05 9.99991881e-01 -5.44778750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.275769231 meters 0.014136320195257193 Centerline is valid? [True, True] Translation: X:196.68, Y:155.30, Z:-0.55 [[-2.50483533e-01 -9.68120406e-01 -9.37521865e-04 1.96682491e+02] [ 9.68113207e-01 -2.50485286e-01 3.73365207e-03 1.55304041e+02] [-3.84946020e-03 2.75910643e-05 9.99992590e-01 -5.46018970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30576923100006 meters 0.015433789813771347 Centerline is valid? [True, True] Translation: X:196.68, Y:155.33, Z:-0.55 [[-2.51128094e-01 -9.67953499e-01 -8.39458200e-04 1.96682189e+02] [ 9.67947740e-01 -2.51129495e-01 3.33909600e-03 1.55327621e+02] [-3.44290237e-03 2.59891447e-05 9.99994073e-01 -5.46698758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33576923100003 meters 0.016141188642725936 Centerline is valid? [True, True] Translation: X:196.68, Y:155.35, Z:-0.55 [[-2.52072378e-01 -9.67708150e-01 -6.73132472e-04 1.96679695e+02] [ 9.67704454e-01 -2.52073276e-01 2.67455930e-03 1.55350347e+02] [-2.75787154e-03 2.27892332e-05 9.99996197e-01 -5.48006881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36576923100006 meters 0.01605959102871597 Centerline is valid? [True, True] Translation: X:196.67, Y:155.37, Z:-0.55 [[-2.53609738e-01 -9.67306579e-01 -2.88423981e-04 1.96674844e+02] [ 9.67305900e-01 -2.53609901e-01 1.14605184e-03 1.55374103e+02] [-1.18173066e-03 1.16556880e-05 9.99999302e-01 -5.51637547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39576923100003 meters 0.01791595971489518 Centerline is valid? [True, True] Translation: X:196.67, Y:155.40, Z:-0.55 [[-2.54024947e-01 -9.67197632e-01 -2.59689177e-04 1.96672417e+02] [ 9.67197082e-01 -2.54025080e-01 1.03096700e-03 1.55396738e+02] [-1.06311641e-03 1.07207234e-05 9.99999435e-01 -5.52358088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42576923100006 meters 0.015597368161133461 Centerline is valid? [True, True] Translation: X:196.67, Y:155.42, Z:-0.55 [[-2.53666687e-01 -9.67291422e-01 -7.18827703e-04 1.96665466e+02] [ 9.67287239e-01 -2.53667704e-01 2.84495891e-03 1.55419352e+02] [-2.93424772e-03 2.63584378e-05 9.99995695e-01 -5.47703392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45576923100003 meters 0.01532445307043917 Centerline is valid? [True, True] Translation: X:196.66, Y:155.44, Z:-0.55 [[-2.54045074e-01 -9.67191994e-01 -8.64725422e-04 1.96659949e+02] [ 9.67185956e-01 -2.54046544e-01 3.41750820e-03 1.55442380e+02] [-3.52506708e-03 3.18508414e-05 9.99993786e-01 -5.46534316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48576923100006 meters 0.01630316278638745 Centerline is valid? [True, True] Translation: X:196.66, Y:155.46, Z:-0.55 [[-2.55069673e-01 -9.66922385e-01 -7.51230030e-04 1.96656858e+02] [ 9.66917838e-01 -2.55070777e-01 2.96544391e-03 1.55464716e+02] [-3.05897093e-03 3.00170919e-05 9.99995321e-01 -5.47698366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51576923100004 meters 0.020299484034966675 Centerline is valid? [True, True] Translation: X:196.66, Y:155.49, Z:-0.55 [[-2.60240227e-01 -9.65543722e-01 -5.88041048e-04 1.96660324e+02] [ 9.65540938e-01 -2.60240888e-01 2.31878650e-03 1.55490171e+02] [-2.39192207e-03 3.56638185e-05 9.99997139e-01 -5.51490047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54576923100007 meters 0.024327683789446358 Centerline is valid? [True, True] Translation: X:196.66, Y:155.52, Z:-0.55 [[-2.64472966e-01 -9.64392907e-01 -6.08956626e-04 1.96663703e+02] [ 9.64389927e-01 -2.64473663e-01 2.39805955e-03 1.55515598e+02] [-2.47372461e-03 4.69502851e-05 9.99996939e-01 -5.51663655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57576923100004 meters 0.03389323308156479 Centerline is valid? [True, True] Translation: X:196.68, Y:155.54, Z:-0.55 [[-2.73004425e-01 -9.62012660e-01 -4.75504074e-04 1.96679332e+02] [ 9.62010843e-01 -2.73004833e-01 1.87068508e-03 1.55543673e+02] [-1.92943764e-03 5.32652278e-05 9.99998137e-01 -5.52154057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60576923100007 meters 0.04041263578148788 Centerline is valid? [True, True] Translation: X:196.69, Y:155.57, Z:-0.55 [[-2.76172596e-01 -9.61108020e-01 -2.66304389e-04 1.96685793e+02] [ 9.61107450e-01 -2.76172723e-01 1.04739681e-03 1.55569376e+02] [-1.08020748e-03 3.33151633e-05 9.99999416e-01 -5.53507492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63576923100004 meters 0.041682352787373755 Centerline is valid? [True, True] Translation: X:196.69, Y:155.59, Z:-0.55 [[-2.78026465e-01 -9.60573396e-01 -1.88430381e-04 1.96685527e+02] [ 9.60573111e-01 -2.78026527e-01 7.41111118e-04 1.55592883e+02] [-7.64280268e-04 2.50473467e-05 9.99999708e-01 -5.54319606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66576923100007 meters 0.03602306832926843 Centerline is valid? [True, True] Translation: X:196.68, Y:155.62, Z:-0.55 [[-2.77025627e-01 -9.60862506e-01 -2.15917490e-04 1.96679773e+02] [ 9.60862133e-01 -2.77025710e-01 8.47433859e-04 1.55616806e+02] [-8.74082118e-04 2.72939565e-05 9.99999618e-01 -5.53681526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69576923100004 meters 0.030877741096669246 Centerline is valid? [True, True] Translation: X:196.67, Y:155.64, Z:-0.55 [[-2.72147619e-01 -9.62255507e-01 -1.13360628e-04 1.96673622e+02] [ 9.62255404e-01 -2.72147642e-01 4.45759320e-04 1.55639457e+02] [-4.59785188e-04 1.22304609e-05 9.99999894e-01 -5.54533809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7257692310001 meters 0.028939550881364864 Centerline is valid? [True, True] Translation: X:196.67, Y:155.66, Z:-0.55 [[-2.69241627e-01 -9.63072650e-01 -1.31463567e-04 1.96668215e+02] [ 9.63072512e-01 -2.69241658e-01 5.15828665e-04 1.55661782e+02] [-5.32175948e-04 1.22736015e-05 9.99999858e-01 -5.54567977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75576923100004 meters 0.02510031285128478 Centerline is valid? [True, True] Translation: X:196.66, Y:155.68, Z:-0.55 [[-2.66468106e-01 -9.63843699e-01 -2.68259894e-04 1.96659723e+02] [ 9.63843129e-01 -2.66468240e-01 1.04829517e-03 1.55684445e+02] [-1.08187544e-03 2.07767726e-05 9.99999415e-01 -5.53322864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7857692310001 meters 0.018934150865080192 Centerline is valid? [True, True] Translation: X:196.65, Y:155.71, Z:-0.55 [[-2.62275617e-01 -9.64992805e-01 -6.22534284e-04 1.96650136e+02] [ 9.64989756e-01 -2.62276354e-01 2.42600021e-03 1.55707394e+02] [-2.50434877e-03 3.55414969e-05 9.99996863e-01 -5.51283601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81576923100005 meters 0.018331547887200043 Centerline is valid? [True, True] Translation: X:196.65, Y:155.73, Z:-0.55 [[-2.60829022e-01 -9.65384733e-01 -7.34144847e-04 1.96645922e+02] [ 9.65380506e-01 -2.60830052e-01 2.85690545e-03 1.55729987e+02] [-2.94949995e-03 3.64347301e-05 9.99995650e-01 -5.50532394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8457692310001 meters 0.015001844053766856 Centerline is valid? [True, True] Translation: X:196.64, Y:155.75, Z:-0.55 [[-2.57471711e-01 -9.66285302e-01 -1.01660625e-03 1.96640128e+02] [ 9.66277229e-01 -2.57473716e-01 3.95000750e-03 1.55753120e+02] [-4.07858358e-03 3.46917261e-05 9.99991682e-01 -5.48111198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87576923100005 meters 0.014293128615477407 Centerline is valid? [True, True] Translation: X:196.63, Y:155.78, Z:-0.55 [[-2.55945556e-01 -9.66690744e-01 -9.37070085e-04 1.96634001e+02] [ 9.66683904e-01 -2.55947270e-01 3.63658186e-03 1.55775408e+02] [-3.75529055e-03 2.49163964e-05 9.99992949e-01 -5.47909134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9057692310001 meters 0.014293128615477407 Centerline is valid? [True, True] Translation: X:196.63, Y:155.80, Z:-0.55 [[-2.56231970e-01 -9.66614865e-01 -9.38197139e-04 1.96627877e+02] [ 9.66608026e-01 -2.56233686e-01 3.63629114e-03 1.55797109e+02] [-3.75529079e-03 2.48651597e-05 9.99992949e-01 -5.47957398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93576923100005 meters 0.01306821713636995 Centerline is valid? [True, True] Translation: X:196.62, Y:155.82, Z:-0.55 [[-2.54768055e-01 -9.67001937e-01 -7.02181588e-04 1.96618537e+02] [ 9.66998115e-01 -2.54769022e-01 2.71882347e-03 1.55817442e+02] [-2.80800167e-03 1.36610933e-05 9.99996057e-01 -5.50908803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.965769231 meters 0.011599670408933963 Centerline is valid? [True, True] Translation: X:196.60, Y:155.84, Z:-0.56 [[-2.50258028e-01 -9.68179165e-01 -1.52577659e-04 1.96601330e+02] [ 9.68178984e-01 -2.50258075e-01 5.92121744e-04 1.55837641e+02] [-6.11463727e-04 4.60737807e-07 9.99999813e-01 -5.55508376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99576923100005 meters 0.012069753808352854 Centerline is valid? [True, True] Translation: X:196.59, Y:155.86, Z:-0.55 [[-2.47645396e-01 -9.68850662e-01 -3.91338663e-04 1.96589695e+02] [ 9.68849481e-01 -2.47645705e-01 1.51259458e-03 1.55857788e+02] [-1.56239160e-03 -4.56117721e-06 9.99998779e-01 -5.53370776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.025769231 meters 0.015316196055951973 Centerline is valid? [True, True] Translation: X:196.57, Y:155.88, Z:-0.55 [[-2.43194464e-01 -9.69976894e-01 -1.13049218e-03 1.96572391e+02] [ 9.69967101e-01 -2.43197088e-01 4.35875513e-03 1.55877726e+02] [-4.50282417e-03 -3.65151026e-05 9.99989862e-01 -5.45974510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05576923100006 meters 0.015549874601387167 Centerline is valid? [True, True] Translation: X:196.56, Y:155.90, Z:-0.55 [[-2.41988860e-01 -9.70278414e-01 -1.09160652e-03 1.96562425e+02] [ 9.70269308e-01 -2.41991319e-01 4.20365346e-03 1.55899687e+02] [-4.34287352e-03 -4.19149951e-05 9.99990569e-01 -5.47392449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08576923100003 meters 0.01586330266588707 Centerline is valid? [True, True] Translation: X:196.55, Y:155.92, Z:-0.55 [[-2.41523812e-01 -9.70394502e-01 -8.71404366e-04 1.96551721e+02] [ 9.70388713e-01 -2.41525381e-01 3.35193583e-03 1.55921301e+02] [-3.46316637e-03 -3.60286421e-05 9.99994003e-01 -5.50330638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11576923100006 meters 0.015886685543389713 Centerline is valid? [True, True] Translation: X:196.54, Y:155.94, Z:-0.56 [[-2.42465886e-01 -9.70159921e-01 -1.47600549e-04 1.96538424e+02] [ 9.70159754e-01 -2.42465931e-01 5.69322369e-04 1.55941147e+02] [-5.88121849e-04 -5.15485961e-06 9.99999827e-01 -5.56404285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14576923100003 meters 0.01538798400800803 Centerline is valid? [True, True] Translation: X:196.53, Y:155.96, Z:-0.56 [[-2.44123248e-01 -9.69744206e-01 1.18427223e-04 1.96529976e+02] [ 9.69744101e-01 -2.44123277e-01 -4.51236393e-04 1.55962868e+02] [ 4.66494720e-04 4.68680712e-06 9.99999891e-01 -5.57706745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17576923100006 meters 0.013574470583157803 Centerline is valid? [True, True] Translation: X:196.52, Y:155.99, Z:-0.56 [[-2.46580511e-01 -9.69122284e-01 2.25936517e-04 1.96524054e+02] [ 9.69121900e-01 -2.46580614e-01 -8.62345853e-04 1.55985913e+02] [ 8.91430148e-04 6.32234505e-06 9.99999603e-01 -5.57114872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20576923100003 meters 0.011817080223555336 Centerline is valid? [True, True] Translation: X:196.52, Y:156.01, Z:-0.55 [[-2.52160239e-01 -9.67685493e-01 -6.93866907e-06 1.96518623e+02] [ 9.67685493e-01 -2.52160239e-01 2.92447429e-05 1.56007890e+02] [-3.00493700e-05 6.59911957e-07 1.00000000e+00 -5.54601827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23576923100006 meters 0.011865666514732245 Centerline is valid? [True, True] Translation: X:196.51, Y:156.03, Z:-0.55 [[-2.54643129e-01 -9.67035046e-01 -3.12287127e-04 1.96512382e+02] [ 9.67034307e-01 -2.54643321e-01 1.19515604e-03 1.56030350e+02] [-1.23527961e-03 2.34590996e-06 9.99999237e-01 -5.52707830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26576923100004 meters 0.012127680719759473 Centerline is valid? [True, True] Translation: X:196.50, Y:156.05, Z:-0.55 [[-2.56477577e-01 -9.66549820e-01 -8.35750259e-04 1.96500966e+02] [ 9.66544556e-01 -2.56478938e-01 3.18989652e-03 1.56051244e+02] [-3.29754624e-03 1.03470659e-05 9.99994563e-01 -5.49567425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29576923100007 meters 0.012088663943477906 Centerline is valid? [True, True] Translation: X:196.49, Y:156.07, Z:-0.55 [[-2.57056340e-01 -9.66395996e-01 -9.03758675e-04 1.96491223e+02] [ 9.66389856e-01 -2.57057929e-01 3.44489596e-03 1.56073367e+02] [-3.56145199e-03 1.21491325e-05 9.99993658e-01 -5.49868824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32576923100004 meters 0.012368976196146443 Centerline is valid? [True, True] Translation: X:196.48, Y:156.09, Z:-0.55 [[-2.58115745e-01 -9.66113520e-01 -9.64214618e-04 1.96484338e+02] [ 9.66106547e-01 -2.58117545e-01 3.67044443e-03 1.56094850e+02] [-3.79494670e-03 1.58654428e-05 9.99992799e-01 -5.49642797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35576923100007 meters 0.01533903766775299 Centerline is valid? [True, True] Translation: X:196.48, Y:156.12, Z:-0.55 [[-2.62599630e-01 -9.64903997e-01 -1.30821433e-03 1.96483759e+02] [ 9.64891184e-01 -2.62602885e-01 4.97263475e-03 1.56118536e+02] [-5.14165600e-03 4.35275705e-05 9.99986781e-01 -5.46926584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38576923100004 meters 0.01722237271664073 Centerline is valid? [True, True] Translation: X:196.48, Y:156.14, Z:-0.55 [[-2.65768123e-01 -9.64036236e-01 -1.20026570e-03 1.96480348e+02] [ 9.64025468e-01 -2.65770827e-01 4.55680565e-03 1.56142194e+02] [-4.71192138e-03 5.39669814e-05 9.99988897e-01 -5.48319217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41576923100007 meters 0.021798443049018092 Centerline is valid? [True, True] Translation: X:196.48, Y:156.17, Z:-0.55 [[-2.71462044e-01 -9.62448870e-01 -7.28645334e-04 1.96483727e+02] [ 9.62444903e-01 -2.71463017e-01 2.76382698e-03 1.56167920e+02] [-2.85784242e-03 4.89931334e-05 9.99995915e-01 -5.52624140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44576923100004 meters 0.024193883383808817 Centerline is valid? [True, True] Translation: X:196.48, Y:156.19, Z:-0.55 [[-2.74636192e-01 -9.61547918e-01 -7.51070961e-04 1.96483666e+02] [ 9.61543710e-01 -2.74637212e-01 2.84518080e-03 1.56192869e+02] [-2.94204971e-03 5.92020601e-05 9.99995670e-01 -5.52634390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4757692310001 meters 0.02841925460916099 Centerline is valid? [True, True] Translation: X:196.49, Y:156.22, Z:-0.55 [[-2.77739818e-01 -9.60655859e-01 -9.55602419e-04 1.96486329e+02] [ 9.60649063e-01 -2.77741449e-01 3.61461926e-03 1.56217115e+02] [-3.73781557e-03 8.59251281e-05 9.99993011e-01 -5.50898709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50576923100004 meters 0.032392840116928404 Centerline is valid? [True, True] Translation: X:196.49, Y:156.24, Z:-0.55 [[-2.82626760e-01 -9.59229580e-01 -8.52530449e-04 1.96490236e+02] [ 9.59224178e-01 -2.82628030e-01 3.22078756e-03 1.56242784e+02] [-3.33042370e-03 9.25129320e-05 9.99994450e-01 -5.51975752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5357692310001 meters 0.03311449419925862 Centerline is valid? [True, True] Translation: X:196.49, Y:156.27, Z:-0.55 [[-2.84081758e-01 -9.58799934e-01 -4.91607235e-04 1.96488769e+02] [ 9.58798139e-01 -2.84082178e-01 1.85597366e-03 1.56267377e+02] [-1.91916427e-03 5.58961570e-05 9.99998157e-01 -5.54831517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56576923100005 meters 0.03514409508881225 Centerline is valid? [True, True] Translation: X:196.49, Y:156.29, Z:-0.56 [[-2.84600235e-01 -9.58646288e-01 -3.83013887e-05 1.96490345e+02] [ 9.58646277e-01 -2.84600237e-01 1.46947422e-04 1.56291263e+02] [-1.51771185e-04 5.10378699e-06 9.99999988e-01 -5.58008662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5957692310001 meters 0.03253777274576775 Centerline is valid? [True, True] Translation: X:196.49, Y:156.32, Z:-0.56 [[-2.82113937e-01 -9.59380847e-01 3.41783585e-04 1.96488572e+02] [ 9.59379990e-01 -2.82114142e-01 -1.28297994e-03 1.56316395e+02] [ 1.32728837e-03 -3.40461909e-05 9.99999119e-01 -5.59264711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62576923100005 meters 0.029557822509960387 Centerline is valid? [True, True] Translation: X:196.48, Y:156.34, Z:-0.56 [[-2.79445500e-01 -9.60161548e-01 1.22447096e-04 1.96480272e+02] [ 9.60161439e-01 -2.79445526e-01 -4.57199547e-04 1.56337716e+02] [ 4.73202718e-04 -1.01933762e-05 9.99999888e-01 -5.57264040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6557692310001 meters 0.03038211542315499 Centerline is valid? [True, True] Translation: X:196.46, Y:156.36, Z:-0.55 [[-2.72691499e-01 -9.62101385e-01 -5.20891086e-04 1.96463776e+02] [ 9.62099396e-01 -2.72691995e-01 1.95656128e-03 1.56358646e+02] [-2.02445315e-03 3.23886302e-05 9.99997950e-01 -5.51060179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68576923100005 meters 0.017939247200707432 Centerline is valid? [True, True] Translation: X:196.45, Y:156.38, Z:-0.55 [[-2.69568145e-01 -9.62981171e-01 -5.28084588e-04 1.96454656e+02] [ 9.62979134e-01 -2.69568661e-01 1.98098454e-03 1.56379908e+02] [-2.05000587e-03 2.54758884e-05 9.99997898e-01 -5.53033711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.715769231 meters 0.014525968508283837 Centerline is valid? [True, True] Translation: X:196.44, Y:156.40, Z:-0.55 [[-2.65387873e-01 -9.64141681e-01 -3.10417356e-04 1.96444406e+02] [ 9.64140978e-01 -2.65388055e-01 1.16405467e-03 1.56400834e+02] [-1.20469469e-03 9.63990147e-06 9.99999274e-01 -5.54002765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74576923100005 meters 0.014078826217826548 Centerline is valid? [True, True] Translation: X:196.44, Y:156.42, Z:-0.56 [[-2.64852067e-01 -9.64289048e-01 -1.16043115e-04 1.96437585e+02] [ 9.64288950e-01 -2.64852093e-01 4.36187236e-04 1.56423290e+02] [-4.51344837e-04 3.62599735e-06 9.99999898e-01 -5.55880554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.775769231 meters 0.014265108291452505 Centerline is valid? [True, True] Translation: X:196.43, Y:156.45, Z:-0.56 [[-2.65329807e-01 -9.64157710e-01 -5.84313222e-05 1.96432240e+02] [ 9.64157685e-01 -2.65329814e-01 2.20619649e-04 1.56446471e+02] [-2.28215707e-04 2.19996057e-06 9.99999974e-01 -5.56876194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80576923100006 meters 0.015709465945538188 Centerline is valid? [True, True] Translation: X:196.43, Y:156.47, Z:-0.56 [[-2.68281644e-01 -9.63340491e-01 -2.41914339e-04 1.96429643e+02] [ 9.63340066e-01 -2.68281753e-01 9.04394383e-04 1.56470849e+02] [-9.36140932e-04 9.58663671e-06 9.99999562e-01 -5.55559133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83576923100003 meters 0.016856283722623176 Centerline is valid? [True, True] Translation: X:196.43, Y:156.49, Z:-0.55 [[-2.69459613e-01 -9.63011576e-01 -4.70295941e-04 1.96425301e+02] [ 9.63009980e-01 -2.69460023e-01 1.75367179e-03 1.56493214e+02] [-1.81553219e-03 1.96440389e-05 9.99998352e-01 -5.53546482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86576923100006 meters 0.01607135493743033 Centerline is valid? [True, True] Translation: X:196.42, Y:156.51, Z:-0.55 [[-2.68856390e-01 -9.63179691e-01 -1.06006967e-03 1.96416880e+02] [ 9.63171615e-01 -2.68858477e-01 3.94447798e-03 1.56514283e+02] [-4.08424980e-03 3.94690955e-05 9.99991659e-01 -5.47173173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89576923100003 meters 0.014497999236264091 Centerline is valid? [True, True] Translation: X:196.41, Y:156.54, Z:-0.55 [[-2.67714670e-01 -9.63497436e-01 -1.24382113e-03 1.96406194e+02] [ 9.63486350e-01 -2.67717556e-01 4.62202832e-03 1.56535736e+02] [-4.78630518e-03 3.89801057e-05 9.99988545e-01 -5.45524240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92576923100006 meters 0.013344939652266763 Centerline is valid? [True, True] Translation: X:196.40, Y:156.56, Z:-0.55 [[-2.65867808e-01 -9.64008571e-01 -1.33533669e-03 1.96395116e+02] [ 9.63995834e-01 -2.65871160e-01 4.95571218e-03 1.56556483e+02] [-5.13237654e-03 3.03053269e-05 9.99986829e-01 -5.45360467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95576923100003 meters 0.01194554323238328 Centerline is valid? [True, True] Translation: X:196.38, Y:156.58, Z:-0.55 [[-2.62265145e-01 -9.64995115e-01 -1.19273725e-03 1.96380012e+02] [ 9.64984986e-01 -2.62267857e-01 4.42123534e-03 1.56576207e+02] [-4.57928715e-03 8.56238981e-06 9.99989515e-01 -5.47571268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98576923100006 meters 0.011759478211455234 Centerline is valid? [True, True] Translation: X:196.37, Y:156.60, Z:-0.55 [[-2.61435506e-01 -9.65220438e-01 -9.91425424e-04 1.96370494e+02] [ 9.65213457e-01 -2.61437386e-01 3.67094766e-03 1.56598748e+02] [-3.80246938e-03 2.77889910e-06 9.99992771e-01 -5.49348122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01576923100004 meters 0.011642281037125451 Centerline is valid? [True, True] Translation: X:196.36, Y:156.62, Z:-0.55 [[-2.61299790e-01 -9.65257583e-01 -4.67286578e-04 1.96360037e+02] [ 9.65256034e-01 -2.61300208e-01 1.72947349e-03 1.56619256e+02] [-1.79148948e-03 8.59872087e-07 9.99998395e-01 -5.52600092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04576923100007 meters 0.011821745713468166 Centerline is valid? [True, True] Translation: X:196.35, Y:156.64, Z:-0.55 [[-2.61304687e-01 -9.65256353e-01 -1.84129453e-04 1.96350574e+02] [ 9.65256112e-01 -2.61304752e-01 6.82184606e-04 1.56640760e+02] [-7.06596926e-04 5.25955122e-07 9.99999750e-01 -5.54409490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07576923100004 meters 0.011994672651936376 Centerline is valid? [True, True] Translation: X:196.34, Y:156.66, Z:-0.56 [[-2.60421391e-01 -9.65495003e-01 3.15240435e-04 1.96336491e+02] [ 9.65494306e-01 -2.60421582e-01 -1.15974700e-03 1.56662011e+02] [ 1.20182534e-03 2.33991823e-06 9.99999278e-01 -5.57181732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10576923100007 meters 0.01228158579300519 Centerline is valid? [True, True] Translation: X:196.33, Y:156.68, Z:-0.56 [[-2.60028161e-01 -9.65600986e-01 3.02925901e-04 1.96325622e+02] [ 9.65600345e-01 -2.60028337e-01 -1.11276438e-03 1.56683222e+02] [ 1.15325570e-03 3.15527986e-06 9.99999335e-01 -5.57981555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13576923100004 meters 0.012200430752625556 Centerline is valid? [True, True] Translation: X:196.32, Y:156.71, Z:-0.56 [[-2.60070473e-01 -9.65589629e-01 1.28648276e-04 1.96315751e+02] [ 9.65589515e-01 -2.60070505e-01 -4.70724844e-04 1.56705309e+02] [ 4.87984650e-04 1.79979363e-06 9.99999881e-01 -5.57268574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16576923100007 meters 0.011924070406150374 Centerline is valid? [True, True] Translation: X:196.31, Y:156.73, Z:-0.55 [[-2.61220808e-01 -9.65279007e-01 -3.58896250e-04 1.96305889e+02] [ 9.65278103e-01 -2.61221055e-01 1.32080125e-03 1.56727757e+02] [-1.36869297e-03 -1.41392240e-06 9.99999063e-01 -5.54370601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19576923100004 meters 0.011822972614446411 Centerline is valid? [True, True] Translation: X:196.30, Y:156.75, Z:-0.55 [[-2.62385693e-01 -9.64963005e-01 -3.82402159e-04 1.96299004e+02] [ 9.64961982e-01 -2.62385972e-01 1.40551885e-03 1.56750326e+02] [-1.45661065e-03 -2.15508195e-07 9.99998939e-01 -5.54402644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2257692310001 meters 0.012029489569213602 Centerline is valid? [True, True] Translation: X:196.29, Y:156.77, Z:-0.56 [[-2.64292318e-01 -9.64442613e-01 1.30850439e-04 1.96292255e+02] [ 9.64442495e-01 -2.64292351e-01 -4.76860295e-04 1.56770974e+02] [ 4.94487159e-04 1.67211214e-07 9.99999878e-01 -5.57900657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25576923100004 meters 0.012145687597135715 Centerline is valid? [True, True] Translation: X:196.28, Y:156.79, Z:-0.56 [[-2.65173000e-01 -9.64200818e-01 2.51200679e-04 1.96284865e+02] [ 9.64200382e-01 -2.65173119e-01 -9.16833896e-04 1.56792824e+02] [ 9.50623660e-04 -9.11803180e-07 9.99999548e-01 -5.59560146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2857692310001 meters 0.012199667161294246 Centerline is valid? [True, True] Translation: X:196.28, Y:156.81, Z:-0.56 [[-2.65551799e-01 -9.64096559e-01 2.58975402e-04 1.96276936e+02] [ 9.64096097e-01 -2.65551925e-01 -9.44004613e-04 1.56813999e+02] [ 9.78883015e-04 -1.00494859e-06 9.99999521e-01 -5.60076922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31576923100005 meters 0.011948734685361381 Centerline is valid? [True, True] Translation: X:196.26, Y:156.83, Z:-0.56 [[-2.64816131e-01 -9.64298922e-01 7.44453036e-05 1.96264664e+02] [ 9.64298884e-01 -2.64816142e-01 -2.69263203e-04 1.56834950e+02] [ 2.79364534e-04 4.82283575e-07 9.99999961e-01 -5.58550407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3457692310001 meters 0.011930385271325982 Centerline is valid? [True, True] Translation: X:196.26, Y:156.86, Z:-0.56 [[-2.64504204e-01 -9.64384532e-01 -3.51795570e-05 1.96255083e+02] [ 9.64384523e-01 -2.64504207e-01 1.30796015e-04 1.56855841e+02] [-1.35442794e-04 6.69475608e-07 9.99999991e-01 -5.57469027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37576923100005 meters 0.012003734616635073 Centerline is valid? [True, True] Translation: X:196.24, Y:156.88, Z:-0.56 [[-2.63776399e-01 -9.64583853e-01 -5.15901716e-05 1.96242924e+02] [ 9.64583834e-01 -2.63776404e-01 1.90401855e-04 1.56876604e+02] [-1.97266825e-04 4.60470132e-07 9.99999981e-01 -5.57549187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4057692310001 meters 0.012071831382146651 Centerline is valid? [True, True] Translation: X:196.24, Y:156.90, Z:-0.56 [[-2.64255755e-01 -9.64452632e-01 1.31011745e-04 1.96235264e+02] [ 9.64452515e-01 -2.64255788e-01 -4.73980710e-04 1.56897377e+02] [ 4.91752555e-04 1.10247675e-06 9.99999879e-01 -5.59462430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43576923100005 meters 0.01213913800066378 Centerline is valid? [True, True] Translation: X:196.23, Y:156.92, Z:-0.56 [[-2.65111405e-01 -9.64217724e-01 3.51902477e-04 1.96228892e+02] [ 9.64216879e-01 -2.65111639e-01 -1.27603927e-03 1.56919656e+02] [ 1.32367313e-03 1.01774277e-06 9.99999124e-01 -5.61769543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.465769231 meters 0.012595756024102562 Centerline is valid? [True, True] Translation: X:196.23, Y:156.94, Z:-0.56 [[-2.68431768e-01 -9.63298634e-01 3.57992744e-04 1.96226329e+02] [ 9.63297761e-01 -2.68432007e-01 -1.29648102e-03 1.56941415e+02] [ 1.34499511e-03 -3.16308483e-06 9.99999095e-01 -5.61448022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49576923100005 meters 0.013074399425669236 Centerline is valid? [True, True] Translation: X:196.22, Y:156.96, Z:-0.56 [[-2.70188612e-01 -9.62807412e-01 -5.00410264e-05 1.96220514e+02] [ 9.62807394e-01 -2.70188616e-01 1.83763171e-04 1.56964395e+02] [-1.90449059e-04 1.47084578e-06 9.99999982e-01 -5.57651325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.525769231 meters 0.015098461364773027 Centerline is valid? [True, True] Translation: X:196.22, Y:156.99, Z:-0.55 [[-2.73631807e-01 -9.61834327e-01 -6.01327651e-04 1.96219057e+02] [ 9.61831858e-01 -2.73632467e-01 2.17937371e-03 1.56987881e+02] [-2.26073922e-03 1.79698752e-05 9.99997444e-01 -5.52883683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55576923100006 meters 0.016286617313852784 Centerline is valid? [True, True] Translation: X:196.22, Y:157.01, Z:-0.55 [[-2.75217418e-01 -9.61381803e-01 -6.34576356e-04 1.96215699e+02] [ 9.61379059e-01 -2.75218149e-01 2.29698732e-03 1.57009468e+02] [-2.38292874e-03 2.21024991e-05 9.99997161e-01 -5.52700732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58576923100003 meters 0.0182403557242294 Centerline is valid? [True, True] Translation: X:196.21, Y:157.03, Z:-0.55 [[-2.76700200e-01 -9.60956122e-01 -5.75977016e-04 1.96213071e+02] [ 9.60953865e-01 -2.76700799e-01 2.08247265e-03 1.57031152e+02] [-2.16053814e-03 2.27332591e-05 9.99997666e-01 -5.54066576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61576923100006 meters 0.019664427420639032 Centerline is valid? [True, True] Translation: X:196.21, Y:157.05, Z:-0.56 [[-2.78118346e-01 -9.60546713e-01 -4.43765453e-04 1.96209282e+02] [ 9.60545376e-01 -2.78118700e-01 1.60299965e-03 1.57053158e+02] [-1.66317551e-03 1.95667575e-05 9.99998617e-01 -5.55739337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64576923100003 meters 0.018162306731046463 Centerline is valid? [True, True] Translation: X:196.20, Y:157.07, Z:-0.56 [[-2.78457116e-01 -9.60448576e-01 -4.08759981e-04 1.96199561e+02] [ 9.60447444e-01 -2.78457415e-01 1.47494378e-03 1.57074987e+02] [-1.53042990e-03 1.81161134e-05 9.99998829e-01 -5.55835803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67576923100006 meters 0.019264839976524638 Centerline is valid? [True, True] Translation: X:196.19, Y:157.10, Z:-0.56 [[-2.78982573e-01 -9.60296164e-01 -3.26066655e-05 1.96193598e+02] [ 9.60296157e-01 -2.78982574e-01 1.19804009e-04 1.57096930e+02] [-1.24144021e-04 2.11117490e-06 9.99999992e-01 -5.57672987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70576923100003 meters 0.019421452097106093 Centerline is valid? [True, True] Translation: X:196.19, Y:157.12, Z:-0.56 [[-2.79949836e-01 -9.60014613e-01 1.76624420e-04 1.96186870e+02] [ 9.60014405e-01 -2.79949892e-01 -6.32183584e-04 1.57119276e+02] [ 6.56351466e-04 -7.41770277e-06 9.99999785e-01 -5.59652588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73576923100006 meters 0.020827489101023642 Centerline is valid? [True, True] Translation: X:196.18, Y:157.14, Z:-0.56 [[-2.81571696e-01 -9.59540169e-01 2.08129125e-04 1.96181742e+02] [ 9.59539881e-01 -2.81571773e-01 -7.44064961e-04 1.57141235e+02] [ 7.72563505e-04 -9.79943783e-06 9.99999702e-01 -5.60452036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76576923100004 meters 0.023483921137067012 Centerline is valid? [True, True] Translation: X:196.18, Y:157.17, Z:-0.56 [[-2.84963793e-01 -9.58538281e-01 1.71191842e-05 1.96178971e+02] [ 9.58538279e-01 -2.84963793e-01 -5.89492879e-05 1.57165247e+02] [ 6.13834966e-05 -3.89019323e-07 9.99999998e-01 -5.59555215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79576923100007 meters 0.02749439192285681 Centerline is valid? [True, True] Translation: X:196.18, Y:157.19, Z:-0.56 [[-2.86760976e-01 -9.58002162e-01 -1.79681414e-06 1.96179706e+02] [ 9.58002162e-01 -2.86760976e-01 8.84767386e-06 1.57189668e+02] [-8.99134695e-06 8.15815764e-07 1.00000000e+00 -5.59584610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82576923100004 meters 0.02749439192285681 Centerline is valid? [True, True] Translation: X:196.17, Y:157.21, Z:-0.56 [[-2.87054605e-01 -9.57914220e-01 -1.79094583e-06 1.96173146e+02] [ 9.57914220e-01 -2.87054605e-01 8.84941721e-06 1.57211234e+02] [-8.99108191e-06 8.24693491e-07 1.00000000e+00 -5.59632895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85576923100007 meters 0.030563773399906152 Centerline is valid? [True, True] Translation: X:196.17, Y:157.24, Z:-0.56 [[-2.90403975e-01 -9.56904060e-01 3.89764506e-04 1.96173749e+02] [ 9.56903051e-01 -2.90404235e-01 -1.38985172e-03 1.57236269e+02] [ 1.44314401e-03 -3.06516185e-05 9.99998958e-01 -5.60764277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88576923100004 meters 0.031368921813001154 Centerline is valid? [True, True] Translation: X:196.17, Y:157.26, Z:-0.56 [[-2.91201705e-01 -9.56661518e-01 5.53527784e-04 1.96169432e+02] [ 9.56659487e-01 -2.91202228e-01 -1.97216557e-03 1.57258529e+02] [ 2.04788344e-03 -4.47603717e-05 9.99997902e-01 -5.61958643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91576923100007 meters 0.026885240314897182 Centerline is valid? [True, True] Translation: X:196.16, Y:157.28, Z:-0.56 [[-2.91244750e-01 -9.56648521e-01 3.21282698e-04 1.96157525e+02] [ 9.56647839e-01 -2.91244926e-01 -1.14228461e-03 1.57280353e+02] [ 1.18633684e-03 -2.53299955e-05 9.99999296e-01 -5.59632775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94576923100004 meters 0.027747530299038956 Centerline is valid? [True, True] Translation: X:196.15, Y:157.30, Z:-0.55 [[-2.89110631e-01 -9.57295577e-01 -4.71193700e-04 1.96153946e+02] [ 9.57294104e-01 -2.89111013e-01 1.67942356e-03 1.57303797e+02] [-1.74393203e-03 3.44682542e-05 9.99998479e-01 -5.54943240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9757692310001 meters 0.026770408531544252 Centerline is valid? [True, True] Translation: X:196.15, Y:157.32, Z:-0.55 [[-2.88305466e-01 -9.57538349e-01 -5.17672184e-04 1.96146289e+02] [ 9.57536577e-01 -2.88305928e-01 1.84268882e-03 1.57324286e+02] [-1.91369317e-03 3.55672080e-05 9.99998168e-01 -5.54731199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00576923100004 meters 0.024296597907941333 Centerline is valid? [True, True] Translation: X:196.14, Y:157.35, Z:-0.56 [[-2.88090593e-01 -9.57603144e-01 1.72460079e-04 1.96135701e+02] [ 9.57602949e-01 -2.88090644e-01 -6.09927396e-04 1.57346276e+02] [ 6.33752527e-04 -1.05660651e-05 9.99999799e-01 -5.59680984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0357692310001 meters 0.0252357581403554 Centerline is valid? [True, True] Translation: X:196.13, Y:157.37, Z:-0.56 [[-2.89101245e-01 -9.57298464e-01 3.48991569e-04 1.96131003e+02] [ 9.57297667e-01 -2.89101454e-01 -1.23527095e-03 1.57369806e+02] [ 1.28341695e-03 -2.30295540e-05 9.99999176e-01 -5.61066645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06576923100005 meters 0.031074409563640323 Centerline is valid? [True, True] Translation: X:196.14, Y:157.39, Z:-0.56 [[-2.92045475e-01 -9.56404432e-01 6.14736945e-05 1.96135259e+02] [ 9.56404407e-01 -2.92045482e-01 -2.15272613e-04 1.57394618e+02] [ 2.23840796e-04 -4.07568033e-06 9.99999975e-01 -5.59339795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0957692310001 meters 0.029150539394484965 Centerline is valid? [True, True] Translation: X:196.13, Y:157.42, Z:-0.56 [[-2.93542159e-01 -9.55946102e-01 -2.27549277e-04 1.96126749e+02] [ 9.55945761e-01 -2.93542247e-01 8.07438024e-04 1.57417428e+02] [-8.38662557e-04 1.94923346e-05 9.99999648e-01 -5.57154360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12576923100005 meters 0.029480914802934584 Centerline is valid? [True, True] Translation: X:196.12, Y:157.44, Z:-0.56 [[-2.94338333e-01 -9.55701166e-01 -4.76593031e-04 1.96121596e+02] [ 9.55699678e-01 -2.94338716e-01 1.68669865e-03 1.57440489e+02] [-1.75225965e-03 4.09802628e-05 9.99998464e-01 -5.56062923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1557692310001 meters 0.02870317612773684 Centerline is valid? [True, True] Translation: X:196.12, Y:157.46, Z:-0.56 [[-2.93715454e-01 -9.55892781e-01 -4.71827709e-04 1.96117396e+02] [ 9.55891327e-01 -2.93715831e-01 1.66794720e-03 1.57463929e+02] [-1.73296195e-03 3.88858534e-05 9.99998498e-01 -5.56374091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18576923100005 meters 0.027741120528042937 Centerline is valid? [True, True] Translation: X:196.11, Y:157.49, Z:-0.56 [[-2.93040011e-01 -9.56100164e-01 -1.69489299e-04 1.96111122e+02] [ 9.56099976e-01 -2.93040060e-01 6.00006595e-04 1.57486756e+02] [-6.23333558e-04 1.37772244e-05 9.99999806e-01 -5.58613271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.215769231 meters 0.025888069821989018 Centerline is valid? [True, True] Translation: X:196.11, Y:157.51, Z:-0.57 [[-2.91064689e-01 -9.56703022e-01 8.21197567e-04 1.96105428e+02] [ 9.56698659e-01 -2.91065842e-01 -2.88989219e-03 1.57509371e+02] [ 3.00379115e-03 -5.55069592e-05 9.99995487e-01 -5.65409821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24576923100005 meters 0.02476559096931711 Centerline is valid? [True, True] Translation: X:196.10, Y:157.53, Z:-0.57 [[-2.90258869e-01 -9.56947564e-01 1.07158340e-03 1.96099401e+02] [ 9.56940153e-01 -2.90260839e-01 -3.76693122e-03 1.57532972e+02] [ 3.91579435e-03 -6.79440129e-05 9.99992331e-01 -5.67456801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.275769231 meters 0.02404071265924624 Centerline is valid? [True, True] Translation: X:196.10, Y:157.56, Z:-0.57 [[-2.89828113e-01 -9.57078318e-01 8.70320530e-04 1.96099127e+02] [ 9.57073442e-01 -2.89829415e-01 -3.05569123e-03 1.57557349e+02] [ 3.17678031e-03 -5.26645585e-05 9.99994953e-01 -5.65962515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30576923100006 meters 0.022713113467600285 Centerline is valid? [True, True] Translation: X:196.09, Y:157.58, Z:-0.56 [[-2.90319026e-01 -9.56929663e-01 6.94443795e-04 1.96094912e+02] [ 9.56926567e-01 -2.90319854e-01 -2.43471519e-03 1.57580699e+02] [ 2.53146201e-03 -4.23124278e-05 9.99996795e-01 -5.63855332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33576923100003 meters 0.021050572529220112 Centerline is valid? [True, True] Translation: X:196.09, Y:157.61, Z:-0.56 [[-2.89178485e-01 -9.57275191e-01 1.15933626e-04 1.96094110e+02] [ 9.57275105e-01 -2.89178508e-01 -4.04117816e-04 1.57606000e+02] [ 4.20377472e-04 -5.88180395e-06 9.99999912e-01 -5.60015675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36576923100006 meters 0.020883706302059466 Centerline is valid? [True, True] Translation: X:196.09, Y:157.63, Z:-0.56 [[-2.87442705e-01 -9.57797825e-01 -1.35419940e-04 1.96090277e+02] [ 9.57797706e-01 -2.87442737e-01 4.76549920e-04 1.57629525e+02] [-4.95363955e-04 7.27589048e-06 9.99999877e-01 -5.58266309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39576923100003 meters 0.017744648456425188 Centerline is valid? [True, True] Translation: X:196.08, Y:157.65, Z:-0.56 [[-2.84728538e-01 -9.58608160e-01 -2.36297691e-04 1.96081173e+02] [ 9.58607801e-01 -2.84728635e-01 8.28916460e-04 1.57649449e+02] [-8.61886802e-04 9.49936134e-06 9.99999629e-01 -5.57340393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42576923100006 meters 0.0255810075993044 Centerline is valid? [True, True] Translation: X:196.06, Y:157.67, Z:-0.56 [[-2.77213075e-01 -9.60808460e-01 1.23136549e-04 1.96064632e+02] [ 9.60808365e-01 -2.77213102e-01 -4.27151433e-04 1.57669303e+02] [ 4.44545775e-04 -1.01335632e-07 9.99999901e-01 -5.56605862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45576923100003 meters 0.012091057874503514 Centerline is valid? [True, True] Translation: X:196.05, Y:157.69, Z:-0.56 [[-2.74443872e-01 -9.61603107e-01 1.59792925e-04 1.96054307e+02] [ 9.61602947e-01 -2.74443919e-01 -5.54909188e-04 1.57689406e+02] [ 5.77456596e-04 1.36592157e-06 9.99999833e-01 -5.60519611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48576923100006 meters 0.01388980033337444 Centerline is valid? [True, True] Translation: X:196.04, Y:157.71, Z:-0.56 [[-2.70530541e-01 -9.62711377e-01 -1.77548251e-04 1.96043793e+02] [ 9.62711176e-01 -2.70530599e-01 6.21054202e-04 1.57709118e+02] [-6.45928180e-04 -2.91355667e-06 9.99999791e-01 -5.57511508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51576923100004 meters 0.014938473935526025 Centerline is valid? [True, True] Translation: X:196.04, Y:157.73, Z:-0.56 [[-2.69447915e-01 -9.63014920e-01 -2.92016188e-04 1.96035544e+02] [ 9.63014381e-01 -2.69448073e-01 1.01860748e-03 1.57730889e+02] [-1.05961740e-03 -6.75412692e-06 9.99999439e-01 -5.56479126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54576923100007 meters 0.01563085249923607 Centerline is valid? [True, True] Translation: X:196.03, Y:157.75, Z:-0.56 [[-2.68901230e-01 -9.63167618e-01 -5.17210682e-04 1.96027870e+02] [ 9.63165936e-01 -2.68901727e-01 1.80025442e-03 1.57752385e+02] [-1.87302561e-03 -1.40690804e-05 9.99998246e-01 -5.55609602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57576923100004 meters 0.018244543952495012 Centerline is valid? [True, True] Translation: X:196.02, Y:157.77, Z:-0.56 [[-2.66732937e-01 -9.63770295e-01 -5.99072554e-04 1.96016479e+02] [ 9.63768045e-01 -2.66733609e-01 2.08244851e-03 1.57773375e+02] [-2.16679480e-03 -2.19093774e-05 9.99997652e-01 -5.55007966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60576923100007 meters 0.01794012379682494 Centerline is valid? [True, True] Translation: X:196.01, Y:157.80, Z:-0.56 [[-2.65225366e-01 -9.64186405e-01 -2.87521265e-04 1.96008731e+02] [ 9.64185887e-01 -2.65225521e-01 9.99336930e-04 1.57796600e+02] [-1.03980506e-03 -1.21744429e-05 9.99999459e-01 -5.55810574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63576923100004 meters 0.02220753316648784 Centerline is valid? [True, True] Translation: X:195.99, Y:157.82, Z:-0.56 [[-2.60676171e-01 -9.65426277e-01 1.92134024e-04 1.95991612e+02] [ 9.65426050e-01 -2.60676242e-01 -6.63215919e-04 1.57816752e+02] [ 6.90370850e-04 1.26066052e-05 9.99999762e-01 -5.58541566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66576923100007 meters 0.026487335990722075 Centerline is valid? [True, True] Translation: X:195.98, Y:157.84, Z:-0.56 [[-2.58922129e-01 -9.65898197e-01 6.31723913e-05 1.95976581e+02] [ 9.65898173e-01 -2.58922137e-01 -2.16165195e-04 1.57836259e+02] [ 2.25150303e-04 5.04814481e-06 9.99999975e-01 -5.58130667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69576923100004 meters 0.029878888446734583 Centerline is valid? [True, True] Translation: X:195.96, Y:157.86, Z:-0.56 [[-2.56728163e-01 -9.66483604e-01 -3.04533321e-04 1.95961695e+02] [ 9.66483029e-01 -2.56728343e-01 1.05477929e-03 1.57855284e+02] [-1.09760923e-03 -2.35347357e-05 9.99999397e-01 -5.56900134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7257692310001 meters 0.025911517627853885 Centerline is valid? [True, True] Translation: X:195.96, Y:157.88, Z:-0.56 [[-2.57129507e-01 -9.66376931e-01 -2.11583624e-04 1.95958737e+02] [ 9.66376653e-01 -2.57129594e-01 7.32725271e-04 1.57878819e+02] [-7.62493210e-04 -1.60641867e-05 9.99999709e-01 -5.57462842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75576923100004 meters 0.03194022596278297 Centerline is valid? [True, True] Translation: X:195.94, Y:157.90, Z:-0.56 [[-2.57733425e-01 -9.66216063e-01 4.05644402e-05 1.95942966e+02] [ 9.66216053e-01 -2.57733428e-01 -1.37386513e-04 1.57897857e+02] [ 1.43199868e-04 3.78491679e-06 9.99999990e-01 -5.60799003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7857692310001 meters 0.02989345146570673 Centerline is valid? [True, True] Translation: X:195.94, Y:157.92, Z:-0.57 [[-2.60116947e-01 -9.65576975e-01 5.29137022e-04 1.95936700e+02] [ 9.65575260e-01 -2.60117483e-01 -1.81990141e-03 1.57919039e+02] [ 1.89489268e-03 3.75344194e-05 9.99998204e-01 -5.65099242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81576923100005 meters 0.022362208758293457 Centerline is valid? [True, True] Translation: X:195.94, Y:157.94, Z:-0.56 [[-2.61995997e-01 -9.65068723e-01 6.76253246e-04 1.95938338e+02] [ 9.65065926e-01 -2.61996866e-01 -2.32382878e-03 1.57944874e+02] [ 2.41983071e-03 4.37951256e-05 9.99997071e-01 -5.64176715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8457692310001 meters 0.022053911576223356 Centerline is valid? [True, True] Translation: X:195.93, Y:157.97, Z:-0.57 [[-2.64992779e-01 -9.64250148e-01 6.92340104e-04 1.95928944e+02] [ 9.64247220e-01 -2.64993681e-01 -2.37629680e-03 1.57966426e+02] [ 2.47481030e-03 3.78855263e-05 9.99996937e-01 -5.65154078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87576923100005 meters 0.022057838832985278 Centerline is valid? [True, True] Translation: X:195.92, Y:157.99, Z:-0.57 [[-2.66458995e-01 -9.63845826e-01 9.09482450e-04 1.95921042e+02] [ 9.63840781e-01 -2.66460543e-01 -3.11894588e-03 1.57987671e+02] [ 3.24852416e-03 4.55250890e-05 9.99994722e-01 -5.67244776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9057692310001 meters 0.018669813487774533 Centerline is valid? [True, True] Translation: X:195.92, Y:158.01, Z:-0.57 [[-2.67886986e-01 -9.63449637e-01 1.16623498e-03 1.95918243e+02] [ 9.63441354e-01 -2.67889519e-01 -3.99544423e-03 1.58011691e+02] [ 4.16183142e-03 5.32714921e-05 9.99991338e-01 -5.68080363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93576923100005 meters 0.01747261318598055 Centerline is valid? [True, True] Translation: X:195.91, Y:158.04, Z:-0.57 [[-2.69675089e-01 -9.62950452e-01 1.33200781e-03 1.95911953e+02] [ 9.62939662e-01 -2.69678373e-01 -4.55876679e-03 1.58035232e+02] [ 4.74908024e-03 5.32573119e-05 9.99988722e-01 -5.69065597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.965769231 meters 0.014790358833787808 Centerline is valid? [True, True] Translation: X:195.91, Y:158.06, Z:-0.57 [[-2.73389567e-01 -9.61902973e-01 9.03173603e-04 1.95907508e+02] [ 9.61898021e-01 -2.73391058e-01 -3.08663617e-03 1.58059532e+02] [ 3.21596409e-03 2.49067762e-05 9.99994828e-01 -5.66170903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99576923100005 meters 0.012919034863577445 Centerline is valid? [True, True] Translation: X:195.90, Y:158.08, Z:-0.56 [[-2.76996312e-01 -9.60870947e-01 2.58160201e-04 1.95904104e+02] [ 9.60870544e-01 -2.76996432e-01 -8.79599662e-04 1.58083232e+02] [ 9.16691215e-04 4.41267073e-06 9.99999580e-01 -5.61671020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.025769231 meters 0.012504437671253903 Centerline is valid? [True, True] Translation: X:195.90, Y:158.11, Z:-0.56 [[-2.78722298e-01 -9.60371719e-01 2.04342810e-04 1.95900180e+02] [ 9.60371468e-01 -2.78722373e-01 -6.94783724e-04 1.58106321e+02] [ 7.24205553e-04 2.59328781e-06 9.99999738e-01 -5.61827050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05576923100006 meters 0.012399577149352529 Centerline is valid? [True, True] Translation: X:195.90, Y:158.13, Z:-0.56 [[-2.80801360e-01 -9.59765849e-01 3.33882108e-04 1.95897280e+02] [ 9.59765177e-01 -2.80801558e-01 -1.13546846e-03 1.58129293e+02] [ 1.18353847e-03 1.60733220e-06 9.99999300e-01 -5.63577399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08576923100003 meters 0.012345264811149694 Centerline is valid? [True, True] Translation: X:195.89, Y:158.15, Z:-0.56 [[-2.83168134e-01 -9.59070196e-01 4.08243978e-04 1.95894723e+02] [ 9.59069193e-01 -2.83168428e-01 -1.38743449e-03 1.58153408e+02] [ 1.44624887e-03 -1.34301283e-06 9.99998954e-01 -5.63313186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11576923100006 meters 0.013269209696946631 Centerline is valid? [True, True] Translation: X:195.90, Y:158.18, Z:-0.56 [[-2.86756209e-01 -9.58003557e-01 -2.45811410e-04 1.95897446e+02] [ 9.58003191e-01 -2.86756314e-01 8.38244691e-04 1.58177879e+02] [-8.73529370e-04 4.88375459e-06 9.99999618e-01 -5.59511409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14576923100003 meters 0.013948736229638993 Centerline is valid? [True, True] Translation: X:195.90, Y:158.20, Z:-0.55 [[-2.88761148e-01 -9.57400430e-01 -1.19015042e-03 1.95898299e+02] [ 9.57391887e-01 -2.88763600e-01 4.04461140e-03 1.58203688e+02] [-4.21598481e-03 2.84862741e-05 9.99991112e-01 -5.52398442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17576923100006 meters 0.014299151640357765 Centerline is valid? [True, True] Translation: X:195.89, Y:158.23, Z:-0.55 [[-2.89339085e-01 -9.57226101e-01 -1.04176982e-03 1.95894746e+02] [ 9.57219568e-01 -2.89340960e-01 3.53657786e-03 1.58226254e+02] [-3.68673131e-03 2.60677485e-05 9.99993204e-01 -5.53181001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20576923100003 meters 0.014206492350936371 Centerline is valid? [True, True] Translation: X:195.89, Y:158.25, Z:-0.56 [[-2.89248220e-01 -9.57253814e-01 -7.76517143e-04 1.95889390e+02] [ 9.57250191e-01 -2.89249261e-01 2.63362853e-03 1.58248126e+02] [-2.74565797e-03 1.84511806e-05 9.99996231e-01 -5.55768201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23576923100006 meters 0.012462448868979068 Centerline is valid? [True, True] Translation: X:195.88, Y:158.27, Z:-0.56 [[-2.86294030e-01 -9.58141695e-01 -4.69786903e-04 1.95881311e+02] [ 9.58140372e-01 -2.86294416e-01 1.59241609e-03 1.58270450e+02] [-1.66025762e-03 5.77742163e-06 9.99998622e-01 -5.58403627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26576923100004 meters 0.0120948804081724 Centerline is valid? [True, True] Translation: X:195.87, Y:158.29, Z:-0.56 [[-2.84091302e-01 -9.58797170e-01 -3.45202268e-04 1.95873793e+02] [ 9.58796457e-01 -2.84091512e-01 1.16946290e-03 1.58291637e+02] [-1.21934676e-03 1.25552810e-06 9.99999257e-01 -5.57844375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29576923100007 meters 0.012982004910504018 Centerline is valid? [True, True] Translation: X:195.87, Y:158.31, Z:-0.56 [[-2.79936765e-01 -9.60018437e-01 9.24650854e-05 1.95865117e+02] [ 9.60018387e-01 -2.79936780e-01 -3.09990024e-04 1.58313988e+02] [ 3.23480516e-04 1.99057789e-06 9.99999948e-01 -5.59232562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32576923100004 meters 0.01356780550264088 Centerline is valid? [True, True] Translation: X:195.86, Y:158.34, Z:-0.56 [[-2.79061765e-01 -9.60273135e-01 1.94090783e-04 1.95857974e+02] [ 9.60272913e-01 -2.79061833e-01 -6.52323538e-04 1.58335829e+02] [ 6.80572098e-04 4.34156360e-06 9.99999768e-01 -5.60136999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35576923100007 meters 0.014023710168263556 Centerline is valid? [True, True] Translation: X:195.85, Y:158.36, Z:-0.56 [[-2.78880771e-01 -9.60325723e-01 1.43928649e-04 1.95852225e+02] [ 9.60325602e-01 -2.78880809e-01 -4.82585274e-04 1.58357734e+02] [ 5.03577990e-04 3.63461258e-06 9.99999873e-01 -5.60623864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38576923100004 meters 0.013518249448370769 Centerline is valid? [True, True] Translation: X:195.85, Y:158.38, Z:-0.56 [[-2.80032095e-01 -9.59990630e-01 1.27590773e-04 1.95852548e+02] [ 9.59990535e-01 -2.80032124e-01 -4.27190429e-04 1.58382933e+02] [ 4.45828324e-04 2.85890358e-06 9.99999901e-01 -5.61529207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41576923100007 meters 0.013064130218328807 Centerline is valid? [True, True] Translation: X:195.85, Y:158.41, Z:-0.56 [[-2.81224737e-01 -9.59641933e-01 8.58829110e-05 1.95850149e+02] [ 9.59641890e-01 -2.81224750e-01 -2.86500128e-04 1.58406701e+02] [ 2.99089937e-04 1.84591589e-06 9.99999955e-01 -5.61462991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44576923100004 meters 0.012747770034290392 Centerline is valid? [True, True] Translation: X:195.85, Y:158.43, Z:-0.56 [[-2.82845887e-01 -9.59165327e-01 2.81913432e-04 1.95851181e+02] [ 9.59164862e-01 -2.82846027e-01 -9.44523535e-04 1.58432138e+02] [ 9.85692320e-04 3.24686127e-06 9.99999514e-01 -5.63032600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4757692310001 meters 0.012786703195183364 Centerline is valid? [True, True] Translation: X:195.85, Y:158.45, Z:-0.57 [[-2.83609482e-01 -9.58939710e-01 5.41605804e-04 1.95848428e+02] [ 9.58937994e-01 -2.83610000e-01 -1.81454414e-03 1.58454787e+02] [ 1.89364325e-03 4.74446019e-06 9.99998207e-01 -5.65026415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50576923100004 meters 0.012731227844421452 Centerline is valid? [True, True] Translation: X:195.85, Y:158.48, Z:-0.57 [[-2.84310505e-01 -9.58731920e-01 8.01931586e-04 1.95845694e+02] [ 9.58728160e-01 -2.84311636e-01 -2.68500710e-03 1.58479349e+02] [ 2.80220050e-03 5.45866754e-06 9.99996074e-01 -5.65828448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5357692310001 meters 0.012762196233285885 Centerline is valid? [True, True] Translation: X:195.85, Y:158.50, Z:-0.57 [[-2.85041955e-01 -9.58514326e-01 1.17103086e-03 1.95847568e+02] [ 9.58506320e-01 -2.85044361e-01 -3.91754287e-03 1.58504932e+02] [ 4.08881670e-03 5.77640642e-06 9.99991641e-01 -5.67338344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56576923100005 meters 0.012877753419653706 Centerline is valid? [True, True] Translation: X:195.84, Y:158.53, Z:-0.57 [[-2.84930262e-01 -9.58547717e-01 1.01033061e-03 1.95844295e+02] [ 9.58541772e-01 -2.84932053e-01 -3.37576797e-03 1.58527742e+02] [ 3.52371025e-03 6.58564415e-06 9.99993792e-01 -5.66982595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5957692310001 meters 0.013216417594011218 Centerline is valid? [True, True] Translation: X:195.84, Y:158.55, Z:-0.56 [[-2.82786891e-01 -9.59182350e-01 8.91210253e-04 1.95841044e+02] [ 9.59177739e-01 -2.82788295e-01 -2.97407698e-03 1.58551850e+02] [ 3.10470598e-03 1.37990526e-05 9.99995180e-01 -5.64885988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62576923100005 meters 0.014544607848721173 Centerline is valid? [True, True] Translation: X:195.83, Y:158.57, Z:-0.57 [[-2.80506973e-01 -9.59851420e-01 1.04371516e-03 1.95832951e+02] [ 9.59845114e-01 -2.80508914e-01 -3.47941243e-03 1.58573290e+02] [ 3.63249037e-03 2.58054468e-05 9.99993402e-01 -5.65498419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6557692310001 meters 0.01999191178208396 Centerline is valid? [True, True] Translation: X:195.82, Y:158.59, Z:-0.57 [[-2.73543746e-01 -9.61858119e-01 1.66705458e-03 1.95818406e+02] [ 9.61842093e-01 -2.73548812e-01 -5.55298520e-03 1.58594528e+02] [ 5.79720470e-03 8.44588976e-05 9.99983193e-01 -5.68241366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68576923100005 meters 0.02359240830642168 Centerline is valid? [True, True] Translation: X:195.81, Y:158.62, Z:-0.57 [[-2.69846811e-01 -9.62902137e-01 1.47380895e-03 1.95806760e+02] [ 9.62889657e-01 -2.69850819e-01 -4.90340462e-03 1.58615369e+02] [ 5.11920734e-03 9.59472924e-05 9.99986892e-01 -5.66983326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.715769231 meters 0.02359240830642168 Centerline is valid? [True, True] Translation: X:195.80, Y:158.64, Z:-0.57 [[-2.70140237e-01 -9.62819856e-01 1.47529293e-03 1.95799650e+02] [ 9.62807378e-01 -2.70144248e-01 -4.90295844e-03 1.58637656e+02] [ 5.11920764e-03 9.59365633e-05 9.99986892e-01 -5.67033400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74576923100005 meters 0.030724143565582483 Centerline is valid? [True, True] Translation: X:195.78, Y:158.66, Z:-0.57 [[-2.66881308e-01 -9.63728880e-01 1.00671966e-03 1.95782889e+02] [ 9.63723092e-01 -2.66883195e-01 -3.34110467e-03 1.58656333e+02] [ 3.48859562e-03 7.85205952e-05 9.99993912e-01 -5.65415942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.775769231 meters 0.03452532817922693 Centerline is valid? [True, True] Translation: X:195.77, Y:158.68, Z:-0.56 [[-2.60699173e-01 -9.65420085e-01 -7.09135763e-06 1.95767444e+02] [ 9.65420085e-01 -2.60699173e-01 2.57338762e-05 1.58676578e+02] [-2.66927121e-05 -1.37338847e-07 1.00000000e+00 -5.56447098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80576923100006 meters 0.037492099952663886 Centerline is valid? [True, True] Translation: X:195.75, Y:158.70, Z:-0.56 [[-2.57491303e-01 -9.66280599e-01 -1.81982026e-04 1.95753549e+02] [ 9.66280410e-01 -2.57491367e-01 6.05299195e-04 1.58697561e+02] [-6.31747669e-04 -1.99863886e-05 9.99999800e-01 -5.55061390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83576923100003 meters 0.044902703102842216 Centerline is valid? [True, True] Translation: X:195.73, Y:158.71, Z:-0.55 [[-2.51132441e-01 -9.67952539e-01 -6.15927100e-04 1.95730181e+02] [ 9.67950390e-01 -2.51133182e-01 2.04119934e-03 1.58714466e+02] [-2.13046382e-03 -8.35755037e-05 9.99997727e-01 -5.52986666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86576923100006 meters 0.048489420175581596 Centerline is valid? [True, True] Translation: X:195.71, Y:158.73, Z:-0.55 [[-2.48976082e-01 -9.68509056e-01 -1.05804188e-03 1.95714339e+02] [ 9.68502741e-01 -2.48978283e-01 3.50083503e-03 1.58733619e+02] [-3.65401988e-03 -1.53092273e-04 9.99993312e-01 -5.50492990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89576923100003 meters 0.052427112715145045 Centerline is valid? [True, True] Translation: X:195.69, Y:158.75, Z:-0.55 [[-2.46041044e-01 -9.69258011e-01 -1.64713981e-03 1.95694151e+02] [ 9.69242762e-01 -2.46046423e-01 5.44298113e-03 1.58752082e+02] [-5.68092593e-03 -2.57281581e-04 9.99983830e-01 -5.47336601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92576923100006 meters 0.052181627164691824 Centerline is valid? [True, True] Translation: X:195.68, Y:158.77, Z:-0.55 [[-2.45942985e-01 -9.69283292e-01 -1.39588754e-03 1.95683542e+02] [ 9.69272362e-01 -2.45946848e-01 4.60826749e-03 1.58774305e+02] [-4.81003082e-03 -2.19624148e-04 9.99988408e-01 -5.49073816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95576923100003 meters 0.053124933601567635 Centerline is valid? [True, True] Translation: X:195.67, Y:158.79, Z:-0.55 [[-2.46666908e-01 -9.69099728e-01 -1.07439642e-03 1.95671961e+02] [ 9.69093263e-01 -2.46669191e-01 3.54370545e-03 1.58794516e+02] [-3.69922448e-03 -1.67075466e-04 9.99993144e-01 -5.51113985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98576923100006 meters 0.04602966101772947 Centerline is valid? [True, True] Translation: X:195.67, Y:158.82, Z:-0.55 [[-2.49305992e-01 -9.68424507e-01 -7.04494684e-04 1.95665027e+02] [ 9.68421729e-01 -2.49306966e-01 2.32193816e-03 1.58817845e+02] [-2.42425725e-03 -1.03374862e-04 9.99997056e-01 -5.53916428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01576923100004 meters 0.04601401345233217 Centerline is valid? [True, True] Translation: X:195.65, Y:158.84, Z:-0.55 [[-2.50534631e-01 -9.68107398e-01 -6.81577392e-04 1.95654253e+02] [ 9.68104802e-01 -2.50535539e-01 2.24415834e-03 1.58838626e+02] [-2.34334566e-03 -9.75989642e-05 9.99997250e-01 -5.54038465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04576923100007 meters 0.04700414386032938 Centerline is valid? [True, True] Translation: X:195.64, Y:158.86, Z:-0.55 [[-2.53575271e-01 -9.67315429e-01 -6.65540451e-04 1.95640261e+02] [ 9.67312956e-01 -2.53576129e-01 2.18900558e-03 1.58858443e+02] [-2.28622404e-03 -8.87082166e-05 9.99997383e-01 -5.53420419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07576923100004 meters 0.04595508723008113 Centerline is valid? [True, True] Translation: X:195.63, Y:158.88, Z:-0.55 [[-2.55551013e-01 -9.66795330e-01 -6.85114906e-04 1.95631899e+02] [ 9.66792714e-01 -2.55551917e-01 2.25090319e-03 1.58879668e+02] [-2.35124512e-03 -8.71435100e-05 9.99997232e-01 -5.53676972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10576923100007 meters 0.04492496536188076 Centerline is valid? [True, True] Translation: X:195.62, Y:158.90, Z:-0.55 [[-2.57542604e-01 -9.66266752e-01 -6.08852094e-04 1.95623173e+02] [ 9.66264689e-01 -2.57543313e-01 1.99838024e-03 1.58900483e+02] [-2.08777417e-03 -7.36442278e-05 9.99997818e-01 -5.54640671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13576923100004 meters 0.03930012252419163 Centerline is valid? [True, True] Translation: X:195.62, Y:158.92, Z:-0.56 [[-2.59817804e-01 -9.65657652e-01 -9.23118192e-05 1.95617726e+02] [ 9.65657604e-01 -2.59817821e-01 3.04394056e-04 1.58924649e+02] [-3.17924705e-04 -1.00546148e-05 9.99999949e-01 -5.58360621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16576923100007 meters 0.043079247559057184 Centerline is valid? [True, True] Translation: X:195.60, Y:158.94, Z:-0.56 [[-2.60667708e-01 -9.65428549e-01 2.50515659e-04 1.95603645e+02] [ 9.65428203e-01 -2.60667827e-01 -8.17512320e-04 1.58944267e+02] [ 8.54551105e-04 2.87558203e-05 9.99999634e-01 -5.60873691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19576923100004 meters 0.041868610679395575 Centerline is valid? [True, True] Translation: X:195.59, Y:158.97, Z:-0.56 [[-2.62045654e-01 -9.65055267e-01 6.37498153e-04 1.95591370e+02] [ 9.65053027e-01 -2.62046420e-01 -2.08042686e-03 1.58965067e+02] [ 2.17478101e-03 7.00527059e-05 9.99997633e-01 -5.63023803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2257692310001 meters 0.038662354826438226 Centerline is valid? [True, True] Translation: X:195.58, Y:158.99, Z:-0.56 [[-2.62521755e-01 -9.64925757e-01 7.82140822e-04 1.95584531e+02] [ 9.64922389e-01 -2.62522907e-01 -2.55090365e-03 1.58987854e+02] [ 2.66676252e-03 8.50374872e-05 9.99996441e-01 -5.63371909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25576923100004 meters 0.040153148168148974 Centerline is valid? [True, True] Translation: X:195.57, Y:159.01, Z:-0.56 [[-2.63669806e-01 -9.64612555e-01 9.23715812e-04 1.95570126e+02] [ 9.64607864e-01 -2.63671406e-01 -3.00977122e-03 1.59007928e+02] [ 3.14682055e-03 9.74377448e-05 9.99995044e-01 -5.64833886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2857692310001 meters 0.03690070509160994 Centerline is valid? [True, True] Translation: X:195.56, Y:159.03, Z:-0.56 [[-2.65176601e-01 -9.64199405e-01 9.36685507e-04 1.95564195e+02] [ 9.64194589e-01 -2.65178238e-01 -3.04895711e-03 1.59030968e+02] [ 3.18819124e-03 9.46350155e-05 9.99994913e-01 -5.64466205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31576923100005 meters 0.032143818723854085 Centerline is valid? [True, True] Translation: X:195.56, Y:159.05, Z:-0.56 [[-2.69794259e-01 -9.62917695e-01 7.55109210e-04 1.95557757e+02] [ 9.62914568e-01 -2.69795308e-01 -2.45498629e-03 1.59053716e+02] [ 2.56767466e-03 6.47644508e-05 9.99996701e-01 -5.64958793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3457692310001 meters 0.02887586145781024 Centerline is valid? [True, True] Translation: X:195.55, Y:159.08, Z:-0.56 [[-2.73590120e-01 -9.61846240e-01 5.07240116e-04 1.95553802e+02] [ 9.61844831e-01 -2.73590587e-01 -1.64675931e-03 1.59076408e+02] [ 1.72270537e-03 3.73492060e-05 9.99998515e-01 -5.64458348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37576923100005 meters 0.023207879030423678 Centerline is valid? [True, True] Translation: X:195.55, Y:159.10, Z:-0.56 [[-2.78215204e-01 -9.60518732e-01 2.56273382e-04 1.95554439e+02] [ 9.60518374e-01 -2.78215322e-01 -8.29933184e-04 1.59101041e+02] [ 8.68465551e-04 1.52552624e-05 9.99999623e-01 -5.62659734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4057692310001 meters 0.016303502716329615 Centerline is valid? [True, True] Translation: X:195.56, Y:159.13, Z:-0.56 [[-2.86124877e-01 -9.58192335e-01 5.39440052e-05 1.95559191e+02] [ 9.58192320e-01 -2.86124882e-01 -1.72679587e-04 1.59125875e+02] [ 1.80894979e-04 2.28080574e-06 9.99999984e-01 -5.60091398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43576923100005 meters 0.014443109530063626 Centerline is valid? [True, True] Translation: X:195.56, Y:159.15, Z:-0.56 [[-2.88961798e-01 -9.57340577e-01 3.13481369e-04 1.95555672e+02] [ 9.57340041e-01 -2.88961968e-01 -1.01357374e-03 1.59149850e+02] [ 1.06091946e-03 7.22417674e-06 9.99999437e-01 -5.61233002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.465769231 meters 0.013446194507337065 Centerline is valid? [True, True] Translation: X:195.55, Y:159.17, Z:-0.57 [[-2.91993366e-01 -9.56419889e-01 9.32940475e-04 1.95554766e+02] [ 9.56415129e-01 -2.91994856e-01 -3.01735464e-03 1.59173751e+02] [ 3.15827181e-03 1.12308484e-05 9.99995013e-01 -5.67828770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49576923100005 meters 0.013233368220254125 Centerline is valid? [True, True] Translation: X:195.55, Y:159.20, Z:-0.57 [[-2.92780873e-01 -9.56179100e-01 9.43548541e-04 1.95551545e+02] [ 9.56174241e-01 -2.92782393e-01 -3.04823319e-03 1.59197130e+02] [ 3.19091127e-03 9.73243660e-06 9.99994909e-01 -5.67662123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.525769231 meters 0.013323618828046549 Centerline is valid? [True, True] Translation: X:195.55, Y:159.22, Z:-0.56 [[-2.92514346e-01 -9.56261107e-01 2.31159495e-04 1.95550452e+02] [ 9.56260817e-01 -2.92514437e-01 -7.43881900e-04 1.59219430e+02] [ 7.78962818e-04 3.45264018e-06 9.99999697e-01 -5.61668099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55576923100006 meters 0.013756431023208128 Centerline is valid? [True, True] Translation: X:195.54, Y:159.24, Z:-0.56 [[-2.91711862e-01 -9.56506236e-01 1.01549131e-04 1.95544935e+02] [ 9.56506181e-01 -2.91711880e-01 -3.25369853e-04 1.59241339e+02] [ 3.40841381e-04 2.21812578e-06 9.99999942e-01 -5.59764738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58576923100003 meters 0.015099646409589669 Centerline is valid? [True, True] Translation: X:195.54, Y:159.26, Z:-0.56 [[-2.90155704e-01 -9.56979433e-01 1.78004748e-04 1.95537467e+02] [ 9.56979263e-01 -2.90155758e-01 -5.71365501e-04 1.59262786e+02] [ 5.98434136e-04 4.56189382e-06 9.99999821e-01 -5.60526146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61576923100006 meters 0.018956993987408407 Centerline is valid? [True, True] Translation: X:195.53, Y:159.28, Z:-0.56 [[-2.85894016e-01 -9.58261231e-01 1.58659928e-04 1.95528590e+02] [ 9.58261096e-01 -2.85894060e-01 -5.08352341e-04 1.59283930e+02] [ 5.32494271e-04 6.70274399e-06 9.99999858e-01 -5.61060783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64576923100003 meters 0.02098535421464606 Centerline is valid? [True, True] Translation: X:195.52, Y:159.30, Z:-0.56 [[-2.84300392e-01 -9.58735245e-01 1.31988341e-04 1.95521522e+02] [ 9.58735152e-01 -2.84300422e-01 -4.22052000e-04 1.59304484e+02] [ 4.42160469e-04 6.55231362e-06 9.99999902e-01 -5.61373218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67576923100006 meters 0.022244793851421037 Centerline is valid? [True, True] Translation: X:195.52, Y:159.33, Z:-0.56 [[-2.81219218e-01 -9.59643541e-01 1.59856594e-04 1.95519353e+02] [ 9.59643405e-01 -2.81219263e-01 -5.11272273e-04 1.59329302e+02] [ 5.35593888e-04 9.62573741e-06 9.99999857e-01 -5.61223539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70576923100003 meters 0.027383299175595902 Centerline is valid? [True, True] Translation: X:195.51, Y:159.35, Z:-0.56 [[-2.80307306e-01 -9.59910315e-01 3.53088042e-05 1.95508599e+02] [ 9.59910309e-01 -2.80307308e-01 -1.11056561e-04 1.59350398e+02] [ 1.16501654e-04 2.76331970e-06 9.99999993e-01 -5.61280214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73576923100006 meters 0.02385407543916887 Centerline is valid? [True, True] Translation: X:195.51, Y:159.38, Z:-0.56 [[-2.79941563e-01 -9.60017042e-01 -1.45828301e-05 1.95509661e+02] [ 9.60017041e-01 -2.79941564e-01 4.88984185e-05 1.59376211e+02] [-5.10256555e-05 -3.11065709e-07 9.99999999e-01 -5.59739571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76576923100004 meters 0.02938016244816731 Centerline is valid? [True, True] Translation: X:195.50, Y:159.40, Z:-0.56 [[-2.79400330e-01 -9.60174696e-01 9.33335114e-05 1.95502477e+02] [ 9.60174650e-01 -2.79400346e-01 -2.96566088e-04 1.59398011e+02] [ 3.10832668e-04 6.75580886e-06 9.99999952e-01 -5.62011306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79576923100007 meters 0.02929376981877565 Centerline is valid? [True, True] Translation: X:195.50, Y:159.42, Z:-0.56 [[-2.79131494e-01 -9.60252853e-01 2.57579853e-04 1.95498924e+02] [ 9.60252502e-01 -2.79131612e-01 -8.21479576e-04 1.59421325e+02] [ 8.60726786e-04 1.80408772e-05 9.99999629e-01 -5.63165408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82576923100004 meters 0.03303677355226695 Centerline is valid? [True, True] Translation: X:195.49, Y:159.44, Z:-0.56 [[-2.76618697e-01 -9.60979665e-01 4.23256451e-04 1.95492265e+02] [ 9.60978718e-01 -2.76619019e-01 -1.34957547e-03 1.59442704e+02] [ 1.41399537e-03 3.34226321e-05 9.99999000e-01 -5.64177204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85576923100007 meters 0.0323343887310146 Centerline is valid? [True, True] Translation: X:195.49, Y:159.47, Z:-0.56 [[-2.74287728e-01 -9.61647614e-01 3.30894785e-04 1.95487508e+02] [ 9.61647037e-01 -2.74287926e-01 -1.05384674e-03 1.59467015e+02] [ 1.10418965e-03 2.91467607e-05 9.99999390e-01 -5.62523587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88576923100004 meters 0.035502209488224946 Centerline is valid? [True, True] Translation: X:195.48, Y:159.49, Z:-0.56 [[-2.71594929e-01 -9.62411655e-01 -3.66955543e-05 1.95478200e+02] [ 9.62411647e-01 -2.71594932e-01 1.19082365e-04 1.59488938e+02] [-1.24572582e-04 -2.97406251e-06 9.99999992e-01 -5.60189719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91576923100007 meters 0.041613348882468135 Centerline is valid? [True, True] Translation: X:195.47, Y:159.51, Z:-0.56 [[-2.66221794e-01 -9.63911541e-01 -7.06193985e-04 1.95468224e+02] [ 9.63908916e-01 -2.66222718e-01 2.25091988e-03 1.59510301e+02] [-2.35769253e-03 -8.14627519e-05 9.99997217e-01 -5.56367325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94576923100004 meters 0.04863365845675827 Centerline is valid? [True, True] Translation: X:195.46, Y:159.53, Z:-0.56 [[-2.61259376e-01 -9.65268584e-01 -3.14298009e-04 1.95456312e+02] [ 9.65268065e-01 -2.61259561e-01 1.00199917e-03 1.59529928e+02] [-1.04931168e-03 -4.16001544e-05 9.99999449e-01 -5.59946111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9757692310001 meters 0.04645068523334 Centerline is valid? [True, True] Translation: X:195.45, Y:159.55, Z:-0.56 [[-2.59346157e-01 -9.65784359e-01 3.77656280e-04 1.95452446e+02] [ 9.65783617e-01 -2.59346426e-01 -1.19811782e-03 1.59554478e+02] [ 1.25506726e-03 5.40069949e-05 9.99999211e-01 -5.64030899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00576923100004 meters 0.049301976116310264 Centerline is valid? [True, True] Translation: X:195.44, Y:159.58, Z:-0.57 [[-2.57857509e-01 -9.66182421e-01 1.01721050e-03 1.95442052e+02] [ 9.66177044e-01 -2.57859472e-01 -3.22696075e-03 1.59575801e+02] [ 3.38013011e-03 1.50709369e-04 9.99994276e-01 -5.67786567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0357692310001 meters 0.05561557390472492 Centerline is valid? [True, True] Translation: X:195.43, Y:159.60, Z:-0.57 [[-2.55749161e-01 -9.66742637e-01 1.02004687e-03 1.95427218e+02] [ 9.66737246e-01 -2.55751146e-01 -3.23242846e-03 1.59595352e+02] [ 3.38580457e-03 1.59426434e-04 9.99994255e-01 -5.68972703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06576923100005 meters 0.0673112311325293 Centerline is valid? [True, True] Translation: X:195.40, Y:159.61, Z:-0.57 [[-2.55201208e-01 -9.66887786e-01 5.93635280e-04 1.95404938e+02] [ 9.66885966e-01 -2.55201881e-01 -1.87850572e-03 1.59612654e+02] [ 1.96780108e-03 9.45806931e-05 9.99998059e-01 -5.67103413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0957692310001 meters 0.056378829502780954 Centerline is valid? [True, True] Translation: X:195.41, Y:159.64, Z:-0.56 [[-2.52780483e-01 -9.67523596e-01 3.43363065e-04 1.95408445e+02] [ 9.67522990e-01 -2.52780710e-01 -1.08465835e-03 1.59639301e+02] [ 1.13622811e-03 5.80311980e-05 9.99999353e-01 -5.63449635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12576923100005 meters 0.0589817480823029 Centerline is valid? [True, True] Translation: X:195.40, Y:159.66, Z:-0.57 [[-2.51067472e-01 -9.67969455e-01 5.08215135e-04 1.95396009e+02] [ 9.67968129e-01 -2.51067971e-01 -1.60468304e-03 1.59660274e+02] [ 1.68088071e-03 8.90523402e-05 9.99998583e-01 -5.65067883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1557692310001 meters 0.07886921784608965 Centerline is valid? [True, True] Translation: X:195.36, Y:159.67, Z:-0.57 [[-2.48893271e-01 -9.68530599e-01 7.86168838e-04 1.95362034e+02] [ 9.68527433e-01 -2.48894471e-01 -2.48075669e-03 1.59673415e+02] [ 2.59836184e-03 1.43982439e-04 9.99996614e-01 -5.68812803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18576923100005 meters 0.06853315364889284 Centerline is valid? [True, True] Translation: X:195.36, Y:159.70, Z:-0.57 [[-2.44914484e-01 -9.69544296e-01 8.68586561e-04 1.95360442e+02] [ 9.69540443e-01 -2.44915965e-01 -2.73856612e-03 1.59698445e+02] [ 2.86789188e-03 1.71415290e-04 9.99995873e-01 -5.68610748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.215769231 meters 0.07121074589453218 Centerline is valid? [True, True] Translation: X:195.35, Y:159.72, Z:-0.57 [[-2.43780886e-01 -9.69830257e-01 3.90594410e-04 1.95345536e+02] [ 9.69829481e-01 -2.43781187e-01 -1.22906583e-03 1.59717646e+02] [ 1.28720480e-03 7.91872167e-05 9.99999168e-01 -5.66275533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24576923100005 meters 0.06897335265257593 Centerline is valid? [True, True] Translation: X:195.33, Y:159.74, Z:-0.56 [[-2.42678459e-01 -9.70106491e-01 -7.49543344e-04 1.95332709e+02] [ 9.70103627e-01 -2.42679568e-01 2.36223954e-03 1.59738848e+02] [-2.47352277e-03 -1.53870065e-04 9.99996929e-01 -5.58388895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.275769231 meters 0.06441664278969154 Centerline is valid? [True, True] Translation: X:195.33, Y:159.76, Z:-0.56 [[-2.43171831e-01 -9.69982869e-01 -8.32954567e-04 1.95327526e+02] [ 9.69979340e-01 -2.43173197e-01 2.62231981e-03 1.59762227e+02] [-2.74615752e-03 -1.70274412e-04 9.99996215e-01 -5.58018081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30576923100006 meters 0.06810676168938648 Centerline is valid? [True, True] Translation: X:195.31, Y:159.78, Z:-0.56 [[-2.45261868e-01 -9.69456864e-01 -6.39538398e-05 1.95308066e+02] [ 9.69456843e-01 -2.45261876e-01 2.03054547e-04 1.59780773e+02] [-2.12538063e-04 -1.21989503e-05 9.99999977e-01 -5.62982901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33576923100003 meters 0.06723249493366228 Centerline is valid? [True, True] Translation: X:195.30, Y:159.80, Z:-0.57 [[-2.46392434e-01 -9.69170116e-01 2.31866325e-04 1.95297108e+02] [ 9.69169846e-01 -2.46392539e-01 -7.26028308e-04 1.59803108e+02] [ 7.60775072e-04 4.58299681e-05 9.99999710e-01 -5.65000187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36576923100006 meters 0.06646262098107457 Centerline is valid? [True, True] Translation: X:195.28, Y:159.82, Z:-0.57 [[-2.48039702e-01 -9.68749797e-01 3.69290482e-04 1.95281734e+02] [ 9.68749110e-01 -2.48039967e-01 -1.15627584e-03 1.59823540e+02] [ 1.21174079e-03 7.09475104e-05 9.99999263e-01 -5.65280143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39576923100003 meters 0.06649413913024653 Centerline is valid? [True, True] Translation: X:195.27, Y:159.84, Z:-0.56 [[-2.49129754e-01 -9.68470106e-01 1.42087717e-04 1.95270241e+02] [ 9.68470005e-01 -2.49129793e-01 -4.43224262e-04 1.59844564e+02] [ 4.64647731e-04 2.71873410e-05 9.99999892e-01 -5.64028586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42576923100006 meters 0.06816426989733047 Centerline is valid? [True, True] Translation: X:195.26, Y:159.87, Z:-0.56 [[-2.50262351e-01 -9.68178055e-01 -9.60704554e-05 1.95256825e+02] [ 9.68178008e-01 -2.50262369e-01 3.02707934e-04 1.59865205e+02] [-3.17117999e-04 -1.72569028e-05 9.99999950e-01 -5.63251629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45576923100003 meters 0.06279498496417339 Centerline is valid? [True, True] Translation: X:195.25, Y:159.89, Z:-0.57 [[-2.52593757e-01 -9.67572393e-01 2.40685618e-04 1.95247816e+02] [ 9.67572103e-01 -2.52593868e-01 -7.50575002e-04 1.59886925e+02] [ 7.87031362e-04 4.32901294e-05 9.99999689e-01 -5.65486637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48576923100006 meters 0.06154946865230308 Centerline is valid? [True, True] Translation: X:195.24, Y:159.91, Z:-0.57 [[-2.54096700e-01 -9.67178653e-01 5.65985758e-04 1.95237074e+02] [ 9.67177045e-01 -2.54097311e-01 -1.76639661e-03 1.59909402e+02] [ 1.85223656e-03 9.85728827e-05 9.99998280e-01 -5.67950718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51576923100004 meters 0.05479839584701504 Centerline is valid? [True, True] Translation: X:195.23, Y:159.93, Z:-0.57 [[-2.58203196e-01 -9.66090108e-01 1.00654214e-03 1.95229419e+02] [ 9.66085021e-01 -2.58205108e-01 -3.13934884e-03 1.59931778e+02] [ 3.29278818e-03 1.61815375e-04 9.99994566e-01 -5.69930580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54576923100007 meters 0.052434400105152566 Centerline is valid? [True, True] Translation: X:195.22, Y:159.95, Z:-0.57 [[-2.60775798e-01 -9.65399029e-01 8.35455097e-04 1.95220632e+02] [ 9.65395529e-01 -2.60777105e-01 -2.60290308e-03 1.59954728e+02] [ 2.73070767e-03 1.27770489e-04 9.99996263e-01 -5.68993066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57576923100004 meters 0.04924786084424536 Centerline is valid? [True, True] Translation: X:195.21, Y:159.98, Z:-0.57 [[-2.65208635e-01 -9.64190836e-01 6.42014644e-04 1.95209697e+02] [ 9.64188771e-01 -2.65209397e-01 -1.99754924e-03 1.59975556e+02] [ 2.09628698e-03 8.92560056e-05 9.99997799e-01 -5.67044698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60576923100007 meters 0.04649059293716268 Centerline is valid? [True, True] Translation: X:195.20, Y:160.00, Z:-0.57 [[-2.66954048e-01 -9.63709039e-01 6.51392031e-04 1.95201494e+02] [ 9.63706916e-01 -2.66954828e-01 -2.02496932e-03 1.59998606e+02] [ 2.12537348e-03 8.71772499e-05 9.99997738e-01 -5.66915810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63576923100004 meters 0.04649059293716268 Centerline is valid? [True, True] Translation: X:195.19, Y:160.02, Z:-0.57 [[-2.67242986e-01 -9.63628954e-01 6.52038195e-04 1.95193965e+02] [ 9.63626831e-01 -2.67243767e-01 -2.02476146e-03 1.60020725e+02] [ 2.12537191e-03 8.72182021e-05 9.99997738e-01 -5.66965924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66576923100007 meters 0.041936448416957275 Centerline is valid? [True, True] Translation: X:195.19, Y:160.04, Z:-0.57 [[-2.68803636e-01 -9.63194760e-01 6.78525305e-04 1.95188009e+02] [ 9.63192464e-01 -2.68804478e-01 -2.10487192e-03 1.60044267e+02] [ 2.20979224e-03 8.77532346e-05 9.99997555e-01 -5.66560387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69576923100004 meters 0.043576005352888955 Centerline is valid? [True, True] Translation: X:195.17, Y:160.06, Z:-0.57 [[-2.71443432e-01 -9.62454298e-01 4.32285637e-04 1.95171250e+02] [ 9.62453368e-01 -2.71443771e-01 -1.33885163e-03 1.60063510e+02] [ 1.40592475e-03 5.26322846e-05 9.99999010e-01 -5.66057992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7257692310001 meters 0.04243796235610094 Centerline is valid? [True, True] Translation: X:195.16, Y:160.09, Z:-0.56 [[-2.73261684e-01 -9.61939729e-01 1.03452673e-04 1.95161450e+02] [ 9.61939676e-01 -2.73261703e-01 -3.18589037e-04 1.60085684e+02] [ 3.34733106e-04 1.24570535e-05 9.99999944e-01 -5.64231568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75576923100004 meters 0.03779928999931996 Centerline is valid? [True, True] Translation: X:195.15, Y:160.11, Z:-0.56 [[-2.77211445e-01 -9.60808929e-01 -1.27063675e-04 1.95153782e+02] [ 9.60808848e-01 -2.77211474e-01 3.95502973e-04 1.60107871e+02] [-4.15226297e-04 -1.24459529e-05 9.99999914e-01 -5.63571067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7857692310001 meters 0.03616674699764786 Centerline is valid? [True, True] Translation: X:195.15, Y:160.13, Z:-0.57 [[-2.79597360e-01 -9.60117327e-01 1.88028806e-04 1.95145336e+02] [ 9.60117152e-01 -2.79597422e-01 -5.79505607e-04 1.60129799e+02] [ 6.08965743e-04 1.85014441e-05 9.99999814e-01 -5.65807533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81576923100005 meters 0.03193566485588789 Centerline is valid? [True, True] Translation: X:195.14, Y:160.15, Z:-0.57 [[-2.85089037e-01 -9.58500060e-01 1.36942794e-03 1.95138536e+02] [ 9.58490738e-01 -2.85092306e-01 -4.22871438e-03 1.60151426e+02] [ 4.44363635e-03 1.07023885e-04 9.99990121e-01 -5.73243756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8457692310001 meters 0.028720994939230804 Centerline is valid? [True, True] Translation: X:195.13, Y:160.17, Z:-0.57 [[-2.88401724e-01 -9.57508267e-01 1.53774144e-03 1.95133409e+02] [ 9.57496522e-01 -2.88405804e-01 -4.74363003e-03 1.60173647e+02] [ 4.98555853e-03 1.04311006e-04 9.99987567e-01 -5.74067885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87576923100005 meters 0.023314605233361194 Centerline is valid? [True, True] Translation: X:195.13, Y:160.20, Z:-0.57 [[-2.91910508e-01 -9.56444932e-01 1.16042271e-03 1.95131368e+02] [ 9.56438251e-01 -2.91912807e-01 -3.57562867e-03 1.60198464e+02] [ 3.75863417e-03 6.61090870e-05 9.99992934e-01 -5.70877382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9057692310001 meters 0.018153988269002393 Centerline is valid? [True, True] Translation: X:195.13, Y:160.22, Z:-0.57 [[-2.97778664e-01 -9.54634923e-01 1.75209937e-04 1.95128399e+02] [ 9.54634772e-01 -2.97778715e-01 -5.37521489e-04 1.60222468e+02] [ 5.65310575e-04 7.19906717e-06 9.99999840e-01 -5.65497800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93576923100005 meters 0.01601894688286128 Centerline is valid? [True, True] Translation: X:195.12, Y:160.25, Z:-0.56 [[-3.00715364e-01 -9.53713931e-01 -8.26496372e-05 1.95123652e+02] [ 9.53713897e-01 -3.00715375e-01 2.56361687e-04 1.60245969e+02] [-2.69349729e-04 -1.73220946e-06 9.99999964e-01 -5.64093663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.965769231 meters 0.012745289861869341 Centerline is valid? [True, True] Translation: X:195.12, Y:160.27, Z:-0.56 [[-3.06824161e-01 -9.51766136e-01 -3.95232383e-04 1.95124683e+02] [ 9.51765358e-01 -3.06824415e-01 1.21692350e-03 1.60272207e+02] [-1.27949353e-03 -2.78695760e-06 9.99999181e-01 -5.62101741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99576923100005 meters 0.012330720092859727 Centerline is valid? [True, True] Translation: X:195.12, Y:160.30, Z:-0.56 [[-3.10066122e-01 -9.50714852e-01 -5.19839731e-04 1.95122243e+02] [ 9.50713508e-01 -3.10066558e-01 1.59822381e-03 1.60296731e+02] [-1.68064003e-03 1.33640433e-06 9.99998588e-01 -5.61628063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.025769231 meters 0.014332705807070776 Centerline is valid? [True, True] Translation: X:195.13, Y:160.32, Z:-0.56 [[-3.16270769e-01 -9.48668852e-01 -4.57863750e-04 1.95127284e+02] [ 9.48667810e-01 -3.16271101e-01 1.40642822e-03 1.60323759e+02] [-1.47904372e-03 1.04515356e-05 9.99998906e-01 -5.61901947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05576923100006 meters 0.016150593750658197 Centerline is valid? [True, True] Translation: X:195.13, Y:160.35, Z:-0.56 [[-3.19408428e-01 -9.47617084e-01 -3.44358501e-04 1.95126053e+02] [ 9.47616494e-01 -3.19408613e-01 1.05724884e-03 1.60348351e+02] [-1.11185814e-03 1.13743948e-05 9.99999382e-01 -5.62002839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08576923100003 meters 0.020500084574001327 Centerline is valid? [True, True] Translation: X:195.13, Y:160.37, Z:-0.56 [[-3.24340435e-01 -9.45940403e-01 -1.92104014e-04 1.95131806e+02] [ 9.45940219e-01 -3.24340492e-01 5.90057159e-04 1.60374599e+02] [-6.20466017e-04 9.66048302e-06 9.99999807e-01 -5.62233096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11576923100006 meters 0.02033813819500214 Centerline is valid? [True, True] Translation: X:195.13, Y:160.40, Z:-0.56 [[-3.25825578e-01 -9.45429880e-01 -1.86057917e-04 1.95126719e+02] [ 9.45429708e-01 -3.25825631e-01 5.71053186e-04 1.60398307e+02] [-6.00513183e-04 1.01590528e-05 9.99999820e-01 -5.62302710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14576923100003 meters 0.021147855034244316 Centerline is valid? [True, True] Translation: X:195.12, Y:160.42, Z:-0.56 [[-3.26145727e-01 -9.45319449e-01 -3.22838872e-04 1.95122910e+02] [ 9.45318933e-01 -3.26145886e-01 9.88231357e-04 1.60421157e+02] [-1.03948689e-03 1.71217361e-05 9.99999460e-01 -5.61572321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17576923100006 meters 0.01915599706753462 Centerline is valid? [True, True] Translation: X:195.11, Y:160.44, Z:-0.56 [[-3.23873672e-01 -9.46100243e-01 -4.19110119e-04 1.95114506e+02] [ 9.46099376e-01 -3.23873942e-01 1.28072190e-03 1.60443022e+02] [-1.34743015e-03 1.82722837e-05 9.99999092e-01 -5.61126757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20576923100003 meters 0.01775624541144219 Centerline is valid? [True, True] Translation: X:195.10, Y:160.46, Z:-0.56 [[-3.22191129e-01 -9.46674641e-01 6.97004850e-06 1.95104998e+02] [ 9.46674641e-01 -3.22191129e-01 -1.90729562e-05 1.60463688e+02] [ 2.03015717e-05 4.53230879e-07 1.00000000e+00 -5.63616629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23576923100006 meters 0.015533201390145385 Centerline is valid? [True, True] Translation: X:195.09, Y:160.49, Z:-0.57 [[-3.19322678e-01 -9.47645747e-01 7.51946322e-04 1.95092911e+02] [ 9.47642987e-01 -3.19323563e-01 -2.28709268e-03 1.60485050e+02] [ 2.40746783e-03 -1.77438998e-05 9.99997102e-01 -5.67707541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26576923100004 meters 0.0148080791880437 Centerline is valid? [True, True] Translation: X:195.08, Y:160.51, Z:-0.57 [[-3.18475638e-01 -9.47930791e-01 6.95080658e-04 1.95084044e+02] [ 9.47928439e-01 -3.18476397e-01 -2.11177452e-03 1.60507521e+02] [ 2.22318288e-03 -1.36620160e-05 9.99997529e-01 -5.67565349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29576923100007 meters 0.01420348449842669 Centerline is valid? [True, True] Translation: X:195.08, Y:160.53, Z:-0.57 [[-3.18132185e-01 -9.48046315e-01 3.12035227e-04 1.95075643e+02] [ 9.48045843e-01 -3.18132338e-01 -9.45899785e-04 1.60529577e+02] [ 9.96025302e-04 -5.09746476e-06 9.99999504e-01 -5.65194863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32576923100004 meters 0.013429964414687343 Centerline is valid? [True, True] Translation: X:195.07, Y:160.55, Z:-0.56 [[-3.17068771e-01 -9.48402477e-01 -3.69399126e-04 1.95066239e+02] [ 9.48401812e-01 -3.17068986e-01 1.12322798e-03 1.60550863e+02] [-1.18239721e-03 5.80171568e-06 9.99999301e-01 -5.61780833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35576923100007 meters 0.013172474664978982 Centerline is valid? [True, True] Translation: X:195.06, Y:160.57, Z:-0.56 [[-3.16860491e-01 -9.48472020e-01 -5.07043057e-04 1.95057574e+02] [ 9.48470771e-01 -3.16860897e-01 1.53935112e-03 1.60572590e+02] [-1.62069359e-03 6.84403291e-06 9.99998687e-01 -5.61473259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38576923100004 meters 0.012717702925656608 Centerline is valid? [True, True] Translation: X:195.05, Y:160.59, Z:-0.56 [[-3.15347489e-01 -9.48976265e-01 -1.03773823e-04 1.95047059e+02] [ 9.48976212e-01 -3.15347506e-01 3.16443030e-04 1.60593282e+02] [-3.33021741e-04 1.31062591e-06 9.99999945e-01 -5.64003528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41576923100007 meters 0.012591708202794892 Centerline is valid? [True, True] Translation: X:195.04, Y:160.62, Z:-0.56 [[-3.14635253e-01 -9.49212648e-01 8.25701539e-05 1.95036907e+02] [ 9.49212616e-01 -3.14635263e-01 -2.47780419e-04 1.60615461e+02] [ 2.61175790e-04 4.16177078e-07 9.99999966e-01 -5.64706322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44576923100004 meters 0.012790235126739677 Centerline is valid? [True, True] Translation: X:195.02, Y:160.63, Z:-0.56 [[-3.12338472e-01 -9.49970883e-01 -6.20784214e-06 1.95023292e+02] [ 9.49970883e-01 -3.12338472e-01 2.10133202e-05 1.60633721e+02] [-2.19009903e-05 6.65999032e-07 1.00000000e+00 -5.63976721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4757692310001 meters 0.013284358711736617 Centerline is valid? [True, True] Translation: X:195.01, Y:160.65, Z:-0.56 [[-3.11114928e-01 -9.50372293e-01 -7.51568628e-05 1.95012111e+02] [ 9.50372266e-01 -3.11114938e-01 2.29032673e-04 1.60654197e+02] [-2.41048729e-04 -1.71514312e-07 9.99999971e-01 -5.63504969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50576923100004 meters 0.01442630827409526 Centerline is valid? [True, True] Translation: X:195.00, Y:160.68, Z:-0.56 [[-3.08747902e-01 -9.51143852e-01 -3.25148957e-04 1.94999557e+02] [ 9.51143345e-01 -3.08748073e-01 9.82636971e-04 1.60675301e+02] [-1.03501823e-03 -5.87616350e-06 9.99999464e-01 -5.62849677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5357692310001 meters 0.0146737267535199 Centerline is valid? [True, True] Translation: X:194.99, Y:160.70, Z:-0.56 [[-3.08348408e-01 -9.51273482e-01 -1.45102742e-04 1.94990294e+02] [ 9.51273381e-01 -3.08348442e-01 4.39271095e-04 1.60697548e+02] [-4.62609149e-04 -2.58383290e-06 9.99999893e-01 -5.64337021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56576923100005 meters 0.015185912451847002 Centerline is valid? [True, True] Translation: X:194.98, Y:160.72, Z:-0.57 [[-3.08215439e-01 -9.51316581e-01 8.15086782e-05 1.94981205e+02] [ 9.51316550e-01 -3.08215449e-01 -2.43115304e-04 1.60718325e+02] [ 2.56401854e-04 2.60866426e-06 9.99999967e-01 -5.66044537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5957692310001 meters 0.015726534686291944 Centerline is valid? [True, True] Translation: X:194.97, Y:160.74, Z:-0.57 [[-3.07872221e-01 -9.51427696e-01 1.88363580e-04 1.94971265e+02] [ 9.51427528e-01 -3.07872279e-01 -5.64220477e-04 1.60739774e+02] [ 5.94806912e-04 5.50648369e-06 9.99999823e-01 -5.66001566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62576923100005 meters 0.01587728857618055 Centerline is valid? [True, True] Translation: X:194.96, Y:160.76, Z:-0.56 [[-3.07738960e-01 -9.51470814e-01 -1.52651353e-04 1.94962654e+02] [ 9.51470702e-01 -3.07738998e-01 4.60540443e-04 1.60761615e+02] [-4.85167564e-04 -3.51705263e-06 9.99999882e-01 -5.63286535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6557692310001 meters 0.01842446943857178 Centerline is valid? [True, True] Translation: X:194.95, Y:160.78, Z:-0.56 [[-3.05977017e-01 -9.52038694e-01 -6.25170574e-04 1.94949394e+02] [ 9.52036842e-01 -3.05977655e-01 1.87777440e-03 1.60781853e+02] [-1.97900211e-03 -2.06296110e-05 9.99998042e-01 -5.60354727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68576923100005 meters 0.01811190444676041 Centerline is valid? [True, True] Translation: X:194.94, Y:160.80, Z:-0.56 [[-3.05004687e-01 -9.52350714e-01 -5.09253035e-04 1.94941072e+02] [ 9.52349487e-01 -3.05005111e-01 1.52842316e-03 1.60804041e+02] [-1.61091967e-03 -1.88106387e-05 9.99998702e-01 -5.61507702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.715769231 meters 0.019399136049366522 Centerline is valid? [True, True] Translation: X:194.93, Y:160.83, Z:-0.56 [[-3.03673419e-01 -9.52776084e-01 -4.33298184e-04 1.94929725e+02] [ 9.52775198e-01 -3.03673727e-01 1.29945068e-03 1.60826071e+02] [-1.36966680e-03 -1.82271338e-05 9.99999062e-01 -5.62658082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74576923100005 meters 0.02447353382984103 Centerline is valid? [True, True] Translation: X:194.91, Y:160.84, Z:-0.56 [[-3.00297785e-01 -9.53845449e-01 -3.16587398e-04 1.94911190e+02] [ 9.53844977e-01 -3.00297951e-01 9.49056992e-04 1.60844523e+02] [-1.00032424e-03 -1.69755866e-05 9.99999500e-01 -5.62993409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.775769231 meters 0.0265060598500228 Centerline is valid? [True, True] Translation: X:194.90, Y:160.87, Z:-0.56 [[-2.98614767e-01 -9.54373709e-01 -2.10147498e-04 1.94898263e+02] [ 9.54373501e-01 -2.98614841e-01 6.29919171e-04 1.60865669e+02] [-6.63931457e-04 -1.24560366e-05 9.99999780e-01 -5.62788808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80576923100006 meters 0.026985500022215964 Centerline is valid? [True, True] Translation: X:194.88, Y:160.89, Z:-0.56 [[-2.95625362e-01 -9.55303946e-01 1.28116413e-04 1.94882958e+02] [ 9.55303870e-01 -2.95625389e-01 -3.80495690e-04 1.60886617e+02] [ 4.01363498e-04 9.90592924e-06 9.99999919e-01 -5.64566763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83576923100003 meters 0.030614528413822555 Centerline is valid? [True, True] Translation: X:194.87, Y:160.91, Z:-0.57 [[-2.94117749e-01 -9.55769128e-01 3.52007506e-04 1.94866974e+02] [ 9.55768554e-01 -2.94117959e-01 -1.04764333e-03 1.60905947e+02] [ 1.10483688e-03 2.83072067e-05 9.99999389e-01 -5.66447221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86576923100006 meters 0.03070577913627137 Centerline is valid? [True, True] Translation: X:194.85, Y:160.93, Z:-0.56 [[-2.93187389e-01 -9.56054989e-01 -1.09654002e-04 1.94851194e+02] [ 9.56054933e-01 -2.93187410e-01 3.28720042e-04 1.60926048e+02] [-3.46423609e-04 -8.45867881e-06 9.99999940e-01 -5.64502415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89576923100003 meters 0.029671407507533942 Centerline is valid? [True, True] Translation: X:194.84, Y:160.95, Z:-0.56 [[-2.94050572e-01 -9.55789792e-01 -3.67173549e-04 1.94841013e+02] [ 9.55789165e-01 -2.94050799e-01 1.09488163e-03 1.60947431e+02] [-1.15444436e-03 -2.89899303e-05 9.99999333e-01 -5.62938831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92576923100006 meters 0.03065498811795247 Centerline is valid? [True, True] Translation: X:194.83, Y:160.97, Z:-0.56 [[-2.95376260e-01 -9.55380893e-01 -4.63475072e-04 1.94829686e+02] [ 9.55379897e-01 -2.95376622e-01 1.38008866e-03 1.60968011e+02] [-1.45541003e-03 -3.51493400e-05 9.99998940e-01 -5.62439395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95576923100003 meters 0.025589241882398524 Centerline is valid? [True, True] Translation: X:194.83, Y:160.99, Z:-0.56 [[-3.00720779e-01 -9.53712194e-01 -2.51720560e-04 1.94827656e+02] [ 9.53711900e-01 -3.00720884e-01 7.49762090e-04 1.60991004e+02] [-7.90754878e-04 -1.45998535e-05 9.99999687e-01 -5.63703845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98576923100006 meters 0.019235283553769186 Centerline is valid? [True, True] Translation: X:194.83, Y:161.02, Z:-0.56 [[-3.07336924e-01 -9.51600720e-01 -2.92480128e-04 1.94827302e+02] [ 9.51600322e-01 -3.07337062e-01 8.69864965e-04 1.61015716e+02] [-9.17654110e-04 -1.09825620e-05 9.99999579e-01 -5.63676441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01576923100004 meters 0.017639163747601324 Centerline is valid? [True, True] Translation: X:194.82, Y:161.04, Z:-0.56 [[-3.09448061e-01 -9.50916101e-01 -6.83385719e-04 1.94820459e+02] [ 9.50913939e-01 -3.09448815e-01 2.02758187e-03 1.61038684e+02] [-2.13953315e-03 -2.24097257e-05 9.99997711e-01 -5.61673931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04576923100007 meters 0.016507246221084303 Centerline is valid? [True, True] Translation: X:194.81, Y:161.06, Z:-0.56 [[-3.10750493e-01 -9.50490975e-01 -1.01837162e-03 1.94813579e+02] [ 9.50486186e-01 -3.10752160e-01 3.01749105e-03 1.61061167e+02] [-3.18455919e-03 -3.02613225e-05 9.99994929e-01 -5.59953621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07576923100004 meters 0.0175452083725178 Centerline is valid? [True, True] Translation: X:194.80, Y:161.08, Z:-0.56 [[-3.10292352e-01 -9.50640918e-01 -7.07492910e-04 1.94803085e+02] [ 9.50638611e-01 -3.10293158e-01 2.09482741e-03 1.61081867e+02] [-2.21095886e-03 -2.25611531e-05 9.99997556e-01 -5.61094938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10576923100007 meters 0.019271549505049182 Centerline is valid? [True, True] Translation: X:194.79, Y:161.10, Z:-0.56 [[-3.08326249e-01 -9.51280652e-01 -2.12048554e-04 1.94790109e+02] [ 9.51280445e-01 -3.08326322e-01 6.28599381e-04 1.61103164e+02] [-6.63354580e-04 -7.90395371e-06 9.99999780e-01 -5.64332380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13576923100004 meters 0.019495403679132352 Centerline is valid? [True, True] Translation: X:194.78, Y:161.12, Z:-0.56 [[-3.07655284e-01 -9.51497834e-01 -3.14023533e-04 1.94779963e+02] [ 9.51497380e-01 -3.07655444e-01 9.29103086e-04 1.61124594e+02] [-9.80650623e-04 -1.29490953e-05 9.99999519e-01 -5.63435280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16576923100007 meters 0.021000422702539292 Centerline is valid? [True, True] Translation: X:194.77, Y:161.15, Z:-0.56 [[-3.06766905e-01 -9.51784462e-01 -6.35376989e-04 1.94767866e+02] [ 9.51782614e-01 -3.06767562e-01 1.87566858e-03 1.61145156e+02] [-1.98014526e-03 -2.93477277e-05 9.99998039e-01 -5.61470397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19576923100004 meters 0.022935463535668485 Centerline is valid? [True, True] Translation: X:194.75, Y:161.16, Z:-0.56 [[-3.05672309e-01 -9.52136578e-01 -6.13109810e-04 1.94753770e+02] [ 9.52134862e-01 -3.05672922e-01 1.80811484e-03 1.61164247e+02] [-1.90898334e-03 -3.10725872e-05 9.99998177e-01 -5.62102636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2257692310001 meters 0.023036605445942174 Centerline is valid? [True, True] Translation: X:194.74, Y:161.19, Z:-0.56 [[-3.05795633e-01 -9.52097054e-01 -4.79258825e-04 1.94744350e+02] [ 9.52096007e-01 -3.05796008e-01 1.41231164e-03 1.61186241e+02] [-1.49121319e-03 -2.44216807e-05 9.99998888e-01 -5.63764229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25576923100004 meters 0.022327137869584117 Centerline is valid? [True, True] Translation: X:194.74, Y:161.21, Z:-0.57 [[-3.06926854e-01 -9.51733087e-01 -1.94862991e-04 1.94736802e+02] [ 9.51732913e-01 -3.06926916e-01 5.74850066e-04 1.61209329e+02] [-6.06912525e-04 -9.02059980e-06 9.99999816e-01 -5.66175348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2857692310001 meters 0.021040586412272997 Centerline is valid? [True, True] Translation: X:194.73, Y:161.23, Z:-0.57 [[-3.08102829e-01 -9.51353052e-01 1.29772186e-04 1.94731158e+02] [ 9.51352977e-01 -3.08102856e-01 -3.79066263e-04 1.61232321e+02] [ 4.00609027e-04 6.66776793e-06 9.99999920e-01 -5.66932712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31576923100005 meters 0.0186400730307463 Centerline is valid? [True, True] Translation: X:194.73, Y:161.26, Z:-0.57 [[-3.11243728e-01 -9.50330114e-01 1.28304950e-04 1.94728655e+02] [ 9.50330040e-01 -3.11243755e-01 -3.74347073e-04 1.61255905e+02] [ 3.95687411e-04 5.41886945e-06 9.99999922e-01 -5.66966473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3457692310001 meters 0.017205656381658874 Centerline is valid? [True, True] Translation: X:194.73, Y:161.28, Z:-0.57 [[-3.13426895e-01 -9.49612280e-01 -3.14838058e-04 1.94725340e+02] [ 9.49611830e-01 -3.13427053e-01 9.24751998e-04 1.61279607e+02] [-9.76834618e-04 -9.13179672e-06 9.99999523e-01 -5.65278738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37576923100005 meters 0.014437275412419966 Centerline is valid? [True, True] Translation: X:194.73, Y:161.31, Z:-0.57 [[-3.17290762e-01 -9.48328288e-01 -1.73864206e-04 1.94729017e+02] [ 9.48328150e-01 -3.17290810e-01 5.11079633e-04 1.61306599e+02] [-5.39836788e-04 -2.71947460e-06 9.99999854e-01 -5.66426100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4057692310001 meters 0.01370673337741988 Centerline is valid? [True, True] Translation: X:194.73, Y:161.33, Z:-0.57 [[-3.19186558e-01 -9.47691791e-01 4.58046992e-04 1.94727042e+02] [ 9.47690847e-01 -3.19186887e-01 -1.33768755e-03 1.61331094e+02] [ 1.41391811e-03 7.11505566e-06 9.99999000e-01 -5.69764696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43576923100005 meters 0.013421211797766888 Centerline is valid? [True, True] Translation: X:194.72, Y:161.35, Z:-0.57 [[-3.21230520e-01 -9.47000584e-01 9.19918863e-04 1.94724931e+02] [ 9.46996776e-01 -3.21231837e-01 -2.68573344e-03 1.61354893e+02] [ 2.83889837e-03 8.42064814e-06 9.99995970e-01 -5.72668015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.465769231 meters 0.01297838253410863 Centerline is valid? [True, True] Translation: X:194.73, Y:161.38, Z:-0.57 [[-3.24422815e-01 -9.45911897e-01 7.20730159e-04 1.94730574e+02] [ 9.45909563e-01 -3.24423616e-01 -2.10167593e-03 1.61382263e+02] [ 2.22182215e-03 -8.60725340e-08 9.99997532e-01 -5.71256881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49576923100005 meters 0.012997495371961439 Centerline is valid? [True, True] Translation: X:194.73, Y:161.41, Z:-0.57 [[-3.25884046e-01 -9.45409692e-01 3.21836377e-04 1.94729611e+02] [ 9.45409228e-01 -3.25884205e-01 -9.36294631e-04 1.61406487e+02] [ 9.90063410e-04 -8.56401982e-07 9.99999510e-01 -5.69616301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.525769231 meters 0.012997495371961439 Centerline is valid? [True, True] Translation: X:194.72, Y:161.43, Z:-0.57 [[-3.26183918e-01 -9.45306272e-01 3.22123768e-04 1.94721840e+02] [ 9.45305809e-01 -3.26184077e-01 -9.36195903e-04 1.61427625e+02] [ 9.90063503e-04 -8.66578447e-07 9.99999510e-01 -5.69664574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55576923100006 meters 0.012885654960381791 Centerline is valid? [True, True] Translation: X:194.72, Y:161.45, Z:-0.56 [[-3.26833191e-01 -9.45081912e-01 -4.94606447e-04 1.94723591e+02] [ 9.45080813e-01 -3.26833565e-01 1.44128266e-03 1.61453396e+02] [-1.52378416e-03 3.61594635e-06 9.99998839e-01 -5.64781844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58576923100003 meters 0.01255441224486208 Centerline is valid? [True, True] Translation: X:194.72, Y:161.48, Z:-0.56 [[-3.26223409e-01 -9.45292357e-01 -8.04464167e-04 1.94718762e+02] [ 9.45289459e-01 -3.26224401e-01 2.34069453e-03 1.61476776e+02] [-2.47507649e-03 3.13785394e-06 9.99996937e-01 -5.62802500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61576923100006 meters 0.012852008697015095 Centerline is valid? [True, True] Translation: X:194.71, Y:161.50, Z:-0.56 [[-3.23305238e-01 -9.46294228e-01 -9.78571500e-04 1.94714129e+02] [ 9.46289954e-01 -3.23306719e-01 2.84408220e-03 1.61500737e+02] [-3.00771731e-03 -6.50570730e-06 9.99995477e-01 -5.61396458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64576923100003 meters 0.01359077791080023 Centerline is valid? [True, True] Translation: X:194.71, Y:161.52, Z:-0.56 [[-3.21807787e-01 -9.46804696e-01 -7.84541630e-04 1.94706022e+02] [ 9.46801955e-01 -3.21808743e-01 2.27829937e-03 1.61522277e+02] [-2.40957689e-03 -9.63107162e-06 9.99997097e-01 -5.62397877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67576923100006 meters 0.014964701363622367 Centerline is valid? [True, True] Translation: X:194.70, Y:161.54, Z:-0.56 [[-3.20014883e-01 -9.47412402e-01 -4.65062979e-04 1.94697015e+02] [ 9.47411440e-01 -3.20015220e-01 1.35001900e-03 1.61543420e+02] [-1.42785198e-03 -8.57981383e-06 9.99998981e-01 -5.64237862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70576923100003 meters 0.018035519469876204 Centerline is valid? [True, True] Translation: X:194.69, Y:161.57, Z:-0.57 [[-3.14885879e-01 -9.49129536e-01 9.00896999e-05 1.94687447e+02] [ 9.49129500e-01 -3.14885892e-01 -2.58835037e-04 1.61565924e+02] [ 2.74035954e-04 4.00329377e-06 9.99999962e-01 -5.66935083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73576923100006 meters 0.022102365927990617 Centerline is valid? [True, True] Translation: X:194.67, Y:161.59, Z:-0.57 [[-3.12125912e-01 -9.50040707e-01 2.65265730e-04 1.94674532e+02] [ 9.50040399e-01 -3.12126025e-01 -7.65200364e-04 1.61585959e+02] [ 8.09767833e-04 1.31742982e-05 9.99999672e-01 -5.67705661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76576923100004 meters 0.02886609412369219 Centerline is valid? [True, True] Translation: X:194.65, Y:161.60, Z:-0.57 [[-3.05444059e-01 -9.52210012e-01 1.39866499e-04 1.94654940e+02] [ 9.52209927e-01 -3.05444091e-01 -4.02103813e-04 1.61604669e+02] [ 4.25608672e-04 1.03620476e-05 9.99999909e-01 -5.67101334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79576923100007 meters 0.033065318624260286 Centerline is valid? [True, True] Translation: X:194.64, Y:161.62, Z:-0.57 [[-3.02260221e-01 -9.53225448e-01 6.62393008e-05 1.94639601e+02] [ 9.53225429e-01 -3.02260228e-01 -1.89177366e-04 1.61623479e+02] [ 2.00350185e-04 5.96019342e-06 9.99999980e-01 -5.67592446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82576923100004 meters 0.036680828829599395 Centerline is valid? [True, True] Translation: X:194.63, Y:161.64, Z:-0.57 [[-2.99682072e-01 -9.54039122e-01 1.01599637e-04 1.94625403e+02] [ 9.54039077e-01 -2.99682089e-01 -2.90988818e-04 1.61642489e+02] [ 3.08062308e-04 9.72589169e-06 9.99999953e-01 -5.68391755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85576923100007 meters 0.0369709511934953 Centerline is valid? [True, True] Translation: X:194.61, Y:161.66, Z:-0.57 [[-2.97756060e-01 -9.54641969e-01 1.99894700e-04 1.94614293e+02] [ 9.54641796e-01 -2.97756127e-01 -5.74007278e-04 1.61664098e+02] [ 6.07491310e-04 1.99136900e-05 9.99999815e-01 -5.68051100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88576923100004 meters 0.039590302006583956 Centerline is valid? [True, True] Translation: X:194.60, Y:161.68, Z:-0.57 [[-2.98844183e-01 -9.54301902e-01 1.86018201e-04 1.94601933e+02] [ 9.54301753e-01 -2.98844240e-01 -5.33389053e-04 1.61684614e+02] [ 5.64604656e-04 1.81172793e-05 9.99999840e-01 -5.68061591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91576923100007 meters 0.031249897515402105 Centerline is valid? [True, True] Translation: X:194.60, Y:161.71, Z:-0.57 [[-3.04241120e-01 -9.52595056e-01 -1.34496198e-05 1.94602988e+02] [ 9.52595055e-01 -3.04241120e-01 4.06616070e-05 1.61710693e+02] [-4.28259733e-05 -4.41108492e-07 9.99999999e-01 -5.66561090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94576923100004 meters 0.028291908488187783 Centerline is valid? [True, True] Translation: X:194.60, Y:161.73, Z:-0.57 [[-3.08082968e-01 -9.51359470e-01 -2.09754272e-04 1.94598691e+02] [ 9.51359278e-01 -3.08083039e-01 6.04602987e-04 1.61733045e+02] [-6.39816511e-04 -1.32837906e-05 9.99999795e-01 -5.65919390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9757692310001 meters 0.020011688983485498 Centerline is valid? [True, True] Translation: X:194.60, Y:161.76, Z:-0.56 [[-3.15693537e-01 -9.48861091e-01 -4.70017094e-04 1.94601693e+02] [ 9.48860130e-01 -3.15693886e-01 1.35074849e-03 1.61759561e+02] [-1.43005421e-03 -1.95579115e-05 9.99998977e-01 -5.64301530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00576923100004 meters 0.01737341486566472 Centerline is valid? [True, True] Translation: X:194.60, Y:161.78, Z:-0.56 [[-3.19508849e-01 -9.47583139e-01 -5.38529052e-04 1.94598575e+02] [ 9.47581878e-01 -3.19509303e-01 1.54591486e-03 1.61782763e+02] [-1.63694790e-03 -1.63668908e-05 9.99998660e-01 -5.64686216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0357692310001 meters 0.013563879361075264 Centerline is valid? [True, True] Translation: X:194.60, Y:161.81, Z:-0.56 [[-3.25701273e-01 -9.45472038e-01 -1.14242256e-03 1.94599500e+02] [ 9.45466370e-01 -3.25703277e-01 3.27393402e-03 1.61807762e+02] [-3.46750385e-03 -1.37976333e-05 9.99993988e-01 -5.61528816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06576923100005 meters 0.012656644037023143 Centerline is valid? [True, True] Translation: X:194.60, Y:161.83, Z:-0.56 [[-3.28962964e-01 -9.44341583e-01 -1.53055166e-03 1.94596014e+02] [ 9.44331419e-01 -3.28966525e-01 4.38132528e-03 1.61831634e+02] [-4.64096791e-03 -4.05426937e-06 9.99989231e-01 -5.59636854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0957692310001 meters 0.01451760900919992 Centerline is valid? [True, True] Translation: X:194.60, Y:161.86, Z:-0.56 [[-3.36065548e-01 -9.41837480e-01 -1.45200497e-03 1.94601335e+02] [ 9.41828326e-01 -3.36068684e-01 4.15263971e-03 1.61858630e+02] [-4.39908512e-03 2.80197278e-05 9.99990324e-01 -5.60095531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12576923100005 meters 0.016874588528120422 Centerline is valid? [True, True] Translation: X:194.60, Y:161.88, Z:-0.56 [[-3.39586784e-01 -9.40574087e-01 -1.09663133e-03 1.94601957e+02] [ 9.40568867e-01 -3.39588553e-01 3.13373365e-03 1.61883677e+02] [-3.31991211e-03 3.27172483e-05 9.99994489e-01 -5.61852487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1557692310001 meters 0.01900329900404947 Centerline is valid? [True, True] Translation: X:194.60, Y:161.91, Z:-0.56 [[-3.42225862e-01 -9.39617462e-01 -6.96599376e-04 1.94602143e+02] [ 9.39615356e-01 -3.42226570e-01 1.98935371e-03 1.61909121e+02] [-2.10762630e-03 2.62728186e-05 9.99997779e-01 -5.63294371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18576923100005 meters 0.022035567468932774 Centerline is valid? [True, True] Translation: X:194.61, Y:161.94, Z:-0.57 [[-3.45925265e-01 -9.38261981e-01 -4.08069654e-04 1.94605627e+02] [ 9.38261258e-01 -3.45925505e-01 1.16507301e-03 1.61935619e+02] [-1.23430541e-03 2.01522432e-05 9.99999238e-01 -5.66036297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.215769231 meters 0.024733979665393476 Centerline is valid? [True, True] Translation: X:194.60, Y:161.96, Z:-0.57 [[-3.47044806e-01 -9.37848505e-01 -2.90718938e-04 1.94603873e+02] [ 9.37848138e-01 -3.47044927e-01 8.29899580e-04 1.61958735e+02] [-8.79212613e-04 1.53621240e-05 9.99999613e-01 -5.67392773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24576923100005 meters 0.022713472330652344 Centerline is valid? [True, True] Translation: X:194.60, Y:161.98, Z:-0.57 [[-3.46791024e-01 -9.37942386e-01 -2.58742387e-04 1.94598103e+02] [ 9.37942095e-01 -3.46791121e-01 7.37923427e-04 1.61981807e+02] [-7.81859222e-04 1.32198447e-05 9.99999694e-01 -5.67083217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.275769231 meters 0.02159141796220265 Centerline is valid? [True, True] Translation: X:194.59, Y:162.00, Z:-0.57 [[-3.45728733e-01 -9.38334500e-01 -9.83974774e-05 1.94592102e+02] [ 9.38334457e-01 -3.45728747e-01 2.81747528e-04 1.62002750e+02] [-2.98392263e-04 5.07847249e-06 9.99999955e-01 -5.66795258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30576923100006 meters 0.018232187581647272 Centerline is valid? [True, True] Translation: X:194.58, Y:162.02, Z:-0.57 [[-3.42297294e-01 -9.39591647e-01 3.14167159e-04 1.94582735e+02] [ 9.39591226e-01 -3.42297438e-01 -8.89683005e-04 1.62023214e+02] [ 9.43477334e-04 -9.34737916e-06 9.99999555e-01 -5.69016078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33576923100003 meters 0.015982267706323477 Centerline is valid? [True, True] Translation: X:194.57, Y:162.04, Z:-0.57 [[-3.40139122e-01 -9.40375113e-01 1.56209619e-04 1.94571753e+02] [ 9.40375010e-01 -3.40139158e-01 -4.41037285e-04 1.62044474e+02] [ 4.67873495e-04 -3.11841266e-06 9.99999891e-01 -5.68410596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36576923100006 meters 0.013912639984173518 Centerline is valid? [True, True] Translation: X:194.56, Y:162.06, Z:-0.57 [[-3.37214680e-01 -9.41427599e-01 -5.79480813e-04 1.94563222e+02] [ 9.41426164e-01 -3.37215177e-01 1.64367102e-03 1.62064433e+02] [-1.74280699e-03 8.73159819e-06 9.99998481e-01 -5.65158071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39576923100003 meters 0.013525267402480322 Centerline is valid? [True, True] Translation: X:194.56, Y:162.09, Z:-0.56 [[-3.37002786e-01 -9.41503309e-01 -8.01166049e-04 1.94555109e+02] [ 9.41500574e-01 -3.37003738e-01 2.26925895e-03 1.62086455e+02] [-2.40651076e-03 1.04482936e-05 9.99997104e-01 -5.63336701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42576923100006 meters 0.01329730348340373 Centerline is valid? [True, True] Translation: X:194.55, Y:162.11, Z:-0.56 [[-3.37024801e-01 -9.41495436e-01 -7.92923957e-04 1.94546691e+02] [ 9.41492762e-01 -3.37025733e-01 2.24368449e-03 1.62108770e+02] [-2.37965448e-03 9.64515128e-06 9.99997169e-01 -5.62404820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45576923100003 meters 0.013217729424774395 Centerline is valid? [True, True] Translation: X:194.54, Y:162.13, Z:-0.57 [[-3.36363433e-01 -9.41732133e-01 -4.79804560e-04 1.94537732e+02] [ 9.41731155e-01 -3.36363775e-01 1.35721459e-03 1.62128504e+02] [-1.43952146e-03 4.67045461e-06 9.99998964e-01 -5.65133008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48576923100006 meters 0.012997966143391698 Centerline is valid? [True, True] Translation: X:194.53, Y:162.15, Z:-0.57 [[-3.35895117e-01 -9.41899357e-01 -2.67580325e-04 1.94528549e+02] [ 9.41899053e-01 -3.35895223e-01 7.56967365e-04 1.62149589e+02] [-8.02866027e-04 2.22798611e-06 9.99999678e-01 -5.66617160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51576923100004 meters 0.012761364705544629 Centerline is valid? [True, True] Translation: X:194.52, Y:162.17, Z:-0.57 [[-3.34186884e-01 -9.42506782e-01 -3.04540227e-04 1.94515440e+02] [ 9.42506389e-01 -3.34187023e-01 8.60431820e-04 1.62168159e+02] [-9.12736218e-04 5.13919119e-07 9.99999583e-01 -5.65270617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54576923100007 meters 0.012923028277598449 Centerline is valid? [True, True] Translation: X:194.50, Y:162.19, Z:-0.56 [[-3.33181807e-01 -9.42862509e-01 -4.15352687e-04 1.94503588e+02] [ 9.42861781e-01 -3.33182066e-01 1.17153439e-03 1.62188385e+02] [-1.24298392e-03 -1.28622951e-06 9.99999227e-01 -5.64997423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57576923100004 meters 0.01324431483462784 Centerline is valid? [True, True] Translation: X:194.49, Y:162.21, Z:-0.57 [[-3.32522124e-01 -9.43095331e-01 -4.82921043e-04 1.94492859e+02] [ 9.43094350e-01 -3.32522475e-01 1.36046113e-03 1.62208907e+02] [-1.44362664e-03 -3.05668171e-06 9.99998958e-01 -5.65047772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60576923100007 meters 0.013328724785481385 Centerline is valid? [True, True] Translation: X:194.48, Y:162.23, Z:-0.56 [[-3.32644271e-01 -9.43052210e-01 -5.63339019e-04 1.94484675e+02] [ 9.43050878e-01 -3.32644748e-01 1.58513619e-03 1.62230434e+02] [-1.68225795e-03 -3.97088363e-06 9.99998585e-01 -5.64176713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63576923100004 meters 0.012846942420583195 Centerline is valid? [True, True] Translation: X:194.48, Y:162.25, Z:-0.56 [[-3.33863042e-01 -9.42621335e-01 -6.98240139e-04 1.94479010e+02] [ 9.42619293e-01 -3.33863772e-01 1.96234867e-03 1.62253724e+02] [-2.08286881e-03 -3.01892950e-06 9.99997831e-01 -5.62634314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66576923100007 meters 0.01290538005769583 Centerline is valid? [True, True] Translation: X:194.47, Y:162.28, Z:-0.56 [[-3.34517880e-01 -9.42389264e-01 -5.12321101e-04 1.94472092e+02] [ 9.42388166e-01 -3.34518273e-01 1.43899425e-03 1.62275404e+02] [-1.52747351e-03 -1.43603447e-06 9.99998833e-01 -5.64392291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69576923100004 meters 0.012958577297095462 Centerline is valid? [True, True] Translation: X:194.46, Y:162.30, Z:-0.57 [[-3.34707976e-01 -9.42321834e-01 -3.61939369e-04 1.94464847e+02] [ 9.42321286e-01 -3.34708172e-01 1.01616546e-03 1.62296813e+02] [-1.07869897e-03 -9.44485251e-07 9.99999418e-01 -5.65929562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7257692310001 meters 0.013084977020625275 Centerline is valid? [True, True] Translation: X:194.46, Y:162.32, Z:-0.57 [[-3.34044316e-01 -9.42557221e-01 -5.28892551e-04 1.94457954e+02] [ 9.42556055e-01 -3.34044735e-01 1.48256330e-03 1.62319282e+02] [-1.57407452e-03 -3.26903280e-06 9.99998761e-01 -5.65370923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75576923100004 meters 0.01352746540764611 Centerline is valid? [True, True] Translation: X:194.45, Y:162.34, Z:-0.56 [[-3.33168806e-01 -9.42866977e-01 -6.41359857e-04 1.94448589e+02] [ 9.42865267e-01 -3.33169423e-01 1.79565019e-03 1.62340664e+02] [-1.90674076e-03 -6.46130214e-06 9.99998182e-01 -5.64282868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7857692310001 meters 0.015024920148731817 Centerline is valid? [True, True] Translation: X:194.44, Y:162.36, Z:-0.56 [[-3.31510259e-01 -9.43451447e-01 -5.60867628e-04 1.94437106e+02] [ 9.43450143e-01 -3.31510733e-01 1.56894808e-03 1.62361075e+02] [-1.66615998e-03 -9.02825819e-06 9.99998612e-01 -5.64195750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81576923100005 meters 0.018031455085774386 Centerline is valid? [True, True] Translation: X:194.43, Y:162.38, Z:-0.57 [[-3.27686388e-01 -9.44786499e-01 -3.20889952e-04 1.94425633e+02] [ 9.44786072e-01 -3.27686545e-01 8.97665277e-04 1.62381463e+02] [-9.53253354e-04 -9.01966434e-06 9.99999546e-01 -5.65661624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8457692310001 meters 0.020053568098665608 Centerline is valid? [True, True] Translation: X:194.42, Y:162.40, Z:-0.57 [[-3.25438295e-01 -9.45563220e-01 -3.37773496e-04 1.94416382e+02] [ 9.45562749e-01 -3.25438470e-01 9.43766774e-04 1.62403029e+02] [-1.00231564e-03 -1.22481854e-05 9.99999498e-01 -5.66116673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87576923100005 meters 0.0214189170493231 Centerline is valid? [True, True] Translation: X:194.41, Y:162.42, Z:-0.57 [[-3.24938458e-01 -9.45735047e-01 -4.68085868e-04 1.94406766e+02] [ 9.45734146e-01 -3.24938795e-01 1.30597207e-03 1.62423435e+02] [-1.38720282e-03 -1.83242374e-05 9.99999038e-01 -5.66093679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9057692310001 meters 0.019919301367999916 Centerline is valid? [True, True] Translation: X:194.40, Y:162.45, Z:-0.57 [[-3.24565717e-01 -9.45863015e-01 -5.02264337e-04 1.94400931e+02] [ 9.45861980e-01 -3.24566105e-01 1.39952916e-03 1.62446797e+02] [-1.48678085e-03 -2.08335551e-05 9.99998895e-01 -5.65512592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93576923100005 meters 0.021305116292275234 Centerline is valid? [True, True] Translation: X:194.39, Y:162.47, Z:-0.57 [[-3.24610137e-01 -9.45847786e-01 -4.73845530e-04 1.94390670e+02] [ 9.45846866e-01 -3.24610482e-01 1.31920762e-03 1.62467672e+02] [-1.40158484e-03 -1.99571434e-05 9.99999018e-01 -5.65818544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.965769231 meters 0.02328536254849404 Centerline is valid? [True, True] Translation: X:194.38, Y:162.49, Z:-0.57 [[-3.23630225e-01 -9.46183621e-01 -1.83524125e-04 1.94379063e+02] [ 9.46183482e-01 -3.23630277e-01 5.11602107e-04 1.62488098e+02] [-5.43463498e-04 -8.07759080e-06 9.99999852e-01 -5.66715715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99576923100005 meters 0.024527837508802268 Centerline is valid? [True, True] Translation: X:194.37, Y:162.51, Z:-0.57 [[-3.20797556e-01 -9.47147784e-01 -5.18297169e-05 1.94365643e+02] [ 9.47147773e-01 -3.20797560e-01 1.45671300e-04 1.62509380e+02] [-1.54599096e-04 -2.35940384e-06 9.99999988e-01 -5.66264786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.025769231 meters 0.028341447644867096 Centerline is valid? [True, True] Translation: X:194.35, Y:162.53, Z:-0.57 [[-3.18518512e-01 -9.47916640e-01 -1.70245658e-05 1.94349612e+02] [ 9.47916639e-01 -3.18518513e-01 4.91143969e-05 1.62528698e+02] [-5.19789935e-05 -4.94024550e-07 9.99999999e-01 -5.66629576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05576923100006 meters 0.03874167934447734 Centerline is valid? [True, True] Translation: X:194.32, Y:162.54, Z:-0.57 [[-3.15740478e-01 -9.48845579e-01 1.36032165e-04 1.94324933e+02] [ 9.48845505e-01 -3.15740507e-01 -3.74844539e-04 1.62544292e+02] [ 3.98620448e-04 1.07199143e-05 9.99999920e-01 -5.68496477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08576923100003 meters 0.04654637051187326 Centerline is valid? [True, True] Translation: X:194.30, Y:162.56, Z:-0.57 [[-3.10706142e-01 -9.50506019e-01 3.14530373e-05 1.94300778e+02] [ 9.50506015e-01 -3.10706144e-01 -8.51599040e-05 1.62559246e+02] [ 9.07176532e-05 3.43659592e-06 9.99999996e-01 -5.68088886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11576923100006 meters 0.03953753617500548 Centerline is valid? [True, True] Translation: X:194.30, Y:162.58, Z:-0.56 [[-3.09296751e-01 -9.50965398e-01 -5.76598684e-04 1.94295328e+02] [ 9.50964060e-01 -3.09297283e-01 1.59570458e-03 1.62582512e+02] [-1.69580024e-03 -5.47783848e-05 9.99998561e-01 -5.64300181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14576923100003 meters 0.03757225474879988 Centerline is valid? [True, True] Translation: X:194.29, Y:162.60, Z:-0.56 [[-3.10044926e-01 -9.50721698e-01 -6.29641973e-04 1.94286722e+02] [ 9.50720106e-01 -3.10045560e-01 1.74072857e-03 1.62604819e+02] [-1.85016612e-03 -5.89092210e-05 9.99998287e-01 -5.64082507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17576923100006 meters 0.03664722297021239 Centerline is valid? [True, True] Translation: X:194.28, Y:162.63, Z:-0.56 [[-3.11397764e-01 -9.50279537e-01 -4.83796633e-04 1.94276393e+02] [ 9.50278598e-01 -3.11398137e-01 1.33670479e-03 1.62626362e+02] [-1.42089658e-03 -4.34947042e-05 9.99998990e-01 -5.64916974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20576923100003 meters 0.03419853652241832 Centerline is valid? [True, True] Translation: X:194.26, Y:162.65, Z:-0.57 [[-3.14673465e-01 -9.49199978e-01 -1.09243313e-04 1.94264894e+02] [ 9.49199930e-01 -3.14673483e-01 3.03126445e-04 1.62646061e+02] [-3.22103589e-04 -8.30789651e-06 9.99999948e-01 -5.67442138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23576923100006 meters 0.03294845165651923 Centerline is valid? [True, True] Translation: X:194.26, Y:162.67, Z:-0.57 [[-3.15879014e-01 -9.48799461e-01 -1.79782388e-04 1.94255039e+02] [ 9.48799330e-01 -3.15879065e-01 4.96938817e-04 1.62668238e+02] [-5.28284774e-04 -1.36048656e-05 9.99999860e-01 -5.67164819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26576923100004 meters 0.032161224758041916 Centerline is valid? [True, True] Translation: X:194.24, Y:162.69, Z:-0.56 [[-3.17105014e-01 -9.48389922e-01 -9.82373781e-04 1.94241358e+02] [ 9.48386069e-01 -3.17106527e-01 2.70467030e-03 1.62687692e+02] [-2.87659919e-03 -7.40050953e-05 9.99995860e-01 -5.61967657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29576923100007 meters 0.03260462745656216 Centerline is valid? [True, True] Translation: X:194.23, Y:162.71, Z:-0.56 [[-3.17221233e-01 -9.48350452e-01 -1.45217985e-03 1.94228853e+02] [ 9.48342050e-01 -3.17224538e-01 3.99345788e-03 1.62707696e+02] [-4.24786467e-03 -1.10353580e-04 9.99990972e-01 -5.59624539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32576923100004 meters 0.031009049446574694 Centerline is valid? [True, True] Translation: X:194.22, Y:162.73, Z:-0.56 [[-3.17503730e-01 -9.48255552e-01 -1.67008633e-03 1.94218868e+02] [ 9.48244461e-01 -3.17508097e-01 4.58804206e-03 1.62729330e+02] [-4.88090229e-03 -1.26929644e-04 9.99988080e-01 -5.59088472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35576923100007 meters 0.031184206018075724 Centerline is valid? [True, True] Translation: X:194.21, Y:162.75, Z:-0.56 [[-3.19276746e-01 -9.47660795e-01 -1.17378196e-03 1.94205348e+02] [ 9.47655321e-01 -3.19278893e-01 3.22210512e-03 1.62749064e+02] [-3.42822651e-03 -8.35974788e-05 9.99994120e-01 -5.61708125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38576923100004 meters 0.029583277548884592 Centerline is valid? [True, True] Translation: X:194.20, Y:162.77, Z:-0.56 [[-3.21292798e-01 -9.46979362e-01 -1.01266951e-03 1.94197438e+02] [ 9.46975291e-01 -3.21294387e-01 2.77745351e-03 1.62770120e+02] [-2.95555618e-03 -6.65971896e-05 9.99995630e-01 -5.62627121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41576923100007 meters 0.025600554957959484 Centerline is valid? [True, True] Translation: X:194.19, Y:162.79, Z:-0.56 [[-3.24734679e-01 -9.45804650e-01 -9.75954138e-04 1.94191103e+02] [ 9.45800871e-01 -3.24736141e-01 2.67431266e-03 1.62793684e+02] [-2.84630493e-03 -5.46162113e-05 9.99995948e-01 -5.62300917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44576923100004 meters 0.025600554957959484 Centerline is valid? [True, True] Translation: X:194.18, Y:162.82, Z:-0.56 [[-3.25017938e-01 -9.45707347e-01 -9.76736598e-04 1.94182702e+02] [ 9.45703568e-01 -3.25019401e-01 2.67402688e-03 1.62815473e+02] [-2.84630521e-03 -5.45965811e-05 9.99995948e-01 -5.62350995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4757692310001 meters 0.024494224735284915 Centerline is valid? [True, True] Translation: X:194.17, Y:162.84, Z:-0.56 [[-3.26045917e-01 -9.45353664e-01 -7.13817978e-04 1.94174181e+02] [ 9.45351648e-01 -3.26046696e-01 1.95292090e-03 1.62837535e+02] [-2.07893892e-03 -3.80671174e-05 9.99997838e-01 -5.63814416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50576923100004 meters 0.023746386075576668 Centerline is valid? [True, True] Translation: X:194.16, Y:162.86, Z:-0.56 [[-3.26995925e-01 -9.45025479e-01 -7.13270687e-04 1.94163831e+02] [ 9.45023469e-01 -3.26996701e-01 1.94961641e-03 1.62859207e+02] [-2.07567435e-03 -3.65409160e-05 9.99997845e-01 -5.64520734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5357692310001 meters 0.02511098933478926 Centerline is valid? [True, True] Translation: X:194.15, Y:162.88, Z:-0.56 [[-3.27537501e-01 -9.44837771e-01 -8.78601730e-04 1.94151876e+02] [ 9.44834727e-01 -3.27538676e-01 2.39883763e-03 1.62879089e+02] [-2.55428844e-03 -4.44241455e-05 9.99996737e-01 -5.64243759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56576923100005 meters 0.02351490943156301 Centerline is valid? [True, True] Translation: X:194.14, Y:162.90, Z:-0.56 [[-3.27966368e-01 -9.44688910e-01 -9.61462065e-04 1.94143527e+02] [ 9.44685272e-01 -3.27967774e-01 2.62237372e-03 1.62901382e+02] [-2.79265594e-03 -4.82286674e-05 9.99996099e-01 -5.64115139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5957692310001 meters 0.027776845805235942 Centerline is valid? [True, True] Translation: X:194.13, Y:162.92, Z:-0.57 [[-3.26232199e-01 -9.45289582e-01 -3.98901724e-04 1.94126463e+02] [ 9.45288956e-01 -3.26232443e-01 1.08809133e-03 1.62919496e+02] [-1.15869608e-03 -2.21069680e-05 9.99999328e-01 -5.66510407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62576923100005 meters 0.02814973456345837 Centerline is valid? [True, True] Translation: X:194.12, Y:162.94, Z:-0.57 [[-3.24702690e-01 -9.45816124e-01 1.49614020e-04 1.94115894e+02] [ 9.45816037e-01 -3.24702724e-01 -4.05237257e-04 1.62941532e+02] [ 4.31860011e-04 9.92571248e-06 9.99999907e-01 -5.68610618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6557692310001 meters 0.03157898591811104 Centerline is valid? [True, True] Translation: X:194.10, Y:162.96, Z:-0.57 [[-3.22455152e-01 -9.46584710e-01 2.50317267e-04 1.94097898e+02] [ 9.46584467e-01 -3.22455248e-01 -6.78487192e-04 1.62959885e+02] [ 7.22961718e-04 1.81647464e-05 9.99999739e-01 -5.68642024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68576923100005 meters 0.031206532145795364 Centerline is valid? [True, True] Translation: X:194.09, Y:162.98, Z:-0.57 [[-3.21908735e-01 -9.46770690e-01 -1.64597116e-04 1.94086578e+02] [ 9.46770584e-01 -3.21908777e-01 4.48799801e-04 1.62981757e+02] [-4.77895753e-04 -1.13631313e-05 9.99999886e-01 -5.67013322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.715769231 meters 0.03335745195907479 Centerline is valid? [True, True] Translation: X:194.07, Y:163.00, Z:-0.57 [[-3.21599233e-01 -9.46875727e-01 -5.39427686e-04 1.94073203e+02] [ 9.46874594e-01 -3.21599683e-01 1.46535322e-03 1.63001327e+02] [-1.56098717e-03 -3.95139015e-05 9.99998781e-01 -5.65603917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74576923100005 meters 0.03356266045793651 Centerline is valid? [True, True] Translation: X:194.06, Y:163.02, Z:-0.56 [[-3.21616825e-01 -9.46869258e-01 -1.10727466e-03 1.94061461e+02] [ 9.46864499e-01 -3.21618720e-01 3.00313074e-03 1.63022659e+02] [-3.19969244e-03 -8.25816955e-05 9.99994878e-01 -5.62604539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.775769231 meters 0.033342555192637346 Centerline is valid? [True, True] Translation: X:194.05, Y:163.04, Z:-0.56 [[-3.22365982e-01 -9.46614437e-01 -1.13237551e-03 1.94051821e+02] [ 9.46609467e-01 -3.22367960e-01 3.06838276e-03 1.63043350e+02] [-3.26961700e-03 -8.27751558e-05 9.99994651e-01 -5.62537631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80576923100006 meters 0.03119773143717602 Centerline is valid? [True, True] Translation: X:194.04, Y:163.06, Z:-0.57 [[-3.24824250e-01 -9.45774241e-01 -5.39352257e-04 1.94041459e+02] [ 9.45773114e-01 -3.24824696e-01 1.46111584e-03 1.63063851e+02] [-1.55708066e-03 -3.54990064e-05 9.99998787e-01 -5.65784340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83576923100003 meters 0.026757600037093487 Centerline is valid? [True, True] Translation: X:194.04, Y:163.09, Z:-0.57 [[-3.26257067e-01 -9.45280980e-01 -4.41895680e-04 1.94036570e+02] [ 9.45280223e-01 -3.26257365e-01 1.19629478e-03 1.63087569e+02] [-1.27500643e-03 -2.74156205e-05 9.99999187e-01 -5.66869388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86576923100006 meters 0.027774819387515935 Centerline is valid? [True, True] Translation: X:194.02, Y:163.11, Z:-0.57 [[-3.27664383e-01 -9.44794058e-01 -4.90345318e-04 1.94024960e+02] [ 9.44793128e-01 -3.27664749e-01 1.32603198e-03 1.63107429e+02] [-1.41349601e-03 -2.87814352e-05 9.99999001e-01 -5.66900728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89576923100003 meters 0.023581305520697197 Centerline is valid? [True, True] Translation: X:194.02, Y:163.13, Z:-0.56 [[-3.30569410e-01 -9.43780974e-01 -1.15652959e-03 1.94018054e+02] [ 9.43775813e-01 -3.30571428e-01 3.12196643e-03 1.63130381e+02] [-3.32876815e-03 -5.94780551e-05 9.99994458e-01 -5.62844828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92576923100006 meters 0.022582800149349325 Centerline is valid? [True, True] Translation: X:194.01, Y:163.15, Z:-0.56 [[-3.31920344e-01 -9.43306459e-01 -1.34543351e-03 1.94008974e+02] [ 9.43299483e-01 -3.31923065e-01 3.62830981e-03 1.63153095e+02] [-3.86918849e-03 -6.48368947e-05 9.99992513e-01 -5.61171101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95576923100003 meters 0.024066137933351158 Centerline is valid? [True, True] Translation: X:194.00, Y:163.17, Z:-0.56 [[-3.33193312e-01 -9.42857804e-01 -1.17364035e-03 1.93995169e+02] [ 9.42852503e-01 -3.33195375e-01 3.16234762e-03 1.63172462e+02] [-3.37269567e-03 -5.28966664e-05 9.99994311e-01 -5.61558547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98576923100006 meters 0.021630120375445705 Centerline is valid? [True, True] Translation: X:193.99, Y:163.20, Z:-0.56 [[-3.33805101e-01 -9.42641768e-01 -8.07482004e-04 1.93987912e+02] [ 9.42639261e-01 -3.33806076e-01 2.17425844e-03 1.63195501e+02] [-2.31908922e-03 -3.53856815e-05 9.99997310e-01 -5.64314979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01576923100004 meters 0.023364462379365854 Centerline is valid? [True, True] Translation: X:193.97, Y:163.22, Z:-0.57 [[-3.34534553e-01 -9.42383330e-01 -5.40506579e-04 1.93974991e+02] [ 9.42382208e-01 -3.34534989e-01 1.45466797e-03 1.63215367e+02] [-1.55167320e-03 -2.27270853e-05 9.99998796e-01 -5.66127852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04576923100007 meters 0.019728586827123043 Centerline is valid? [True, True] Translation: X:193.97, Y:163.24, Z:-0.57 [[-3.36645609e-01 -9.41631315e-01 -4.47467118e-04 1.93967139e+02] [ 9.41630546e-01 -3.36645906e-01 1.20339031e-03 1.63237675e+02] [-1.28378798e-03 -1.62326424e-05 9.99999176e-01 -5.65866448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07576923100004 meters 0.01878345334545491 Centerline is valid? [True, True] Translation: X:193.96, Y:163.26, Z:-0.57 [[-3.38166037e-01 -9.41086411e-01 -3.14788976e-04 1.93958167e+02] [ 9.41086030e-01 -3.38166184e-01 8.46351223e-04 1.63259422e+02] [-9.02940621e-04 -1.00362688e-05 9.99999592e-01 -5.67141031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10576923100007 meters 0.015965322481942625 Centerline is valid? [True, True] Translation: X:193.95, Y:163.28, Z:-0.57 [[-3.41602286e-01 -9.39844603e-01 -2.18846490e-05 1.93951884e+02] [ 9.39844601e-01 -3.41602287e-01 6.05167299e-05 1.63282369e+02] [-6.43521682e-05 1.04484040e-07 9.99999998e-01 -5.68761991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13576923100004 meters 0.015152733994091673 Centerline is valid? [True, True] Translation: X:193.94, Y:163.30, Z:-0.57 [[-3.43182645e-01 -9.39268690e-01 -1.20745118e-05 1.93944578e+02] [ 9.39268689e-01 -3.43182645e-01 3.42838212e-05 1.63303898e+02] [-3.63454828e-05 4.24401631e-07 9.99999999e-01 -5.68674687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16576923100007 meters 0.014374667582291814 Centerline is valid? [True, True] Translation: X:193.93, Y:163.33, Z:-0.57 [[-3.44932877e-01 -9.38627335e-01 1.88457717e-04 1.93934771e+02] [ 9.38627201e-01 -3.44932929e-01 -5.02220878e-04 1.63325068e+02] [ 5.36403516e-04 3.65904697e-06 9.99999856e-01 -5.69035234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19576923100004 meters 0.014263585389021368 Centerline is valid? [True, True] Translation: X:193.92, Y:163.35, Z:-0.57 [[-3.45437533e-01 -9.38441721e-01 2.15483889e-04 1.93923926e+02] [ 9.38441546e-01 -3.45437600e-01 -5.74048872e-04 1.63345973e+02] [ 6.13147649e-04 3.92100747e-06 9.99999812e-01 -5.69028329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2257692310001 meters 0.014246524804906492 Centerline is valid? [True, True] Translation: X:193.91, Y:163.37, Z:-0.57 [[-3.45978535e-01 -9.38242423e-01 9.41985313e-05 1.93912559e+02] [ 9.38242390e-01 -3.45978548e-01 -2.49592258e-04 1.63365926e+02] [ 2.66768716e-04 2.02749124e-06 9.99999964e-01 -5.68713942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25576923100004 meters 0.013787282224616325 Centerline is valid? [True, True] Translation: X:193.90, Y:163.39, Z:-0.57 [[-3.46809690e-01 -9.37935341e-01 -5.79011567e-04 1.93900898e+02] [ 9.37934066e-01 -3.46810173e-01 1.54645608e-03 1.63386986e+02] [-1.65128291e-03 -6.74871997e-06 9.99998637e-01 -5.66471820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2857692310001 meters 0.013690601400271705 Centerline is valid? [True, True] Translation: X:193.89, Y:163.41, Z:-0.57 [[-3.47916922e-01 -9.37525007e-01 -8.22165203e-04 1.93891755e+02] [ 9.37522442e-01 -3.47917893e-01 2.19309129e-03 1.63408150e+02] [-2.34212391e-03 -7.78475802e-06 9.99997257e-01 -5.65013298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31576923100005 meters 0.012650544803074775 Centerline is valid? [True, True] Translation: X:193.89, Y:163.43, Z:-0.56 [[-3.51408511e-01 -9.36221928e-01 -7.48357752e-04 1.93887922e+02] [ 9.36219803e-01 -3.51409308e-01 1.99449282e-03 1.63430923e+02] [-2.13026779e-03 2.54403737e-07 9.99997731e-01 -5.64997588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3457692310001 meters 0.013136620439622422 Centerline is valid? [True, True] Translation: X:193.88, Y:163.45, Z:-0.57 [[-3.54566768e-01 -9.35030496e-01 -6.14883326e-04 1.93884083e+02] [ 9.35029062e-01 -3.54567301e-01 1.63754182e-03 1.63452947e+02] [-1.74916907e-03 5.68413259e-06 9.99998470e-01 -5.65868862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37576923100005 meters 0.014680735286059015 Centerline is valid? [True, True] Translation: X:193.88, Y:163.48, Z:-0.57 [[-3.58303723e-01 -9.33604904e-01 -5.70275360e-04 1.93880029e+02] [ 9.33603671e-01 -3.58304177e-01 1.51734227e-03 1.63477226e+02] [-1.62093023e-03 1.12582161e-05 9.99998686e-01 -5.66132932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4057692310001 meters 0.021543285730439794 Centerline is valid? [True, True] Translation: X:193.89, Y:163.50, Z:-0.57 [[-3.66209671e-01 -9.30531882e-01 -9.45150675e-04 1.93886082e+02] [ 9.30528494e-01 -3.66210888e-01 2.51125020e-03 1.63503971e+02] [-2.68292285e-03 4.01544764e-05 9.99996400e-01 -5.65322955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43576923100005 meters 0.024015848818773923 Centerline is valid? [True, True] Translation: X:193.88, Y:163.53, Z:-0.56 [[-3.69602666e-01 -9.29189271e-01 -1.08051841e-03 1.93883185e+02] [ 9.29184847e-01 -3.69604241e-01 2.86795094e-03 1.63528613e+02] [-3.06423343e-03 5.60009863e-05 9.99995304e-01 -5.64916545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.465769231 meters 0.02887175661830728 Centerline is valid? [True, True] Translation: X:193.89, Y:163.55, Z:-0.56 [[-3.74129352e-01 -9.27375985e-01 -1.00507889e-03 1.93887789e+02] [ 9.27372157e-01 -3.74130697e-01 2.66541730e-03 1.63554803e+02] [-2.84787486e-03 6.51286696e-05 9.99995943e-01 -5.64199780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49576923100005 meters 0.02654582118663775 Centerline is valid? [True, True] Translation: X:193.88, Y:163.58, Z:-0.56 [[-3.75100789e-01 -9.26983793e-01 -6.67103022e-04 1.93879646e+02] [ 9.26982108e-01 -3.75101380e-01 1.76807836e-03 1.63577024e+02] [-1.88921125e-03 4.48150241e-05 9.99998214e-01 -5.64846880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.525769231 meters 0.028370387423898052 Centerline is valid? [True, True] Translation: X:193.88, Y:163.60, Z:-0.57 [[-3.74422838e-01 -9.27258075e-01 3.34438759e-05 1.93880491e+02] [ 9.27258071e-01 -3.74422840e-01 -8.65236033e-05 1.63602430e+02] [ 9.27518607e-05 -1.38530926e-06 9.99999996e-01 -5.68066557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55576923100006 meters 0.02820360289654442 Centerline is valid? [True, True] Translation: X:193.87, Y:163.62, Z:-0.57 [[-3.72602737e-01 -9.27990945e-01 7.45906815e-05 1.93874634e+02] [ 9.27990925e-01 -3.72602745e-01 -1.95183606e-04 1.63624621e+02] [ 2.08921311e-04 -3.50647022e-06 9.99999978e-01 -5.68631460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58576923100003 meters 0.01892528523465187 Centerline is valid? [True, True] Translation: X:193.86, Y:163.64, Z:-0.57 [[-3.64579200e-01 -9.31172346e-01 -2.62993561e-04 1.93856542e+02] [ 9.31172086e-01 -3.64579295e-01 6.96191265e-04 1.63641925e+02] [-7.44156061e-04 8.92459215e-06 9.99999723e-01 -5.67332947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61576923100006 meters 0.014121763472994743 Centerline is valid? [True, True] Translation: X:193.84, Y:163.66, Z:-0.57 [[-3.59604374e-01 -9.33104853e-01 -1.67405065e-04 1.93839471e+02] [ 9.33104747e-01 -3.59604413e-01 4.43381447e-04 1.63660615e+02] [-4.73920980e-04 3.23544622e-06 9.99999888e-01 -5.67204086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64576923100003 meters 0.01271253355348718 Centerline is valid? [True, True] Translation: X:193.82, Y:163.68, Z:-0.57 [[-3.54360839e-01 -9.35108759e-01 6.73276741e-05 1.93822812e+02] [ 9.35108743e-01 -3.54360845e-01 -1.75505514e-04 1.63679922e+02] [ 1.87975035e-04 7.66415361e-07 9.99999982e-01 -5.68335703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67576923100006 meters 0.017936871583435057 Centerline is valid? [True, True] Translation: X:193.80, Y:163.70, Z:-0.57 [[-3.44061924e-01 -9.38946819e-01 5.13781316e-04 1.93797518e+02] [ 9.38945847e-01 -3.44062307e-01 -1.35070128e-03 1.63696614e+02] [ 1.44500946e-03 1.76879502e-05 9.99998956e-01 -5.69976862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70576923100003 meters 0.02193893760318374 Centerline is valid? [True, True] Translation: X:193.78, Y:163.71, Z:-0.57 [[-3.40314128e-01 -9.40311575e-01 6.60408326e-04 1.93781669e+02] [ 9.40309975e-01 -3.40314767e-01 -1.73486338e-03 1.63714871e+02] [ 1.85605882e-03 3.05900184e-05 9.99998277e-01 -5.71004813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73576923100006 meters 0.028173984514735774 Centerline is valid? [True, True] Translation: X:193.76, Y:163.73, Z:-0.57 [[-3.34934111e-01 -9.42241305e-01 6.82160491e-04 1.93762330e+02] [ 9.42239605e-01 -3.34934803e-01 -1.79041003e-03 1.63731842e+02] [ 1.91547757e-03 4.30892390e-05 9.99998165e-01 -5.72691182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76576923100004 meters 0.030428038778067018 Centerline is valid? [True, True] Translation: X:193.75, Y:163.75, Z:-0.57 [[-3.33780667e-01 -9.42650453e-01 7.68098847e-04 1.93749155e+02] [ 9.42648302e-01 -3.33781547e-01 -2.01446096e-03 1.63751312e+02] [ 2.15530976e-03 5.16589505e-05 9.99997676e-01 -5.73580770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79576923100007 meters 0.030489634194298423 Centerline is valid? [True, True] Translation: X:193.74, Y:163.77, Z:-0.57 [[-3.33253070e-01 -9.42837284e-01 4.97693576e-04 1.93737383e+02] [ 9.42836383e-01 -3.33253440e-01 -1.30351968e-03 1.63773057e+02] [ 1.39486505e-03 3.48416745e-05 9.99999027e-01 -5.72774984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82576923100004 meters 0.031203789041198096 Centerline is valid? [True, True] Translation: X:193.72, Y:163.79, Z:-0.57 [[-3.34658612e-01 -9.42339305e-01 -4.97525061e-04 1.93722225e+02] [ 9.42338401e-01 -3.34658980e-01 1.30550076e-03 1.63792290e+02] [-1.39672591e-03 -3.19398997e-05 9.99999024e-01 -5.67804785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85576923100007 meters 0.027160759245709057 Centerline is valid? [True, True] Translation: X:193.72, Y:163.82, Z:-0.57 [[-3.36569012e-01 -9.41658665e-01 -5.08566381e-04 1.93716567e+02] [ 9.41657722e-01 -3.36569395e-01 1.33320845e-03 1.63816150e+02] [-1.42659517e-03 -3.01788084e-05 9.99998982e-01 -5.67321990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88576923100004 meters 0.024806972039775468 Centerline is valid? [True, True] Translation: X:193.71, Y:163.84, Z:-0.57 [[-3.40147829e-01 -9.40371934e-01 2.82851152e-04 1.93707936e+02] [ 9.40371645e-01 -3.40147946e-01 -7.38061565e-04 1.63837717e+02] [ 7.90263619e-04 1.49351645e-05 9.99999688e-01 -5.71689016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91576923100007 meters 0.022698039575763287 Centerline is valid? [True, True] Translation: X:193.70, Y:163.86, Z:-0.57 [[-3.42240906e-01 -9.39612067e-01 5.71567628e-04 1.93700133e+02] [ 9.39610883e-01 -3.42241382e-01 -1.49191307e-03 1.63860108e+02] [ 1.59743362e-03 2.64574830e-05 9.99998724e-01 -5.73599254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94576923100004 meters 0.01944611239001844 Centerline is valid? [True, True] Translation: X:193.69, Y:163.88, Z:-0.57 [[-3.46430053e-01 -9.38075725e-01 3.90180204e-04 1.93692605e+02] [ 9.38075174e-01 -3.46430273e-01 -1.01690550e-03 1.63881459e+02] [ 1.08910460e-03 1.37317365e-05 9.99999407e-01 -5.73487207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9757692310001 meters 0.01714939568554379 Centerline is valid? [True, True] Translation: X:193.69, Y:163.90, Z:-0.57 [[-3.48645320e-01 -9.37254736e-01 -1.23073324e-05 1.93685503e+02] [ 9.37254736e-01 -3.48645320e-01 3.39142548e-05 1.63904749e+02] [-3.60771898e-05 2.88940670e-07 9.99999999e-01 -5.71549206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00576923100004 meters 0.015476599906148485 Centerline is valid? [True, True] Translation: X:193.68, Y:163.93, Z:-0.57 [[-3.51132271e-01 -9.36325801e-01 -3.50035224e-04 1.93678482e+02] [ 9.36325355e-01 -3.51132445e-01 9.14110431e-04 1.63927105e+02] [-9.78813905e-04 -6.77318398e-06 9.99999521e-01 -5.69479881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0357692310001 meters 0.014432717303405696 Centerline is valid? [True, True] Translation: X:193.67, Y:163.95, Z:-0.57 [[-3.53627520e-01 -9.35386140e-01 -5.87897227e-04 1.93671314e+02] [ 9.35384885e-01 -3.53628009e-01 1.53259932e-03 1.63948955e+02] [-1.64146909e-03 -7.94088129e-06 9.99998653e-01 -5.68850665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06576923100005 meters 0.012876884993497718 Centerline is valid? [True, True] Translation: X:193.67, Y:163.97, Z:-0.57 [[-3.57057398e-01 -9.34082405e-01 -2.74383816e-04 1.93665958e+02] [ 9.34082131e-01 -3.57057503e-01 7.15600897e-04 1.63972265e+02] [-7.66401008e-04 -7.86425626e-07 9.99999706e-01 -5.70089085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0957692310001 meters 0.01298000222207052 Centerline is valid? [True, True] Translation: X:193.66, Y:163.99, Z:-0.57 [[-3.58793711e-01 -9.33416867e-01 1.61680748e-04 1.93658032e+02] [ 9.33416773e-01 -3.58793747e-01 -4.18315277e-04 1.63993477e+02] [ 4.48472576e-04 8.26631515e-07 9.99999899e-01 -5.72674238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12576923100005 meters 0.012790087610694669 Centerline is valid? [True, True] Translation: X:193.65, Y:164.01, Z:-0.57 [[-3.59734017e-01 -9.33054894e-01 4.42142777e-05 1.93649729e+02] [ 9.33054887e-01 -3.59734020e-01 -1.13004452e-04 1.64014695e+02] [ 1.21344736e-04 6.02802578e-07 9.99999993e-01 -5.71478182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1557692310001 meters 0.01269838789948794 Centerline is valid? [True, True] Translation: X:193.64, Y:164.04, Z:-0.57 [[-3.60344238e-01 -9.32819381e-01 -1.81731613e-04 1.93640377e+02] [ 9.32819261e-01 -3.60344284e-01 4.73265272e-04 1.64035761e+02] [-5.06956966e-04 1.01566482e-06 9.99999871e-01 -5.70105310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18576923100005 meters 0.012753702015839663 Centerline is valid? [True, True] Translation: X:193.63, Y:164.06, Z:-0.57 [[-3.61043883e-01 -9.32548780e-01 -2.96674435e-04 1.93630368e+02] [ 9.32548461e-01 -3.61044005e-01 7.70775265e-04 1.64057563e+02] [-8.25898059e-04 1.62040710e-06 9.99999659e-01 -5.68989460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.215769231 meters 0.013310854455429774 Centerline is valid? [True, True] Translation: X:193.62, Y:164.08, Z:-0.57 [[-3.63335822e-01 -9.31658123e-01 -4.72515254e-04 1.93622713e+02] [ 9.31657317e-01 -3.63336129e-01 1.22544785e-03 1.64078591e+02] [-1.31338031e-03 5.02680857e-06 9.99999138e-01 -5.68235681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24576923100005 meters 0.014019087642449838 Centerline is valid? [True, True] Translation: X:193.62, Y:164.10, Z:-0.57 [[-3.65435326e-01 -9.30836567e-01 -5.55946716e-04 1.93616297e+02] [ 9.30835453e-01 -3.65435749e-01 1.44011299e-03 1.64101635e+02] [-1.54367263e-03 8.77324551e-06 9.99998809e-01 -5.67839041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.275769231 meters 0.016078488153918376 Centerline is valid? [True, True] Translation: X:193.61, Y:164.13, Z:-0.57 [[-3.68840281e-01 -9.29492782e-01 -1.21852802e-04 1.93613050e+02] [ 9.29492728e-01 -3.68840301e-01 3.16740970e-04 1.64125980e+02] [-3.39352669e-04 3.56553499e-06 9.99999942e-01 -5.69637847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30576923100006 meters 0.018069752444019108 Centerline is valid? [True, True] Translation: X:193.61, Y:164.15, Z:-0.57 [[-3.70993113e-01 -9.28635616e-01 5.84030591e-05 1.93608550e+02] [ 9.28635604e-01 -3.70993118e-01 -1.48996408e-04 1.64148582e+02] [ 1.60030504e-04 -1.04148137e-06 9.99999987e-01 -5.71295861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33576923100003 meters 0.018069752444019108 Centerline is valid? [True, True] Translation: X:193.60, Y:164.17, Z:-0.57 [[-3.71269437e-01 -9.28525176e-01 5.84273999e-05 1.93599717e+02] [ 9.28525164e-01 -3.71269441e-01 -1.48986874e-04 1.64170182e+02] [ 1.60030371e-04 -1.06296164e-06 9.99999987e-01 -5.71345929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36576923100006 meters 0.028148587881045285 Centerline is valid? [True, True] Translation: X:193.60, Y:164.19, Z:-0.57 [[-3.75410143e-01 -9.26858793e-01 -3.79854618e-05 1.93598260e+02] [ 9.26858788e-01 -3.75410145e-01 9.97540457e-05 1.64194752e+02] [-1.06718042e-04 2.24152152e-06 9.99999994e-01 -5.65343344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39576923100003 meters 0.022774690832278087 Centerline is valid? [True, True] Translation: X:193.59, Y:164.22, Z:-0.57 [[-3.77441709e-01 -9.26033304e-01 -2.76710174e-04 1.93591103e+02] [ 9.26033028e-01 -3.77441810e-01 7.14455018e-04 1.64218147e+02] [-7.66051130e-04 1.34223626e-05 9.99999706e-01 -5.68616667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42576923100006 meters 0.025824297119055727 Centerline is valid? [True, True] Translation: X:193.59, Y:164.24, Z:-0.57 [[-3.79399118e-01 -9.25233056e-01 -3.17561382e-04 1.93588056e+02] [ 9.25232694e-01 -3.79399251e-01 8.18981648e-04 1.64242272e+02] [-8.78231444e-04 1.69027425e-05 9.99999614e-01 -5.68816825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45576923100003 meters 0.027465417459912933 Centerline is valid? [True, True] Translation: X:193.58, Y:164.27, Z:-0.57 [[-3.81869703e-01 -9.24216156e-01 -1.61928393e-04 1.93584686e+02] [ 9.24216062e-01 -3.81869737e-01 4.18095851e-04 1.64266499e+02] [-4.48246494e-04 1.00013165e-05 9.99999899e-01 -5.69041591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48576923100006 meters 0.027479571507388615 Centerline is valid? [True, True] Translation: X:193.58, Y:164.29, Z:-0.57 [[-3.82775303e-01 -9.23841445e-01 -2.29079498e-04 1.93577311e+02] [ 9.23841256e-01 -3.82775371e-01 5.90209957e-04 1.64289262e+02] [-6.32946409e-04 1.42847041e-05 9.99999800e-01 -5.68061500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51576923100004 meters 0.026695949275976114 Centerline is valid? [True, True] Translation: X:193.57, Y:164.31, Z:-0.56 [[-3.83344453e-01 -9.23604961e-01 -9.51620993e-04 1.93570258e+02] [ 9.23601730e-01 -3.83345630e-01 2.44399630e-03 1.64311609e+02] [-2.62208686e-03 5.79736321e-05 9.99996561e-01 -5.64202602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54576923100007 meters 0.027502695295006138 Centerline is valid? [True, True] Translation: X:193.56, Y:164.33, Z:-0.56 [[-3.83248657e-01 -9.23643950e-01 -1.52341022e-03 1.93564040e+02] [ 9.23635688e-01 -3.83251674e-01 3.90773107e-03 1.64333601e+02] [-4.19320167e-03 9.05566313e-05 9.99991204e-01 -5.61249838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57576923100004 meters 0.024893890314891216 Centerline is valid? [True, True] Translation: X:193.55, Y:164.35, Z:-0.56 [[-3.82994410e-01 -9.23748190e-01 -2.13628467e-03 1.93552514e+02] [ 9.23731979e-01 -3.83000348e-01 5.47389827e-03 1.64354555e+02] [-5.87470139e-03 1.23117973e-04 9.99982736e-01 -5.58290637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60576923100007 meters 0.02510836282179579 Centerline is valid? [True, True] Translation: X:193.55, Y:164.38, Z:-0.56 [[-3.82651834e-01 -9.23890521e-01 -1.96980449e-03 1.93546518e+02] [ 9.23876766e-01 -3.82656888e-01 5.04265237e-03 1.64376702e+02] [-5.41261798e-03 1.09723575e-04 9.99985346e-01 -5.59276210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63576923100004 meters 0.02703458234486911 Centerline is valid? [True, True] Translation: X:193.54, Y:164.40, Z:-0.56 [[-3.82511002e-01 -9.23949892e-01 -1.38950365e-03 1.93542264e+02] [ 9.23943059e-01 -3.82513518e-01 3.55428171e-03 1.64399541e+02] [-3.81548214e-03 7.57296050e-05 9.99992718e-01 -5.62473245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66576923100007 meters 0.023776543646001604 Centerline is valid? [True, True] Translation: X:193.53, Y:164.42, Z:-0.57 [[-3.81250764e-01 -9.24471662e-01 -3.03924820e-05 1.93533066e+02] [ 9.24471659e-01 -3.81250765e-01 7.94022852e-05 1.64422171e+02] [-8.49923197e-05 2.17519356e-06 9.99999996e-01 -5.68502744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69576923100004 meters 0.022654378656355226 Centerline is valid? [True, True] Translation: X:193.52, Y:164.44, Z:-0.57 [[-3.80592685e-01 -9.24742760e-01 1.89169099e-04 1.93524598e+02] [ 9.24742635e-01 -3.80592732e-01 -4.80966660e-04 1.64444502e+02] [ 5.16766821e-04 -8.11966141e-06 9.99999866e-01 -5.69613613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7257692310001 meters 0.02127375496059159 Centerline is valid? [True, True] Translation: X:193.52, Y:164.47, Z:-0.57 [[-3.79270160e-01 -9.25285942e-01 -2.66255404e-04 1.93517459e+02] [ 9.25285692e-01 -3.79270253e-01 6.80715279e-04 1.64466199e+02] [-7.30839033e-04 1.18126766e-05 9.99999733e-01 -5.67010591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75576923100004 meters 0.020021213281670534 Centerline is valid? [True, True] Translation: X:193.51, Y:164.49, Z:-0.57 [[-3.78296083e-01 -9.25684497e-01 -5.34179893e-04 1.93507765e+02] [ 9.25683494e-01 -3.78296460e-01 1.36255591e-03 1.64487908e+02] [-1.46337524e-03 2.09680540e-05 9.99998929e-01 -5.65679413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7857692310001 meters 0.01768341349400796 Centerline is valid? [True, True] Translation: X:193.50, Y:164.51, Z:-0.56 [[-3.75930366e-01 -9.26647413e-01 -9.64911803e-04 1.93499252e+02] [ 9.26644155e-01 -3.75931603e-01 2.45760978e-03 1.64510590e+02] [-2.64007859e-03 2.97602615e-05 9.99996515e-01 -5.64944338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81576923100005 meters 0.01685358134622863 Centerline is valid? [True, True] Translation: X:193.49, Y:164.53, Z:-0.56 [[-3.75320633e-01 -9.26894167e-01 -1.27480542e-03 1.93491110e+02] [ 9.26888493e-01 -3.75322796e-01 3.24337560e-03 1.64533396e+02] [-3.48472946e-03 3.57033083e-05 9.99993928e-01 -5.63439700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8457692310001 meters 0.01594164937213715 Centerline is valid? [True, True] Translation: X:193.48, Y:164.56, Z:-0.56 [[-3.74412804e-01 -9.27261202e-01 -1.30947001e-03 1.93484726e+02] [ 9.27255229e-01 -3.74415093e-01 3.32848259e-03 1.64555661e+02] [-3.57665810e-03 3.20135887e-05 9.99993603e-01 -5.63235854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87576923100005 meters 0.015517530211226623 Centerline is valid? [True, True] Translation: X:193.48, Y:164.58, Z:-0.57 [[-3.74289652e-01 -9.27311642e-01 -6.11978468e-04 1.93476594e+02] [ 9.27310339e-01 -3.74290152e-01 1.55510012e-03 1.64578580e+02] [-1.67111996e-03 1.45639223e-05 9.99998604e-01 -5.66518419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9057692310001 meters 0.015807813115648287 Centerline is valid? [True, True] Translation: X:193.47, Y:164.60, Z:-0.57 [[-3.74119265e-01 -9.27380510e-01 4.06445989e-04 1.93470029e+02] [ 9.27379939e-01 -3.74119486e-01 -1.02876991e-03 1.64600860e+02] [ 1.10612053e-03 -7.95278561e-06 9.99999388e-01 -5.71335764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93576923100005 meters 0.01454626832455326 Centerline is valid? [True, True] Translation: X:193.46, Y:164.62, Z:-0.57 [[-3.72594700e-01 -9.27993219e-01 1.33218862e-03 1.93460058e+02] [ 9.27987089e-01 -3.72597081e-01 -3.37319016e-03 1.64622285e+02] [ 3.62666719e-03 -2.05789389e-05 9.99993423e-01 -5.74199562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9657692310001 meters 0.013853442499986173 Centerline is valid? [True, True] Translation: X:193.45, Y:164.64, Z:-0.57 [[-3.71471978e-01 -9.28443738e-01 8.91215386e-04 1.93449370e+02] [ 9.28441003e-01 -3.71473047e-01 -2.25383829e-03 1.64642647e+02] [ 2.42362454e-03 -9.79685938e-06 9.99997063e-01 -5.72856532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99576923100005 meters 0.012519575866185548 Centerline is valid? [True, True] Translation: X:193.43, Y:164.66, Z:-0.57 [[-3.68253278e-01 -9.29725357e-01 -5.33051374e-04 1.93434323e+02] [ 9.29724377e-01 -3.68253663e-01 1.34981531e-03 1.64660685e+02] [-1.45125564e-03 1.48305599e-06 9.99998947e-01 -5.65782058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.025769231 meters 0.0126031701990068 Centerline is valid? [True, True] Translation: X:193.42, Y:164.68, Z:-0.56 [[-3.66379617e-01 -9.30465098e-01 -8.23370820e-04 1.93421544e+02] [ 9.30462769e-01 -3.66380542e-01 2.08188482e-03 1.64680717e+02] [-2.23878821e-03 -3.35573080e-06 9.99997494e-01 -5.64364412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05576923100006 meters 0.013327518357782588 Centerline is valid? [True, True] Translation: X:193.41, Y:164.70, Z:-0.56 [[-3.64554122e-01 -9.31181878e-01 -7.76334914e-04 1.93408313e+02] [ 9.31179813e-01 -3.64554948e-01 1.96122334e-03 1.64700772e+02] [-2.10927237e-03 -7.93534552e-06 9.99997775e-01 -5.63996749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08576923100003 meters 0.015270970989359553 Centerline is valid? [True, True] Translation: X:193.39, Y:164.72, Z:-0.56 [[-3.61614910e-01 -9.32327161e-01 -8.49243361e-04 1.93389194e+02] [ 9.32324698e-01 -3.61615907e-01 2.14336375e-03 1.64719215e+02] [-2.30541614e-03 -1.66982721e-05 9.99997342e-01 -5.63995884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11576923100006 meters 0.015911205464609984 Centerline is valid? [True, True] Translation: X:193.37, Y:164.74, Z:-0.56 [[-3.61226331e-01 -9.32477760e-01 -8.74150149e-04 1.93374845e+02] [ 9.32475155e-01 -3.61227388e-01 2.20428859e-03 1.64739643e+02] [-2.37121707e-03 -1.88762143e-05 9.99997188e-01 -5.64438587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14576923100003 meters 0.017170343531447942 Centerline is valid? [True, True] Translation: X:193.36, Y:164.76, Z:-0.57 [[-3.60831775e-01 -9.32630843e-01 -3.75171287e-04 1.93355030e+02] [ 9.32630363e-01 -3.60831970e-01 9.46244574e-04 1.64756200e+02] [-1.01787067e-03 -8.46102464e-06 9.99999482e-01 -5.67544885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17576923100006 meters 0.01685120416644669 Centerline is valid? [True, True] Translation: X:193.34, Y:164.77, Z:-0.57 [[-3.61637246e-01 -9.32318862e-01 -2.02962068e-04 1.93342631e+02] [ 9.32318722e-01 -3.61637303e-01 5.12427941e-04 1.64774440e+02] [-5.51144890e-04 -3.91230678e-06 9.99999848e-01 -5.68591602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20576923100003 meters 0.015733661580575105 Centerline is valid? [True, True] Translation: X:193.33, Y:164.79, Z:-0.57 [[-3.63119471e-01 -9.31742548e-01 -2.71118966e-04 1.93330788e+02] [ 9.31742298e-01 -3.63119572e-01 6.82989062e-04 1.64794815e+02] [-7.34818572e-04 -4.60638150e-06 9.99999730e-01 -5.67766074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23576923100006 meters 0.013299721376541382 Centerline is valid? [True, True] Translation: X:193.32, Y:164.81, Z:-0.56 [[-3.66765558e-01 -9.30313160e-01 -6.70027331e-04 1.93318357e+02] [ 9.30311637e-01 -3.66766170e-01 1.68380079e-03 1.64814069e+02] [-1.81220539e-03 -5.77408632e-06 9.99998358e-01 -5.64738391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26576923100004 meters 0.012557545833264183 Centerline is valid? [True, True] Translation: X:193.31, Y:164.84, Z:-0.56 [[-3.69071538e-01 -9.29400488e-01 -9.65419662e-04 1.93308321e+02] [ 9.29397329e-01 -3.69072801e-01 2.42322124e-03 1.64835984e+02] [-2.60845315e-03 -2.91646396e-06 9.99996598e-01 -5.63490581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29576923100007 meters 0.013177669941072452 Centerline is valid? [True, True] Translation: X:193.30, Y:164.86, Z:-0.56 [[-3.74220393e-01 -9.27338661e-01 -1.45086065e-03 1.93297591e+02] [ 9.27331527e-01 -3.74223205e-01 3.63758853e-03 1.64857381e+02] [-3.91622220e-03 1.58309880e-05 9.99992331e-01 -5.62441358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32576923100004 meters 0.015431693184886533 Centerline is valid? [True, True] Translation: X:193.29, Y:164.88, Z:-0.56 [[-3.76991136e-01 -9.26215872e-01 -1.35710353e-03 1.93289562e+02] [ 9.26209633e-01 -3.76993578e-01 3.39960239e-03 1.64878315e+02] [-3.66038501e-03 2.46576030e-05 9.99993300e-01 -5.63194127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35576923100007 meters 0.016415868520451557 Centerline is valid? [True, True] Translation: X:193.28, Y:164.90, Z:-0.56 [[-3.79516002e-01 -9.25184608e-01 -1.02211530e-03 1.93277870e+02] [ 9.25181071e-01 -3.79517378e-01 2.55859666e-03 1.64899390e+02] [-2.75508476e-03 2.53866483e-05 9.99996204e-01 -5.64818038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38576923100004 meters 0.01962289707168475 Centerline is valid? [True, True] Translation: X:193.27, Y:164.92, Z:-0.57 [[-3.83486962e-01 -9.23546283e-01 -1.16188525e-04 1.93266864e+02] [ 9.23546236e-01 -3.83486980e-01 2.92153478e-04 1.64920437e+02] [-3.14374045e-04 4.73157473e-06 9.99999951e-01 -5.68847266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41576923100007 meters 0.021460342407445623 Centerline is valid? [True, True] Translation: X:193.26, Y:164.94, Z:-0.57 [[-3.85532594e-01 -9.22694210e-01 1.15878666e-04 1.93257300e+02] [ 9.22694165e-01 -3.85532612e-01 -2.87619209e-04 1.64942107e+02] [ 3.10059584e-04 -3.96601114e-06 9.99999952e-01 -5.70341632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44576923100004 meters 0.026073573392272092 Centerline is valid? [True, True] Translation: X:193.25, Y:164.96, Z:-0.57 [[-3.89376652e-01 -9.21078555e-01 3.43279860e-04 1.93250697e+02] [ 9.21078159e-01 -3.89376803e-01 -8.54756602e-04 1.64964598e+02] [ 9.20963191e-04 -1.66346827e-05 9.99999576e-01 -5.72048248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4757692310001 meters 0.03275792275003667 Centerline is valid? [True, True] Translation: X:193.25, Y:164.99, Z:-0.57 [[-3.92080779e-01 -9.19930732e-01 3.32120158e-04 1.93249971e+02] [ 9.19930362e-01 -3.92080919e-01 -8.25968326e-04 1.64988189e+02] [ 8.90051624e-04 -1.83188872e-05 9.99999604e-01 -5.72871774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50576923100004 meters 0.030384073642433274 Centerline is valid? [True, True] Translation: X:193.24, Y:165.01, Z:-0.57 [[-3.95348135e-01 -9.18531351e-01 9.99849976e-05 1.93237769e+02] [ 9.18531317e-01 -3.95348148e-01 -2.47223200e-04 1.65009092e+02] [ 2.66611143e-04 -5.89987936e-06 9.99999964e-01 -5.70350036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5357692310001 meters 0.03816463116515024 Centerline is valid? [True, True] Translation: X:193.24, Y:165.03, Z:-0.57 [[-4.00938353e-01 -9.16104985e-01 -3.06803647e-04 1.93240307e+02] [ 9.16104665e-01 -4.00938470e-01 7.65187355e-04 1.65034604e+02] [-8.24001335e-04 2.57287051e-05 9.99999660e-01 -5.69027834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56576923100005 meters 0.03851551808895421 Centerline is valid? [True, True] Translation: X:193.23, Y:165.06, Z:-0.57 [[-4.03257928e-01 -9.15086264e-01 -4.16318874e-04 1.93232932e+02] [ 9.15085677e-01 -4.03258142e-01 1.03669676e-03 1.65057213e+02] [-1.11655094e-03 3.70887485e-05 9.99999376e-01 -5.68810862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5957692310001 meters 0.04321197408256169 Centerline is valid? [True, True] Translation: X:193.23, Y:165.08, Z:-0.57 [[-4.06837228e-01 -9.13500625e-01 -2.79176435e-04 1.93234169e+02] [ 9.13500361e-01 -4.06837323e-01 6.95174558e-04 1.65082486e+02] [-7.48621787e-04 2.77951162e-05 9.99999719e-01 -5.69987429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62576923100005 meters 0.04703975319165627 Centerline is valid? [True, True] Translation: X:193.23, Y:165.11, Z:-0.57 [[-4.08327278e-01 -9.12835546e-01 -3.16542428e-04 1.93232650e+02] [ 9.12835207e-01 -4.08327399e-01 7.87264682e-04 1.65107056e+02] [-8.47896132e-04 3.25105713e-05 9.99999640e-01 -5.69546311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6557692310001 meters 0.04305570148307999 Centerline is valid? [True, True] Translation: X:193.22, Y:165.13, Z:-0.57 [[-4.09012812e-01 -9.12528560e-01 -3.83464656e-04 1.93221693e+02] [ 9.12528064e-01 -4.09012990e-01 9.52524696e-04 1.65128432e+02] [-1.02604802e-03 3.96725439e-05 9.99999473e-01 -5.68221039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68576923100005 meters 0.043579459286590856 Centerline is valid? [True, True] Translation: X:193.22, Y:165.15, Z:-0.57 [[-4.08369289e-01 -9.12816558e-01 -6.75498531e-04 1.93220293e+02] [ 9.12815023e-01 -4.08369842e-01 1.67518864e-03 1.65152388e+02] [-1.80499315e-03 6.74903855e-05 9.99998369e-01 -5.65908341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7157692310001 meters 0.0446596826168484 Centerline is valid? [True, True] Translation: X:193.22, Y:165.18, Z:-0.56 [[-4.07143905e-01 -9.13363548e-01 -9.33010379e-04 1.93215938e+02] [ 9.13360628e-01 -4.07144964e-01 2.31106508e-03 1.65175066e+02] [-2.49071308e-03 8.87611147e-05 9.99996894e-01 -5.64434907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74576923100005 meters 0.03845558127817023 Centerline is valid? [True, True] Translation: X:193.20, Y:165.20, Z:-0.56 [[-4.03338357e-01 -9.15049497e-01 -1.60862911e-03 1.93204266e+02] [ 9.15040853e-01 -4.03341543e-01 3.97972327e-03 1.65195642e+02] [-4.29047073e-03 1.33213695e-04 9.99990787e-01 -5.61144374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.775769231 meters 0.04518210971037465 Centerline is valid? [True, True] Translation: X:193.21, Y:165.22, Z:-0.56 [[-4.01546488e-01 -9.15837002e-01 -1.73293338e-03 1.93206713e+02] [ 9.15826996e-01 -4.01550205e-01 4.28321696e-03 1.65220564e+02] [-4.61858834e-03 1.32843558e-04 9.99989325e-01 -5.59651592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80576923100006 meters 0.03136941720875796 Centerline is valid? [True, True] Translation: X:193.18, Y:165.24, Z:-0.56 [[-4.00010222e-01 -9.16509169e-01 -1.66306072e-03 1.93183042e+02] [ 9.16499975e-01 -4.00013661e-01 4.10695013e-03 1.65237465e+02] [-4.42930446e-03 1.18626928e-04 9.99990184e-01 -5.61587009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83576923100003 meters 0.029063689703382186 Centerline is valid? [True, True] Translation: X:193.18, Y:165.26, Z:-0.57 [[-3.97494660e-01 -9.17604242e-01 -6.71299222e-04 1.93177393e+02] [ 9.17602746e-01 -3.97495224e-01 1.65741803e-03 1.65259485e+02] [-1.78769205e-03 4.28288048e-05 9.99998401e-01 -5.66030334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86576923100006 meters 0.027846954062853216 Centerline is valid? [True, True] Translation: X:193.17, Y:165.28, Z:-0.57 [[-3.96600162e-01 -9.17991417e-01 -2.62480296e-04 1.93171314e+02] [ 9.17991189e-01 -3.96600249e-01 6.48458662e-04 1.65283412e+02] [-6.99379237e-04 1.62242117e-05 9.99999755e-01 -5.67404167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89576923100003 meters 0.031389365709948915 Centerline is valid? [True, True] Translation: X:193.17, Y:165.31, Z:-0.56 [[-3.96447772e-01 -9.18056982e-01 -7.36397529e-04 1.93169485e+02] [ 9.18055189e-01 -3.96448454e-01 1.81477994e-03 1.65307116e+02] [-1.95801505e-03 4.34118906e-05 9.99998082e-01 -5.64982846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92576923100006 meters 0.03103069885297391 Centerline is valid? [True, True] Translation: X:193.16, Y:165.33, Z:-0.56 [[-3.96183113e-01 -9.18170670e-01 -1.25007397e-03 1.93162851e+02] [ 9.18165518e-01 -3.96185078e-01 3.07665046e-03 1.65327772e+02] [-3.32015086e-03 7.11421453e-05 9.99994486e-01 -5.62083265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95576923100003 meters 0.026671691855245778 Centerline is valid? [True, True] Translation: X:193.15, Y:165.35, Z:-0.56 [[-3.95740867e-01 -9.18361869e-01 -8.02702223e-04 1.93153539e+02] [ 9.18359747e-01 -3.95741678e-01 1.97446954e-03 1.65349383e+02] [-2.13094026e-03 4.42088768e-05 9.99997729e-01 -5.64935189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98576923100006 meters 0.025115194102024837 Centerline is valid? [True, True] Translation: X:193.15, Y:165.37, Z:-0.57 [[-3.95166566e-01 -9.18609388e-01 4.21896196e-04 1.93148099e+02] [ 9.18608806e-01 -3.95166791e-01 -1.03407290e-03 1.65373457e+02] [ 1.11662844e-03 -2.10734745e-05 9.99999376e-01 -5.70987327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01576923100004 meters 0.025632487640600523 Centerline is valid? [True, True] Translation: X:193.14, Y:165.40, Z:-0.57 [[-3.94880785e-01 -9.18732255e-01 4.57148316e-04 1.93143381e+02] [ 9.18731573e-01 -3.94881049e-01 -1.11961262e-03 1.65395876e+02] [ 1.20914343e-03 -2.21169183e-05 9.99999269e-01 -5.71333501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04576923100007 meters 0.023974984557351427 Centerline is valid? [True, True] Translation: X:193.14, Y:165.42, Z:-0.57 [[-3.94849179e-01 -9.18745932e-01 1.97265423e-04 1.93135530e+02] [ 9.18745806e-01 -3.94849228e-01 -4.81705374e-04 1.65418809e+02] [ 5.20454952e-04 -8.96419122e-06 9.99999865e-01 -5.69979158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07576923100004 meters 0.02507460091947603 Centerline is valid? [True, True] Translation: X:193.14, Y:165.44, Z:-0.57 [[-3.94415527e-01 -9.18932195e-01 -1.17318743e-04 1.93136705e+02] [ 9.18932149e-01 -3.94415544e-01 2.89091995e-04 1.65444171e+02] [-3.11928278e-04 6.21440700e-06 9.99999951e-01 -5.67898807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10576923100007 meters 0.024676831926534443 Centerline is valid? [True, True] Translation: X:193.13, Y:165.47, Z:-0.57 [[-3.94627670e-01 -9.18841090e-01 2.29662906e-04 1.93131908e+02] [ 9.18840920e-01 -3.94627737e-01 -5.59518387e-04 1.65466628e+02] [ 6.04739838e-04 -9.77776108e-06 9.99999817e-01 -5.69660227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13576923100004 meters 0.022403142804729 Centerline is valid? [True, True] Translation: X:193.13, Y:165.49, Z:-0.57 [[-3.94556248e-01 -9.18871535e-01 6.85799512e-04 1.93129285e+02] [ 9.18870010e-01 -3.94556842e-01 -1.67408891e-03 1.65491832e+02] [ 1.80885954e-03 -3.03616339e-05 9.99998364e-01 -5.71812539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16576923100007 meters 0.023771651966827574 Centerline is valid? [True, True] Translation: X:193.13, Y:165.52, Z:-0.57 [[-3.93934377e-01 -9.19138486e-01 3.87194326e-04 1.93126863e+02] [ 9.19138002e-01 -3.93934567e-01 -9.43469719e-04 1.65515658e+02] [ 1.01970856e-03 -1.57801365e-05 9.99999480e-01 -5.71249044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19576923100004 meters 0.02122620965517076 Centerline is valid? [True, True] Translation: X:193.12, Y:165.54, Z:-0.57 [[-3.92868569e-01 -9.19594623e-01 -1.30805135e-04 1.93117866e+02] [ 9.19594567e-01 -3.92868591e-01 3.20808110e-04 1.65537922e+02] [-3.46402642e-04 5.74773133e-06 9.99999940e-01 -5.67853669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2257692310001 meters 0.016420178577065007 Centerline is valid? [True, True] Translation: X:193.11, Y:165.56, Z:-0.57 [[-3.88544962e-01 -9.21429601e-01 -5.50107250e-04 1.93107812e+02] [ 9.21428623e-01 -3.88545351e-01 1.34250401e-03 1.65559763e+02] [-1.45076455e-03 1.47386035e-05 9.99998948e-01 -5.65452900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25576923100004 meters 0.016420178577065007 Centerline is valid? [True, True] Translation: X:193.10, Y:165.58, Z:-0.57 [[-3.88829769e-01 -9.21309453e-01 -5.50574158e-04 1.93098550e+02] [ 9.21308475e-01 -3.88830158e-01 1.34231245e-03 1.65581211e+02] [-1.45076499e-03 1.46824025e-05 9.99998948e-01 -5.65502960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2857692310001 meters 0.014350691879489333 Centerline is valid? [True, True] Translation: X:193.09, Y:165.60, Z:-0.57 [[-3.86037700e-01 -9.22482955e-01 -3.02220118e-04 1.93088031e+02] [ 9.22482661e-01 -3.86037819e-01 7.36976364e-04 1.65602096e+02] [-7.96516530e-04 5.70784181e-06 9.99999683e-01 -5.66931098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31576923100005 meters 0.012420264251778263 Centerline is valid? [True, True] Translation: X:193.07, Y:165.62, Z:-0.57 [[-3.80231259e-01 -9.24891447e-01 -4.32833858e-05 1.93074736e+02] [ 9.24891440e-01 -3.80231261e-01 1.06907196e-04 1.65622071e+02] [-1.15335248e-04 6.17024810e-07 9.99999993e-01 -5.68553256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3457692310001 meters 0.012955454129836076 Centerline is valid? [True, True] Translation: X:193.06, Y:165.64, Z:-0.57 [[-3.77848248e-01 -9.25867450e-01 -4.08509541e-04 1.93062465e+02] [ 9.25866916e-01 -3.77848469e-01 9.93816843e-04 1.65641999e+02] [-1.07449737e-03 -2.71351572e-06 9.99999423e-01 -5.66481114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37576923100005 meters 0.013904656692241463 Centerline is valid? [True, True] Translation: X:193.05, Y:165.66, Z:-0.56 [[-3.75607594e-01 -9.26778423e-01 -8.30907403e-04 1.93050658e+02] [ 9.26776226e-01 -3.75608513e-01 2.01774478e-03 1.65663315e+02] [-2.18209822e-03 -1.21849643e-05 9.99997619e-01 -5.64001329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4057692310001 meters 0.017473274008047816 Centerline is valid? [True, True] Translation: X:193.04, Y:165.68, Z:-0.56 [[-3.70735727e-01 -9.28738039e-01 -8.22217146e-04 1.93035550e+02] [ 9.28735896e-01 -3.70736638e-01 1.99492832e-03 1.65683396e+02] [-2.15759183e-03 -2.40313776e-05 9.99997672e-01 -5.63858270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43576923100005 meters 0.020107216955855566 Centerline is valid? [True, True] Translation: X:193.02, Y:165.70, Z:-0.57 [[-3.68916864e-01 -9.29462267e-01 -4.92164989e-04 1.93022804e+02] [ 9.29461500e-01 -3.68917192e-01 1.19381582e-03 1.65703117e+02] [-1.29117488e-03 -1.70296221e-05 9.99999166e-01 -5.65374798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4657692310001 meters 0.022372960678031652 Centerline is valid? [True, True] Translation: X:193.01, Y:165.72, Z:-0.57 [[-3.65549427e-01 -9.30791920e-01 -1.37481177e-04 1.93008796e+02] [ 9.30791860e-01 -3.65549453e-01 3.34457939e-04 1.65722902e+02] [-3.61566916e-04 -5.70545213e-06 9.99999935e-01 -5.67220421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49576923100005 meters 0.026065152697193956 Centerline is valid? [True, True] Translation: X:192.99, Y:165.74, Z:-0.57 [[-3.63710950e-01 -9.31511841e-01 1.84731342e-04 1.92993427e+02] [ 9.31511735e-01 -3.63710997e-01 -4.44907450e-04 1.65741569e+02] [ 4.81625378e-04 1.02617014e-05 9.99999884e-01 -5.68858256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.525769231 meters 0.026371236590909477 Centerline is valid? [True, True] Translation: X:192.98, Y:165.76, Z:-0.57 [[-3.62542808e-01 -9.31967014e-01 4.45367156e-04 1.92982308e+02] [ 9.31966395e-01 -3.62543080e-01 -1.07423903e-03 1.65763354e+02] [ 1.16262012e-03 2.56095894e-05 9.99999324e-01 -5.70502288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55576923100006 meters 0.026939858665815043 Centerline is valid? [True, True] Translation: X:192.97, Y:165.78, Z:-0.57 [[-3.62082548e-01 -9.32146016e-01 1.83723285e-04 1.92970751e+02] [ 9.32145911e-01 -3.62082594e-01 -4.41763050e-04 1.65784408e+02] [ 4.78310671e-04 1.13022183e-05 9.99999886e-01 -5.70360944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58576923100003 meters 0.027470505441304208 Centerline is valid? [True, True] Translation: X:192.96, Y:165.81, Z:-0.57 [[-3.63579245e-01 -9.31563273e-01 3.55461791e-05 1.92960980e+02] [ 9.31563269e-01 -3.63579247e-01 -8.39756559e-05 1.65805076e+02] [ 9.11524898e-05 2.58170920e-06 9.99999996e-01 -5.69765682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61576923100006 meters 0.025577001356561175 Centerline is valid? [True, True] Translation: X:192.96, Y:165.83, Z:-0.57 [[-3.66005208e-01 -9.30612752e-01 3.05613973e-04 1.92955008e+02] [ 9.30612462e-01 -3.66005336e-01 -7.34748861e-04 1.65827607e+02] [ 7.95623005e-04 1.54862622e-05 9.99999683e-01 -5.71377703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64576923100003 meters 0.01983422381317004 Centerline is valid? [True, True] Translation: X:192.96, Y:165.85, Z:-0.58 [[-3.71809989e-01 -9.28308362e-01 9.58027791e-04 1.92956684e+02] [ 9.28305503e-01 -3.71811222e-01 -2.30419315e-03 1.65853486e+02] [ 2.49520725e-03 3.26204415e-05 9.99996886e-01 -5.75228547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67576923100006 meters 0.01667799574963434 Centerline is valid? [True, True] Translation: X:192.95, Y:165.88, Z:-0.57 [[-3.75025543e-01 -9.27014060e-01 8.80218992e-04 1.92953441e+02] [ 9.27011647e-01 -3.75026575e-01 -2.11542812e-03 1.65878127e+02] [ 2.29113713e-03 2.26336770e-05 9.99997375e-01 -5.74629155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70576923100003 meters 0.013744859277111563 Centerline is valid? [True, True] Translation: X:192.95, Y:165.90, Z:-0.57 [[-3.79504887e-01 -9.25189701e-01 2.41080639e-04 1.92952101e+02] [ 9.25189520e-01 -3.79504964e-01 -5.77664045e-04 1.65902872e+02] [ 6.25940124e-04 3.81895223e-06 9.99999804e-01 -5.71484541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73576923100006 meters 0.013144661036740276 Centerline is valid? [True, True] Translation: X:192.95, Y:165.93, Z:-0.57 [[-3.80726079e-01 -9.24687814e-01 3.14932953e-04 1.92945288e+02] [ 9.24687506e-01 -3.80726209e-01 -7.54419382e-04 1.65925377e+02] [ 8.17505638e-04 3.98743394e-06 9.99999666e-01 -5.70883454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76576923100004 meters 0.012939971160999122 Centerline is valid? [True, True] Translation: X:192.94, Y:165.95, Z:-0.57 [[-3.81726881e-01 -9.24275049e-01 4.70849316e-04 1.92937046e+02] [ 9.24274361e-01 -3.81727172e-01 -1.12777514e-03 1.65947966e+02] [ 1.22211040e-03 4.69186396e-06 9.99999253e-01 -5.71312894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79576923100007 meters 0.012863013395424918 Centerline is valid? [True, True] Translation: X:192.93, Y:165.97, Z:-0.57 [[-3.82419511e-01 -9.23988738e-01 3.60350935e-04 1.92928999e+02] [ 9.23988336e-01 -3.82419681e-01 -8.61855370e-04 1.65969823e+02] [ 9.34149945e-04 3.36975140e-06 9.99999564e-01 -5.71060960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82576923100004 meters 0.012530373623564399 Centerline is valid? [True, True] Translation: X:192.92, Y:165.99, Z:-0.57 [[-3.83178017e-01 -9.23674491e-01 -2.04969569e-04 1.92921763e+02] [ 9.23674360e-01 -3.83178072e-01 4.92563401e-04 1.65992174e+02] [-5.33508093e-04 -5.85668047e-07 9.99999858e-01 -5.68704406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85576923100007 meters 0.01225977293740132 Centerline is valid? [True, True] Translation: X:192.92, Y:166.02, Z:-0.56 [[-3.87240838e-01 -9.21977473e-01 -1.43960035e-03 1.92920960e+02] [ 9.21971033e-01 -3.87243514e-01 3.44597107e-03 1.66016995e+02] [-3.73458360e-03 7.15090207e-06 9.99993026e-01 -5.62470795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88576923100004 meters 0.013329656970978914 Centerline is valid? [True, True] Translation: X:192.92, Y:166.04, Z:-0.56 [[-3.90251711e-01 -9.20706834e-01 -1.58984666e-03 1.92917438e+02] [ 9.20698984e-01 -3.90254949e-01 3.80196057e-03 1.66039961e+02] [-4.12093661e-03 1.99514166e-05 9.99991509e-01 -5.61271058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91576923100007 meters 0.015163194082909833 Centerline is valid? [True, True] Translation: X:192.91, Y:166.06, Z:-0.56 [[-3.93458629e-01 -9.19341557e-01 -1.18726791e-03 1.92913383e+02] [ 9.19337180e-01 -3.93460419e-01 2.83700396e-03 1.66063451e+02] [-3.07531857e-03 2.47441528e-05 9.99995271e-01 -5.63231411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94576923100004 meters 0.017282941268970564 Centerline is valid? [True, True] Translation: X:192.91, Y:166.09, Z:-0.57 [[-3.96251419e-01 -9.18141999e-01 2.88642989e-04 1.92909554e+02] [ 9.18141742e-01 -3.96251524e-01 -6.87021378e-04 1.66087807e+02] [ 7.45158405e-04 -7.21801991e-06 9.99999722e-01 -5.69778419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9757692310001 meters 0.016576545350277118 Centerline is valid? [True, True] Translation: X:192.90, Y:166.11, Z:-0.57 [[-3.96212183e-01 -9.18158719e-01 6.87091351e-04 1.92899749e+02] [ 9.18157262e-01 -3.96212778e-01 -1.63608951e-03 1.66109499e+02] [ 1.77442423e-03 -1.73806843e-05 9.99998426e-01 -5.71276821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00576923100004 meters 0.01581467899128431 Centerline is valid? [True, True] Translation: X:192.89, Y:166.13, Z:-0.57 [[-3.94219098e-01 -9.19015860e-01 1.07285222e-03 1.92890940e+02] [ 9.19012314e-01 -3.94220558e-01 -2.55326934e-03 1.66130342e+02] [ 2.76943541e-03 -2.05831370e-05 9.99996165e-01 -5.73090587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0357692310001 meters 0.014545482536960135 Centerline is valid? [True, True] Translation: X:192.88, Y:166.15, Z:-0.57 [[-3.93090049e-01 -9.19498974e-01 1.36027841e-03 1.92879313e+02] [ 9.19493283e-01 -3.93092402e-01 -3.23518032e-03 1.66151560e+02] [ 3.50946009e-03 -2.09503276e-05 9.99993842e-01 -5.73879824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06576923100005 meters 0.012859228032084011 Centerline is valid? [True, True] Translation: X:192.87, Y:166.17, Z:-0.57 [[-3.90201322e-01 -9.20728726e-01 1.24156449e-03 1.92867308e+02] [ 9.20724000e-01 -3.90203297e-01 -2.95015475e-03 1.66172151e+02] [ 3.20075478e-03 -8.01606384e-06 9.99994878e-01 -5.72800265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0957692310001 meters 0.012462850381862369 Centerline is valid? [True, True] Translation: X:192.86, Y:166.19, Z:-0.57 [[-3.88514725e-01 -9.21441979e-01 9.93600166e-04 1.92857190e+02] [ 9.21438961e-01 -3.88515996e-01 -2.35843588e-03 1.66192305e+02] [ 2.55919138e-03 -7.45162252e-07 9.99996725e-01 -5.72243121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12576923100005 meters 0.012412238481663115 Centerline is valid? [True, True] Translation: X:192.85, Y:166.21, Z:-0.57 [[-3.86958821e-01 -9.22096553e-01 9.04169385e-04 1.92846270e+02] [ 9.22094060e-01 -3.86959878e-01 -2.14405336e-03 1.66213171e+02] [ 2.32690149e-03 4.06885785e-06 9.99997293e-01 -5.71521471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1557692310001 meters 0.01371504664424999 Centerline is valid? [True, True] Translation: X:192.83, Y:166.23, Z:-0.57 [[-3.83401600e-01 -9.23581716e-01 1.64530491e-04 1.92832717e+02] [ 9.23581634e-01 -3.83401636e-01 -3.88352935e-04 1.66232277e+02] [ 4.21756929e-04 3.06220294e-06 9.99999911e-01 -5.68207229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18576923100005 meters 0.01913776227752951 Centerline is valid? [True, True] Translation: X:192.81, Y:166.25, Z:-0.57 [[-3.77386598e-01 -9.26055806e-01 -1.95385231e-06 1.92812710e+02] [ 9.26055806e-01 -3.77386598e-01 6.33024384e-06 1.66248901e+02] [-6.59951681e-06 5.79572909e-07 1.00000000e+00 -5.65768662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2157692310001 meters 0.023630517903487063 Centerline is valid? [True, True] Translation: X:192.80, Y:166.27, Z:-0.57 [[-3.73689481e-01 -9.27553826e-01 2.68996234e-04 1.92796744e+02] [ 9.27553608e-01 -3.73689577e-01 -6.34985287e-04 1.66266346e+02] [ 6.89504121e-04 1.22211056e-05 9.99999762e-01 -5.66937373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24576923100005 meters 0.02634659538259284 Centerline is valid? [True, True] Translation: X:192.78, Y:166.29, Z:-0.57 [[-3.69803253e-01 -9.29109839e-01 6.79103603e-04 1.92782415e+02] [ 9.29108454e-01 -3.69803875e-01 -1.60442791e-03 1.66286275e+02] [ 1.74182490e-03 3.76382394e-05 9.99998482e-01 -5.68447845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.275769231 meters 0.03506599545993948 Centerline is valid? [True, True] Translation: X:192.76, Y:166.30, Z:-0.57 [[-3.62749389e-01 -9.31886149e-01 1.04195327e-03 1.92758679e+02] [ 9.31882905e-01 -3.62750877e-01 -2.46034265e-03 1.66300887e+02] [ 2.67072870e-03 7.84906503e-05 9.99996431e-01 -5.70021449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30576923100006 meters 0.04073823678615238 Centerline is valid? [True, True] Translation: X:192.74, Y:166.32, Z:-0.57 [[-3.60730164e-01 -9.32670005e-01 6.41304567e-04 1.92740265e+02] [ 9.32668780e-01 -3.60730730e-01 -1.51241158e-03 1.66317952e+02] [ 1.64191918e-03 5.25522689e-05 9.99998651e-01 -5.68979271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33576923100003 meters 0.041980831809674546 Centerline is valid? [True, True] Translation: X:192.72, Y:166.34, Z:-0.57 [[-3.58287098e-01 -9.33611458e-01 2.91801042e-05 1.92724382e+02] [ 9.33611456e-01 -3.58287099e-01 -6.72658492e-05 1.66337402e+02] [ 7.32550224e-05 3.14239363e-06 9.99999997e-01 -5.65345187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36576923100006 meters 0.04220080833841754 Centerline is valid? [True, True] Translation: X:192.71, Y:166.36, Z:-0.57 [[-3.58162213e-01 -9.33659350e-01 2.15547871e-04 1.92712105e+02] [ 9.33659213e-01 -3.58162277e-01 -5.06461935e-04 1.66358285e+02] [ 5.50064038e-04 1.98527282e-05 9.99999849e-01 -5.66672950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39576923100003 meters 0.041331773943305034 Centerline is valid? [True, True] Translation: X:192.70, Y:166.38, Z:-0.57 [[-3.59023328e-01 -9.33328410e-01 5.73121919e-04 1.92700944e+02] [ 9.33327438e-01 -3.59023782e-01 -1.34821465e-03 1.66379376e+02] [ 1.46409144e-03 5.08699003e-05 9.99998927e-01 -5.69087857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42576923100006 meters 0.036772666424296656 Centerline is valid? [True, True] Translation: X:192.69, Y:166.40, Z:-0.57 [[-3.60925750e-01 -9.32593677e-01 1.27907338e-03 1.92692208e+02] [ 9.32588831e-01 -3.60928000e-01 -3.00837550e-03 1.66401967e+02] [ 3.26724537e-03 1.07049367e-04 9.99994657e-01 -5.71085997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45576923100003 meters 0.03618625356288244 Centerline is valid? [True, True] Translation: X:192.68, Y:166.42, Z:-0.57 [[-3.61808621e-01 -9.32251724e-01 1.11623932e-03 1.92680975e+02] [ 9.32248038e-01 -3.61810331e-01 -2.62298005e-03 1.66423266e+02] [ 2.84914459e-03 9.15951184e-05 9.99995937e-01 -5.69494685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48576923100006 meters 0.03597783422580186 Centerline is valid? [True, True] Translation: X:192.67, Y:166.44, Z:-0.56 [[-3.62561128e-01 -9.31959986e-01 -1.10525706e-04 1.92666814e+02] [ 9.31959950e-01 -3.62561145e-01 2.61357103e-04 1.66442547e+02] [-2.83646688e-04 -8.24760586e-06 9.99999960e-01 -5.63429241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51576923100004 meters 0.03560806412228983 Centerline is valid? [True, True] Translation: X:192.65, Y:166.46, Z:-0.56 [[-3.63226171e-01 -9.31700893e-01 -4.41643672e-04 1.92653978e+02] [ 9.31700315e-01 -3.63226438e-01 1.03830660e-03 1.66463521e+02] [-1.12780784e-03 -3.43394182e-05 9.99999363e-01 -5.62120199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54576923100007 meters 0.03611489447531247 Centerline is valid? [True, True] Translation: X:192.64, Y:166.48, Z:-0.56 [[-3.63591925e-01 -9.31558261e-01 -3.44649458e-04 1.92640790e+02] [ 9.31557909e-01 -3.63592087e-01 8.10041792e-04 1.66483213e+02] [-8.79912939e-04 -2.65362739e-05 9.99999613e-01 -5.63199787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57576923100004 meters 0.03535212544594546 Centerline is valid? [True, True] Translation: X:192.63, Y:166.50, Z:-0.57 [[-3.65208443e-01 -9.30925713e-01 3.32146375e-04 1.92627809e+02] [ 9.30925389e-01 -3.65208594e-01 -7.76680728e-04 1.66503132e+02] [ 8.44334771e-04 2.55531339e-05 9.99999643e-01 -5.66571406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60576923100007 meters 0.03480084675681889 Centerline is valid? [True, True] Translation: X:192.62, Y:166.52, Z:-0.57 [[-3.66308637e-01 -9.30493298e-01 4.53161677e-04 1.92617173e+02] [ 9.30492695e-01 -3.66308916e-01 -1.05937754e-03 1.66523478e+02] [ 1.15174087e-03 3.36044857e-05 9.99999336e-01 -5.66626927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63576923100004 meters 0.032187764400634464 Centerline is valid? [True, True] Translation: X:192.61, Y:166.55, Z:-0.57 [[-3.68413421e-01 -9.29662008e-01 3.19846335e-04 1.92606825e+02] [ 9.29661708e-01 -3.68413560e-01 -7.46688635e-04 1.66545347e+02] [ 8.12003782e-04 2.22587754e-05 9.99999670e-01 -5.66056992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66576923100007 meters 0.03260165901197114 Centerline is valid? [True, True] Translation: X:192.60, Y:166.57, Z:-0.57 [[-3.69596580e-01 -9.29192297e-01 2.07887671e-04 1.92596147e+02] [ 9.29192171e-01 -3.69596638e-01 -4.84298091e-04 1.66566057e+02] [ 5.26840640e-04 1.41726784e-05 9.99999861e-01 -5.66159079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69576923100004 meters 0.028104695250514875 Centerline is valid? [True, True] Translation: X:192.59, Y:166.59, Z:-0.57 [[-3.71375330e-01 -9.28482766e-01 3.42463101e-04 1.92591680e+02] [ 9.28482423e-01 -3.71375487e-01 -7.98293794e-04 1.66590769e+02] [ 8.68384431e-04 2.15043489e-05 9.99999623e-01 -5.66647519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7257692310001 meters 0.027369247706738153 Centerline is valid? [True, True] Translation: X:192.58, Y:166.61, Z:-0.57 [[-3.74619015e-01 -9.27178236e-01 1.05451587e-03 1.92581469e+02] [ 9.27174977e-01 -3.74620495e-01 -2.45918690e-03 1.66611826e+02] [ 2.67514783e-03 5.64625520e-05 9.99996420e-01 -5.70120627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75576923100004 meters 0.02578922092360801 Centerline is valid? [True, True] Translation: X:192.57, Y:166.63, Z:-0.57 [[-3.76335677e-01 -9.26482638e-01 1.17441763e-03 1.92572480e+02] [ 9.26478598e-01 -3.76337505e-01 -2.73684913e-03 1.66633971e+02] [ 2.97762061e-03 5.80988303e-05 9.99995565e-01 -5.70455283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7857692310001 meters 0.02227370944333974 Centerline is valid? [True, True] Translation: X:192.57, Y:166.66, Z:-0.57 [[-3.79940592e-01 -9.25010679e-01 6.25178017e-04 1.92568824e+02] [ 9.25009535e-01 -3.79941106e-01 -1.45465572e-03 1.66656613e+02] [ 1.58310290e-03 2.56128702e-05 9.99998747e-01 -5.67059794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81576923100005 meters 0.01954008133809216 Centerline is valid? [True, True] Translation: X:192.56, Y:166.68, Z:-0.56 [[-3.82217995e-01 -9.24072181e-01 8.91358890e-05 1.92563794e+02] [ 9.24072158e-01 -3.82218005e-01 -2.05890429e-04 1.66680555e+02] [ 2.24326959e-04 3.67296652e-06 9.99999975e-01 -5.63908362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8457692310001 meters 0.017862558226871442 Centerline is valid? [True, True] Translation: X:192.56, Y:166.70, Z:-0.56 [[-3.84297943e-01 -9.23209091e-01 -2.55083169e-04 1.92556908e+02] [ 9.23208900e-01 -3.84298027e-01 5.94909498e-04 1.66703967e+02] [-6.47253816e-04 -6.87255588e-06 9.99999791e-01 -5.62429595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87576923100005 meters 0.013907783916043782 Centerline is valid? [True, True] Translation: X:192.55, Y:166.73, Z:-0.56 [[-3.89305747e-01 -9.21108516e-01 -3.69504704e-04 1.92554404e+02] [ 9.21108114e-01 -3.89305923e-01 8.60347705e-04 1.66728383e+02] [-9.36323968e-04 -5.41547473e-06 9.99999562e-01 -5.63863488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9057692310001 meters 0.01228161192628931 Centerline is valid? [True, True] Translation: X:192.55, Y:166.75, Z:-0.57 [[-3.93720324e-01 -9.19229936e-01 7.94593213e-04 1.92553615e+02] [ 9.19228088e-01 -3.93721126e-01 -1.84325032e-03 1.66753265e+02] [ 2.00721901e-03 4.68728684e-06 9.99997986e-01 -5.69113719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93576923100005 meters 0.01242644991473529 Centerline is valid? [True, True] Translation: X:192.55, Y:166.78, Z:-0.57 [[-3.95452964e-01 -9.18485107e-01 1.43557520e-03 1.92548263e+02] [ 9.18479076e-01 -3.95455570e-01 -3.32841760e-03 1.66775434e+02] [ 3.62480820e-03 2.31317852e-06 9.99993430e-01 -5.72356207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9657692310001 meters 0.012650208959444848 Centerline is valid? [True, True] Translation: X:192.54, Y:166.80, Z:-0.57 [[-3.96815207e-01 -9.17896520e-01 1.91558494e-03 1.92541629e+02] [ 9.17885791e-01 -3.96819831e-01 -4.43815394e-03 1.66797363e+02] [ 4.83390815e-03 -2.83877284e-06 9.99988317e-01 -5.73978932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99576923100005 meters 0.012526555887338352 Centerline is valid? [True, True] Translation: X:192.53, Y:166.82, Z:-0.57 [[-3.97147346e-01 -9.17753294e-01 1.69616831e-03 1.92533112e+02] [ 9.17744896e-01 -3.97150968e-01 -3.92617572e-03 1.66819475e+02] [ 4.27689559e-03 -2.62045399e-06 9.99990854e-01 -5.71024613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.025769231 meters 0.012400603790249787 Centerline is valid? [True, True] Translation: X:192.52, Y:166.84, Z:-0.57 [[-3.96715978e-01 -9.17940422e-01 1.34698137e-03 1.92524328e+02] [ 9.17935138e-01 -3.96718265e-01 -3.11467833e-03 1.66840184e+02] [ 3.39346125e-03 7.98872594e-07 9.99994242e-01 -5.70697507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05576923100006 meters 0.01249779943973279 Centerline is valid? [True, True] Translation: X:192.52, Y:166.86, Z:-0.57 [[-3.95230530e-01 -9.18581294e-01 1.11139489e-03 1.92517488e+02] [ 9.18577706e-01 -3.95232093e-01 -2.56736072e-03 1.66860749e+02] [ 2.79758846e-03 6.20322895e-06 9.99996087e-01 -5.70025418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08576923100003 meters 0.01272212596947364 Centerline is valid? [True, True] Translation: X:192.51, Y:166.88, Z:-0.57 [[-3.94114420e-01 -9.19060854e-01 9.85184359e-04 1.92508654e+02] [ 9.19058042e-01 -3.94115651e-01 -2.27370473e-03 1.66882680e+02] [ 2.47794958e-03 9.34178769e-06 9.99996930e-01 -5.68571992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11576923100006 meters 0.0138406177260251 Centerline is valid? [True, True] Translation: X:192.50, Y:166.90, Z:-0.57 [[-3.92089776e-01 -9.19926583e-01 8.30672560e-04 1.92496877e+02] [ 9.19924589e-01 -3.92090656e-01 -1.91512207e-03 1.66902953e+02] [ 2.08747065e-03 1.32563274e-05 9.99997821e-01 -5.67680334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14576923100003 meters 0.0138406177260251 Centerline is valid? [True, True] Translation: X:192.49, Y:166.92, Z:-0.57 [[-3.92370800e-01 -9.19806754e-01 8.31228368e-04 1.92487204e+02] [ 9.19804761e-01 -3.92371680e-01 -1.91488100e-03 1.66924212e+02] [ 2.08747095e-03 1.32244221e-05 9.99997821e-01 -5.67730397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17576923100006 meters 0.019673713711665743 Centerline is valid? [True, True] Translation: X:192.47, Y:166.94, Z:-0.57 [[-3.85462012e-01 -9.22723523e-01 5.80612027e-04 1.92469079e+02] [ 9.22722556e-01 -3.85462449e-01 -1.33594456e-03 1.66941590e+02] [ 1.45651160e-03 2.07879362e-05 9.99998939e-01 -5.66100675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20576923100003 meters 0.023290149496623804 Centerline is valid? [True, True] Translation: X:192.45, Y:166.96, Z:-0.57 [[-3.81553937e-01 -9.24346153e-01 8.84391273e-04 1.92454200e+02] [ 9.24343916e-01 -3.81554959e-01 -2.03416950e-03 1.66961343e+02] [ 2.21772063e-03 4.13363127e-05 9.99997540e-01 -5.66269863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23576923100006 meters 0.032957790361523576 Centerline is valid? [True, True] Translation: X:192.43, Y:166.98, Z:-0.57 [[-3.73696782e-01 -9.27550129e-01 1.21403083e-03 1.92430966e+02] [ 9.27545935e-01 -3.73698745e-01 -2.79047059e-03 1.66975932e+02] [ 3.04198315e-03 8.32794831e-05 9.99995370e-01 -5.68345547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26576923100004 meters 0.039581255036595944 Centerline is valid? [True, True] Translation: X:192.41, Y:166.99, Z:-0.57 [[-3.70145738e-01 -9.28972962e-01 1.16968362e-03 1.92411548e+02] [ 9.28969084e-01 -3.70147574e-01 -2.68611476e-03 1.66992490e+02] [ 2.92828354e-03 9.23459864e-05 9.99995708e-01 -5.68540161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29576923100007 meters 0.040764376867034845 Centerline is valid? [True, True] Translation: X:192.40, Y:167.01, Z:-0.57 [[-3.66538375e-01 -9.30402593e-01 7.96447701e-04 1.92398100e+02] [ 9.30400802e-01 -3.66539233e-01 -1.82703386e-03 1.67012791e+02] [ 1.99180637e-03 7.13375582e-05 9.99998014e-01 -5.65793853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32576923100004 meters 0.04863119905117675 Centerline is valid? [True, True] Translation: X:192.37, Y:167.03, Z:-0.56 [[-3.59730260e-01 -9.33056343e-01 3.66404040e-05 1.92372861e+02] [ 9.33056339e-01 -3.59730262e-01 -8.23931152e-05 1.67027673e+02] [ 9.00580808e-05 4.54826440e-06 9.99999996e-01 -5.62118393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35576923100007 meters 0.052976236623292074 Centerline is valid? [True, True] Translation: X:192.36, Y:167.04, Z:-0.56 [[-3.57472902e-01 -9.33923511e-01 1.05819912e-05 1.92355264e+02] [ 9.33923511e-01 -3.57472902e-01 -2.25956737e-05 1.67044557e+02] [ 2.48854060e-05 1.80542934e-06 1.00000000e+00 -5.62483548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38576923100004 meters 0.0546415542651284 Centerline is valid? [True, True] Translation: X:192.34, Y:167.06, Z:-0.56 [[-3.56561652e-01 -9.34271751e-01 2.90407768e-04 1.92339759e+02] [ 9.34271516e-01 -3.56561768e-01 -6.63621200e-04 1.67064569e+02] [ 7.23550848e-04 3.46978343e-05 9.99999738e-01 -5.64553551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41576923100007 meters 0.0520566714797018 Centerline is valid? [True, True] Translation: X:192.33, Y:167.09, Z:-0.57 [[-3.56712875e-01 -9.34213745e-01 7.76688404e-04 1.92329249e+02] [ 9.34212062e-01 -3.56713709e-01 -1.77586134e-03 1.67086552e+02] [ 1.93608948e-03 9.21190697e-05 9.99998122e-01 -5.66089202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44576923100004 meters 0.05749741044591276 Centerline is valid? [True, True] Translation: X:192.30, Y:167.10, Z:-0.57 [[-3.57065129e-01 -9.34079202e-01 7.33335120e-04 1.92304241e+02] [ 9.34077704e-01 -3.57065871e-01 -1.67515115e-03 1.67100337e+02] [ 1.82657279e-03 8.68539248e-05 9.99998328e-01 -5.67093096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4757692310001 meters 0.055980758418571176 Centerline is valid? [True, True] Translation: X:192.29, Y:167.12, Z:-0.57 [[-3.57161262e-01 -9.34042522e-01 6.32919695e-04 1.92291319e+02] [ 9.34041408e-01 -3.57161815e-01 -1.44450924e-03 1.67120232e+02] [ 1.57528780e-03 7.52504607e-05 9.99998756e-01 -5.65733816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50576923100004 meters 0.05481296871755833 Centerline is valid? [True, True] Translation: X:192.27, Y:167.14, Z:-0.57 [[-3.57736678e-01 -9.33822294e-01 6.26599252e-04 1.92273445e+02] [ 9.33821203e-01 -3.57737219e-01 -1.42894211e-03 1.67138979e+02] [ 1.55853587e-03 7.39466647e-05 9.99998783e-01 -5.65339693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5357692310001 meters 0.05400810823233765 Centerline is valid? [True, True] Translation: X:192.26, Y:167.16, Z:-0.57 [[-3.59089101e-01 -9.33302975e-01 7.57871830e-04 1.92259995e+02] [ 9.33301381e-01 -3.59089891e-01 -1.72719922e-03 1.67159188e+02] [ 1.88414428e-03 8.71044097e-05 9.99998221e-01 -5.65798385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56576923100005 meters 0.046164984000702756 Centerline is valid? [True, True] Translation: X:192.25, Y:167.18, Z:-0.57 [[-3.61851385e-01 -9.32235431e-01 8.21922404e-04 1.92250941e+02] [ 9.32233557e-01 -3.61852308e-01 -1.87171036e-03 1.67181344e+02] [ 2.04228923e-03 8.89426588e-05 9.99997911e-01 -5.66524886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5957692310001 meters 0.047670934815694385 Centerline is valid? [True, True] Translation: X:192.24, Y:167.20, Z:-0.57 [[-3.63408086e-01 -9.31629766e-01 7.36357288e-04 1.92236056e+02] [ 9.31628263e-01 -3.63408824e-01 -1.67522454e-03 1.67200077e+02] [ 1.82828779e-03 7.72211160e-05 9.99998326e-01 -5.66538807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62576923100005 meters 0.044779343127621475 Centerline is valid? [True, True] Translation: X:192.23, Y:167.22, Z:-0.57 [[-3.65076923e-01 -9.30977117e-01 6.69232015e-04 1.92226373e+02] [ 9.30975877e-01 -3.65077530e-01 -1.52121676e-03 1.67222348e+02] [ 1.66053956e-03 6.76777295e-05 9.99998619e-01 -5.65677278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6557692310001 meters 0.04404261608527424 Centerline is valid? [True, True] Translation: X:192.21, Y:167.24, Z:-0.57 [[-3.66732339e-01 -9.30326251e-01 6.77527643e-04 1.92213709e+02] [ 9.30324980e-01 -3.66732959e-01 -1.53897056e-03 1.67243310e+02] [ 1.68021643e-03 6.59306187e-05 9.99998586e-01 -5.65153794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68576923100005 meters 0.03990792262831473 Centerline is valid? [True, True] Translation: X:192.20, Y:167.26, Z:-0.56 [[-3.69560686e-01 -9.29206360e-01 6.63018891e-04 1.92200910e+02] [ 9.29205144e-01 -3.69561276e-01 -1.50475354e-03 1.67264263e+02] [ 1.64325267e-03 5.99828120e-05 9.99998648e-01 -5.63994915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7157692310001 meters 0.040577022903977265 Centerline is valid? [True, True] Translation: X:192.19, Y:167.28, Z:-0.56 [[-3.70721417e-01 -9.28744012e-01 4.36977437e-04 1.92187290e+02] [ 9.28743485e-01 -3.70721672e-01 -9.90353249e-04 1.67283915e+02] [ 1.08178166e-03 3.86947881e-05 9.99999414e-01 -5.63521837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74576923100005 meters 0.04328822880614125 Centerline is valid? [True, True] Translation: X:192.17, Y:167.30, Z:-0.56 [[-3.71623277e-01 -9.28383604e-01 1.55239760e-04 1.92172100e+02] [ 9.28383538e-01 -3.71623309e-01 -3.50461380e-04 1.67301902e+02] [ 3.83053312e-04 1.38824308e-05 9.99999927e-01 -5.62724948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.775769231 meters 0.038288547141174835 Centerline is valid? [True, True] Translation: X:192.16, Y:167.32, Z:-0.56 [[-3.73255184e-01 -9.27728714e-01 -3.27727473e-05 1.92163595e+02] [ 9.27728711e-01 -3.73255186e-01 7.58436194e-05 1.67324730e+02] [-8.25949014e-05 -2.09519448e-06 9.99999997e-01 -5.62433835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80576923100006 meters 0.037941550377697524 Centerline is valid? [True, True] Translation: X:192.15, Y:167.35, Z:-0.56 [[-3.74336711e-01 -9.27292846e-01 6.84579623e-05 1.92152033e+02] [ 9.27292833e-01 -3.74336717e-01 -1.53386196e-04 1.67345075e+02] [ 1.67860251e-04 6.06249365e-06 9.99999986e-01 -5.64151383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83576923100003 meters 0.034844769116044845 Centerline is valid? [True, True] Translation: X:192.14, Y:167.37, Z:-0.57 [[-3.77646966e-01 -9.25949570e-01 4.04063253e-04 1.92143187e+02] [ 9.25949121e-01 -3.77647181e-01 -9.12667619e-04 1.67367420e+02] [ 9.97677537e-04 2.94758574e-05 9.99999502e-01 -5.66075322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86576923100006 meters 0.03194432778263633 Centerline is valid? [True, True] Translation: X:192.14, Y:167.39, Z:-0.57 [[-3.79943728e-01 -9.25009575e-01 2.22773309e-04 1.92136688e+02] [ 9.25009439e-01 -3.79943793e-01 -5.02079822e-04 1.67390826e+02] [ 5.49069979e-04 1.53053346e-05 9.99999849e-01 -5.65285972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89576923100003 meters 0.03322091106768135 Centerline is valid? [True, True] Translation: X:192.12, Y:167.41, Z:-0.56 [[-3.82869570e-01 -9.23802408e-01 5.48275791e-05 1.92124769e+02] [ 9.23802400e-01 -3.82869574e-01 -1.22297618e-04 1.67411195e+02] [ 1.33970646e-04 3.82581274e-06 9.99999991e-01 -5.64332152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92576923100006 meters 0.026751083048624554 Centerline is valid? [True, True] Translation: X:192.12, Y:167.44, Z:-0.56 [[-3.85699300e-01 -9.22624541e-01 -8.22685650e-05 1.92122067e+02] [ 9.22624522e-01 -3.85699308e-01 1.87367770e-04 1.67436220e+02] [-2.04601032e-04 -3.63537769e-06 9.99999979e-01 -5.63187597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95576923100003 meters 0.022568902253245347 Centerline is valid? [True, True] Translation: X:192.12, Y:167.46, Z:-0.56 [[-3.90772028e-01 -9.20487485e-01 -1.05885641e-04 1.92116932e+02] [ 9.20487454e-01 -3.90772043e-01 2.40481021e-04 1.67458374e+02] [-2.62736918e-04 -3.49314754e-06 9.99999965e-01 -5.63602196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98576923100006 meters 0.019538459635403595 Centerline is valid? [True, True] Translation: X:192.11, Y:167.48, Z:-0.56 [[-3.93480041e-01 -9.19333146e-01 -1.55586066e-04 1.92111616e+02] [ 9.19333078e-01 -3.93480072e-01 3.52165195e-04 1.67482444e+02] [-3.84977153e-04 -4.46544149e-06 9.99999926e-01 -5.63649385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01576923100004 meters 0.017171729326201868 Centerline is valid? [True, True] Translation: X:192.11, Y:167.51, Z:-0.56 [[-3.96295682e-01 -9.18122932e-01 -1.21844609e-04 1.92106354e+02] [ 9.18122890e-01 -3.96295701e-01 2.76022616e-04 1.67506716e+02] [-3.01709188e-04 -2.48175420e-06 9.99999954e-01 -5.63652312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04576923100007 meters 0.012892571323424439 Centerline is valid? [True, True] Translation: X:192.11, Y:167.53, Z:-0.56 [[-4.02099643e-01 -9.15595881e-01 2.44904183e-04 1.92107489e+02] [ 9.15595716e-01 -4.02099717e-01 -5.49177448e-04 1.67533643e+02] [ 6.01300512e-04 3.40916537e-06 9.99999819e-01 -5.64845601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07576923100004 meters 0.01177762986990684 Centerline is valid? [True, True] Translation: X:192.10, Y:167.56, Z:-0.57 [[-4.05136490e-01 -9.14256026e-01 5.85544036e-04 1.92104086e+02] [ 9.14255081e-01 -4.05136913e-01 -1.31437739e-03 1.67557789e+02] [ 1.43890296e-03 2.83436669e-06 9.99998965e-01 -5.66325230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10576923100007 meters 0.012936084897814133 Centerline is valid? [True, True] Translation: X:192.11, Y:167.58, Z:-0.57 [[-4.10370433e-01 -9.11918042e-01 1.26217408e-03 1.92107739e+02] [ 9.11913642e-01 -4.10372374e-01 -2.83268260e-03 1.67584470e+02] [ 3.10113574e-03 -1.14554205e-05 9.99995191e-01 -5.70571884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13576923100004 meters 0.01415866429206116 Centerline is valid? [True, True] Translation: X:192.10, Y:167.61, Z:-0.57 [[-4.12591068e-01 -9.10915573e-01 1.19607745e-03 1.92104380e+02] [ 9.10911625e-01 -4.12592801e-01 -2.68193868e-03 1.67607845e+02] [ 2.93651265e-03 -1.70230924e-05 9.99995688e-01 -5.70170280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16576923100007 meters 0.014977131389068563 Centerline is valid? [True, True] Translation: X:192.10, Y:167.63, Z:-0.57 [[-4.14330276e-01 -9.10126104e-01 9.47709097e-04 1.92099920e+02] [ 9.10123628e-01 -4.14331360e-01 -2.12280706e-03 1.67631321e+02] [ 2.32468772e-03 -1.70107935e-05 9.99997298e-01 -5.68704550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19576923100004 meters 0.015924702089280058 Centerline is valid? [True, True] Translation: X:192.10, Y:167.65, Z:-0.57 [[-4.15462328e-01 -9.09610169e-01 6.28159223e-04 1.92099384e+02] [ 9.09609084e-01 -4.15462803e-01 -1.40491658e-03 1.67654739e+02] [ 1.53890320e-03 -1.23105803e-05 9.99998816e-01 -5.66795831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2257692310001 meters 0.01570387091714818 Centerline is valid? [True, True] Translation: X:192.09, Y:167.68, Z:-0.57 [[-4.15323131e-01 -9.09673463e-01 9.42202041e-04 1.92092258e+02] [ 9.09671024e-01 -4.15324199e-01 -2.10668838e-03 1.67676929e+02] [ 2.30771782e-03 -1.78625177e-05 9.99997337e-01 -5.68234435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25576923100004 meters 0.015016388442791257 Centerline is valid? [True, True] Translation: X:192.08, Y:167.70, Z:-0.57 [[-4.14501838e-01 -9.10047008e-01 1.63402962e-03 1.92084382e+02] [ 9.10039682e-01 -4.14505058e-01 -3.65168059e-03 1.67698375e+02] [ 4.00051454e-03 -2.65965221e-05 9.99991998e-01 -5.71683123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2857692310001 meters 0.013549644310148375 Centerline is valid? [True, True] Translation: X:192.08, Y:167.72, Z:-0.58 [[-4.11328651e-01 -9.11483129e-01 2.69182594e-03 1.92077565e+02] [ 9.11463306e-01 -4.11337458e-01 -6.01141000e-03 1.67719244e+02] [ 6.58654764e-03 -1.91645961e-05 9.99978308e-01 -5.77047796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31576923100005 meters 0.012736924324563515 Centerline is valid? [True, True] Translation: X:192.07, Y:167.74, Z:-0.57 [[-4.09195232e-01 -9.12443343e-01 2.53140127e-03 1.92067288e+02] [ 9.12425860e-01 -4.09203062e-01 -5.64848054e-03 1.67740573e+02] [ 6.18977561e-03 -1.61532018e-06 9.99980843e-01 -5.73770380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3457692310001 meters 0.014277526408179869 Centerline is valid? [True, True] Translation: X:192.05, Y:167.76, Z:-0.57 [[-4.03497883e-01 -9.14979796e-01 1.19596987e-03 1.92054411e+02] [ 9.14975914e-01 -4.03499655e-01 -2.66549010e-03 1.67759965e+02] [ 2.92144302e-03 1.87640149e-05 9.99995732e-01 -5.67125045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37576923100005 meters 0.016744270185368646 Centerline is valid? [True, True] Translation: X:192.04, Y:167.78, Z:-0.56 [[-3.99829376e-01 -9.16589334e-01 6.80400151e-04 1.92042213e+02] [ 9.16588083e-01 -3.99829955e-01 -1.51461324e-03 1.67780821e+02] [ 1.66032270e-03 1.80598037e-05 9.99998622e-01 -5.64753639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4057692310001 meters 0.020783299710409982 Centerline is valid? [True, True] Translation: X:192.03, Y:167.80, Z:-0.56 [[-3.95786857e-01 -9.18342229e-01 5.60864128e-04 1.92029382e+02] [ 9.18341382e-01 -3.95787253e-01 -1.24718053e-03 1.67801008e+02] [ 1.36732142e-03 2.14470785e-05 9.99999065e-01 -5.64388678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43576923100005 meters 0.03324355284227969 Centerline is valid? [True, True] Translation: X:192.01, Y:167.82, Z:-0.56 [[-3.88213298e-01 -9.21569536e-01 1.57694505e-04 1.92007875e+02] [ 9.21569470e-01 -3.88213330e-01 -3.49116514e-04 1.67816562e+02] [ 3.82954253e-04 9.79476873e-06 9.99999927e-01 -5.63912865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4657692310001 meters 0.034004168905717815 Centerline is valid? [True, True] Translation: X:192.00, Y:167.84, Z:-0.56 [[-3.85355597e-01 -9.22768146e-01 -1.12881428e-04 1.91997613e+02] [ 9.22768111e-01 -3.85355613e-01 2.52602708e-04 1.67838185e+02] [-2.76593225e-04 -6.82151487e-06 9.99999962e-01 -5.62310031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49576923100005 meters 0.03585734729906895 Centerline is valid? [True, True] Translation: X:191.99, Y:167.86, Z:-0.56 [[-3.83018780e-01 -9.23740472e-01 -3.94340573e-04 1.91985831e+02] [ 9.23740055e-01 -3.83018982e-01 8.77320660e-04 1.67859271e+02] [-9.61456525e-04 -2.82378947e-05 9.99999537e-01 -5.61577290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.525769231 meters 0.04112042720739919 Centerline is valid? [True, True] Translation: X:191.97, Y:167.88, Z:-0.56 [[-3.79518951e-01 -9.25183959e-01 -8.80440925e-05 1.91971481e+02] [ 9.25183938e-01 -3.79518961e-01 1.97048939e-04 1.67877878e+02] [-2.15720920e-04 -6.67317360e-06 9.99999977e-01 -5.62439625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55576923100006 meters 0.042729966149712584 Centerline is valid? [True, True] Translation: X:191.96, Y:167.90, Z:-0.57 [[-3.78606360e-01 -9.25557658e-01 4.94882129e-04 1.91959405e+02] [ 9.25557011e-01 -3.78606681e-01 -1.09578291e-03 1.67898571e+02] [ 1.20157595e-03 4.31712433e-05 9.99999277e-01 -5.65016837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58576923100003 meters 0.04522472885216974 Centerline is valid? [True, True] Translation: X:191.94, Y:167.92, Z:-0.57 [[-3.77074489e-01 -9.26182762e-01 5.67208769e-04 1.91943929e+02] [ 9.26181913e-01 -3.77074912e-01 -1.25504841e-03 1.67917840e+02] [ 1.37628440e-03 5.20917624e-05 9.99999052e-01 -5.65540373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61576923100006 meters 0.048676336570761716 Centerline is valid? [True, True] Translation: X:191.93, Y:167.94, Z:-0.56 [[-3.76520657e-01 -9.26408217e-01 1.01924038e-04 1.91928443e+02] [ 9.26408190e-01 -3.76520671e-01 -2.23992445e-04 1.67935434e+02] [ 2.45884949e-04 1.00854806e-05 9.99999970e-01 -5.63147056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64576923100003 meters 0.04805550459138935 Centerline is valid? [True, True] Translation: X:191.92, Y:167.96, Z:-0.56 [[-3.75344914e-01 -9.26885181e-01 -2.39537430e-04 1.91917775e+02] [ 9.26885029e-01 -3.75344989e-01 5.31365168e-04 1.67956631e+02] [-5.82423674e-04 -2.25784448e-05 9.99999830e-01 -5.62202743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67576923100006 meters 0.04810604543274578 Centerline is valid? [True, True] Translation: X:191.91, Y:167.98, Z:-0.56 [[-3.73802507e-01 -9.27508315e-01 -1.05096571e-04 1.91906227e+02] [ 9.27508286e-01 -3.73802521e-01 2.33829530e-04 1.67977718e+02] [-2.56164197e-04 -1.00718763e-05 9.99999967e-01 -5.62906668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70576923100003 meters 0.05172547458597832 Centerline is valid? [True, True] Translation: X:191.89, Y:168.00, Z:-0.57 [[-3.70958635e-01 -9.28648798e-01 1.04941098e-03 1.91887951e+02] [ 9.28645917e-01 -3.70960102e-01 -2.31588028e-03 1.67995233e+02] [ 2.53992904e-03 1.15435437e-04 9.99996768e-01 -5.68020248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73576923100006 meters 0.051779912641757284 Centerline is valid? [True, True] Translation: X:191.88, Y:168.02, Z:-0.57 [[-3.70224709e-01 -9.28940887e-01 1.57892999e-03 1.91875006e+02] [ 9.28934376e-01 -3.70228033e-01 -3.48266930e-03 1.68015910e+02] [ 3.81975806e-03 1.77352116e-04 9.99992689e-01 -5.69975095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76576923100004 meters 0.05551948231985941 Centerline is valid? [True, True] Translation: X:191.86, Y:168.03, Z:-0.57 [[-3.69974512e-01 -9.29039962e-01 1.89977161e-03 1.91855228e+02] [ 9.29030551e-01 -3.69979327e-01 -4.18723405e-03 1.68032417e+02] [ 4.59298399e-03 2.15775989e-04 9.99989429e-01 -5.71225435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79576923100007 meters 0.051740120179422276 Centerline is valid? [True, True] Translation: X:191.85, Y:168.05, Z:-0.57 [[-3.70586736e-01 -9.28796707e-01 1.46536517e-03 1.91846940e+02] [ 9.28791117e-01 -3.70589597e-01 -3.22688045e-03 1.68054799e+02] [ 3.54016502e-03 1.65179061e-04 9.99993720e-01 -5.69048007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82576923100004 meters 0.04887162638256687 Centerline is valid? [True, True] Translation: X:191.84, Y:168.08, Z:-0.56 [[-3.74336445e-01 -9.27292901e-01 3.17562818e-04 1.91835855e+02] [ 9.27292640e-01 -3.74336578e-01 -6.97461221e-04 1.68075303e+02] [ 7.65626218e-04 3.33885098e-05 9.99999706e-01 -5.64981264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85576923100007 meters 0.04567070544693083 Centerline is valid? [True, True] Translation: X:191.83, Y:168.10, Z:-0.56 [[-3.77402896e-01 -9.26049146e-01 1.84175830e-04 1.91828104e+02] [ 9.26049058e-01 -3.77402940e-01 -4.03575541e-04 1.68097693e+02] [ 4.43239284e-04 1.82452761e-05 9.99999902e-01 -5.64084875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88576923100004 meters 0.04183936734556852 Centerline is valid? [True, True] Translation: X:191.82, Y:168.12, Z:-0.56 [[-3.80435025e-01 -9.24807587e-01 3.43806160e-04 1.91821024e+02] [ 9.24807280e-01 -3.80435179e-01 -7.54142811e-04 1.68121046e+02] [ 8.28232952e-04 3.10521000e-05 9.99999657e-01 -5.64379050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91576923100007 meters 0.03945945850182604 Centerline is valid? [True, True] Translation: X:191.81, Y:168.14, Z:-0.57 [[-3.83106357e-01 -9.23703962e-01 7.13694501e-04 1.91812439e+02] [ 9.23702637e-01 -3.83107018e-01 -1.56584818e-03 1.68143470e+02] [ 1.71980154e-03 5.93551006e-05 9.99998519e-01 -5.65839783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94576923100004 meters 0.03787307427285153 Centerline is valid? [True, True] Translation: X:191.80, Y:168.16, Z:-0.57 [[-3.87237990e-01 -9.21979268e-01 9.83747532e-04 1.91803084e+02] [ 9.21976748e-01 -3.87239233e-01 -2.15697127e-03 1.68163777e+02] [ 2.36962844e-03 7.17311298e-05 9.99997190e-01 -5.67068135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9757692310001 meters 0.03473648732410751 Centerline is valid? [True, True] Translation: X:191.80, Y:168.19, Z:-0.56 [[-3.88900740e-01 -9.21279558e-01 4.35733368e-04 1.91796156e+02] [ 9.21279065e-01 -3.88900983e-01 -9.53806239e-04 1.68187010e+02] [ 1.04817933e-03 3.04960782e-05 9.99999450e-01 -5.64469351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00576923100004 meters 0.03228809948994506 Centerline is valid? [True, True] Translation: X:191.79, Y:168.21, Z:-0.56 [[-3.90238423e-01 -9.20713810e-01 -2.30661666e-04 1.91788624e+02] [ 9.20713670e-01 -3.90238491e-01 5.06876941e-04 1.68209923e+02] [-5.56701660e-04 -1.45704913e-05 9.99999845e-01 -5.61411375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0357692310001 meters 0.031986642186538905 Centerline is valid? [True, True] Translation: X:191.78, Y:168.23, Z:-0.56 [[-3.90301774e-01 -9.20686524e-01 -9.21682910e-04 1.91777178e+02] [ 9.20684312e-01 -3.90302858e-01 2.01919086e-03 1.68231118e+02] [-2.21877729e-03 -6.04852194e-05 9.99997537e-01 -5.58039002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06576923100005 meters 0.031986642186538905 Centerline is valid? [True, True] Translation: X:191.77, Y:168.25, Z:-0.56 [[-3.90583789e-01 -9.20566920e-01 -9.22301736e-04 1.91767113e+02] [ 9.20564708e-01 -3.90584873e-01 2.01890817e-03 1.68252174e+02] [-2.21877718e-03 -6.04856272e-05 9.99997537e-01 -5.58089087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0957692310001 meters 0.03387810782670529 Centerline is valid? [True, True] Translation: X:191.75, Y:168.27, Z:-0.56 [[-3.89282617e-01 -9.21117925e-01 -9.01307572e-04 1.91753056e+02] [ 9.21115818e-01 -3.89283655e-01 1.97139176e-03 1.68272144e+02] [-2.16674859e-03 -6.27801188e-05 9.99997651e-01 -5.58714557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12576923100005 meters 0.037276551723773095 Centerline is valid? [True, True] Translation: X:191.74, Y:168.29, Z:-0.56 [[-3.86048921e-01 -9.22478105e-01 -6.13864675e-04 1.91735343e+02] [ 9.22477130e-01 -3.86049406e-01 1.34213911e-03 1.68290099e+02] [-1.47507603e-03 -4.81447700e-05 9.99998911e-01 -5.61148530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1557692310001 meters 0.03792657873472473 Centerline is valid? [True, True] Translation: X:191.72, Y:168.31, Z:-0.56 [[-3.85875673e-01 -9.22550539e-01 -6.83583957e-04 1.91723198e+02] [ 9.22549333e-01 -3.85876275e-01 1.49317122e-03 1.68311219e+02] [-1.64130475e-03 -5.44614724e-05 9.99998652e-01 -5.61498913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18576923100005 meters 0.03844634289966838 Centerline is valid? [True, True] Translation: X:191.71, Y:168.33, Z:-0.56 [[-3.86959397e-01 -9.22096339e-01 -8.75992713e-04 1.91712637e+02] [ 9.22094360e-01 -3.86960382e-01 1.91151036e-03 1.68331394e+02] [-2.10157118e-03 -6.80710441e-05 9.99997789e-01 -5.61031279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2157692310001 meters 0.033625207199135525 Centerline is valid? [True, True] Translation: X:191.71, Y:168.36, Z:-0.56 [[-3.91180529e-01 -9.20313876e-01 -4.03225538e-04 1.91710201e+02] [ 9.20313456e-01 -3.91180736e-01 8.80032414e-04 1.68356143e+02] [-9.67640105e-04 -2.68423432e-05 9.99999531e-01 -5.63225289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24576923100005 meters 0.03105141433685987 Centerline is valid? [True, True] Translation: X:191.70, Y:168.38, Z:-0.56 [[-3.94061119e-01 -9.19084233e-01 -8.88793786e-05 1.91704228e+02] [ 9.19084212e-01 -3.94061129e-01 1.95022808e-04 1.68379327e+02] [-2.14266296e-04 -4.83672780e-06 9.99999977e-01 -5.64499696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.275769231 meters 0.029720279831424237 Centerline is valid? [True, True] Translation: X:191.70, Y:168.40, Z:-0.57 [[-3.96806873e-01 -9.17902122e-01 -1.10325809e-05 1.91697071e+02] [ 9.17902122e-01 -3.96806873e-01 2.56649743e-05 1.68401129e+02] [-2.79357384e-05 5.72087628e-08 1.00000000e+00 -5.65720806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30576923100006 meters 0.026306244701023114 Centerline is valid? [True, True] Translation: X:191.69, Y:168.43, Z:-0.57 [[-3.99443821e-01 -9.16757510e-01 5.49202493e-04 1.91694553e+02] [ 9.16756735e-01 -3.99444198e-01 -1.19193447e-03 1.68425754e+02] [ 1.31209063e-03 2.73742248e-05 9.99999139e-01 -5.67900546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33576923100003 meters 0.025459181016631548 Centerline is valid? [True, True] Translation: X:191.69, Y:168.45, Z:-0.57 [[-3.99789981e-01 -9.16606344e-01 8.83442179e-04 1.91686625e+02] [ 9.16604341e-01 -3.99790955e-01 -1.91672134e-03 1.68447944e+02] [ 2.11007113e-03 4.34809476e-05 9.99997773e-01 -5.68581783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36576923100006 meters 0.028752510392450567 Centerline is valid? [True, True] Translation: X:191.67, Y:168.47, Z:-0.57 [[-3.97071804e-01 -9.17786097e-01 1.63174951e-03 1.91671824e+02] [ 9.17779279e-01 -3.97075146e-01 -3.53890723e-03 1.68467641e+02] [ 3.89588703e-03 9.23856063e-05 9.99992407e-01 -5.70215728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39576923100003 meters 0.03240951839291229 Centerline is valid? [True, True] Translation: X:191.66, Y:168.49, Z:-0.57 [[-3.94425648e-01 -9.18926153e-01 1.77001161e-03 1.91656417e+02] [ 9.18918155e-01 -3.94429603e-01 -3.83577109e-03 1.68486311e+02] [ 4.22293535e-03 1.13569302e-04 9.99991077e-01 -5.70821217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42576923100006 meters 0.03552449660633049 Centerline is valid? [True, True] Translation: X:191.64, Y:168.51, Z:-0.57 [[-3.91532779e-01 -9.20162729e-01 1.62309741e-03 1.91641470e+02] [ 9.20156024e-01 -3.91536126e-01 -3.51462233e-03 1.68506429e+02] [ 3.86952575e-03 1.17413006e-04 9.99992506e-01 -5.70718811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45576923100003 meters 0.042140009390391704 Centerline is valid? [True, True] Translation: X:191.62, Y:168.52, Z:-0.57 [[-3.89097461e-01 -9.21195704e-01 1.28073082e-03 1.91622784e+02] [ 9.21191544e-01 -3.89099555e-01 -2.77056528e-03 1.68522769e+02] [ 3.05056463e-03 1.01778485e-04 9.99995342e-01 -5.70377728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48576923100006 meters 0.04291989529079766 Centerline is valid? [True, True] Translation: X:191.61, Y:168.54, Z:-0.57 [[-3.85908545e-01 -9.22536554e-01 9.49416951e-04 1.91607468e+02] [ 9.22534276e-01 -3.85909704e-01 -2.05188079e-03 1.68542284e+02] [ 2.25932425e-03 8.40313479e-05 9.99997444e-01 -5.69134539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51576923100004 meters 0.045058715178390635 Centerline is valid? [True, True] Translation: X:191.59, Y:168.56, Z:-0.57 [[-3.85358599e-01 -9.22766492e-01 8.66553996e-04 1.91592386e+02] [ 9.22764599e-01 -3.85359565e-01 -1.87117163e-03 1.68560308e+02] [ 2.06058935e-03 7.85532728e-05 9.99997874e-01 -5.69476304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54576923100007 meters 0.04559338533959294 Centerline is valid? [True, True] Translation: X:191.58, Y:168.58, Z:-0.57 [[-3.85218530e-01 -9.22824899e-01 9.43295862e-04 1.91577160e+02] [ 9.22822658e-01 -3.85219675e-01 -2.03552241e-03 1.68580082e+02] [ 2.24180689e-03 8.63738435e-05 9.99997483e-01 -5.70107809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57576923100004 meters 0.04616973188988173 Centerline is valid? [True, True] Translation: X:191.56, Y:168.60, Z:-0.57 [[-3.85673241e-01 -9.22634941e-01 9.58059897e-04 1.91564724e+02] [ 9.22632632e-01 -3.85674421e-01 -2.06565269e-03 1.68599298e+02] [ 2.27534254e-03 8.72703577e-05 9.99997408e-01 -5.69975122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60576923100007 meters 0.04601128664419733 Centerline is valid? [True, True] Translation: X:191.55, Y:168.62, Z:-0.57 [[-3.86597103e-01 -9.22248089e-01 1.06861870e-03 1.91550660e+02] [ 9.22245220e-01 -3.86598568e-01 -2.30237881e-03 1.68617834e+02] [ 2.53649091e-03 9.54355090e-05 9.99996779e-01 -5.70483504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63576923100004 meters 0.04562277885382406 Centerline is valid? [True, True] Translation: X:191.54, Y:168.64, Z:-0.57 [[-3.87282002e-01 -9.21960727e-01 1.03392905e-03 1.91538138e+02] [ 9.21958045e-01 -3.87283371e-01 -2.22560276e-03 1.68638847e+02] [ 2.45234186e-03 9.13033121e-05 9.99996989e-01 -5.70945241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66576923100007 meters 0.04537324333870994 Centerline is valid? [True, True] Translation: X:191.53, Y:168.66, Z:-0.57 [[-3.88051057e-01 -9.21637387e-01 9.51082797e-04 1.91526462e+02] [ 9.21635121e-01 -3.88052214e-01 -2.04513861e-03 1.68657243e+02] [ 2.25394598e-03 8.29331117e-05 9.99997456e-01 -5.70717736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69576923100004 meters 0.04484083586521129 Centerline is valid? [True, True] Translation: X:191.51, Y:168.68, Z:-0.57 [[-3.88887981e-01 -9.21284622e-01 8.85507555e-04 1.91514677e+02] [ 9.21282660e-01 -3.88888982e-01 -1.90263667e-03 1.68677229e+02] [ 2.09723404e-03 7.58902221e-05 9.99997798e-01 -5.71096821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7257692310001 meters 0.042969668707098306 Centerline is valid? [True, True] Translation: X:191.50, Y:168.70, Z:-0.57 [[-3.91146797e-01 -9.20328015e-01 7.26227039e-04 1.91502928e+02] [ 9.20326697e-01 -3.91147467e-01 -1.55885259e-03 1.68696626e+02] [ 1.71871757e-03 5.86259363e-05 9.99998521e-01 -5.71461520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75576923100004 meters 0.04146661538692327 Centerline is valid? [True, True] Translation: X:191.49, Y:168.72, Z:-0.57 [[-3.93167114e-01 -9.19466473e-01 1.01297780e-03 1.91489791e+02] [ 9.19463908e-01 -3.93168411e-01 -2.17324133e-03 1.68715117e+02] [ 2.39649341e-03 7.69495035e-05 9.99997125e-01 -5.73633098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7857692310001 meters 0.04088685109216832 Centerline is valid? [True, True] Translation: X:191.48, Y:168.74, Z:-0.58 [[-3.94029244e-01 -9.19097041e-01 1.25860482e-03 1.91478443e+02] [ 9.19093085e-01 -3.94031243e-01 -2.69842059e-03 1.68735377e+02] [ 2.97604000e-03 9.35183588e-05 9.99995567e-01 -5.75025523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81576923100005 meters 0.036038013782895624 Centerline is valid? [True, True] Translation: X:191.47, Y:168.76, Z:-0.57 [[-3.95244121e-01 -9.18575068e-01 1.38884400e-03 1.91472904e+02] [ 9.18570254e-01 -3.95246548e-01 -2.97554992e-03 1.68759371e+02] [ 3.28220177e-03 9.96821716e-05 9.99994609e-01 -5.74937210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8457692310001 meters 0.03886103600444076 Centerline is valid? [True, True] Translation: X:191.46, Y:168.78, Z:-0.58 [[-3.96904996e-01 -9.17858407e-01 1.53892877e-03 1.91459155e+02] [ 9.17852501e-01 -3.96907966e-01 -3.29456755e-03 1.68778088e+02] [ 3.63475961e-03 1.04879296e-04 9.99993389e-01 -5.76120233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87576923100005 meters 0.031042724801277014 Centerline is valid? [True, True] Translation: X:191.46, Y:168.80, Z:-0.57 [[-4.01074692e-01 -9.16045120e-01 6.55398167e-04 1.91456138e+02] [ 9.16044049e-01 -4.01075226e-01 -1.40117428e-03 1.68803430e+02] [ 1.54640283e-03 3.83980478e-05 9.99998804e-01 -5.71783070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9057692310001 meters 0.03153906832305735 Centerline is valid? [True, True] Translation: X:191.44, Y:168.82, Z:-0.57 [[-4.03320969e-01 -9.15058434e-01 5.07913281e-04 1.91444282e+02] [ 9.15057792e-01 -4.03321288e-01 -1.08466039e-03 1.68823358e+02] [ 1.19737988e-03 2.73037239e-05 9.99999283e-01 -5.72159512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93576923100005 meters 0.02593353588757488 Centerline is valid? [True, True] Translation: X:191.44, Y:168.85, Z:-0.57 [[-4.06725744e-01 -9.13549564e-01 1.16747003e-03 1.91441289e+02] [ 9.13546164e-01 -4.06727416e-01 -2.49297799e-03 1.68847524e+02] [ 2.75230102e-03 5.25794432e-05 9.99996211e-01 -5.74813360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9657692310001 meters 0.024981612753099562 Centerline is valid? [True, True] Translation: X:191.43, Y:168.87, Z:-0.58 [[-4.07947566e-01 -9.13004358e-01 1.35101025e-03 1.91432963e+02] [ 9.12999809e-01 -4.07949799e-01 -2.88277401e-03 1.68868821e+02] [ 3.18312960e-03 5.74514590e-05 9.99994932e-01 -5.75689975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99576923100005 meters 0.023040756858533625 Centerline is valid? [True, True] Translation: X:191.42, Y:168.89, Z:-0.57 [[-4.08753625e-01 -9.12643699e-01 1.39739670e-03 1.91424919e+02] [ 9.12638837e-01 -4.08756010e-01 -2.97948288e-03 1.68891241e+02] [ 3.29040057e-03 5.74440704e-05 9.99994585e-01 -5.74783115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.025769231 meters 0.024814597471776653 Centerline is valid? [True, True] Translation: X:191.41, Y:168.91, Z:-0.57 [[-4.08839503e-01 -9.12606028e-01 7.06785751e-04 1.91410894e+02] [ 9.12604787e-01 -4.08840113e-01 -1.50492775e-03 1.68910302e+02] [ 1.66236850e-03 2.97421449e-05 9.99998618e-01 -5.73170932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05576923100006 meters 0.023105766173900023 Centerline is valid? [True, True] Translation: X:191.40, Y:168.93, Z:-0.57 [[-4.09282344e-01 -9.12407564e-01 6.32256812e-04 1.91402643e+02] [ 9.12406573e-01 -4.09282831e-01 -1.34505010e-03 1.68932646e+02] [ 1.48600574e-03 2.63700156e-05 9.99998896e-01 -5.72871170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08576923100003 meters 0.02421430382888611 Centerline is valid? [True, True] Translation: X:191.39, Y:168.95, Z:-0.57 [[-4.10014059e-01 -9.12078862e-01 7.87781381e-04 1.91391638e+02] [ 9.12077325e-01 -4.10014815e-01 -1.67486626e-03 1.68952966e+02] [ 1.85061215e-03 3.17988214e-05 9.99998287e-01 -5.73880359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11576923100006 meters 0.022539714512654657 Centerline is valid? [True, True] Translation: X:191.39, Y:168.97, Z:-0.57 [[-4.11900359e-01 -9.11228710e-01 5.76550357e-04 1.91385101e+02] [ 9.11227888e-01 -4.11900762e-01 -1.22428732e-03 1.68974437e+02] [ 1.35308729e-03 2.10843781e-05 9.99999084e-01 -5.72764617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14576923100003 meters 0.019649826119099836 Centerline is valid? [True, True] Translation: X:191.38, Y:169.00, Z:-0.57 [[-4.13317583e-01 -9.10586920e-01 1.90047326e-04 1.91378703e+02] [ 9.10586832e-01 -4.13317627e-01 -4.02248667e-04 1.68998292e+02] [ 4.44832284e-04 6.79814544e-06 9.99999901e-01 -5.70512008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17576923100006 meters 0.017592623356026443 Centerline is valid? [True, True] Translation: X:191.37, Y:169.02, Z:-0.57 [[-4.15751798e-01 -9.09478093e-01 -2.01049842e-04 1.91374283e+02] [ 9.09477993e-01 -4.15751846e-01 4.28295210e-04 1.69023328e+02] [-4.73111954e-04 -4.78590335e-06 9.99999888e-01 -5.68954627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20576923100003 meters 0.016621654309379712 Centerline is valid? [True, True] Translation: X:191.37, Y:169.05, Z:-0.57 [[-4.17075568e-01 -9.08871810e-01 6.86621384e-05 1.91368436e+02] [ 9.08871798e-01 -4.17075573e-01 -1.44099347e-04 1.69046665e+02] [ 1.59605135e-04 2.30476443e-06 9.99999987e-01 -5.69752597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23576923100006 meters 0.015819188692243927 Centerline is valid? [True, True] Translation: X:191.36, Y:169.07, Z:-0.57 [[-4.18251192e-01 -9.08331305e-01 4.25047840e-04 1.91361849e+02] [ 9.08330860e-01 -4.18251408e-01 -8.99382637e-04 1.69070159e+02] [ 9.94714262e-04 9.91621015e-06 9.99999505e-01 -5.71475863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26576923100004 meters 0.015207750693750098 Centerline is valid? [True, True] Translation: X:191.36, Y:169.09, Z:-0.57 [[-4.19182512e-01 -9.07901969e-01 1.91976967e-04 1.91355429e+02] [ 9.07901879e-01 -4.19182556e-01 -4.05017407e-04 1.69093717e+02] [ 4.48189497e-04 4.52003468e-06 9.99999900e-01 -5.71436098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29576923100007 meters 0.015360479938202082 Centerline is valid? [True, True] Translation: X:191.35, Y:169.11, Z:-0.57 [[-4.19466994e-01 -9.07770574e-01 -1.62908608e-04 1.91346338e+02] [ 9.07770508e-01 -4.19467026e-01 3.46357494e-04 1.69114293e+02] [-3.82747930e-04 -2.59809255e-06 9.99999927e-01 -5.70002731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32576923100004 meters 0.015170659646343893 Centerline is valid? [True, True] Translation: X:191.34, Y:169.14, Z:-0.57 [[-4.19955001e-01 -9.07544870e-01 -3.26465366e-04 1.91337646e+02] [ 9.07544606e-01 -4.19955128e-01 6.91845396e-04 1.69136032e+02] [-7.64981544e-04 -5.73794798e-06 9.99999707e-01 -5.69567071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35576923100007 meters 0.014263884491362577 Centerline is valid? [True, True] Translation: X:191.33, Y:169.16, Z:-0.57 [[-4.21492360e-01 -9.06831945e-01 -1.15093412e-04 1.91332394e+02] [ 9.06831912e-01 -4.21492376e-01 2.44757903e-04 1.69158789e+02] [-2.70465281e-04 -1.20679305e-06 9.99999963e-01 -5.71069669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38576923100004 meters 0.01377265529052436 Centerline is valid? [True, True] Translation: X:191.32, Y:169.18, Z:-0.57 [[-4.22537016e-01 -9.06345665e-01 -6.83892818e-05 1.91324414e+02] [ 9.06345654e-01 -4.22537022e-01 1.45916925e-04 1.69181849e+02] [-1.61148176e-04 -3.29026340e-07 9.99999987e-01 -5.71536612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41576923100007 meters 0.013579874062800928 Centerline is valid? [True, True] Translation: X:191.32, Y:169.20, Z:-0.57 [[-4.23219803e-01 -9.06027039e-01 -5.18831866e-05 1.91316368e+02] [ 9.06027033e-01 -4.23219806e-01 1.10976996e-04 1.69204102e+02] [-1.22506152e-04 -3.99071705e-08 9.99999992e-01 -5.71922123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44576923100004 meters 0.01353546206781461 Centerline is valid? [True, True] Translation: X:191.31, Y:169.23, Z:-0.57 [[-4.23510518e-01 -9.05891179e-01 -1.10818757e-04 1.91307728e+02] [ 9.05891149e-01 -4.23510533e-01 2.35102391e-04 1.69226824e+02] [-2.59910093e-04 -8.21396062e-07 9.99999966e-01 -5.72084136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4757692310001 meters 0.014073686785585238 Centerline is valid? [True, True] Translation: X:191.30, Y:169.25, Z:-0.57 [[-4.23339700e-01 -9.05971020e-01 9.24285562e-05 1.91299146e+02] [ 9.05971000e-01 -4.23339710e-01 -1.93071145e-04 1.69247736e+02] [ 2.14045540e-04 2.00291097e-06 9.99999977e-01 -5.71183770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50576923100004 meters 0.01403374413136084 Centerline is valid? [True, True] Translation: X:191.29, Y:169.27, Z:-0.57 [[-4.23379900e-01 -9.05952239e-01 -2.17305982e-05 1.91288230e+02] [ 9.05952238e-01 -4.23379901e-01 4.72414018e-05 1.69269338e+02] [-5.19987523e-05 3.14175923e-07 9.99999999e-01 -5.70786066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5357692310001 meters 0.014219957507934164 Centerline is valid? [True, True] Translation: X:191.28, Y:169.29, Z:-0.57 [[-4.23239641e-01 -9.06017770e-01 -8.59360540e-05 1.91277657e+02] [ 9.06017751e-01 -4.23239650e-01 1.82227004e-04 1.69290531e+02] [-2.01472449e-04 -7.33898578e-07 9.99999980e-01 -5.71190205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56576923100005 meters 0.014328240832969717 Centerline is valid? [True, True] Translation: X:191.27, Y:169.31, Z:-0.57 [[-4.23395550e-01 -9.05944922e-01 7.74379897e-05 1.91267497e+02] [ 9.05944908e-01 -4.23395557e-01 -1.61168145e-04 1.69312614e+02] [ 1.78796363e-04 1.91667701e-06 9.99999984e-01 -5.72145021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5957692310001 meters 0.014780409424450055 Centerline is valid? [True, True] Translation: X:191.26, Y:169.33, Z:-0.57 [[-4.23570943e-01 -9.05862885e-01 2.99593213e-04 1.91257183e+02] [ 9.05862668e-01 -4.23571049e-01 -6.27353489e-04 1.69333184e+02] [ 6.95195253e-04 5.66159812e-06 9.99999758e-01 -5.73717852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62576923100005 meters 0.015486164030818329 Centerline is valid? [True, True] Translation: X:191.25, Y:169.35, Z:-0.58 [[-4.23262241e-01 -9.06006513e-01 1.12860307e-03 1.91246750e+02] [ 9.06003425e-01 -4.23263746e-01 -2.36565652e-03 1.69353420e+02] [ 2.62099697e-03 2.12251657e-05 9.99996565e-01 -5.77218583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6557692310001 meters 0.015111573712287975 Centerline is valid? [True, True] Translation: X:191.24, Y:169.38, Z:-0.58 [[-4.23525722e-01 -9.05882972e-01 1.41599449e-03 1.91237043e+02] [ 9.05878116e-01 -4.23528088e-01 -2.96621840e-03 1.69375085e+02] [ 3.28676018e-03 2.64486341e-05 9.99994598e-01 -5.77541901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68576923100005 meters 0.0148924835413652 Centerline is valid? [True, True] Translation: X:191.23, Y:169.40, Z:-0.58 [[-4.24020382e-01 -9.05651671e-01 1.32886706e-03 1.91226477e+02] [ 9.05647401e-01 -4.24022463e-01 -2.78141473e-03 1.69396770e+02] [ 3.08246239e-03 2.41084606e-05 9.99995249e-01 -5.77180724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7157692310001 meters 0.013900685430519227 Centerline is valid? [True, True] Translation: X:191.22, Y:169.42, Z:-0.57 [[-4.25761607e-01 -9.04835093e-01 7.12763478e-04 1.91219187e+02] [ 9.04833867e-01 -4.25762204e-01 -1.48992395e-03 1.69418781e+02] [ 1.65160323e-03 1.05801188e-05 9.99998636e-01 -5.74790760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74576923100005 meters 0.013276980956559447 Centerline is valid? [True, True] Translation: X:191.21, Y:169.44, Z:-0.57 [[-4.27409904e-01 -9.04057900e-01 2.95997221e-04 1.91211913e+02] [ 9.04057689e-01 -4.27410006e-01 -6.17197528e-04 1.69439788e+02] [ 6.84494475e-04 3.80222716e-06 9.99999766e-01 -5.73927557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.775769231 meters 0.012429020431123436 Centerline is valid? [True, True] Translation: X:191.21, Y:169.46, Z:-0.57 [[-4.29284000e-01 -9.03169555e-01 5.81792254e-05 1.91205770e+02] [ 9.03169547e-01 -4.29284004e-01 -1.20002819e-04 1.69461937e+02] [ 1.33358303e-04 1.03041457e-06 9.99999991e-01 -5.73050198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80576923100006 meters 0.011998236438662551 Centerline is valid? [True, True] Translation: X:191.20, Y:169.49, Z:-0.57 [[-4.32533644e-01 -9.01617785e-01 -1.29649698e-04 1.91203149e+02] [ 9.01617744e-01 -4.32533663e-01 2.72212491e-04 1.69485344e+02] [-3.01509482e-04 8.46592495e-07 9.99999955e-01 -5.73320002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83576923100003 meters 0.012053598847390013 Centerline is valid? [True, True] Translation: X:191.20, Y:169.51, Z:-0.57 [[-4.33878214e-01 -9.00971438e-01 -4.03830615e-04 1.91196447e+02] [ 9.00971043e-01 -4.33878402e-01 8.43820856e-04 1.69507636e+02] [-9.35471872e-04 2.27579566e-06 9.99999562e-01 -5.72287206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86576923100006 meters 0.012371948869521709 Centerline is valid? [True, True] Translation: X:191.19, Y:169.53, Z:-0.57 [[-4.35393657e-01 -9.00239825e-01 -7.87587001e-04 1.91189418e+02] [ 9.00238326e-01 -4.35394369e-01 1.64290847e-03 1.69530631e+02] [-1.82192258e-03 6.29592508e-06 9.99998340e-01 -5.70074358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89576923100003 meters 0.013216450435467828 Centerline is valid? [True, True] Translation: X:191.19, Y:169.55, Z:-0.57 [[-4.37543228e-01 -8.99197174e-01 -6.04405170e-04 1.91185275e+02] [ 8.99196291e-01 -4.37543646e-01 1.26017158e-03 1.69554947e+02] [-1.39759637e-03 7.90065343e-06 9.99999023e-01 -5.69924184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92576923100006 meters 0.01389603773263619 Centerline is valid? [True, True] Translation: X:191.18, Y:169.58, Z:-0.57 [[-4.38410249e-01 -8.98774973e-01 -3.24360231e-05 1.91178565e+02] [ 8.98774971e-01 -4.38410250e-01 6.90703168e-05 1.69576513e+02] [-7.62989572e-05 1.12844905e-06 9.99999997e-01 -5.72818864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95576923100003 meters 0.01389603773263619 Centerline is valid? [True, True] Translation: X:191.17, Y:169.60, Z:-0.57 [[-4.38699384e-01 -8.98633879e-01 -3.24520246e-05 1.91168370e+02] [ 8.98633877e-01 -4.38699386e-01 6.90627454e-05 1.69596588e+02] [-7.62988062e-05 1.13529521e-06 9.99999997e-01 -5.72867138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98576923100006 meters 0.015550278205672941 Centerline is valid? [True, True] Translation: X:191.17, Y:169.62, Z:-0.58 [[-4.39835754e-01 -8.98077618e-01 1.04926821e-03 1.91165814e+02] [ 8.98074977e-01 -4.39837005e-01 -2.17796229e-03 1.69619841e+02] [ 2.41748618e-03 -1.56241621e-05 9.99997078e-01 -5.78991485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01576923100004 meters 0.014694117128990667 Centerline is valid? [True, True] Translation: X:191.16, Y:169.64, Z:-0.58 [[-4.39933161e-01 -8.98029915e-01 1.04216952e-03 1.91156946e+02] [ 8.98027314e-01 -4.39934395e-01 -2.16148969e-03 1.69640994e+02] [ 2.39956862e-03 -1.50143002e-05 9.99997121e-01 -5.77592007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04576923100007 meters 0.014703582598023165 Centerline is valid? [True, True] Translation: X:191.15, Y:169.66, Z:-0.58 [[-4.39706263e-01 -8.98141492e-01 5.12411961e-04 1.91149237e+02] [ 8.98140865e-01 -4.39706562e-01 -1.06101060e-03 1.69662153e+02] [ 1.17824854e-03 -6.31488312e-06 9.99999306e-01 -5.75326751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07576923100004 meters 0.012375652595973681 Centerline is valid? [True, True] Translation: X:191.14, Y:169.68, Z:-0.57 [[-4.36796981e-01 -8.99559958e-01 -5.29439564e-04 1.91136125e+02] [ 8.99559287e-01 -4.36797302e-01 1.09858967e-03 1.69681756e+02] [-1.21950505e-03 3.59837310e-06 9.99999256e-01 -5.70936905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10576923100007 meters 0.011869668269235578 Centerline is valid? [True, True] Translation: X:191.12, Y:169.70, Z:-0.57 [[-4.34719456e-01 -9.00565787e-01 -5.07448605e-04 1.91122535e+02] [ 9.00565173e-01 -4.34719752e-01 1.05223906e-03 1.69701169e+02] [-1.16820843e-03 4.38252340e-07 9.99999318e-01 -5.70722665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13576923100004 meters 0.013776708155364756 Centerline is valid? [True, True] Translation: X:191.11, Y:169.72, Z:-0.57 [[-4.29866510e-01 -9.02892432e-01 1.97042526e-04 1.91106069e+02] [ 9.02892341e-01 -4.29866555e-01 -4.06199381e-04 1.69719220e+02] [ 4.51456339e-04 3.29667769e-06 9.99999898e-01 -5.73037987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16576923100007 meters 0.015342541486471893 Centerline is valid? [True, True] Translation: X:191.09, Y:169.74, Z:-0.57 [[-4.27765047e-01 -9.03889895e-01 3.50569811e-04 1.91092235e+02] [ 9.03889605e-01 -4.27765191e-01 -7.23320029e-04 1.69739069e+02] [ 8.03763227e-04 7.46538177e-06 9.99999677e-01 -5.73739704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19576923100004 meters 0.0171840058339391 Centerline is valid? [True, True] Translation: X:191.08, Y:169.76, Z:-0.57 [[-4.25702607e-01 -9.04863081e-01 3.06524069e-04 1.91078253e+02] [ 9.04862861e-01 -4.25702718e-01 -6.31765620e-04 1.69759387e+02] [ 7.02149515e-04 8.41797436e-06 9.99999753e-01 -5.73577190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2257692310001 meters 0.01970026657161387 Centerline is valid? [True, True] Translation: X:191.06, Y:169.78, Z:-0.57 [[-4.23599851e-01 -9.05849353e-01 3.40249688e-04 1.91064349e+02] [ 9.05849082e-01 -4.23599987e-01 -7.00769569e-04 1.69777921e+02] [ 7.78921424e-04 1.13689832e-05 9.99999697e-01 -5.74433808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25576923100004 meters 0.02339438436584898 Centerline is valid? [True, True] Translation: X:191.05, Y:169.80, Z:-0.58 [[-4.20698805e-01 -9.07199846e-01 9.77270846e-04 1.91047836e+02] [ 9.07197611e-01 -4.20699938e-01 -2.01412207e-03 1.69795248e+02] [ 2.23834901e-03 3.92390310e-05 9.99997494e-01 -5.76848888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2857692310001 meters 0.024189989306190086 Centerline is valid? [True, True] Translation: X:191.03, Y:169.82, Z:-0.58 [[-4.19813084e-01 -9.07609832e-01 1.16916582e-03 1.91034588e+02] [ 9.07606639e-01 -4.19814710e-01 -2.40819969e-03 1.69815552e+02] [ 2.67653873e-03 5.01489232e-05 9.99996417e-01 -5.77878167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31576923100005 meters 0.03078139613441698 Centerline is valid? [True, True] Translation: X:191.01, Y:169.83, Z:-0.58 [[-4.19203999e-01 -9.07891189e-01 1.26362835e-03 1.91014234e+02] [ 9.07887465e-01 -4.19205899e-01 -2.60082162e-03 1.69831633e+02] [ 2.89098349e-03 5.69575116e-05 9.99995819e-01 -5.80179254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3457692310001 meters 0.025525255050117643 Centerline is valid? [True, True] Translation: X:191.01, Y:169.86, Z:-0.58 [[-4.19436218e-01 -9.07784738e-01 3.59366618e-04 1.91008827e+02] [ 9.07784438e-01 -4.19436371e-01 -7.38047621e-04 1.69855238e+02] [ 8.20719797e-04 1.66635209e-05 9.99999663e-01 -5.75375909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37576923100005 meters 0.024825285712783474 Centerline is valid? [True, True] Translation: X:191.00, Y:169.88, Z:-0.57 [[-4.19999647e-01 -9.07524259e-01 -1.25623098e-04 1.90999491e+02] [ 9.07524222e-01 -4.19999665e-01 2.59792443e-04 1.69876880e+02] [-2.88529604e-04 -4.89327014e-06 9.99999958e-01 -5.72657650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4057692310001 meters 0.024158302678811538 Centerline is valid? [True, True] Translation: X:190.99, Y:169.90, Z:-0.57 [[-4.20827260e-01 -9.07140628e-01 -5.46223982e-04 1.90989285e+02] [ 9.07139932e-01 -4.20827614e-01 1.12379391e-03 1.69898326e+02] [-1.24930525e-03 -2.25784724e-05 9.99999219e-01 -5.70779886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43576923100005 meters 0.02479714295911144 Centerline is valid? [True, True] Translation: X:190.97, Y:169.92, Z:-0.57 [[-4.20545910e-01 -9.07270886e-01 -8.22538306e-04 1.90974839e+02] [ 9.07269313e-01 -4.20546712e-01 1.69024836e-03 1.69917523e+02] [-1.87942890e-03 -3.54367313e-05 9.99998233e-01 -5.69257667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4657692310001 meters 0.026341679477964258 Centerline is valid? [True, True] Translation: X:190.96, Y:169.94, Z:-0.57 [[-4.19706928e-01 -9.07659389e-01 -7.26143354e-04 1.90959935e+02] [ 9.07658165e-01 -4.19707555e-01 1.49121438e-03 1.69936360e+02] [-1.65828259e-03 -3.32169361e-05 9.99998624e-01 -5.69910737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49576923100005 meters 0.03174827524454311 Centerline is valid? [True, True] Translation: X:190.94, Y:169.95, Z:-0.57 [[-4.16314176e-01 -9.09220710e-01 -4.54129628e-04 1.90937625e+02] [ 9.09220233e-01 -4.16314423e-01 9.32464201e-04 1.69950746e+02] [-1.03687648e-03 -2.47057800e-05 9.99999462e-01 -5.71204955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.525769231 meters 0.03156756384739052 Centerline is valid? [True, True] Translation: X:190.92, Y:169.97, Z:-0.57 [[-4.14232643e-01 -9.10170863e-01 -5.63411973e-04 1.90924076e+02] [ 9.10170130e-01 -4.14233025e-01 1.15553520e-03 1.69970864e+02] [-1.28511832e-03 -3.41403481e-05 9.99999174e-01 -5.70473635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55576923100006 meters 0.03387038520575067 Centerline is valid? [True, True] Translation: X:190.91, Y:169.99, Z:-0.57 [[-4.12095878e-01 -9.11140317e-01 -5.55863635e-04 1.90907383e+02] [ 9.11139606e-01 -4.12096252e-01 1.13922087e-03 1.69989512e+02] [-1.26705938e-03 -3.70011495e-05 9.99999197e-01 -5.70091506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58576923100003 meters 0.037400405952917944 Centerline is valid? [True, True] Translation: X:190.89, Y:170.01, Z:-0.57 [[-4.09359583e-01 -9.12372702e-01 -8.86069261e-04 1.90885572e+02] [ 9.12370901e-01 -4.09360536e-01 1.81374145e-03 1.70005744e+02] [-2.01752998e-03 -6.59513672e-05 9.99997963e-01 -5.69605896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61576923100006 meters 0.040340439599013 Centerline is valid? [True, True] Translation: X:190.87, Y:170.02, Z:-0.57 [[-4.09767681e-01 -9.12189239e-01 -1.11332171e-03 1.90868672e+02] [ 9.12186402e-01 -4.09769185e-01 2.27682782e-03 1.70022394e+02] [-2.53310277e-03 -8.25864708e-05 9.99996788e-01 -5.68827553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64576923100003 meters 0.03746901442218398 Centerline is valid? [True, True] Translation: X:190.86, Y:170.04, Z:-0.57 [[-4.10998290e-01 -9.11635590e-01 -9.78233065e-04 1.90858867e+02] [ 9.11633401e-01 -4.10999448e-01 1.99915126e-03 1.70043939e+02] [-2.22455069e-03 -7.01421862e-05 9.99997523e-01 -5.69506350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67576923100006 meters 0.03218143749378413 Centerline is valid? [True, True] Translation: X:190.85, Y:170.07, Z:-0.57 [[-4.15505966e-01 -9.09590408e-01 -2.86738022e-04 1.90850690e+02] [ 9.09590219e-01 -4.15506064e-01 5.86594898e-04 1.70066349e+02] [-6.52702479e-04 -1.70804210e-05 9.99999787e-01 -5.73617921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70576923100003 meters 0.03159269735038705 Centerline is valid? [True, True] Translation: X:190.84, Y:170.09, Z:-0.58 [[-4.17997780e-01 -9.08448032e-01 1.71650709e-04 1.90839532e+02] [ 9.08447965e-01 -4.17997815e-01 -3.48563438e-04 1.70086958e+02] [ 3.88401391e-04 1.02369937e-05 9.99999925e-01 -5.75791233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73576923100006 meters 0.02970249766824344 Centerline is valid? [True, True] Translation: X:190.83, Y:170.11, Z:-0.58 [[-4.20097711e-01 -9.07478786e-01 4.08404703e-04 1.90830649e+02] [ 9.07478406e-01 -4.20097909e-01 -8.30460782e-04 1.70107104e+02] [ 9.25195504e-04 2.17437753e-05 9.99999572e-01 -5.77060487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76576923100004 meters 0.026007650697624847 Centerline is valid? [True, True] Translation: X:190.82, Y:170.13, Z:-0.58 [[-4.22514833e-01 -9.06355998e-01 1.45275347e-04 1.90823836e+02] [ 9.06355950e-01 -4.22514858e-01 -2.94262420e-04 1.70130048e+02] [ 3.28087501e-04 7.34093811e-06 9.99999946e-01 -5.76135707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79576923100007 meters 0.025778817719983978 Centerline is valid? [True, True] Translation: X:190.81, Y:170.15, Z:-0.58 [[-4.23428178e-01 -9.05929636e-01 2.71203498e-04 1.90813639e+02] [ 9.05929469e-01 -4.23428264e-01 -5.50235114e-04 1.70151035e+02] [ 6.13309522e-04 1.27061894e-05 9.99999812e-01 -5.76137764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82576923100004 meters 0.025850830042731074 Centerline is valid? [True, True] Translation: X:190.80, Y:170.17, Z:-0.58 [[-4.24312828e-01 -9.05515538e-01 4.84373258e-04 1.90803242e+02] [ 9.05515005e-01 -4.24313104e-01 -9.83058267e-04 1.70171852e+02] [ 1.09570046e-03 2.14830195e-05 9.99999399e-01 -5.76953198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85576923100007 meters 0.02102483779962805 Centerline is valid? [True, True] Translation: X:190.80, Y:170.20, Z:-0.58 [[-4.26842595e-01 -9.04325853e-01 3.88793264e-04 1.90800831e+02] [ 9.04325509e-01 -4.26842772e-01 -7.88162509e-04 1.70197555e+02] [ 8.78709328e-04 1.51743352e-05 9.99999614e-01 -5.77011245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88576923100004 meters 0.019101105014660665 Centerline is valid? [True, True] Translation: X:190.79, Y:170.22, Z:-0.58 [[-4.29238101e-01 -9.03191354e-01 -1.77369128e-04 1.90794614e+02] [ 9.03191281e-01 -4.29238138e-01 3.61471396e-04 1.70221308e+02] [-4.02611433e-04 -5.04095395e-06 9.99999919e-01 -5.76492249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91576923100007 meters 0.014649003241829769 Centerline is valid? [True, True] Translation: X:190.80, Y:170.25, Z:-0.57 [[-4.35267057e-01 -9.00301119e-01 -6.96193673e-04 1.90795095e+02] [ 9.00300009e-01 -4.35267614e-01 1.41331355e-03 1.70248051e+02] [-1.57543833e-03 -1.16143379e-05 9.99998759e-01 -5.74822306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94576923100004 meters 0.01288985083395204 Centerline is valid? [True, True] Translation: X:190.79, Y:170.27, Z:-0.58 [[-4.38305622e-01 -8.98825952e-01 -3.00601501e-04 1.90790757e+02] [ 8.98825744e-01 -4.38305725e-01 6.10622452e-04 1.70272216e+02] [-6.80598666e-04 -2.54911468e-06 9.99999768e-01 -5.76475870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9757692310001 meters 0.012244290812855886 Centerline is valid? [True, True] Translation: X:190.79, Y:170.30, Z:-0.58 [[-4.41011202e-01 -8.97501534e-01 3.39577981e-04 1.90786598e+02] [ 8.97501272e-01 -4.41011333e-01 -6.85968019e-04 1.70295702e+02] [ 7.65415087e-04 2.25208921e-06 9.99999707e-01 -5.79008286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00576923100004 meters 0.012080694130494073 Centerline is valid? [True, True] Translation: X:190.78, Y:170.32, Z:-0.58 [[-4.43233009e-01 -8.96406175e-01 6.85637496e-04 1.90781594e+02] [ 8.96405104e-01 -4.43233539e-01 -1.38562060e-03 1.70320190e+02] [ 1.54597639e-03 4.56164022e-07 9.99998805e-01 -5.79015905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0357692310001 meters 0.011976694590508848 Centerline is valid? [True, True] Translation: X:190.78, Y:170.34, Z:-0.58 [[-4.44935519e-01 -8.95562588e-01 1.88255181e-04 1.90777468e+02] [ 8.95562507e-01 -4.44935559e-01 -3.79042234e-04 1.70345000e+02] [ 4.23217467e-04 -5.50714057e-08 9.99999910e-01 -5.75857202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06576923100005 meters 0.011776383251087522 Centerline is valid? [True, True] Translation: X:190.77, Y:170.37, Z:-0.57 [[-4.44986315e-01 -8.95537297e-01 -3.59363268e-04 1.90768768e+02] [ 8.95537002e-01 -4.44986460e-01 7.27433812e-04 1.70365692e+02] [-8.11355899e-04 1.87498742e-06 9.99999671e-01 -5.73497302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0957692310001 meters 0.011705575289399351 Centerline is valid? [True, True] Translation: X:190.76, Y:170.39, Z:-0.57 [[-4.43429075e-01 -8.96308690e-01 -1.17783886e-03 1.90760833e+02] [ 8.96305534e-01 -4.43430639e-01 2.37872797e-03 1.70388690e+02] [-2.65436439e-03 -9.06342907e-07 9.99996477e-01 -5.71230534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12576923100005 meters 0.011829890537114637 Centerline is valid? [True, True] Translation: X:190.75, Y:170.41, Z:-0.57 [[-4.42908409e-01 -8.96566063e-01 -1.19809267e-03 1.90752039e+02] [ 8.96562803e-01 -4.42910030e-01 2.41769915e-03 1.70410295e+02] [-2.69827427e-03 -3.34603979e-06 9.99996360e-01 -5.71556709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1557692310001 meters 0.012486152503590737 Centerline is valid? [True, True] Translation: X:190.74, Y:170.43, Z:-0.57 [[-4.41106117e-01 -8.97454280e-01 -1.09982336e-03 1.90743600e+02] [ 8.97451540e-01 -4.41107488e-01 2.21774011e-03 1.70432263e+02] [-2.47546067e-03 -8.77943542e-06 9.99996936e-01 -5.71946761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18576923100005 meters 0.01356608353631039 Centerline is valid? [True, True] Translation: X:190.73, Y:170.45, Z:-0.57 [[-4.39247130e-01 -8.98365788e-01 -9.32777943e-04 1.90732051e+02] [ 8.98363821e-01 -4.39248121e-01 1.87966677e-03 1.70453001e+02] [-2.09834928e-03 -1.23357222e-05 9.99997798e-01 -5.71578360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2157692310001 meters 0.015520363471647085 Centerline is valid? [True, True] Translation: X:190.72, Y:170.47, Z:-0.57 [[-4.37157946e-01 -8.99384509e-01 -6.59490355e-04 1.90718975e+02] [ 8.99383528e-01 -4.37158443e-01 1.32838249e-03 1.70472056e+02] [-1.48302841e-03 -1.24218012e-05 9.99998900e-01 -5.72332706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24576923100005 meters 0.02097917008227482 Centerline is valid? [True, True] Translation: X:190.70, Y:170.49, Z:-0.57 [[-4.31451554e-01 -9.02136098e-01 -1.33144013e-04 1.90701883e+02] [ 9.02136058e-01 -4.31451574e-01 2.69153546e-04 1.70489939e+02] [-3.00258324e-04 -3.98729923e-06 9.99999955e-01 -5.74015522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.275769231 meters 0.023950396330073818 Centerline is valid? [True, True] Translation: X:190.69, Y:170.51, Z:-0.58 [[-4.28955228e-01 -9.03325738e-01 1.49927003e-04 1.90687577e+02] [ 9.03325689e-01 -4.28955254e-01 -2.99708856e-04 1.70509519e+02] [ 3.35046699e-04 6.87123216e-06 9.99999944e-01 -5.75814372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30576923100006 meters 0.029642341778646494 Centerline is valid? [True, True] Translation: X:190.67, Y:170.53, Z:-0.58 [[-4.24878837e-01 -9.05250035e-01 5.90224787e-04 1.90671638e+02] [ 9.05249262e-01 -4.24879246e-01 -1.18319837e-03 1.70526921e+02] [ 1.32186463e-03 3.15846041e-05 9.99999126e-01 -5.78381410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33576923100003 meters 0.030895479298148145 Centerline is valid? [True, True] Translation: X:190.66, Y:170.55, Z:-0.58 [[-4.23628454e-01 -9.05836010e-01 2.38527594e-04 1.90659596e+02] [ 9.05835884e-01 -4.23628521e-01 -4.76984998e-04 1.70547447e+02] [ 5.33117279e-04 1.40024371e-05 9.99999858e-01 -5.76667881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36576923100006 meters 0.03154592946884516 Centerline is valid? [True, True] Translation: X:190.65, Y:170.57, Z:-0.57 [[-4.22538911e-01 -9.06344746e-01 -2.66207453e-04 1.90648056e+02] [ 9.06344588e-01 -4.22538994e-01 5.34967824e-04 1.70568379e+02] [-5.97348306e-04 -1.52309629e-05 9.99999821e-01 -5.74500033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39576923100003 meters 0.03452697491855449 Centerline is valid? [True, True] Translation: X:190.63, Y:170.59, Z:-0.57 [[-4.21297900e-01 -9.06921970e-01 -7.86762382e-04 1.90633490e+02] [ 9.06920600e-01 -4.21298632e-01 1.57716290e-03 1.70586408e+02] [-1.76182560e-03 -4.90755915e-05 9.99998447e-01 -5.72000633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42576923100006 meters 0.037661914142084627 Centerline is valid? [True, True] Translation: X:190.62, Y:170.60, Z:-0.57 [[-4.18091954e-01 -9.08404330e-01 -8.31430194e-04 1.90616895e+02] [ 9.08402805e-01 -4.18092777e-01 1.66533561e-03 1.70604854e+02] [-1.86041304e-03 -5.90100999e-05 9.99998268e-01 -5.70924107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45576923100003 meters 0.04057347016965797 Centerline is valid? [True, True] Translation: X:190.60, Y:170.62, Z:-0.57 [[-4.16476511e-01 -9.09146355e-01 -4.70732234e-04 1.90601197e+02] [ 9.09145867e-01 -4.16476776e-01 9.42789159e-04 1.70622976e+02] [-1.05318237e-03 -3.53147254e-05 9.99999445e-01 -5.72936291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48576923100006 meters 0.047800893905751 Centerline is valid? [True, True] Translation: X:190.58, Y:170.64, Z:-0.58 [[-4.14161391e-01 -9.10203435e-01 2.20302812e-04 1.90578220e+02] [ 9.10203330e-01 -4.14161449e-01 -4.38676383e-04 1.70637262e+02] [ 4.90525682e-04 1.88375320e-05 9.99999880e-01 -5.78430122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51576923100004 meters 0.04360430937991568 Centerline is valid? [True, True] Translation: X:190.57, Y:170.66, Z:-0.58 [[-4.13926946e-01 -9.10310087e-01 1.66969817e-04 1.90570464e+02] [ 9.10310027e-01 -4.13926980e-01 -3.31997423e-04 1.70659923e+02] [ 3.71333915e-04 1.45716188e-05 9.99999931e-01 -5.77704006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54576923100007 meters 0.044841041156606344 Centerline is valid? [True, True] Translation: X:190.56, Y:170.68, Z:-0.58 [[-4.13700178e-01 -9.10413162e-01 -1.95463291e-04 1.90556792e+02] [ 9.10413078e-01 -4.13700223e-01 3.91469311e-04 1.70678388e+02] [-4.37262021e-04 -1.60014128e-05 9.99999904e-01 -5.76234254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57576923100004 meters 0.04540383595456878 Centerline is valid? [True, True] Translation: X:190.54, Y:170.70, Z:-0.57 [[-4.12657098e-01 -9.10886321e-01 -4.79185671e-04 1.90540578e+02] [ 9.10885820e-01 -4.12657374e-01 9.56785558e-04 1.70696977e+02] [-1.06926238e-03 -4.16590807e-05 9.99999427e-01 -5.73727251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60576923100007 meters 0.04861993569250301 Centerline is valid? [True, True] Translation: X:190.52, Y:170.71, Z:-0.57 [[-4.12554371e-01 -9.10932883e-01 -4.15419618e-04 1.90523345e+02] [ 9.10932507e-01 -4.12554579e-01 8.29076250e-04 1.70713638e+02] [-9.26616085e-04 -3.63802022e-05 9.99999570e-01 -5.74085771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63576923100004 meters 0.0471433617883644 Centerline is valid? [True, True] Translation: X:190.51, Y:170.73, Z:-0.58 [[-4.14463191e-01 -9.10066040e-01 -2.57377216e-04 1.90510289e+02] [ 9.10065895e-01 -4.14463270e-01 5.13822686e-04 1.70732861e+02] [-5.74285980e-04 -2.12696363e-05 9.99999835e-01 -5.75911447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66576923100007 meters 0.044741381182362275 Centerline is valid? [True, True] Translation: X:190.50, Y:170.75, Z:-0.58 [[-4.16958485e-01 -9.08925511e-01 -1.93485758e-04 1.90500185e+02] [ 9.08925429e-01 -4.16958529e-01 3.86444919e-04 1.70754265e+02] [-4.31925182e-04 -1.47326383e-05 9.99999907e-01 -5.76088958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69576923100004 meters 0.03817869336697474 Centerline is valid? [True, True] Translation: X:190.49, Y:170.78, Z:-0.58 [[-4.19937058e-01 -9.07553204e-01 -2.23586439e-04 1.90494688e+02] [ 9.07553094e-01 -4.19937117e-01 4.45791143e-04 1.70778252e+02] [-4.98471425e-04 -1.57123435e-05 9.99999876e-01 -5.75819342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7257692310001 meters 0.03861548348461443 Centerline is valid? [True, True] Translation: X:190.48, Y:170.80, Z:-0.58 [[-4.22938818e-01 -9.06158063e-01 -5.67231133e-04 1.90481508e+02] [ 9.06157361e-01 -4.22939197e-01 1.12795753e-03 1.70796897e+02] [-1.26201209e-03 -3.69436428e-05 9.99999203e-01 -5.75089992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75576923100004 meters 0.027801357906467893 Centerline is valid? [True, True] Translation: X:190.48, Y:170.82, Z:-0.57 [[-4.29626532e-01 -9.03006136e-01 -9.81049686e-04 1.90481508e+02] [ 9.03004035e-01 -4.29627649e-01 1.94817826e-03 1.70823963e+02] [-2.18070299e-03 -4.89027567e-05 9.99997621e-01 -5.72661923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7857692310001 meters 0.026722312625826413 Centerline is valid? [True, True] Translation: X:190.47, Y:170.84, Z:-0.57 [[-4.33155572e-01 -9.01318682e-01 -9.39971769e-04 1.90471834e+02] [ 9.01316753e-01 -4.33156590e-01 1.86524365e-03 1.70844952e+02] [-2.08833391e-03 -3.92716240e-05 9.99997819e-01 -5.72902676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81576923100005 meters 0.020892652176266676 Centerline is valid? [True, True] Translation: X:190.47, Y:170.87, Z:-0.58 [[-4.38364517e-01 -8.98797255e-01 -2.13637978e-04 1.90466888e+02] [ 8.98797154e-01 -4.38364569e-01 4.24902565e-04 1.70868859e+02] [-4.75552579e-04 -5.75499943e-06 9.99999887e-01 -5.75554789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8457692310001 meters 0.01835026679761912 Centerline is valid? [True, True] Translation: X:190.46, Y:170.89, Z:-0.58 [[-4.40298578e-01 -8.97851379e-01 -2.53517696e-04 1.90458356e+02] [ 8.97851238e-01 -4.40298650e-01 5.03461152e-04 1.70890924e+02] [-5.63656789e-04 -5.94794813e-06 9.99999841e-01 -5.75245298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87576923100005 meters 0.01835026679761912 Centerline is valid? [True, True] Translation: X:190.45, Y:170.91, Z:-0.58 [[-4.40584830e-01 -8.97710946e-01 -2.53737749e-04 1.90447780e+02] [ 8.97710805e-01 -4.40584903e-01 5.03350067e-04 1.70910788e+02] [-5.63655886e-04 -6.01471495e-06 9.99999841e-01 -5.75293571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9057692310001 meters 0.017874635776817277 Centerline is valid? [True, True] Translation: X:190.44, Y:170.93, Z:-0.57 [[-4.42094457e-01 -8.96968280e-01 -6.28876101e-04 1.90437415e+02] [ 8.96967417e-01 -4.42094904e-01 1.24435610e-03 1.70929894e+02] [-1.39417087e-03 -1.39584377e-05 9.99999028e-01 -5.74345009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93576923100005 meters 0.016967129034166077 Centerline is valid? [True, True] Translation: X:190.43, Y:170.95, Z:-0.57 [[-4.42592382e-01 -8.96722401e-01 -9.58386321e-04 1.90427486e+02] [ 8.96720402e-01 -4.42593419e-01 1.89381368e-03 1.70950587e+02] [-2.12240063e-03 -2.12170606e-05 9.99997747e-01 -5.72478278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9657692310001 meters 0.017486744103607274 Centerline is valid? [True, True] Translation: X:190.41, Y:170.97, Z:-0.57 [[-4.41877301e-01 -8.97075014e-01 -9.32475463e-04 1.90414262e+02] [ 8.97073125e-01 -4.41878285e-01 1.84120144e-03 1.70970941e+02] [-2.06373646e-03 -2.29135560e-05 9.99997870e-01 -5.72697574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99576923100005 meters 0.01801096733453569 Centerline is valid? [True, True] Translation: X:190.40, Y:170.99, Z:-0.57 [[-4.41326259e-01 -8.97346586e-01 -4.88113126e-04 1.90401486e+02] [ 8.97346068e-01 -4.41326529e-01 9.63756487e-04 1.70991010e+02] [-1.08024086e-03 -1.26753499e-05 9.99999416e-01 -5.74326166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.025769231 meters 0.018357854476428376 Centerline is valid? [True, True] Translation: X:190.39, Y:171.01, Z:-0.58 [[-4.41081896e-01 -8.97466811e-01 2.91338278e-04 1.90388455e+02] [ 8.97466628e-01 -4.41081992e-01 -5.72500024e-04 1.71011235e+02] [ 6.42303838e-04 8.94698633e-06 9.99999794e-01 -5.77881690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05576923100006 meters 0.01968736197717076 Centerline is valid? [True, True] Translation: X:190.38, Y:171.03, Z:-0.58 [[-4.41480706e-01 -8.97270697e-01 2.88307592e-04 1.90376171e+02] [ 8.97270518e-01 -4.41480800e-01 -5.66026587e-04 1.71030917e+02] [ 6.35161336e-04 8.80008565e-06 9.99999798e-01 -5.78010948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08576923100003 meters 0.018934503178882102 Centerline is valid? [True, True] Translation: X:190.37, Y:171.05, Z:-0.57 [[-4.41122012e-01 -8.97447052e-01 -3.99829615e-04 1.90366372e+02] [ 8.97446706e-01 -4.41122193e-01 7.87920317e-04 1.71052190e+02] [-8.83490482e-04 -1.12567756e-05 9.99999610e-01 -5.73819145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11576923100006 meters 0.02000749938657202 Centerline is valid? [True, True] Translation: X:190.35, Y:171.07, Z:-0.57 [[-4.40173973e-01 -8.97912164e-01 -7.86817909e-04 1.90352540e+02] [ 8.97910830e-01 -4.40174676e-01 1.54793721e-03 1.71071978e+02] [-1.73624897e-03 -2.51306502e-05 9.99998492e-01 -5.72539155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14576923100003 meters 0.022946667641999086 Centerline is valid? [True, True] Translation: X:190.34, Y:171.09, Z:-0.57 [[-4.38475733e-01 -8.98742697e-01 -7.71815594e-04 1.90336237e+02] [ 8.98741417e-01 -4.38476411e-01 1.51732747e-03 1.71089308e+02] [-1.70210992e-03 -2.83513649e-05 9.99998551e-01 -5.72948442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17576923100006 meters 0.028785200796036886 Centerline is valid? [True, True] Translation: X:190.32, Y:171.10, Z:-0.58 [[-4.34193299e-01 -9.00819698e-01 2.27726299e-04 1.90315895e+02] [ 9.00819588e-01 -4.34193358e-01 -4.45375037e-04 1.71103801e+02] [ 5.00079852e-04 1.17614541e-05 9.99999875e-01 -5.77474103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20576923100003 meters 0.03241015985551535 Centerline is valid? [True, True] Translation: X:190.30, Y:171.12, Z:-0.58 [[-4.31978345e-01 -9.01883847e-01 4.85875756e-04 1.90299751e+02] [ 9.01883346e-01 -4.31978617e-01 -9.51338133e-04 1.71120907e+02] [ 1.06788443e-03 2.72457808e-05 9.99999429e-01 -5.79043550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23576923100006 meters 0.03214382456882194 Centerline is valid? [True, True] Translation: X:190.29, Y:171.14, Z:-0.58 [[-4.30029469e-01 -9.02814739e-01 4.50353692e-04 1.90287071e+02] [ 9.02814310e-01 -4.30029704e-01 -8.80982901e-04 1.71141006e+02] [ 9.89029812e-04 2.77371487e-05 9.99999511e-01 -5.78344602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26576923100004 meters 0.037879081391050846 Centerline is valid? [True, True] Translation: X:190.26, Y:171.16, Z:-0.58 [[-4.25879538e-01 -9.04779858e-01 1.69363723e-04 1.90264486e+02] [ 9.04779797e-01 -4.25879571e-01 -3.30116843e-04 1.71155706e+02] [ 3.70811620e-04 1.26468668e-05 9.99999931e-01 -5.77272067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29576923100007 meters 0.040446849078081375 Centerline is valid? [True, True] Translation: X:190.25, Y:171.17, Z:-0.58 [[-4.23867683e-01 -9.05724112e-01 1.44769604e-04 1.90248127e+02] [ 9.05724068e-01 -4.23867707e-01 -2.81869068e-04 1.71174807e+02] [ 3.16658771e-04 1.16461257e-05 9.99999950e-01 -5.77137031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32576923100004 meters 0.04597962440932159 Centerline is valid? [True, True] Translation: X:190.23, Y:171.19, Z:-0.58 [[-4.20148206e-01 -9.07455463e-01 -2.59648711e-04 1.90227263e+02] [ 9.07455321e-01 -4.20148285e-01 5.09099752e-04 1.71189335e+02] [-5.71076312e-04 -2.17222568e-05 9.99999837e-01 -5.75529539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35576923100007 meters 0.047631620073790217 Centerline is valid? [True, True] Translation: X:190.21, Y:171.21, Z:-0.57 [[-4.19051405e-01 -9.07962352e-01 -5.36276571e-04 1.90210255e+02] [ 9.07961747e-01 -4.19051745e-01 1.04903872e-03 1.71208200e+02] [-1.17721529e-03 -4.73174635e-05 9.99999306e-01 -5.74359437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38576923100004 meters 0.04942718307254208 Centerline is valid? [True, True] Translation: X:190.19, Y:171.23, Z:-0.57 [[-4.18149807e-01 -9.08377943e-01 -5.01906637e-04 1.90192530e+02] [ 9.08377414e-01 -4.18150106e-01 9.81195842e-04 1.71226450e+02] [-1.10116897e-03 -4.56338012e-05 9.99999393e-01 -5.74626194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41576923100007 meters 0.05094362625663227 Centerline is valid? [True, True] Translation: X:190.18, Y:171.25, Z:-0.58 [[-4.17119582e-01 -9.08851564e-01 -3.00436763e-04 1.90175894e+02] [ 9.08851374e-01 -4.17119689e-01 5.87460624e-04 1.71245405e+02] [-6.59232595e-04 -2.80110351e-05 9.99999782e-01 -5.75832597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44576923100004 meters 0.05479514627926604 Centerline is valid? [True, True] Translation: X:190.16, Y:171.26, Z:-0.58 [[-4.15287138e-01 -9.09690383e-01 2.68684871e-05 1.90157065e+02] [ 9.09690381e-01 -4.15287139e-01 -5.09540677e-05 1.71261387e+02] [ 5.75105624e-05 3.28143538e-06 9.99999998e-01 -5.78058129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4757692310001 meters 0.054473733949816854 Centerline is valid? [True, True] Translation: X:190.14, Y:171.28, Z:-0.58 [[-4.15700677e-01 -9.09501412e-01 -3.58349254e-04 1.90144747e+02] [ 9.09501144e-01 -4.15700830e-01 6.99450452e-04 1.71282169e+02] [-7.85117257e-04 -3.51570299e-05 9.99999691e-01 -5.75697040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50576923100004 meters 0.05086826197361245 Centerline is valid? [True, True] Translation: X:190.13, Y:171.30, Z:-0.57 [[-4.19667244e-01 -9.07677313e-01 -1.14035396e-03 1.90134990e+02] [ 9.07674601e-01 -4.19668780e-01 2.22120588e-03 1.71302907e+02] [-2.49470914e-03 -1.02902978e-04 9.99996883e-01 -5.72911663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5357692310001 meters 0.047692251245681716 Centerline is valid? [True, True] Translation: X:190.13, Y:171.32, Z:-0.57 [[-4.22495984e-01 -9.06364156e-01 -1.07726865e-03 1.90126954e+02] [ 9.06361735e-01 -4.22497348e-01 2.09680990e-03 1.71324968e+02] [-2.35561649e-03 -9.05013162e-05 9.99997221e-01 -5.73670186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56576923100005 meters 0.045524499738055356 Centerline is valid? [True, True] Translation: X:190.12, Y:171.35, Z:-0.57 [[-4.24952173e-01 -9.05215380e-01 -8.75660241e-04 1.90118655e+02] [ 9.05213780e-01 -4.24953069e-01 1.70339495e-03 1.71346638e+02] [-1.91405381e-03 -6.87983322e-05 9.99998166e-01 -5.74253357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5957692310001 meters 0.041560660477858224 Centerline is valid? [True, True] Translation: X:190.11, Y:171.37, Z:-0.57 [[-4.28417536e-01 -9.03580486e-01 -8.48684070e-04 1.90111790e+02] [ 9.03578982e-01 -4.28418372e-01 1.64971435e-03 1.71369031e+02] [-1.85424154e-03 -6.00865309e-05 9.99998279e-01 -5.73952297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62576923100005 meters 0.04090175446481386 Centerline is valid? [True, True] Translation: X:190.10, Y:171.39, Z:-0.57 [[-4.29746966e-01 -9.02949149e-01 -6.16635240e-04 1.90101335e+02] [ 9.02948355e-01 -4.29747406e-01 1.19808896e-03 1.71388697e+02] [-1.34681080e-03 -4.19146798e-05 9.99999092e-01 -5.74975503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6557692310001 meters 0.04013763060216574 Centerline is valid? [True, True] Translation: X:190.09, Y:171.41, Z:-0.58 [[-4.30726800e-01 -9.02482284e-01 -3.87851461e-04 1.90090510e+02] [ 9.02481970e-01 -4.30726974e-01 7.53502640e-04 1.71408969e+02] [-8.47080870e-04 -2.54751700e-05 9.99999641e-01 -5.76597783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68576923100005 meters 0.040243897415474704 Centerline is valid? [True, True] Translation: X:190.08, Y:171.43, Z:-0.58 [[-4.31566458e-01 -9.02081055e-01 -4.03544413e-04 1.90079926e+02] [ 9.02080715e-01 -4.31566646e-01 7.83365890e-04 1.71428427e+02] [-8.80815838e-04 -2.59551899e-05 9.99999612e-01 -5.77400345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7157692310001 meters 0.03909724755293743 Centerline is valid? [True, True] Translation: X:190.07, Y:171.45, Z:-0.58 [[-4.32875283e-01 -9.01453540e-01 -7.10222058e-04 1.90070882e+02] [ 9.01452490e-01 -4.32875863e-01 1.37647359e-03 1.71449408e+02] [-1.54826497e-03 -4.43900493e-05 9.99998800e-01 -5.75847414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74576923100005 meters 0.0293716320535438 Centerline is valid? [True, True] Translation: X:190.07, Y:171.48, Z:-0.57 [[-4.37398674e-01 -8.99267072e-01 -1.06452506e-03 1.90072280e+02] [ 8.99264712e-01 -4.37399966e-01 2.06089588e-03 1.71476800e+02] [-2.31891903e-03 -5.58566992e-05 9.99997310e-01 -5.74044176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.775769231 meters 0.03018038415318555 Centerline is valid? [True, True] Translation: X:190.06, Y:171.50, Z:-0.58 [[-4.40339977e-01 -8.97830812e-01 -7.33138330e-04 1.90061809e+02] [ 8.97829692e-01 -4.40340586e-01 1.41873202e-03 1.71497208e+02] [-1.59661188e-03 -3.35089371e-05 9.99998725e-01 -5.75756266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80576923100006 meters 0.026918973874302383 Centerline is valid? [True, True] Translation: X:190.06, Y:171.52, Z:-0.58 [[-4.43164347e-01 -8.96440289e-01 -4.11453718e-04 1.90057110e+02] [ 8.96439936e-01 -4.43164538e-01 7.96232053e-04 1.71520649e+02] [-8.96116189e-04 -1.59818869e-05 9.99999598e-01 -5.78379558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83576923100003 meters 0.01868298137338316 Centerline is valid? [True, True] Translation: X:190.06, Y:171.55, Z:-0.58 [[-4.48190201e-01 -8.93937992e-01 -6.39844458e-04 1.90062099e+02] [ 8.93937137e-01 -4.48190657e-01 1.23651267e-03 1.71549570e+02] [-1.39213797e-03 -1.77878598e-05 9.99999031e-01 -5.77979939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86576923100006 meters 0.01666085292805579 Centerline is valid? [True, True] Translation: X:190.06, Y:171.57, Z:-0.58 [[-4.50328306e-01 -8.92862322e-01 -1.13609938e-03 1.90055887e+02] [ 8.92859630e-01 -4.50329738e-01 2.19280739e-03 1.71573824e+02] [-2.46949444e-03 -2.68940350e-05 9.99996950e-01 -5.75342893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89576923100003 meters 0.015433401743400302 Centerline is valid? [True, True] Translation: X:190.05, Y:171.60, Z:-0.57 [[-4.52030450e-01 -8.92001417e-01 -1.39421521e-03 1.90049318e+02] [ 8.91997365e-01 -4.52032600e-01 2.68866551e-03 1.71596455e+02] [-3.02852417e-03 -2.82776173e-05 9.99995414e-01 -5.73485108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92576923100006 meters 0.014132525889254007 Centerline is valid? [True, True] Translation: X:190.04, Y:171.62, Z:-0.57 [[-4.53413409e-01 -8.91299360e-01 -1.31555198e-03 1.90043208e+02] [ 8.91295755e-01 -4.53415317e-01 2.53510140e-03 1.71619967e+02] [-2.85602567e-03 -2.30969277e-05 9.99995921e-01 -5.73344331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95576923100003 meters 0.014109424620408269 Centerline is valid? [True, True] Translation: X:190.04, Y:171.64, Z:-0.58 [[-4.54179487e-01 -8.90909701e-01 -9.47847176e-04 1.90038502e+02] [ 8.90907831e-01 -4.54180476e-01 1.82553361e-03 1.71643392e+02] [-2.05687929e-03 -1.53245503e-05 9.99997885e-01 -5.75421189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98576923100006 meters 0.014520716662047465 Centerline is valid? [True, True] Translation: X:190.03, Y:171.67, Z:-0.58 [[-4.53618634e-01 -8.91195598e-01 -7.35763703e-04 1.90028640e+02] [ 8.91194473e-01 -4.53619230e-01 1.41626840e-03 1.71665124e+02] [-1.59592872e-03 -1.32628110e-05 9.99998726e-01 -5.76527666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01576923100004 meters 0.01823269822828065 Centerline is valid? [True, True] Translation: X:190.02, Y:171.68, Z:-0.58 [[-4.50584141e-01 -8.92733723e-01 -6.57892215e-04 1.90015026e+02] [ 8.92732826e-01 -4.50584621e-01 1.26556279e-03 1.71684110e+02] [-1.42624669e-03 -1.70794559e-05 9.99998983e-01 -5.76800931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04576923100007 meters 0.019595477402975646 Centerline is valid? [True, True] Translation: X:190.00, Y:171.71, Z:-0.58 [[-4.48779431e-01 -8.93642183e-01 -8.18864123e-04 1.90003724e+02] [ 8.93640798e-01 -4.48780177e-01 1.57365453e-03 1.71705339e+02] [-1.77377406e-03 -2.55466024e-05 9.99998427e-01 -5.75923461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07576923100004 meters 0.022355796013155058 Centerline is valid? [True, True] Translation: X:189.99, Y:171.72, Z:-0.58 [[-4.46617997e-01 -8.94724423e-01 -7.56734524e-04 1.89991278e+02] [ 8.94723243e-01 -4.46618637e-01 1.45331558e-03 1.71724375e+02] [-1.63828868e-03 -2.79910747e-05 9.99998658e-01 -5.76407448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10576923100007 meters 0.026960274037662553 Centerline is valid? [True, True] Translation: X:189.98, Y:171.74, Z:-0.58 [[-4.42996077e-01 -8.96523543e-01 1.12213136e-04 1.89976239e+02] [ 8.96523518e-01 -4.42996091e-01 -2.13655292e-04 1.71741989e+02] [ 2.41256980e-04 5.95325912e-06 9.99999971e-01 -5.80470234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13576923100004 meters 0.028203234303383447 Centerline is valid? [True, True] Translation: X:189.96, Y:171.76, Z:-0.58 [[-4.41278355e-01 -8.97370237e-01 2.66671110e-04 1.89962701e+02] [ 8.97370092e-01 -4.41278436e-01 -5.09464914e-04 1.71762652e+02] [ 5.74854860e-04 1.44868391e-05 9.99999835e-01 -5.81572778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16576923100007 meters 0.034599246293336126 Centerline is valid? [True, True] Translation: X:189.94, Y:171.78, Z:-0.58 [[-4.37496262e-01 -8.99220158e-01 -3.57557398e-04 1.89942294e+02] [ 8.99219897e-01 -4.37496408e-01 6.85893140e-04 1.71778130e+02] [-7.73199015e-04 -2.14470418e-05 9.99999701e-01 -5.79770466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19576923100004 meters 0.035390917063425245 Centerline is valid? [True, True] Translation: X:189.93, Y:171.80, Z:-0.58 [[-4.35635397e-01 -9.00123122e-01 -4.07933747e-04 1.89929184e+02] [ 9.00122783e-01 -4.35635588e-01 7.81705058e-04 1.71797895e+02] [-8.81341255e-04 -2.66520653e-05 9.99999611e-01 -5.78068373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2257692310001 meters 0.03835122495483862 Centerline is valid? [True, True] Translation: X:189.91, Y:171.82, Z:-0.58 [[-4.34051254e-01 -9.00888014e-01 -5.44006367e-04 1.89913210e+02] [ 9.00887413e-01 -4.34051593e-01 1.04119705e-03 1.71815562e+02] [-1.17412877e-03 -3.81556022e-05 9.99999310e-01 -5.77253915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25576923100004 meters 0.04097168284698032 Centerline is valid? [True, True] Translation: X:189.90, Y:171.83, Z:-0.58 [[-4.32678326e-01 -9.01547887e-01 -9.34260817e-04 1.89895621e+02] [ 9.01546121e-01 -4.32679329e-01 1.78577892e-03 1.71832111e+02] [-2.01420056e-03 -6.96113812e-05 9.99997969e-01 -5.76438570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2857692310001 meters 0.04544419775933414 Centerline is valid? [True, True] Translation: X:189.88, Y:171.85, Z:-0.58 [[-4.33160087e-01 -9.01316016e-01 -1.33318452e-03 1.89877733e+02] [ 9.01312427e-01 -4.33162128e-01 2.54578314e-03 1.71848339e+02] [-2.87204016e-03 -9.88841331e-05 9.99995871e-01 -5.75047500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31576923100005 meters 0.03873838943022149 Centerline is valid? [True, True] Translation: X:189.87, Y:171.87, Z:-0.57 [[-4.35870151e-01 -9.00007827e-01 -1.76718890e-03 1.89870931e+02] [ 9.00001520e-01 -4.35873716e-01 3.37160417e-03 1.71871960e+02] [-3.80474134e-03 -1.20891077e-04 9.99992755e-01 -5.74286601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3457692310001 meters 0.036531626318650805 Centerline is valid? [True, True] Translation: X:189.86, Y:171.89, Z:-0.57 [[-4.37888258e-01 -8.99027965e-01 -1.61005337e-03 1.89860712e+02] [ 8.99022730e-01 -4.37891206e-01 3.06972590e-03 1.71893400e+02] [-3.46479764e-03 -1.03277650e-04 9.99993992e-01 -5.74897775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37576923100005 meters 0.03509161882213441 Centerline is valid? [True, True] Translation: X:189.85, Y:171.91, Z:-0.58 [[-4.40085452e-01 -8.97954857e-01 -1.36778344e-03 1.89850149e+02] [ 8.97951079e-01 -4.40087570e-01 2.60603464e-03 1.71912585e+02] [-2.94204595e-03 -8.13246827e-05 9.99995669e-01 -5.75711778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4057692310001 meters 0.030696811332829477 Centerline is valid? [True, True] Translation: X:189.84, Y:171.93, Z:-0.57 [[-4.43461535e-01 -8.96292020e-01 -1.57553655e-03 1.89841974e+02] [ 8.96287006e-01 -4.43464326e-01 2.99907774e-03 1.71934683e+02] [-3.38674370e-03 -8.21573241e-05 9.99994262e-01 -5.74638334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43576923100005 meters 0.029428610915879932 Centerline is valid? [True, True] Translation: X:189.83, Y:171.96, Z:-0.57 [[-4.45058632e-01 -8.95498928e-01 -2.11746925e-03 1.89831735e+02] [ 8.95489880e-01 -4.45063657e-01 4.02685224e-03 1.71955486e+02] [-4.54845047e-03 -1.03986937e-04 9.99989650e-01 -5.71814218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4657692310001 meters 0.02595900823865551 Centerline is valid? [True, True] Translation: X:189.82, Y:171.98, Z:-0.57 [[-4.47864590e-01 -8.94096826e-01 -2.85922933e-03 1.89823797e+02] [ 8.94080329e-01 -4.47873700e-01 5.43278439e-03 1.71978539e+02] [-6.13800890e-03 -1.23228947e-04 9.99981155e-01 -5.69167139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49576923100005 meters 0.026810998627890426 Centerline is valid? [True, True] Translation: X:189.81, Y:172.00, Z:-0.57 [[-4.49260375e-01 -8.93397254e-01 -2.54200461e-03 1.89811529e+02] [ 8.93384222e-01 -4.49267555e-01 4.82652725e-03 1.71997739e+02] [-5.45404638e-03 -1.02619366e-04 9.99985121e-01 -5.70658623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.525769231 meters 0.024154272347577607 Centerline is valid? [True, True] Translation: X:189.80, Y:172.02, Z:-0.57 [[-4.50412153e-01 -8.92818815e-01 -1.85916434e-03 1.89803524e+02] [ 8.92811848e-01 -4.50415984e-01 3.52770326e-03 1.72019356e+02] [-3.98699718e-03 -7.09635283e-05 9.99992049e-01 -5.74547152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55576923100006 meters 0.02331998532199535 Centerline is valid? [True, True] Translation: X:189.79, Y:172.04, Z:-0.58 [[-4.51212388e-01 -8.92416359e-01 -6.50945545e-04 1.89791953e+02] [ 8.92415504e-01 -4.51212857e-01 1.23511520e-03 1.72040337e+02] [-1.39595201e-03 -2.36146184e-05 9.99999025e-01 -5.79115761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58576923100003 meters 0.024796936696123165 Centerline is valid? [True, True] Translation: X:189.78, Y:172.06, Z:-0.58 [[-4.51227329e-01 -8.92408929e-01 -4.48977916e-04 1.89778343e+02] [ 8.92408522e-01 -4.51227552e-01 8.51789536e-04 1.72058212e+02] [-9.62735793e-04 -1.63210015e-05 9.99999536e-01 -5.79566418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61576923100006 meters 0.024607982234780813 Centerline is valid? [True, True] Translation: X:189.77, Y:172.08, Z:-0.58 [[-4.50986430e-01 -8.92530659e-01 -5.12172300e-04 1.89766799e+02] [ 8.92530131e-01 -4.50986721e-01 9.70656675e-04 1.72077862e+02] [-1.09732375e-03 -1.93762215e-05 9.99999398e-01 -5.79835359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64576923100003 meters 0.02501963393886862 Centerline is valid? [True, True] Translation: X:189.75, Y:172.10, Z:-0.58 [[-4.50099227e-01 -8.92978280e-01 -6.90513423e-04 1.89754022e+02] [ 8.92977324e-01 -4.50099756e-01 1.30710283e-03 1.72097803e+02] [-1.47801436e-03 -2.82868544e-05 9.99998907e-01 -5.78868007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67576923100006 meters 0.025028023070105314 Centerline is valid? [True, True] Translation: X:189.74, Y:172.12, Z:-0.58 [[-4.49997222e-01 -8.93029563e-01 -8.36673276e-04 1.89740716e+02] [ 8.93028162e-01 -4.49997999e-01 1.58230682e-03 1.72118143e+02] [-1.78954807e-03 -3.51391249e-05 9.99998398e-01 -5.78474243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70576923100003 meters 0.03014023752319887 Centerline is valid? [True, True] Translation: X:189.72, Y:172.13, Z:-0.58 [[-4.49103454e-01 -8.93479454e-01 -7.43833334e-04 1.89718792e+02] [ 8.93478348e-01 -4.49104069e-01 1.40584772e-03 1.72133109e+02] [-1.59015463e-03 -3.32279127e-05 9.99998735e-01 -5.79367541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73576923100006 meters 0.030322361287141265 Centerline is valid? [True, True] Translation: X:189.71, Y:172.15, Z:-0.58 [[-4.49411027e-01 -8.93324920e-01 -5.61452062e-04 1.89705916e+02] [ 8.93324291e-01 -4.49411377e-01 1.06068570e-03 1.72152124e+02] [-1.19985991e-03 -2.48749149e-05 9.99999280e-01 -5.80096660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76576923100004 meters 0.030322361287141265 Centerline is valid? [True, True] Translation: X:189.69, Y:172.17, Z:-0.58 [[-4.49681944e-01 -8.93188577e-01 -5.61773186e-04 1.89694942e+02] [ 8.93187947e-01 -4.49682295e-01 1.06051555e-03 1.72171752e+02] [-1.19985983e-03 -2.48743451e-05 9.99999280e-01 -5.80144943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79576923100007 meters 0.025182819799964323 Centerline is valid? [True, True] Translation: X:189.69, Y:172.20, Z:-0.58 [[-4.50819937e-01 -8.92614666e-01 -6.64760281e-04 1.89688709e+02] [ 8.92613786e-01 -4.50820427e-01 1.25376240e-03 1.72195340e+02] [-1.41881422e-03 -2.81531030e-05 9.99998993e-01 -5.79922676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82576923100004 meters 0.021184036651779814 Centerline is valid? [True, True] Translation: X:189.68, Y:172.22, Z:-0.58 [[-4.55073537e-01 -8.90453468e-01 -8.34969250e-04 1.89679729e+02] [ 8.90452079e-01 -4.55074302e-01 1.57327807e-03 1.72217453e+02] [-1.78090396e-03 -2.75428891e-05 9.99998414e-01 -5.78587100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85576923100007 meters 0.01952484857093228 Centerline is valid? [True, True] Translation: X:189.67, Y:172.24, Z:-0.58 [[-4.58058996e-01 -8.88921071e-01 -1.13346420e-03 1.89669471e+02] [ 8.88918511e-01 -4.58060398e-01 2.13359189e-03 1.72238421e+02] [-2.41578985e-03 -3.02463478e-05 9.99997082e-01 -5.77620490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88576923100004 meters 0.017771586510296037 Centerline is valid? [True, True] Translation: X:189.66, Y:172.26, Z:-0.58 [[-4.60802957e-01 -8.87501348e-01 -1.41150306e-03 1.89660850e+02] [ 8.87497378e-01 -4.60805118e-01 2.65461773e-03 1.72258357e+02] [-3.00640465e-03 -2.94495636e-05 9.99995480e-01 -5.76126441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91576923100007 meters 0.014077120665751128 Centerline is valid? [True, True] Translation: X:189.66, Y:172.28, Z:-0.57 [[-4.64182010e-01 -8.85737766e-01 -1.91617131e-03 1.89655875e+02] [ 8.85730448e-01 -4.64185964e-01 3.60044982e-03 1.72281901e+02] [-4.07851420e-03 -2.59472352e-05 9.99991682e-01 -5.74181545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94576923100004 meters 0.013597518780713096 Centerline is valid? [True, True] Translation: X:189.65, Y:172.30, Z:-0.57 [[-4.64661045e-01 -8.85486045e-01 -2.13927390e-03 1.89645330e+02] [ 8.85476937e-01 -4.64665969e-01 4.01650865e-03 1.72303003e+02] [-4.55061014e-03 -2.79625936e-05 9.99989646e-01 -5.73349674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9757692310001 meters 0.014356990934780565 Centerline is valid? [True, True] Translation: X:189.63, Y:172.32, Z:-0.57 [[-4.64140904e-01 -8.85758056e-01 -2.42634568e-03 1.89632569e+02] [ 8.85746362e-01 -4.64147245e-01 4.55157679e-03 1.72320780e+02] [-5.15777747e-03 -3.65538944e-05 9.99986698e-01 -5.72213409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00576923100004 meters 0.016153474587315687 Centerline is valid? [True, True] Translation: X:189.62, Y:172.34, Z:-0.57 [[-4.63767631e-01 -8.85953264e-01 -2.52952499e-03 1.89618990e+02] [ 8.85940579e-01 -4.63774528e-01 4.74111201e-03 1.72338970e+02] [-5.37353291e-03 -4.22345460e-05 9.99985562e-01 -5.70846636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0357692310001 meters 0.015717782281551965 Centerline is valid? [True, True] Translation: X:189.61, Y:172.36, Z:-0.57 [[-4.62327951e-01 -8.86706319e-01 -2.18378527e-03 1.89608118e+02] [ 8.86696887e-01 -4.62333107e-01 4.09015460e-03 1.72360722e+02] [-4.63640216e-03 -4.53627985e-05 9.99989251e-01 -5.73453649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06576923100005 meters 0.016504582726455677 Centerline is valid? [True, True] Translation: X:189.60, Y:172.38, Z:-0.57 [[-4.61977095e-01 -8.86890301e-01 -1.66061524e-03 1.89595395e+02] [ 8.86884855e-01 -4.61980078e-01 3.10830102e-03 1.72380677e+02] [-3.52389319e-03 -3.68106256e-05 9.99993790e-01 -5.74893356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0957692310001 meters 0.01740827212094402 Centerline is valid? [True, True] Translation: X:189.58, Y:172.40, Z:-0.58 [[-4.62265722e-01 -8.86740492e-01 -1.30486761e-03 1.89582476e+02] [ 8.86737133e-01 -4.62267562e-01 2.44088291e-03 1.72399745e+02] [-2.76762768e-03 -2.87380651e-05 9.99996170e-01 -5.76498839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12576923100005 meters 0.015984709482901798 Centerline is valid? [True, True] Translation: X:189.57, Y:172.42, Z:-0.58 [[-4.63245569e-01 -8.86229484e-01 -9.18651338e-04 1.89572883e+02] [ 8.86227820e-01 -4.63246479e-01 1.71752376e-03 1.72421688e+02] [-1.94768220e-03 -1.84991007e-05 9.99998103e-01 -5.78072368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1557692310001 meters 0.014320223488560008 Centerline is valid? [True, True] Translation: X:189.56, Y:172.44, Z:-0.58 [[-4.65209661e-01 -8.85199955e-01 -1.00557669e-03 1.89563449e+02] [ 8.85197962e-01 -4.65210747e-01 1.87852198e-03 1.72443498e+02] [-2.13067266e-03 -1.62278628e-05 9.99997730e-01 -5.77937780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18576923100005 meters 0.013907164603968568 Centerline is valid? [True, True] Translation: X:189.55, Y:172.46, Z:-0.58 [[-4.66586284e-01 -8.84474515e-01 -1.43931599e-03 1.89552696e+02] [ 8.84470437e-01 -4.66588503e-01 2.68611915e-03 1.72464125e+02] [-3.04737223e-03 -1.97260868e-05 9.99995357e-01 -5.77022567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2157692310001 meters 0.012280948920087582 Centerline is valid? [True, True] Translation: X:189.55, Y:172.49, Z:-0.58 [[-4.69544331e-01 -8.82906692e-01 -1.97347945e-03 1.89546474e+02] [ 8.82899024e-01 -4.69548478e-01 3.67964667e-03 1.72488186e+02] [-4.17542894e-03 -1.46258413e-05 9.99991283e-01 -5.76172491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24576923100005 meters 0.0118537826159695 Centerline is valid? [True, True] Translation: X:189.54, Y:172.51, Z:-0.58 [[-4.71550321e-01 -8.81836919e-01 -1.98558095e-03 1.89538508e+02] [ 8.81829159e-01 -4.71554501e-01 3.69948168e-03 1.72511474e+02] [-4.19864916e-03 -6.45140574e-06 9.99991186e-01 -5.75574037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.275769231 meters 0.011647052159906223 Centerline is valid? [True, True] Translation: X:189.53, Y:172.53, Z:-0.57 [[-4.73202366e-01 -8.80951433e-01 -2.02315825e-03 1.89530966e+02] [ 8.80943381e-01 -4.73206691e-01 3.76663995e-03 1.72533486e+02] [-4.27559888e-03 9.50695910e-08 9.99990860e-01 -5.74767482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30576923100006 meters 0.011840750229869471 Centerline is valid? [True, True] Translation: X:189.53, Y:172.56, Z:-0.58 [[-4.75244446e-01 -8.79851171e-01 -2.15252938e-03 1.89525658e+02] [ 8.79842059e-01 -4.75249321e-01 4.00431547e-03 1.72557107e+02] [-4.54618979e-03 9.14280474e-06 9.99989666e-01 -5.76049299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33576923100003 meters 0.011879434130782768 Centerline is valid? [True, True] Translation: X:189.52, Y:172.58, Z:-0.58 [[-4.75950864e-01 -8.79468860e-01 -2.30188404e-03 1.89517370e+02] [ 8.79458452e-01 -4.75956431e-01 4.27874767e-03 1.72579168e+02] [-4.85862185e-03 1.20622734e-05 9.99988197e-01 -5.75857184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36576923100006 meters 0.01232796803861288 Centerline is valid? [True, True] Translation: X:189.51, Y:172.60, Z:-0.57 [[-4.76720585e-01 -8.79051416e-01 -2.46815600e-03 1.89510788e+02] [ 8.79039463e-01 -4.76726974e-01 4.58413027e-03 1.72601409e+02] [-5.20632275e-03 1.57427394e-05 9.99986447e-01 -5.74674761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39576923100003 meters 0.011994916218559547 Centerline is valid? [True, True] Translation: X:189.50, Y:172.62, Z:-0.58 [[-4.76822943e-01 -8.78996434e-01 -2.26943240e-03 1.89504387e+02] [ 8.78986343e-01 -4.76828343e-01 4.21193704e-03 1.72624741e+02] [-4.78440733e-03 1.35481280e-05 9.99988555e-01 -5.75234703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42576923100006 meters 0.011737609585455534 Centerline is valid? [True, True] Translation: X:189.49, Y:172.65, Z:-0.58 [[-4.76012543e-01 -8.79436604e-01 -1.82177570e-03 1.89494040e+02] [ 8.79430113e-01 -4.76016029e-01 3.37883323e-03 1.72645190e+02] [-3.83866405e-03 6.24258810e-06 9.99992632e-01 -5.76110152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45576923100003 meters 0.011597504601402004 Centerline is valid? [True, True] Translation: X:189.48, Y:172.67, Z:-0.58 [[-4.74904550e-01 -8.80036090e-01 -1.46575061e-03 1.89483147e+02] [ 8.80031897e-01 -4.74906812e-01 2.71671365e-03 1.72665805e+02] [-3.08690101e-03 2.72386244e-07 9.99995236e-01 -5.78088836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48576923100006 meters 0.011829599296160386 Centerline is valid? [True, True] Translation: X:189.48, Y:172.69, Z:-0.58 [[-4.74032840e-01 -8.80506513e-01 -1.07123112e-03 1.89475303e+02] [ 8.80504277e-01 -4.74034050e-01 1.98436469e-03 1.72688221e+02] [-2.25504606e-03 -2.56955563e-06 9.99997457e-01 -5.80604880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51576923100004 meters 0.011709695772121458 Centerline is valid? [True, True] Translation: X:189.47, Y:172.71, Z:-0.58 [[-4.74586204e-01 -8.80208151e-01 -1.24338918e-03 1.89467424e+02] [ 8.80205143e-01 -4.74587833e-01 2.30134374e-03 1.72709582e+02] [-2.61575890e-03 -2.25156300e-06 9.99996579e-01 -5.80292509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54576923100007 meters 0.011778568180279366 Centerline is valid? [True, True] Translation: X:189.46, Y:172.74, Z:-0.58 [[-4.77006996e-01 -8.78897951e-01 -1.64861950e-03 1.89464372e+02] [ 8.78892664e-01 -4.77009845e-01 3.04860201e-03 1.72735226e+02] [-3.46581780e-03 5.24490393e-06 9.99993994e-01 -5.78322427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57576923100004 meters 0.012228122074244724 Centerline is valid? [True, True] Translation: X:189.46, Y:172.76, Z:-0.58 [[-4.78836496e-01 -8.77902044e-01 -1.90040738e-03 1.89457925e+02] [ 8.77895021e-01 -4.78840267e-01 3.51138744e-03 1.72758682e+02] [-3.99264579e-03 1.30222832e-05 9.99992029e-01 -5.77494525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60576923100007 meters 0.013880151308199409 Centerline is valid? [True, True] Translation: X:189.46, Y:172.78, Z:-0.58 [[-4.81985382e-01 -8.76175479e-01 -2.57321275e-03 1.89456289e+02] [ 8.76162601e-01 -4.81992250e-01 4.75048406e-03 1.72783780e+02] [-5.40252625e-03 3.51110949e-05 9.99985406e-01 -5.75068422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63576923100004 meters 0.01460646967732288 Centerline is valid? [True, True] Translation: X:189.45, Y:172.81, Z:-0.57 [[-4.82807939e-01 -8.75721857e-01 -2.77904299e-03 1.89448781e+02] [ 8.75706853e-01 -4.82815935e-01 5.12639967e-03 1.72805255e+02] [-5.83106648e-03 4.14394635e-05 9.99982998e-01 -5.73207149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66576923100007 meters 0.013876461999135998 Centerline is valid? [True, True] Translation: X:189.44, Y:172.83, Z:-0.57 [[-4.82658948e-01 -8.75804284e-01 -2.68259259e-03 1.89437478e+02] [ 8.75790325e-01 -4.82666401e-01 4.94480007e-03 1.72826683e+02] [-5.62547440e-03 3.72633590e-05 9.99984176e-01 -5.73812129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69576923100004 meters 0.012206257804312858 Centerline is valid? [True, True] Translation: X:189.42, Y:172.84, Z:-0.58 [[-4.79626156e-01 -8.77470843e-01 -1.91571860e-03 1.89423987e+02] [ 8.77463747e-01 -4.79629982e-01 3.52895346e-03 1.72844862e+02] [-4.01538984e-03 1.16047657e-05 9.99991938e-01 -5.76036741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7257692310001 meters 0.011851989701122912 Centerline is valid? [True, True] Translation: X:189.41, Y:172.86, Z:-0.58 [[-4.77564456e-01 -8.78595277e-01 -1.59087879e-03 1.89409931e+02] [ 8.78590396e-01 -4.77567105e-01 2.92845959e-03 1.72862627e+02] [-3.33268214e-03 7.97377933e-07 9.99994447e-01 -5.77553786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75576923100004 meters 0.012300273635060812 Centerline is valid? [True, True] Translation: X:189.40, Y:172.88, Z:-0.58 [[-4.75791200e-01 -8.79557292e-01 -1.30546107e-03 1.89396334e+02] [ 8.79554014e-01 -4.75792990e-01 2.40137255e-03 1.72881205e+02] [-2.73327396e-03 -5.67160192e-06 9.99996265e-01 -5.78794406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7857692310001 meters 0.012607415515437 Centerline is valid? [True, True] Translation: X:189.39, Y:172.90, Z:-0.58 [[-4.75054440e-01 -8.79955714e-01 -1.10486324e-03 1.89385768e+02] [ 8.79953370e-01 -4.75055724e-01 2.03107102e-03 1.72902860e+02] [-2.31212416e-03 -7.35882024e-06 9.99997327e-01 -5.80501139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81576923100005 meters 0.012251450868665067 Centerline is valid? [True, True] Translation: X:189.38, Y:172.93, Z:-0.58 [[-4.76132575e-01 -8.79372328e-01 -1.44229288e-03 1.89376536e+02] [ 8.79368338e-01 -4.76134760e-01 2.64903270e-03 1.72925177e+02] [-3.01621182e-03 -7.01592880e-06 9.99995451e-01 -5.79716649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8457692310001 meters 0.011968651152975799 Centerline is valid? [True, True] Translation: X:189.37, Y:172.95, Z:-0.58 [[-4.78421672e-01 -8.78126440e-01 -2.58047100e-03 1.89370751e+02] [ 8.78113676e-01 -4.78428631e-01 4.73455861e-03 1.72947629e+02] [-5.39211230e-03 -8.31433370e-07 9.99985462e-01 -5.75244067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87576923100005 meters 0.012115447116951995 Centerline is valid? [True, True] Translation: X:189.36, Y:172.97, Z:-0.57 [[-4.79174849e-01 -8.77713663e-01 -3.19212562e-03 1.89360927e+02] [ 8.77694155e-01 -4.79185481e-01 5.85187732e-03 1.72969344e+02] [-6.66589293e-03 2.36243280e-06 9.99977783e-01 -5.73509985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9057692310001 meters 0.012147577794671429 Centerline is valid? [True, True] Translation: X:189.35, Y:172.99, Z:-0.57 [[-4.79712492e-01 -8.77419240e-01 -3.37677234e-03 1.89351347e+02] [ 8.77397436e-01 -4.79724376e-01 6.18569599e-03 1.72989586e+02] [-7.04736868e-03 4.58424710e-06 9.99975167e-01 -5.73093355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93576923100005 meters 0.01216954598944584 Centerline is valid? [True, True] Translation: X:189.34, Y:173.01, Z:-0.57 [[-4.79363241e-01 -8.77610314e-01 -3.31952636e-03 1.89341312e+02] [ 8.77589279e-01 -4.79374735e-01 6.07620623e-03 1.73010246e+02] [-6.92383833e-03 -4.70830223e-07 9.99976030e-01 -5.73803621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9657692310001 meters 0.012135232847594844 Centerline is valid? [True, True] Translation: X:189.33, Y:173.03, Z:-0.57 [[-4.79283740e-01 -8.77653181e-01 -3.46275995e-03 1.89329901e+02] [ 8.77630329e-01 -4.79296249e-01 6.33344214e-03 1.73029725e+02] [-7.21825350e-03 -3.50731706e-06 9.99973948e-01 -5.73546032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99576923100005 meters 0.012283510057871778 Centerline is valid? [True, True] Translation: X:189.32, Y:173.05, Z:-0.57 [[-4.78951411e-01 -8.77833555e-01 -3.71423946e-03 1.89317940e+02] [ 8.77807309e-01 -4.78965813e-01 6.78808939e-03 1.73049727e+02] [-7.73780636e-03 -9.22155011e-06 9.99970063e-01 -5.72420068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.025769231 meters 0.012424916779069968 Centerline is valid? [True, True] Translation: X:189.31, Y:173.07, Z:-0.57 [[-4.79230474e-01 -8.77679191e-01 -4.17018734e-03 1.89307796e+02] [ 8.77646156e-01 -4.79248618e-01 7.61486881e-03 1.73068924e+02] [-8.68196841e-03 -1.06717020e-05 9.99962311e-01 -5.70435645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05576923100006 meters 0.01253164241780019 Centerline is valid? [True, True] Translation: X:189.30, Y:173.09, Z:-0.57 [[-4.80644341e-01 -8.76902124e-01 -4.86649559e-03 1.89302513e+02] [ 8.76857171e-01 -4.80668977e-01 8.87901639e-03 1.73091180e+02] [-1.01252018e-02 4.27434034e-07 9.99948739e-01 -5.68166669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08576923100003 meters 0.012667186122450057 Centerline is valid? [True, True] Translation: X:189.30, Y:173.11, Z:-0.57 [[-4.82427273e-01 -8.75922742e-01 -4.82459046e-03 1.89295374e+02] [ 8.75878578e-01 -4.82451396e-01 8.79588776e-03 1.73114040e+02] [-1.00321485e-02 1.76207176e-05 9.99949677e-01 -5.69141599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11576923100006 meters 0.014388147128488864 Centerline is valid? [True, True] Translation: X:189.30, Y:173.14, Z:-0.57 [[-4.86557750e-01 -8.73638771e-01 -4.10533924e-03 1.89296426e+02] [ 8.73606760e-01 -4.86575066e-01 7.47887558e-03 1.73139155e+02] [-8.53139138e-03 5.24527566e-05 9.99963606e-01 -5.72346779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14576923100003 meters 0.015602056113398011 Centerline is valid? [True, True] Translation: X:189.29, Y:173.16, Z:-0.57 [[-4.88469164e-01 -8.72573944e-01 -3.54788634e-03 1.89291646e+02] [ 8.72550044e-01 -4.88482045e-01 6.45848932e-03 1.73161477e+02] [-7.36858827e-03 5.90644935e-05 9.99972850e-01 -5.74079573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17576923100006 meters 0.016892964486408254 Centerline is valid? [True, True] Translation: X:189.29, Y:173.18, Z:-0.58 [[-4.90080290e-01 -8.71672180e-01 -2.98671628e-03 1.89285853e+02] [ 8.71655249e-01 -4.90089388e-01 5.43308352e-03 1.73184362e+02] [-6.19962571e-03 5.92602239e-05 9.99980780e-01 -5.76080332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20576923100003 meters 0.017306032848558958 Centerline is valid? [True, True] Translation: X:189.28, Y:173.21, Z:-0.58 [[-4.90671494e-01 -8.71342229e-01 -2.05062896e-03 1.89281271e+02] [ 8.71334255e-01 -4.90675777e-01 3.72789056e-03 1.73207094e+02] [-4.25446243e-03 4.23863737e-05 9.99990949e-01 -5.79670170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23576923100006 meters 0.015921733521998112 Centerline is valid? [True, True] Translation: X:189.27, Y:173.23, Z:-0.58 [[-4.89609603e-01 -8.71939922e-01 -1.79106554e-03 1.89270202e+02] [ 8.71933852e-01 -4.89612878e-01 3.25375610e-03 1.73227051e+02] [-3.71400859e-03 3.13795568e-05 9.99993103e-01 -5.80794768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26576923100004 meters 0.014361858353531378 Centerline is valid? [True, True] Translation: X:189.26, Y:173.25, Z:-0.58 [[-4.88029138e-01 -8.72825611e-01 -1.73557649e-03 1.89258514e+02] [ 8.72819925e-01 -4.88032224e-01 3.15065017e-03 1.73245973e+02] [-3.59698541e-03 2.27633405e-05 9.99993531e-01 -5.81229424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29576923100007 meters 0.012961469112128376 Centerline is valid? [True, True] Translation: X:189.25, Y:173.27, Z:-0.58 [[-4.86167984e-01 -8.73863659e-01 -1.73125418e-03 1.89245646e+02] [ 8.73858016e-01 -4.86171067e-01 3.14046871e-03 1.73265337e+02] [-3.58602716e-03 1.39249987e-05 9.99993570e-01 -5.81421032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32576923100004 meters 0.012071736191215519 Centerline is valid? [True, True] Translation: X:189.23, Y:173.28, Z:-0.58 [[-4.82679624e-01 -8.75796083e-01 -1.26516339e-03 1.89232661e+02] [ 8.75793080e-01 -4.82681282e-01 2.29364847e-03 1.73282839e+02] [-2.61943903e-03 -9.23961410e-07 9.99996569e-01 -5.83596767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35576923100007 meters 0.01236617699488404 Centerline is valid? [True, True] Translation: X:189.22, Y:173.30, Z:-0.59 [[-4.81444084e-01 -8.76476062e-01 -1.14370092e-03 1.89220115e+02] [ 8.76473613e-01 -4.81445442e-01 2.07191518e-03 1.73303369e+02] [-2.36661365e-03 -4.91237673e-06 9.99997200e-01 -5.85099560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38576923100004 meters 0.013009258443907741 Centerline is valid? [True, True] Translation: X:189.21, Y:173.33, Z:-0.59 [[-4.79804573e-01 -8.77374989e-01 -8.36595915e-04 1.89210227e+02] [ 8.77373682e-01 -4.79805302e-01 1.51483068e-03 1.73325289e+02] [-1.73047771e-03 -7.18455191e-06 9.99998503e-01 -5.86819581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41576923100007 meters 0.014162819599553358 Centerline is valid? [True, True] Translation: X:189.20, Y:173.34, Z:-0.59 [[-4.79303249e-01 -8.77649103e-01 -6.69266556e-04 1.89198679e+02] [ 8.77648267e-01 -4.79303717e-01 1.21123649e-03 1.73344976e+02] [-1.38382257e-03 -6.83104700e-06 9.99999042e-01 -5.87753088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44576923100004 meters 0.014570205367378785 Centerline is valid? [True, True] Translation: X:189.19, Y:173.36, Z:-0.59 [[-4.79090689e-01 -8.77765131e-01 -6.97221022e-04 1.89188683e+02] [ 8.77764226e-01 -4.79091196e-01 1.26076719e-03 1.73364681e+02] [-1.44068993e-03 -7.97385023e-06 9.99998962e-01 -5.87750067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4757692310001 meters 0.014571959456637024 Centerline is valid? [True, True] Translation: X:189.18, Y:173.39, Z:-0.59 [[-4.79438055e-01 -8.77574640e-01 -1.37934179e-03 1.89180916e+02] [ 8.77571105e-01 -4.79440039e-01 2.49106368e-03 1.73385558e+02] [-2.84740600e-03 -1.61597757e-05 9.99995946e-01 -5.86299890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50576923100004 meters 0.014345038822344412 Centerline is valid? [True, True] Translation: X:189.17, Y:173.41, Z:-0.58 [[-4.80022470e-01 -8.77253782e-01 -2.05676969e-03 1.89172518e+02] [ 8.77245932e-01 -4.80026876e-01 3.71113856e-03 1.73405538e+02] [-4.24291507e-03 -2.28629401e-05 9.99990999e-01 -5.83798609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5357692310001 meters 0.01357432196936748 Centerline is valid? [True, True] Translation: X:189.17, Y:173.43, Z:-0.58 [[-4.80649974e-01 -8.76907775e-01 -2.89093198e-03 1.89167136e+02] [ 8.76892286e-01 -4.80658667e-01 5.21195527e-03 1.73429746e+02] [-5.95995561e-03 -2.99097875e-05 9.99982239e-01 -5.81475620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56576923100005 meters 0.01424903290669516 Centerline is valid? [True, True] Translation: X:189.16, Y:173.45, Z:-0.58 [[-4.80901037e-01 -8.76770797e-01 -2.67613670e-03 1.89156494e+02] [ 8.76757542e-01 -4.80908482e-01 4.82124410e-03 1.73449835e+02] [-5.51410288e-03 -2.77817493e-05 9.99984797e-01 -5.81248920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5957692310001 meters 0.014556673902947868 Centerline is valid? [True, True] Translation: X:189.15, Y:173.47, Z:-0.58 [[-4.80855496e-01 -8.76796739e-01 -2.33896238e-03 1.89147366e+02] [ 8.76786629e-01 -4.80861183e-01 4.21055609e-03 1.73468738e+02] [-4.81651807e-03 -2.61019067e-05 9.99988400e-01 -5.82607300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62576923100005 meters 0.015298670872210025 Centerline is valid? [True, True] Translation: X:189.14, Y:173.49, Z:-0.58 [[-4.80384678e-01 -8.77054949e-01 -2.27542453e-03 1.89136462e+02] [ 8.77045402e-01 -4.80390066e-01 4.09242788e-03 1.73488112e+02] [-4.68237547e-03 -2.97109688e-05 9.99989037e-01 -5.83216445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6557692310001 meters 0.01608491896384337 Centerline is valid? [True, True] Translation: X:189.12, Y:173.51, Z:-0.58 [[-4.77890089e-01 -8.78416041e-01 -2.51434330e-03 1.89124177e+02] [ 8.78404422e-01 -4.77896700e-01 4.51823828e-03 1.73508872e+02] [-5.17048935e-03 -4.93889858e-05 9.99986632e-01 -5.84014633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68576923100005 meters 0.01608491896384337 Centerline is valid? [True, True] Translation: X:189.11, Y:173.53, Z:-0.58 [[-4.78160533e-01 -8.78268852e-01 -2.51571814e-03 1.89112457e+02] [ 8.78257235e-01 -4.78167149e-01 4.51747280e-03 1.73529088e+02] [-5.17048942e-03 -4.93704558e-05 9.99986632e-01 -5.84064705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7157692310001 meters 0.017760824909764158 Centerline is valid? [True, True] Translation: X:189.10, Y:173.55, Z:-0.58 [[-4.77280423e-01 -8.78746724e-01 -2.75546045e-03 1.89097781e+02] [ 8.78732817e-01 -4.77288373e-01 4.94424210e-03 1.73546870e+02] [-5.65988579e-03 -6.15235627e-05 9.99983981e-01 -5.83058414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74576923100005 meters 0.018710177210816255 Centerline is valid? [True, True] Translation: X:189.08, Y:173.57, Z:-0.58 [[-4.75692115e-01 -8.79604843e-01 -3.51175473e-03 1.89083278e+02] [ 8.79582313e-01 -4.75705068e-01 6.29631102e-03 1.73565887e+02] [-7.20882519e-03 -9.37718376e-05 9.99974012e-01 -5.81127388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.775769231 meters 0.023595458013912808 Centerline is valid? [True, True] Translation: X:189.06, Y:173.58, Z:-0.58 [[-4.75417746e-01 -8.79753148e-01 -3.51646674e-03 1.89064657e+02] [ 8.79730595e-01 -4.75430741e-01 6.30008261e-03 1.73581904e+02] [-7.21435389e-03 -9.83722999e-05 9.99973971e-01 -5.78452786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80576923100006 meters 0.024140437025873412 Centerline is valid? [True, True] Translation: X:189.05, Y:173.60, Z:-0.58 [[-4.75548379e-01 -8.79683248e-01 -3.33503916e-03 1.89052037e+02] [ 8.79662997e-01 -4.75560064e-01 5.96972424e-03 1.73600363e+02] [-6.83747785e-03 -9.48178539e-05 9.99976620e-01 -5.79590173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83576923100003 meters 0.024217453752529032 Centerline is valid? [True, True] Translation: X:189.04, Y:173.62, Z:-0.58 [[-4.75834725e-01 -8.79530176e-01 -2.82563461e-03 1.89039817e+02] [ 8.79515663e-01 -4.75843107e-01 5.05325172e-03 1.73618624e+02] [-5.78904613e-03 -8.06772622e-05 9.99983240e-01 -5.82293593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86576923100006 meters 0.019930774022873743 Centerline is valid? [True, True] Translation: X:189.03, Y:173.64, Z:-0.59 [[-4.75806436e-01 -8.79548115e-01 -1.82987229e-03 1.89032281e+02] [ 8.79542037e-01 -4.75809952e-01 3.27028526e-03 1.73642076e+02] [-3.74704468e-03 -5.34268257e-05 9.99992978e-01 -5.88700589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89576923100003 meters 0.020217489253212408 Centerline is valid? [True, True] Translation: X:189.02, Y:173.66, Z:-0.59 [[-4.75954184e-01 -8.79468314e-01 -1.76047292e-03 1.89018820e+02] [ 8.79462696e-01 -4.75957437e-01 3.14405143e-03 1.73662167e+02] [-3.60300379e-03 -5.18458293e-05 9.99993508e-01 -5.88573682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92576923100006 meters 0.02091074320481213 Centerline is valid? [True, True] Translation: X:189.00, Y:173.68, Z:-0.59 [[-4.75726360e-01 -8.79590827e-01 -2.09933382e-03 1.89004981e+02] [ 8.79582851e-01 -4.75730988e-01 3.74630416e-03 1.73681679e+02] [-4.29393292e-03 -6.43223879e-05 9.99990779e-01 -5.87645252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95576923100003 meters 0.02233324736060382 Centerline is valid? [True, True] Translation: X:188.99, Y:173.70, Z:-0.59 [[-4.74944401e-01 -8.80012444e-01 -2.43202307e-03 1.88988147e+02] [ 8.80001762e-01 -4.74950621e-01 4.33668896e-03 1.73698398e+02] [-4.97143112e-03 -8.04984443e-05 9.99987639e-01 -5.86695192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98576923100006 meters 0.023093996741942194 Centerline is valid? [True, True] Translation: X:188.97, Y:173.72, Z:-0.59 [[-4.75020201e-01 -8.79972606e-01 -2.00538009e-03 1.88974515e+02] [ 8.79965353e-01 -4.75024429e-01 3.57337351e-03 1.73715646e+02] [-4.09707534e-03 -6.72403967e-05 9.99991605e-01 -5.89109878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01576923100004 meters 0.028913088357763177 Centerline is valid? [True, True] Translation: X:188.95, Y:173.73, Z:-0.59 [[-4.75143230e-01 -8.79907456e-01 -1.33401147e-03 1.88954916e+02] [ 8.79904251e-01 -4.75145100e-01 2.37560122e-03 1.73729395e+02] [-2.72415824e-03 -4.50515288e-05 9.99996288e-01 -5.91654588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04576923100007 meters 0.023003480916755543 Centerline is valid? [True, True] Translation: X:188.95, Y:173.75, Z:-0.60 [[-4.75602915e-01 -8.79659919e-01 -5.42657396e-04 1.88948116e+02] [ 8.79659388e-01 -4.75603225e-01 9.66410294e-04 1.73751979e+02] [-1.10820201e-03 -1.77261195e-05 9.99999386e-01 -5.95106304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07576923100004 meters 0.02262886657891607 Centerline is valid? [True, True] Translation: X:188.94, Y:173.77, Z:-0.60 [[-4.76232303e-01 -8.79319264e-01 -6.52180168e-04 1.88935253e+02] [ 8.79318499e-01 -4.76232749e-01 1.16030749e-03 1.73770823e+02] [-1.33087028e-03 -2.08981770e-05 9.99999114e-01 -5.95029236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10576923100007 meters 0.02060885217908634 Centerline is valid? [True, True] Translation: X:188.92, Y:173.79, Z:-0.59 [[-4.77259154e-01 -8.78761925e-01 -1.08581496e-03 1.88924498e+02] [ 8.78759807e-01 -4.77260388e-01 1.92942729e-03 1.73791994e+02] [-2.21372371e-03 -3.33337056e-05 9.99997549e-01 -5.93816535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13576923100004 meters 0.020026918817212965 Centerline is valid? [True, True] Translation: X:188.91, Y:173.81, Z:-0.59 [[-4.78808144e-01 -8.77918472e-01 -1.38473500e-03 1.88912696e+02] [ 8.77915031e-01 -4.78810145e-01 2.45843652e-03 1.73811634e+02] [-2.82133200e-03 -3.85602454e-05 9.99996019e-01 -5.92270813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16576923100007 meters 0.017841046890208868 Centerline is valid? [True, True] Translation: X:188.90, Y:173.83, Z:-0.59 [[-4.81999879e-01 -8.76169455e-01 -1.78958733e-03 1.88902493e+02] [ 8.76163705e-01 -4.82003199e-01 3.17446826e-03 1.73831839e+02] [-3.64395894e-03 -3.78781478e-05 9.99993360e-01 -5.91171771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19576923100004 meters 0.017225550203986025 Centerline is valid? [True, True] Translation: X:188.89, Y:173.85, Z:-0.59 [[-4.83199108e-01 -8.75509256e-01 -1.47149982e-03 1.88891418e+02] [ 8.75505370e-01 -4.83201347e-01 2.60854581e-03 1.73850898e+02] [-2.99483670e-03 -2.78589928e-05 9.99995515e-01 -5.93260411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2257692310001 meters 0.016328530534806953 Centerline is valid? [True, True] Translation: X:188.88, Y:173.87, Z:-0.60 [[-4.83937319e-01 -8.75102145e-01 -9.52501023e-04 1.88880457e+02] [ 8.75100518e-01 -4.83938256e-01 1.68772839e-03 1.73871263e+02] [-1.93788642e-03 -1.67793854e-05 9.99998122e-01 -5.95892756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25576923100004 meters 0.01610966488962329 Centerline is valid? [True, True] Translation: X:188.87, Y:173.89, Z:-0.60 [[-4.83613876e-01 -8.75281407e-01 -2.76884710e-04 1.88867556e+02] [ 8.75281270e-01 -4.83613955e-01 4.91219843e-04 1.73891820e+02] [-5.63860905e-04 -4.79126779e-06 9.99999841e-01 -5.98663476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2857692310001 meters 0.017459355916793807 Centerline is valid? [True, True] Translation: X:188.85, Y:173.91, Z:-0.60 [[-4.83327511e-01 -8.75439506e-01 -4.33525811e-04 1.88852810e+02] [ 8.75439170e-01 -4.83327705e-01 7.67795937e-04 1.73910131e+02] [-8.81693931e-04 -8.42857702e-06 9.99999611e-01 -5.98370402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31576923100005 meters 0.018097903396937183 Centerline is valid? [True, True] Translation: X:188.84, Y:173.93, Z:-0.60 [[-4.83097611e-01 -8.75566236e-01 -6.82387537e-04 1.88840018e+02] [ 8.75565404e-01 -4.83098092e-01 1.20680617e-03 1.73927951e+02] [-1.38629885e-03 -1.44697433e-05 9.99999039e-01 -5.97199477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3457692310001 meters 0.018194231369538464 Centerline is valid? [True, True] Translation: X:188.83, Y:173.95, Z:-0.60 [[-4.82963344e-01 -8.75640050e-01 -9.54624597e-04 1.88828178e+02] [ 8.75638426e-01 -4.82964287e-01 1.68639903e-03 1.73947488e+02] [-1.93772812e-03 -2.14370652e-05 9.99998122e-01 -5.96239490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37576923100005 meters 0.01951410260749321 Centerline is valid? [True, True] Translation: X:188.81, Y:173.96, Z:-0.60 [[-4.82124995e-01 -8.76102058e-01 -8.20349922e-04 1.88813868e+02] [ 8.76100861e-01 -4.82125692e-01 1.44831858e-03 1.73964631e+02] [-1.66438666e-03 -2.04386851e-05 9.99998615e-01 -5.96615333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4057692310001 meters 0.019509852096223076 Centerline is valid? [True, True] Translation: X:188.80, Y:173.98, Z:-0.60 [[-4.81420562e-01 -8.76489527e-01 -5.93112462e-04 1.88800631e+02] [ 8.76488902e-01 -4.81420927e-01 1.04668994e-03 1.73984255e+02] [-1.20294952e-03 -1.59584327e-05 9.99999276e-01 -5.97259976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43576923100005 meters 0.021997340386434305 Centerline is valid? [True, True] Translation: X:188.78, Y:174.00, Z:-0.60 [[-4.80584098e-01 -8.76948493e-01 -5.15046468e-04 1.88783622e+02] [ 8.76948023e-01 -4.80584374e-01 9.08430458e-04 1.74001355e+02] [-1.04417001e-03 -1.50917494e-05 9.99999455e-01 -5.97707570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4657692310001 meters 0.022888783502540873 Centerline is valid? [True, True] Translation: X:188.77, Y:174.02, Z:-0.60 [[-4.79826382e-01 -8.77363188e-01 -6.92867223e-04 1.88769039e+02] [ 8.77362339e-01 -4.79826881e-01 1.22079631e-03 1.74019923e+02] [-1.40353806e-03 -2.21253293e-05 9.99999015e-01 -5.97354534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49576923100005 meters 0.02252155568768727 Centerline is valid? [True, True] Translation: X:188.76, Y:174.04, Z:-0.60 [[-4.79576226e-01 -8.77499860e-01 -7.98949707e-04 1.88755376e+02] [ 8.77498734e-01 -4.79576891e-01 1.40623546e-03 1.74039755e+02] [-1.61712923e-03 -2.66802635e-05 9.99998692e-01 -5.96585665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.525769231 meters 0.02317681733842298 Centerline is valid? [True, True] Translation: X:188.74, Y:174.06, Z:-0.60 [[-4.79531546e-01 -8.77524347e-01 -7.19134130e-04 1.88741274e+02] [ 8.77523436e-01 -4.79532084e-01 1.26501545e-03 1.74057477e+02] [-1.45492975e-03 -2.44422374e-05 9.99998941e-01 -5.96714442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55576923100006 meters 0.024537892128714888 Centerline is valid? [True, True] Translation: X:188.72, Y:174.07, Z:-0.60 [[-4.78662496e-01 -8.77998675e-01 -7.35984167e-04 1.88722379e+02] [ 8.77997722e-01 -4.78663061e-01 1.29366044e-03 1.74073989e+02] [-1.48812059e-03 -2.69656851e-05 9.99998892e-01 -5.95645885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58576923100003 meters 0.025860548104275547 Centerline is valid? [True, True] Translation: X:188.71, Y:174.09, Z:-0.59 [[-4.77973957e-01 -8.78373437e-01 -1.00134376e-03 1.88705861e+02] [ 8.78371677e-01 -4.77975004e-01 1.75841035e-03 1.74090772e+02] [-2.02315823e-03 -3.90776473e-05 9.99997953e-01 -5.94851422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61576923100006 meters 0.026578867346598204 Centerline is valid? [True, True] Translation: X:188.69, Y:174.11, Z:-0.59 [[-4.77599805e-01 -8.78576638e-01 -1.23170819e-03 1.88689847e+02] [ 8.78573983e-01 -4.77601391e-01 2.16072515e-03 1.74108329e+02] [-2.48662818e-03 -5.01848574e-05 9.99996907e-01 -5.93966354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64576923100003 meters 0.027253856450413817 Centerline is valid? [True, True] Translation: X:188.67, Y:174.12, Z:-0.59 [[-4.77618532e-01 -8.78565804e-01 -1.63280970e-03 1.88674839e+02] [ 8.78561147e-01 -4.77621318e-01 2.86155487e-03 1.74124916e+02] [-3.29392897e-03 -6.77915251e-05 9.99994573e-01 -5.93506326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67576923100006 meters 0.02644352534935665 Centerline is valid? [True, True] Translation: X:188.66, Y:174.14, Z:-0.59 [[-4.79198893e-01 -8.77703002e-01 -2.42083867e-03 1.88659048e+02] [ 8.77692772e-01 -4.79204999e-01 4.23871360e-03 1.74141782e+02] [-4.88040964e-03 -9.35657394e-05 9.99988086e-01 -5.92052567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70576923100003 meters 0.02473917469088451 Centerline is valid? [True, True] Translation: X:188.65, Y:174.16, Z:-0.59 [[-4.80873463e-01 -8.76786449e-01 -2.49719501e-03 1.88646499e+02] [ 8.76775569e-01 -4.80879939e-01 4.36877479e-03 1.74161676e+02] [-5.03133352e-03 -8.86517128e-05 9.99987339e-01 -5.91731607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73576923100006 meters 0.023322650560739296 Centerline is valid? [True, True] Translation: X:188.63, Y:174.18, Z:-0.59 [[-4.82543390e-01 -8.75869122e-01 -2.27118307e-03 1.88633875e+02] [ 8.75860127e-01 -4.82548729e-01 3.97002726e-03 1.74181546e+02] [-4.57318079e-03 -7.35282769e-05 9.99989540e-01 -5.92876001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76576923100004 meters 0.02228945626685632 Centerline is valid? [True, True] Translation: X:188.62, Y:174.20, Z:-0.59 [[-4.83841348e-01 -8.75153669e-01 -1.89894172e-03 1.88621608e+02] [ 8.75147385e-01 -4.83845071e-01 3.31692670e-03 1.74200758e+02] [-3.82161416e-03 -5.69875972e-05 9.99992696e-01 -5.93696760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79576923100007 meters 0.020230036818717545 Centerline is valid? [True, True] Translation: X:188.61, Y:174.22, Z:-0.60 [[-4.86009029e-01 -8.73953117e-01 -1.08354480e-03 1.88610359e+02] [ 8.73951069e-01 -4.86010236e-01 1.89185962e-03 1.74219337e+02] [-2.18001047e-03 -2.75042807e-05 9.99997623e-01 -5.96165266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82576923100004 meters 0.01952736909802728 Centerline is valid? [True, True] Translation: X:188.60, Y:174.24, Z:-0.60 [[-4.87032074e-01 -8.73383877e-01 -6.02165799e-04 1.88599088e+02] [ 8.73383244e-01 -4.87032446e-01 1.05114994e-03 1.74237748e+02] [-1.21133169e-03 -1.39777851e-05 9.99999266e-01 -5.98101371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85576923100007 meters 0.018795148805936728 Centerline is valid? [True, True] Translation: X:188.59, Y:174.26, Z:-0.60 [[-4.88041059e-01 -8.72820426e-01 -6.54531570e-04 1.88587528e+02] [ 8.72819680e-01 -4.88041497e-01 1.14157019e-03 1.74257572e+02] [-1.31582435e-03 -1.41549092e-05 9.99999134e-01 -5.98384426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88576923100004 meters 0.01833840778918887 Centerline is valid? [True, True] Translation: X:188.58, Y:174.28, Z:-0.60 [[-4.88805399e-01 -8.72391890e-01 -1.29311184e-03 1.88576414e+02] [ 8.72388983e-01 -4.88807108e-01 2.25239595e-03 1.74276521e+02] [-2.59705422e-03 -2.71132232e-05 9.99996627e-01 -5.96257692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91576923100007 meters 0.018208043603681223 Centerline is valid? [True, True] Translation: X:188.56, Y:174.30, Z:-0.59 [[-4.89164692e-01 -8.72189354e-01 -1.90676809e-03 1.88564592e+02] [ 8.72183043e-01 -4.89168406e-01 3.31821533e-03 1.74296127e+02] [-3.82684279e-03 -3.98970110e-05 9.99992677e-01 -5.93840610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94576923100004 meters 0.018009739986091042 Centerline is valid? [True, True] Translation: X:188.55, Y:174.32, Z:-0.59 [[-4.88516449e-01 -8.72553157e-01 -1.63308059e-03 1.88552367e+02] [ 8.72548536e-01 -4.88519178e-01 2.84010639e-03 1.74316813e+02] [-3.27593499e-03 -3.75033883e-05 9.99994633e-01 -5.94950726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9757692310001 meters 0.0203287838774599 Centerline is valid? [True, True] Translation: X:188.54, Y:174.33, Z:-0.60 [[-4.88114381e-01 -8.72779277e-01 -8.27476088e-04 1.88537182e+02] [ 8.72778091e-01 -4.88115082e-01 1.43872555e-03 1.74333834e+02] [-1.65959340e-03 -1.99403704e-05 9.99998623e-01 -5.98918963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00576923100004 meters 0.02093564787802162 Centerline is valid? [True, True] Translation: X:188.52, Y:174.35, Z:-0.60 [[-4.87992607e-01 -8.72847735e-01 -2.15404296e-04 1.88524145e+02] [ 8.72847655e-01 -4.87992654e-01 3.75197503e-04 1.74352472e+02] [-4.32606006e-04 -4.92152721e-06 9.99999906e-01 -6.01829963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0357692310001 meters 0.02048266712284522 Centerline is valid? [True, True] Translation: X:188.51, Y:174.37, Z:-0.60 [[-4.87912828e-01 -8.72892144e-01 -6.14185937e-04 1.88512341e+02] [ 8.72891493e-01 -4.87913214e-01 1.06666144e-03 1.74372594e+02] [-1.23074983e-03 -1.56798780e-05 9.99999243e-01 -6.00246765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06576923100005 meters 0.021133136975703237 Centerline is valid? [True, True] Translation: X:188.50, Y:174.39, Z:-0.60 [[-4.88563917e-01 -8.72527696e-01 -8.48309240e-04 1.88499729e+02] [ 8.72526455e-01 -4.88564653e-01 1.47169447e-03 1.74390886e+02] [-1.69854809e-03 -2.11554403e-05 9.99998557e-01 -5.98807601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0957692310001 meters 0.020917108417942525 Centerline is valid? [True, True] Translation: X:188.49, Y:174.41, Z:-0.60 [[-4.89191505e-01 -8.72176188e-01 -6.07725557e-04 1.88488234e+02] [ 8.72175551e-01 -4.89191882e-01 1.05388050e-03 1.74410411e+02] [-1.21646388e-03 -1.44939856e-05 9.99999260e-01 -5.99778470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12576923100005 meters 0.01833069808945494 Centerline is valid? [True, True] Translation: X:188.48, Y:174.43, Z:-0.60 [[-4.89905753e-01 -8.71775394e-01 -1.21625714e-04 1.88479814e+02] [ 8.71775369e-01 -4.89905768e-01 2.11821090e-04 1.74433276e+02] [-2.44245553e-04 -2.25793081e-06 9.99999970e-01 -6.01834918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1557692310001 meters 0.017398556322374675 Centerline is valid? [True, True] Translation: X:188.47, Y:174.45, Z:-0.61 [[-4.91577752e-01 -8.70833638e-01 2.99118023e-04 1.88471367e+02] [ 8.70833485e-01 -4.91577843e-01 -5.16063140e-04 1.74454535e+02] [ 5.96444934e-04 6.79683289e-06 9.99999822e-01 -6.05165920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18576923100005 meters 0.01742867040498827 Centerline is valid? [True, True] Translation: X:188.46, Y:174.47, Z:-0.60 [[-4.93019609e-01 -8.70018197e-01 -5.03754311e-05 1.88460406e+02] [ 8.70018192e-01 -4.93019612e-01 8.85980013e-05 1.74473454e+02] [-1.01917949e-04 -1.46989512e-07 9.99999995e-01 -6.03958824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2157692310001 meters 0.014708433530981906 Centerline is valid? [True, True] Translation: X:188.45, Y:174.50, Z:-0.60 [[-4.94952058e-01 -8.68920251e-01 -2.38098928e-04 1.88453309e+02] [ 8.68920153e-01 -4.94952116e-01 4.12498392e-04 1.74497089e+02] [-4.76275775e-04 -2.72202912e-06 9.99999887e-01 -6.02447262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24576923100005 meters 0.013922324484738857 Centerline is valid? [True, True] Translation: X:188.44, Y:174.52, Z:-0.60 [[-4.96845077e-01 -8.67839247e-01 -1.09840496e-04 1.88444233e+02] [ 8.67839226e-01 -4.96845089e-01 1.90900461e-04 1.74518655e+02] [-2.20244624e-04 -4.75936551e-07 9.99999976e-01 -6.03097065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.275769231 meters 0.012778181148030273 Centerline is valid? [True, True] Translation: X:188.44, Y:174.54, Z:-0.60 [[-4.99419135e-01 -8.66360504e-01 6.83579345e-05 1.88439392e+02] [ 8.66360496e-01 -4.99419140e-01 -1.16497147e-04 1.74542503e+02] [ 1.35067788e-04 1.04170964e-06 9.99999991e-01 -6.03895256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30576923100006 meters 0.012603954208913021 Centerline is valid? [True, True] Translation: X:188.43, Y:174.56, Z:-0.60 [[-4.99792923e-01 -8.66144850e-01 -3.64553079e-04 1.88428610e+02] [ 8.66144621e-01 -4.99793056e-01 6.29513432e-04 1.74563978e+02] [-7.27450915e-04 -1.12933012e-06 9.99999735e-01 -6.02361351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33576923100003 meters 0.012826826171402867 Centerline is valid? [True, True] Translation: X:188.42, Y:174.58, Z:-0.60 [[-4.99427456e-01 -8.66355538e-01 -5.46543361e-04 1.88415180e+02] [ 8.66355025e-01 -4.99427755e-01 9.42501105e-04 1.74582520e+02] [-1.08949998e-03 -2.78965802e-06 9.99999406e-01 -6.01639293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36576923100006 meters 0.013145345487463288 Centerline is valid? [True, True] Translation: X:188.40, Y:174.60, Z:-0.60 [[-4.99212321e-01 -8.66479681e-01 -1.46306563e-04 1.88402364e+02] [ 8.66479644e-01 -4.99212342e-01 2.53232464e-04 1.74600316e+02] [-2.92458827e-04 -3.54892252e-07 9.99999957e-01 -6.03796694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39576923100003 meters 0.013178683027194667 Centerline is valid? [True, True] Translation: X:188.39, Y:174.62, Z:-0.61 [[-4.99320700e-01 -8.66417139e-01 4.22835399e-04 1.88390252e+02] [ 8.66416836e-01 -4.99320879e-01 -7.25638236e-04 1.74621246e+02] [ 8.39835948e-04 4.02551575e-06 9.99999647e-01 -6.05863467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42576923100006 meters 0.013279806996773941 Centerline is valid? [True, True] Translation: X:188.38, Y:174.64, Z:-0.61 [[-4.99919519e-01 -8.66071534e-01 7.57360743e-04 1.88378451e+02] [ 8.66070558e-01 -4.99920092e-01 -1.29977201e-03 1.74641097e+02] [ 1.50431539e-03 6.14644581e-06 9.99998869e-01 -6.08359157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45576923100003 meters 0.012666384530606395 Centerline is valid? [True, True] Translation: X:188.37, Y:174.66, Z:-0.61 [[-5.01441529e-01 -8.65191029e-01 9.36168630e-04 1.88367657e+02] [ 8.65189539e-01 -5.01442403e-01 -1.60584649e-03 1.74662967e+02] [ 1.85879862e-03 4.72518779e-06 9.99998272e-01 -6.08913749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48576923100006 meters 0.01291680131466069 Centerline is valid? [True, True] Translation: X:188.36, Y:174.69, Z:-0.61 [[-5.05635653e-01 -8.62746537e-01 1.00006347e-03 1.88359405e+02] [ 8.62744834e-01 -5.05636642e-01 -1.71421387e-03 1.74685002e+02] [ 1.98460082e-03 -3.96805551e-06 9.99998031e-01 -6.09755931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51576923100004 meters 0.013731296595660795 Centerline is valid? [True, True] Translation: X:188.35, Y:174.71, Z:-0.61 [[-5.08134117e-01 -8.61277755e-01 5.89370502e-04 1.88349320e+02] [ 8.61277164e-01 -5.08134459e-01 -1.00903564e-03 1.74706917e+02] [ 1.16853941e-03 -5.11408034e-06 9.99999317e-01 -6.07351917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54576923100007 meters 0.015337245784288963 Centerline is valid? [True, True] Translation: X:188.34, Y:174.73, Z:-0.61 [[-5.11038127e-01 -8.59558039e-01 1.03079332e-04 1.88340052e+02] [ 8.59558021e-01 -5.11038137e-01 -1.75288303e-04 1.74729420e+02] [ 2.03347940e-04 -9.76338843e-07 9.99999979e-01 -6.05605368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57576923100004 meters 0.015337245784288963 Centerline is valid? [True, True] Translation: X:188.33, Y:174.75, Z:-0.61 [[-5.11304940e-01 -8.59399353e-01 1.03145861e-04 1.88327915e+02] [ 8.59399335e-01 -5.11304950e-01 -1.75249336e-04 1.74749371e+02] [ 2.03348155e-04 -9.62366343e-07 9.99999979e-01 -6.05655438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60576923100007 meters 0.017856576605432786 Centerline is valid? [True, True] Translation: X:188.32, Y:174.77, Z:-0.61 [[-5.14220841e-01 -8.57657801e-01 -1.48624863e-04 1.88320517e+02] [ 8.57657763e-01 -5.14220863e-01 2.55571893e-04 1.74771312e+02] [-2.95619233e-04 3.95112608e-06 9.99999956e-01 -6.05146978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63576923100004 meters 0.020816540819945207 Centerline is valid? [True, True] Translation: X:188.31, Y:174.79, Z:-0.61 [[-5.17345675e-01 -8.55776520e-01 1.69447648e-05 1.88312706e+02] [ 8.55776519e-01 -5.17345676e-01 -2.76564172e-05 1.74794301e+02] [ 3.24340132e-05 1.93004020e-07 9.99999999e-01 -6.06276074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66576923100007 meters 0.026331921524402606 Centerline is valid? [True, True] Translation: X:188.31, Y:174.82, Z:-0.61 [[-5.22418746e-01 -8.52689072e-01 1.37742249e-05 1.88310365e+02] [ 8.52689072e-01 -5.22418746e-01 -2.21072642e-05 1.74818876e+02] [ 2.60465358e-05 1.95881797e-07 1.00000000e+00 -6.06938165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69576923100004 meters 0.02910842653526844 Centerline is valid? [True, True] Translation: X:188.30, Y:174.84, Z:-0.61 [[-5.24164945e-01 -8.51616748e-01 -1.56401011e-04 1.88304137e+02] [ 8.51616706e-01 -5.24164969e-01 2.68378668e-04 1.74840860e+02] [-3.10535700e-04 7.48097560e-06 9.99999952e-01 -6.06645058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7257692310001 meters 0.02934568620204927 Centerline is valid? [True, True] Translation: X:188.29, Y:174.86, Z:-0.61 [[-5.25322476e-01 -8.50903176e-01 -2.85685279e-04 1.88294642e+02] [ 8.50903036e-01 -5.25322553e-01 4.88777496e-04 1.74861710e+02] [-5.65979244e-04 1.36753329e-05 9.99999840e-01 -6.05639642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75576923100004 meters 0.02989483210206068 Centerline is valid? [True, True] Translation: X:188.29, Y:174.88, Z:-0.61 [[-5.26098624e-01 -8.50423563e-01 -3.70451732e-05 1.88286166e+02] [ 8.50423560e-01 -5.26098625e-01 6.46051683e-05 1.74881721e+02] [-7.44311722e-05 2.48460207e-06 9.99999997e-01 -6.06751993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7857692310001 meters 0.02759435338981656 Centerline is valid? [True, True] Translation: X:188.28, Y:174.90, Z:-0.61 [[-5.25439021e-01 -8.50830678e-01 9.96301043e-04 1.88275692e+02] [ 8.50828990e-01 -5.25439964e-01 -1.69524400e-03 1.74903296e+02] [ 1.96586199e-03 -4.30655389e-05 9.99998067e-01 -6.10777630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81576923100005 meters 0.027821008117253583 Centerline is valid? [True, True] Translation: X:188.27, Y:174.92, Z:-0.61 [[-5.24524670e-01 -8.51394284e-01 1.28177556e-03 1.88267078e+02] [ 8.51391495e-01 -5.24526234e-01 -2.17978765e-03 1.74924581e+02] [ 2.52818366e-03 -5.20595903e-05 9.99996803e-01 -6.11934496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8457692310001 meters 0.024394620235344045 Centerline is valid? [True, True] Translation: X:188.25, Y:174.94, Z:-0.61 [[-5.23203291e-01 -8.52206978e-01 1.25789493e-03 1.88252853e+02] [ 8.52204299e-01 -5.23204801e-01 -2.13761600e-03 1.74944331e+02] [ 2.47982793e-03 -4.64242621e-05 9.99996924e-01 -6.11743303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87576923100005 meters 0.02499611618618509 Centerline is valid? [True, True] Translation: X:188.24, Y:174.97, Z:-0.61 [[-5.21971667e-01 -8.52962002e-01 1.18393603e-03 1.88244087e+02] [ 8.52959634e-01 -5.21973008e-01 -2.01034137e-03 1.74965797e+02] [ 2.33272744e-03 -3.94915949e-05 9.99997278e-01 -6.12412697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9057692310001 meters 0.020612214240832476 Centerline is valid? [True, True] Translation: X:188.23, Y:174.99, Z:-0.61 [[-5.18496479e-01 -8.55078956e-01 1.17484625e-03 1.88232274e+02] [ 8.55076633e-01 -5.18497810e-01 -1.99346663e-03 1.74985033e+02] [ 2.31372657e-03 -2.90218489e-05 9.99997323e-01 -6.12641435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93576923100005 meters 0.01727948947436909 Centerline is valid? [True, True] Translation: X:188.22, Y:175.00, Z:-0.61 [[-5.16592693e-01 -8.56230794e-01 9.04001435e-04 1.88218730e+02] [ 8.56229423e-01 -5.16593483e-01 -1.53238957e-03 1.75003365e+02] [ 1.77908039e-03 -1.75886256e-05 9.99998417e-01 -6.11092620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9657692310001 meters 0.015455657401374502 Centerline is valid? [True, True] Translation: X:188.21, Y:175.02, Z:-0.61 [[-5.14821868e-01 -8.57296883e-01 7.06497074e-04 1.88206760e+02] [ 8.57296048e-01 -5.14822353e-01 -1.19633457e-03 1.75021759e+02] [ 1.38933439e-03 -1.02220507e-05 9.99999035e-01 -6.10086616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99576923100005 meters 0.013424617132638214 Centerline is valid? [True, True] Translation: X:188.19, Y:175.04, Z:-0.61 [[-5.12479594e-01 -8.58699393e-01 1.37475580e-04 1.88192395e+02] [ 8.58699362e-01 -5.12479612e-01 -2.31534416e-04 1.75040423e+02] [ 2.69271895e-04 -6.06470884e-07 9.99999964e-01 -6.08672760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.025769231 meters 0.013034520006076022 Centerline is valid? [True, True] Translation: X:188.18, Y:175.06, Z:-0.61 [[-5.12185255e-01 -8.58874994e-01 -9.63153067e-05 1.88181124e+02] [ 8.58874978e-01 -5.12185264e-01 1.64444274e-04 1.75058782e+02] [-1.90568356e-04 1.50312539e-06 9.99999982e-01 -6.08222436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05576923100006 meters 0.012839804345507078 Centerline is valid? [True, True] Translation: X:188.17, Y:175.08, Z:-0.61 [[-5.12380959e-01 -8.58758241e-01 -1.88798505e-04 1.88169316e+02] [ 8.58758181e-01 -5.12380994e-01 3.20679744e-04 1.75079690e+02] [-3.72123138e-04 2.17793389e-06 9.99999931e-01 -6.07543936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08576923100003 meters 0.012553413328788616 Centerline is valid? [True, True] Translation: X:188.16, Y:175.10, Z:-0.61 [[-5.12576668e-01 -8.58641358e-01 -4.21920339e-04 1.88157482e+02] [ 8.58641061e-01 -5.12576841e-01 7.14575853e-04 1.75100906e+02] [-8.29830975e-04 3.99678199e-06 9.99999656e-01 -6.06210451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11576923100006 meters 0.012782419032339672 Centerline is valid? [True, True] Translation: X:188.15, Y:175.12, Z:-0.60 [[-5.13130893e-01 -8.58309666e-01 -1.09759335e-03 1.88147963e+02] [ 8.58307661e-01 -5.13132066e-01 1.85532823e-03 1.75121865e+02] [-2.15565650e-03 9.95345198e-06 9.99997677e-01 -6.03958401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14576923100003 meters 0.013368517034819064 Centerline is valid? [True, True] Translation: X:188.14, Y:175.14, Z:-0.60 [[-5.14284488e-01 -8.57618587e-01 -1.35110102e-03 1.88138119e+02] [ 8.57615551e-01 -5.14286262e-01 2.28176514e-03 1.75141674e+02] [-2.65173688e-03 1.47511739e-05 9.99996484e-01 -6.03325419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17576923100006 meters 0.014055117701672545 Centerline is valid? [True, True] Translation: X:188.13, Y:175.16, Z:-0.60 [[-5.15813761e-01 -8.56699474e-01 -1.47509725e-03 1.88127817e+02] [ 8.56695858e-01 -5.15815869e-01 2.48917742e-03 1.75163473e+02] [-2.89335556e-03 2.02422617e-05 9.99995814e-01 -6.03111320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20576923100003 meters 0.014821137930724025 Centerline is valid? [True, True] Translation: X:188.12, Y:175.19, Z:-0.60 [[-5.17261916e-01 -8.55825993e-01 -1.40719284e-03 1.88117491e+02] [ 8.55822704e-01 -5.17263829e-01 2.37299085e-03 1.75185743e+02] [-2.75875720e-03 2.31502142e-05 9.99996194e-01 -6.03259902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23576923100006 meters 0.017384930673346073 Centerline is valid? [True, True] Translation: X:188.11, Y:175.21, Z:-0.61 [[-5.19935846e-01 -8.54205118e-01 -5.77247686e-04 1.88110970e+02] [ 8.54204563e-01 -5.19936166e-01 9.73516761e-04 1.75208735e+02] [-1.13171495e-03 1.30786528e-05 9.99999360e-01 -6.06363637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26576923100004 meters 0.01813233606277648 Centerline is valid? [True, True] Translation: X:188.10, Y:175.23, Z:-0.61 [[-5.21521382e-01 -8.53238208e-01 -8.58510167e-05 1.88100754e+02] [ 8.53238196e-01 -5.21521390e-01 1.45781586e-04 1.75230257e+02] [-1.69159561e-04 2.77684792e-06 9.99999986e-01 -6.08536786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29576923100007 meters 0.022113088279089393 Centerline is valid? [True, True] Translation: X:188.10, Y:175.25, Z:-0.61 [[-5.23139141e-01 -8.52247118e-01 5.37243250e-04 1.88096052e+02] [ 8.52246641e-01 -5.23139417e-01 -9.02215627e-04 1.75254406e+02] [ 1.04996379e-03 -1.41205525e-05 9.99999449e-01 -6.11754754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32576923100004 meters 0.023441508146107105 Centerline is valid? [True, True] Translation: X:188.09, Y:175.28, Z:-0.61 [[-5.26574642e-01 -8.50128117e-01 1.15385265e-03 1.88091203e+02] [ 8.50125909e-01 -5.26575904e-01 -1.93800533e-03 1.75279923e+02] [ 2.25514383e-03 -3.95844236e-05 9.99997456e-01 -6.12142913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35576923100007 meters 0.02524883148284503 Centerline is valid? [True, True] Translation: X:188.08, Y:175.30, Z:-0.61 [[-5.28387712e-01 -8.49002826e-01 7.91805741e-04 1.88084572e+02] [ 8.49001788e-01 -5.28388304e-01 -1.32850258e-03 1.75303648e+02] [ 1.54628334e-03 -2.97199473e-05 9.99998804e-01 -6.10932341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38576923100004 meters 0.026636412087862365 Centerline is valid? [True, True] Translation: X:188.08, Y:175.33, Z:-0.61 [[-5.29838819e-01 -8.48098342e-01 1.68807730e-04 1.88077453e+02] [ 8.48098295e-01 -5.29838846e-01 -2.82046552e-04 1.75327219e+02] [ 3.28644106e-04 -6.27366436e-06 9.99999946e-01 -6.09294779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41576923100007 meters 0.026704969091868577 Centerline is valid? [True, True] Translation: X:188.07, Y:175.35, Z:-0.61 [[-5.31071046e-01 -8.47327035e-01 -6.63014592e-04 1.88072267e+02] [ 8.47326304e-01 -5.31071459e-01 1.11327206e-03 1.75352664e+02] [-1.29541364e-03 2.94368517e-05 9.99999161e-01 -6.07817573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44576923100004 meters 0.027645870041969407 Centerline is valid? [True, True] Translation: X:188.06, Y:175.37, Z:-0.61 [[-5.30896885e-01 -8.47436301e-01 -4.63278822e-04 1.88064692e+02] [ 8.47435944e-01 -5.30897086e-01 7.77782485e-04 1.75374638e+02] [-9.05074488e-04 2.03231719e-05 9.99999590e-01 -6.08810390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4757692310001 meters 0.026572772451882918 Centerline is valid? [True, True] Translation: X:188.06, Y:175.39, Z:-0.61 [[-5.30064963e-01 -8.47957004e-01 -2.34659388e-04 1.88055458e+02] [ 8.47956912e-01 -5.30065015e-01 3.94389749e-04 1.75394567e+02] [-4.58810283e-04 1.00711376e-05 9.99999895e-01 -6.10262220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50576923100004 meters 0.02254062734852785 Centerline is valid? [True, True] Translation: X:188.05, Y:175.42, Z:-0.61 [[-5.26883155e-01 -8.49937726e-01 6.01301473e-05 1.88045378e+02] [ 8.49937720e-01 -5.26883159e-01 -9.90615486e-05 1.75415824e+02] [ 1.15877709e-04 -1.08698093e-06 9.99999993e-01 -6.11305518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5357692310001 meters 0.01987999410187625 Centerline is valid? [True, True] Translation: X:188.03, Y:175.44, Z:-0.61 [[-5.24815455e-01 -8.51216034e-01 4.50230566e-05 1.88033342e+02] [ 8.51216030e-01 -5.24815457e-01 -7.39202515e-05 1.75435301e+02] [ 8.65508992e-05 -4.70142941e-07 9.99999996e-01 -6.11615535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56576923100005 meters 0.017130090493615822 Centerline is valid? [True, True] Translation: X:188.02, Y:175.45, Z:-0.61 [[-5.22504226e-01 -8.52636608e-01 3.85509220e-04 1.88019796e+02] [ 8.52636366e-01 -5.22504368e-01 -6.42355005e-04 1.75454567e+02] [ 7.49125644e-04 -6.93402405e-06 9.99999719e-01 -6.13165852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5957692310001 meters 0.014743131552198249 Centerline is valid? [True, True] Translation: X:188.01, Y:175.47, Z:-0.62 [[-5.20094804e-01 -8.54107954e-01 9.98954275e-04 1.88005507e+02] [ 8.54106329e-01 -5.20095763e-01 -1.66614145e-03 1.75472863e+02] [ 1.94261656e-03 -1.33383448e-05 9.99998113e-01 -6.15961074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62576923100005 meters 0.013174523227590301 Centerline is valid? [True, True] Translation: X:187.99, Y:175.49, Z:-0.62 [[-5.17490983e-01 -8.55687192e-01 1.58480901e-03 1.87992070e+02] [ 8.55683114e-01 -5.17493409e-01 -2.64202656e-03 1.75490132e+02] [ 3.08087650e-03 -1.11306135e-05 9.99995254e-01 -6.19085065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6557692310001 meters 0.012883850414828589 Centerline is valid? [True, True] Translation: X:187.98, Y:175.51, Z:-0.62 [[-5.12330232e-01 -8.58785117e-01 2.41984815e-03 1.87975499e+02] [ 8.58775653e-01 -5.12335946e-01 -4.03195164e-03 1.75506888e+02] [ 4.70235525e-03 1.24159576e-05 9.99988944e-01 -6.21175715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68576923100005 meters 0.013688572439148877 Centerline is valid? [True, True] Translation: X:187.96, Y:175.52, Z:-0.62 [[-5.10194977e-01 -8.60055737e-01 2.28347517e-03 1.87961527e+02] [ 8.60047335e-01 -5.10200087e-01 -3.80183652e-03 1.75524916e+02] [ 4.43482054e-03 2.42188360e-05 9.99990166e-01 -6.19487305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7157692310001 meters 0.015672274890333994 Centerline is valid? [True, True] Translation: X:187.95, Y:175.54, Z:-0.62 [[-5.08090881e-01 -8.61301844e-01 1.67056653e-03 1.87947119e+02] [ 8.61297361e-01 -5.08093627e-01 -2.77888335e-03 1.75541697e+02] [ 3.24226156e-03 2.69292603e-05 9.99994743e-01 -6.18043760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74576923100005 meters 0.017696615466940905 Centerline is valid? [True, True] Translation: X:187.93, Y:175.56, Z:-0.62 [[-5.06222052e-01 -8.62402411e-01 1.14752333e-03 1.87932364e+02] [ 8.62400302e-01 -5.06223352e-01 -1.90705526e-03 1.75558962e+02] [ 2.22555216e-03 2.42310433e-05 9.99997523e-01 -6.16243514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.775769231 meters 0.01888364293630319 Centerline is valid? [True, True] Translation: X:187.92, Y:175.58, Z:-0.62 [[-5.04904241e-01 -8.63174749e-01 1.02997368e-03 1.87918512e+02] [ 8.63173055e-01 -5.04905291e-01 -1.70997920e-03 1.75577410e+02] [ 1.99605002e-03 2.56697770e-05 9.99998008e-01 -6.16217655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80576923100006 meters 0.02291840166920819 Centerline is valid? [True, True] Translation: X:187.90, Y:175.59, Z:-0.62 [[-5.02341631e-01 -8.64668091e-01 1.40621394e-03 1.87900236e+02] [ 8.64664944e-01 -5.02343597e-01 -2.33361576e-03 1.75591766e+02] [ 2.72420565e-03 4.36315513e-05 9.99996288e-01 -6.18951754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83576923100003 meters 0.025156169919073882 Centerline is valid? [True, True] Translation: X:187.88, Y:175.61, Z:-0.62 [[-5.01037988e-01 -8.65423975e-01 1.50936914e-03 1.87884702e+02] [ 8.65420358e-01 -5.01040258e-01 -2.50280300e-03 1.75607546e+02] [ 2.92224042e-03 5.22394074e-05 9.99995729e-01 -6.19639340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86576923100006 meters 0.02746170521003788 Centerline is valid? [True, True] Translation: X:187.87, Y:175.62, Z:-0.62 [[-4.99705790e-01 -8.66194404e-01 1.17357670e-03 1.87869168e+02] [ 8.66192223e-01 -4.99707167e-01 -1.94446111e-03 1.75624057e+02] [ 2.27072602e-03 4.48845325e-05 9.99997421e-01 -6.17927818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89576923100003 meters 0.029210897531339663 Centerline is valid? [True, True] Translation: X:187.85, Y:175.64, Z:-0.61 [[-4.98713040e-01 -8.66767086e-01 3.49269351e-04 1.87854590e+02] [ 8.66766894e-01 -4.98713162e-01 -5.77383077e-04 1.75641684e+02] [ 6.74641870e-04 1.47866418e-05 9.99999772e-01 -6.14667698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92576923100006 meters 0.031419383736036206 Centerline is valid? [True, True] Translation: X:187.84, Y:175.66, Z:-0.61 [[-4.97483586e-01 -8.67473095e-01 -7.14480010e-04 1.87840248e+02] [ 8.67472288e-01 -4.97484098e-01 1.18423274e-03 1.75658228e+02] [-1.38273248e-03 -3.06552589e-05 9.99999044e-01 -6.10629051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95576923100003 meters 0.03028451009113117 Centerline is valid? [True, True] Translation: X:187.83, Y:175.68, Z:-0.61 [[-4.97752859e-01 -8.67318877e-01 -2.38660969e-04 1.87829057e+02] [ 8.67318787e-01 -4.97752916e-01 3.96127538e-04 1.75677786e+02] [-4.62363085e-04 -9.82152814e-06 9.99999893e-01 -6.13179126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98576923100006 meters 0.030974840643707053 Centerline is valid? [True, True] Translation: X:187.82, Y:175.70, Z:-0.62 [[-4.97747540e-01 -8.67321459e-01 9.34412348e-04 1.87816514e+02] [ 8.67320087e-01 -4.97748415e-01 -1.54326436e-03 1.75695397e+02] [ 1.80360856e-03 4.22785621e-05 9.99998373e-01 -6.19433150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01576923100004 meters 0.033272183367574114 Centerline is valid? [True, True] Translation: X:187.80, Y:175.71, Z:-0.62 [[-4.97899234e-01 -8.67234209e-01 1.08637380e-03 1.87801934e+02] [ 8.67232356e-01 -4.97900417e-01 -1.79336345e-03 1.75712546e+02] [ 2.09617210e-03 4.92242187e-05 9.99997802e-01 -6.20163774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04576923100007 meters 0.031749060471268756 Centerline is valid? [True, True] Translation: X:187.79, Y:175.73, Z:-0.62 [[-4.97989915e-01 -8.67182343e-01 9.10523773e-04 1.87791637e+02] [ 8.67181043e-01 -4.97990746e-01 -1.50179609e-03 1.75732660e+02] [ 1.75576347e-03 4.17096451e-05 9.99998458e-01 -6.18264318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07576923100004 meters 0.03289290217902669 Centerline is valid? [True, True] Translation: X:187.78, Y:175.75, Z:-0.62 [[-4.98116456e-01 -8.67109959e-01 5.61481496e-04 1.87778175e+02] [ 8.67109466e-01 -4.98116771e-01 -9.24947085e-04 1.75749758e+02] [ 1.08171418e-03 2.61345567e-05 9.99999415e-01 -6.16232920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10576923100007 meters 0.03216373683022834 Centerline is valid? [True, True] Translation: X:187.77, Y:175.77, Z:-0.61 [[-4.98584189e-01 -8.66841151e-01 4.74882761e-04 1.87766267e+02] [ 8.66840799e-01 -4.98584415e-01 -7.81624210e-04 1.75769225e+02] [ 9.14313173e-04 2.19422795e-05 9.99999582e-01 -6.14919570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13576923100004 meters 0.03096849406241587 Centerline is valid? [True, True] Translation: X:187.76, Y:175.79, Z:-0.61 [[-4.99861401e-01 -8.66105396e-01 1.48372703e-04 1.87755159e+02] [ 8.66105362e-01 -4.99861423e-01 -2.43202411e-04 1.75789580e+02] [ 2.84804711e-04 6.93889576e-06 9.99999959e-01 -6.13944298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16576923100007 meters 0.03075264079781414 Centerline is valid? [True, True] Translation: X:187.74, Y:175.81, Z:-0.61 [[-5.00636865e-01 -8.65657387e-01 -1.33430698e-04 1.87744254e+02] [ 8.65657359e-01 -5.00636883e-01 2.21032955e-04 1.75808894e+02] [-2.58139139e-04 -4.84801974e-06 9.99999967e-01 -6.13475271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19576923100004 meters 0.030443517786076676 Centerline is valid? [True, True] Translation: X:187.73, Y:175.83, Z:-0.61 [[-5.01228163e-01 -8.65314923e-01 -6.41992059e-04 1.87732590e+02] [ 8.65314278e-01 -5.01228573e-01 1.05735565e-03 1.75829014e+02] [-1.23673039e-03 -2.55484637e-05 9.99999235e-01 -6.12474472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2257692310001 meters 0.03063381348003769 Centerline is valid? [True, True] Translation: X:187.72, Y:175.85, Z:-0.61 [[-5.01800120e-01 -8.64983047e-01 -9.84327955e-04 1.87720224e+02] [ 8.64981531e-01 -5.01801084e-01 1.61947748e-03 1.75847485e+02] [-1.89475740e-03 -3.87715103e-05 9.99998204e-01 -6.10920744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25576923100004 meters 0.02926333563798238 Centerline is valid? [True, True] Translation: X:187.71, Y:175.87, Z:-0.61 [[-5.02869316e-01 -8.64361762e-01 -1.09300336e-03 1.87707907e+02] [ 8.64359896e-01 -5.02870502e-01 1.79679336e-03 1.75867468e+02] [-2.10271862e-03 -4.11960219e-05 9.99997788e-01 -6.10830579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2857692310001 meters 0.029216365767901233 Centerline is valid? [True, True] Translation: X:187.70, Y:175.89, Z:-0.61 [[-5.03635679e-01 -8.63915811e-01 -7.58225725e-04 1.87695562e+02] [ 8.63914913e-01 -5.03636249e-01 1.24583720e-03 1.75886121e+02] [-1.45816841e-03 -2.75944479e-05 9.99998936e-01 -6.12066281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31576923100005 meters 0.028739290680693547 Centerline is valid? [True, True] Translation: X:187.68, Y:175.91, Z:-0.61 [[-5.04075601e-01 -8.63659316e-01 -6.11899628e-04 1.87684088e+02] [ 8.63658731e-01 -5.04075972e-01 1.00494937e-03 1.75905975e+02] [-1.17637779e-03 -2.19019983e-05 9.99999308e-01 -6.12756294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3457692310001 meters 0.02710474755414644 Centerline is valid? [True, True] Translation: X:187.67, Y:175.93, Z:-0.61 [[-5.05574430e-01 -8.62782850e-01 -5.00054782e-04 1.87674614e+02] [ 8.62782459e-01 -5.05574677e-01 8.21228066e-04 1.75925989e+02] [-9.61356526e-04 -1.62465827e-05 9.99999538e-01 -6.13905456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37576923100005 meters 0.02280940525058036 Centerline is valid? [True, True] Translation: X:187.67, Y:175.95, Z:-0.61 [[-5.06854502e-01 -8.62031495e-01 -4.65096261e-04 1.87667194e+02] [ 8.62031157e-01 -5.06854715e-01 7.62986771e-04 1.75948496e+02] [-8.93454859e-04 -1.42041882e-05 9.99999601e-01 -6.13800786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4057692310001 meters 0.02493617869542981 Centerline is valid? [True, True] Translation: X:187.65, Y:175.97, Z:-0.61 [[-5.08087571e-01 -8.61305354e-01 -3.27780807e-04 1.87652026e+02] [ 8.61305186e-01 -5.08087677e-01 5.37755067e-04 1.75965228e+02] [-6.29712707e-04 -9.09264363e-06 9.99999802e-01 -6.14982217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43576923100005 meters 0.01961835832587278 Centerline is valid? [True, True] Translation: X:187.65, Y:175.99, Z:-0.62 [[-5.09376636e-01 -8.60543690e-01 -1.09444944e-05 1.87646036e+02] [ 8.60543690e-01 -5.09376637e-01 1.91323106e-05 1.75989808e+02] [-2.20390590e-05 3.27336463e-07 1.00000000e+00 -6.15153567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4657692310001 meters 0.0182393061845439 Centerline is valid? [True, True] Translation: X:187.64, Y:176.01, Z:-0.62 [[-5.11883687e-01 -8.59054634e-01 4.75366139e-04 1.87638225e+02] [ 8.59054284e-01 -5.11883908e-01 -7.75624275e-04 1.76011713e+02] [ 9.09635905e-04 1.13359050e-05 9.99999586e-01 -6.16950027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49576923100005 meters 0.0182393061845439 Centerline is valid? [True, True] Translation: X:187.63, Y:176.03, Z:-0.62 [[-5.12152140e-01 -8.58894615e-01 4.75618936e-04 1.87626061e+02] [ 8.58894265e-01 -5.12152360e-01 -7.75469418e-04 1.76030698e+02] [ 9.09635867e-04 1.13480546e-05 9.99999586e-01 -6.16998306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.525769231 meters 0.016511916012671317 Centerline is valid? [True, True] Translation: X:187.62, Y:176.05, Z:-0.61 [[-5.12737216e-01 -8.58545600e-01 -1.11991256e-05 1.87616732e+02] [ 8.58545600e-01 -5.12737216e-01 1.95669498e-05 1.76052979e+02] [-2.25413272e-05 4.17743384e-07 1.00000000e+00 -6.14479443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55576923100006 meters 0.01766792535432271 Centerline is valid? [True, True] Translation: X:187.60, Y:176.07, Z:-0.61 [[-5.12583735e-01 -8.58636875e-01 -7.94404220e-04 1.87601862e+02] [ 8.58635896e-01 -5.12584350e-01 1.29685243e-03 1.76071250e+02] [-1.52072449e-03 -1.73585155e-05 9.99998844e-01 -6.11454958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58576923100003 meters 0.02085247029369121 Centerline is valid? [True, True] Translation: X:187.58, Y:176.09, Z:-0.61 [[-5.10108192e-01 -8.60108600e-01 -1.68176381e-03 1.87582476e+02] [ 8.60104231e-01 -5.10110962e-01 2.74197623e-03 1.76085944e+02] [-3.21628349e-03 -4.77876340e-05 9.99994827e-01 -6.07166196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61576923100006 meters 0.02140888061946439 Centerline is valid? [True, True] Translation: X:187.57, Y:176.10, Z:-0.61 [[-5.08590907e-01 -8.61007402e-01 -1.24215586e-03 1.87567286e+02] [ 8.61005024e-01 -5.08592422e-01 2.02411779e-03 1.76104386e+02] [-2.37453146e-03 -4.00545299e-05 9.99997180e-01 -6.08448045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64576923100003 meters 0.024599138452443586 Centerline is valid? [True, True] Translation: X:187.55, Y:176.12, Z:-0.61 [[-5.07104704e-01 -8.61884419e-01 -2.60236152e-04 1.87549126e+02] [ 8.61884314e-01 -5.07104770e-01 4.24766531e-04 1.76120326e+02] [-4.98066649e-04 -8.89235185e-06 9.99999876e-01 -6.11335769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67576923100006 meters 0.025076264062345508 Centerline is valid? [True, True] Translation: X:187.53, Y:176.14, Z:-0.61 [[-5.05837925e-01 -8.62628471e-01 3.37422171e-04 1.87533447e+02] [ 8.62628298e-01 -5.05838037e-01 -5.47527537e-04 1.76139007e+02] [ 6.42993811e-04 1.41097199e-05 9.99999793e-01 -6.13355144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70576923100003 meters 0.029644973869399897 Centerline is valid? [True, True] Translation: X:187.51, Y:176.15, Z:-0.62 [[-5.04311812e-01 -8.63521477e-01 5.04430723e-04 1.87509674e+02] [ 8.63521090e-01 -5.04312064e-01 -8.18528496e-04 1.76151879e+02] [ 9.61207435e-04 2.27929788e-05 9.99999538e-01 -6.15145459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73576923100006 meters 0.02843960475731 Centerline is valid? [True, True] Translation: X:187.50, Y:176.17, Z:-0.61 [[-5.04665627e-01 -8.63314813e-01 3.73397730e-04 1.87495593e+02] [ 8.63314601e-01 -5.04665765e-01 -6.05017259e-04 1.76171823e+02] [ 7.10761413e-04 1.70282978e-05 9.99999747e-01 -6.14597320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76576923100004 meters 0.027803136304066996 Centerline is valid? [True, True] Translation: X:187.48, Y:176.19, Z:-0.61 [[-5.06018565e-01 -8.62522567e-01 1.83118142e-04 1.87482122e+02] [ 8.62522516e-01 -5.06018598e-01 -2.95961588e-04 1.76190976e+02] [ 3.47934734e-04 8.18146279e-06 9.99999939e-01 -6.14016308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79576923100007 meters 0.02546207371818781 Centerline is valid? [True, True] Translation: X:187.47, Y:176.21, Z:-0.61 [[-5.08143583e-01 -8.61272353e-01 -1.81355818e-04 1.87471115e+02] [ 8.61272302e-01 -5.08143616e-01 2.95407444e-04 1.76211035e+02] [-3.46581066e-04 -6.08734595e-06 9.99999940e-01 -6.12821317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82576923100004 meters 0.022460755111115734 Centerline is valid? [True, True] Translation: X:187.46, Y:176.23, Z:-0.61 [[-5.11971897e-01 -8.59002087e-01 -4.38566208e-04 1.87460274e+02] [ 8.59001792e-01 -5.11972084e-01 7.12023706e-04 1.76230773e+02] [-8.36163504e-04 -1.21930311e-05 9.99999650e-01 -6.11733688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85576923100007 meters 0.020168158679778527 Centerline is valid? [True, True] Translation: X:187.45, Y:176.25, Z:-0.61 [[-5.13557337e-01 -8.58055223e-01 -3.09893364e-04 1.87450042e+02] [ 8.58055075e-01 -5.13557430e-01 5.03148056e-04 1.76251523e+02] [-5.90876857e-04 -7.51019847e-06 9.99999825e-01 -6.11692578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88576923100004 meters 0.01904440054593708 Centerline is valid? [True, True] Translation: X:187.44, Y:176.27, Z:-0.61 [[-5.15274291e-01 -8.57025265e-01 3.16074939e-04 1.87438679e+02] [ 8.57025114e-01 -5.15274388e-01 -5.10143429e-04 1.76270903e+02] [ 6.00071128e-04 8.02036724e-06 9.99999820e-01 -6.14482566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91576923100007 meters 0.017756386565165993 Centerline is valid? [True, True] Translation: X:187.43, Y:176.29, Z:-0.62 [[-5.16408649e-01 -8.56341624e-01 1.06310451e-03 1.87427702e+02] [ 8.56339901e-01 -5.16409743e-01 -1.71783094e-03 1.76290719e+02] [ 2.02004767e-03 2.32760498e-05 9.99997959e-01 -6.16913978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94576923100004 meters 0.017428394353543146 Centerline is valid? [True, True] Translation: X:187.42, Y:176.31, Z:-0.62 [[-5.17082351e-01 -8.55934324e-01 1.50880284e-03 1.87415255e+02] [ 8.55930856e-01 -5.17084551e-01 -2.43672016e-03 1.76309386e+02] [ 2.86585106e-03 3.14459208e-05 9.99995893e-01 -6.19295502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9757692310001 meters 0.017452071142499387 Centerline is valid? [True, True] Translation: X:187.40, Y:176.33, Z:-0.62 [[-5.17463401e-01 -8.55704987e-01 7.77105577e-04 1.87403143e+02] [ 8.55704069e-01 -5.17463984e-01 -1.25354631e-03 1.76329379e+02] [ 1.47478998e-03 1.63080659e-05 9.99998912e-01 -6.17646830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00576923100004 meters 0.016395692094192407 Centerline is valid? [True, True] Translation: X:187.39, Y:176.35, Z:-0.61 [[-5.17804995e-01 -8.55498663e-01 -1.58220906e-04 1.87392835e+02] [ 8.55498625e-01 -5.17805019e-01 2.56570874e-04 1.76350599e+02] [-3.01423619e-04 -2.50408722e-06 9.99999955e-01 -6.13948190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0357692310001 meters 0.01749808257092221 Centerline is valid? [True, True] Translation: X:187.38, Y:176.37, Z:-0.61 [[-5.17777860e-01 -8.55514498e-01 -1.01582405e-03 1.87379644e+02] [ 8.55512927e-01 -5.17778856e-01 1.63930781e-03 1.76369465e+02] [-1.92842381e-03 -2.02533212e-05 9.99998140e-01 -6.10823713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06576923100005 meters 0.017416467768427823 Centerline is valid? [True, True] Translation: X:187.37, Y:176.39, Z:-0.61 [[-5.16889486e-01 -8.56050836e-01 -1.49176158e-03 1.87367863e+02] [ 8.56047458e-01 -5.16891637e-01 2.40504492e-03 1.76389925e+02] [-2.82991980e-03 -3.38762793e-05 9.99995995e-01 -6.08589377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0957692310001 meters 0.02186727789199293 Centerline is valid? [True, True] Translation: X:187.35, Y:176.41, Z:-0.61 [[-5.12903165e-01 -8.58446172e-01 -7.16938918e-04 1.87350443e+02] [ 8.58445394e-01 -5.12903665e-01 1.15569900e-03 1.76406470e+02] [-1.35982598e-03 -2.26912390e-05 9.99999075e-01 -6.09502810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12576923100005 meters 0.024894802921019577 Centerline is valid? [True, True] Translation: X:187.33, Y:176.42, Z:-0.61 [[-5.10081773e-01 -8.60125844e-01 3.43290118e-04 1.87333272e+02] [ 8.60125667e-01 -5.10081888e-01 -5.51115447e-04 1.76423797e+02] [ 6.49134711e-04 1.41586979e-05 9.99999789e-01 -6.13290266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1557692310001 meters 0.028765887808081283 Centerline is valid? [True, True] Translation: X:187.31, Y:176.44, Z:-0.62 [[-5.06896703e-01 -8.62005624e-01 1.42714151e-03 1.87314486e+02] [ 8.62002575e-01 -5.06898708e-01 -2.29370558e-03 1.76440528e+02] [ 2.70060330e-03 6.75278619e-05 9.99996351e-01 -6.16478011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18576923100005 meters 0.031306172430500774 Centerline is valid? [True, True] Translation: X:187.30, Y:176.46, Z:-0.62 [[-5.03270630e-01 -8.64127106e-01 1.73704871e-03 1.87297324e+02] [ 8.64122607e-01 -5.03273618e-01 -2.79010496e-03 1.76458537e+02] [ 3.28521611e-03 9.68451812e-05 9.99994599e-01 -6.17235461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2157692310001 meters 0.04477501124276748 Centerline is valid? [True, True] Translation: X:187.27, Y:176.47, Z:-0.62 [[-4.99580901e-01 -8.66265858e-01 1.54494193e-03 1.87268289e+02] [ 8.66262315e-01 -4.99583280e-01 -2.47961092e-03 1.76467516e+02] [ 2.91982944e-03 9.95587158e-05 9.99995732e-01 -6.18261205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24576923100005 meters 0.049433375277088354 Centerline is valid? [True, True] Translation: X:187.25, Y:176.48, Z:-0.62 [[-4.96182318e-01 -8.68217782e-01 9.94865747e-04 1.87249276e+02] [ 8.68216320e-01 -4.96183310e-01 -1.59523802e-03 1.76482255e+02] [ 1.87864980e-03 7.22297769e-05 9.99998233e-01 -6.15648110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.275769231 meters 0.04791177655139608 Centerline is valid? [True, True] Translation: X:187.23, Y:176.50, Z:-0.61 [[-4.91075805e-01 -8.71116672e-01 5.46413963e-04 1.87232931e+02] [ 8.71116233e-01 -4.91076107e-01 -8.74989127e-04 1.76499885e+02] [ 1.03054846e-03 4.63040840e-05 9.99999468e-01 -6.12790703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30576923100006 meters 0.05161682758708763 Centerline is valid? [True, True] Translation: X:187.21, Y:176.51, Z:-0.61 [[-4.88596826e-01 -8.72508850e-01 1.20332248e-03 1.87209458e+02] [ 8.72506729e-01 -4.88598296e-01 -1.92714276e-03 1.76513862e+02] [ 2.26939042e-03 1.08311123e-04 9.99997419e-01 -6.14723360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33576923100003 meters 0.05238240443292518 Centerline is valid? [True, True] Translation: X:187.19, Y:176.53, Z:-0.62 [[-4.88376683e-01 -8.72631414e-01 1.62182663e-03 1.87192876e+02] [ 8.72627565e-01 -4.88379354e-01 -2.59604021e-03 1.76530686e+02] [ 3.05745288e-03 1.47405117e-04 9.99995315e-01 -6.15664492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36576923100006 meters 0.05270268343821211 Centerline is valid? [True, True] Translation: X:187.18, Y:176.55, Z:-0.62 [[-4.88567225e-01 -8.72524594e-01 1.70305330e-03 1.87175635e+02] [ 8.72520354e-01 -4.88570168e-01 -2.72429642e-03 1.76548113e+02] [ 3.20907667e-03 1.54946728e-04 9.99994839e-01 -6.16187366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39576923100003 meters 0.05231471819848449 Centerline is valid? [True, True] Translation: X:187.16, Y:176.57, Z:-0.62 [[-4.88771737e-01 -8.72410610e-01 1.38491809e-03 1.87158427e+02] [ 8.72407810e-01 -4.88773682e-01 -2.21365925e-03 1.76565315e+02] [ 2.60813133e-03 1.26239279e-04 9.99996591e-01 -6.15469028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42576923100006 meters 0.05850071481955624 Centerline is valid? [True, True] Translation: X:187.13, Y:176.58, Z:-0.61 [[-4.88920900e-01 -8.72327722e-01 8.35472378e-04 1.87133981e+02] [ 8.72326706e-01 -4.88921608e-01 -1.33396811e-03 1.76577358e+02] [ 1.57213786e-03 7.65999798e-05 9.99998761e-01 -6.14211475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45576923100003 meters 0.05270937391256256 Centerline is valid? [True, True] Translation: X:187.12, Y:176.60, Z:-0.61 [[-4.90830789e-01 -8.71254920e-01 6.69757333e-06 1.87118785e+02] [ 8.71254920e-01 -4.90830789e-01 -9.46533659e-06 1.76595757e+02] [ 1.15340962e-05 1.18941510e-06 1.00000000e+00 -6.12049432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48576923100006 meters 0.050233419247570986 Centerline is valid? [True, True] Translation: X:187.11, Y:176.62, Z:-0.61 [[-4.93105794e-01 -8.69969349e-01 -8.61934943e-05 1.87105531e+02] [ 8.69969338e-01 -4.93105802e-01 1.38758735e-04 1.76615502e+02] [-1.63218359e-04 -6.56296082e-06 9.99999987e-01 -6.11809011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51576923100004 meters 0.048635908262344464 Centerline is valid? [True, True] Translation: X:187.09, Y:176.63, Z:-0.61 [[-4.96225513e-01 -8.68193665e-01 2.05386100e-05 1.87092471e+02] [ 8.68193664e-01 -4.96225514e-01 -3.15146282e-05 1.76634033e+02] [ 3.75525827e-05 2.19312855e-06 9.99999999e-01 -6.11735103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54576923100007 meters 0.04188684364304873 Centerline is valid? [True, True] Translation: X:187.09, Y:176.66, Z:-0.61 [[-4.99739850e-01 -8.66175502e-01 2.87597246e-04 1.87085299e+02] [ 8.66175381e-01 -4.99739932e-01 -4.57093458e-04 1.76657421e+02] [ 5.39646983e-04 2.06818383e-05 9.99999854e-01 -6.11751764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57576923100004 meters 0.035197912479433956 Centerline is valid? [True, True] Translation: X:187.08, Y:176.68, Z:-0.61 [[-5.07385430e-01 -8.61718670e-01 9.79382703e-04 1.87076240e+02] [ 8.61717262e-01 -5.07386373e-01 -1.55863227e-03 1.76679103e+02] [ 1.84002797e-03 5.31236746e-05 9.99998306e-01 -6.14246628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60576923100007 meters 0.03009041172361475 Centerline is valid? [True, True] Translation: X:187.07, Y:176.70, Z:-0.61 [[-5.11087249e-01 -8.59528102e-01 1.12525338e-03 1.87066612e+02] [ 8.59526240e-01 -5.11088485e-01 -1.78982756e-03 1.76701577e+02] [ 2.11351113e-03 5.24267581e-05 9.99997765e-01 -6.14424273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63576923100004 meters 0.02735477004723834 Centerline is valid? [True, True] Translation: X:187.06, Y:176.72, Z:-0.61 [[-5.14147804e-01 -8.57701118e-01 9.10044762e-04 1.87055407e+02] [ 8.57699900e-01 -5.14148608e-01 -1.44613625e-03 1.76720925e+02] [ 1.70825092e-03 3.70175264e-05 9.99998540e-01 -6.13881510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66576923100007 meters 0.022537692267645123 Centerline is valid? [True, True] Translation: X:187.04, Y:176.74, Z:-0.61 [[-5.18415686e-01 -8.55128594e-01 5.15123642e-04 1.87044861e+02] [ 8.55128203e-01 -5.18415941e-01 -8.17295341e-04 1.76742034e+02] [ 9.65940923e-04 1.67980295e-05 9.99999533e-01 -6.12902736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69576923100004 meters 0.02195751851195814 Centerline is valid? [True, True] Translation: X:187.03, Y:176.76, Z:-0.61 [[-5.19666653e-01 -8.54368835e-01 6.81630406e-04 1.87031566e+02] [ 8.54368151e-01 -5.19667099e-01 -1.08117084e-03 1.76760144e+02] [ 1.27793957e-03 2.05148757e-05 9.99999183e-01 -6.13528876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7257692310001 meters 0.02177124280741266 Centerline is valid? [True, True] Translation: X:187.02, Y:176.78, Z:-0.61 [[-5.20313336e-01 -8.53975232e-01 5.79318001e-04 1.87017583e+02] [ 8.53974739e-01 -5.20313658e-01 -9.18051851e-04 1.76777789e+02] [ 1.08542061e-03 1.70483183e-05 9.99999411e-01 -6.13373907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75576923100004 meters 0.01993737105591874 Centerline is valid? [True, True] Translation: X:187.01, Y:176.80, Z:-0.61 [[-5.20105494e-01 -8.54101990e-01 2.57206782e-04 1.87005272e+02] [ 8.54101893e-01 -5.20105558e-01 -4.06619111e-04 1.76798438e+02] [ 4.81068869e-04 8.19596607e-06 9.99999884e-01 -6.11144981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7857692310001 meters 0.02272775574104576 Centerline is valid? [True, True] Translation: X:186.99, Y:176.81, Z:-0.61 [[-5.19779971e-01 -8.54300127e-01 -2.73702780e-04 1.86986258e+02] [ 8.54300016e-01 -5.19780043e-01 4.35054437e-04 1.76813182e+02] [-5.13932304e-04 -7.69170663e-06 9.99999868e-01 -6.09208079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81576923100005 meters 0.02139943920393897 Centerline is valid? [True, True] Translation: X:186.97, Y:176.83, Z:-0.61 [[-5.19647064e-01 -8.54380984e-01 -2.53833797e-04 1.86973040e+02] [ 8.54380888e-01 -5.19647125e-01 4.03273297e-04 1.76832458e+02] [-4.76453039e-04 -7.31096024e-06 9.99999886e-01 -6.09537075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8457692310001 meters 0.022926842972321018 Centerline is valid? [True, True] Translation: X:186.96, Y:176.85, Z:-0.61 [[-5.19328185e-01 -8.54574884e-01 -6.47599119e-05 1.86955981e+02] [ 8.54574878e-01 -5.19328189e-01 1.03763807e-04 1.76849004e+02] [-1.22305591e-04 -1.45472414e-06 9.99999993e-01 -6.10572012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87576923100005 meters 0.02407964825722879 Centerline is valid? [True, True] Translation: X:186.94, Y:176.87, Z:-0.61 [[-5.18061075e-01 -8.55343297e-01 7.52849108e-04 1.86936489e+02] [ 8.55342471e-01 -5.18061621e-01 -1.18936009e-03 1.76865252e+02] [ 1.40733341e-03 2.77826516e-05 9.99999009e-01 -6.12996273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9057692310001 meters 0.024698898474611174 Centerline is valid? [True, True] Translation: X:186.92, Y:176.88, Z:-0.61 [[-5.17411080e-01 -8.55735907e-01 1.35328345e-03 1.86919680e+02] [ 8.55733240e-01 -5.17412847e-01 -2.13743680e-03 1.76883698e+02] [ 2.52928766e-03 5.21161443e-05 9.99996800e-01 -6.13883348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93576923100005 meters 0.027370325358638824 Centerline is valid? [True, True] Translation: X:186.90, Y:176.90, Z:-0.62 [[-5.16545059e-01 -8.56258446e-01 1.63591119e-03 1.86900391e+02] [ 8.56254555e-01 -5.16547645e-01 -2.58227612e-03 1.76899068e+02] [ 3.05612181e-03 6.68944387e-05 9.99995328e-01 -6.15232552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9657692310001 meters 0.02852157987355746 Centerline is valid? [True, True] Translation: X:186.88, Y:176.91, Z:-0.62 [[-5.13061588e-01 -8.58348277e-01 2.45811385e-03 1.86877660e+02] [ 8.58339524e-01 -5.13067463e-01 -3.87808277e-03 1.76913290e+02] [ 4.58992390e-03 1.20200961e-04 9.99989459e-01 -6.16119248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99576923100005 meters 0.03172062594553982 Centerline is valid? [True, True] Translation: X:186.86, Y:176.93, Z:-0.62 [[-5.11366459e-01 -8.59358229e-01 2.78909437e-03 1.86857873e+02] [ 8.59346992e-01 -5.11374044e-01 -4.39716350e-03 1.76927524e+02] [ 5.20500910e-03 1.48237923e-04 9.99986443e-01 -6.17351243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.025769231 meters 0.038128684337831176 Centerline is valid? [True, True] Translation: X:186.83, Y:176.94, Z:-0.62 [[-5.10248735e-01 -8.60022619e-01 2.70611534e-03 1.86834414e+02] [ 8.60012065e-01 -5.10255888e-01 -4.26337975e-03 1.76939774e+02] [ 5.04741431e-03 1.51907720e-04 9.99987250e-01 -6.19188374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05576923100006 meters 0.03636135799454761 Centerline is valid? [True, True] Translation: X:186.82, Y:176.96, Z:-0.62 [[-5.10000297e-01 -8.60170828e-01 2.41746915e-03 1.86819175e+02] [ 8.60162418e-01 -5.10006008e-01 -3.80607933e-03 1.76958184e+02] [ 4.50680220e-03 1.38314518e-04 9.99989835e-01 -6.17067206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08576923100003 meters 0.036647649127868824 Centerline is valid? [True, True] Translation: X:186.80, Y:176.97, Z:-0.61 [[-5.11284835e-01 -8.59409774e-01 1.63018250e-03 1.86796342e+02] [ 8.59405953e-01 -5.11287426e-01 -2.56434367e-03 1.76970896e+02] [ 3.03731383e-03 8.98785131e-05 9.99995383e-01 -6.13562952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11576923100006 meters 0.03504401079445869 Centerline is valid? [True, True] Translation: X:186.78, Y:176.99, Z:-0.61 [[-5.12457119e-01 -8.58711476e-01 1.51727279e-03 1.86780467e+02] [ 8.58708168e-01 -5.12459359e-01 -2.38491124e-03 1.76988377e+02] [ 2.82549129e-03 8.07297920e-05 9.99996005e-01 -6.13598510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14576923100003 meters 0.03381037682721124 Centerline is valid? [True, True] Translation: X:186.77, Y:177.01, Z:-0.61 [[-5.13911502e-01 -8.57841644e-01 1.63785639e-03 1.86765320e+02] [ 8.57837790e-01 -5.13914105e-01 -2.57272033e-03 1.77006289e+02] [ 3.04870414e-03 8.28645347e-05 9.99995349e-01 -6.14678424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17576923100006 meters 0.03176371749703384 Centerline is valid? [True, True] Translation: X:186.75, Y:177.02, Z:-0.62 [[-5.15613357e-01 -8.56819923e-01 1.57658099e-03 1.86751516e+02] [ 8.56816353e-01 -5.15615762e-01 -2.47463180e-03 1.77024412e+02] [ 2.93322384e-03 7.48871671e-05 9.99995695e-01 -6.15089641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20576923100003 meters 0.027526128701326553 Centerline is valid? [True, True] Translation: X:186.74, Y:177.04, Z:-0.61 [[-5.18179044e-01 -8.55271191e-01 1.29176183e-03 1.86736128e+02] [ 8.55268793e-01 -5.18180651e-01 -2.02588396e-03 1.77043165e+02] [ 2.40204618e-03 5.50329666e-05 9.99997114e-01 -6.13432618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23576923100006 meters 0.028039634992564472 Centerline is valid? [True, True] Translation: X:186.72, Y:177.06, Z:-0.61 [[-5.19044327e-01 -8.54746631e-01 1.08770091e-03 1.86719390e+02] [ 8.54744933e-01 -5.19045465e-01 -1.70448250e-03 1.77059334e+02] [ 2.02146690e-03 4.50048683e-05 9.99997956e-01 -6.12823864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26576923100004 meters 0.028687337818962568 Centerline is valid? [True, True] Translation: X:186.70, Y:177.08, Z:-0.61 [[-5.19653649e-01 -8.54376559e-01 8.83511719e-04 1.86703176e+02] [ 8.54375440e-01 -5.19654398e-01 -1.38315903e-03 1.77075464e+02] [ 1.64085940e-03 3.60870800e-05 9.99998653e-01 -6.12408328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29576923100007 meters 0.026537597840730967 Centerline is valid? [True, True] Translation: X:186.69, Y:177.09, Z:-0.61 [[-5.20358685e-01 -8.53947375e-01 8.48705458e-04 1.86690216e+02] [ 8.53946343e-01 -5.20359376e-01 -1.32785141e-03 1.77094956e+02] [ 1.57554707e-03 3.37899083e-05 9.99998758e-01 -6.12507104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32576923100004 meters 0.02616458276210005 Centerline is valid? [True, True] Translation: X:186.67, Y:177.11, Z:-0.61 [[-5.21011018e-01 -8.53549433e-01 9.41099650e-04 1.86671493e+02] [ 8.53548165e-01 -5.21011866e-01 -1.47154739e-03 1.77111169e+02] [ 1.74636253e-03 3.65814733e-05 9.99998474e-01 -6.13099938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35576923100007 meters 0.027128839254486725 Centerline is valid? [True, True] Translation: X:186.65, Y:177.13, Z:-0.61 [[-5.20690902e-01 -8.53744314e-01 1.27716094e-03 1.86654317e+02] [ 8.53741982e-01 -5.20692466e-01 -1.99603125e-03 1.77127409e+02] [ 2.36910841e-03 5.10506027e-05 9.99997192e-01 -6.14042381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38576923100004 meters 0.027128839254486725 Centerline is valid? [True, True] Translation: X:186.64, Y:177.15, Z:-0.61 [[-5.20950092e-01 -8.53586181e-01 1.27774457e-03 1.86641398e+02] [ 8.53583850e-01 -5.20951657e-01 -1.99565780e-03 1.77146820e+02] [ 2.36910907e-03 5.10240093e-05 9.99997192e-01 -6.14092459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41576923100007 meters 0.030688112900266608 Centerline is valid? [True, True] Translation: X:186.62, Y:177.16, Z:-0.61 [[-5.20155984e-01 -8.54070106e-01 1.41644061e-03 1.86621915e+02] [ 8.54067247e-01 -5.20157909e-01 -2.21066515e-03 1.77160913e+02] [ 2.62483580e-03 5.98448235e-05 9.99996553e-01 -6.14655742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44576923100004 meters 0.03326813874819677 Centerline is valid? [True, True] Translation: X:186.60, Y:177.18, Z:-0.62 [[-5.18182463e-01 -8.55268078e-01 1.85718784e-03 1.86600601e+02] [ 8.55263175e-01 -5.18185784e-01 -2.89719176e-03 1.77175221e+02] [ 3.44024396e-03 8.71104066e-05 9.99994079e-01 -6.15372274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4757692310001 meters 0.032598853297793516 Centerline is valid? [True, True] Translation: X:186.59, Y:177.19, Z:-0.62 [[-5.18044773e-01 -8.55350516e-01 2.26025333e-03 1.86586380e+02] [ 8.55343266e-01 -5.18049692e-01 -3.52319149e-03 1.77193285e+02] [ 4.18448720e-03 1.08121533e-04 9.99991239e-01 -6.17123335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50576923100004 meters 0.032932583770828416 Centerline is valid? [True, True] Translation: X:186.57, Y:177.21, Z:-0.62 [[-5.18492353e-01 -8.55079135e-01 2.31358973e-03 1.86572502e+02] [ 8.55071548e-01 -5.18497503e-01 -3.60385493e-03 1.77209989e+02] [ 4.28117165e-03 1.09713531e-04 9.99990830e-01 -6.18931595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5357692310001 meters 0.03192197977728792 Centerline is valid? [True, True] Translation: X:186.56, Y:177.23, Z:-0.62 [[-5.19278614e-01 -8.54602480e-01 2.07873149e-03 1.86559970e+02] [ 8.54596361e-01 -5.19282766e-01 -3.23564930e-03 1.77229284e+02] [ 3.84464335e-03 9.62728806e-05 9.99992605e-01 -6.18236241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56576923100005 meters 0.02900353782864895 Centerline is valid? [True, True] Translation: X:186.55, Y:177.25, Z:-0.62 [[-5.21989213e-01 -8.52950280e-01 1.75537505e-03 1.86548570e+02] [ 8.52945913e-01 -5.21992160e-01 -2.73021204e-03 1.77249519e+02] [ 3.24502713e-03 7.20987466e-05 9.99994732e-01 -6.16059571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5957692310001 meters 0.02766853033134595 Centerline is valid? [True, True] Translation: X:186.54, Y:177.27, Z:-0.62 [[-5.23753351e-01 -8.51867106e-01 2.20475308e-03 1.86536255e+02] [ 8.51860217e-01 -5.23757985e-01 -3.42693869e-03 1.77267976e+02] [ 4.07405338e-03 8.32708123e-05 9.99991698e-01 -6.16999075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62576923100005 meters 0.02694439039763104 Centerline is valid? [True, True] Translation: X:186.52, Y:177.29, Z:-0.62 [[-5.24843580e-01 -8.51196072e-01 2.11263371e-03 1.86523133e+02] [ 8.51189750e-01 -5.24847826e-01 -3.28149038e-03 1.77286242e+02] [ 3.90200293e-03 7.59830015e-05 9.99992384e-01 -6.16811088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6557692310001 meters 0.026560399738147892 Centerline is valid? [True, True] Translation: X:186.51, Y:177.30, Z:-0.62 [[-5.25374533e-01 -8.50869424e-01 1.68005550e-03 1.86509595e+02] [ 8.50865431e-01 -5.25377216e-01 -2.60752199e-03 1.77304846e+02] [ 3.10132362e-03 5.95754996e-05 9.99995189e-01 -6.16231078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68576923100005 meters 0.026549684669665688 Centerline is valid? [True, True] Translation: X:186.50, Y:177.32, Z:-0.62 [[-5.25676321e-01 -8.50683445e-01 1.44310799e-03 1.86495754e+02] [ 8.50680502e-01 -5.25678299e-01 -2.23805291e-03 1.77323630e+02] [ 2.66248511e-03 5.11324096e-05 9.99996454e-01 -6.16090648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7157692310001 meters 0.02688884921625963 Centerline is valid? [True, True] Translation: X:186.48, Y:177.34, Z:-0.62 [[-5.26077646e-01 -8.50433086e-01 2.42422387e-03 1.86481305e+02] [ 8.50424787e-01 -5.26083225e-01 -3.75790503e-03 1.77341579e+02] [ 4.47119028e-03 8.46702327e-05 9.99990001e-01 -6.20181844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74576923100005 meters 0.026527313086564714 Centerline is valid? [True, True] Translation: X:186.47, Y:177.36, Z:-0.62 [[-5.26901531e-01 -8.49918207e-01 3.71724351e-03 1.86467637e+02] [ 8.49898705e-01 -5.26914628e-01 -5.75899061e-03 1.77359816e+02] [ 6.85334096e-03 1.24859479e-04 9.99976508e-01 -6.24424043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.775769231 meters 0.025060651748887334 Centerline is valid? [True, True] Translation: X:186.45, Y:177.38, Z:-0.63 [[-5.28549574e-01 -8.48890144e-01 4.56844076e-03 1.86454988e+02] [ 8.48860688e-01 -5.28569298e-01 -7.07317733e-03 1.77378871e+02] [ 8.41908805e-03 1.39444904e-04 9.99964549e-01 -6.27592381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80576923100006 meters 0.02055872050441978 Centerline is valid? [True, True] Translation: X:186.45, Y:177.40, Z:-0.63 [[-5.32508797e-01 -8.46415649e-01 3.86391154e-03 1.86446492e+02] [ 8.46394546e-01 -5.32522808e-01 -5.97755964e-03 1.77401319e+02] [ 7.11712105e-03 8.72905578e-05 9.99974669e-01 -6.25321359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83576923100003 meters 0.018242748207168175 Centerline is valid? [True, True] Translation: X:186.44, Y:177.42, Z:-0.62 [[-5.34561999e-01 -8.45124186e-01 2.92921097e-03 1.86438351e+02] [ 8.45112059e-01 -5.34570021e-01 -4.52774627e-03 1.77421927e+02] [ 5.39237625e-03 5.51504184e-05 9.99985460e-01 -6.22606700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86576923100006 meters 0.016154043839545464 Centerline is valid? [True, True] Translation: X:186.43, Y:177.44, Z:-0.62 [[-5.36727183e-01 -8.43752418e-01 2.40581020e-03 1.86429719e+02] [ 8.43744236e-01 -5.36732574e-01 -3.71599585e-03 1.77442582e+02] [ 4.42665719e-03 3.54125016e-05 9.99990202e-01 -6.20300782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89576923100003 meters 0.01391277364683921 Centerline is valid? [True, True] Translation: X:186.42, Y:177.46, Z:-0.62 [[-5.40129088e-01 -8.41576174e-01 3.17999068e-03 1.86421835e+02] [ 8.41561857e-01 -5.40138449e-01 -4.90895522e-03 1.77464758e+02] [ 5.84889499e-03 2.46893512e-05 9.99982895e-01 -6.23362472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92576923100006 meters 0.013822412746609482 Centerline is valid? [True, True] Translation: X:186.41, Y:177.49, Z:-0.63 [[-5.41415017e-01 -8.40745061e-01 4.18584942e-03 1.86410721e+02] [ 8.40720261e-01 -5.41431197e-01 -6.45764500e-03 1.77485199e+02] [ 7.69558260e-03 2.28624444e-05 9.99970388e-01 -6.27799973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95576923100003 meters 0.013989477033331388 Centerline is valid? [True, True] Translation: X:186.40, Y:177.51, Z:-0.63 [[-5.42809038e-01 -8.39841383e-01 4.97983947e-03 1.86400406e+02] [ 8.39806290e-01 -5.42831881e-01 -7.67752609e-03 1.77506147e+02] [ 9.15111975e-03 1.46699571e-05 9.99958128e-01 -6.31140184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98576923100006 meters 0.014525893769736032 Centerline is valid? [True, True] Translation: X:186.40, Y:177.53, Z:-0.63 [[-5.46263499e-01 -8.37595188e-01 5.52185478e-03 1.86396403e+02] [ 8.37551982e-01 -5.46291406e-01 -8.50747770e-03 1.77529243e+02] [ 1.01423642e-02 -2.24841267e-05 9.99948565e-01 -6.33651314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01576923100004 meters 0.015480725685983337 Centerline is valid? [True, True] Translation: X:186.39, Y:177.55, Z:-0.63 [[-5.48510211e-01 -8.36127641e-01 5.20742234e-03 1.86387596e+02] [ 8.36089199e-01 -5.48534928e-01 -8.01777803e-03 1.77551302e+02] [ 9.56033887e-03 -4.39635426e-05 9.99954298e-01 -6.32509230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04576923100007 meters 0.015403376133775543 Centerline is valid? [True, True] Translation: X:186.38, Y:177.57, Z:-0.63 [[-5.50768654e-01 -8.34645691e-01 4.52336650e-03 1.86377635e+02] [ 8.34616679e-01 -5.50787225e-01 -6.95925398e-03 1.77571969e+02] [ 8.29992383e-03 -5.76618157e-05 9.99965553e-01 -6.26820263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07576923100004 meters 0.017787477619938444 Centerline is valid? [True, True] Translation: X:186.37, Y:177.60, Z:-0.62 [[-5.54407101e-01 -8.32240277e-01 2.98129013e-03 1.86373982e+02] [ 8.32227663e-01 -5.54415114e-01 -4.58247214e-03 1.77595539e+02] [ 5.46659018e-03 -5.94429790e-05 9.99985056e-01 -6.22014136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10576923100007 meters 0.01850441953393599 Centerline is valid? [True, True] Translation: X:186.36, Y:177.62, Z:-0.62 [[-5.55878004e-01 -8.31259738e-01 2.62526312e-03 1.86363269e+02] [ 8.31249959e-01 -5.55884200e-01 -4.03262946e-03 1.77617405e+02] [ 4.81150480e-03 -5.94001528e-05 9.99988423e-01 -6.20284385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13576923100004 meters 0.02264546838581943 Centerline is valid? [True, True] Translation: X:186.36, Y:177.64, Z:-0.62 [[-5.56861920e-01 -8.30601392e-01 2.47600487e-03 1.86357017e+02] [ 8.30592699e-01 -5.56867421e-01 -3.80057062e-03 1.77640791e+02] [ 4.53556570e-03 -5.98414862e-05 9.99989712e-01 -6.22280109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16576923100007 meters 0.02329703390220158 Centerline is valid? [True, True] Translation: X:186.35, Y:177.66, Z:-0.62 [[-5.57503144e-01 -8.30170277e-01 2.74879242e-03 1.86346186e+02] [ 8.30159578e-01 -5.57509916e-01 -4.21519361e-03 1.77659841e+02] [ 5.03180748e-03 -6.80473359e-05 9.99987338e-01 -6.23541153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19576923100004 meters 0.019500091897672944 Centerline is valid? [True, True] Translation: X:186.33, Y:177.68, Z:-0.62 [[-5.57486502e-01 -8.30179197e-01 3.36163738e-03 1.86328334e+02] [ 8.30163213e-01 -5.57496632e-01 -5.15228866e-03 1.77677066e+02] [ 6.15142438e-03 -8.16236976e-05 9.99981076e-01 -6.22374687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2257692310001 meters 0.021161941077581868 Centerline is valid? [True, True] Translation: X:186.32, Y:177.70, Z:-0.63 [[-5.55651631e-01 -8.31400898e-01 4.87980272e-03 1.86317627e+02] [ 8.31367304e-01 -5.55673050e-01 -7.47441401e-03 1.77697746e+02] [ 8.92580938e-03 -9.62618998e-05 9.99960160e-01 -6.31298390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25576923100004 meters 0.01726069874397936 Centerline is valid? [True, True] Translation: X:186.30, Y:177.71, Z:-0.63 [[-5.54579538e-01 -8.32112171e-01 5.55609440e-03 1.86299599e+02] [ 8.32068718e-01 -5.54607362e-01 -8.50434521e-03 1.77713124e+02] [ 1.01580200e-02 -9.32834914e-05 9.99948402e-01 -6.28792190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2857692310001 meters 0.01803817723817289 Centerline is valid? [True, True] Translation: X:186.29, Y:177.73, Z:-0.63 [[-5.53173320e-01 -8.33047516e-01 5.57801196e-03 1.86287148e+02] [ 8.33003831e-01 -5.53201438e-01 -8.53155578e-03 1.77731071e+02] [ 1.01929556e-02 -7.29237054e-05 9.99948048e-01 -6.33710032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31576923100005 meters 0.014056025558703512 Centerline is valid? [True, True] Translation: X:186.27, Y:177.75, Z:-0.63 [[-5.51616514e-01 -8.34083361e-01 4.91620425e-03 1.86268294e+02] [ 8.34049514e-01 -5.51638419e-01 -7.51416916e-03 1.77747244e+02] [ 8.97941061e-03 -4.45820394e-05 9.99959683e-01 -6.25093748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3457692310001 meters 0.01212938505216641 Centerline is valid? [True, True] Translation: X:186.25, Y:177.77, Z:-0.62 [[-5.48601847e-01 -8.36079829e-01 2.55599788e-03 1.86253102e+02] [ 8.36070717e-01 -5.48607801e-01 -3.90349161e-03 1.77765684e+02] [ 4.66587097e-03 -4.46772452e-06 9.99989115e-01 -6.17781687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37576923100005 meters 0.011776002952801465 Centerline is valid? [True, True] Translation: X:186.24, Y:177.78, Z:-0.62 [[-5.47534160e-01 -8.36782023e-01 1.47951668e-03 1.86240103e+02] [ 8.36778978e-01 -5.47536159e-01 -2.25732458e-03 1.77784284e+02] [ 2.69897751e-03 2.06613781e-06 9.99996358e-01 -6.15122527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4057692310001 meters 0.011936138572707667 Centerline is valid? [True, True] Translation: X:186.23, Y:177.80, Z:-0.61 [[-5.46787867e-01 -8.37270463e-01 1.09579180e-03 1.86226983e+02] [ 8.37268796e-01 -5.46788965e-01 -1.67035645e-03 1.77802843e+02] [ 1.99770698e-03 4.14164329e-06 9.99998005e-01 -6.14894877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43576923100005 meters 0.01205323141738411 Centerline is valid? [True, True] Translation: X:186.21, Y:177.82, Z:-0.61 [[-5.46268657e-01 -8.37609141e-01 1.21689271e-03 1.86213486e+02] [ 8.37607090e-01 -5.46270013e-01 -1.85387173e-03 1.77822002e+02] [ 2.21757191e-03 6.56594399e-06 9.99997541e-01 -6.14528676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4657692310001 meters 0.0136907690131969 Centerline is valid? [True, True] Translation: X:186.20, Y:177.84, Z:-0.62 [[-5.44260551e-01 -8.38911829e-01 2.71931698e-03 1.86198272e+02] [ 8.38901608e-01 -5.44267344e-01 -4.14138674e-03 1.77839498e+02] [ 4.95429375e-03 2.72459581e-05 9.99987727e-01 -6.19842106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49576923100005 meters 0.014740706235416314 Centerline is valid? [True, True] Translation: X:186.18, Y:177.86, Z:-0.62 [[-5.43340396e-01 -8.39504445e-01 3.67428402e-03 1.86183740e+02] [ 8.39485818e-01 -5.43352818e-01 -5.59255056e-03 1.77859177e+02] [ 6.69140363e-03 4.58506886e-05 9.99977611e-01 -6.22893534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.525769231 meters 0.015970104928086794 Centerline is valid? [True, True] Translation: X:186.17, Y:177.88, Z:-0.62 [[-5.42235878e-01 -8.40214715e-01 4.41420939e-03 1.86169194e+02] [ 8.40187887e-01 -5.42253841e-01 -6.71460364e-03 1.77878318e+02] [ 8.03533078e-03 6.78662558e-05 9.99967714e-01 -6.24772163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55576923100006 meters 0.01757896012551266 Centerline is valid? [True, True] Translation: X:186.15, Y:177.90, Z:-0.62 [[-5.40869315e-01 -8.41095038e-01 4.41831097e-03 1.86154144e+02] [ 8.41068230e-01 -5.40887354e-01 -6.71587276e-03 1.77895098e+02] [ 8.03849578e-03 8.36914873e-05 9.99967687e-01 -6.24780903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58576923100003 meters 0.02153331084809288 Centerline is valid? [True, True] Translation: X:186.13, Y:177.91, Z:-0.62 [[-5.37064097e-01 -8.43533270e-01 3.71196575e-03 1.86133570e+02] [ 8.43514433e-01 -5.37076915e-01 -5.63815934e-03 1.77909548e+02] [ 6.74958609e-03 1.03043729e-04 9.99977216e-01 -6.22240139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61576923100006 meters 0.022957737877595995 Centerline is valid? [True, True] Translation: X:186.12, Y:177.93, Z:-0.62 [[-5.35859310e-01 -8.44299895e-01 3.53374693e-03 1.86117604e+02] [ 8.44282864e-01 -5.35870951e-01 -5.36381984e-03 1.77927436e+02] [ 6.42230485e-03 1.09229174e-04 9.99979371e-01 -6.21843082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64576923100003 meters 0.023333372522408392 Centerline is valid? [True, True] Translation: X:186.10, Y:177.95, Z:-0.62 [[-5.35692296e-01 -8.44406030e-01 3.49564904e-03 1.86103140e+02] [ 8.44389389e-01 -5.35703690e-01 -5.30242968e-03 1.77946712e+02] [ 6.35003569e-03 1.11218228e-04 9.99979832e-01 -6.22026373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67576923100006 meters 0.020667092506893976 Centerline is valid? [True, True] Translation: X:186.09, Y:177.97, Z:-0.62 [[-5.38754906e-01 -8.42455263e-01 3.50433727e-03 1.86094887e+02] [ 8.42438523e-01 -5.38766295e-01 -5.31172772e-03 1.77968072e+02] [ 6.36291178e-03 9.04693427e-05 9.99979752e-01 -6.23378369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70576923100003 meters 0.017436843874597072 Centerline is valid? [True, True] Translation: X:186.09, Y:177.99, Z:-0.62 [[-5.42056925e-01 -8.40335776e-01 3.17374077e-03 1.86087202e+02] [ 8.40322029e-01 -5.42066213e-01 -4.80706997e-03 1.77990148e+02] [ 5.75993052e-03 6.12587209e-05 9.99983410e-01 -6.22523743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73576923100006 meters 0.01443811869346915 Centerline is valid? [True, True] Translation: X:186.08, Y:178.01, Z:-0.62 [[-5.45728647e-01 -8.37957612e-01 2.69892491e-03 1.86079654e+02] [ 8.37947660e-01 -5.45735320e-01 -4.08397347e-03 1.78013395e+02] [ 4.89509531e-03 3.28164963e-05 9.99988018e-01 -6.21719056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76576923100004 meters 0.01254260398208911 Centerline is valid? [True, True] Translation: X:186.07, Y:178.04, Z:-0.62 [[-5.49088504e-01 -8.35760486e-01 2.49514736e-03 1.86072582e+02] [ 8.35751969e-01 -5.49094173e-01 -3.77308453e-03 1.78036037e+02] [ 4.52346583e-03 1.35669829e-05 9.99989769e-01 -6.20581576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79576923100007 meters 0.012885368468145723 Centerline is valid? [True, True] Translation: X:186.07, Y:178.06, Z:-0.62 [[-5.53840541e-01 -8.32616186e-01 3.30777926e-03 1.86070075e+02] [ 8.32601181e-01 -5.53850419e-01 -4.99864795e-03 1.78060960e+02] [ 5.99397012e-03 -1.43929690e-05 9.99982036e-01 -6.23024888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82576923100004 meters 0.013862518607607248 Centerline is valid? [True, True] Translation: X:186.06, Y:178.08, Z:-0.63 [[-5.55658679e-01 -8.31401481e-01 3.87419475e-03 1.86061653e+02] [ 8.31380897e-01 -5.55672184e-01 -5.85039639e-03 1.78081881e+02] [ 7.01681049e-03 -2.98920232e-05 9.99975381e-01 -6.25195265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85576923100007 meters 0.014344622614893844 Centerline is valid? [True, True] Translation: X:186.05, Y:178.10, Z:-0.63 [[-5.56826876e-01 -8.30618440e-01 4.10342157e-03 1.86051500e+02] [ 8.30595358e-01 -5.56841994e-01 -6.19233103e-03 1.78102977e+02] [ 7.42842179e-03 -3.97734305e-05 9.99972408e-01 -6.25909888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88576923100004 meters 0.015549884051719394 Centerline is valid? [True, True] Translation: X:186.05, Y:178.13, Z:-0.63 [[-5.58191391e-01 -8.29701258e-01 4.26528231e-03 1.86045914e+02] [ 8.29676329e-01 -5.58207685e-01 -6.43194874e-03 1.78126037e+02] [ 7.71750932e-03 -5.14546469e-05 9.99970218e-01 -6.27408412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91576923100007 meters 0.0164938281369426 Centerline is valid? [True, True] Translation: X:186.04, Y:178.15, Z:-0.63 [[-5.59400332e-01 -8.28885393e-01 4.50262473e-03 1.86036558e+02] [ 8.28857624e-01 -5.59418449e-01 -6.78520364e-03 1.78147842e+02] [ 8.14300753e-03 -6.36103411e-05 9.99966843e-01 -6.27754377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94576923100004 meters 0.016219036997878883 Centerline is valid? [True, True] Translation: X:186.02, Y:178.17, Z:-0.63 [[-5.60200329e-01 -8.28343056e-01 4.83457377e-03 1.86024890e+02] [ 8.28311062e-01 -5.60221185e-01 -7.28071333e-03 1.78169300e+02] [ 8.73935898e-03 -7.41270673e-05 9.99961808e-01 -6.26408854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9757692310001 meters 0.017412116813184737 Centerline is valid? [True, True] Translation: X:186.02, Y:178.19, Z:-0.63 [[-5.60688575e-01 -8.28012040e-01 4.93790498e-03 1.86015496e+02] [ 8.27978698e-01 -5.60710313e-01 -7.43108557e-03 1.78190673e+02] [ 8.92176257e-03 -7.80446424e-05 9.99960197e-01 -6.28672647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00576923100004 meters 0.016850044088324554 Centerline is valid? [True, True] Translation: X:186.01, Y:178.21, Z:-0.63 [[-5.60235104e-01 -8.28319679e-01 4.81021119e-03 1.86006341e+02] [ 8.28288099e-01 -5.60255750e-01 -7.23319253e-03 1.78210952e+02] [ 8.68634419e-03 -6.80476922e-05 9.99962271e-01 -6.28719984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0357692310001 meters 0.015267555198797316 Centerline is valid? [True, True] Translation: X:185.99, Y:178.23, Z:-0.63 [[-5.59560726e-01 -8.28775987e-01 4.70706464e-03 1.85992396e+02] [ 8.28745812e-01 -5.59580521e-01 -7.07239589e-03 1.78229697e+02] [ 8.49541357e-03 -5.64748701e-05 9.99963912e-01 -6.27214423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06576923100005 meters 0.014472226498506671 Centerline is valid? [True, True] Translation: X:185.98, Y:178.25, Z:-0.63 [[-5.58410211e-01 -8.29551073e-01 4.80142088e-03 1.85978962e+02] [ 8.29519755e-01 -5.58430852e-01 -7.20838034e-03 1.78247019e+02] [ 8.66098119e-03 -4.23597157e-05 9.99962492e-01 -6.27982651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0957692310001 meters 0.013803466330262784 Centerline is valid? [True, True] Translation: X:185.96, Y:178.26, Z:-0.63 [[-5.56784044e-01 -8.30641219e-01 5.16649316e-03 1.85963810e+02] [ 8.30605054e-01 -5.56808014e-01 -7.75117799e-03 1.78264852e+02] [ 9.31519273e-03 -2.44169051e-05 9.99956612e-01 -6.29306415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12576923100005 meters 0.013597101581580043 Centerline is valid? [True, True] Translation: X:185.95, Y:178.28, Z:-0.63 [[-5.53295742e-01 -8.32969441e-01 5.07268586e-03 1.85947312e+02] [ 8.32934731e-01 -5.53318995e-01 -7.60421506e-03 1.78280510e+02] [ 9.14089221e-03 1.78364207e-05 9.99958221e-01 -6.27546669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1557692310001 meters 0.013718684134436842 Centerline is valid? [True, True] Translation: X:185.93, Y:178.30, Z:-0.62 [[-5.51993813e-01 -8.33835546e-01 4.59483624e-03 1.85932376e+02] [ 8.33807137e-01 -5.52012936e-01 -6.88307879e-03 1.78298248e+02] [ 8.27576480e-03 3.17903471e-05 9.99965755e-01 -6.24937962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18576923100005 meters 0.01716079120890651 Centerline is valid? [True, True] Translation: X:185.91, Y:178.31, Z:-0.62 [[-5.47089621e-01 -8.37067972e-01 3.18702898e-03 1.85910925e+02] [ 8.37054381e-01 -5.47098901e-01 -4.77030405e-03 1.78310885e+02] [ 5.73668879e-03 5.79327410e-05 9.99983543e-01 -6.19266998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2157692310001 meters 0.020375251695580375 Centerline is valid? [True, True] Translation: X:185.89, Y:178.33, Z:-0.62 [[-5.44333037e-01 -8.38866903e-01 1.96588814e-03 1.85891496e+02] [ 8.38861754e-01 -5.44336584e-01 -2.93957597e-03 1.78325155e+02] [ 3.53601783e-03 4.90000603e-05 9.99993747e-01 -6.16299424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24576923100005 meters 0.02464021000952381 Centerline is valid? [True, True] Translation: X:185.87, Y:178.34, Z:-0.62 [[-5.41217029e-01 -8.40881367e-01 1.62908224e-03 1.85870782e+02] [ 8.40877846e-01 -5.41219478e-01 -2.43399869e-03 1.78339172e+02] [ 2.92839519e-03 5.25376266e-05 9.99995711e-01 -6.15421482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.275769231 meters 0.02910460472414754 Centerline is valid? [True, True] Translation: X:185.85, Y:178.35, Z:-0.62 [[-5.38073304e-01 -8.42895064e-01 2.24310385e-03 1.85850293e+02] [ 8.42888413e-01 -5.38077972e-01 -3.34965421e-03 1.78352877e+02] [ 4.03037177e-03 8.83267402e-05 9.99991874e-01 -6.17854510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30576923100006 meters 0.02910460472414754 Centerline is valid? [True, True] Translation: X:185.84, Y:178.37, Z:-0.62 [[-5.38338914e-01 -8.42725446e-01 2.24414890e-03 1.85837383e+02] [ 8.42718796e-01 -5.38343584e-01 -3.34895428e-03 1.78371295e+02] [ 4.03037215e-03 8.83140538e-05 9.99991874e-01 -6.17902795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33576923100003 meters 0.03768496019250027 Centerline is valid? [True, True] Translation: X:185.81, Y:178.38, Z:-0.63 [[-5.32684778e-01 -8.46300604e-01 4.71330410e-03 1.85810365e+02] [ 8.46271439e-01 -5.32705574e-01 -7.03014265e-03 1.78379833e+02] [ 8.46041734e-03 2.43884668e-04 9.99964180e-01 -6.26410286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36576923100006 meters 0.0415005921624726 Centerline is valid? [True, True] Translation: X:185.79, Y:178.39, Z:-0.63 [[-5.30699043e-01 -8.47547516e-01 4.66197949e-03 1.85790721e+02] [ 8.47519074e-01 -5.30719454e-01 -6.94836902e-03 1.78393368e+02] [ 8.36327611e-03 2.63623756e-04 9.99964992e-01 -6.26096908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39576923100003 meters 0.04340440409001504 Centerline is valid? [True, True] Translation: X:185.77, Y:178.41, Z:-0.62 [[-5.29553383e-01 -8.48268565e-01 3.69543251e-03 1.85773068e+02] [ 8.48250739e-01 -5.29566231e-01 -5.50376805e-03 1.78407815e+02] [ 6.62564969e-03 2.20114364e-04 9.99978026e-01 -6.22309256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42576923100006 meters 0.04379820966882873 Centerline is valid? [True, True] Translation: X:185.76, Y:178.43, Z:-0.62 [[-5.29432329e-01 -8.48348555e-01 2.47740645e-03 1.85757001e+02] [ 8.48340557e-01 -5.29438104e-01 -3.68688781e-03 1.78425115e+02] [ 4.43939932e-03 1.49726763e-04 9.99990135e-01 -6.18357036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45576923100003 meters 0.04167626829204986 Centerline is valid? [True, True] Translation: X:185.75, Y:178.44, Z:-0.62 [[-5.31900648e-01 -8.46805355e-01 1.54644630e-03 1.85745791e+02] [ 8.46802237e-01 -5.31902889e-01 -2.29945295e-03 1.78444212e+02] [ 2.76974832e-03 8.64536749e-05 9.99996161e-01 -6.15625626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48576923100006 meters 0.04216446699246742 Centerline is valid? [True, True] Translation: X:185.73, Y:178.46, Z:-0.62 [[-5.34189568e-01 -8.45362141e-01 2.08696302e-03 1.85732391e+02] [ 8.45356460e-01 -5.34193634e-01 -3.10116879e-03 1.78461419e+02] [ 3.73645305e-03 1.07615657e-04 9.99993014e-01 -6.18884018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51576923100004 meters 0.035809188106909765 Centerline is valid? [True, True] Translation: X:185.73, Y:178.48, Z:-0.62 [[-5.36695856e-01 -8.43770930e-01 2.85936956e-03 1.85725162e+02] [ 8.43760253e-01 -5.36703457e-01 -4.24676502e-03 1.78484501e+02] [ 5.11793039e-03 1.33401197e-04 9.99986894e-01 -6.21270144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54576923100007 meters 0.0362984151496147 Centerline is valid? [True, True] Translation: X:185.71, Y:178.50, Z:-0.62 [[-5.39007813e-01 -8.42294308e-01 3.29803826e-03 1.85710333e+02] [ 8.42280094e-01 -5.39017885e-01 -4.89526298e-03 1.78501562e+02] [ 5.90095375e-03 1.39286987e-04 9.99982580e-01 -6.24756489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57576923100004 meters 0.03171623680704944 Centerline is valid? [True, True] Translation: X:185.70, Y:178.52, Z:-0.62 [[-5.40766226e-01 -8.41166410e-01 3.31057146e-03 1.85701276e+02] [ 8.41152086e-01 -5.40776344e-01 -4.91068469e-03 1.78523333e+02] [ 5.92098174e-03 1.29161664e-04 9.99982462e-01 -6.23436953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60576923100007 meters 0.030378836567530383 Centerline is valid? [True, True] Translation: X:185.69, Y:178.54, Z:-0.62 [[-5.42073415e-01 -8.40325871e-01 2.97364464e-03 1.85689867e+02] [ 8.40314322e-01 -5.42081560e-01 -4.40710937e-03 1.78543868e+02] [ 5.31536595e-03 1.09819352e-04 9.99985867e-01 -6.21600121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63576923100004 meters 0.030941243262544823 Centerline is valid? [True, True] Translation: X:185.68, Y:178.56, Z:-0.62 [[-5.42012463e-01 -8.40364877e-01 3.05994702e-03 1.85677204e+02] [ 8.40352666e-01 -5.42021088e-01 -4.53174454e-03 1.78561201e+02] [ 5.46687475e-03 1.15172621e-04 9.99985050e-01 -6.21385053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66576923100007 meters 0.03269782527147931 Centerline is valid? [True, True] Translation: X:185.66, Y:178.58, Z:-0.62 [[-5.41214521e-01 -8.40878245e-01 3.25871038e-03 1.85661617e+02] [ 8.40864427e-01 -5.41224315e-01 -4.82235679e-03 1.78578429e+02] [ 5.81870821e-03 1.30204119e-04 9.99983063e-01 -6.21566607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69576923100004 meters 0.035171474079090846 Centerline is valid? [True, True] Translation: X:185.64, Y:178.59, Z:-0.62 [[-5.39970635e-01 -8.41675979e-01 3.64148060e-03 1.85644295e+02] [ 8.41658769e-01 -5.39982891e-01 -5.38460026e-03 1.78594247e+02] [ 6.49842592e-03 1.57358058e-04 9.99978873e-01 -6.22762976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7257692310001 meters 0.037928312368523 Centerline is valid? [True, True] Translation: X:185.63, Y:178.61, Z:-0.62 [[-5.38700824e-01 -8.42486920e-01 4.14866619e-03 1.85626575e+02] [ 8.42464642e-01 -5.38716764e-01 -6.12983422e-03 1.78610021e+02] [ 7.39926117e-03 1.92957828e-04 9.99972606e-01 -6.24691501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75576923100004 meters 0.03840815947797734 Centerline is valid? [True, True] Translation: X:185.61, Y:178.63, Z:-0.62 [[-5.36931834e-01 -8.43616073e-01 4.01591337e-03 1.85609274e+02] [ 8.43595266e-01 -5.36946813e-01 -5.92854178e-03 1.78626377e+02] [ 7.15774502e-03 2.04582698e-04 9.99974362e-01 -6.23249566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7857692310001 meters 0.038609775381971925 Centerline is valid? [True, True] Translation: X:185.59, Y:178.64, Z:-0.62 [[-5.36461004e-01 -8.43918187e-01 3.41836872e-03 1.85594225e+02] [ 8.43903140e-01 -5.36471865e-01 -5.04258142e-03 1.78644254e+02] [ 6.08938481e-03 1.79623808e-04 9.99981443e-01 -6.20715220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81576923100005 meters 0.04019501749484566 Centerline is valid? [True, True] Translation: X:185.58, Y:178.66, Z:-0.62 [[-5.36465734e-01 -8.43916658e-01 3.03160242e-03 1.85578368e+02] [ 8.43904841e-01 -5.36474276e-01 -4.46891205e-03 1.78659660e+02] [ 5.39776604e-03 1.60965775e-04 9.99985419e-01 -6.19909416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8457692310001 meters 0.036906088348686306 Centerline is valid? [True, True] Translation: X:185.57, Y:178.68, Z:-0.62 [[-5.37752978e-01 -8.43093856e-01 3.80586696e-03 1.85566549e+02] [ 8.43075235e-01 -5.37766411e-01 -5.60677695e-03 1.78679792e+02] [ 6.77370662e-03 1.93571177e-04 9.99977039e-01 -6.22271764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87576923100005 meters 0.037517367491588155 Centerline is valid? [True, True] Translation: X:185.55, Y:178.70, Z:-0.63 [[-5.39445034e-01 -8.42010312e-01 4.20588117e-03 1.85552498e+02] [ 8.41987568e-01 -5.39461393e-01 -6.19201770e-03 1.78697503e+02] [ 7.48265327e-03 2.01046457e-04 9.99971984e-01 -6.25374845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9057692310001 meters 0.034743757817094406 Centerline is valid? [True, True] Translation: X:185.54, Y:178.72, Z:-0.63 [[-5.41780776e-01 -8.40509344e-01 4.19924068e-03 1.85541821e+02] [ 8.40486656e-01 -5.41797019e-01 -6.17826200e-03 1.78717897e+02] [ 7.46802302e-03 1.82142169e-04 9.99972097e-01 -6.25573884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93576923100005 meters 0.025079522955739186 Centerline is valid? [True, True] Translation: X:185.54, Y:178.74, Z:-0.62 [[-5.46709155e-01 -8.37313875e-01 3.81779595e-03 1.85538920e+02] [ 8.37295070e-01 -5.46722470e-01 -5.61309623e-03 1.78743946e+02] [ 6.78719819e-03 1.27890628e-04 9.99976959e-01 -6.22452151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9657692310001 meters 0.025756338637396684 Centerline is valid? [True, True] Translation: X:185.52, Y:178.76, Z:-0.62 [[-5.48858251e-01 -8.35908205e-01 3.47744228e-03 1.85524950e+02] [ 8.35892602e-01 -5.48869257e-01 -5.10849141e-03 1.78760851e+02] [ 6.17889105e-03 1.02930610e-04 9.99980905e-01 -6.22912149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99576923100005 meters 0.020891335777896924 Centerline is valid? [True, True] Translation: X:185.52, Y:178.78, Z:-0.62 [[-5.50602372e-01 -8.34761944e-01 3.08643129e-03 1.85516948e+02] [ 8.34749651e-01 -5.50611016e-01 -4.53082266e-03 1.78782962e+02] [ 5.48158140e-03 8.17157444e-05 9.99984973e-01 -6.18226158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.025769231 meters 0.019368351796413025 Centerline is valid? [True, True] Translation: X:185.51, Y:178.80, Z:-0.62 [[-5.52296053e-01 -8.33644210e-01 2.53013693e-03 1.85505097e+02] [ 8.33635950e-01 -5.52301845e-01 -3.71134769e-03 1.78802594e+02] [ 4.49134280e-03 5.94504234e-05 9.99989912e-01 -6.16176033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05576923100006 meters 0.014717126764931773 Centerline is valid? [True, True] Translation: X:185.50, Y:178.83, Z:-0.62 [[-5.57145806e-01 -8.30411512e-01 2.29595372e-03 1.85499170e+02] [ 8.30404694e-01 -5.57150535e-01 -3.36532063e-03 1.78826179e+02] [ 4.07379284e-03 3.15964696e-05 9.99991702e-01 -6.15156490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08576923100003 meters 0.012950526246076004 Centerline is valid? [True, True] Translation: X:185.49, Y:178.85, Z:-0.62 [[-5.60053583e-01 -8.28451757e-01 2.76957132e-03 1.85490759e+02] [ 8.28441823e-01 -5.60060430e-01 -4.05717985e-03 1.78848753e+02] [ 4.91230508e-03 2.21906010e-05 9.99987934e-01 -6.16773347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11576923100006 meters 0.012187507758849086 Centerline is valid? [True, True] Translation: X:185.48, Y:178.87, Z:-0.62 [[-5.63123453e-01 -8.26367021e-01 3.08602723e-03 1.85483256e+02] [ 8.26354675e-01 -5.63131909e-01 -4.51705167e-03 1.78870692e+02] [ 5.47058294e-03 6.49529785e-06 9.99985036e-01 -6.18631097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14576923100003 meters 0.012619471690987056 Centerline is valid? [True, True] Translation: X:185.48, Y:178.89, Z:-0.62 [[-5.66517192e-01 -8.24043071e-01 3.35985991e-03 1.85475791e+02] [ 8.24028415e-01 -5.66527155e-01 -4.91465200e-03 1.78893483e+02] [ 5.95333681e-03 -1.56148138e-05 9.99982279e-01 -6.19683864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17576923100006 meters 0.01597682366942238 Centerline is valid? [True, True] Translation: X:185.47, Y:178.92, Z:-0.62 [[-5.71922449e-01 -8.20300195e-01 3.50739853e-03 1.85472657e+02] [ 8.20284173e-01 -5.71933201e-01 -5.12720245e-03 1.78919761e+02] [ 6.21184284e-03 -5.52986797e-05 9.99980705e-01 -6.19579311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20576923100003 meters 0.017734528066083277 Centerline is valid? [True, True] Translation: X:185.46, Y:178.94, Z:-0.62 [[-5.73827582e-01 -8.18968193e-01 3.60621580e-03 1.85463536e+02] [ 8.18951251e-01 -5.73838909e-01 -5.26821203e-03 1.78941871e+02] [ 6.38388503e-03 -6.97304309e-05 9.99979620e-01 -6.19688890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23576923100006 meters 0.02052826118202699 Centerline is valid? [True, True] Translation: X:185.46, Y:178.96, Z:-0.62 [[-5.75787761e-01 -8.17589040e-01 4.07638285e-03 1.85457149e+02] [ 8.17567389e-01 -5.75802182e-01 -5.95071486e-03 1.78963893e+02] [ 7.21242939e-03 -9.36310976e-05 9.99973986e-01 -6.21762650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26576923100004 meters 0.023793873362267 Centerline is valid? [True, True] Translation: X:185.45, Y:178.99, Z:-0.62 [[-5.79649017e-01 -8.14854314e-01 4.41182899e-03 1.85454315e+02] [ 8.14828906e-01 -5.79665791e-01 -6.43618550e-03 1.78990843e+02] [ 7.80193986e-03 -1.35842812e-04 9.99969555e-01 -6.20975474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29576923100007 meters 0.026059200760534237 Centerline is valid? [True, True] Translation: X:185.45, Y:179.01, Z:-0.62 [[-5.81546304e-01 -8.13502407e-01 4.21079245e-03 1.85447978e+02] [ 8.13479265e-01 -5.81561530e-01 -6.13775513e-03 1.79012602e+02] [ 7.44191347e-03 -1.43996461e-04 9.99972298e-01 -6.19622886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32576923100004 meters 0.027148552195798474 Centerline is valid? [True, True] Translation: X:185.44, Y:179.04, Z:-0.62 [[-5.83118706e-01 -8.12378385e-01 3.73281151e-03 1.85439368e+02] [ 8.12360199e-01 -5.83130637e-01 -5.43758364e-03 1.79035251e+02] [ 6.59409217e-03 -1.38369237e-04 9.99978249e-01 -6.17649764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35576923100007 meters 0.028436552215428183 Centerline is valid? [True, True] Translation: X:185.43, Y:179.06, Z:-0.62 [[-5.83853745e-01 -8.11852661e-01 3.17202531e-03 1.85431875e+02] [ 8.11839541e-01 -5.83862349e-01 -4.61703860e-03 1.79056796e+02] [ 5.60038122e-03 -1.20499709e-04 9.99984310e-01 -6.16517651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38576923100004 meters 0.025290105090748423 Centerline is valid? [True, True] Translation: X:185.42, Y:179.08, Z:-0.61 [[-5.82779673e-01 -8.12626845e-01 2.33743871e-03 1.85420742e+02] [ 8.12619738e-01 -5.82784355e-01 -3.39953441e-03 1.79078736e+02] [ 4.12477563e-03 -8.17307159e-05 9.99991490e-01 -6.13417843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41576923100007 meters 0.025310217017748972 Centerline is valid? [True, True] Translation: X:185.41, Y:179.10, Z:-0.62 [[-5.81571107e-01 -8.13490820e-01 2.78089670e-03 1.85410157e+02] [ 8.13480782e-01 -5.81577749e-01 -4.04217226e-03 1.79099708e+02] [ 4.90557767e-03 -8.86045801e-05 9.99987964e-01 -6.15466922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44576923100004 meters 0.023759141006781528 Centerline is valid? [True, True] Translation: X:185.40, Y:179.12, Z:-0.62 [[-5.79946093e-01 -8.14642698e-01 4.45012588e-03 1.85397231e+02] [ 8.14617056e-01 -5.79963153e-01 -6.46475806e-03 1.79117844e+02] [ 7.84737698e-03 -1.24062744e-04 9.99969201e-01 -6.20407466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4757692310001 meters 0.020303510040203046 Centerline is valid? [True, True] Translation: X:185.38, Y:179.13, Z:-0.62 [[-5.78006237e-01 -8.16009421e-01 6.11682128e-03 1.85380667e+02] [ 8.15961114e-01 -5.78038585e-01 -8.88004507e-03 1.79134756e+02] [ 1.07819592e-02 -1.41633128e-04 9.99941863e-01 -6.23895056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50576923100004 meters 0.019111838572787802 Centerline is valid? [True, True] Translation: X:185.37, Y:179.15, Z:-0.63 [[-5.74127861e-01 -8.18731583e-01 7.46950475e-03 1.85367501e+02] [ 8.18659887e-01 -5.74176439e-01 -1.08353968e-02 1.79152042e+02] [ 1.31600952e-02 -1.05919291e-04 9.99913397e-01 -6.32590232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5357692310001 meters 0.015373129406221733 Centerline is valid? [True, True] Translation: X:185.35, Y:179.17, Z:-0.63 [[-5.72258167e-01 -8.20041481e-01 7.24985511e-03 1.85350355e+02] [ 8.19974133e-01 -5.72304085e-01 -1.05098266e-02 1.79169621e+02] [ 1.27676155e-02 -6.96404723e-05 9.99918488e-01 -6.27104574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56576923100005 meters 0.014583064661242786 Centerline is valid? [True, True] Translation: X:185.34, Y:179.19, Z:-0.63 [[-5.70773096e-01 -8.21081877e-01 6.52865918e-03 1.85337278e+02] [ 8.21027408e-01 -5.70810432e-01 -9.45758527e-03 1.79187896e+02] [ 1.14920786e-02 -3.79270997e-05 9.99933963e-01 -6.26548378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5957692310001 meters 0.013178465386678075 Centerline is valid? [True, True] Translation: X:185.32, Y:179.21, Z:-0.62 [[-5.69580943e-01 -8.21917762e-01 5.36113539e-03 1.85322525e+02] [ 8.21881120e-01 -5.69606173e-01 -7.76092718e-03 1.79206811e+02] [ 9.43257971e-03 -1.42602649e-05 9.99955512e-01 -6.21498841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62576923100005 meters 0.012362308424519314 Centerline is valid? [True, True] Translation: X:185.31, Y:179.23, Z:-0.62 [[-5.68586227e-01 -8.22613450e-01 4.10058191e-03 1.85309110e+02] [ 8.22592062e-01 -5.68601014e-01 -5.93188946e-03 1.79226138e+02] [ 7.21124708e-03 3.15483575e-07 9.99973999e-01 -6.16106639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6557692310001 meters 0.012902171790455566 Centerline is valid? [True, True] Translation: X:185.30, Y:179.24, Z:-0.62 [[-5.68441541e-01 -8.22711338e-01 4.50221219e-03 1.85296433e+02] [ 8.22685596e-01 -5.68459370e-01 -6.50807264e-03 1.79244050e+02] [ 7.91358985e-03 4.44627977e-06 9.99968687e-01 -6.19307852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68576923100005 meters 0.013258347535147328 Centerline is valid? [True, True] Translation: X:185.28, Y:179.26, Z:-0.62 [[-5.68348842e-01 -8.22773567e-01 4.82198388e-03 1.85284067e+02] [ 8.22744080e-01 -5.68369296e-01 -6.96571623e-03 1.79262191e+02] [ 8.47187477e-03 8.30194225e-06 9.99964113e-01 -6.21341883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7157692310001 meters 0.012724402734407055 Centerline is valid? [True, True] Translation: X:185.27, Y:179.28, Z:-0.62 [[-5.68282080e-01 -8.22820016e-01 4.76430753e-03 1.85271437e+02] [ 8.22791274e-01 -5.68302050e-01 -6.87743610e-03 1.79281526e+02] [ 8.36645782e-03 1.17069742e-05 9.99965001e-01 -6.18504559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74576923100005 meters 0.012722548559505395 Centerline is valid? [True, True] Translation: X:185.26, Y:179.30, Z:-0.62 [[-5.68129986e-01 -8.22926634e-01 4.48041472e-03 1.85258315e+02] [ 8.22901257e-01 -5.68147652e-01 -6.46276685e-03 1.79299465e+02] [ 7.86392007e-03 1.52472634e-05 9.99969079e-01 -6.17341716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.775769231 meters 0.012351740638142353 Centerline is valid? [True, True] Translation: X:185.24, Y:179.32, Z:-0.61 [[-5.67710759e-01 -8.23219905e-01 3.67179018e-03 1.85243800e+02] [ 8.23202891e-01 -5.67722633e-01 -5.29263760e-03 1.79318073e+02] [ 6.44156301e-03 1.79409809e-05 9.99979253e-01 -6.14022807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80576923100006 meters 0.012690993727775091 Centerline is valid? [True, True] Translation: X:185.23, Y:179.34, Z:-0.62 [[-5.68036154e-01 -8.22994901e-01 3.78434831e-03 1.85230902e+02] [ 8.22976848e-01 -5.68048760e-01 -5.45106670e-03 1.79336479e+02] [ 6.63589446e-03 1.80280749e-05 9.99977982e-01 -6.15810165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83576923100003 meters 0.012551422540492666 Centerline is valid? [True, True] Translation: X:185.22, Y:179.36, Z:-0.62 [[-5.68366990e-01 -8.22765158e-01 4.05718437e-03 1.85218153e+02] [ 8.22744429e-01 -5.68381470e-01 -5.84029430e-03 1.79357097e+02] [ 7.11121908e-03 1.85953507e-05 9.99974715e-01 -6.15586620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86576923100006 meters 0.01284105476602295 Centerline is valid? [True, True] Translation: X:185.21, Y:179.38, Z:-0.62 [[-5.68554928e-01 -8.22631409e-01 4.78116083e-03 1.85205225e+02] [ 8.22602655e-01 -5.68575030e-01 -6.87809439e-03 1.79377468e+02] [ 8.37658514e-03 2.24211306e-05 9.99964916e-01 -6.17445934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89576923100003 meters 0.01309969113709114 Centerline is valid? [True, True] Translation: X:185.19, Y:179.40, Z:-0.62 [[-5.68823597e-01 -8.22444566e-01 4.96496817e-03 1.85191593e+02] [ 8.22413597e-01 -5.68845264e-01 -7.13730162e-03 1.79395197e+02] [ 8.69433357e-03 2.33917466e-05 9.99962203e-01 -6.19106967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92576923100006 meters 0.013106026542459246 Centerline is valid? [True, True] Translation: X:185.18, Y:179.41, Z:-0.62 [[-5.69059846e-01 -8.22279873e-01 5.16747395e-03 1.85177373e+02] [ 8.22246362e-01 -5.69083307e-01 -7.42364967e-03 1.79414798e+02] [ 9.04504087e-03 2.44357138e-05 9.99959092e-01 -6.19717798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95576923100003 meters 0.013167214353734451 Centerline is valid? [True, True] Translation: X:185.16, Y:179.43, Z:-0.62 [[-5.69332131e-01 -8.22088542e-01 5.59947178e-03 1.85163589e+02] [ 8.22049237e-01 -5.69359665e-01 -8.03890783e-03 1.79434118e+02] [ 9.79680740e-03 2.62329741e-05 9.99952010e-01 -6.20556957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98576923100006 meters 0.013378587678637534 Centerline is valid? [True, True] Translation: X:185.15, Y:179.45, Z:-0.62 [[-5.69430921e-01 -8.22022455e-01 5.24495910e-03 1.85148843e+02] [ 8.21988016e-01 -5.69455075e-01 -7.52456790e-03 1.79452058e+02] [ 9.17213235e-03 2.65718997e-05 9.99957935e-01 -6.20752503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01576923100004 meters 0.013319209150342948 Centerline is valid? [True, True] Translation: X:185.13, Y:179.47, Z:-0.62 [[-5.69315103e-01 -8.22106926e-01 4.52954713e-03 1.85133862e+02] [ 8.22081286e-01 -5.69333120e-01 -6.49285961e-03 1.79468653e+02] [ 7.91664606e-03 2.71728962e-05 9.99968663e-01 -6.18693510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04576923100007 meters 0.013622912939730827 Centerline is valid? [True, True] Translation: X:185.12, Y:179.48, Z:-0.62 [[-5.68214931e-01 -8.22870253e-01 4.04224702e-03 1.85117600e+02] [ 8.22849881e-01 -5.68229308e-01 -5.79026601e-03 1.79484913e+02] [ 7.06156088e-03 3.60468803e-05 9.99975066e-01 -6.15632145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07576923100004 meters 0.014857405314179088 Centerline is valid? [True, True] Translation: X:185.10, Y:179.50, Z:-0.62 [[-5.67155344e-01 -8.23601393e-01 3.94479471e-03 1.85100590e+02] [ 8.23582038e-01 -5.67169061e-01 -5.64653188e-03 1.79500119e+02] [ 6.88785704e-03 4.64013323e-05 9.99976277e-01 -6.15993099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10576923100007 meters 0.015728873958194393 Centerline is valid? [True, True] Translation: X:185.08, Y:179.52, Z:-0.62 [[-5.65901633e-01 -8.24462469e-01 4.12052823e-03 1.85082191e+02] [ 8.24441407e-01 -5.65916631e-01 -5.89347530e-03 1.79515790e+02] [ 7.19082465e-03 6.20067979e-05 9.99974144e-01 -6.16437341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13576923100004 meters 0.01576691337766827 Centerline is valid? [True, True] Translation: X:185.07, Y:179.53, Z:-0.62 [[-5.65862336e-01 -8.24488091e-01 4.38232038e-03 1.85067233e+02] [ 8.24464298e-01 -5.65879301e-01 -6.26404836e-03 1.79533857e+02] [ 7.64449767e-03 6.84776563e-05 9.99970778e-01 -6.16998419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16576923100007 meters 0.0163501180784739 Centerline is valid? [True, True] Translation: X:185.05, Y:179.55, Z:-0.62 [[-5.66337676e-01 -8.24159987e-01 4.68539218e-03 1.85052562e+02] [ 8.24132817e-01 -5.66357053e-01 -6.69248082e-03 1.79551369e+02] [ 8.16927981e-03 7.11814225e-05 9.99966628e-01 -6.19781856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19576923100004 meters 0.0163501180784739 Centerline is valid? [True, True] Translation: X:185.04, Y:179.57, Z:-0.62 [[-5.66602437e-01 -8.23977977e-01 4.68751914e-03 1.85039261e+02] [ 8.23950813e-01 -5.66621822e-01 -6.69099137e-03 1.79569523e+02] [ 8.16928017e-03 7.11531895e-05 9.99966628e-01 -6.19830131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2257692310001 meters 0.015790369437595035 Centerline is valid? [True, True] Translation: X:185.03, Y:179.59, Z:-0.62 [[-5.67642364e-01 -8.23257920e-01 5.34261910e-03 1.85025882e+02] [ 8.23222648e-01 -5.67667501e-01 -7.62101098e-03 1.79587882e+02] [ 9.30688888e-03 7.21563588e-05 9.99956687e-01 -6.21600326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25576923100004 meters 0.015291698756652415 Centerline is valid? [True, True] Translation: X:185.01, Y:179.61, Z:-0.62 [[-5.68346844e-01 -8.22767774e-01 5.92068206e-03 1.85012325e+02] [ 8.22724490e-01 -5.68377678e-01 -8.43973845e-03 1.79606447e+02] [ 1.03091283e-02 7.43914071e-05 9.99946857e-01 -6.22088732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2857692310001 meters 0.015263336234127848 Centerline is valid? [True, True] Translation: X:185.00, Y:179.62, Z:-0.62 [[-5.68837153e-01 -8.22426215e-01 6.27810710e-03 1.84997994e+02] [ 8.22377594e-01 -5.68871791e-01 -8.94299519e-03 1.79624331e+02] [ 1.09263917e-02 7.58666974e-05 9.99940302e-01 -6.23829053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31576923100005 meters 0.015471533652086584 Centerline is valid? [True, True] Translation: X:184.98, Y:179.64, Z:-0.63 [[-5.70126529e-01 -8.21529972e-01 6.65169935e-03 1.84983828e+02] [ 8.21475411e-01 -5.70165327e-01 -9.46833383e-03 1.79641707e+02] [ 1.15710884e-02 6.60591523e-05 9.99933051e-01 -6.27284473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3457692310001 meters 0.014497408906088199 Centerline is valid? [True, True] Translation: X:184.97, Y:179.66, Z:-0.63 [[-5.71396988e-01 -8.20647603e-01 6.55687474e-03 1.84970924e+02] [ 8.20594602e-01 -5.71434606e-01 -9.32690759e-03 1.79661244e+02] [ 1.14009295e-02 5.11691126e-05 9.99935006e-01 -6.25790750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37576923100005 meters 0.014126051419454968 Centerline is valid? [True, True] Translation: X:184.96, Y:179.68, Z:-0.63 [[-5.72709897e-01 -8.19734566e-01 6.21411631e-03 1.84958518e+02] [ 8.19686977e-01 -5.72743608e-01 -8.83290653e-03 1.79679274e+02] [ 1.07997342e-02 3.49372255e-05 9.99941681e-01 -6.25422133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4057692310001 meters 0.013407438787601198 Centerline is valid? [True, True] Translation: X:184.95, Y:179.70, Z:-0.62 [[-5.73717360e-01 -8.19033804e-01 5.65844505e-03 1.84945599e+02] [ 8.18994367e-01 -5.73745263e-01 -8.03743444e-03 1.79698620e+02] [ 9.82943655e-03 2.30189517e-05 9.99951690e-01 -6.22834937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43576923100005 meters 0.012630123666217128 Centerline is valid? [True, True] Translation: X:184.94, Y:179.72, Z:-0.62 [[-5.76968988e-01 -8.16754580e-01 4.32930373e-03 1.84937558e+02] [ 8.16731465e-01 -5.76985230e-01 -6.14478230e-03 1.79720094e+02] [ 7.51672340e-03 -9.47024837e-06 9.99971749e-01 -6.19252887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4657692310001 meters 0.013273623440798445 Centerline is valid? [True, True] Translation: X:184.93, Y:179.74, Z:-0.62 [[-5.79385762e-01 -8.15043534e-01 4.02197265e-03 1.84928335e+02] [ 8.15023570e-01 -5.79399721e-01 -5.70462577e-03 1.79742147e+02] [ 6.97984818e-03 -2.71764434e-05 9.99975640e-01 -6.18127376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49576923100005 meters 0.015038482970901008 Centerline is valid? [True, True] Translation: X:184.92, Y:179.76, Z:-0.62 [[-5.82081864e-01 -8.13120420e-01 3.98580279e-03 1.84919557e+02] [ 8.13100798e-01 -5.82095508e-01 -5.64896030e-03 1.79764301e+02] [ 6.91340287e-03 -4.72979110e-05 9.99976101e-01 -6.17765964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.525769231 meters 0.01788535382793051 Centerline is valid? [True, True] Translation: X:184.91, Y:179.79, Z:-0.62 [[-5.85008027e-01 -8.11017337e-01 4.06054942e-03 1.84912383e+02] [ 8.10996950e-01 -5.85022114e-01 -5.75093989e-03 1.79785789e+02] [ 7.03962315e-03 -7.12528045e-05 9.99975219e-01 -6.18329110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55576923100006 meters 0.02253033996986103 Centerline is valid? [True, True] Translation: X:184.91, Y:179.81, Z:-0.62 [[-5.89092819e-01 -8.08050887e-01 4.83880731e-03 1.84907873e+02] [ 8.08021877e-01 -5.89112679e-01 -6.84821374e-03 1.79811276e+02] [ 8.38430792e-03 -1.24371368e-04 9.99964843e-01 -6.21601859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58576923100003 meters 0.02458056481627451 Centerline is valid? [True, True] Translation: X:184.90, Y:179.83, Z:-0.62 [[-5.90440610e-01 -8.07064819e-01 5.12489219e-03 1.84899481e+02] [ 8.07032283e-01 -5.90462833e-01 -7.24817378e-03 1.79832000e+02] [ 8.87580442e-03 -1.43662695e-04 9.99960599e-01 -6.22930727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61576923100006 meters 0.023088402986239008 Centerline is valid? [True, True] Translation: X:184.89, Y:179.85, Z:-0.62 [[-5.90722033e-01 -8.06853366e-01 5.92656776e-03 1.84888550e+02] [ 8.06809910e-01 -5.90751739e-01 -8.37566082e-03 1.79852539e+02] [ 1.02590603e-02 -1.66073792e-04 9.99947361e-01 -6.22876621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64576923100003 meters 0.022546605467794422 Centerline is valid? [True, True] Translation: X:184.88, Y:179.87, Z:-0.62 [[-5.90387276e-01 -8.07096486e-01 6.17467439e-03 1.84876501e+02] [ 8.07049392e-01 -5.90419541e-01 -8.72034053e-03 1.79872395e+02] [ 1.06838046e-02 -1.65110874e-04 9.99942913e-01 -6.23742328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67576923100006 meters 0.02336484069214896 Centerline is valid? [True, True] Translation: X:184.87, Y:179.89, Z:-0.63 [[-5.89943393e-01 -8.07421410e-01 6.12053669e-03 1.84866697e+02] [ 8.07375221e-01 -5.89975121e-01 -8.63760291e-03 1.79892198e+02] [ 1.05851499e-02 -1.54127100e-04 9.99943964e-01 -6.25078090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70576923100003 meters 0.021147860524956527 Centerline is valid? [True, True] Translation: X:184.85, Y:179.91, Z:-0.62 [[-5.89462925e-01 -8.07776684e-01 5.50358260e-03 1.84853145e+02] [ 8.07739405e-01 -5.89488602e-01 -7.76151443e-03 1.79910359e+02] [ 9.51386960e-03 -1.29664464e-04 9.99954734e-01 -6.21935750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73576923100006 meters 0.020959232166600852 Centerline is valid? [True, True] Translation: X:184.84, Y:179.93, Z:-0.62 [[-5.88668132e-01 -8.08361258e-01 4.68051960e-03 1.84841880e+02] [ 8.08334352e-01 -5.88686731e-01 -6.59606415e-03 1.79930048e+02] [ 8.08736249e-03 -9.94679817e-05 9.99967292e-01 -6.20059851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76576923100004 meters 0.015308671573775337 Centerline is valid? [True, True] Translation: X:184.83, Y:179.95, Z:-0.61 [[-5.86151393e-01 -8.10198352e-01 2.27472415e-03 1.84825803e+02] [ 8.10192022e-01 -5.86155806e-01 -3.20283581e-03 1.79948022e+02] [ 3.92827506e-03 -3.43833120e-05 9.99992284e-01 -6.09824857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79576923100007 meters 0.014818523269441853 Centerline is valid? [True, True] Translation: X:184.81, Y:179.97, Z:-0.61 [[-5.84932400e-01 -8.11080663e-01 1.49859594e-03 1.84813943e+02] [ 8.11077924e-01 -5.84934319e-01 -2.10818667e-03 1.79967396e+02] [ 2.58648963e-03 -1.76686036e-05 9.99996655e-01 -6.09036097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82576923100004 meters 0.013534403452022002 Centerline is valid? [True, True] Translation: X:184.80, Y:179.98, Z:-0.61 [[-5.83808684e-01 -8.11889602e-01 1.64172784e-03 1.84800688e+02] [ 8.11886322e-01 -5.83810992e-01 -2.30787025e-03 1.79984712e+02] [ 2.83219462e-03 -1.44583111e-05 9.99995989e-01 -6.10014675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85576923100007 meters 0.012833117477945551 Centerline is valid? [True, True] Translation: X:184.79, Y:180.00, Z:-0.61 [[-5.82680805e-01 -8.12697418e-01 2.44669593e-03 1.84787213e+02] [ 8.12690148e-01 -5.82685942e-01 -3.43759097e-03 1.80002684e+02] [ 4.21937662e-03 -1.46125952e-05 9.99991098e-01 -6.12846070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88576923100004 meters 0.012501806186031311 Centerline is valid? [True, True] Translation: X:184.77, Y:180.02, Z:-0.62 [[-5.80555559e-01 -8.14212009e-01 3.74803934e-03 1.84774263e+02] [ 8.14194997e-01 -5.80567657e-01 -5.26323790e-03 1.80021121e+02] [ 6.46138193e-03 -3.96714319e-06 9.99979125e-01 -6.17269863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91576923100007 meters 0.012120507595934952 Centerline is valid? [True, True] Translation: X:184.76, Y:180.04, Z:-0.61 [[-5.79531560e-01 -8.14940493e-01 3.89405564e-03 1.84759884e+02] [ 8.14922171e-01 -5.79544643e-01 -5.46466860e-03 1.80040131e+02] [ 6.71015880e-03 6.40435477e-06 9.99977487e-01 -6.14117285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94576923100004 meters 0.012392608890222744 Centerline is valid? [True, True] Translation: X:184.75, Y:180.06, Z:-0.61 [[-5.78477066e-01 -8.15690530e-01 3.63921123e-03 1.84745497e+02] [ 8.15674565e-01 -5.78488513e-01 -5.10340550e-03 1.80057397e+02] [ 6.26804143e-03 1.62089926e-05 9.99980356e-01 -6.14103806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9757692310001 meters 0.01274137364648388 Centerline is valid? [True, True] Translation: X:184.73, Y:180.08, Z:-0.61 [[-5.77043935e-01 -8.16706796e-01 3.21046707e-03 1.84730096e+02] [ 8.16694404e-01 -5.77052865e-01 -4.49903483e-03 1.80076272e+02] [ 5.52700154e-03 2.58297336e-05 9.99984726e-01 -6.11955770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00576923100004 meters 0.013803938964293792 Centerline is valid? [True, True] Translation: X:184.72, Y:180.09, Z:-0.61 [[-5.75976226e-01 -8.17461258e-01 2.91186900e-03 1.84715166e+02] [ 8.17451088e-01 -5.75983586e-01 -4.07761601e-03 1.80093187e+02] [ 5.01048186e-03 3.17006065e-05 9.99987447e-01 -6.12711374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0357692310001 meters 0.014784972459742057 Centerline is valid? [True, True] Translation: X:184.70, Y:180.11, Z:-0.61 [[-5.74723683e-01 -8.18340858e-01 3.30581609e-03 1.84701908e+02] [ 8.18327781e-01 -5.74733189e-01 -4.62655897e-03 1.80113109e+02] [ 5.68606446e-03 4.62481303e-05 9.99983833e-01 -6.14648696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06576923100005 meters 0.015204210149911317 Centerline is valid? [True, True] Translation: X:184.69, Y:180.13, Z:-0.62 [[-5.75012793e-01 -8.18136553e-01 3.58739950e-03 1.84689105e+02] [ 8.18121170e-01 -5.75023981e-01 -5.01725715e-03 1.80132073e+02] [ 6.16764221e-03 4.99404281e-05 9.99980979e-01 -6.15467012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0957692310001 meters 0.015041813055014971 Centerline is valid? [True, True] Translation: X:184.68, Y:180.15, Z:-0.62 [[-5.75328864e-01 -8.17913799e-01 3.70345832e-03 1.84676389e+02] [ 8.17897423e-01 -5.75340781e-01 -5.17598801e-03 1.80151760e+02] [ 6.36426262e-03 5.11537166e-05 9.99979747e-01 -6.15454859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12576923100005 meters 0.015496527923793921 Centerline is valid? [True, True] Translation: X:184.66, Y:180.17, Z:-0.62 [[-5.74997024e-01 -8.18146532e-01 3.83068987e-03 1.84663667e+02] [ 8.18129039e-01 -5.75009781e-01 -5.35043844e-03 1.80171732e+02] [ 6.58012680e-03 5.75124419e-05 9.99978349e-01 -6.15867502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1557692310001 meters 0.016081101033163805 Centerline is valid? [True, True] Translation: X:184.65, Y:180.19, Z:-0.62 [[-5.74873300e-01 -8.18232695e-01 3.99323929e-03 1.84650345e+02] [ 8.18213715e-01 -5.74887165e-01 -5.57354136e-03 1.80189923e+02] [ 6.85611578e-03 6.32430381e-05 9.99976495e-01 -6.16668344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18576923100005 meters 0.01627123271235994 Centerline is valid? [True, True] Translation: X:184.64, Y:180.21, Z:-0.62 [[-5.74743544e-01 -8.18322428e-01 4.27353822e-03 1.84636138e+02] [ 8.18300719e-01 -5.74759427e-01 -5.96106555e-03 1.80208679e+02] [ 7.33433001e-03 7.09554580e-05 9.99973101e-01 -6.16922221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2157692310001 meters 0.016650686521753614 Centerline is valid? [True, True] Translation: X:184.62, Y:180.23, Z:-0.62 [[-5.74803905e-01 -8.18279944e-01 4.28990356e-03 1.84621844e+02] [ 8.18258097e-01 -5.74819909e-01 -5.97984080e-03 1.80226924e+02] [ 7.35910577e-03 7.30124820e-05 9.99972919e-01 -6.17720496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24576923100005 meters 0.016656010219450193 Centerline is valid? [True, True] Translation: X:184.61, Y:180.25, Z:-0.62 [[-5.75021776e-01 -8.18127457e-01 4.17378185e-03 1.84608114e+02] [ 8.18106803e-01 -5.75036919e-01 -5.81386511e-03 1.80245018e+02] [ 7.15656133e-03 7.15002787e-05 9.99974389e-01 -6.17519899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.275769231 meters 0.01595641323679039 Centerline is valid? [True, True] Translation: X:184.60, Y:180.26, Z:-0.61 [[-5.75912620e-01 -8.17505306e-01 3.11900932e-03 1.84595552e+02] [ 8.17493781e-01 -5.75921064e-01 -4.34118892e-03 1.80262880e+02] [ 5.34524814e-03 4.96252303e-05 9.99985713e-01 -6.14241479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30576923100006 meters 0.015160490588757451 Centerline is valid? [True, True] Translation: X:184.58, Y:180.28, Z:-0.61 [[-5.76871663e-01 -8.16831172e-01 2.43347935e-03 1.84582476e+02] [ 8.16824161e-01 -5.76876795e-01 -3.38447769e-03 1.80282073e+02] [ 4.16836465e-03 3.53154546e-05 9.99991312e-01 -6.11713201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33576923100003 meters 0.012745634579693162 Centerline is valid? [True, True] Translation: X:184.57, Y:180.30, Z:-0.61 [[-5.79869491e-01 -8.14707550e-01 1.72681018e-03 1.84571230e+02] [ 8.14704015e-01 -5.79872062e-01 -2.39981435e-03 1.80303225e+02] [ 2.95647585e-03 1.52600607e-05 9.99995630e-01 -6.09433519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36576923100006 meters 0.012155022119175192 Centerline is valid? [True, True] Translation: X:184.56, Y:180.32, Z:-0.61 [[-5.81648817e-01 -8.13436967e-01 2.22593239e-03 1.84559006e+02] [ 8.13431091e-01 -5.81653076e-01 -3.09180059e-03 1.80323766e+02] [ 3.80970532e-03 1.23004562e-05 9.99992743e-01 -6.11551702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39576923100003 meters 0.012013854166169916 Centerline is valid? [True, True] Translation: X:184.55, Y:180.34, Z:-0.61 [[-5.82935592e-01 -8.12513232e-01 2.88837270e-03 1.84546774e+02] [ 8.12503339e-01 -5.82942748e-01 -4.00964813e-03 1.80344885e+02] [ 4.94164808e-03 9.44585590e-06 9.99987790e-01 -6.13782748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42576923100006 meters 0.01194151068472752 Centerline is valid? [True, True] Translation: X:184.54, Y:180.36, Z:-0.62 [[-5.84070062e-01 -8.11697135e-01 3.15009790e-03 1.84535527e+02] [ 8.11685375e-01 -5.84078557e-01 -4.36945541e-03 1.80364211e+02] [ 5.38657907e-03 4.82029977e-06 9.99985492e-01 -6.15287046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45576923100003 meters 0.012079244011608663 Centerline is valid? [True, True] Translation: X:184.52, Y:180.39, Z:-0.62 [[-5.85366804e-01 -8.10759545e-01 3.82948625e-03 1.84523923e+02] [ 8.10742163e-01 -5.85379330e-01 -5.30886673e-03 1.80385248e+02] [ 6.54591647e-03 -2.90838213e-06 9.99978575e-01 -6.16646298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48576923100006 meters 0.012549285448352827 Centerline is valid? [True, True] Translation: X:184.51, Y:180.40, Z:-0.62 [[-5.86115633e-01 -8.10215487e-01 4.39644819e-03 1.84511517e+02] [ 8.10192594e-01 -5.86132121e-01 -6.09069953e-03 1.80404451e+02] [ 7.51167859e-03 -7.88445042e-06 9.99971787e-01 -6.19283833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51576923100004 meters 0.012924762535897857 Centerline is valid? [True, True] Translation: X:184.50, Y:180.42, Z:-0.62 [[-5.87015062e-01 -8.09561906e-01 4.77884965e-03 1.84500072e+02] [ 8.09534872e-01 -5.87034514e-01 -6.61592321e-03 1.80422792e+02] [ 8.16134908e-03 -1.50011307e-05 9.99966696e-01 -6.20382557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54576923100007 meters 0.013254938508736632 Centerline is valid? [True, True] Translation: X:184.49, Y:180.44, Z:-0.62 [[-5.87460089e-01 -8.09236335e-01 5.21521548e-03 1.84487233e+02] [ 8.09204169e-01 -5.87483238e-01 -7.21513359e-03 1.80441264e+02] [ 8.90259993e-03 -1.84289106e-05 9.99960371e-01 -6.22035477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57576923100004 meters 0.01287932653223563 Centerline is valid? [True, True] Translation: X:184.47, Y:180.46, Z:-0.62 [[-5.87710753e-01 -8.09056977e-01 4.78310021e-03 1.84472882e+02] [ 8.09029953e-01 -5.87730217e-01 -6.61268231e-03 1.80459625e+02] [ 8.16120928e-03 -1.66731665e-05 9.99966697e-01 -6.19778338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60576923100007 meters 0.012736297644985208 Centerline is valid? [True, True] Translation: X:184.46, Y:180.48, Z:-0.62 [[-5.87649698e-01 -8.09105315e-01 4.05248705e-03 1.84459071e+02] [ 8.09085949e-01 -5.87663671e-01 -5.59804212e-03 1.80477138e+02] [ 6.91090504e-03 -1.08774350e-05 9.99976119e-01 -6.18876305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63576923100004 meters 0.011935827275425515 Centerline is valid? [True, True] Translation: X:184.44, Y:180.50, Z:-0.61 [[-5.87341414e-01 -8.09333470e-01 3.06575449e-03 1.84444340e+02] [ 8.09322408e-01 -5.87349415e-01 -4.23152778e-03 1.80495570e+02] [ 5.22538616e-03 -4.16770666e-06 9.99986348e-01 -6.14148084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66576923100007 meters 0.011492731729079353 Centerline is valid? [True, True] Translation: X:184.43, Y:180.51, Z:-0.61 [[-5.85950368e-01 -8.10346028e-01 1.21692875e-03 1.84429770e+02] [ 8.10344291e-01 -5.85951632e-01 -1.67780934e-03 1.80512652e+02] [ 2.07266752e-03 3.01826166e-06 9.99997852e-01 -6.08062112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69576923100004 meters 0.011482566314116186 Centerline is valid? [True, True] Translation: X:184.41, Y:180.53, Z:-0.60 [[-5.84998770e-01 -8.11034068e-01 4.22837167e-04 1.84413187e+02] [ 8.11033860e-01 -5.84998923e-01 -5.81874396e-04 1.80530377e+02] [ 7.19279246e-04 2.53945331e-06 9.99999741e-01 -6.04858124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7257692310001 meters 0.01209989296840197 Centerline is valid? [True, True] Translation: X:184.40, Y:180.55, Z:-0.60 [[-5.83842327e-01 -8.11867009e-01 3.11378995e-04 1.84395493e+02] [ 8.11866896e-01 -5.83842410e-01 -4.27914686e-04 1.80546788e+02] [ 5.29206079e-04 2.96359262e-06 9.99999860e-01 -6.04312721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75576923100004 meters 0.014174837217938724 Centerline is valid? [True, True] Translation: X:184.37, Y:180.56, Z:-0.61 [[-5.81599204e-01 -8.13474261e-01 1.41126006e-03 1.84374543e+02] [ 8.13471943e-01 -5.81600916e-01 -1.94218123e-03 1.80560235e+02] [ 2.40070458e-03 1.84494042e-05 9.99997118e-01 -6.09539722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7857692310001 meters 0.01489235785558147 Centerline is valid? [True, True] Translation: X:184.36, Y:180.58, Z:-0.61 [[-5.80888110e-01 -8.13981277e-01 1.86674213e-03 1.84357551e+02] [ 8.13977227e-01 -5.80891109e-01 -2.56776358e-03 1.80577870e+02] [ 3.17448539e-03 2.79022508e-05 9.99994961e-01 -6.10880590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81576923100005 meters 0.01493354336976385 Centerline is valid? [True, True] Translation: X:184.34, Y:180.60, Z:-0.61 [[-5.80801128e-01 -8.14043361e-01 1.85917491e-03 1.84341776e+02] [ 8.14039350e-01 -5.80804103e-01 -2.55561233e-03 1.80595511e+02] [ 3.16019566e-03 2.91390177e-05 9.99995006e-01 -6.10135394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8457692310001 meters 0.015272677174323526 Centerline is valid? [True, True] Translation: X:184.33, Y:180.61, Z:-0.61 [[-5.81119864e-01 -8.13816174e-01 1.71431956e-03 1.84325675e+02] [ 8.13812767e-01 -5.81122392e-01 -2.35475404e-03 1.80612573e+02] [ 2.91256641e-03 2.67407971e-05 9.99995758e-01 -6.10039442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87576923100005 meters 0.014537431723473214 Centerline is valid? [True, True] Translation: X:184.31, Y:180.63, Z:-0.61 [[-5.82612194e-01 -8.12750024e-01 6.55005676e-04 1.84310355e+02] [ 8.12749528e-01 -5.82612562e-01 -8.98279173e-04 1.80628807e+02] [ 1.11169096e-03 9.00715413e-06 9.99999382e-01 -6.08504363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9057692310001 meters 0.01381763572269122 Centerline is valid? [True, True] Translation: X:184.30, Y:180.65, Z:-0.61 [[-5.83590310e-01 -8.12048048e-01 5.63899687e-04 1.84296739e+02] [ 8.12047680e-01 -5.83590582e-01 -7.72729118e-04 1.80647292e+02] [ 9.56579718e-04 6.95620771e-06 9.99999542e-01 -6.07651197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93576923100005 meters 0.013039817286880006 Centerline is valid? [True, True] Translation: X:184.28, Y:180.67, Z:-0.61 [[-5.84471428e-01 -8.11414219e-01 3.38041700e-04 1.84283053e+02] [ 8.11414088e-01 -5.84471526e-01 -4.62412007e-04 1.80665356e+02] [ 5.72783426e-04 4.02519166e-06 9.99999836e-01 -6.06644025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9657692310001 meters 0.013232059503519963 Centerline is valid? [True, True] Translation: X:184.27, Y:180.68, Z:-0.61 [[-5.84853624e-01 -8.11138685e-01 5.21754288e-04 1.84268267e+02] [ 8.11138371e-01 -5.84853856e-01 -7.13816767e-04 1.80681210e+02] [ 8.84154401e-04 5.73660088e-06 9.99999609e-01 -6.06930081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99576923100005 meters 0.013963358831006105 Centerline is valid? [True, True] Translation: X:184.25, Y:180.70, Z:-0.61 [[-5.83466210e-01 -8.12136162e-01 1.42719234e-03 1.84249365e+02] [ 8.12133812e-01 -5.83467955e-01 -1.95354579e-03 1.80696972e+02] [ 2.41926618e-03 1.92431964e-05 9.99997073e-01 -6.08892966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.025769231 meters 0.015226538512864816 Centerline is valid? [True, True] Translation: X:184.23, Y:180.71, Z:-0.61 [[-5.82188164e-01 -8.13051860e-01 1.90134717e-03 1.84231365e+02] [ 8.13047699e-01 -5.82191268e-01 -2.60125241e-03 1.80713218e+02] [ 3.22190083e-03 3.14675733e-05 9.99994809e-01 -6.09915696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05576923100006 meters 0.017275449983931913 Centerline is valid? [True, True] Translation: X:184.21, Y:180.73, Z:-0.61 [[-5.80947515e-01 -8.13938243e-01 2.12656768e-03 1.84212358e+02] [ 8.13933051e-01 -5.80951405e-01 -2.90754244e-03 1.80728494e+02] [ 3.60199246e-03 4.17541632e-05 9.99993512e-01 -6.11207285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08576923100003 meters 0.020123367248820894 Centerline is valid? [True, True] Translation: X:184.19, Y:180.74, Z:-0.61 [[-5.78817770e-01 -8.15454218e-01 2.09967388e-03 1.84191510e+02] [ 8.15449173e-01 -5.78821576e-01 -2.86864617e-03 1.80740973e+02] [ 3.55458616e-03 5.17539533e-05 9.99993681e-01 -6.11282161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11576923100006 meters 0.020123367248820894 Centerline is valid? [True, True] Translation: X:184.18, Y:180.76, Z:-0.61 [[-5.79082994e-01 -8.15265891e-01 2.10058508e-03 1.84177840e+02] [ 8.15260848e-01 -5.79086802e-01 -2.86797914e-03 1.80758860e+02] [ 3.55458667e-03 5.17268297e-05 9.99993681e-01 -6.11330437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14576923100003 meters 0.02208335477184249 Centerline is valid? [True, True] Translation: X:184.16, Y:180.77, Z:-0.61 [[-5.78483525e-01 -8.15691199e-01 2.16303832e-03 1.84161639e+02] [ 8.15685863e-01 -5.78487566e-01 -2.95117109e-03 1.80773721e+02] [ 3.65853506e-03 5.71559217e-05 9.99993306e-01 -6.12263553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17576923100006 meters 0.02128134157212556 Centerline is valid? [True, True] Translation: X:184.15, Y:180.79, Z:-0.61 [[-5.78140364e-01 -8.15934304e-01 2.22070874e-03 1.84148383e+02] [ 8.15928687e-01 -5.78144626e-01 -3.02804039e-03 1.80793370e+02] [ 3.75457286e-03 6.13075947e-05 9.99992950e-01 -6.12111651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20576923100003 meters 0.021081653291836533 Centerline is valid? [True, True] Translation: X:184.13, Y:180.81, Z:-0.61 [[-5.78375406e-01 -8.15766701e-01 2.56483670e-03 1.84133888e+02] [ 8.15759217e-01 -5.78381089e-01 -3.49517293e-03 1.80812078e+02] [ 4.33469874e-03 7.07671144e-05 9.99990603e-01 -6.13189263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23576923100006 meters 0.019684144526095737 Centerline is valid? [True, True] Translation: X:184.12, Y:180.83, Z:-0.62 [[-5.80326004e-01 -8.14378842e-01 2.97176295e-03 1.84119703e+02] [ 8.14368789e-01 -5.80333608e-01 -4.04713332e-03 1.80830424e+02] [ 5.02051366e-03 7.14542853e-05 9.99987395e-01 -6.15353345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26576923100004 meters 0.018612660947417002 Centerline is valid? [True, True] Translation: X:184.11, Y:180.85, Z:-0.61 [[-5.81657217e-01 -8.13429709e-01 2.64394934e-03 1.84105796e+02] [ 8.13421752e-01 -5.81663223e-01 -3.59830738e-03 1.80850293e+02] [ 4.46485822e-03 5.76644552e-05 9.99990031e-01 -6.14925761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29576923100007 meters 0.01772135516267367 Centerline is valid? [True, True] Translation: X:184.09, Y:180.87, Z:-0.61 [[-5.83107800e-01 -8.12390805e-01 2.54432870e-03 1.84093620e+02] [ 8.12383439e-01 -5.83113349e-01 -3.45981209e-03 1.80868260e+02] [ 4.29435156e-03 4.95270831e-05 9.99990778e-01 -6.14795472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32576923100004 meters 0.01582726659110642 Centerline is valid? [True, True] Translation: X:184.08, Y:180.89, Z:-0.61 [[-5.84982991e-01 -8.11041860e-01 2.44979922e-03 1.84083152e+02] [ 8.11035029e-01 -5.84988119e-01 -3.32908981e-03 1.80888585e+02] [ 4.13313463e-03 3.94120647e-05 9.99991458e-01 -6.14719183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35576923100007 meters 0.012569801410806793 Centerline is valid? [True, True] Translation: X:184.08, Y:180.91, Z:-0.62 [[-5.88979463e-01 -8.08143004e-01 2.84205328e-03 1.84075171e+02] [ 8.08133787e-01 -5.88986319e-01 -3.85983984e-03 1.80913028e+02] [ 4.79323306e-03 2.33928861e-05 9.99988512e-01 -6.15479079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38576923100004 meters 0.011901667830672799 Centerline is valid? [True, True] Translation: X:184.06, Y:180.93, Z:-0.62 [[-5.91199585e-01 -8.06520120e-01 2.88914575e-03 1.84063763e+02] [ 8.06510588e-01 -5.91206644e-01 -3.92104879e-03 1.80933091e+02] [ 4.87048690e-03 1.20042167e-05 9.99988139e-01 -6.16059914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41576923100007 meters 0.0118867589140671 Centerline is valid? [True, True] Translation: X:184.06, Y:180.96, Z:-0.61 [[-5.95425007e-01 -8.03407450e-01 2.35179870e-03 1.84057555e+02] [ 8.03401119e-01 -5.95429652e-01 -3.18941373e-03 1.80956651e+02] [ 3.96272943e-03 -9.61898694e-06 9.99992148e-01 -6.14783010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44576923100004 meters 0.01275890204188083 Centerline is valid? [True, True] Translation: X:184.05, Y:180.98, Z:-0.61 [[-5.97678785e-01 -8.01733553e-01 1.83872713e-03 1.84048585e+02] [ 8.01729681e-01 -5.97681613e-01 -2.49157111e-03 1.80977798e+02] [ 3.09654956e-03 -1.49970815e-05 9.99995206e-01 -6.13528190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4757692310001 meters 0.014011348218213818 Centerline is valid? [True, True] Translation: X:184.04, Y:181.00, Z:-0.61 [[-5.99590916e-01 -8.00305359e-01 1.43752292e-03 1.84038093e+02] [ 8.00302992e-01 -5.99592639e-01 -1.94629964e-03 1.80998461e+02] [ 2.41956219e-03 -1.65296934e-05 9.99997073e-01 -6.12563297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50576923100004 meters 0.014785163921720327 Centerline is valid? [True, True] Translation: X:184.03, Y:181.02, Z:-0.61 [[-6.01044018e-01 -7.99215185e-01 1.08489273e-03 1.84026088e+02] [ 7.99213837e-01 -6.01044997e-01 -1.46767406e-03 1.81019164e+02] [ 1.82505674e-03 -1.50754310e-05 9.99998334e-01 -6.11461403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5357692310001 meters 0.014924569362640161 Centerline is valid? [True, True] Translation: X:184.01, Y:181.04, Z:-0.61 [[-6.02145368e-01 -7.98385984e-01 8.81111059e-04 1.84013522e+02] [ 7.98385096e-01 -6.02146012e-01 -1.19090996e-03 1.81039193e+02] [ 1.48136333e-03 -1.36349773e-05 9.99998903e-01 -6.10143625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56576923100005 meters 0.01674245837261203 Centerline is valid? [True, True] Translation: X:184.01, Y:181.06, Z:-0.61 [[-6.02812180e-01 -7.97880229e-01 2.14819572e-03 1.84006496e+02] [ 7.97874948e-01 -6.02816007e-01 -2.90317447e-03 1.81062309e+02] [ 3.61135227e-03 -3.60773839e-05 9.99993478e-01 -6.13629725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5957692310001 meters 0.017078630099850486 Centerline is valid? [True, True] Translation: X:183.99, Y:181.08, Z:-0.62 [[-6.03436360e-01 -7.97405120e-01 3.10393284e-03 1.83994675e+02] [ 7.97394099e-01 -6.03444340e-01 -4.19270014e-03 1.81082764e+02] [ 5.21633126e-03 -5.49699772e-05 9.99986393e-01 -6.16477853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62576923100005 meters 0.016366731619404128 Centerline is valid? [True, True] Translation: X:183.98, Y:181.10, Z:-0.62 [[-6.03931150e-01 -7.97026540e-01 3.98251250e-03 1.83981593e+02] [ 7.97008412e-01 -6.03944277e-01 -5.37606282e-03 1.81102497e+02] [ 6.69008038e-03 -7.26758391e-05 9.99977619e-01 -6.17702903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6557692310001 meters 0.018096268025743715 Centerline is valid? [True, True] Translation: X:183.98, Y:181.13, Z:-0.62 [[-6.04572513e-01 -7.96543318e-01 3.28910905e-03 1.83975117e+02] [ 7.96530965e-01 -6.04581457e-01 -4.43658331e-03 1.81126156e+02] [ 5.52246514e-03 -6.23591190e-05 9.99984749e-01 -6.17919135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68576923100005 meters 0.017256959392397832 Centerline is valid? [True, True] Translation: X:183.96, Y:181.15, Z:-0.61 [[-6.04589981e-01 -7.96533117e-01 2.43905461e-03 1.83962842e+02] [ 7.96526333e-01 -6.04594899e-01 -3.28761745e-03 1.81146200e+02] [ 4.09333615e-03 -4.48893471e-05 9.99991621e-01 -6.14623141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7157692310001 meters 0.016502380841601924 Centerline is valid? [True, True] Translation: X:183.95, Y:181.17, Z:-0.61 [[-6.04445403e-01 -7.96644809e-01 1.67404113e-03 1.83950205e+02] [ 7.96641619e-01 -6.04447721e-01 -2.25461153e-03 1.81166303e+02] [ 2.80799492e-03 -2.91787353e-05 9.99996057e-01 -6.11947520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74576923100005 meters 0.014809709427526333 Centerline is valid? [True, True] Translation: X:183.94, Y:181.19, Z:-0.61 [[-6.03072113e-01 -7.97686238e-01 8.31666960e-04 1.83937810e+02] [ 7.97685454e-01 -6.03072687e-01 -1.11878994e-03 1.81187070e+02] [ 1.39399897e-03 -1.13023792e-05 9.99999028e-01 -6.09847022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.775769231 meters 0.01403857199596881 Centerline is valid? [True, True] Translation: X:183.92, Y:181.21, Z:-0.61 [[-6.02569715e-01 -7.98065764e-01 8.80701640e-04 1.83923487e+02] [ 7.98064885e-01 -6.02570358e-01 -1.18401842e-03 1.81205705e+02] [ 1.47560927e-03 -1.05965896e-05 9.99998911e-01 -6.10443419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80576923100006 meters 0.01361022159040479 Centerline is valid? [True, True] Translation: X:183.91, Y:181.22, Z:-0.61 [[-6.01858701e-01 -7.98601573e-01 1.27751236e-03 1.83910003e+02] [ 7.98599728e-01 -6.01860056e-01 -1.71680164e-03 1.81224103e+02] [ 2.13992415e-03 -1.30509795e-05 9.99997710e-01 -6.12850937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83576923100003 meters 0.012962509962400996 Centerline is valid? [True, True] Translation: X:183.90, Y:181.24, Z:-0.61 [[-6.01029502e-01 -7.99224913e-01 1.75380562e-03 1.83896052e+02] [ 7.99221442e-01 -6.01032061e-01 -2.35565825e-03 1.81241768e+02] [ 2.93679417e-03 -1.41410455e-05 9.99995688e-01 -6.14934753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86576923100006 meters 0.01224528094090233 Centerline is valid? [True, True] Translation: X:183.88, Y:181.26, Z:-0.62 [[-5.99334865e-01 -8.00493254e-01 2.87562364e-03 1.83880750e+02] [ 8.00483944e-01 -5.99341764e-01 -3.86076202e-03 1.81259976e+02] [ 4.81399529e-03 -1.19987324e-05 9.99988413e-01 -6.16590305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89576923100003 meters 0.012181455927068858 Centerline is valid? [True, True] Translation: X:183.87, Y:181.28, Z:-0.62 [[-5.98426882e-01 -8.01170345e-01 3.36825679e-03 1.83865773e+02] [ 8.01157599e-01 -5.98436361e-01 -4.51926171e-03 1.81277088e+02] [ 5.63638580e-03 -5.94317129e-06 9.99984115e-01 -6.17998464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92576923100006 meters 0.012009714848135766 Centerline is valid? [True, True] Translation: X:183.85, Y:181.29, Z:-0.62 [[-5.97289099e-01 -8.02020123e-01 3.07473990e-03 1.83849945e+02] [ 8.02009527e-01 -5.97297013e-01 -4.12272013e-03 1.81294638e+02] [ 5.14303747e-03 3.51490282e-06 9.99986774e-01 -6.17576939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95576923100003 meters 0.012119698072050435 Centerline is valid? [True, True] Translation: X:183.83, Y:181.31, Z:-0.61 [[-5.95764597e-01 -8.03155957e-01 2.24789434e-03 1.83834634e+02] [ 8.03150310e-01 -5.95768838e-01 -3.01175425e-03 1.81312982e+02] [ 3.75813377e-03 1.11004753e-05 9.99992938e-01 -6.14829875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98576923100006 meters 0.012143315547965718 Centerline is valid? [True, True] Translation: X:183.82, Y:181.33, Z:-0.61 [[-5.95652499e-01 -8.03240199e-01 1.81218781e-03 1.83820554e+02] [ 8.03236535e-01 -5.95655255e-01 -2.42609175e-03 1.81330799e+02] [ 3.02817361e-03 1.05078401e-05 9.99995415e-01 -6.13827641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01576923100004 meters 0.01204177205804988 Centerline is valid? [True, True] Translation: X:183.81, Y:181.35, Z:-0.61 [[-5.96292625e-01 -8.02765929e-01 1.40326479e-03 1.83807098e+02] [ 8.02763734e-01 -5.96294276e-01 -1.87714577e-03 1.81349256e+02] [ 2.34366743e-03 7.16189925e-06 9.99997254e-01 -6.13555713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04576923100007 meters 0.011709425414295937 Centerline is valid? [True, True] Translation: X:183.79, Y:181.37, Z:-0.61 [[-5.97371116e-01 -8.01963673e-01 1.42049193e-03 1.83793885e+02] [ 8.01961424e-01 -5.97372805e-01 -1.89902896e-03 1.81369576e+02] [ 2.37151549e-03 4.75468730e-06 9.99997188e-01 -6.12878029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07576923100004 meters 0.018395483327112522 Centerline is valid? [True, True] Translation: X:183.78, Y:181.39, Z:-0.61 [[-5.98501427e-01 -8.01119672e-01 1.82012336e-03 1.83781389e+02] [ 8.01115981e-01 -5.98504195e-01 -2.43194427e-03 1.81388692e+02] [ 3.03762986e-03 2.60779272e-06 9.99995386e-01 -6.11102225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10576923100007 meters 0.011980441983930211 Centerline is valid? [True, True] Translation: X:183.77, Y:181.41, Z:-0.62 [[-5.99333081e-01 -8.00493013e-01 3.28548031e-03 1.83768134e+02] [ 8.00480989e-01 -5.99342086e-01 -4.38749507e-03 1.81408243e+02] [ 5.48128577e-03 3.93588451e-07 9.99984978e-01 -6.17017309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13576923100004 meters 0.012238190993126341 Centerline is valid? [True, True] Translation: X:183.75, Y:181.43, Z:-0.62 [[-5.99858205e-01 -8.00098264e-01 3.59184194e-03 1.83754876e+02] [ 8.00083904e-01 -5.99868959e-01 -4.79363557e-03 1.81426386e+02] [ 5.99001399e-03 -1.72671267e-06 9.99982060e-01 -6.18202473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16576923100007 meters 0.012077699918298802 Centerline is valid? [True, True] Translation: X:183.74, Y:181.45, Z:-0.62 [[-6.00570685e-01 -7.99565292e-01 3.19317417e-03 1.83741110e+02] [ 7.99553950e-01 -6.00579174e-01 -4.25878182e-03 1.81445691e+02] [ 5.32292804e-03 -4.58449144e-06 9.99985833e-01 -6.16418931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19576923100004 meters 0.011838389490279927 Centerline is valid? [True, True] Translation: X:183.73, Y:181.46, Z:-0.61 [[-6.02002785e-01 -7.98493383e-01 9.81688281e-04 1.83729562e+02] [ 7.98492313e-01 -6.02003585e-01 -1.30748580e-03 1.81464169e+02] [ 1.63499863e-03 -3.23954839e-06 9.99998663e-01 -6.10683169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2257692310001 meters 0.01197745728786666 Centerline is valid? [True, True] Translation: X:183.72, Y:181.48, Z:-0.61 [[-6.03009797e-01 -7.97733776e-01 9.00255837e-05 1.83717444e+02] [ 7.97733767e-01 -6.03009803e-01 -1.18626890e-04 1.81482803e+02] [ 1.48918986e-04 2.83271197e-07 9.99999989e-01 -6.07635099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25576923100004 meters 0.012298890657481283 Centerline is valid? [True, True] Translation: X:183.70, Y:181.50, Z:-0.61 [[-6.03917439e-01 -7.97046774e-01 -4.08480941e-04 1.83704011e+02] [ 7.97046588e-01 -6.03917577e-01 5.44933962e-04 1.81502137e+02] [-6.81026677e-04 3.51678221e-06 9.99999768e-01 -6.06265411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2857692310001 meters 0.01231771681121111 Centerline is valid? [True, True] Translation: X:183.69, Y:181.52, Z:-0.61 [[-6.04015164e-01 -7.96972809e-01 1.52714239e-04 1.83690391e+02] [ 7.96972784e-01 -6.04015183e-01 -2.02002120e-04 1.81520819e+02] [ 2.53231916e-04 -3.03251168e-07 9.99999968e-01 -6.08786919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31576923100005 meters 0.012342020725340202 Centerline is valid? [True, True] Translation: X:183.68, Y:181.54, Z:-0.61 [[-6.03815565e-01 -7.97123443e-01 9.90375108e-04 1.83676903e+02] [ 7.97122358e-01 -6.03816377e-01 -1.31523623e-03 1.81538144e+02] [ 1.64641034e-03 -4.70996821e-06 9.99998645e-01 -6.11999157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3457692310001 meters 0.012290592431628677 Centerline is valid? [True, True] Translation: X:183.66, Y:181.56, Z:-0.61 [[-6.03602786e-01 -7.97282535e-01 2.05818587e-03 1.83662404e+02] [ 7.97277851e-01 -6.03606295e-01 -2.73301484e-03 1.81555838e+02] [ 3.42131894e-03 -8.70936278e-06 9.99994147e-01 -6.14214792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37576923100005 meters 0.012472504059972868 Centerline is valid? [True, True] Translation: X:183.65, Y:181.57, Z:-0.62 [[-6.03682465e-01 -7.97218801e-01 3.10878194e-03 1.83647668e+02] [ 7.97208123e-01 -6.03690470e-01 -4.12608603e-03 1.81574626e+02] [ 5.16613539e-03 -1.24995722e-05 9.99986655e-01 -6.16327376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4057692310001 meters 0.012441548235000684 Centerline is valid? [True, True] Translation: X:183.63, Y:181.59, Z:-0.62 [[-6.03784273e-01 -7.97143142e-01 2.71357746e-03 1.83634445e+02] [ 7.97135017e-01 -6.03790371e-01 -3.59897440e-03 1.81593454e+02] [ 4.50732970e-03 -9.91653223e-06 9.99989842e-01 -6.16728767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43576923100005 meters 0.011865283594743951 Centerline is valid? [True, True] Translation: X:183.62, Y:181.61, Z:-0.61 [[-6.03951781e-01 -7.97020061e-01 1.12638601e-03 1.83620333e+02] [ 7.97018664e-01 -6.03952831e-01 -1.49221273e-03 1.81611514e+02] [ 1.86960750e-03 -3.47386697e-06 9.99998252e-01 -6.11124828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4657692310001 meters 0.01142372769616669 Centerline is valid? [True, True] Translation: X:183.61, Y:181.63, Z:-0.61 [[-6.03639546e-01 -7.97257173e-01 -5.46935631e-04 1.83605788e+02] [ 7.97256842e-01 -6.03639794e-01 7.25819551e-04 1.81628346e+02] [-9.08816955e-04 2.08520991e-06 9.99999587e-01 -6.05993092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49576923100005 meters 0.01139892988289764 Centerline is valid? [True, True] Translation: X:183.59, Y:181.64, Z:-0.61 [[-6.01196749e-01 -7.99100730e-01 -7.01844620e-04 1.83586050e+02] [ 7.99100189e-01 -6.01197158e-01 9.30369604e-04 1.81643566e+02] [-1.16540602e-03 -1.50898749e-06 9.99999321e-01 -6.05452084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.525769231 meters 0.012077557759382716 Centerline is valid? [True, True] Translation: X:183.57, Y:181.66, Z:-0.61 [[-6.00456713e-01 -7.99657253e-01 1.13583860e-04 1.83569889e+02] [ 7.99657239e-01 -6.00456724e-01 -1.49148658e-04 1.81660345e+02] [ 1.87469999e-04 1.27084292e-06 9.99999982e-01 -6.08913054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55576923100006 meters 0.012169507767580731 Centerline is valid? [True, True] Translation: X:183.56, Y:181.68, Z:-0.61 [[-6.00391812e-01 -7.99705873e-01 4.34796483e-04 1.83556313e+02] [ 7.99705667e-01 -6.00391969e-01 -5.73787826e-04 1.81678342e+02] [ 7.19909811e-04 3.21169912e-06 9.99999741e-01 -6.09832441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58576923100003 meters 0.012162704489640276 Centerline is valid? [True, True] Translation: X:183.54, Y:181.70, Z:-0.61 [[-6.00562174e-01 -7.99577980e-01 3.58847220e-04 1.83542993e+02] [ 7.99577840e-01 -6.00562281e-01 -4.73092297e-04 1.81698509e+02] [ 5.93784288e-04 2.80494598e-06 9.99999824e-01 -6.09091427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61576923100006 meters 0.012558018428591914 Centerline is valid? [True, True] Translation: X:183.53, Y:181.72, Z:-0.61 [[-6.00335323e-01 -7.99748083e-01 7.09199655e-04 1.83530697e+02] [ 7.99747536e-01 -6.00335742e-01 -9.35404182e-04 1.81717654e+02] [ 1.17384560e-03 5.62450538e-06 9.99999311e-01 -6.10508787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64576923100003 meters 0.013070581572896062 Centerline is valid? [True, True] Translation: X:183.52, Y:181.74, Z:-0.61 [[-5.99635167e-01 -8.00272640e-01 1.16983921e-03 1.83516473e+02] [ 8.00271153e-01 -5.99636308e-01 -1.54278401e-03 1.81736416e+02] [ 1.93612589e-03 1.10810297e-05 9.99998126e-01 -6.11820761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67576923100006 meters 0.014328758122241965 Centerline is valid? [True, True] Translation: X:183.50, Y:181.75, Z:-0.61 [[-5.98124200e-01 -8.01401919e-01 1.55094524e-03 1.83500940e+02] [ 8.01399312e-01 -5.98126211e-01 -2.04442700e-03 1.81754256e+02] [ 2.56606872e-03 2.01051801e-05 9.99996707e-01 -6.12681596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70576923100003 meters 0.021120974201942894 Centerline is valid? [True, True] Translation: X:183.48, Y:181.77, Z:-0.61 [[-5.92060836e-01 -8.05892391e-01 1.19213834e-03 1.83479260e+02] [ 8.05890862e-01 -5.92062035e-01 -1.56995276e-03 1.81765683e+02] [ 1.97103283e-03 3.12258535e-05 9.99998057e-01 -6.10030152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73576923100006 meters 0.027716090193770106 Centerline is valid? [True, True] Translation: X:183.46, Y:181.78, Z:-0.61 [[-5.88730809e-01 -8.08328128e-01 1.29333256e-03 1.83456936e+02] [ 8.08326336e-01 -5.88732228e-01 -1.70232549e-03 1.81777297e+02] [ 2.13746414e-03 4.32233071e-05 9.99997715e-01 -6.11020398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76576923100004 meters 0.032312202289175834 Centerline is valid? [True, True] Translation: X:183.44, Y:181.79, Z:-0.61 [[-5.85798742e-01 -8.10454607e-01 1.77867146e-03 1.83436209e+02] [ 8.10451234e-01 -5.85801438e-01 -2.33937105e-03 1.81790573e+02] [ 2.93790235e-03 7.11258611e-05 9.99995682e-01 -6.12535569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79576923100007 meters 0.03384905548160633 Centerline is valid? [True, True] Translation: X:183.42, Y:181.81, Z:-0.61 [[-5.83400744e-01 -8.12181746e-01 2.09375335e-03 1.83418340e+02] [ 8.12177087e-01 -5.83404493e-01 -2.75255855e-03 1.81806410e+02] [ 3.45708292e-03 9.46537946e-05 9.99994020e-01 -6.13724326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82576923100004 meters 0.04239703191776154 Centerline is valid? [True, True] Translation: X:183.39, Y:181.81, Z:-0.62 [[-5.80021280e-01 -8.14598000e-01 2.32651382e-03 1.83392209e+02] [ 8.14592275e-01 -5.80025933e-01 -3.05644249e-03 1.81814806e+02] [ 3.83921029e-03 1.22358505e-04 9.99992623e-01 -6.15794742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85576923100007 meters 0.04325575027089477 Centerline is valid? [True, True] Translation: X:183.38, Y:181.83, Z:-0.62 [[-5.79665645e-01 -8.14851527e-01 2.17471521e-03 1.83375596e+02] [ 8.14846534e-01 -5.79669713e-01 -2.85478775e-03 1.81831369e+02] [ 3.58684470e-03 1.17236769e-04 9.99993560e-01 -6.15096056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88576923100004 meters 0.03961239010694952 Centerline is valid? [True, True] Translation: X:183.36, Y:181.85, Z:-0.61 [[-5.80306431e-01 -8.14395358e-01 2.15565862e-03 1.83363703e+02] [ 8.14390456e-01 -5.80310424e-01 -2.82805057e-03 1.81850681e+02] [ 3.55410243e-03 1.14411873e-04 9.99993678e-01 -6.14258035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91576923100007 meters 0.043352993191401464 Centerline is valid? [True, True] Translation: X:183.34, Y:181.86, Z:-0.62 [[-5.81930160e-01 -8.13235079e-01 2.44856569e-03 1.83344155e+02] [ 8.13228752e-01 -5.81935298e-01 -3.21027236e-03 1.81863324e+02] [ 4.03561290e-03 1.23089712e-04 9.99991849e-01 -6.16207719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94576923100004 meters 0.03255615085982469 Centerline is valid? [True, True] Translation: X:183.34, Y:181.89, Z:-0.61 [[-5.86640789e-01 -8.09844205e-01 2.22426847e-03 1.83337804e+02] [ 8.09838967e-01 -5.86644999e-01 -2.91430164e-03 1.81888018e+02] [ 3.66498627e-03 9.16510650e-05 9.99993280e-01 -6.14729202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9757692310001 meters 0.026790016800237532 Centerline is valid? [True, True] Translation: X:183.33, Y:181.91, Z:-0.61 [[-5.89210348e-01 -8.07977110e-01 2.03823367e-03 1.83327982e+02] [ 8.07972707e-01 -5.89213869e-01 -2.66871449e-03 1.81910046e+02] [ 3.35721576e-03 7.44029781e-05 9.99994362e-01 -6.13097994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00576923100004 meters 0.026790016800237532 Centerline is valid? [True, True] Translation: X:183.31, Y:181.93, Z:-0.61 [[-5.89458256e-01 -8.07796266e-01 2.03904322e-03 1.83313484e+02] [ 8.07791863e-01 -5.89461778e-01 -2.66809612e-03 1.81928361e+02] [ 3.35721612e-03 7.43912329e-05 9.99994362e-01 -6.13148071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0357692310001 meters 0.026720543407061058 Centerline is valid? [True, True] Translation: X:183.30, Y:181.94, Z:-0.61 [[-5.91831846e-01 -8.06059472e-01 1.78714750e-03 1.83297885e+02] [ 8.06056087e-01 -5.91834541e-01 -2.33668497e-03 1.81944929e+02] [ 2.94120268e-03 5.76165407e-05 9.99995673e-01 -6.13844233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06576923100005 meters 0.02270523659680362 Centerline is valid? [True, True] Translation: X:183.29, Y:181.96, Z:-0.61 [[-5.95254130e-01 -8.03534865e-01 2.05937265e-03 1.83286978e+02] [ 8.03530361e-01 -5.95257690e-01 -2.69103966e-03 1.81964627e+02] [ 3.38820160e-03 5.29159717e-05 9.99994259e-01 -6.14290836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0957692310001 meters 0.020656963456518847 Centerline is valid? [True, True] Translation: X:183.27, Y:181.98, Z:-0.61 [[-5.96511398e-01 -8.02602316e-01 1.91687671e-03 1.83274087e+02] [ 8.02598414e-01 -5.96514477e-01 -2.50312571e-03 1.81984119e+02] [ 3.15245920e-03 4.53391844e-05 9.99995030e-01 -6.13110986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12576923100005 meters 0.022151633337180357 Centerline is valid? [True, True] Translation: X:183.26, Y:182.00, Z:-0.61 [[-5.97448966e-01 -8.01905652e-01 1.43479872e-03 1.83257409e+02] [ 8.01903467e-01 -5.97450688e-01 -1.87203274e-03 1.81999607e+02] [ 2.35841511e-03 3.21260415e-05 9.99997218e-01 -6.13005197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1557692310001 meters 0.018490739210441733 Centerline is valid? [True, True] Translation: X:183.25, Y:182.02, Z:-0.61 [[-5.98398327e-01 -8.01198203e-01 9.38906441e-04 1.83246261e+02] [ 8.01197269e-01 -5.98399063e-01 -1.22381895e-03 1.82020077e+02] [ 1.54236227e-03 1.99180664e-05 9.99998810e-01 -6.10124754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18576923100005 meters 0.016663101103612164 Centerline is valid? [True, True] Translation: X:183.23, Y:182.04, Z:-0.61 [[-6.00605508e-01 -7.99544099e-01 1.50255071e-03 1.83233169e+02] [ 7.99541702e-01 -6.00607387e-01 -1.95788938e-03 1.82039182e+02] [ 2.46786195e-03 2.54328047e-05 9.99996955e-01 -6.12200876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2157692310001 meters 0.015951999221667196 Centerline is valid? [True, True] Translation: X:183.22, Y:182.06, Z:-0.61 [[-6.01567554e-01 -7.98819210e-01 2.08522348e-03 1.83219838e+02] [ 7.98814594e-01 -6.01571167e-01 -2.71575226e-03 1.82057943e+02] [ 3.42380539e-03 3.19985041e-05 9.99994138e-01 -6.12967123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24576923100005 meters 0.015723784107296357 Centerline is valid? [True, True] Translation: X:183.20, Y:182.08, Z:-0.61 [[-6.02080532e-01 -7.98432287e-01 2.21731372e-03 1.83204997e+02] [ 7.98427072e-01 -6.02084614e-01 -2.88592426e-03 1.82075873e+02] [ 3.63922558e-03 3.28044903e-05 9.99993377e-01 -6.12827888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.275769231 meters 0.01567487414346563 Centerline is valid? [True, True] Translation: X:183.19, Y:182.09, Z:-0.61 [[-6.02520417e-01 -7.98101334e-01 1.84624495e-03 1.83189480e+02] [ 7.98097722e-01 -6.02523245e-01 -2.40107506e-03 1.82092270e+02] [ 3.02870671e-03 2.67871430e-05 9.99995413e-01 -6.11459641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30576923100006 meters 0.01430836311933573 Centerline is valid? [True, True] Translation: X:183.17, Y:182.11, Z:-0.61 [[-6.04002309e-01 -7.96982561e-01 9.10873966e-05 1.83173008e+02] [ 7.96982552e-01 -6.04002316e-01 -1.17322242e-04 1.82109014e+02] [ 1.48520779e-04 1.73216070e-06 9.99999989e-01 -6.07083475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33576923100003 meters 0.013740518160792848 Centerline is valid? [True, True] Translation: X:183.16, Y:182.13, Z:-0.61 [[-6.04971861e-01 -7.96246546e-01 -6.96739855e-04 1.83158464e+02] [ 7.96246030e-01 -6.04972262e-01 9.06511713e-04 1.82125854e+02] [-1.14331511e-03 -6.36226525e-06 9.99999346e-01 -6.05084452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36576923100006 meters 0.01343688459152959 Centerline is valid? [True, True] Translation: X:183.14, Y:182.14, Z:-0.60 [[-6.05612312e-01 -7.95759385e-01 -8.53818410e-04 1.83143591e+02] [ 7.95758611e-01 -6.05612914e-01 1.10986638e-03 1.82142061e+02] [-1.40027004e-03 -7.28460663e-06 9.99999020e-01 -6.04416265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39576923100003 meters 0.013503170381847614 Centerline is valid? [True, True] Translation: X:183.12, Y:182.16, Z:-0.61 [[-6.05854949e-01 -7.95575124e-01 -5.05073802e-05 1.83124594e+02] [ 7.95575121e-01 -6.05854951e-01 6.66462542e-05 1.82156340e+02] [-8.36222485e-05 1.95547790e-07 9.99999997e-01 -6.07187496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42576923100006 meters 0.01368373492267576 Centerline is valid? [True, True] Translation: X:183.11, Y:182.17, Z:-0.61 [[-6.06096164e-01 -7.95391314e-01 3.11643618e-04 1.83107925e+02] [ 7.95391212e-01 -6.06096244e-01 -4.03054637e-04 1.82172987e+02] [ 5.09472184e-04 3.58872508e-06 9.99999870e-01 -6.09450833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45576923100003 meters 0.013165709265927413 Centerline is valid? [True, True] Translation: X:183.09, Y:182.19, Z:-0.61 [[-6.06779747e-01 -7.94869559e-01 8.50457252e-04 1.83093620e+02] [ 7.94868796e-01 -6.06780343e-01 -1.10103244e-03 1.82190760e+02] [ 1.39121791e-03 7.91774615e-06 9.99999032e-01 -6.10742385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48576923100006 meters 0.011952540093120141 Centerline is valid? [True, True] Translation: X:183.08, Y:182.21, Z:-0.61 [[-6.10837712e-01 -7.91753514e-01 1.91385174e-03 1.83083340e+02] [ 7.91749638e-01 -6.10840710e-01 -2.47751137e-03 1.82212357e+02] [ 3.13063689e-03 1.93404241e-06 9.99995100e-01 -6.13534777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51576923100004 meters 0.012726548222628994 Centerline is valid? [True, True] Translation: X:183.07, Y:182.23, Z:-0.61 [[-6.13940326e-01 -7.89349736e-01 2.06676318e-03 1.83073553e+02] [ 7.89345208e-01 -6.13943804e-01 -2.67365259e-03 1.82232327e+02] [ 3.37932342e-03 -1.00735328e-05 9.99994290e-01 -6.13970555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54576923100007 meters 0.015160434002252992 Centerline is valid? [True, True] Translation: X:183.06, Y:182.25, Z:-0.61 [[-6.17131607e-01 -7.86858237e-01 1.64153691e-03 1.83064903e+02] [ 7.86855377e-01 -6.17133790e-01 -2.12164961e-03 1.82253278e+02] [ 2.68248537e-03 -1.76848881e-05 9.99996402e-01 -6.13243967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57576923100004 meters 0.01673234286437668 Centerline is valid? [True, True] Translation: X:183.05, Y:182.27, Z:-0.61 [[-6.19855161e-01 -7.84715489e-01 1.08655176e-03 1.83053948e+02] [ 7.84714235e-01 -6.19856113e-01 -1.40302051e-03 1.82273303e+02] [ 1.77447768e-03 -1.70368683e-05 9.99998425e-01 -6.10281754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60576923100007 meters 0.02160216106183075 Centerline is valid? [True, True] Translation: X:183.05, Y:182.30, Z:-0.61 [[-6.23917792e-01 -7.81489919e-01 -3.08016847e-04 1.83047674e+02] [ 7.81489817e-01 -6.23917868e-01 3.98997718e-04 1.82295749e+02] [-5.03989909e-04 8.22974634e-06 9.99999873e-01 -6.06803478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63576923100004 meters 0.02154180839248726 Centerline is valid? [True, True] Translation: X:183.03, Y:182.32, Z:-0.61 [[-6.25633958e-01 -7.80116736e-01 -1.66969215e-04 1.83033128e+02] [ 7.80116706e-01 -6.25633981e-01 2.16567942e-04 1.82315537e+02] [-2.73409891e-04 5.23678478e-06 9.99999963e-01 -6.07171790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66576923100007 meters 0.022721305299479768 Centerline is valid? [True, True] Translation: X:183.02, Y:182.34, Z:-0.61 [[-6.27138230e-01 -7.78907796e-01 5.34426627e-04 1.83020535e+02] [ 7.78907492e-01 -6.27138458e-01 -6.88143775e-04 1.82335726e+02] [ 8.71160042e-04 -1.52923658e-05 9.99999620e-01 -6.09475901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69576923100004 meters 0.025660531624539785 Centerline is valid? [True, True] Translation: X:183.01, Y:182.36, Z:-0.61 [[-6.28316889e-01 -7.77956121e-01 1.46996318e-03 1.83010929e+02] [ 7.77953818e-01 -6.28318606e-01 -1.89349686e-03 1.82357482e+02] [ 2.39666269e-03 -4.61525825e-05 9.99997127e-01 -6.12505145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7257692310001 meters 0.03072282157946649 Centerline is valid? [True, True] Translation: X:183.01, Y:182.38, Z:-0.62 [[-6.30561322e-01 -7.76135410e-01 2.49872787e-03 1.83005624e+02] [ 7.76128747e-01 -6.30566267e-01 -3.21736291e-03 1.82381964e+02] [ 4.07272279e-03 -8.94100823e-05 9.99991702e-01 -6.15551030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75576923100004 meters 0.030754769027414856 Centerline is valid? [True, True] Translation: X:182.99, Y:182.40, Z:-0.61 [[-6.31551905e-01 -7.75330941e-01 2.03056403e-03 1.82992755e+02] [ 7.75326544e-01 -6.31555164e-01 -2.61232256e-03 1.82401330e+02] [ 3.30782771e-03 -7.54670910e-05 9.99994526e-01 -6.13316184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7857692310001 meters 0.03046125827644595 Centerline is valid? [True, True] Translation: X:182.98, Y:182.42, Z:-0.61 [[-6.32571221e-01 -7.74502163e-01 2.22594384e-04 1.82982163e+02] [ 7.74502111e-01 -6.32571260e-01 -2.85154508e-04 1.82421773e+02] [ 3.61659593e-04 -7.98071552e-06 9.99999935e-01 -6.07355988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81576923100005 meters 0.029496805189585387 Centerline is valid? [True, True] Translation: X:182.97, Y:182.44, Z:-0.61 [[-6.33242562e-01 -7.73953395e-01 -5.23991232e-06 1.82967817e+02] [ 7.73953395e-01 -6.33242562e-01 7.81949800e-06 1.82441662e+02] [-9.37006262e-06 8.96191015e-07 1.00000000e+00 -6.06475254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8457692310001 meters 0.03284518864482159 Centerline is valid? [True, True] Translation: X:182.96, Y:182.46, Z:-0.61 [[-6.33730923e-01 -7.73553555e-01 1.18267073e-04 1.82958487e+02] [ 7.73553541e-01 -6.33730934e-01 -1.50782324e-04 1.82463806e+02] [ 1.91587706e-04 -4.06950821e-06 9.99999982e-01 -6.07215810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87576923100005 meters 0.029141120524877863 Centerline is valid? [True, True] Translation: X:182.94, Y:182.48, Z:-0.61 [[-6.33770316e-01 -7.73521154e-01 4.59164895e-04 1.82940529e+02] [ 7.73520931e-01 -6.33770482e-01 -5.88332491e-04 1.82480605e+02] [ 7.46092784e-04 -1.76940114e-05 9.99999722e-01 -6.07514778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9057692310001 meters 0.029369639133152332 Centerline is valid? [True, True] Translation: X:182.93, Y:182.50, Z:-0.61 [[-6.32345042e-01 -7.74685882e-01 1.23776850e-03 1.82927711e+02] [ 7.74684259e-01 -6.32346251e-01 -1.58666525e-03 1.82500042e+02] [ 2.01186544e-03 -4.44401263e-05 9.99997975e-01 -6.09785370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93576923100005 meters 0.02628034268359046 Centerline is valid? [True, True] Translation: X:182.91, Y:182.52, Z:-0.61 [[-6.31496757e-01 -7.75377205e-01 1.42672437e-03 1.82909897e+02] [ 7.75375052e-01 -6.31498367e-01 -1.82795212e-03 1.82516570e+02] [ 2.31832651e-03 -4.80993505e-05 9.99997312e-01 -6.10556532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9657692310001 meters 0.026513503335275555 Centerline is valid? [True, True] Translation: X:182.90, Y:182.53, Z:-0.61 [[-6.30456132e-01 -7.76222913e-01 1.74789253e-03 1.82895688e+02] [ 7.76219688e-01 -6.30458553e-01 -2.23807792e-03 1.82534685e+02] [ 2.83922116e-03 -5.42613528e-05 9.99995968e-01 -6.11484363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99576923100005 meters 0.023128123061278795 Centerline is valid? [True, True] Translation: X:182.88, Y:182.55, Z:-0.61 [[-6.29088167e-01 -7.77332241e-01 1.63259572e-03 1.82876535e+02] [ 7.77329437e-01 -6.29090284e-01 -2.08842403e-03 1.82549634e+02] [ 2.65044943e-03 -4.47381354e-05 9.99996487e-01 -6.10934497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.025769231 meters 0.017620482512544625 Centerline is valid? [True, True] Translation: X:182.85, Y:182.56, Z:-0.61 [[-6.25549253e-01 -7.80183087e-01 1.57571097e-03 1.82854004e+02] [ 7.80180487e-01 -6.25551237e-01 -2.01460501e-03 1.82562834e+02] [ 2.55744870e-03 -3.08957076e-05 9.99996729e-01 -6.09710470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05576923100006 meters 0.017271492507889168 Centerline is valid? [True, True] Translation: X:182.84, Y:182.58, Z:-0.61 [[-6.24424946e-01 -7.81082773e-01 1.78593552e-03 1.82838899e+02] [ 7.81079440e-01 -6.24427499e-01 -2.28193826e-03 1.82580696e+02] [ 2.89756992e-03 -2.99416586e-05 9.99995802e-01 -6.11576429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08576923100003 meters 0.01645566704244193 Centerline is valid? [True, True] Translation: X:182.82, Y:182.60, Z:-0.61 [[-6.24072933e-01 -7.81362745e-01 2.28809444e-03 1.82823498e+02] [ 7.81357283e-01 -6.24077126e-01 -2.92186784e-03 1.82597600e+02] [ 3.71098608e-03 -3.56393744e-05 9.99993114e-01 -6.13638850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11576923100006 meters 0.01688807470638949 Centerline is valid? [True, True] Translation: X:182.81, Y:182.61, Z:-0.62 [[-6.24276368e-01 -7.81198308e-01 2.86694137e-03 1.82809913e+02] [ 7.81189741e-01 -6.24282950e-01 -3.65873866e-03 1.82614768e+02] [ 4.64798307e-03 -4.44388961e-05 9.99989197e-01 -6.16299724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14576923100003 meters 0.01712594581745773 Centerline is valid? [True, True] Translation: X:182.80, Y:182.63, Z:-0.61 [[-6.24939500e-01 -7.80669249e-01 2.47875156e-03 1.82795862e+02] [ 7.80662851e-01 -6.24944415e-01 -3.16109285e-03 1.82632677e+02] [ 4.01684993e-03 -4.04225291e-05 9.99991932e-01 -6.14825006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17576923100006 meters 0.01657073925999487 Centerline is valid? [True, True] Translation: X:182.78, Y:182.65, Z:-0.61 [[-6.25570291e-01 -7.80164172e-01 2.38260253e-03 1.82780698e+02] [ 7.80158264e-01 -6.25574827e-01 -3.03645012e-03 1.82650988e+02] [ 3.85942575e-03 -4.07059297e-05 9.99992552e-01 -6.12577759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20576923100003 meters 0.01838528770132465 Centerline is valid? [True, True] Translation: X:182.77, Y:182.67, Z:-0.61 [[-6.26497108e-01 -7.79419624e-01 2.53444942e-03 1.82769602e+02] [ 7.79412942e-01 -6.26502233e-01 -3.22781475e-03 1.82671479e+02] [ 4.10366038e-03 -4.68339244e-05 9.99991579e-01 -6.13451602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23576923100006 meters 0.019790256784516243 Centerline is valid? [True, True] Translation: X:182.76, Y:182.69, Z:-0.61 [[-6.27690805e-01 -7.78458798e-01 2.48038853e-03 1.82758273e+02] [ 7.78452399e-01 -6.27695704e-01 -3.15672765e-03 1.82690299e+02] [ 4.01431163e-03 -5.05845148e-05 9.99991941e-01 -6.14159899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26576923100004 meters 0.018664372435158245 Centerline is valid? [True, True] Translation: X:182.74, Y:182.71, Z:-0.61 [[-6.28539833e-01 -7.77776077e-01 1.43222084e-03 1.82743009e+02] [ 7.77773946e-01 -6.28541464e-01 -1.82111006e-03 1.82708267e+02] [ 2.31662602e-03 -3.06961610e-05 9.99997316e-01 -6.10493714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29576923100007 meters 0.01965112099552677 Centerline is valid? [True, True] Translation: X:182.73, Y:182.73, Z:-0.61 [[-6.28732775e-01 -7.77620952e-01 8.67484473e-04 1.82730305e+02] [ 7.77620172e-01 -6.28733373e-01 -1.10180036e-03 1.82727070e+02] [ 1.40219949e-03 -1.81645738e-05 9.99999017e-01 -6.09924398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32576923100004 meters 0.018975878488436595 Centerline is valid? [True, True] Translation: X:182.71, Y:182.74, Z:-0.61 [[-6.28585880e-01 -7.77739707e-01 8.59431614e-04 1.82714799e+02] [ 7.77738943e-01 -6.28586468e-01 -1.09041519e-03 1.82744842e+02] [ 1.38828627e-03 -1.70061571e-05 9.99999036e-01 -6.09461129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35576923100007 meters 0.017239809488137272 Centerline is valid? [True, True] Translation: X:182.70, Y:182.76, Z:-0.61 [[-6.26821008e-01 -7.79161866e-01 1.48687993e-03 1.82698067e+02] [ 7.79159583e-01 -6.26822771e-01 -1.88640883e-03 1.82759513e+02] [ 2.40182802e-03 -2.39239422e-05 9.99997115e-01 -6.10594169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38576923100004 meters 0.015746096885149656 Centerline is valid? [True, True] Translation: X:182.68, Y:182.77, Z:-0.61 [[-6.25440361e-01 -7.80270004e-01 1.75372257e-03 1.82680981e+02] [ 7.80266837e-01 -6.25442819e-01 -2.22345943e-03 1.82774296e+02] [ 2.83175189e-03 -2.22697115e-05 9.99995990e-01 -6.10976670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41576923100007 meters 0.014032130403706026 Centerline is valid? [True, True] Translation: X:182.66, Y:182.79, Z:-0.61 [[-6.23949785e-01 -7.81461730e-01 2.05698780e-03 1.82663164e+02] [ 7.81457383e-01 -6.23953175e-01 -2.60657532e-03 1.82789337e+02] [ 3.32040293e-03 -1.89238112e-05 9.99994487e-01 -6.11660629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44576923100004 meters 0.012295089700627487 Centerline is valid? [True, True] Translation: X:182.64, Y:182.80, Z:-0.61 [[-6.21387677e-01 -7.83500164e-01 2.20165830e-03 1.82643223e+02] [ 7.83495203e-01 -6.21391577e-01 -2.78821540e-03 1.82804403e+02] [ 3.55265914e-03 -7.57397390e-06 9.99993689e-01 -6.11319058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4757692310001 meters 0.012175708148033189 Centerline is valid? [True, True] Translation: X:182.63, Y:182.82, Z:-0.61 [[-6.20806690e-01 -7.83961808e-01 1.71369796e-03 1.82627645e+02] [ 7.83958809e-01 -6.20809056e-01 -2.16854604e-03 1.82820638e+02] [ 2.76393648e-03 -2.77927895e-06 9.99996180e-01 -6.11682202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50576923100004 meters 0.01191123012342311 Centerline is valid? [True, True] Translation: X:182.61, Y:182.84, Z:-0.61 [[-6.20519605e-01 -7.84189591e-01 1.45100045e-03 1.82611306e+02] [ 7.84187444e-01 -6.20521301e-01 -1.83482497e-03 1.82837550e+02] [ 2.33922733e-03 -6.88535719e-07 9.99997264e-01 -6.10399508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5357692310001 meters 0.011862489249751907 Centerline is valid? [True, True] Translation: X:182.59, Y:182.86, Z:-0.61 [[-6.20463684e-01 -7.84233679e-01 1.53437629e-03 1.82594809e+02] [ 7.84231281e-01 -6.20465581e-01 -1.93908806e-03 1.82855277e+02] [ 2.47272584e-03 1.72164475e-07 9.99996943e-01 -6.10467594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56576923100005 meters 0.011902468906384694 Centerline is valid? [True, True] Translation: X:182.58, Y:182.87, Z:-0.61 [[-6.20247745e-01 -7.84403602e-01 1.92979271e-03 1.82578594e+02] [ 7.84399815e-01 -6.20250747e-01 -2.43752129e-03 1.82872438e+02] [ 3.10895585e-03 1.86195699e-06 9.99995167e-01 -6.11178561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5957692310001 meters 0.012077106539323779 Centerline is valid? [True, True] Translation: X:182.56, Y:182.89, Z:-0.61 [[-6.21126638e-01 -7.83707417e-01 2.09387162e-03 1.82563747e+02] [ 7.83702960e-01 -6.21130167e-01 -2.64297791e-03 1.82889676e+02] [ 3.37188822e-03 -6.50595223e-07 9.99994315e-01 -6.11809655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62576923100005 meters 0.012061054999872667 Centerline is valid? [True, True] Translation: X:182.55, Y:182.91, Z:-0.61 [[-6.22067753e-01 -7.82961652e-01 1.66230609e-03 1.82550101e+02] [ 7.82958845e-01 -6.22069974e-01 -2.09656767e-03 1.82907473e+02] [ 2.67560279e-03 -2.68988643e-06 9.99996421e-01 -6.11386359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6557692310001 meters 0.012182598424704946 Centerline is valid? [True, True] Translation: X:182.54, Y:182.93, Z:-0.61 [[-6.23163218e-01 -7.82090769e-01 1.27835283e-03 1.82536391e+02] [ 7.82089109e-01 -6.23164529e-01 -1.61098402e-03 1.82925538e+02] [ 2.05655987e-03 -4.12015685e-06 9.99997885e-01 -6.10288362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68576923100005 meters 0.012644429518626198 Centerline is valid? [True, True] Translation: X:182.52, Y:182.94, Z:-0.61 [[-6.24510072e-01 -7.81016050e-01 1.04853618e-03 1.82524552e+02] [ 7.81014935e-01 -6.24510952e-01 -1.32021341e-03 1.82943645e+02] [ 1.68593019e-03 -5.56415072e-06 9.99998579e-01 -6.09693690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7157692310001 meters 0.015623018775152195 Centerline is valid? [True, True] Translation: X:182.52, Y:182.97, Z:-0.61 [[-6.28614197e-01 -7.77716160e-01 1.32867209e-03 1.82516468e+02] [ 7.77714363e-01 -6.28615601e-01 -1.67200225e-03 1.82966303e+02] [ 2.13556717e-03 -1.77169881e-05 9.99997720e-01 -6.10722252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74576923100005 meters 0.018445352467101436 Centerline is valid? [True, True] Translation: X:182.51, Y:182.99, Z:-0.61 [[-6.31297816e-01 -7.75537974e-01 1.97930297e-03 1.82507502e+02] [ 7.75533979e-01 -6.31300918e-01 -2.48956587e-03 1.82986728e+02] [ 3.18028865e-03 -3.66407894e-05 9.99994942e-01 -6.13086687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.775769231 meters 0.021748680398447566 Centerline is valid? [True, True] Translation: X:182.50, Y:183.01, Z:-0.61 [[-6.33697582e-01 -7.73577315e-01 2.34796321e-03 1.82498580e+02] [ 7.73571686e-01 -6.33701929e-01 -2.95150276e-03 1.83007934e+02] [ 3.77112440e-03 -5.40423008e-05 9.99992888e-01 -6.14441610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80576923100006 meters 0.023832006201331815 Centerline is valid? [True, True] Translation: X:182.49, Y:183.03, Z:-0.61 [[-6.35625022e-01 -7.71993557e-01 2.60386622e-03 1.82487595e+02] [ 7.71986630e-01 -6.35630352e-01 -3.27107464e-03 1.83028975e+02] [ 4.18034495e-03 -6.90269837e-05 9.99991260e-01 -6.14568956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83576923100003 meters 0.02796545843513105 Centerline is valid? [True, True] Translation: X:182.48, Y:183.05, Z:-0.61 [[-6.38782924e-01 -7.69382997e-01 2.48588861e-03 1.82480563e+02] [ 7.69376673e-01 -6.38787756e-01 -3.12048733e-03 1.83052519e+02] [ 3.98880510e-03 -8.07293175e-05 9.99992041e-01 -6.14072833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86576923100006 meters 0.027666672489887537 Centerline is valid? [True, True] Translation: X:182.47, Y:183.07, Z:-0.61 [[-6.40480355e-01 -7.67971961e-01 1.99558746e-03 1.82467070e+02] [ 7.67967884e-01 -6.40483460e-01 -2.50339036e-03 1.83072319e+02] [ 3.20067437e-03 -7.08252699e-05 9.99994875e-01 -6.12354808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89576923100003 meters 0.032205517174496025 Centerline is valid? [True, True] Translation: X:182.46, Y:183.10, Z:-0.61 [[-6.41949582e-01 -7.66745155e-01 1.61323660e-03 1.82459960e+02] [ 7.66742490e-01 -6.41951606e-01 -2.02220702e-03 1.83096306e+02] [ 2.58613726e-03 -6.12179026e-05 9.99996654e-01 -6.12575925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92576923100006 meters 0.032205517174496025 Centerline is valid? [True, True] Translation: X:182.45, Y:183.11, Z:-0.61 [[-6.42193496e-01 -7.66540872e-01 1.61388716e-03 1.82445511e+02] [ 7.66538209e-01 -6.42195521e-01 -2.02168799e-03 1.83113621e+02] [ 2.58613759e-03 -6.12087042e-05 9.99996654e-01 -6.12624213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95576923100003 meters 0.03213448295449469 Centerline is valid? [True, True] Translation: X:182.43, Y:183.13, Z:-0.61 [[-6.43713316e-01 -7.65265801e-01 1.19223835e-03 1.82434440e+02] [ 7.65264348e-01 -6.43714418e-01 -1.49208247e-03 1.83133870e+02] [ 1.90930070e-03 -4.80958534e-05 9.99998176e-01 -6.10629949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98576923100006 meters 0.038943514501762685 Centerline is valid? [True, True] Translation: X:182.43, Y:183.16, Z:-0.61 [[-6.46617238e-01 -7.62814224e-01 7.79396260e-04 1.82434082e+02] [ 7.62813603e-01 -6.46617706e-01 -9.74341818e-04 1.83162927e+02] [ 1.24721322e-03 -3.54921457e-05 9.99999222e-01 -6.10080758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01576923100004 meters 0.03491869028215927 Centerline is valid? [True, True] Translation: X:182.42, Y:183.18, Z:-0.61 [[-6.47545656e-01 -7.62025213e-01 1.48283769e-03 1.82417591e+02] [ 7.62022962e-01 -6.47547349e-01 -1.85362406e-03 1.83180083e+02] [ 2.37271588e-03 -7.03498379e-05 9.99997183e-01 -6.10915955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04576923100007 meters 0.03806029446722648 Centerline is valid? [True, True] Translation: X:182.41, Y:183.20, Z:-0.61 [[-6.47965009e-01 -7.61666614e-01 2.30587982e-03 1.82409468e+02] [ 7.61661172e-01 -6.47969102e-01 -2.88117874e-03 1.83203058e+02] [ 3.68863653e-03 -1.10603885e-04 9.99993191e-01 -6.14066924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07576923100004 meters 0.03858519336314032 Centerline is valid? [True, True] Translation: X:182.40, Y:183.22, Z:-0.62 [[-6.48306405e-01 -7.61373756e-01 2.96789419e-03 1.82398622e+02] [ 7.61364749e-01 -6.48313183e-01 -3.70621085e-03 1.83223852e+02] [ 4.74593661e-03 -1.43110213e-04 9.99988728e-01 -6.15665735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10576923100007 meters 0.03902962504542695 Centerline is valid? [True, True] Translation: X:182.39, Y:183.25, Z:-0.61 [[-6.48643568e-01 -7.61088605e-01 2.37850135e-03 1.82391761e+02] [ 7.61082828e-01 -6.48647919e-01 -2.96765201e-03 1.83246010e+02] [ 3.80145608e-03 -1.14711854e-04 9.99992768e-01 -6.13665748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13576923100004 meters 0.03939367496569349 Centerline is valid? [True, True] Translation: X:182.38, Y:183.27, Z:-0.61 [[-6.49160555e-01 -7.60649187e-01 1.84067589e-03 1.82380423e+02] [ 7.60645730e-01 -6.49163158e-01 -2.29495040e-03 1.83266647e+02] [ 2.94055113e-03 -8.96890183e-05 9.99995673e-01 -6.11848487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16576923100007 meters 0.03920033357400121 Centerline is valid? [True, True] Translation: X:182.37, Y:183.29, Z:-0.61 [[-6.49975329e-01 -7.59953739e-01 1.54445329e-03 1.82369025e+02] [ 7.59951308e-01 -6.49977160e-01 -1.92383724e-03 1.83287210e+02] [ 2.46588667e-03 -7.67374490e-05 9.99996957e-01 -6.10545364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19576923100004 meters 0.04114451533275871 Centerline is valid? [True, True] Translation: X:182.36, Y:183.31, Z:-0.61 [[-6.51861549e-01 -7.58337983e-01 1.54468856e-04 1.82364772e+02] [ 7.58337959e-01 -6.51861568e-01 -1.91329215e-04 1.83314014e+02] [ 2.45784521e-04 -7.58056137e-06 9.99999970e-01 -6.07018668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2257692310001 meters 0.0435526560020035 Centerline is valid? [True, True] Translation: X:182.36, Y:183.34, Z:-0.60 [[-6.52165542e-01 -7.58075917e-01 -1.00453495e-03 1.82357945e+02] [ 7.58074886e-01 -6.52166313e-01 1.25159270e-03 1.83336559e+02] [-1.60392614e-03 5.47329175e-05 9.99998712e-01 -6.03618518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25576923100004 meters 0.039041718332707066 Centerline is valid? [True, True] Translation: X:182.34, Y:183.35, Z:-0.60 [[-6.51769260e-01 -7.58415462e-01 -1.67905156e-03 1.82341653e+02] [ 7.58412588e-01 -6.51771416e-01 2.08978501e-03 1.83354732e+02] [-2.67928307e-03 8.86437886e-05 9.99996407e-01 -6.01774926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2857692310001 meters 0.03369376287418993 Centerline is valid? [True, True] Translation: X:182.33, Y:183.37, Z:-0.60 [[-6.47662280e-01 -7.61927246e-01 -6.65450204e-04 1.82328318e+02] [ 7.61926797e-01 -6.47662621e-01 8.28345917e-04 1.83373545e+02] [-1.06212655e-03 2.94640629e-05 9.99999436e-01 -6.03789631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31576923100005 meters 0.02709968993285963 Centerline is valid? [True, True] Translation: X:182.31, Y:183.39, Z:-0.61 [[-6.44466372e-01 -7.64632459e-01 5.45550770e-04 1.82308600e+02] [ 7.64632160e-01 -6.44466602e-01 -6.76610050e-04 1.83387861e+02] [ 8.68947258e-04 -1.89067600e-05 9.99999622e-01 -6.06952107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3457692310001 meters 0.0252451487162578 Centerline is valid? [True, True] Translation: X:182.29, Y:183.41, Z:-0.61 [[-6.40710143e-01 -7.67781133e-01 1.62648804e-03 1.82293830e+02] [ 7.67778482e-01 -6.40712205e-01 -2.01797971e-03 1.83405192e+02] [ 2.59147749e-03 -4.41575516e-05 9.99996641e-01 -6.10323954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37576923100005 meters 0.018045168922267717 Centerline is valid? [True, True] Translation: X:182.27, Y:183.42, Z:-0.61 [[-6.36610889e-01 -7.71182421e-01 2.06124714e-03 1.82271512e+02] [ 7.71178186e-01 -6.36614225e-01 -2.55601932e-03 1.83417025e+02] [ 3.28337642e-03 -3.76009051e-05 9.99994609e-01 -6.10356305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4057692310001 meters 0.011865650319048838 Centerline is valid? [True, True] Translation: X:182.24, Y:183.42, Z:-0.61 [[-6.27918720e-01 -7.78275235e-01 2.39579733e-03 1.82242844e+02] [ 7.78269571e-01 -6.27923290e-01 -2.96927182e-03 1.83424985e+02] [ 3.81528767e-03 1.14796462e-07 9.99992722e-01 -6.09913872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43576923100005 meters 0.013128129225651652 Centerline is valid? [True, True] Translation: X:182.22, Y:183.44, Z:-0.61 [[-6.24252089e-01 -7.81219373e-01 2.37079956e-03 1.82221539e+02] [ 7.81213855e-01 -6.24256591e-01 -2.93632127e-03 1.83437476e+02] [ 3.77389831e-03 1.90967791e-05 9.99992879e-01 -6.11170657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4657692310001 meters 0.014917626815647034 Centerline is valid? [True, True] Translation: X:182.20, Y:183.45, Z:-0.61 [[-6.21502317e-01 -7.83409080e-01 2.25486794e-03 1.82202269e+02] [ 7.83404109e-01 -6.21506406e-01 -2.79088889e-03 1.83452400e+02] [ 3.58782256e-03 3.19288965e-05 9.99993563e-01 -6.10563541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49576923100005 meters 0.01786661329397367 Centerline is valid? [True, True] Translation: X:182.18, Y:183.47, Z:-0.61 [[-6.19560976e-01 -7.84945749e-01 2.09021461e-03 1.82182601e+02] [ 7.84941492e-01 -6.19564500e-01 -2.58537038e-03 1.83466399e+02] [ 3.32439826e-03 3.89015831e-05 9.99994473e-01 -6.11595884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5257692310001 meters 0.01968307792850523 Centerline is valid? [True, True] Translation: X:182.16, Y:183.48, Z:-0.61 [[-6.17023518e-01 -7.86941864e-01 2.11667006e-03 1.82162270e+02] [ 7.86937516e-01 -6.17027147e-01 -2.61655873e-03 1.83480950e+02] [ 3.36512249e-03 5.12088043e-05 9.99994337e-01 -6.11381406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55576923100006 meters 0.021061781759129258 Centerline is valid? [True, True] Translation: X:182.14, Y:183.50, Z:-0.61 [[-6.16535370e-01 -7.87323495e-01 2.41908450e-03 1.82143930e+02] [ 7.87317825e-01 -6.16540112e-01 -2.98858393e-03 1.83495537e+02] [ 3.84444497e-03 6.20206551e-05 9.99992608e-01 -6.12509137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58576923100003 meters 0.021902325000884078 Centerline is valid? [True, True] Translation: X:182.13, Y:183.51, Z:-0.61 [[-6.15877136e-01 -7.87837736e-01 2.65615571e-03 1.82125760e+02] [ 7.87830913e-01 -6.15882859e-01 -3.27963271e-03 1.83511486e+02] [ 4.21969918e-03 7.27507728e-05 9.99991094e-01 -6.12069374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61576923100006 meters 0.023132271052882313 Centerline is valid? [True, True] Translation: X:182.11, Y:183.53, Z:-0.61 [[-6.15321299e-01 -7.88271959e-01 2.64905037e-03 1.82107626e+02] [ 7.88265185e-01 -6.15326997e-01 -3.26876689e-03 1.83526168e+02] [ 4.20670949e-03 7.68122899e-05 9.99991149e-01 -6.11217986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64576923100003 meters 0.025676619461937562 Centerline is valid? [True, True] Translation: X:182.08, Y:183.54, Z:-0.61 [[-6.14395603e-01 -7.88995994e-01 1.83422860e-03 1.82084987e+02] [ 7.88992755e-01 -6.14398338e-01 -2.26154754e-03 1.83536773e+02] [ 2.91129895e-03 5.77082157e-05 9.99995760e-01 -6.09241426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67576923100006 meters 0.025931336157523903 Centerline is valid? [True, True] Translation: X:182.07, Y:183.55, Z:-0.61 [[-6.14376925e-01 -7.89011755e-01 1.20208951e-03 1.82066121e+02] [ 7.89010366e-01 -6.14378100e-01 -1.48080043e-03 1.83550987e+02] [ 1.90690641e-03 3.86914700e-05 9.99998181e-01 -6.08898945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70576923100003 meters 0.02557211357858866 Centerline is valid? [True, True] Translation: X:182.05, Y:183.57, Z:-0.61 [[-6.14670292e-01 -7.88783390e-01 1.09336592e-03 1.82048271e+02] [ 7.88782243e-01 -6.14671263e-01 -1.34588125e-03 1.83565612e+02] [ 1.73366939e-03 3.51544014e-05 9.99998497e-01 -6.09153789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73576923100006 meters 0.025153059675125346 Centerline is valid? [True, True] Translation: X:182.03, Y:183.58, Z:-0.61 [[-6.15057229e-01 -7.88481544e-01 1.20836867e-03 1.82030834e+02] [ 7.88480143e-01 -6.15058415e-01 -1.48671842e-03 1.83581642e+02] [ 1.91546736e-03 3.83577871e-05 9.99998165e-01 -6.10067688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76576923100004 meters 0.023289364423774217 Centerline is valid? [True, True] Translation: X:182.01, Y:183.60, Z:-0.61 [[-6.16172086e-01 -7.87609689e-01 1.71403087e-03 1.82014292e+02] [ 7.87606870e-01 -6.16174468e-01 -2.10806166e-03 1.83599711e+02] [ 2.71647185e-03 5.10537391e-05 9.99996309e-01 -6.10054067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79576923100007 meters 0.021730606247964773 Centerline is valid? [True, True] Translation: X:182.00, Y:183.62, Z:-0.61 [[-6.17602595e-01 -7.86487428e-01 2.13528683e-03 1.81999355e+02] [ 7.86483050e-01 -6.17606284e-01 -2.62483545e-03 1.83618957e+02] [ 3.38316665e-03 5.82617106e-05 9.99994275e-01 -6.10345160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82576923100004 meters 0.02003809535683449 Centerline is valid? [True, True] Translation: X:181.98, Y:183.64, Z:-0.61 [[-6.19456524e-01 -7.85027396e-01 2.36715895e-03 1.81984722e+02] [ 7.85022011e-01 -6.19461044e-01 -2.90804013e-03 1.83636733e+02] [ 3.74925392e-03 5.68674510e-05 9.99992970e-01 -6.10532027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85576923100007 meters 0.01914729208901822 Centerline is valid? [True, True] Translation: X:181.97, Y:183.65, Z:-0.61 [[-6.21287726e-01 -7.83579702e-01 2.10020561e-03 1.81967880e+02] [ 7.83575462e-01 -6.21291275e-01 -2.57833925e-03 1.83652907e+02] [ 3.32517373e-03 4.37790495e-05 9.99994471e-01 -6.11545610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88576923100004 meters 0.01733016996299986 Centerline is valid? [True, True] Translation: X:181.95, Y:183.67, Z:-0.61 [[-6.23033231e-01 -7.82193410e-01 1.75032245e-03 1.81951830e+02] [ 7.82190463e-01 -6.23035688e-01 -2.14719716e-03 1.83670045e+02] [ 2.77003682e-03 3.13103469e-05 9.99996163e-01 -6.10874539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91576923100007 meters 0.014872534664315906 Centerline is valid? [True, True] Translation: X:181.94, Y:183.69, Z:-0.61 [[-6.25761067e-01 -7.80014020e-01 1.10197212e-03 1.81937544e+02] [ 7.80012852e-01 -6.25762038e-01 -1.35035096e-03 1.83687201e+02] [ 1.74286500e-03 1.45553591e-05 9.99998481e-01 -6.09129830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94576923100004 meters 0.01327251428129775 Centerline is valid? [True, True] Translation: X:181.92, Y:183.71, Z:-0.61 [[-6.27687674e-01 -7.78464817e-01 8.43889938e-04 1.81924976e+02] [ 7.78464132e-01 -6.27688241e-01 -1.03326366e-03 1.83706800e+02] [ 1.33405920e-03 8.37118626e-06 9.99999110e-01 -6.07942448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9757692310001 meters 0.011750303856360082 Centerline is valid? [True, True] Translation: X:181.91, Y:183.73, Z:-0.61 [[-6.30131778e-01 -7.76487848e-01 7.50659438e-04 1.81913653e+02] [ 7.76487305e-01 -6.30132225e-01 -9.18381617e-04 1.83727199e+02] [ 1.18612687e-03 4.17608284e-06 9.99999297e-01 -6.07684661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00576923100004 meters 0.012405025380871786 Centerline is valid? [True, True] Translation: X:181.91, Y:183.75, Z:-0.61 [[-6.35898765e-01 -7.71772336e-01 4.72339549e-04 1.81909292e+02] [ 7.71772120e-01 -6.35898940e-01 -5.77046748e-04 1.83751780e+02] [ 7.45708935e-04 -2.40481914e-06 9.99999722e-01 -6.07633704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0357692310001 meters 0.01422491953780986 Centerline is valid? [True, True] Translation: X:181.90, Y:183.77, Z:-0.61 [[-6.38736880e-01 -7.69425122e-01 4.25111181e-04 1.81899110e+02] [ 7.69424947e-01 -6.38737021e-01 -5.18733143e-04 1.83773371e+02] [ 6.70660561e-04 -4.24284143e-06 9.99999775e-01 -6.07747684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06576923100005 meters 0.016722484855883547 Centerline is valid? [True, True] Translation: X:181.89, Y:183.80, Z:-0.61 [[-6.41382139e-01 -7.67221154e-01 8.08339337e-04 1.81889636e+02] [ 7.67220519e-01 -6.41382648e-01 -9.86748507e-04 1.83795923e+02] [ 1.27550915e-03 -1.27083415e-05 9.99999186e-01 -6.09183821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0957692310001 meters 0.020857190911272094 Centerline is valid? [True, True] Translation: X:181.88, Y:183.82, Z:-0.61 [[-6.44006505e-01 -7.65018701e-01 1.41771529e-03 1.81882750e+02] [ 7.65016744e-01 -6.44008064e-01 -1.73029955e-03 1.83819073e+02] [ 2.23673159e-03 -2.97482297e-05 9.99997498e-01 -6.11968008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12576923100005 meters 0.024407750468464485 Centerline is valid? [True, True] Translation: X:181.87, Y:183.84, Z:-0.62 [[-6.46602028e-01 -7.62824580e-01 2.11601313e-03 1.81874125e+02] [ 7.62820215e-01 -6.46605488e-01 -2.58100275e-03 1.83842134e+02] [ 3.33707805e-03 -5.47440215e-05 9.99994430e-01 -6.15077041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1557692310001 meters 0.0259499397221887 Centerline is valid? [True, True] Translation: X:181.87, Y:183.87, Z:-0.62 [[-6.48682124e-01 -7.61053383e-01 3.04135475e-03 1.81865890e+02] [ 7.61044356e-01 -6.48689248e-01 -3.70785924e-03 1.83865563e+02] [ 4.79477294e-03 -9.06161377e-05 9.99988501e-01 -6.16742176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18576923100005 meters 0.02683341301548278 Centerline is valid? [True, True] Translation: X:181.86, Y:183.89, Z:-0.62 [[-6.48353038e-01 -7.61333137e-01 3.19244412e-03 1.81855433e+02] [ 7.61323208e-01 -6.48360891e-01 -3.88948394e-03 1.83886097e+02] [ 5.03104893e-03 -9.12769386e-05 9.99987340e-01 -6.17122337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2157692310001 meters 0.022510967904683446 Centerline is valid? [True, True] Translation: X:181.84, Y:183.90, Z:-0.61 [[-6.47243282e-01 -7.62276512e-01 3.26405801e-03 1.81839147e+02] [ 7.62266156e-01 -6.47251506e-01 -3.97435655e-03 1.83903686e+02] [ 5.14222511e-03 -8.42946292e-05 9.99986775e-01 -6.14758251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24576923100005 meters 0.022738280841386314 Centerline is valid? [True, True] Translation: X:181.83, Y:183.92, Z:-0.62 [[-6.46058695e-01 -7.63280688e-01 3.27916627e-03 1.81828471e+02] [ 7.63270265e-01 -6.46067013e-01 -3.98960727e-03 1.83922982e+02] [ 5.16375134e-03 -7.46303568e-05 9.99986665e-01 -6.15677118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2757692310001 meters 0.018879720266171726 Centerline is valid? [True, True] Translation: X:181.81, Y:183.94, Z:-0.61 [[-6.44745659e-01 -7.64391414e-01 2.96665120e-03 1.81811391e+02] [ 7.64382906e-01 -6.44752481e-01 -3.60698355e-03 1.83938502e+02] [ 4.66990298e-03 -5.79295191e-05 9.99989094e-01 -6.14048274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30576923100006 meters 0.015342742645971878 Centerline is valid? [True, True] Translation: X:181.79, Y:183.95, Z:-0.61 [[-6.41788250e-01 -7.66877838e-01 2.49484737e-03 1.81794461e+02] [ 7.66871848e-01 -6.41793098e-01 -3.03114359e-03 1.83954837e+02] [ 3.92569267e-03 -3.21241279e-05 9.99992294e-01 -6.14899176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33576923100003 meters 0.01454768441800108 Centerline is valid? [True, True] Translation: X:181.78, Y:183.97, Z:-0.61 [[-6.40949240e-01 -7.67580291e-01 2.13752968e-03 1.81780917e+02] [ 7.67575904e-01 -6.40952804e-01 -2.59505716e-03 1.83972257e+02] [ 3.36197037e-03 -2.25836374e-05 9.99994348e-01 -6.14692381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36576923100006 meters 0.01384058249737485 Centerline is valid? [True, True] Translation: X:181.77, Y:183.99, Z:-0.61 [[-6.40323342e-01 -7.68102966e-01 1.96251359e-03 1.81767519e+02] [ 7.68099276e-01 -6.40326349e-01 -2.38093483e-03 1.83989903e+02] [ 3.08545227e-03 -1.71628747e-05 9.99995240e-01 -6.13893556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39576923100003 meters 0.01205576056973362 Centerline is valid? [True, True] Translation: X:181.75, Y:184.01, Z:-0.61 [[-6.37634633e-01 -7.70334935e-01 2.48255914e-03 1.81750392e+02] [ 7.70329054e-01 -6.37639465e-01 -3.01025330e-03 1.84006009e+02] [ 3.90188096e-03 -7.05432577e-06 9.99992388e-01 -6.13790125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42576923100006 meters 0.01212362243388415 Centerline is valid? [True, True] Translation: X:181.73, Y:184.02, Z:-0.62 [[-6.35701412e-01 -7.71928958e-01 3.06560341e-03 1.81732975e+02] [ 7.71920019e-01 -6.35708804e-01 -3.71499975e-03 1.84020347e+02] [ 4.81654697e-03 4.77005640e-06 9.99988400e-01 -6.16820801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45576923100003 meters 0.013112579803621734 Centerline is valid? [True, True] Translation: X:181.72, Y:184.03, Z:-0.62 [[-6.33499249e-01 -7.73735264e-01 3.52736404e-03 1.81715009e+02] [ 7.73723472e-01 -6.33509069e-01 -4.27190548e-03 1.84034816e+02] [ 5.53994102e-03 2.29554364e-05 9.99984654e-01 -6.17939099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48576923100006 meters 0.016960075029195457 Centerline is valid? [True, True] Translation: X:181.70, Y:184.05, Z:-0.61 [[-6.28823552e-01 -7.77543112e-01 2.76588145e-03 1.81695121e+02] [ 7.77535908e-01 -6.28829633e-01 -3.34719443e-03 1.84048161e+02] [ 4.34185619e-03 4.57774561e-05 9.99990573e-01 -6.14442875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51576923100004 meters 0.018561265613655144 Centerline is valid? [True, True] Translation: X:181.68, Y:184.06, Z:-0.61 [[-6.26904566e-01 -7.79094468e-01 1.57290240e-03 1.81677977e+02] [ 7.79092148e-01 -6.26906539e-01 -1.90188185e-03 1.84064700e+02] [ 2.46780843e-03 3.31374905e-05 9.99996954e-01 -6.10284189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54576923100007 meters 0.020720248725109257 Centerline is valid? [True, True] Translation: X:181.66, Y:184.08, Z:-0.61 [[-6.24652151e-01 -7.80902840e-01 6.66650599e-04 1.81660213e+02] [ 7.80902426e-01 -6.24652506e-01 -8.05031766e-04 1.84081094e+02] [ 1.04507656e-03 1.77242460e-05 9.99999454e-01 -6.07874462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57576923100004 meters 0.024408186956982613 Centerline is valid? [True, True] Translation: X:181.64, Y:184.10, Z:-0.61 [[-6.22605667e-01 -7.82535688e-01 2.83765682e-04 1.81640963e+02] [ 7.82535613e-01 -6.22605732e-01 -3.41842537e-04 1.84095644e+02] [ 4.44178125e-04 9.22365158e-06 9.99999901e-01 -6.07839922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60576923100007 meters 0.030385038445447925 Centerline is valid? [True, True] Translation: X:181.62, Y:184.11, Z:-0.61 [[-6.19024051e-01 -7.85371786e-01 6.17821893e-04 1.81620383e+02] [ 7.85371434e-01 -6.19024359e-01 -7.44954659e-04 1.84107309e+02] [ 9.67513172e-04 2.40748148e-05 9.99999532e-01 -6.08900835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63576923100004 meters 0.032763881762508454 Centerline is valid? [True, True] Translation: X:181.60, Y:184.12, Z:-0.61 [[-6.16774288e-01 -7.87139652e-01 8.04158914e-04 1.81601596e+02] [ 7.87139056e-01 -6.16774811e-01 -9.69383057e-04 1.84122302e+02] [ 1.25902480e-03 3.50943438e-05 9.99999207e-01 -6.09204526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66576923100007 meters 0.03664669620557188 Centerline is valid? [True, True] Translation: X:181.58, Y:184.13, Z:-0.61 [[-6.14114427e-01 -7.89216482e-01 9.02702382e-04 1.81580601e+02] [ 7.89215734e-01 -6.14115089e-01 -1.08761747e-03 1.84134823e+02] [ 1.41272878e-03 4.45053452e-05 9.99999001e-01 -6.08398704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69576923100004 meters 0.04101476590610781 Centerline is valid? [True, True] Translation: X:181.56, Y:184.15, Z:-0.61 [[-6.11169193e-01 -7.91499751e-01 6.01032462e-04 1.81558354e+02] [ 7.91499422e-01 -6.11169488e-01 -7.23202643e-04 1.84147359e+02] [ 9.39747414e-04 3.37176705e-05 9.99999558e-01 -6.07031566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7257692310001 meters 0.0498701849603907 Centerline is valid? [True, True] Translation: X:181.53, Y:184.15, Z:-0.61 [[-6.05390976e-01 -7.95928215e-01 2.07655572e-04 1.81529896e+02] [ 7.95928176e-01 -6.05391012e-01 -2.48992181e-04 1.84153235e+02] [ 3.23892719e-04 1.45413011e-05 9.99999947e-01 -6.06213970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75576923100004 meters 0.048809391263910075 Centerline is valid? [True, True] Translation: X:181.51, Y:184.17, Z:-0.61 [[-6.03353023e-01 -7.97474214e-01 9.02683221e-05 1.81513213e+02] [ 7.97474207e-01 -6.03353029e-01 -1.07637707e-04 1.84170234e+02] [ 1.40301961e-04 7.04312269e-06 9.99999990e-01 -6.06817766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7857692310001 meters 0.054869431215939644 Centerline is valid? [True, True] Translation: X:181.49, Y:184.18, Z:-0.61 [[-6.01758717e-01 -7.98677925e-01 -1.36615141e-04 1.81489385e+02] [ 7.98677908e-01 -6.01758732e-01 1.65339155e-04 1.84180793e+02] [-2.14262088e-04 -9.61721710e-06 9.99999977e-01 -6.07578777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81576923100005 meters 0.054869431215939644 Centerline is valid? [True, True] Translation: X:181.47, Y:184.20, Z:-0.61 [[-6.02008986e-01 -7.98489300e-01 -1.36643469e-04 1.81474630e+02] [ 7.98489283e-01 -6.02009002e-01 1.65315729e-04 1.84197854e+02] [-2.14263439e-04 -9.58679093e-06 9.99999977e-01 -6.07627110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8457692310001 meters 0.05596341690364692 Centerline is valid? [True, True] Translation: X:181.46, Y:184.21, Z:-0.61 [[-6.00557439e-01 -7.99581564e-01 2.93485284e-04 1.81455487e+02] [ 7.99581487e-01 -6.00557510e-01 -3.51518273e-04 1.84212320e+02] [ 4.57322321e-04 2.35584864e-05 9.99999895e-01 -6.08663843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87576923100005 meters 0.05873848507091405 Centerline is valid? [True, True] Translation: X:181.43, Y:184.22, Z:-0.61 [[-5.97161153e-01 -8.02118559e-01 2.09165834e-03 1.81430218e+02] [ 8.02114650e-01 -5.97164790e-01 -2.51035284e-03 1.84223036e+02] [ 3.26266532e-03 1.78664600e-04 9.99994662e-01 -6.12213533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9057692310001 meters 0.06126047843976947 Centerline is valid? [True, True] Translation: X:181.41, Y:184.24, Z:-0.61 [[-5.95868943e-01 -8.03078245e-01 2.35277659e-03 1.81409661e+02] [ 8.03073314e-01 -5.95873551e-01 -2.82201986e-03 1.84235868e+02] [ 3.66826010e-03 2.07898106e-04 9.99993250e-01 -6.12259930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93576923100005 meters 0.0638136112058475 Centerline is valid? [True, True] Translation: X:181.39, Y:184.25, Z:-0.61 [[-5.95034687e-01 -8.03698025e-01 1.79048535e-03 1.81388917e+02] [ 8.03695176e-01 -5.95037359e-01 -2.14608777e-03 1.84248539e+02] [ 2.79021218e-03 1.62007777e-04 9.99996094e-01 -6.10998833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9657692310001 meters 0.06575130603621135 Centerline is valid? [True, True] Translation: X:181.37, Y:184.26, Z:-0.61 [[-5.94783637e-01 -8.03885616e-01 5.84385084e-04 1.81368532e+02] [ 8.03885314e-01 -5.94783921e-01 -6.99244712e-04 1.84261577e+02] [ 9.09695618e-04 5.38792740e-05 9.99999585e-01 -6.08425454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99576923100005 meters 0.06585230347038787 Centerline is valid? [True, True] Translation: X:181.35, Y:184.28, Z:-0.61 [[-5.94777554e-01 -8.03890125e-01 -5.72111584e-04 1.81348996e+02] [ 8.03889834e-01 -5.94777827e-01 6.86180279e-04 1.84276660e+02] [-8.91892835e-04 -5.17900582e-05 9.99999601e-01 -6.06177958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0257692310001 meters 0.06648402678386964 Centerline is valid? [True, True] Translation: X:181.33, Y:184.29, Z:-0.61 [[-5.95698541e-01 -8.03208075e-01 -1.92848184e-04 1.81328202e+02] [ 8.03208042e-01 -5.95698572e-01 2.31868623e-04 1.84288660e+02] [-3.01118138e-04 -1.67734119e-05 9.99999955e-01 -6.08864070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05576923100006 meters 0.06875615748994497 Centerline is valid? [True, True] Translation: X:181.31, Y:184.30, Z:-0.61 [[-5.97315105e-01 -8.02005371e-01 1.43194500e-03 1.81309632e+02] [ 8.02003554e-01 -5.97316808e-01 -1.71178877e-03 1.84302481e+02] [ 2.22818860e-03 1.25947690e-04 9.99997510e-01 -6.13585673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08576923100003 meters 0.062341371676001185 Centerline is valid? [True, True] Translation: X:181.30, Y:184.32, Z:-0.62 [[-5.99432551e-01 -8.00419629e-01 3.00584072e-03 1.81299236e+02] [ 8.00411609e-01 -5.99440034e-01 -3.59195720e-03 1.84324536e+02] [ 4.67689431e-03 2.52773745e-04 9.99989031e-01 -6.17713301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11576923100006 meters 0.0564235777518308 Centerline is valid? [True, True] Translation: X:181.29, Y:184.34, Z:-0.62 [[-6.04061049e-01 -7.96925805e-01 4.41704052e-03 1.81286103e+02] [ 7.96908414e-01 -6.04077106e-01 -5.27533490e-03 1.84343628e+02] [ 6.87228357e-03 3.33352419e-04 9.99976330e-01 -6.21454021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14576923100003 meters 0.05196187099285997 Centerline is valid? [True, True] Translation: X:181.27, Y:184.36, Z:-0.62 [[-6.06359767e-01 -7.95181390e-01 3.79336778e-03 1.81272760e+02] [ 7.95168546e-01 -6.06371572e-01 -4.52770208e-03 1.84363855e+02] [ 5.90053481e-03 2.70950365e-04 9.99982555e-01 -6.18665264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17576923100006 meters 0.051724477608020035 Centerline is valid? [True, True] Translation: X:181.26, Y:184.38, Z:-0.62 [[-6.08688207e-01 -7.93405452e-01 2.54068413e-03 1.81256862e+02] [ 7.93399685e-01 -6.08693485e-01 -3.03004086e-03 1.84379216e+02] [ 3.95054881e-03 1.71427846e-04 9.99992182e-01 -6.15441328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20576923100003 meters 0.04806917984700583 Centerline is valid? [True, True] Translation: X:181.24, Y:184.40, Z:-0.61 [[-6.10573617e-01 -7.91958465e-01 1.28395156e-03 1.81243311e+02] [ 7.91956992e-01 -6.10574961e-01 -1.52959920e-03 1.84398423e+02] [ 1.99532771e-03 8.29014998e-05 9.99998006e-01 -6.11051348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23576923100006 meters 0.049074696890057994 Centerline is valid? [True, True] Translation: X:181.23, Y:184.41, Z:-0.61 [[-6.11770624e-01 -7.91035178e-01 2.24551103e-04 1.81225892e+02] [ 7.91035133e-01 -6.11770665e-01 -2.66430663e-04 1.84412418e+02] [ 3.48129805e-04 1.46333587e-05 9.99999939e-01 -6.08306014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26576923100004 meters 0.04721440692981361 Centerline is valid? [True, True] Translation: X:181.21, Y:184.43, Z:-0.61 [[-6.11900470e-01 -7.90934661e-01 -4.19545896e-04 1.81207199e+02] [ 7.90934503e-01 -6.11900614e-01 5.00591105e-04 1.84426840e+02] [-6.52655247e-04 -2.55213920e-05 9.99999787e-01 -6.06994264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29576923100007 meters 0.046472801815498226 Centerline is valid? [True, True] Translation: X:181.19, Y:184.44, Z:-0.61 [[-6.11418328e-01 -7.91307532e-01 -1.35408927e-04 1.81189643e+02] [ 7.91307515e-01 -6.11418343e-01 1.62128919e-04 1.84442976e+02] [-2.11085337e-04 -8.02150921e-06 9.99999978e-01 -6.07969031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32576923100004 meters 0.048147446680925604 Centerline is valid? [True, True] Translation: X:181.17, Y:184.46, Z:-0.61 [[-6.11238850e-01 -7.91445917e-01 6.54702438e-04 1.81170010e+02] [ 7.91445536e-01 -6.11239199e-01 -7.77519577e-04 1.84456264e+02] [ 1.01554449e-03 4.29111506e-05 9.99999483e-01 -6.10179823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35576923100007 meters 0.04830348483367175 Centerline is valid? [True, True] Translation: X:181.15, Y:184.47, Z:-0.61 [[-6.11135814e-01 -7.91524319e-01 1.50646589e-03 1.81151622e+02] [ 7.91522302e-01 -6.11137663e-01 -1.78937468e-03 1.84471558e+02] [ 2.33699161e-03 9.88503980e-05 9.99997264e-01 -6.12435475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38576923100004 meters 0.04834104107239717 Centerline is valid? [True, True] Translation: X:181.13, Y:184.48, Z:-0.62 [[-6.12283034e-01 -7.90634730e-01 2.49198060e-03 1.81131265e+02] [ 7.90629210e-01 -6.12288085e-01 -2.95863408e-03 1.84483922e+02] [ 3.86500889e-03 1.58711200e-04 9.99992518e-01 -6.15524242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41576923100007 meters 0.0471369958372408 Centerline is valid? [True, True] Translation: X:181.12, Y:184.50, Z:-0.61 [[-6.13232579e-01 -7.89899668e-01 2.07794421e-03 1.81115414e+02] [ 7.89895832e-01 -6.13236086e-01 -2.46529274e-03 1.84500539e+02] [ 3.22160429e-03 1.29561647e-04 9.99994802e-01 -6.14593404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44576923100004 meters 0.04367107600859077 Centerline is valid? [True, True] Translation: X:181.10, Y:184.52, Z:-0.61 [[-6.14443632e-01 -7.88959266e-01 1.51642274e-03 1.81101092e+02] [ 7.88957224e-01 -6.14445496e-01 -1.79755775e-03 1.84520170e+02] [ 2.34995897e-03 9.18947674e-05 9.99997235e-01 -6.12725941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4757692310001 meters 0.042000390872956934 Centerline is valid? [True, True] Translation: X:181.08, Y:184.54, Z:-0.61 [[-6.15715054e-01 -7.87967999e-01 1.18497128e-03 1.81084967e+02] [ 7.87966753e-01 -6.15716190e-01 -1.40347965e-03 1.84538344e+02] [ 1.83550305e-03 6.95744219e-05 9.99998313e-01 -6.11767390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50576923100004 meters 0.042933695548161656 Centerline is valid? [True, True] Translation: X:181.06, Y:184.55, Z:-0.61 [[-6.17212089e-01 -7.86796115e-01 1.05360251e-03 1.81064750e+02] [ 7.86795129e-01 -6.17212985e-01 -1.24706283e-03 1.84550634e+02] [ 1.63148134e-03 5.92670664e-05 9.99998667e-01 -6.12258709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5357692310001 meters 0.0425040972717543 Centerline is valid? [True, True] Translation: X:181.05, Y:184.57, Z:-0.61 [[-6.17578594e-01 -7.86508363e-01 1.12924560e-03 1.81048237e+02] [ 7.86507232e-01 -6.17579623e-01 -1.33575722e-03 1.84566650e+02] [ 1.74798330e-03 6.32247706e-05 9.99998470e-01 -6.12424075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56576923100005 meters 0.045773701579920306 Centerline is valid? [True, True] Translation: X:181.03, Y:184.58, Z:-0.61 [[-6.17534084e-01 -7.86543332e-01 1.11437578e-03 1.81028801e+02] [ 7.86542232e-01 -6.17535086e-01 -1.31724688e-03 1.84579301e+02] [ 1.72423790e-03 6.30587673e-05 9.99998512e-01 -6.12566027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5957692310001 meters 0.0429335569104472 Centerline is valid? [True, True] Translation: X:181.01, Y:184.60, Z:-0.61 [[-6.17244556e-01 -7.86770534e-01 1.13316731e-03 1.81014733e+02] [ 7.86769398e-01 -6.17245593e-01 -1.33875785e-03 1.84598568e+02] [ 1.75273776e-03 6.52003691e-05 9.99998462e-01 -6.11546357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62576923100005 meters 0.044430213612134714 Centerline is valid? [True, True] Translation: X:180.99, Y:184.61, Z:-0.61 [[-6.16808093e-01 -7.87112048e-01 1.54928518e-03 1.80994276e+02] [ 7.87109928e-01 -6.16810032e-01 -1.82921452e-03 1.84609665e+02] [ 2.39541142e-03 9.11834274e-05 9.99997127e-01 -6.12444197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6557692310001 meters 0.04360874199341193 Centerline is valid? [True, True] Translation: X:180.98, Y:184.63, Z:-0.61 [[-6.16739242e-01 -7.87166636e-01 1.18093678e-03 1.80976929e+02] [ 7.87165406e-01 -6.16740369e-01 -1.39336490e-03 1.84626116e+02] [ 1.82514175e-03 7.02497641e-05 9.99998332e-01 -6.12176843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68576923100005 meters 0.04530960595100517 Centerline is valid? [True, True] Translation: X:180.96, Y:184.64, Z:-0.61 [[-6.16712827e-01 -7.87187977e-01 6.14986877e-04 1.80958301e+02] [ 7.87187644e-01 -6.16713133e-01 -7.24640100e-04 1.84640088e+02] [ 9.49698457e-04 3.72152258e-05 9.99999548e-01 -6.11263916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7157692310001 meters 0.044481464800258004 Centerline is valid? [True, True] Translation: X:180.94, Y:184.66, Z:-0.61 [[-6.17611604e-01 -7.86483252e-01 -2.82221956e-05 1.80940803e+02] [ 7.86483251e-01 -6.17611605e-01 3.43404129e-05 1.84655716e+02] [-4.44385153e-05 -9.87246651e-07 9.99999999e-01 -6.08876924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74576923100005 meters 0.044322291622053256 Centerline is valid? [True, True] Translation: X:180.92, Y:184.67, Z:-0.61 [[-6.18433134e-01 -7.85837424e-01 -3.17510712e-05 1.80924732e+02] [ 7.85837424e-01 -6.18433135e-01 3.85114876e-05 1.84670482e+02] [-4.98996828e-05 -1.13440004e-06 9.99999999e-01 -6.08884554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7757692310001 meters 0.043761168052217234 Centerline is valid? [True, True] Translation: X:180.91, Y:184.69, Z:-0.61 [[-6.19454934e-01 -7.85032188e-01 2.21693349e-04 1.80908119e+02] [ 7.85032145e-01 -6.19454973e-01 -2.60033315e-04 1.84685861e+02] [ 3.41463570e-04 1.29574852e-05 9.99999942e-01 -6.09784886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80576923100006 meters 0.0395390012848344 Centerline is valid? [True, True] Translation: X:180.89, Y:184.71, Z:-0.61 [[-6.20563317e-01 -7.84156282e-01 3.07799623e-04 1.80894411e+02] [ 7.84156199e-01 -6.20563393e-01 -3.61327287e-04 1.84706264e+02] [ 4.74346240e-04 1.71365230e-05 9.99999887e-01 -6.10731281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83576923100003 meters 0.04183097731864834 Centerline is valid? [True, True] Translation: X:180.88, Y:184.72, Z:-0.61 [[-6.22177500e-01 -7.82875940e-01 6.48392292e-04 1.80875654e+02] [ 7.82875571e-01 -6.22177837e-01 -7.61604168e-04 1.84719932e+02] [ 9.99656893e-04 3.37575081e-05 9.99999500e-01 -6.11562013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86576923100006 meters 0.04132548780337975 Centerline is valid? [True, True] Translation: X:180.86, Y:184.74, Z:-0.61 [[-6.22677959e-01 -7.82478156e-01 3.06574935e-04 1.80859936e+02] [ 7.82478074e-01 -6.22678035e-01 -3.59339143e-04 1.84736506e+02] [ 4.72072508e-04 1.61356004e-05 9.99999888e-01 -6.10513874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89576923100003 meters 0.038534743460334704 Centerline is valid? [True, True] Translation: X:180.85, Y:184.76, Z:-0.61 [[-6.22701610e-01 -7.82459318e-01 -3.46389051e-04 1.80845052e+02] [ 7.82459212e-01 -6.22701706e-01 4.07930334e-04 1.84755496e+02] [-5.34885944e-04 -1.70164284e-05 9.99999857e-01 -6.08481997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92576923100006 meters 0.038713056976448536 Centerline is valid? [True, True] Translation: X:180.83, Y:184.77, Z:-0.61 [[-6.22349002e-01 -7.82739456e-01 -8.14538154e-04 1.80827484e+02] [ 7.82738872e-01 -6.22349534e-01 9.57312345e-04 1.84771410e+02] [-1.25625358e-03 -4.17882923e-05 9.99999210e-01 -6.06980474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95576923100003 meters 0.04276087450863319 Centerline is valid? [True, True] Translation: X:180.81, Y:184.78, Z:-0.61 [[-6.20298133e-01 -7.84365748e-01 -7.74982521e-04 1.80805191e+02] [ 7.84365221e-01 -6.20298615e-01 9.10347288e-04 1.84781586e+02] [-1.19476582e-03 -4.31826133e-05 9.99999285e-01 -6.07037220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98576923100006 meters 0.0445492752748933 Centerline is valid? [True, True] Translation: X:180.79, Y:184.80, Z:-0.61 [[-6.19547853e-01 -7.84958680e-01 -5.73146218e-04 1.80785801e+02] [ 7.84958392e-01 -6.19548117e-01 6.73028279e-04 1.84796056e+02] [-8.83391050e-04 -3.29227084e-05 9.99999609e-01 -6.07368345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01576923100004 meters 0.045890087716896635 Centerline is valid? [True, True] Translation: X:180.77, Y:184.81, Z:-0.61 [[-6.18970312e-01 -7.85414284e-01 -3.93569437e-04 1.80767063e+02] [ 7.85414149e-01 -6.18970437e-01 4.62267099e-04 1.84809739e+02] [-6.06679029e-04 -2.29853936e-05 9.99999816e-01 -6.08599194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04576923100007 meters 0.04713652108646164 Centerline is valid? [True, True] Translation: X:180.75, Y:184.82, Z:-0.61 [[-6.19002811e-01 -7.85388622e-01 -4.82419458e-04 1.80746560e+02] [ 7.85388419e-01 -6.19002998e-01 5.65990799e-04 1.84821711e+02] [-7.43141825e-04 -2.85367593e-05 9.99999723e-01 -6.08889076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07576923100004 meters 0.045481997276240506 Centerline is valid? [True, True] Translation: X:180.73, Y:184.84, Z:-0.61 [[-6.20176091e-01 -7.84462183e-01 -8.36051108e-04 1.80731477e+02] [ 7.84461573e-01 -6.20176653e-01 9.79413968e-04 1.84839095e+02] [-1.28681260e-03 -4.84408413e-05 9.99999171e-01 -6.07515064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10576923100007 meters 0.04138996727578736 Centerline is valid? [True, True] Translation: X:180.72, Y:184.86, Z:-0.61 [[-6.21786186e-01 -7.83186330e-01 -1.05442324e-03 1.80718493e+02] [ 7.83185359e-01 -6.21787078e-01 1.23415076e-03 1.84858834e+02] [-1.62219675e-03 -5.84309504e-05 9.99998683e-01 -6.06585816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13576923100004 meters 0.04128707641166853 Centerline is valid? [True, True] Translation: X:180.70, Y:184.87, Z:-0.61 [[-6.23484189e-01 -7.81835353e-01 -9.73341046e-04 1.80702143e+02] [ 7.81834525e-01 -6.23484946e-01 1.13862137e-03 1.84874346e+02] [-1.49707793e-03 -5.10792129e-05 9.99998878e-01 -6.06738712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16576923100007 meters 0.03793279999520692 Centerline is valid? [True, True] Translation: X:180.69, Y:184.89, Z:-0.61 [[-6.25376935e-01 -7.80322480e-01 -7.18213570e-04 1.80687700e+02] [ 7.80322029e-01 -6.25377346e-01 8.39893419e-04 1.84893831e+02] [-1.10454221e-03 -3.51878987e-05 9.99999389e-01 -6.08033189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19576923100004 meters 0.03533591179096754 Centerline is valid? [True, True] Translation: X:180.67, Y:184.91, Z:-0.61 [[-6.28017906e-01 -7.78198703e-01 -5.36781035e-04 1.80672537e+02] [ 7.78198450e-01 -6.28018135e-01 6.27670137e-04 1.84909527e+02] [-8.25560311e-04 -2.35340843e-05 9.99999659e-01 -6.08981732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2257692310001 meters 0.03461703307527158 Centerline is valid? [True, True] Translation: X:180.66, Y:184.93, Z:-0.61 [[-6.28598260e-01 -7.77729892e-01 -6.65424128e-04 1.80656450e+02] [ 7.77729504e-01 -6.28598611e-01 7.77210818e-04 1.84926067e+02] [-1.02274477e-03 -2.89666090e-05 9.99999477e-01 -6.08553025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25576923100004 meters 0.03464464391352029 Centerline is valid? [True, True] Translation: X:180.64, Y:184.94, Z:-0.61 [[-6.28889051e-01 -7.77494929e-01 -4.44640808e-04 1.80639989e+02] [ 7.77494756e-01 -6.28889208e-01 5.19350793e-04 1.84941935e+02] [-6.83422413e-04 -1.90918693e-05 9.99999766e-01 -6.08940528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2857692310001 meters 0.03446380773037314 Centerline is valid? [True, True] Translation: X:180.62, Y:184.96, Z:-0.61 [[-6.29676112e-01 -7.76857752e-01 -1.62701008e-04 1.80624396e+02] [ 7.76857729e-01 -6.29676133e-01 1.90623443e-04 1.84957416e+02] [-2.50536241e-04 -6.36450668e-06 9.99999969e-01 -6.09752694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31576923100005 meters 0.03295720974908981 Centerline is valid? [True, True] Translation: X:180.61, Y:184.97, Z:-0.61 [[-6.31550912e-01 -7.75334398e-01 1.25520233e-04 1.80608662e+02] [ 7.75334385e-01 -6.31550925e-01 -1.45051540e-04 1.84973605e+02] [ 1.91735868e-04 5.71272031e-06 9.99999982e-01 -6.10679454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3457692310001 meters 0.032718064310128 Centerline is valid? [True, True] Translation: X:180.59, Y:184.99, Z:-0.61 [[-6.32037623e-01 -7.74937466e-01 6.05490309e-04 1.80592606e+02] [ 7.74937147e-01 -6.32037913e-01 -7.03305987e-04 1.84990577e+02] [ 9.27710991e-04 2.47010878e-05 9.99999569e-01 -6.12102399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37576923100005 meters 0.03342013617278951 Centerline is valid? [True, True] Translation: X:180.58, Y:185.01, Z:-0.61 [[-6.31948639e-01 -7.75009526e-01 1.07356098e-03 1.80576835e+02] [ 7.75008524e-01 -6.31949550e-01 -1.24677796e-03 1.85005758e+02] [ 1.64470118e-03 4.41192767e-05 9.99998647e-01 -6.14149035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4057692310001 meters 0.0355142190271981 Centerline is valid? [True, True] Translation: X:180.56, Y:185.02, Z:-0.62 [[-6.31640416e-01 -7.75260261e-01 1.38328018e-03 1.80559788e+02] [ 7.75258600e-01 -6.31641928e-01 -1.60583840e-03 1.85019859e+02] [ 2.11868046e-03 5.80874181e-05 9.99997754e-01 -6.15905429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43576923100005 meters 0.036508665790099495 Centerline is valid? [True, True] Translation: X:180.54, Y:185.04, Z:-0.62 [[-6.30742746e-01 -7.75990781e-01 1.37717771e-03 1.80541799e+02] [ 7.75989139e-01 -6.30744246e-01 -1.59770946e-03 1.85035014e+02] [ 2.10845472e-03 6.09312927e-05 9.99997775e-01 -6.16086355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4657692310001 meters 0.037354733214314186 Centerline is valid? [True, True] Translation: X:180.52, Y:185.05, Z:-0.62 [[-6.30355517e-01 -7.76305790e-01 1.11524043e-03 1.80524579e+02] [ 7.76304715e-01 -6.30356501e-01 -1.29252182e-03 1.85050919e+02] [ 1.70639123e-03 5.10181423e-05 9.99998543e-01 -6.15005949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49576923100005 meters 0.039480519581921364 Centerline is valid? [True, True] Translation: X:180.51, Y:185.07, Z:-0.61 [[-6.29846411e-01 -7.76719474e-01 5.98015144e-04 1.80507113e+02] [ 7.76719166e-01 -6.29846694e-01 -6.92200053e-04 1.85065011e+02] [ 9.14303123e-04 2.85101044e-05 9.99999582e-01 -6.13493719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5257692310001 meters 0.04122921744801964 Centerline is valid? [True, True] Translation: X:180.49, Y:185.08, Z:-0.61 [[-6.28201854e-01 -7.78050332e-01 3.34106845e-04 1.80489552e+02] [ 7.78050237e-01 -6.28201942e-01 -3.85893424e-04 1.85080697e+02] [ 5.10131075e-04 1.75329459e-05 9.99999870e-01 -6.12780528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55576923100006 meters 0.0443840660401192 Centerline is valid? [True, True] Translation: X:180.47, Y:185.09, Z:-0.61 [[-6.27192405e-01 -7.78864141e-01 5.81555699e-04 1.80470992e+02] [ 7.78863851e-01 -6.27192673e-01 -6.72198484e-04 1.85093834e+02] [ 8.88298768e-04 3.13549279e-05 9.99999605e-01 -6.13213812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58576923100003 meters 0.04624685433563426 Centerline is valid? [True, True] Translation: X:180.45, Y:185.11, Z:-0.61 [[-6.25883950e-01 -7.79915790e-01 8.01357070e-04 1.80452932e+02] [ 7.79915241e-01 -6.25884461e-01 -9.26084468e-04 1.85108032e+02] [ 1.22382484e-03 4.53691875e-05 9.99999250e-01 -6.13696525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61576923100006 meters 0.04975736571217704 Centerline is valid? [True, True] Translation: X:180.43, Y:185.12, Z:-0.61 [[-6.24473757e-01 -7.81044937e-01 1.15459634e-03 1.80433126e+02] [ 7.81043801e-01 -6.24474821e-01 -1.33382083e-03 1.85119523e+02] [ 1.76279035e-03 6.88542054e-05 9.99998444e-01 -6.14239961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64576923100003 meters 0.043288854326867736 Centerline is valid? [True, True] Translation: X:180.42, Y:185.14, Z:-0.61 [[-6.22869921e-01 -7.82324037e-01 1.47035187e-03 1.80421654e+02] [ 7.82322200e-01 -6.22871650e-01 -1.69785640e-03 1.85141251e+02] [ 2.24411436e-03 9.27452275e-05 9.99997478e-01 -6.13797662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67576923100006 meters 0.06026346610465622 Centerline is valid? [True, True] Translation: X:180.38, Y:185.14, Z:-0.62 [[-6.19835138e-01 -7.84730014e-01 1.79108421e-03 1.80384694e+02] [ 7.84727301e-01 -6.19837713e-01 -2.06706948e-03 1.85139849e+02] [ 2.73227300e-03 1.24270382e-04 9.99996260e-01 -6.17042450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70576923100003 meters 0.06231406191482683 Centerline is valid? [True, True] Translation: X:180.36, Y:185.15, Z:-0.62 [[-6.18925754e-01 -7.85447747e-01 1.65790256e-03 1.80364462e+02] [ 7.85445429e-01 -6.18927963e-01 -1.91163664e-03 1.85152601e+02] [ 2.52761295e-03 1.19030841e-04 9.99996799e-01 -6.16807748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73576923100006 meters 0.06231406191482683 Centerline is valid? [True, True] Translation: X:180.35, Y:185.17, Z:-0.62 [[-6.19159731e-01 -7.85263317e-01 1.65833995e-03 1.80349363e+02] [ 7.85261000e-01 -6.19161941e-01 -1.91125728e-03 1.85169273e+02] [ 2.52762121e-03 1.18856147e-04 9.99996799e-01 -6.16856078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76576923100004 meters 0.06286387843827727 Centerline is valid? [True, True] Translation: X:180.33, Y:185.18, Z:-0.62 [[-6.18626807e-01 -7.85683633e-01 1.45016123e-03 1.80330400e+02] [ 7.85681866e-01 -6.18628497e-01 -1.66968022e-03 1.85183454e+02] [ 2.20895149e-03 1.06456439e-04 9.99997555e-01 -6.16235808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79576923100007 meters 0.06425856577126916 Centerline is valid? [True, True] Translation: X:180.31, Y:185.19, Z:-0.62 [[-6.18590563e-01 -7.85712792e-01 1.06024932e-03 1.80307934e+02] [ 7.85711849e-01 -6.18591466e-01 -1.21987109e-03 1.85193630e+02] [ 1.61432950e-03 7.84497103e-05 9.99998694e-01 -6.15103793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82576923100004 meters 0.05502001600437431 Centerline is valid? [True, True] Translation: X:180.30, Y:185.22, Z:-0.61 [[-6.19457286e-01 -7.85030007e-01 7.47598393e-04 1.80298624e+02] [ 7.85029539e-01 -6.19457735e-01 -8.59250402e-04 1.85216395e+02] [ 1.13764296e-03 5.46178991e-05 9.99999351e-01 -6.13838137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85576923100007 meters 0.0548250232771179 Centerline is valid? [True, True] Translation: X:180.28, Y:185.23, Z:-0.61 [[-6.20553092e-01 -7.84164246e-01 5.42927183e-04 1.80280201e+02] [ 7.84164000e-01 -6.20553329e-01 -6.23058161e-04 1.85231516e+02] [ 8.25495204e-04 3.91032828e-05 9.99999659e-01 -6.14009958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88576923100004 meters 0.05059322680890109 Centerline is valid? [True, True] Translation: X:180.26, Y:185.25, Z:-0.61 [[-6.22565445e-01 -7.82567481e-01 6.35615756e-04 1.80262413e+02] [ 7.82567143e-01 -6.22565768e-01 -7.29208384e-04 1.85246720e+02] [ 9.66367379e-04 4.34320645e-05 9.99999532e-01 -6.13899213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91576923100007 meters 0.050258828175956234 Centerline is valid? [True, True] Translation: X:180.24, Y:185.26, Z:-0.61 [[-6.23046482e-01 -7.82184499e-01 6.99926422e-04 1.80243854e+02] [ 7.82184089e-01 -6.23046874e-01 -8.02643641e-04 1.85260945e+02] [ 1.06390238e-03 4.73870136e-05 9.99999433e-01 -6.13524699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94576923100004 meters 0.050783487557892165 Centerline is valid? [True, True] Translation: X:180.23, Y:185.27, Z:-0.61 [[-6.23392394e-01 -7.81908767e-01 7.77090796e-04 1.80225004e+02] [ 7.81908262e-01 -6.23392876e-01 -8.90472325e-04 1.85273389e+02] [ 1.18070098e-03 5.25000396e-05 9.99999302e-01 -6.12984927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9757692310001 meters 0.050836508693462824 Centerline is valid? [True, True] Translation: X:180.21, Y:185.29, Z:-0.61 [[-6.23531373e-01 -7.81798044e-01 6.66897299e-04 1.80205496e+02] [ 7.81797672e-01 -6.23531728e-01 -7.63655909e-04 1.85287086e+02] [ 1.01285632e-03 4.52153379e-05 9.99999486e-01 -6.12583333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00576923100004 meters 0.062376635164940006 Centerline is valid? [True, True] Translation: X:180.17, Y:185.29, Z:-0.61 [[-6.24314827e-01 -7.81172503e-01 7.19130406e-04 1.80170963e+02] [ 7.81172071e-01 -6.24315239e-01 -8.22848252e-04 1.85285862e+02] [ 1.09175050e-03 4.80482246e-05 9.99999403e-01 -6.14090987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0357692310001 meters 0.049942363292604174 Centerline is valid? [True, True] Translation: X:180.16, Y:185.31, Z:-0.61 [[-6.24957899e-01 -7.80658209e-01 6.20445032e-04 1.80163685e+02] [ 7.80657888e-01 -6.24958205e-01 -7.09411475e-04 1.85310112e+02] [ 9.41560105e-04 4.10030033e-05 9.99999556e-01 -6.13285975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06576923100005 meters 0.050729087222402956 Centerline is valid? [True, True] Translation: X:180.14, Y:185.32, Z:-0.61 [[-6.25616601e-01 -7.80130634e-01 2.52087058e-04 1.80144706e+02] [ 7.80130581e-01 -6.25616651e-01 -2.87376935e-04 1.85322117e+02] [ 3.81901411e-04 1.68730421e-05 9.99999927e-01 -6.12792786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0957692310001 meters 0.04915949090186128 Centerline is valid? [True, True] Translation: X:180.13, Y:185.34, Z:-0.61 [[-6.26427422e-01 -7.79479752e-01 3.88212657e-05 1.80127017e+02] [ 7.79479751e-01 -6.26427423e-01 -4.33384216e-05 1.85337597e+02] [ 5.81001275e-05 3.11201482e-06 9.99999998e-01 -6.12225294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12576923100005 meters 0.04716779402709289 Centerline is valid? [True, True] Translation: X:180.11, Y:185.35, Z:-0.61 [[-6.27591955e-01 -7.78542345e-01 -3.93055278e-04 1.80110250e+02] [ 7.78542215e-01 -6.27592078e-01 4.50331738e-04 1.85353229e+02] [-5.97280706e-04 -2.33855506e-05 9.99999821e-01 -6.11134956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1557692310001 meters 0.04365006491530916 Centerline is valid? [True, True] Translation: X:180.09, Y:185.37, Z:-0.61 [[-6.30812912e-01 -7.75934963e-01 -5.73671359e-05 1.80093544e+02] [ 7.75934960e-01 -6.30812915e-01 6.65795015e-05 1.85368270e+02] [-8.78492933e-05 -2.51395703e-06 9.99999996e-01 -6.12111980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18576923100005 meters 0.037922920304927464 Centerline is valid? [True, True] Translation: X:180.08, Y:185.39, Z:-0.61 [[-6.33495303e-01 -7.73746530e-01 8.74487807e-05 1.80081714e+02] [ 7.73746524e-01 -6.33495309e-01 -9.87068652e-05 1.85389472e+02] [ 1.31772487e-04 5.13285459e-06 9.99999991e-01 -6.12895289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2157692310001 meters 0.03853698076546746 Centerline is valid? [True, True] Translation: X:180.06, Y:185.40, Z:-0.61 [[-6.36853105e-01 -7.70985157e-01 1.06217025e-04 1.80064667e+02] [ 7.70985147e-01 -6.36853113e-01 -1.20085745e-04 1.85404710e+02] [ 1.60228969e-04 5.41476889e-06 9.99999987e-01 -6.13777540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24576923100005 meters 0.032948618779115056 Centerline is valid? [True, True] Translation: X:180.05, Y:185.43, Z:-0.61 [[-6.40736041e-01 -7.67761215e-01 2.06585445e-04 1.80054216e+02] [ 7.67761179e-01 -6.40736074e-01 -2.34280047e-04 1.85426151e+02] [ 3.12237881e-04 8.49661525e-06 9.99999951e-01 -6.13763730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2757692310001 meters 0.020683618904900652 Centerline is valid? [True, True] Translation: X:180.05, Y:185.45, Z:-0.61 [[-6.48185120e-01 -7.61482754e-01 2.55291890e-04 1.80051209e+02] [ 7.61482699e-01 -6.48185170e-01 -2.89713879e-04 1.85454670e+02] [ 3.86088540e-04 6.61213161e-06 9.99999925e-01 -6.13400363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30576923100006 meters 0.01812700498670135 Centerline is valid? [True, True] Translation: X:180.04, Y:185.47, Z:-0.61 [[-6.51783510e-01 -7.58405071e-01 6.50616072e-05 1.80038547e+02] [ 7.58405068e-01 -6.51783513e-01 -7.29810853e-05 1.85474121e+02] [ 9.77553080e-05 1.77518469e-06 9.99999995e-01 -6.13595835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33576923100003 meters 0.013967273771823484 Centerline is valid? [True, True] Translation: X:180.03, Y:185.50, Z:-0.61 [[-6.55102474e-01 -7.55540032e-01 -9.33671101e-05 1.80029310e+02] [ 7.55540024e-01 -6.55102481e-01 1.07272275e-04 1.85496131e+02] [-1.42213523e-04 -2.68256122e-07 9.99999990e-01 -6.13101092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36576923100006 meters 0.011400843366825269 Centerline is valid? [True, True] Translation: X:180.02, Y:185.52, Z:-0.61 [[-6.60643056e-01 -7.50700145e-01 2.09687893e-04 1.80023281e+02] [ 7.50700108e-01 -6.60643090e-01 -2.37230772e-04 1.85519893e+02] [ 3.16618032e-04 6.87861857e-07 9.99999950e-01 -6.13881908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39576923100003 meters 0.01191998084743032 Centerline is valid? [True, True] Translation: X:180.01, Y:185.54, Z:-0.61 [[-6.63120607e-01 -7.48512510e-01 2.88804103e-04 1.80011625e+02] [ 7.48512438e-01 -6.63120670e-01 -3.26974817e-04 1.85540605e+02] [ 4.36256711e-04 -6.50276358e-07 9.99999905e-01 -6.13876819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42576923100006 meters 0.013080132715595055 Centerline is valid? [True, True] Translation: X:180.00, Y:185.56, Z:-0.61 [[-6.65291079e-01 -7.46584070e-01 8.25393268e-05 1.80001109e+02] [ 7.46584064e-01 -6.65291084e-01 -9.25489438e-05 1.85559948e+02] [ 1.24008245e-04 5.05593642e-08 9.99999992e-01 -6.13259322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45576923100003 meters 0.01430157579575851 Centerline is valid? [True, True] Translation: X:179.99, Y:185.58, Z:-0.61 [[-6.67050758e-01 -7.45012269e-01 6.64797554e-05 1.79988902e+02] [ 7.45012266e-01 -6.67050762e-01 -7.43084737e-05 1.85580133e+02] [ 9.97060960e-05 -3.92905330e-08 9.99999995e-01 -6.12971642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48576923100006 meters 0.016630158844248587 Centerline is valid? [True, True] Translation: X:179.98, Y:185.60, Z:-0.61 [[-6.69874620e-01 -7.42474174e-01 3.07262888e-04 1.79980125e+02] [ 7.42474093e-01 -6.69874691e-01 -3.47262203e-04 1.85603361e+02] [ 4.63660849e-04 -4.48740180e-06 9.99999893e-01 -6.12895713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51576923100004 meters 0.017400929683037906 Centerline is valid? [True, True] Translation: X:179.97, Y:185.62, Z:-0.61 [[-6.70697860e-01 -7.41730373e-01 6.59103916e-04 1.79968003e+02] [ 7.41729999e-01 -6.70698184e-01 -7.45385883e-04 1.85622234e+02] [ 9.94935148e-04 -1.10515697e-05 9.99999505e-01 -6.14225257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54576923100007 meters 0.01820902008259999 Centerline is valid? [True, True] Translation: X:179.96, Y:185.64, Z:-0.62 [[-6.71133287e-01 -7.41335328e-01 1.42911609e-03 1.79956264e+02] [ 7.41333566e-01 -6.71134808e-01 -1.61640954e-03 1.85640725e+02] [ 2.15743105e-03 -2.53745190e-05 9.99997672e-01 -6.16220694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57576923100004 meters 0.017813271225408215 Centerline is valid? [True, True] Translation: X:179.94, Y:185.66, Z:-0.62 [[-6.71374357e-01 -7.41115991e-01 1.88709814e-03 1.79942434e+02] [ 7.41112921e-01 -6.71377008e-01 -2.13350626e-03 1.85659240e+02] [ 2.84812991e-03 -3.38285773e-05 9.99995944e-01 -6.17147404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60576923100007 meters 0.016507567272435696 Centerline is valid? [True, True] Translation: X:179.93, Y:185.68, Z:-0.61 [[-6.71250623e-01 -7.41229559e-01 1.15842280e-03 1.79931351e+02] [ 7.41228404e-01 -6.71251622e-01 -1.30846905e-03 1.85681022e+02] [ 1.74746912e-03 -1.96547824e-05 9.99998473e-01 -6.14473241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63576923100004 meters 0.016617815904084076 Centerline is valid? [True, True] Translation: X:179.92, Y:185.70, Z:-0.61 [[-6.71085191e-01 -7.41379958e-01 6.50788669e-04 1.79919765e+02] [ 7.41379595e-01 -6.71085507e-01 -7.34108481e-04 1.85701271e+02] [ 9.80988158e-04 -1.01678908e-05 9.99999519e-01 -6.12802522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66576923100007 meters 0.015819216640478664 Centerline is valid? [True, True] Translation: X:179.91, Y:185.72, Z:-0.61 [[-6.70702075e-01 -7.41726742e-01 4.07891561e-04 1.79907091e+02] [ 7.41726600e-01 -6.70702199e-01 -4.59393567e-04 1.85720189e+02] [ 6.14318260e-04 -5.57219850e-06 9.99999811e-01 -6.12168853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69576923100004 meters 0.015669398973818104 Centerline is valid? [True, True] Translation: X:179.90, Y:185.74, Z:-0.61 [[-6.70035080e-01 -7.42328925e-01 8.70920422e-04 1.79895192e+02] [ 7.42328277e-01 -6.70035646e-01 -9.81405280e-04 1.85739392e+02] [ 1.31207325e-03 -1.10671094e-05 9.99999139e-01 -6.13830006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7257692310001 meters 0.013276142679480385 Centerline is valid? [True, True] Translation: X:179.88, Y:185.76, Z:-0.62 [[-6.67430809e-01 -7.44668194e-01 2.32305831e-03 1.79882498e+02] [ 7.44663592e-01 -6.67434851e-01 -2.61794104e-03 1.85757529e+02] [ 3.49998750e-03 -1.73975588e-05 9.99993875e-01 -6.19115900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75576923100004 meters 0.012013746983773273 Centerline is valid? [True, True] Translation: X:179.87, Y:185.77, Z:-0.62 [[-6.65794310e-01 -7.46131994e-01 2.23273439e-03 1.79866897e+02] [ 7.46127757e-01 -6.65798053e-01 -2.51448633e-03 1.85774671e+02] [ 3.36268891e-03 -8.22559147e-06 9.99994346e-01 -6.18166316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7857692310001 meters 0.01153285381673765 Centerline is valid? [True, True] Translation: X:179.85, Y:185.79, Z:-0.62 [[-6.63646485e-01 -7.48044578e-01 1.62882511e-03 1.79850822e+02] [ 7.48042332e-01 -6.63648484e-01 -1.83283088e-03 1.85790655e+02] [ 2.45200651e-03 2.07836075e-06 9.99996994e-01 -6.15847390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81576923100005 meters 0.01489068348078768 Centerline is valid? [True, True] Translation: X:179.83, Y:185.80, Z:-0.61 [[-6.58311908e-01 -7.52744686e-01 9.33079596e-04 1.79831038e+02] [ 7.52743955e-01 -6.58312569e-01 -1.04872568e-03 1.85802267e+02] [ 1.40368071e-03 1.19814196e-05 9.99999015e-01 -6.13631316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8457692310001 meters 0.018660332434298755 Centerline is valid? [True, True] Translation: X:179.81, Y:185.82, Z:-0.61 [[-6.55029001e-01 -7.55602711e-01 1.24555078e-03 1.79810933e+02] [ 7.55601416e-01 -6.55030185e-01 -1.39930109e-03 1.85815227e+02] [ 1.87318906e-03 2.45571400e-05 9.99998245e-01 -6.14444440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87576923100005 meters 0.023932484344060322 Centerline is valid? [True, True] Translation: X:179.79, Y:185.83, Z:-0.62 [[-6.51278301e-01 -7.58837228e-01 1.62378253e-03 1.79789357e+02] [ 7.58835039e-01 -6.51280323e-01 -1.82338505e-03 1.85827622e+02] [ 2.44119007e-03 4.46519647e-05 9.99997019e-01 -6.15832513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9057692310001 meters 0.028777188239753327 Centerline is valid? [True, True] Translation: X:179.77, Y:185.84, Z:-0.62 [[-6.47819474e-01 -7.61791404e-01 1.94560832e-03 1.79768021e+02] [ 7.61788278e-01 -6.47822392e-01 -2.18338277e-03 1.85840448e+02] [ 2.92369086e-03 6.77037310e-05 9.99995724e-01 -6.16660864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93576923100005 meters 0.03717674318472292 Centerline is valid? [True, True] Translation: X:179.74, Y:185.85, Z:-0.61 [[-6.42295206e-01 -7.66456227e-01 1.31146827e-03 1.79742857e+02] [ 7.66454819e-01 -6.42296542e-01 -1.47040651e-03 1.85847432e+02] [ 1.96935376e-03 6.07461271e-05 9.99998059e-01 -6.14972454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9657692310001 meters 0.04127501989906949 Centerline is valid? [True, True] Translation: X:179.72, Y:185.86, Z:-0.61 [[-6.40677848e-01 -7.67809595e-01 5.66932193e-04 1.79722127e+02] [ 7.67809333e-01 -6.40678098e-01 -6.34646181e-04 1.85858824e+02] [ 8.50508466e-04 2.86920786e-05 9.99999638e-01 -6.13294001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99576923100005 meters 0.03937095631750299 Centerline is valid? [True, True] Translation: X:179.71, Y:185.88, Z:-0.61 [[-6.39910353e-01 -7.68449568e-01 4.17646345e-05 1.79706131e+02] [ 7.68449566e-01 -6.39910355e-01 -4.58072200e-05 1.85876768e+02] [ 6.19261603e-05 2.78150092e-06 9.99999998e-01 -6.12168422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0257692310001 meters 0.0391608393496204 Centerline is valid? [True, True] Translation: X:179.69, Y:185.89, Z:-0.61 [[-6.41295501e-01 -7.67293726e-01 6.47093458e-04 1.79688313e+02] [ 7.67293386e-01 -6.41295826e-01 -7.23528066e-04 1.85890629e+02] [ 9.70136879e-04 3.25152375e-05 9.99999529e-01 -6.12709049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05576923100006 meters 0.038214129043505345 Centerline is valid? [True, True] Translation: X:179.67, Y:185.91, Z:-0.61 [[-6.43101951e-01 -7.65779649e-01 1.18750091e-03 1.79672619e+02] [ 7.65778500e-01 -6.43103045e-01 -1.32770429e-03 1.85905986e+02] [ 1.78041438e-03 5.55134493e-05 9.99998414e-01 -6.13728475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08576923100003 meters 0.03457237678417537 Centerline is valid? [True, True] Translation: X:179.66, Y:185.92, Z:-0.61 [[-6.45290667e-01 -7.63936367e-01 1.08703527e-03 1.79658993e+02] [ 7.63935403e-01 -6.45291581e-01 -1.21457018e-03 1.85924228e+02] [ 1.62930904e-03 4.66739304e-05 9.99998672e-01 -6.13678063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11576923100006 meters 0.029228232031330653 Centerline is valid? [True, True] Translation: X:179.65, Y:185.94, Z:-0.61 [[-6.47831024e-01 -7.61783743e-01 7.02321080e-04 1.79646357e+02] [ 7.61783340e-01 -6.47831404e-01 -7.83863952e-04 1.85944994e+02] [ 1.05212047e-03 2.72051115e-05 9.99999446e-01 -6.12364855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14576923100003 meters 0.024812065830019832 Centerline is valid? [True, True] Translation: X:179.63, Y:185.96, Z:-0.61 [[-6.52657610e-01 -7.57652984e-01 1.79657304e-05 1.79634001e+02] [ 7.57652983e-01 -6.52657610e-01 -1.90226387e-05 1.85964637e+02] [ 2.61380295e-05 1.19651929e-06 1.00000000e+00 -6.13076454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17576923100006 meters 0.021268842219985595 Centerline is valid? [True, True] Translation: X:179.62, Y:185.99, Z:-0.61 [[-6.55138653e-01 -7.55508651e-01 1.52711018e-04 1.79621639e+02] [ 7.55508632e-01 -6.55138671e-01 -1.69428536e-04 1.85985828e+02] [ 2.28051618e-04 4.37530935e-06 9.99999974e-01 -6.13014589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20576923100003 meters 0.019237267908825864 Centerline is valid? [True, True] Translation: X:179.61, Y:186.00, Z:-0.61 [[-6.57487590e-01 -7.53465347e-01 2.01791334e-04 1.79608447e+02] [ 7.53465313e-01 -6.57487621e-01 -2.24039770e-04 1.86004373e+02] [ 3.01481507e-04 4.73940291e-06 9.99999955e-01 -6.12363715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23576923100006 meters 0.015465776949279732 Centerline is valid? [True, True] Translation: X:179.60, Y:186.03, Z:-0.61 [[-6.60850361e-01 -7.50517444e-01 6.05495836e-04 1.79597581e+02] [ 7.50517141e-01 -6.60850639e-01 -6.73921501e-04 1.86026682e+02] [ 9.05932152e-04 9.07373668e-06 9.99999590e-01 -6.11547296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26576923100004 meters 0.013986134438762026 Centerline is valid? [True, True] Translation: X:179.58, Y:186.05, Z:-0.61 [[-6.62753325e-01 -7.48837525e-01 6.26249559e-04 1.79583722e+02] [ 7.48837201e-01 -6.62753620e-01 -6.96621489e-04 1.86046705e+02] [ 9.36705475e-04 7.27075911e-06 9.99999561e-01 -6.11430889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29576923100007 meters 0.012779287497755828 Centerline is valid? [True, True] Translation: X:179.57, Y:186.07, Z:-0.61 [[-6.64674971e-01 -7.47132357e-01 6.51498370e-04 1.79571111e+02] [ 7.47132006e-01 -6.64675290e-01 -7.24243397e-04 1.86065635e+02] [ 9.74140544e-04 5.36882568e-06 9.99999526e-01 -6.12473570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32576923100004 meters 0.01201529485506652 Centerline is valid? [True, True] Translation: X:179.56, Y:186.08, Z:-0.61 [[-6.66426122e-01 -7.45570690e-01 7.55098306e-04 1.79559211e+02] [ 7.45570218e-01 -6.66426550e-01 -8.38795847e-04 1.86084055e+02] [ 1.12859916e-03 3.98334476e-06 9.99999363e-01 -6.13601134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35576923100007 meters 0.011727570192392636 Centerline is valid? [True, True] Translation: X:179.55, Y:186.10, Z:-0.62 [[-6.68867152e-01 -7.43380501e-01 1.47076930e-03 1.79549172e+02] [ 7.43378706e-01 -6.68868769e-01 -1.63391985e-03 1.86104011e+02] [ 2.19837581e-03 4.63268282e-07 9.99997584e-01 -6.16195289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38576923100004 meters 0.011830862040070599 Centerline is valid? [True, True] Translation: X:179.53, Y:186.12, Z:-0.62 [[-6.69570954e-01 -7.42745863e-01 1.82230347e-03 1.79534609e+02] [ 7.42743107e-01 -6.69573433e-01 -2.02338819e-03 1.86122334e+02] [ 2.72302920e-03 -1.29862043e-06 9.99996293e-01 -6.16319601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41576923100007 meters 0.011885266669583705 Centerline is valid? [True, True] Translation: X:179.52, Y:186.14, Z:-0.62 [[-6.70186437e-01 -7.42189692e-01 2.14491282e-03 1.79520850e+02] [ 7.42185876e-01 -6.70189869e-01 -2.38011000e-03 1.86138936e+02] [ 3.20399195e-03 -3.19343927e-06 9.99994867e-01 -6.16926004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44576923100004 meters 0.011994658385091523 Centerline is valid? [True, True] Translation: X:179.51, Y:186.16, Z:-0.62 [[-6.70743593e-01 -7.41685635e-01 2.33476004e-03 1.79505880e+02] [ 7.41681116e-01 -6.70747656e-01 -2.58914878e-03 1.86155928e+02] [ 3.48636928e-03 -5.00751798e-06 9.99993923e-01 -6.17326416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4757692310001 meters 0.012492885794455337 Centerline is valid? [True, True] Translation: X:179.49, Y:186.18, Z:-0.62 [[-6.72020421e-01 -7.40528589e-01 2.44188201e-03 1.79494531e+02] [ 7.40523645e-01 -6.72024857e-01 -2.70608578e-03 1.86175247e+02] [ 3.64493929e-03 -1.02735347e-05 9.99993357e-01 -6.18543632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50576923100004 meters 0.012721858294748053 Centerline is valid? [True, True] Translation: X:179.48, Y:186.19, Z:-0.62 [[-6.72958486e-01 -7.39677553e-01 1.99871124e-03 1.79480843e+02] [ 7.39674241e-01 -6.72961454e-01 -2.21337706e-03 1.86194278e+02] [ 2.98224095e-03 -1.11156537e-05 9.99995553e-01 -6.17292578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5357692310001 meters 0.01307387172541434 Centerline is valid? [True, True] Translation: X:179.47, Y:186.21, Z:-0.62 [[-6.73869193e-01 -7.38849242e-01 1.45231125e-03 1.79467749e+02] [ 7.38847494e-01 -6.73870758e-01 -1.60688825e-03 1.86212480e+02] [ 2.16591824e-03 -9.79596109e-06 9.99997654e-01 -6.15393812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56576923100005 meters 0.013529510498039644 Centerline is valid? [True, True] Translation: X:179.45, Y:186.23, Z:-0.61 [[-6.74757155e-01 -7.38038976e-01 1.11874274e-03 1.79454616e+02] [ 7.38037940e-01 -6.74758082e-01 -1.23658861e-03 1.86229859e+02] [ 1.66753130e-03 -8.72242222e-06 9.99998610e-01 -6.13597058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5957692310001 meters 0.01356801221876407 Centerline is valid? [True, True] Translation: X:179.44, Y:186.25, Z:-0.61 [[-6.75358987e-01 -7.37488112e-01 1.23468630e-03 1.79439675e+02] [ 7.37486850e-01 -6.75360115e-01 -1.36406649e-03 1.86247634e+02] [ 1.83984070e-03 -1.06696537e-05 9.99998307e-01 -6.13077575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62576923100005 meters 0.01356801221876407 Centerline is valid? [True, True] Translation: X:179.42, Y:186.26, Z:-0.61 [[-6.75601709e-01 -7.37265763e-01 1.23513568e-03 1.79424239e+02] [ 7.37264502e-01 -6.75602838e-01 -1.36365975e-03 1.86263988e+02] [ 1.83984082e-03 -1.06691699e-05 9.99998307e-01 -6.13125848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6557692310001 meters 0.013033530144028332 Centerline is valid? [True, True] Translation: X:179.41, Y:186.28, Z:-0.62 [[-6.74618391e-01 -7.38163687e-01 2.09692553e-03 1.79409766e+02] [ 7.38160059e-01 -6.74621650e-01 -2.31424925e-03 1.86280234e+02] [ 3.12292612e-03 -1.33684333e-05 9.99995124e-01 -6.16094370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68576923100005 meters 0.012269963269528008 Centerline is valid? [True, True] Translation: X:179.39, Y:186.30, Z:-0.62 [[-6.73628034e-01 -7.39067803e-01 2.01380887e-03 1.79392584e+02] [ 7.39064465e-01 -6.73631044e-01 -2.22109864e-03 1.86295895e+02] [ 2.99810666e-03 -7.85973226e-06 9.99995506e-01 -6.15906828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7157692310001 meters 0.01181112910837789 Centerline is valid? [True, True] Translation: X:179.37, Y:186.31, Z:-0.61 [[-6.72450923e-01 -7.40140456e-01 1.36410895e-03 1.79374883e+02] [ 7.40138930e-01 -6.72452307e-01 -1.50322930e-03 1.86310643e+02] [ 2.02989904e-03 -1.21779318e-06 9.99997940e-01 -6.14072039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74576923100005 meters 0.012036818388671872 Centerline is valid? [True, True] Translation: X:179.35, Y:186.32, Z:-0.61 [[-6.69937213e-01 -7.42417673e-01 3.59120506e-04 1.79354271e+02] [ 7.42417568e-01 -6.69937309e-01 -3.94721934e-04 1.86322472e+02] [ 5.33636765e-04 2.17846100e-06 9.99999858e-01 -6.10493222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7757692310001 meters 0.012724542711160223 Centerline is valid? [True, True] Translation: X:179.34, Y:186.34, Z:-0.61 [[-6.69109897e-01 -7.43163347e-01 4.31269629e-04 1.79336754e+02] [ 7.43163196e-01 -6.69110036e-01 -4.73924491e-04 1.86337686e+02] [ 6.40770148e-04 3.39614831e-06 9.99999795e-01 -6.10997981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80576923100006 meters 0.013325824752745442 Centerline is valid? [True, True] Translation: X:179.32, Y:186.35, Z:-0.61 [[-6.68591008e-01 -7.43629944e-01 7.54783865e-04 1.79320129e+02] [ 7.43629482e-01 -6.68591434e-01 -8.29676372e-04 1.86353802e+02] [ 1.12161422e-03 6.56537302e-06 9.99999371e-01 -6.12536115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83576923100003 meters 0.013223374129717629 Centerline is valid? [True, True] Translation: X:179.31, Y:186.37, Z:-0.61 [[-6.68646020e-01 -7.43579749e-01 1.28764654e-03 1.79305629e+02] [ 7.43578402e-01 -6.68647259e-01 -1.41512989e-03 1.86371164e+02] [ 1.91324325e-03 1.12451880e-05 9.99998170e-01 -6.13921266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86576923100006 meters 0.012471363133017799 Centerline is valid? [True, True] Translation: X:179.29, Y:186.39, Z:-0.61 [[-6.70388131e-01 -7.42009280e-01 1.40780801e-03 1.79294196e+02] [ 7.42007669e-01 -6.70389610e-01 -1.54600792e-03 1.86390362e+02] [ 2.09093208e-03 8.17898015e-06 9.99997814e-01 -6.14681959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89576923100003 meters 0.012160627428306531 Centerline is valid? [True, True] Translation: X:179.28, Y:186.41, Z:-0.61 [[-6.71374865e-01 -7.41116755e-01 1.32136102e-03 1.79280243e+02] [ 7.41115336e-01 -6.71376165e-01 -1.45017232e-03 1.86408703e+02] [ 1.96187730e-03 5.67166694e-06 9.99998076e-01 -6.14393301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92576923100006 meters 0.011885247763900618 Centerline is valid? [True, True] Translation: X:179.27, Y:186.43, Z:-0.61 [[-6.72380659e-01 -7.40204202e-01 1.41012176e-03 1.79265983e+02] [ 7.40202586e-01 -6.72382138e-01 -1.54659791e-03 1.86426906e+02] [ 2.09293896e-03 3.87325517e-06 9.99997810e-01 -6.13837956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95576923100003 meters 0.01172650495628034 Centerline is valid? [True, True] Translation: X:179.25, Y:186.44, Z:-0.61 [[-6.73903337e-01 -7.38817247e-01 1.83533580e-03 1.79252744e+02] [ 7.38814508e-01 -6.73905836e-01 -2.01165702e-03 1.86444722e+02] [ 2.72309040e-03 3.10336033e-07 9.99996292e-01 -6.14725758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98576923100006 meters 0.011881519222224949 Centerline is valid? [True, True] Translation: X:179.24, Y:186.46, Z:-0.62 [[-6.74672411e-01 -7.38114959e-01 1.85626890e-03 1.79238126e+02] [ 7.38112158e-01 -6.74674965e-01 -2.03341876e-03 1.86463060e+02] [ 2.75327496e-03 -1.75689488e-06 9.99996210e-01 -6.15159310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01576923100004 meters 0.011770431520487432 Centerline is valid? [True, True] Translation: X:179.22, Y:186.48, Z:-0.61 [[-6.75271232e-01 -7.37567518e-01 1.70867371e-03 1.79224184e+02] [ 7.37565147e-01 -6.75273394e-01 -1.87039548e-03 1.86481500e+02] [ 2.53336484e-03 -2.76608513e-06 9.99996791e-01 -6.14662828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04576923100007 meters 0.011924182485258903 Centerline is valid? [True, True] Translation: X:179.21, Y:186.50, Z:-0.61 [[-6.75942082e-01 -7.36953377e-01 1.42191438e-03 1.79211241e+02] [ 7.36951736e-01 -6.75943578e-01 -1.55522169e-03 1.86498888e+02] [ 2.10725977e-03 -3.35751353e-06 9.99997780e-01 -6.13943527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07576923100004 meters 0.011864534027574649 Centerline is valid? [True, True] Translation: X:179.20, Y:186.52, Z:-0.61 [[-6.76693163e-01 -7.36264740e-01 7.71542136e-04 1.79197556e+02] [ 7.36264257e-01 -6.76693603e-01 -8.42934530e-04 1.86519219e+02] [ 1.14272060e-03 -2.34913594e-06 9.99999347e-01 -6.12068699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10576923100007 meters 0.012070454802878805 Centerline is valid? [True, True] Translation: X:179.18, Y:186.54, Z:-0.61 [[-6.77320000e-01 -7.35688001e-01 8.84507935e-04 1.79184153e+02] [ 7.35687368e-01 -6.77320578e-01 -9.65715904e-04 1.86537080e+02] [ 1.30956103e-03 -3.37738234e-06 9.99999143e-01 -6.12901816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13576923100004 meters 0.012341901936556524 Centerline is valid? [True, True] Translation: X:179.17, Y:186.56, Z:-0.61 [[-6.78004926e-01 -7.35056309e-01 1.24229197e-03 1.79170340e+02] [ 7.35055058e-01 -6.78006064e-01 -1.35594495e-03 1.86556056e+02] [ 1.83897738e-03 -6.18436322e-06 9.99998309e-01 -6.14684211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16576923100007 meters 0.012785485081661921 Centerline is valid? [True, True] Translation: X:179.16, Y:186.58, Z:-0.62 [[-6.78226383e-01 -7.34849602e-01 2.24422690e-03 1.79159012e+02] [ 7.34845522e-01 -6.78230096e-01 -2.44868544e-03 1.86575791e+02] [ 3.32151775e-03 -1.16029796e-05 9.99994484e-01 -6.17133210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19576923100004 meters 0.012139955575323998 Centerline is valid? [True, True] Translation: X:179.14, Y:186.59, Z:-0.62 [[-6.77511108e-01 -7.35508881e-01 2.32031225e-03 1.79142532e+02] [ 7.35504530e-01 -6.77515081e-01 -2.53004467e-03 1.86591306e+02] [ 3.43291687e-03 -7.53319615e-06 9.99994107e-01 -6.16023864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2257692310001 meters 0.01186140288245368 Centerline is valid? [True, True] Translation: X:179.13, Y:186.61, Z:-0.62 [[-6.76176701e-01 -7.36736251e-01 2.18316383e-03 1.79125597e+02] [ 7.36732410e-01 -6.76180225e-01 -2.37883492e-03 1.86606370e+02] [ 3.22878613e-03 -1.05196099e-07 9.99994787e-01 -6.15634467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25576923100004 meters 0.012298146641053609 Centerline is valid? [True, True] Translation: X:179.11, Y:186.62, Z:-0.62 [[-6.74583426e-01 -7.38195239e-01 2.23384607e-03 1.79108040e+02] [ 7.38191232e-01 -6.74587125e-01 -2.43235577e-03 1.86620530e+02] [ 3.30247725e-03 8.17868814e-06 9.99994547e-01 -6.16249562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2857692310001 meters 0.015174713126798836 Centerline is valid? [True, True] Translation: X:179.09, Y:186.63, Z:-0.62 [[-6.70464491e-01 -7.41937601e-01 2.44187164e-03 1.79087653e+02] [ 7.41932844e-01 -6.70468937e-01 -2.65700946e-03 1.86632683e+02] [ 3.60853431e-03 3.02742759e-05 9.99993489e-01 -6.16193494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31576923100005 meters 0.01770787404304136 Centerline is valid? [True, True] Translation: X:179.07, Y:186.65, Z:-0.62 [[-6.68774082e-01 -7.43461003e-01 2.63922605e-03 1.79069294e+02] [ 7.43455465e-01 -6.68779288e-01 -2.86993378e-03 1.86645548e+02] [ 3.89874356e-03 4.28097016e-05 9.99992399e-01 -6.16673160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3457692310001 meters 0.019783237504139888 Centerline is valid? [True, True] Translation: X:179.05, Y:186.66, Z:-0.62 [[-6.67472730e-01 -7.44629894e-01 2.54466845e-03 1.79051647e+02] [ 7.44624761e-01 -6.67477579e-01 -2.76523666e-03 1.86659000e+02] [ 3.75758702e-03 4.91030682e-05 9.99992939e-01 -6.17079646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37576923100005 meters 0.021729356296757023 Centerline is valid? [True, True] Translation: X:179.03, Y:186.67, Z:-0.62 [[-6.66301427e-01 -7.45679174e-01 2.23125826e-03 1.79034147e+02] [ 7.45675240e-01 -6.66305161e-01 -2.42267018e-03 1.86672446e+02] [ 3.29323360e-03 4.95654429e-05 9.99994576e-01 -6.16233981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4057692310001 meters 0.024654982809979135 Centerline is valid? [True, True] Translation: X:179.01, Y:186.69, Z:-0.62 [[-6.64543915e-01 -7.47246909e-01 1.85533752e-03 1.79013576e+02] [ 7.47244200e-01 -6.64546503e-01 -2.01261307e-03 1.86685275e+02] [ 2.73687696e-03 4.89204276e-05 9.99996254e-01 -6.15338746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43576923100005 meters 0.02533916218089351 Centerline is valid? [True, True] Translation: X:179.00, Y:186.70, Z:-0.62 [[-6.64504019e-01 -7.47282285e-01 1.89633016e-03 1.78996795e+02] [ 7.47279458e-01 -6.64506723e-01 -2.05596656e-03 1.86699715e+02] [ 2.79651152e-03 5.08905331e-05 9.99996088e-01 -6.15855638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4657692310001 meters 0.025487488306935376 Centerline is valid? [True, True] Translation: X:178.98, Y:186.72, Z:-0.62 [[-6.64585774e-01 -7.47209654e-01 1.86614640e-03 1.78979899e+02] [ 7.47206920e-01 -6.64588392e-01 -2.02197477e-03 1.86715438e+02] [ 2.75105830e-03 5.06218371e-05 9.99996215e-01 -6.15346389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49576923100005 meters 0.02520306154420751 Centerline is valid? [True, True] Translation: X:178.96, Y:186.73, Z:-0.61 [[-6.65055018e-01 -7.46793116e-01 1.36531763e-03 1.78962042e+02] [ 7.46791655e-01 -6.65056419e-01 -1.47812841e-03 1.86730253e+02] [ 2.01186938e-03 3.65710929e-05 9.99997976e-01 -6.12986223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5257692310001 meters 0.025440274727981417 Centerline is valid? [True, True] Translation: X:178.94, Y:186.74, Z:-0.61 [[-6.65242226e-01 -7.46627190e-01 7.87581235e-04 1.78944138e+02] [ 7.46626704e-01 -6.65242692e-01 -8.51703808e-04 1.86744403e+02] [ 1.15983788e-03 2.14398447e-05 9.99999327e-01 -6.11849604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55576923100006 meters 0.024516984625707183 Centerline is valid? [True, True] Translation: X:178.93, Y:186.76, Z:-0.61 [[-6.65295932e-01 -7.46579477e-01 6.37672805e-04 1.78927504e+02] [ 7.46579160e-01 -6.65296238e-01 -6.88919289e-04 1.86759794e+02] [ 9.38574321e-04 1.77380260e-05 9.99999559e-01 -6.11336893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58576923100003 meters 0.025913261848637202 Centerline is valid? [True, True] Translation: X:178.91, Y:186.77, Z:-0.61 [[-6.65801249e-01 -7.46129015e-01 4.36004659e-04 1.78909148e+02] [ 7.46128867e-01 -6.65801391e-01 -4.70376612e-04 1.86772121e+02] [ 6.41254147e-04 1.21383264e-05 9.99999794e-01 -6.11773694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61576923100006 meters 0.02154608748860998 Centerline is valid? [True, True] Translation: X:178.89, Y:186.79, Z:-0.61 [[-6.67291462e-01 -7.44796686e-01 3.87136886e-05 1.78894808e+02] [ 7.44796685e-01 -6.67291463e-01 -4.06725046e-05 1.86790849e+02] [ 5.61260605e-05 1.69341186e-06 9.99999998e-01 -6.09898511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64576923100003 meters 0.02164235486904728 Centerline is valid? [True, True] Translation: X:178.88, Y:186.81, Z:-0.61 [[-6.68354935e-01 -7.43842505e-01 -9.19496388e-05 1.78878114e+02] [ 7.43842498e-01 -6.68354941e-01 1.00366379e-04 1.86805264e+02] [-1.36111775e-04 -1.31568419e-06 9.99999991e-01 -6.09263589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67576923100006 meters 0.020012876000996764 Centerline is valid? [True, True] Translation: X:178.86, Y:186.82, Z:-0.61 [[-6.69923487e-01 -7.42430139e-01 -9.84852687e-05 1.78863692e+02] [ 7.42430132e-01 -6.69923494e-01 1.07307432e-04 1.86821315e+02] [-1.45645867e-04 -1.23066162e-06 9.99999989e-01 -6.09812681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70576923100003 meters 0.016810706788631048 Centerline is valid? [True, True] Translation: X:178.85, Y:186.84, Z:-0.61 [[-6.71963956e-01 -7.40583799e-01 2.79872237e-04 1.78849855e+02] [ 7.40583738e-01 -6.71964014e-01 -3.00710388e-04 1.86840756e+02] [ 4.10765314e-04 5.20228541e-06 9.99999916e-01 -6.10359668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73576923100006 meters 0.013907218366013389 Centerline is valid? [True, True] Translation: X:178.84, Y:186.86, Z:-0.61 [[-6.75776268e-01 -7.37106533e-01 6.28301369e-04 1.78837148e+02] [ 7.37106223e-01 -6.75776560e-01 -6.75796355e-04 1.86858405e+02] [ 9.22725246e-04 6.43771033e-06 9.99999574e-01 -6.12526170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76576923100004 meters 0.012716832820838932 Centerline is valid? [True, True] Translation: X:178.82, Y:186.88, Z:-0.61 [[-6.77354218e-01 -7.35656929e-01 3.82701760e-04 1.78823151e+02] [ 7.35656814e-01 -6.77354326e-01 -4.11026408e-04 1.86877021e+02] [ 5.61599118e-04 3.12668597e-06 9.99999842e-01 -6.11343109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79576923100007 meters 0.012290552440794765 Centerline is valid? [True, True] Translation: X:178.81, Y:186.89, Z:-0.61 [[-6.78201474e-01 -7.34876016e-01 4.55418320e-05 1.78807854e+02] [ 7.34876014e-01 -6.78201476e-01 -4.79606080e-05 1.86893886e+02] [ 6.61316381e-05 9.40644907e-07 9.99999998e-01 -6.09811289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82576923100004 meters 0.012278700818255568 Centerline is valid? [True, True] Translation: X:178.79, Y:186.91, Z:-0.61 [[-6.78253637e-01 -7.34827874e-01 -2.05259423e-05 1.78790928e+02] [ 7.34827873e-01 -6.78253637e-01 2.31089679e-05 1.86909388e+02] [-3.09029089e-05 5.90706971e-07 1.00000000e+00 -6.09677528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85576923100007 meters 0.01282369404604449 Centerline is valid? [True, True] Translation: X:178.77, Y:186.92, Z:-0.61 [[-6.77757888e-01 -7.35284777e-01 7.36236778e-04 1.78772555e+02] [ 7.35284353e-01 -6.77758288e-01 -7.90137762e-04 1.86923914e+02] [ 1.07996685e-03 5.82128196e-06 9.99999417e-01 -6.12154004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88576923100004 meters 0.014202806220326665 Centerline is valid? [True, True] Translation: X:178.75, Y:186.94, Z:-0.62 [[-6.76661896e-01 -7.36292038e-01 1.64708777e-03 1.78752922e+02] [ 7.36289917e-01 -6.76663900e-01 -1.76771577e-03 1.86935185e+02] [ 2.41607988e-03 1.65882150e-05 9.99997081e-01 -6.15524012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91576923100007 meters 0.014417270289180266 Centerline is valid? [True, True] Translation: X:178.74, Y:186.95, Z:-0.62 [[-6.76725300e-01 -7.36233783e-01 1.63852100e-03 1.78735773e+02] [ 7.36231686e-01 -6.76727283e-01 -1.75742388e-03 1.86950102e+02] [ 2.40270670e-03 1.70378798e-05 9.99997113e-01 -6.15524084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94576923100004 meters 0.01422709346301875 Centerline is valid? [True, True] Translation: X:178.72, Y:186.97, Z:-0.61 [[-6.77187330e-01 -7.35808995e-01 1.56285601e-03 1.78718790e+02] [ 7.35807089e-01 -6.77189133e-01 -1.67514062e-03 1.86965321e+02] [ 2.29093264e-03 1.55765244e-05 9.99997376e-01 -6.14611044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9757692310001 meters 0.013796389409326933 Centerline is valid? [True, True] Translation: X:178.70, Y:186.98, Z:-0.61 [[-6.77904204e-01 -7.35149463e-01 1.07579689e-03 1.78702718e+02] [ 7.35148561e-01 -6.77905057e-01 -1.15197273e-03 1.86980220e+02] [ 1.57616028e-03 9.94337985e-06 9.99998758e-01 -6.13261797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00576923100004 meters 0.01198749732685027 Centerline is valid? [True, True] Translation: X:178.69, Y:187.00, Z:-0.61 [[-6.80340985e-01 -7.32895242e-01 -8.41845173e-04 1.78690391e+02] [ 7.32894686e-01 -6.80341506e-01 9.02716657e-04 1.86998606e+02] [-1.23433896e-03 -2.82871397e-06 9.99999238e-01 -6.09303496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0357692310001 meters 0.011266552586510188 Centerline is valid? [True, True] Translation: X:178.68, Y:187.02, Z:-0.61 [[-6.82611962e-01 -7.30779431e-01 -1.52745227e-03 1.78678946e+02] [ 7.30777600e-01 -6.82613671e-01 1.63596798e-03 1.87018790e+02] [-2.23819155e-03 5.03405846e-07 9.99997495e-01 -6.07779674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06576923100005 meters 0.011763221425113416 Centerline is valid? [True, True] Translation: X:178.67, Y:187.04, Z:-0.61 [[-6.84936824e-01 -7.28601266e-01 -1.32017335e-03 1.78667929e+02] [ 7.28599895e-01 -6.84938096e-01 1.41320488e-03 1.87039068e+02] [-1.93389989e-03 6.07789561e-06 9.99998130e-01 -6.08476415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0957692310001 meters 0.015541468957904205 Centerline is valid? [True, True] Translation: X:178.66, Y:187.06, Z:-0.61 [[-6.89784158e-01 -7.24014949e-01 4.11289451e-04 1.78659487e+02] [ 7.24014816e-01 -6.89784280e-01 -4.38600124e-04 1.87063102e+02] [ 6.01254044e-04 -4.75976097e-06 9.99999819e-01 -6.12958450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12576923100005 meters 0.01762911402401997 Centerline is valid? [True, True] Translation: X:178.65, Y:187.08, Z:-0.61 [[-6.91959512e-01 -7.21935689e-01 9.46006641e-04 1.78646758e+02] [ 7.21934984e-01 -6.91960158e-01 -1.00935660e-03 1.87082399e+02] [ 1.38328946e-03 -1.54786102e-05 9.99999043e-01 -6.14137688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1557692310001 meters 0.021145300446596835 Centerline is valid? [True, True] Translation: X:178.64, Y:187.10, Z:-0.62 [[-6.93732656e-01 -7.20231779e-01 1.08896111e-03 1.78636492e+02] [ 7.20230843e-01 -6.93733510e-01 -1.16136616e-03 1.87102948e+02] [ 1.59190163e-03 -2.13742541e-05 9.99998733e-01 -6.15059507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18576923100005 meters 0.019598175017705374 Centerline is valid? [True, True] Translation: X:178.62, Y:187.12, Z:-0.61 [[-6.95125866e-01 -7.18887365e-01 9.93557945e-04 1.78619499e+02] [ 7.18886585e-01 -6.95126576e-01 -1.05893694e-03 1.87119925e+02] [ 1.45190492e-03 -2.18389774e-05 9.99998946e-01 -6.13001183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2157692310001 meters 0.022160376493457087 Centerline is valid? [True, True] Translation: X:178.61, Y:187.14, Z:-0.61 [[-6.96653842e-01 -7.17407395e-01 2.32292548e-04 1.78608331e+02] [ 7.17407352e-01 -6.96653881e-01 -2.46628339e-04 1.87141614e+02] [ 3.38760499e-04 -5.16619852e-06 9.99999943e-01 -6.11452576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24576923100005 meters 0.02132286640378308 Centerline is valid? [True, True] Translation: X:178.59, Y:187.16, Z:-0.61 [[-6.97097605e-01 -7.16976221e-01 1.64024754e-04 1.78591624e+02] [ 7.16976200e-01 -6.97097625e-01 -1.73753006e-04 1.87158042e+02] [ 2.38918040e-04 -3.52095983e-06 9.99999971e-01 -6.11230216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2757692310001 meters 0.022828798386016654 Centerline is valid? [True, True] Translation: X:178.58, Y:187.18, Z:-0.61 [[-6.97356547e-01 -7.16724120e-01 6.18338692e-04 1.78578224e+02] [ 7.16723818e-01 -6.97356821e-01 -6.57318326e-04 1.87176990e+02] [ 9.02318603e-04 -1.52071698e-05 9.99999593e-01 -6.12725023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30576923100006 meters 0.022574356961847168 Centerline is valid? [True, True] Translation: X:178.56, Y:187.19, Z:-0.61 [[-6.97323470e-01 -7.16755358e-01 1.31712075e-03 1.78563093e+02] [ 7.16753990e-01 -6.97324714e-01 -1.40040096e-03 1.87194361e+02] [ 1.92220574e-03 -3.24809030e-05 9.99998152e-01 -6.14764524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33576923100003 meters 0.022885085010247143 Centerline is valid? [True, True] Translation: X:178.55, Y:187.21, Z:-0.62 [[-6.96849165e-01 -7.17215060e-01 1.94933160e-03 1.78550201e+02] [ 7.17212069e-01 -6.96851890e-01 -2.07163879e-03 1.87212998e+02] [ 2.84420595e-03 -4.55356113e-05 9.99995954e-01 -6.15313573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36576923100006 meters 0.022109332158724453 Centerline is valid? [True, True] Translation: X:178.53, Y:187.23, Z:-0.61 [[-6.96954132e-01 -7.17115040e-01 9.77898314e-04 1.78533317e+02] [ 7.17114289e-01 -6.96954818e-01 -1.03809665e-03 1.87229306e+02] [ 1.42598566e-03 -2.22408960e-05 9.99998983e-01 -6.12078913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39576923100003 meters 0.022251797375053214 Centerline is valid? [True, True] Translation: X:178.52, Y:187.25, Z:-0.61 [[-6.97257919e-01 -7.16820298e-01 -2.35897328e-04 1.78517951e+02] [ 7.16820254e-01 -6.97257959e-01 2.51614608e-04 1.87245660e+02] [-3.44843748e-04 6.34429546e-06 9.99999941e-01 -6.08961585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42576923100006 meters 0.022989699766038527 Centerline is valid? [True, True] Translation: X:178.51, Y:187.26, Z:-0.61 [[-6.98620884e-01 -7.15490199e-01 -1.62350796e-03 1.78505558e+02] [ 7.15488124e-01 -6.98622769e-01 1.72377909e-03 1.87264836e+02] [-2.36756667e-03 4.26674098e-05 9.99997196e-01 -6.06743786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45576923100003 meters 0.025775948631105956 Centerline is valid? [True, True] Translation: X:178.50, Y:187.29, Z:-0.61 [[-6.99729785e-01 -7.14406400e-01 -1.31261725e-03 1.78495683e+02] [ 7.14405043e-01 -6.99731016e-01 1.39294341e-03 1.87285338e+02] [-1.91360669e-03 3.69436095e-05 9.99998168e-01 -6.07849944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48576923100006 meters 0.025561700095674492 Centerline is valid? [True, True] Translation: X:178.48, Y:187.30, Z:-0.61 [[-7.00914531e-01 -7.13245138e-01 -4.38947912e-04 1.78482067e+02] [ 7.13244986e-01 -7.00914669e-01 4.66313847e-04 1.87303954e+02] [-6.40261114e-04 1.37687543e-05 9.99999795e-01 -6.10063309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51576923100004 meters 0.030001236480376472 Centerline is valid? [True, True] Translation: X:178.48, Y:187.33, Z:-0.61 [[-7.03141788e-01 -7.11049650e-01 1.47926935e-04 1.78476084e+02] [ 7.11049633e-01 -7.03141804e-01 -1.55579541e-04 1.87329764e+02] [ 2.14638390e-04 -4.21108325e-06 9.99999977e-01 -6.11173460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54576923100007 meters 0.030001236480376472 Centerline is valid? [True, True] Translation: X:178.46, Y:187.35, Z:-0.61 [[-7.03366911e-01 -7.10826960e-01 1.47945126e-04 1.78460277e+02] [ 7.10826943e-01 -7.03366926e-01 -1.55562199e-04 1.87345793e+02] [ 2.14637513e-04 -4.25392179e-06 9.99999977e-01 -6.11221740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57576923100004 meters 0.030518443521065794 Centerline is valid? [True, True] Translation: X:178.45, Y:187.37, Z:-0.61 [[-7.04229371e-01 -7.09972528e-01 -4.49346343e-05 1.78447903e+02] [ 7.09972527e-01 -7.04229373e-01 4.85499261e-05 1.87365104e+02] [-6.61134032e-05 2.28792807e-06 9.99999998e-01 -6.10042557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60576923100007 meters 0.029861051079070396 Centerline is valid? [True, True] Translation: X:178.43, Y:187.38, Z:-0.61 [[-7.04480150e-01 -7.09723418e-01 -6.23366028e-04 1.78434316e+02] [ 7.09723112e-01 -7.04480425e-01 6.59781209e-04 1.87383275e+02] [-9.07411339e-04 2.23854881e-05 9.99999588e-01 -6.08718638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63576923100004 meters 0.03438966850731142 Centerline is valid? [True, True] Translation: X:178.43, Y:187.41, Z:-0.61 [[-7.03909755e-01 -7.10289306e-01 -3.97636369e-04 1.78425872e+02] [ 7.10289181e-01 -7.03909867e-01 4.20983451e-04 1.87405904e+02] [-5.78920208e-04 1.38975469e-05 9.99999832e-01 -6.09175276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66576923100007 meters 0.030756085562594907 Centerline is valid? [True, True] Translation: X:178.40, Y:187.42, Z:-0.61 [[-7.02865259e-01 -7.11323001e-01 -1.24475415e-04 1.78401255e+02] [ 7.11322989e-01 -7.02865270e-01 1.32305641e-04 1.87416258e+02] [-1.81601492e-04 4.45081428e-06 9.99999984e-01 -6.06861736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69576923100004 meters 0.019533274054024902 Centerline is valid? [True, True] Translation: X:178.38, Y:187.43, Z:-0.61 [[-6.98455115e-01 -7.15652901e-01 1.17386026e-03 1.78380048e+02] [ 7.15651832e-01 -6.98456101e-01 -1.23714161e-03 1.87428166e+02] [ 1.70525384e-03 -2.40126395e-05 9.99998546e-01 -6.13205790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7257692310001 meters 0.016906718464147073 Centerline is valid? [True, True] Translation: X:178.36, Y:187.44, Z:-0.61 [[-6.96015697e-01 -7.18025894e-01 9.82437321e-04 1.78361351e+02] [ 7.18025148e-01 -6.96016391e-01 -1.03460935e-03 1.87442351e+02] [ 1.42666878e-03 -1.46896431e-05 9.99998982e-01 -6.13320608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75576923100004 meters 0.014370347947788121 Centerline is valid? [True, True] Translation: X:178.34, Y:187.46, Z:-0.61 [[-6.93958691e-01 -7.20014579e-01 5.83529415e-04 1.78342611e+02] [ 7.20014318e-01 -6.93958936e-01 -6.13661635e-04 1.87456300e+02] [ 8.46790776e-04 -5.70629122e-06 9.99999641e-01 -6.12160913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7857692310001 meters 0.012753444323512534 Centerline is valid? [True, True] Translation: X:178.33, Y:187.47, Z:-0.61 [[-6.92338019e-01 -7.21573292e-01 2.26959374e-04 1.78325021e+02] [ 7.21573253e-01 -6.92338056e-01 -2.37852418e-04 1.87469461e+02] [ 3.28760564e-04 -9.06458153e-07 9.99999946e-01 -6.10602436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81576923100005 meters 0.011878171761884557 Centerline is valid? [True, True] Translation: X:178.31, Y:187.48, Z:-0.61 [[-6.91065083e-01 -7.22792533e-01 -7.03315667e-05 1.78306311e+02] [ 7.22792529e-01 -6.91065087e-01 7.50278119e-05 1.87483369e+02] [-1.02833233e-04 1.01397004e-06 9.99999995e-01 -6.10056526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8457692310001 meters 0.011415111257424927 Centerline is valid? [True, True] Translation: X:178.29, Y:187.49, Z:-0.61 [[-6.89378815e-01 -7.24400750e-01 -6.34546328e-04 1.78287021e+02] [ 7.24400442e-01 -6.89379107e-01 6.68146143e-04 1.87494948e+02] [-9.21448548e-04 9.40155666e-07 9.99999575e-01 -6.09940132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87576923100005 meters 0.011425643654716997 Centerline is valid? [True, True] Translation: X:178.27, Y:187.51, Z:-0.61 [[-6.88944406e-01 -7.24813015e-01 -1.30307955e-03 1.78269186e+02] [ 7.24811721e-01 -6.88945639e-01 1.36999622e-03 1.87509399e+02] [-1.89074206e-03 -6.36103984e-07 9.99998213e-01 -6.08931867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9057692310001 meters 0.011389024793477405 Centerline is valid? [True, True] Translation: X:178.25, Y:187.52, Z:-0.61 [[-6.88881234e-01 -7.24872212e-01 -1.70934223e-03 1.78252155e+02] [ 7.24869988e-01 -6.88883354e-01 1.79560102e-03 1.87523548e+02] [-2.47911869e-03 -2.09503908e-06 9.99996927e-01 -6.08301014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93576923100005 meters 0.011366396820933853 Centerline is valid? [True, True] Translation: X:178.23, Y:187.54, Z:-0.61 [[-6.90412617e-01 -7.23415366e-01 -7.91785054e-04 1.78234879e+02] [ 7.23414887e-01 -6.90413071e-01 8.31723607e-04 1.87538594e+02] [-1.14834039e-03 1.44337667e-06 9.99999341e-01 -6.09942587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9657692310001 meters 0.01164110559253008 Centerline is valid? [True, True] Translation: X:178.22, Y:187.55, Z:-0.61 [[-6.91731747e-01 -7.22154327e-01 -5.64060639e-04 1.78219351e+02] [ 7.22154084e-01 -6.91731977e-01 5.92438068e-04 1.87554568e+02] [-8.18010496e-04 2.46952526e-06 9.99999665e-01 -6.10919261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99576923100005 meters 0.01183282227764921 Centerline is valid? [True, True] Translation: X:178.20, Y:187.57, Z:-0.61 [[-6.92587524e-01 -7.21333696e-01 -4.69626158e-04 1.78204242e+02] [ 7.21333528e-01 -6.92587683e-01 4.93089406e-04 1.87569994e+02] [-6.80939297e-04 2.75047745e-06 9.99999768e-01 -6.11981198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0257692310001 meters 0.011906646727294272 Centerline is valid? [True, True] Translation: X:178.19, Y:187.59, Z:-0.61 [[-6.93064530e-01 -7.20875426e-01 -4.20272184e-04 1.78187192e+02] [ 7.20875291e-01 -6.93064658e-01 4.41059209e-04 1.87585759e+02] [-6.09224543e-04 2.71866041e-06 9.99999814e-01 -6.13079437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05576923100006 meters 0.0119389557917249 Centerline is valid? [True, True] Translation: X:178.17, Y:187.60, Z:-0.61 [[-6.93072417e-01 -7.20867950e-01 -1.53899002e-04 1.78169473e+02] [ 7.20867931e-01 -6.93072434e-01 1.62077034e-04 1.87599799e+02] [-2.23499296e-04 1.39026659e-06 9.99999975e-01 -6.13745518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08576923100003 meters 0.011970774765361429 Centerline is valid? [True, True] Translation: X:178.15, Y:187.61, Z:-0.62 [[-6.92666714e-01 -7.21256116e-01 1.56155854e-03 1.78147881e+02] [ 7.21254270e-01 -6.92668474e-01 -1.63188602e-03 1.87610458e+02] [ 2.25865014e-03 -4.07235747e-06 9.99997449e-01 -6.18452293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11576923100006 meters 0.012118340456025303 Centerline is valid? [True, True] Translation: X:178.13, Y:187.62, Z:-0.62 [[-6.92766511e-01 -7.21157699e-01 2.47671396e-03 1.78129688e+02] [ 7.21153059e-01 -6.92770938e-01 -2.58710535e-03 1.87623940e+02] [ 3.58150640e-03 -6.17009544e-06 9.99993586e-01 -6.21194493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14576923100003 meters 0.012193040975728648 Centerline is valid? [True, True] Translation: X:178.11, Y:187.64, Z:-0.62 [[-6.93246924e-01 -7.20695501e-01 2.58789090e-03 1.78111417e+02] [ 7.20690438e-01 -6.93251754e-01 -2.70156825e-03 1.87638658e+02] [ 3.74106799e-03 -7.78565464e-06 9.99993002e-01 -6.21473257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17576923100006 meters 0.012352470911031062 Centerline is valid? [True, True] Translation: X:178.09, Y:187.65, Z:-0.62 [[-6.93781575e-01 -7.20182621e-01 2.02959045e-03 1.78094040e+02] [ 7.20179509e-01 -6.93784544e-01 -2.11717197e-03 1.87653198e+02] [ 2.93284894e-03 -7.18544845e-06 9.99995699e-01 -6.20552721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20576923100003 meters 0.012063760569878323 Centerline is valid? [True, True] Translation: X:178.08, Y:187.67, Z:-0.62 [[-6.94111485e-01 -7.19866154e-01 1.40227143e-03 1.78075828e+02] [ 7.19864671e-01 -6.94112902e-01 -1.46146046e-03 1.87666933e+02] [ 2.02539061e-03 -4.97082887e-06 9.99997949e-01 -6.18065534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23576923100006 meters 0.01173891895204454 Centerline is valid? [True, True] Translation: X:178.05, Y:187.68, Z:-0.62 [[-6.93181331e-01 -7.20762720e-01 8.62180990e-04 1.78054254e+02] [ 7.20762162e-01 -6.93181867e-01 -8.97530267e-04 1.87677149e+02] [ 1.24455459e-03 -7.23791535e-07 9.99999226e-01 -6.17099793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26576923100004 meters 0.011737388567652385 Centerline is valid? [True, True] Translation: X:178.03, Y:187.69, Z:-0.62 [[-6.92595571e-01 -7.21325375e-01 1.03815966e-03 1.78034874e+02] [ 7.21324566e-01 -6.92596349e-01 -1.08026666e-03 1.87690013e+02] [ 1.49824934e-03 6.62164827e-07 9.99998878e-01 -6.16439182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29576923100007 meters 0.01175534671930331 Centerline is valid? [True, True] Translation: X:178.02, Y:187.70, Z:-0.62 [[-6.92157649e-01 -7.21745734e-01 9.40535738e-04 1.78015973e+02] [ 7.21745071e-01 -6.92158288e-01 -9.77892285e-04 1.87702573e+02] [ 1.35678919e-03 1.97140749e-06 9.99999080e-01 -6.16665128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32576923100004 meters 0.011666794646555897 Centerline is valid? [True, True] Translation: X:178.00, Y:187.71, Z:-0.61 [[-6.92672091e-01 -7.21252566e-01 -3.32148502e-04 1.77995356e+02] [ 7.21252483e-01 -6.92672171e-01 3.46513298e-04 1.87713874e+02] [-4.79993629e-04 4.57158434e-07 9.99999885e-01 -6.14677996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35576923100007 meters 0.011676390137694738 Centerline is valid? [True, True] Translation: X:177.98, Y:187.73, Z:-0.61 [[-6.94237781e-01 -7.19745090e-01 -9.53281158e-04 1.77980494e+02] [ 7.19744406e-01 -6.94238436e-01 9.91916425e-04 1.87730510e+02] [-1.37573140e-03 2.50707702e-06 9.99999054e-01 -6.13140376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38576923100004 meters 0.01253737758671745 Centerline is valid? [True, True] Translation: X:177.97, Y:187.75, Z:-0.61 [[-6.96350949e-01 -7.17700179e-01 -1.34459608e-03 1.77967660e+02] [ 7.17698818e-01 -6.96352248e-01 1.39774775e-03 1.87749504e+02] [-1.93947632e-03 8.30795854e-06 9.99998119e-01 -6.12161940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41576923100007 meters 0.014334228522316644 Centerline is valid? [True, True] Translation: X:177.96, Y:187.77, Z:-0.61 [[-6.98839324e-01 -7.15276819e-01 -1.63460784e-03 1.77956018e+02] [ 7.15274804e-01 -6.98841235e-01 1.69792338e-03 1.87770312e+02] [-2.35681660e-03 1.73818302e-05 9.99997223e-01 -6.11399697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44576923100004 meters 0.021005751213005793 Centerline is valid? [True, True] Translation: X:177.95, Y:187.80, Z:-0.61 [[-7.05527866e-01 -7.08674478e-01 -3.30374422e-03 1.77950498e+02] [ 7.08666191e-01 -7.05535597e-01 3.42815148e-03 1.87798106e+02] [-4.76035261e-03 7.74045710e-05 9.99988666e-01 -6.07248985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4757692310001 meters 0.02622252019076117 Centerline is valid? [True, True] Translation: X:177.94, Y:187.82, Z:-0.61 [[-7.09569310e-01 -7.04624274e-01 -4.00340068e-03 1.77942030e+02] [ 7.04612057e-01 -7.09580593e-01 4.15100105e-03 1.87820814e+02] [-5.76563153e-03 1.24578556e-04 9.99983371e-01 -6.05541389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50576923100004 meters 0.030762104944550464 Centerline is valid? [True, True] Translation: X:177.93, Y:187.84, Z:-0.61 [[-7.13613757e-01 -7.00527485e-01 -4.08039266e-03 1.77931870e+02] [ 7.00514743e-01 -7.13625405e-01 4.22813348e-03 1.87844889e+02] [-5.87379557e-03 1.58879005e-04 9.99982736e-01 -6.06276938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5357692310001 meters 0.0437697443135045 Centerline is valid? [True, True] Translation: X:177.93, Y:187.88, Z:-0.61 [[-7.17386209e-01 -6.96666697e-01 -3.54132118e-03 1.77932408e+02] [ 6.96657063e-01 -7.17394931e-01 3.66736271e-03 1.87876702e+02] [-5.09545533e-03 1.63829015e-04 9.99987005e-01 -6.06805976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56576923100005 meters 0.04456461547804134 Centerline is valid? [True, True] Translation: X:177.92, Y:187.90, Z:-0.61 [[-7.22673509e-01 -6.91184590e-01 -2.61951350e-03 1.77924780e+02] [ 6.91179288e-01 -7.22678241e-01 2.71122049e-03 1.87901904e+02] [-3.76701923e-03 1.48773755e-04 9.99992894e-01 -6.09195338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5957692310001 meters 0.04875407997715906 Centerline is valid? [True, True] Translation: X:177.92, Y:187.92, Z:-0.61 [[-7.23924810e-01 -6.89875301e-01 -2.22223315e-03 1.77916184e+02] [ 6.89871484e-01 -7.23928209e-01 2.29866352e-03 1.87924552e+02] [-3.19452845e-03 1.31004267e-04 9.99994889e-01 -6.09491438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62576923100005 meters 0.04956556760493672 Centerline is valid? [True, True] Translation: X:177.90, Y:187.94, Z:-0.61 [[-7.24176191e-01 -6.89613323e-01 -1.51954971e-03 1.77904662e+02] [ 6.89611539e-01 -7.24177780e-01 1.57110861e-03 1.87944658e+02] [-2.18388156e-03 8.98604342e-05 9.99997611e-01 -6.10981026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6557692310001 meters 0.05023870130927337 Centerline is valid? [True, True] Translation: X:177.90, Y:187.97, Z:-0.62 [[-7.22816640e-01 -6.91039715e-01 4.65793150e-04 1.77898292e+02] [ 6.91039549e-01 -7.22816790e-01 -4.79980993e-04 1.87968936e+02] [ 6.68369038e-04 -2.50567609e-05 9.99999776e-01 -6.16490374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68576923100005 meters 0.04676126451823496 Centerline is valid? [True, True] Translation: X:177.88, Y:187.99, Z:-0.62 [[-7.22157159e-01 -6.91727688e-01 1.35780942e-03 1.77883169e+02] [ 6.91726275e-01 -7.22158432e-01 -1.40023850e-03 1.87986154e+02] [ 1.94913726e-03 -7.19598010e-05 9.99998098e-01 -6.18335023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7157692310001 meters 0.04257084377768384 Centerline is valid? [True, True] Translation: X:177.87, Y:188.00, Z:-0.62 [[-7.21952503e-01 -6.91940763e-01 1.60124442e-03 1.77866732e+02] [ 6.91938800e-01 -7.21954274e-01 -1.65032973e-03 1.88002497e+02] [ 2.29795567e-03 -8.34965408e-05 9.99997356e-01 -6.18743340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74576923100005 meters 0.045762191562625724 Centerline is valid? [True, True] Translation: X:177.86, Y:188.03, Z:-0.62 [[-7.21636633e-01 -6.92271729e-01 6.49867696e-04 1.77861335e+02] [ 6.92271407e-01 -7.21636925e-01 -6.68709682e-04 1.88027928e+02] [ 9.31897333e-04 -3.26805793e-05 9.99999565e-01 -6.16594622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7757692310001 meters 0.04352472062698353 Centerline is valid? [True, True] Translation: X:177.85, Y:188.05, Z:-0.61 [[-7.21561412e-01 -6.92350283e-01 -4.62757018e-04 1.77846378e+02] [ 6.92350119e-01 -7.21561560e-01 4.77587970e-04 1.88046039e+02] [-6.64565843e-04 2.42191736e-05 9.99999779e-01 -6.13681022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80576923100006 meters 0.04120537276348949 Centerline is valid? [True, True] Translation: X:177.83, Y:188.06, Z:-0.61 [[-7.21289260e-01 -6.92632583e-01 -1.38138892e-03 1.77831838e+02] [ 6.92631125e-01 -7.21290579e-01 1.42281824e-03 1.88063649e+02] [-1.98187309e-03 6.94705506e-05 9.99998034e-01 -6.11445539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83576923100003 meters 0.040785839279192604 Centerline is valid? [True, True] Translation: X:177.82, Y:188.08, Z:-0.61 [[-7.20825453e-01 -6.93115699e-01 -1.13756776e-03 1.77818492e+02] [ 6.93114712e-01 -7.20826348e-01 1.17110141e-03 1.88082694e+02] [-1.63169758e-03 5.56947554e-05 9.99998667e-01 -6.11784716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86576923100006 meters 0.03683215985106054 Centerline is valid? [True, True] Translation: X:177.80, Y:188.10, Z:-0.62 [[-7.20127741e-01 -6.93841496e-01 1.19627655e-04 1.77800329e+02] [ 6.93841486e-01 -7.20127751e-01 -1.22038541e-04 1.88099071e+02] [ 1.70822598e-04 -4.88070925e-06 9.99999985e-01 -6.15021481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89576923100003 meters 0.0384531406635472 Centerline is valid? [True, True] Translation: X:177.79, Y:188.12, Z:-0.62 [[-7.18164579e-01 -6.95864451e-01 3.50772798e-03 1.77790417e+02] [ 6.95855141e-01 -7.18173130e-01 -3.60251578e-03 1.88121017e+02] [ 5.02601864e-03 -1.46328678e-04 9.99987359e-01 -6.24166400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92576923100006 meters 0.03480921958225329 Centerline is valid? [True, True] Translation: X:177.77, Y:188.14, Z:-0.62 [[-7.16665629e-01 -6.97405924e-01 3.91834065e-03 1.77772731e+02] [ 6.97394344e-01 -7.16676325e-01 -4.02179344e-03 1.88135478e+02] [ 5.61300455e-03 -1.49652520e-04 9.99984236e-01 -6.24313373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95576923100003 meters 0.032551955364475076 Centerline is valid? [True, True] Translation: X:177.76, Y:188.15, Z:-0.62 [[-7.14666760e-01 -6.99458912e-01 2.94156839e-03 1.77756390e+02] [ 6.99452412e-01 -7.14672807e-01 -3.01706529e-03 1.88150575e+02] [ 4.21257214e-03 -9.87091724e-05 9.99991122e-01 -6.21602203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98576923100006 meters 0.027269265415613485 Centerline is valid? [True, True] Translation: X:177.74, Y:188.16, Z:-0.62 [[-7.12186190e-01 -7.01989490e-01 1.25980944e-03 1.77735939e+02] [ 7.01988304e-01 -7.12187303e-01 -1.29076150e-03 1.88162514e+02] [ 1.80332130e-03 -3.48910212e-05 9.99998373e-01 -6.16292622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01576923100004 meters 0.023258395428305444 Centerline is valid? [True, True] Translation: X:177.72, Y:188.17, Z:-0.61 [[-7.09701452e-01 -7.04502553e-01 -3.37697102e-05 1.77716315e+02] [ 7.04502552e-01 -7.09701453e-01 3.55749940e-05 1.88174707e+02] [-4.90290865e-05 1.45677787e-06 9.99999999e-01 -6.13537751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04576923100007 meters 0.016066579599451167 Centerline is valid? [True, True] Translation: X:177.69, Y:188.18, Z:-0.61 [[-7.05368710e-01 -7.08839685e-01 -1.13330236e-03 1.77692409e+02] [ 7.08838733e-01 -7.05369620e-01 1.16154024e-03 1.88183709e+02] [-1.62274288e-03 1.59855313e-05 9.99998683e-01 -6.11406342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07576923100004 meters 0.01454586560739061 Centerline is valid? [True, True] Translation: X:177.68, Y:188.20, Z:-0.61 [[-7.03844773e-01 -7.10352469e-01 -1.38065397e-03 1.77675196e+02] [ 7.10351062e-01 -7.03846127e-01 1.41390538e-03 1.88197680e+02] [-1.97613913e-03 1.44209000e-05 9.99998047e-01 -6.11076958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10576923100007 meters 0.013168128966124605 Centerline is valid? [True, True] Translation: X:177.66, Y:188.21, Z:-0.61 [[-7.02875265e-01 -7.11311648e-01 -1.44951977e-03 1.77656830e+02] [ 7.11310101e-01 -7.02876760e-01 1.48338072e-03 1.88212618e+02] [-2.07397975e-03 1.15735608e-05 9.99997849e-01 -6.10685528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13576923100004 meters 0.012701405573794095 Centerline is valid? [True, True] Translation: X:177.64, Y:188.23, Z:-0.61 [[-7.02293268e-01 -7.11885892e-01 -1.62537845e-03 1.77640206e+02] [ 7.11883952e-01 -7.02295149e-01 1.66186742e-03 1.88228166e+02] [-2.32455537e-03 1.00374627e-05 9.99997298e-01 -6.10262877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16576923100007 meters 0.012607545874177499 Centerline is valid? [True, True] Translation: X:177.63, Y:188.25, Z:-0.61 [[-7.02329205e-01 -7.11850682e-01 -1.51484712e-03 1.77625840e+02] [ 7.11848999e-01 -7.02330839e-01 1.54789289e-03 1.88245573e+02] [-2.16579246e-03 8.78797068e-06 9.99997655e-01 -6.10426948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19576923100004 meters 0.012515921736013904 Centerline is valid? [True, True] Translation: X:177.61, Y:188.26, Z:-0.61 [[-7.02607526e-01 -7.11576693e-01 -1.12842326e-03 1.77609893e+02] [ 7.11575760e-01 -7.02608432e-01 1.15242813e-03 1.88263272e+02] [-1.61288070e-03 6.74603865e-06 9.99998699e-01 -6.10918245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2257692310001 meters 0.012980302292648658 Centerline is valid? [True, True] Translation: X:177.60, Y:188.28, Z:-0.61 [[-7.03438392e-01 -7.10755647e-01 -9.16303852e-04 1.77595807e+02] [ 7.10755031e-01 -7.03438989e-01 9.35437197e-04 1.88280362e+02] [-1.30943112e-03 6.75486466e-06 9.99999143e-01 -6.11463288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25576923100004 meters 0.014493320758140693 Centerline is valid? [True, True] Translation: X:177.58, Y:188.30, Z:-0.62 [[-7.05239765e-01 -7.08968806e-01 3.26532273e-04 1.77584703e+02] [ 7.08968728e-01 -7.05239840e-01 -3.31640643e-04 1.88300447e+02] [ 4.65406439e-04 -2.38499924e-06 9.99999892e-01 -6.15491813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2857692310001 meters 0.01523966632909759 Centerline is valid? [True, True] Translation: X:177.57, Y:188.32, Z:-0.62 [[-7.06293079e-01 -7.07918678e-01 1.10993786e-03 1.77570706e+02] [ 7.07917777e-01 -7.06293951e-01 -1.12924556e-03 1.88318602e+02] [ 1.58335643e-03 -1.18335806e-05 9.99998746e-01 -6.17722264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31576923100005 meters 0.016442177908512868 Centerline is valid? [True, True] Translation: X:177.56, Y:188.34, Z:-0.62 [[-7.07280553e-01 -7.06931303e-01 1.53352521e-03 1.77558517e+02] [ 7.06929583e-01 -7.07282215e-01 -1.55952894e-03 1.88337252e+02] [ 2.18711494e-03 -1.89301571e-05 9.99997608e-01 -6.19539601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3457692310001 meters 0.016398114998851118 Centerline is valid? [True, True] Translation: X:177.54, Y:188.36, Z:-0.62 [[-7.07959795e-01 -7.06251717e-01 1.20011436e-03 1.77544694e+02] [ 7.06250665e-01 -7.07960812e-01 -1.21943586e-03 1.88356057e+02] [ 1.71086261e-03 -1.57299966e-05 9.99998536e-01 -6.17762565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37576923100005 meters 0.015571241163261874 Centerline is valid? [True, True] Translation: X:177.53, Y:188.38, Z:-0.61 [[-7.07556390e-01 -7.06656865e-01 -1.74596293e-04 1.77533132e+02] [ 7.06656842e-01 -7.07556412e-01 1.78488241e-04 1.88375068e+02] [-2.49666667e-04 2.91083087e-06 9.99999969e-01 -6.12365529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4057692310001 meters 0.01465374465034571 Centerline is valid? [True, True] Translation: X:177.52, Y:188.39, Z:-0.61 [[-7.06890378e-01 -7.07323116e-01 5.29715938e-05 1.77517326e+02] [ 7.07323114e-01 -7.06890380e-01 -5.27800053e-05 1.88391410e+02] [ 7.47776278e-05 1.58354783e-07 9.99999997e-01 -6.12428442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43576923100005 meters 0.01465374465034571 Centerline is valid? [True, True] Translation: X:177.50, Y:188.41, Z:-0.61 [[-7.07124630e-01 -7.07088930e-01 5.29877533e-05 1.77501180e+02] [ 7.07088928e-01 -7.07124632e-01 -5.27639225e-05 1.88407129e+02] [ 7.47777310e-05 1.56384431e-07 9.99999997e-01 -6.12476716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4657692310001 meters 0.013461836434856005 Centerline is valid? [True, True] Translation: X:177.48, Y:188.42, Z:-0.61 [[-7.06116923e-01 -7.08094799e-01 8.03800914e-04 1.77483552e+02] [ 7.08094331e-01 -7.06117381e-01 -8.14279219e-04 1.88423164e+02] [ 1.14416468e-03 -5.80946631e-06 9.99999345e-01 -6.14460248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49576923100005 meters 0.013050534595159662 Centerline is valid? [True, True] Translation: X:177.47, Y:188.44, Z:-0.62 [[-7.04914546e-01 -7.09290297e-01 1.66028208e-03 1.77467307e+02] [ 7.09288303e-01 -7.04916501e-01 -1.68182465e-03 1.88438961e+02] [ 2.36326214e-03 -7.92400062e-06 9.99997207e-01 -6.18173733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5257692310001 meters 0.01248733839859849 Centerline is valid? [True, True] Translation: X:177.45, Y:188.45, Z:-0.62 [[-7.01404050e-01 -7.12761763e-01 1.74000284e-03 1.77448839e+02] [ 7.12759587e-01 -7.01406208e-01 -1.76125521e-03 1.88451784e+02] [ 2.47580416e-03 4.85217251e-06 9.99996935e-01 -6.17194468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55576923100006 meters 0.013646071591855139 Centerline is valid? [True, True] Translation: X:177.43, Y:188.46, Z:-0.62 [[-6.99422444e-01 -7.14707708e-01 1.06621408e-03 1.77430490e+02] [ 7.14706895e-01 -6.99423257e-01 -1.07818855e-03 1.88464262e+02] [ 1.51632459e-03 7.92128462e-06 9.99998850e-01 -6.15016706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58576923100003 meters 0.015683865849787537 Centerline is valid? [True, True] Translation: X:177.41, Y:188.48, Z:-0.61 [[-6.97268916e-01 -7.16809205e-01 7.88226533e-04 1.77410635e+02] [ 7.16808763e-01 -6.97269362e-01 -7.96141706e-04 1.88477472e+02] [ 1.12028792e-03 9.88282171e-06 9.99999372e-01 -6.13213206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61576923100006 meters 0.017906221159933296 Centerline is valid? [True, True] Translation: X:177.39, Y:188.49, Z:-0.61 [[-6.95168924e-01 -7.18845198e-01 1.32265723e-03 1.77390124e+02] [ 7.18843956e-01 -6.95170182e-01 -1.33606241e-03 1.88491154e+02] [ 1.87989392e-03 2.19950911e-05 9.99998233e-01 -6.13897633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64576923100003 meters 0.022637571031456152 Centerline is valid? [True, True] Translation: X:177.37, Y:188.50, Z:-0.62 [[-6.91305226e-01 -7.22561335e-01 1.48364386e-03 1.77366966e+02] [ 7.22559784e-01 -6.91306817e-01 -1.49772306e-03 1.88501470e+02] [ 2.10784989e-03 3.66376139e-05 9.99997778e-01 -6.16028759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67576923100006 meters 0.026646569052899024 Centerline is valid? [True, True] Translation: X:177.35, Y:188.51, Z:-0.61 [[-6.89921835e-01 -7.23883551e-01 6.82737377e-04 1.77346213e+02] [ 7.23883224e-01 -6.89922172e-01 -6.88279167e-04 1.88512854e+02] [ 9.69269622e-04 1.93633083e-05 9.99999530e-01 -6.14468141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70576923100003 meters 0.029219397922956476 Centerline is valid? [True, True] Translation: X:177.33, Y:188.52, Z:-0.61 [[-6.88513741e-01 -7.25223263e-01 -2.15003047e-04 1.77327244e+02] [ 7.25223231e-01 -6.88513775e-01 2.17894497e-04 1.88524916e+02] [-3.06054718e-04 -5.90184870e-06 9.99999953e-01 -6.11158816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73576923100006 meters 0.029792907914482428 Centerline is valid? [True, True] Translation: X:177.31, Y:188.54, Z:-0.61 [[-6.86915403e-01 -7.26736583e-01 -1.08040945e-03 1.77309013e+02] [ 7.26735766e-01 -6.86916252e-01 1.09027508e-03 1.88539687e+02] [-1.53449360e-03 -3.62454483e-05 9.99998822e-01 -6.08147192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76576923100004 meters 0.032838199697907966 Centerline is valid? [True, True] Translation: X:177.29, Y:188.55, Z:-0.61 [[-6.83770616e-01 -7.29695764e-01 -1.35549977e-03 1.77285974e+02] [ 7.29694486e-01 -6.83771957e-01 1.36677946e-03 1.88550644e+02] [-1.92418591e-03 -5.45370769e-05 9.99998147e-01 -6.08051773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79576923100007 meters 0.03638222795021921 Centerline is valid? [True, True] Translation: X:177.26, Y:188.56, Z:-0.61 [[-6.82287960e-01 -7.31082657e-01 -1.13509260e-03 1.77264101e+02] [ 7.31081763e-01 -6.82288903e-01 1.14398482e-03 1.88561946e+02] [-1.61080854e-03 -4.93184294e-05 9.99998701e-01 -6.08910128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82576923100004 meters 0.03778591340568857 Centerline is valid? [True, True] Translation: X:177.24, Y:188.58, Z:-0.61 [[-6.81104602e-01 -7.32185603e-01 -8.74362853e-04 1.77243978e+02] [ 7.32185074e-01 -6.81105162e-01 8.80885979e-04 1.88575630e+02] [-1.24050508e-03 -4.02199364e-05 9.99999230e-01 -6.09234247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85576923100007 meters 0.03863377562201585 Centerline is valid? [True, True] Translation: X:177.22, Y:188.59, Z:-0.61 [[-6.80043745e-01 -7.33171145e-01 -7.59465728e-04 1.77223599e+02] [ 7.33170747e-01 -6.80044168e-01 7.64776230e-04 1.88590016e+02] [-1.07718210e-03 -3.67367635e-05 9.99999419e-01 -6.09350595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88576923100004 meters 0.0449921938022733 Centerline is valid? [True, True] Translation: X:177.20, Y:188.60, Z:-0.61 [[-6.78027592e-01 -7.35035326e-01 -1.28612170e-03 1.77196836e+02] [ 7.35034190e-01 -6.78028809e-01 1.29373436e-03 1.88595015e+02] [-1.82296802e-03 -6.81558262e-05 9.99998336e-01 -6.08436620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91576923100007 meters 0.04526062548106308 Centerline is valid? [True, True] Translation: X:177.18, Y:188.61, Z:-0.61 [[-6.77255197e-01 -7.35746601e-01 -1.52888851e-03 1.77177691e+02] [ 7.35745001e-01 -6.77256918e-01 1.53675996e-03 1.88609315e+02] [-2.16611623e-03 -8.40934090e-05 9.99997650e-01 -6.08480917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94576923100004 meters 0.045711748315951976 Centerline is valid? [True, True] Translation: X:177.16, Y:188.62, Z:-0.61 [[-6.76964258e-01 -7.36014313e-01 -1.52446836e-03 1.77158905e+02] [ 7.36012725e-01 -6.76965969e-01 1.53140297e-03 1.88624662e+02] [-2.15914771e-03 -8.53230327e-05 9.99997665e-01 -6.09631241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9757692310001 meters 0.04745060284891838 Centerline is valid? [True, True] Translation: X:177.14, Y:188.64, Z:-0.61 [[-6.77286053e-01 -7.35719765e-01 1.73282184e-04 1.77139463e+02] [ 7.35719745e-01 -6.77286075e-01 -1.72831262e-04 1.88636335e+02] [ 2.44516985e-04 1.04309207e-05 9.99999970e-01 -6.14951684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00576923100004 meters 0.04576610668701131 Centerline is valid? [True, True] Translation: X:177.12, Y:188.65, Z:-0.62 [[-6.78244112e-01 -7.34835569e-01 1.26918539e-03 1.77122583e+02] [ 7.34834472e-01 -6.78245296e-01 -1.27155964e-03 1.88652316e+02] [ 1.79520627e-03 7.02133376e-05 9.99998386e-01 -6.18254710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0357692310001 meters 0.04530302254047687 Centerline is valid? [True, True] Translation: X:177.10, Y:188.67, Z:-0.62 [[-6.78908581e-01 -7.34219433e-01 2.22773862e-03 1.77104229e+02] [ 7.34216053e-01 -6.78912225e-01 -2.23121964e-03 1.88666892e+02] [ 3.15064380e-03 1.20847294e-04 9.99995029e-01 -6.20057358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06576923100005 meters 0.03944475696256762 Centerline is valid? [True, True] Translation: X:177.09, Y:188.69, Z:-0.62 [[-6.79409806e-01 -7.33755706e-01 2.20906274e-03 1.77090544e+02] [ 7.33752384e-01 -6.79413387e-01 -2.21112731e-03 1.88686718e+02] [ 3.12329407e-03 1.18643478e-04 9.99995115e-01 -6.18708560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0957692310001 meters 0.04351211658800301 Centerline is valid? [True, True] Translation: X:177.07, Y:188.70, Z:-0.61 [[-6.79860430e-01 -7.33341315e-01 5.59014947e-04 1.77066930e+02] [ 7.33341103e-01 -6.79860659e-01 -5.58436408e-04 1.88695503e+02] [ 7.89576759e-04 3.02898219e-05 9.99999688e-01 -6.14273196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12576923100005 meters 0.045528431299628504 Centerline is valid? [True, True] Translation: X:177.05, Y:188.71, Z:-0.61 [[-6.80462666e-01 -7.32782726e-01 -1.92526996e-04 1.77048120e+02] [ 7.32782700e-01 -6.80462693e-01 1.93547146e-04 1.88707539e+02] [-2.72835443e-04 -9.37884532e-06 9.99999963e-01 -6.12731033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1557692310001 meters 0.0423468395070176 Centerline is valid? [True, True] Translation: X:177.03, Y:188.72, Z:-0.61 [[-6.83133671e-01 -7.30293315e-01 -2.48264005e-04 1.77032539e+02] [ 7.30293272e-01 -6.83133716e-01 2.49078191e-04 1.88723322e+02] [-3.51497650e-04 -1.11518330e-05 9.99999938e-01 -6.14298452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18576923100005 meters 0.0423468395070176 Centerline is valid? [True, True] Translation: X:176.95, Y:188.68, Z:0.10 [[-7.77315754e-01 6.29104081e-01 2.87644761e-03 1.76949482e+02] [ 6.29098375e-01 7.77321024e-01 -2.69447710e-03 1.88679417e+02] [-3.93102974e-03 -2.84890984e-04 -9.99992233e-01 9.66240993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2157692310001 meters 0.038794360377735836 Centerline is valid? [True, True] Translation: X:176.95, Y:188.72, Z:0.10 [[-8.17869505e-01 5.75380488e-01 5.17364211e-03 1.76945434e+02] [ 5.75366228e-01 8.17885794e-01 -4.06584790e-03 1.88717563e+02] [-6.57085794e-03 -3.48594065e-04 -9.99978351e-01 1.02932812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24576923100005 meters 0.034276718414427906 Centerline is valid? [True, True] Translation: X:176.93, Y:188.76, Z:0.10 [[-8.55775801e-01 5.17310011e-01 6.17508701e-03 1.76928125e+02] [ 5.17293453e-01 8.55798003e-01 -4.15476176e-03 1.88758314e+02] [-7.43392698e-03 -3.61212492e-04 -9.99972303e-01 1.03678770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2757692310001 meters 0.03390893386631042 Centerline is valid? [True, True] Translation: X:176.92, Y:188.80, Z:0.10 [[-8.89812625e-01 4.56281226e-01 6.39801130e-03 1.76915425e+02] [ 4.56266568e-01 8.89835558e-01 -3.67409108e-03 1.88798940e+02] [-7.36959674e-03 -3.50053974e-04 -9.99972783e-01 1.03181835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30576923100006 meters 0.028549919183374798 Centerline is valid? [True, True] Translation: X:176.90, Y:188.83, Z:0.10 [[-9.18926099e-01 3.94392821e-01 5.39704011e-03 1.76904620e+02] [ 3.94384104e-01 9.18941900e-01 -2.63879529e-03 1.88827861e+02] [-6.00028821e-03 -2.96351038e-04 -9.99981954e-01 9.88651177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33576923100003 meters 0.027341941246088727 Centerline is valid? [True, True] Translation: X:176.93, Y:188.95, Z:-0.62 [[-8.68070120e-01 -4.96439724e-01 1.36622214e-03 1.76925650e+02] [ 4.96438953e-01 -8.68071191e-01 -8.79155980e-04 1.88947634e+02] [ 1.62242603e-03 -8.49231487e-05 9.99998680e-01 -6.16968222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36576923100006 meters 0.026270398765215894 Centerline is valid? [True, True] Translation: X:176.84, Y:188.85, Z:0.10 [[-9.19183458e-01 3.93795241e-01 5.20377390e-03 1.76838604e+02] [ 3.93787233e-01 9.19198147e-01 -2.52610116e-03 1.88854663e+02] [-5.77806594e-03 -2.72770670e-04 -9.99983270e-01 9.78481284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39576923100003 meters 0.02608206960017349 Centerline is valid? [True, True] Translation: X:176.82, Y:188.89, Z:0.10 [[-9.44682686e-01 3.27942725e-01 5.30958379e-03 1.76824661e+02] [ 3.27935935e-01 9.44697569e-01 -2.12728998e-03 1.88890240e+02] [-5.71358018e-03 -2.68410683e-04 -9.99983641e-01 9.82877078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42576923100006 meters 0.02813447209164674 Centerline is valid? [True, True] Translation: X:176.81, Y:188.93, Z:0.10 [[-9.65578472e-01 2.60062233e-01 5.08414937e-03 1.76814885e+02] [ 2.60057202e-01 9.65591822e-01 -1.63827079e-03 1.88926555e+02] [-5.33526542e-03 -2.59709348e-04 -9.99985734e-01 9.90653718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45576923100003 meters 0.026220108221485988 Centerline is valid? [True, True] Translation: X:176.81, Y:188.95, Z:0.10 [[-9.81623549e-01 1.90775018e-01 4.48337581e-03 1.76807972e+02] [ 1.90771886e-01 9.81633757e-01 -1.12018537e-03 1.88954445e+02] [-4.61473642e-03 -2.44298282e-04 -9.99989322e-01 9.70307622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48576923100006 meters 0.02588565674198771 Centerline is valid? [True, True] Translation: X:176.83, Y:189.07, Z:-0.61 [[-9.55303256e-01 -2.95626579e-01 -7.84661515e-04 1.76826155e+02] [ 2.95626658e-01 -9.55303553e-01 1.59321626e-05 1.89072992e+02] [-7.54299904e-04 -2.16746815e-04 9.99999692e-01 -6.13937508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51576923100004 meters 0.024680251229914397 Centerline is valid? [True, True] Translation: X:176.76, Y:188.96, Z:0.09 [[-9.82087795e-01 1.88403563e-01 2.76788502e-03 1.76760208e+02] [ 1.88402227e-01 9.82091674e-01 -7.38082943e-04 1.88962427e+02] [-2.85737429e-03 -2.03386548e-04 -9.99995897e-01 9.32747032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54576923100007 meters 0.024086520697375893 Centerline is valid? [True, True] Translation: X:176.74, Y:188.99, Z:0.09 [[-9.92876778e-01 1.19121930e-01 2.38121630e-03 1.76741020e+02] [ 1.19121121e-01 9.92879615e-01 -4.79211504e-04 1.88993231e+02] [-2.42134572e-03 -1.92144819e-04 -9.99997050e-01 9.21844199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57576923100004 meters 0.023872035438601655 Centerline is valid? [True, True] Translation: X:176.74, Y:189.12, Z:-0.61 [[-9.75298663e-01 -2.20883351e-01 -1.75028436e-03 1.76736431e+02] [ 2.20883278e-01 -9.75300221e-01 2.37497759e-04 1.89120264e+02] [-1.75951203e-03 -1.54977301e-04 9.99998440e-01 -6.11917128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60576923100007 meters 0.024958832492774845 Centerline is valid? [True, True] Translation: X:176.68, Y:189.00, Z:0.09 [[-9.93344779e-01 1.15166369e-01 1.69020128e-03 1.76682214e+02] [ 1.15165894e-01 9.93346201e-01 -3.76389099e-04 1.89003102e+02] [-1.72230239e-03 -1.79230605e-04 -9.99998501e-01 9.13941102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63576923100004 meters 0.025530764288961897 Centerline is valid? [True, True] Translation: X:176.66, Y:189.04, Z:0.09 [[-9.99068889e-01 4.31297919e-02 1.08408037e-03 1.76661245e+02] [ 4.31295829e-02 9.99069463e-01 -2.15479038e-04 1.89035525e+02] [-1.09236516e-03 -1.68522469e-04 -9.99999389e-01 9.01108131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66576923100007 meters 0.027502385639188665 Centerline is valid? [True, True] Translation: X:176.65, Y:189.07, Z:0.09 [[-9.99567376e-01 -2.94010750e-02 7.99030531e-04 1.76652138e+02] [-2.94011960e-02 9.99567682e-01 -1.40035352e-04 1.89068216e+02] [-7.94567906e-04 -1.63467222e-04 -9.99999671e-01 8.92021371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69576923100004 meters 0.029368761181244003 Centerline is valid? [True, True] Translation: X:176.62, Y:189.10, Z:0.09 [[-9.94815836e-01 -1.01681769e-01 1.50708455e-03 1.76616937e+02] [-1.01681924e-01 9.94816961e-01 -2.62996180e-05 1.89100429e+02] [-1.49659908e-03 -1.79406532e-04 -9.99998864e-01 9.06077992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7257692310001 meters 0.029479306080751302 Centerline is valid? [True, True] Translation: X:176.60, Y:189.13, Z:0.09 [[-9.85043724e-01 -1.72285913e-01 2.53491524e-03 1.76596581e+02] [-1.72285867e-01 9.85046965e-01 2.37983360e-04 1.89128108e+02] [-2.53801175e-03 -2.02306056e-04 -9.99996759e-01 9.27798328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75576923100004 meters 0.027458767961914595 Centerline is valid? [True, True] Translation: X:176.55, Y:189.15, Z:0.10 [[-9.70374654e-01 -2.41579047e-01 3.54896621e-03 1.76549129e+02] [-2.41578270e-01 9.70381118e-01 6.52611077e-04 1.89146502e+02] [-3.60150696e-03 -2.24075867e-04 -9.99993489e-01 9.51577053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7857692310001 meters 0.02702589738116494 Centerline is valid? [True, True] Translation: X:176.53, Y:189.24, Z:-0.62 [[-9.91152294e-01 1.32705782e-01 2.51121564e-03 1.76526121e+02] [-1.32705019e-01 -9.91155466e-01 4.68465668e-04 1.89236893e+02] [ 2.55117322e-03 1.31069900e-04 9.99996737e-01 -6.20422088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81576923100005 meters 0.028004772251674543 Centerline is valid? [True, True] Translation: X:176.50, Y:189.14, Z:0.10 [[-9.69418225e-01 -2.45320183e-01 6.80529803e-03 1.76495470e+02] [-2.45316282e-01 9.69442066e-01 1.41515913e-03 1.89136618e+02] [-6.94450928e-03 -2.97569359e-04 -9.99975842e-01 1.00402800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8457692310001 meters 0.03011753633849582 Centerline is valid? [True, True] Translation: X:176.47, Y:189.22, Z:-0.62 [[-9.90695623e-01 1.36078373e-01 2.20426109e-03 1.76469320e+02] [-1.36078311e-01 -9.90698068e-01 1.78796578e-04 1.89218313e+02] [ 2.20808755e-03 -1.22819138e-04 9.99997555e-01 -6.20053527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87576923100005 meters 0.033658503731258484 Centerline is valid? [True, True] Translation: X:176.46, Y:189.14, Z:0.09 [[-9.67724564e-01 -2.51986122e-01 3.48755818e-03 1.76461282e+02] [-2.51985347e-01 9.67730820e-01 6.67118624e-04 1.89139635e+02] [-3.54312217e-03 -2.33226479e-04 -9.99993696e-01 9.39983958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9057692310001 meters 0.032723702248426224 Centerline is valid? [True, True] Translation: X:176.43, Y:189.16, Z:0.09 [[-9.46442608e-01 -3.22862310e-01 2.51366434e-03 1.76425594e+02] [-3.22861770e-01 9.46445921e-01 6.29225006e-04 1.89160294e+02] [-2.58220040e-03 -2.16040760e-04 -9.99996643e-01 9.21007963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93576923100005 meters 0.04152663654329071 Centerline is valid? [True, True] Translation: X:176.41, Y:189.21, Z:-0.61 [[-9.79465512e-01 2.01608246e-01 -1.19431380e-03 1.76405718e+02] [-2.01607897e-01 -9.79466227e-01 -4.06936623e-04 1.89205257e+02] [-1.25183181e-03 -1.57797293e-04 9.99999204e-01 -6.12944107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9657692310001 meters 0.03871189767063789 Centerline is valid? [True, True] Translation: X:176.39, Y:189.16, Z:0.09 [[-9.43127688e-01 -3.32411362e-01 3.58484113e-03 1.76391418e+02] [-3.32410034e-01 9.43134462e-01 9.77594124e-04 1.89162147e+02] [-3.70595060e-03 -2.69641074e-04 -9.99993097e-01 9.30447231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99576923100005 meters 0.044904498689794535 Centerline is valid? [True, True] Translation: X:176.35, Y:189.19, Z:0.10 [[-9.15078196e-01 -4.03237736e-01 5.58780779e-03 1.76346219e+02] [-4.03232683e-01 9.15095180e-01 2.05307012e-03 1.89191785e+02] [-5.94125132e-03 -3.74467032e-04 -9.99982281e-01 9.79628386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0257692310001 meters 0.04463978826598463 Centerline is valid? [True, True] Translation: X:176.32, Y:189.22, Z:0.10 [[-8.83306838e-01 -4.68756560e-01 6.02633376e-03 1.76322647e+02] [-4.68748769e-01 8.83327300e-01 2.73364012e-03 1.89215900e+02] [-6.60463687e-03 -4.10193523e-04 -9.99978105e-01 9.95611705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05576923100006 meters 0.04919144824957539 Centerline is valid? [True, True] Translation: X:176.26, Y:189.23, Z:0.10 [[-8.47285887e-01 -5.31103599e-01 5.96603981e-03 1.76262044e+02] [-5.31093876e-01 8.47306786e-01 3.24129076e-03 1.89226202e+02] [-6.77652720e-03 -4.22227293e-04 -9.99976950e-01 1.00946532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.08576923100003 meters 0.04782071591002703 Centerline is valid? [True, True] Translation: X:176.22, Y:189.24, Z:0.09 [[-8.06866295e-01 -5.90721021e-01 3.93155961e-03 1.76224881e+02] [-5.90715993e-01 8.06875803e-01 2.46056130e-03 1.89239925e+02] [-4.62578560e-03 -3.37091152e-04 -9.99989244e-01 9.49150674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11576923100006 meters 0.04748134122447492 Centerline is valid? [True, True] Translation: X:176.19, Y:189.25, Z:0.09 [[-7.63005789e-01 -6.46387596e-01 2.28954497e-03 1.76189078e+02] [-6.46385664e-01 7.63009181e-01 1.60111482e-03 1.89252581e+02] [-2.78188459e-03 -2.58269166e-04 -9.99996097e-01 9.11956912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14576923100003 meters 0.05139743699555942 Centerline is valid? [True, True] Translation: X:176.19, Y:189.21, Z:-0.61 [[-8.51210307e-01 5.24821295e-01 -1.90315243e-03 1.76187223e+02] [-5.24819162e-01 -8.51212382e-01 -1.52596957e-03 1.89210668e+02] [-2.42084824e-03 -3.00110163e-04 9.99997025e-01 -6.10057143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17576923100006 meters 0.04768246224772201 Centerline is valid? [True, True] Translation: X:176.14, Y:189.22, Z:0.09 [[-7.60779829e-01 -6.49009529e-01 8.26361272e-04 1.76137495e+02] [-6.49009385e-01 7.60780257e-01 4.68575384e-04 1.89218553e+02] [-9.32789230e-04 -1.79833520e-04 -9.99999549e-01 8.77316145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20576923100003 meters 0.0471205913003217 Centerline is valid? [True, True] Translation: X:176.09, Y:189.22, Z:0.09 [[-7.12579435e-01 -7.01590586e-01 1.09490742e-03 1.76087707e+02] [-7.01590155e-01 7.12580249e-01 8.02115930e-04 1.89218647e+02] [-1.34296639e-03 -1.96604950e-04 -9.99999079e-01 9.05406332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23576923100006 meters 0.05011391522799675 Centerline is valid? [True, True] Translation: X:176.05, Y:189.24, Z:0.09 [[-6.61277330e-01 -7.50141023e-01 8.58830730e-04 1.76054959e+02] [-7.50140725e-01 6.61277862e-01 6.94119210e-04 1.89235106e+02] [-1.08861304e-03 -1.85238608e-04 -9.99999390e-01 9.01775727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26576923100004 meters 0.049913634674270915 Centerline is valid? [True, True] Translation: X:176.00, Y:189.22, Z:0.09 [[-6.07247758e-01 -7.94512483e-01 2.75399048e-04 1.75996923e+02] [-7.94512489e-01 6.07247801e-01 1.12636459e-04 1.89215050e+02] [-2.56726539e-04 -1.50409746e-04 -9.99999956e-01 8.87271980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29576923100007 meters 0.04797364731613271 Centerline is valid? [True, True] Translation: X:175.95, Y:189.20, Z:0.09 [[-5.50888442e-01 -8.34578871e-01 -1.81530524e-04 1.75953233e+02] [-8.34578734e-01 5.50888458e-01 -4.93884830e-04 1.89203111e+02] [ 5.12188914e-04 -1.20573930e-04 -9.99999862e-01 8.69825589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32576923100004 meters 0.03941734501175867 Centerline is valid? [True, True] Translation: X:175.97, Y:189.15, Z:-0.61 [[-6.60455270e-01 7.50862022e-01 -2.24943852e-03 1.75968592e+02] [-7.50856677e-01 -6.60459074e-01 -2.83938495e-03 1.89150096e+02] [-3.61764841e-03 -1.86280820e-04 9.99993439e-01 -6.10590873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35576923100007 meters 0.03941734501175867 Centerline is valid? [True, True] Translation: X:175.92, Y:189.14, Z:0.09 [[-5.51625455e-01 -8.34091887e-01 2.84509016e-04 1.75923100e+02] [-8.34091885e-01 5.51625508e-01 1.59838467e-04 1.89144461e+02] [-2.90262399e-04 -1.49135695e-04 -9.99999947e-01 8.81043016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38576923100004 meters 0.037017902305119414 Centerline is valid? [True, True] Translation: X:175.94, Y:189.11, Z:-0.61 [[-6.56108471e-01 7.54665140e-01 -1.48391171e-03 1.75939243e+02] [-7.54662814e-01 -6.56110139e-01 -1.87687870e-03 1.89111554e+02] [-2.39002445e-03 -1.11583027e-04 9.99997138e-01 -6.13177681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41576923100007 meters 0.03917525872569826 Centerline is valid? [True, True] Translation: X:175.89, Y:189.10, Z:0.09 [[-5.51589892e-01 -8.34113632e-01 1.74346015e-03 1.75888891e+02] [-8.34110670e-01 5.51592603e-01 2.23403533e-03 1.89097532e+02] [-2.82511905e-03 -2.21967404e-04 -9.99995985e-01 9.33981805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44576923100004 meters 0.03509075984064255 Centerline is valid? [True, True] Translation: X:175.85, Y:189.08, Z:0.09 [[-4.92364954e-01 -8.70386974e-01 1.80740956e-03 1.75848788e+02] [-8.70382722e-01 4.92368219e-01 2.73017088e-03 1.89079235e+02] [-3.26621620e-03 -2.28897596e-04 -9.99994640e-01 9.46438984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4757692310001 meters 0.0327084541710743 Centerline is valid? [True, True] Translation: X:175.80, Y:189.05, Z:0.09 [[-4.31481067e-01 -9.02121500e-01 9.42405892e-04 1.75801410e+02] [-9.02120196e-01 4.31482057e-01 1.54476232e-03 1.89046894e+02] [-1.80019453e-03 -1.83627695e-04 -9.99998363e-01 9.12942716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50576923100004 meters 0.030027727805960767 Centerline is valid? [True, True] Translation: X:175.77, Y:189.04, Z:0.09 [[-3.66581037e-01 -9.30386021e-01 4.41650652e-04 1.75771756e+02] [-9.30385779e-01 3.66581269e-01 6.89519941e-04 1.89041545e+02] [-8.03420570e-04 -1.58140551e-04 -9.99999665e-01 8.89680787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5357692310001 meters 0.030050125712177363 Centerline is valid? [True, True] Translation: X:175.74, Y:189.03, Z:0.09 [[-2.99315998e-01 -9.54153975e-01 3.55343390e-04 1.75737920e+02] [-9.54153789e-01 2.99316168e-01 6.14318036e-04 1.89034933e+02] [-6.92514017e-04 -1.55177026e-04 -9.99999748e-01 8.82534685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56576923100005 meters 0.030943971559667025 Centerline is valid? [True, True] Translation: X:175.69, Y:188.99, Z:0.09 [[-2.30397157e-01 -9.73096633e-01 3.04239214e-04 1.75693334e+02] [-9.73096451e-01 2.30397306e-01 6.15594156e-04 1.88993489e+02] [-6.69128496e-04 -1.54222956e-04 -9.99999764e-01 8.80769290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5957692310001 meters 0.031041118326543545 Centerline is valid? [True, True] Translation: X:175.72, Y:188.99, Z:-0.61 [[-3.42994571e-01 9.39337118e-01 -7.09547495e-04 1.75722737e+02] [-9.39334251e-01 -3.42995280e-01 -2.32436424e-03 1.88986012e+02] [-2.42673305e-03 -1.30742051e-04 9.99997047e-01 -6.13278382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62576923100005 meters 0.031819186915249244 Centerline is valid? [True, True] Translation: X:175.68, Y:188.95, Z:0.09 [[-2.26397821e-01 -9.74034760e-01 5.59964547e-04 1.75677020e+02] [-9.74033439e-01 2.26398442e-01 1.61433498e-03 1.88946646e+02] [-1.69919348e-03 -1.79942272e-04 -9.99998540e-01 9.06653468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6557692310001 meters 0.030883708385019044 Centerline is valid? [True, True] Translation: X:175.71, Y:188.93, Z:-0.62 [[-3.38643681e-01 9.40914578e-01 -4.62004490e-04 1.75709573e+02] [-9.40913099e-01 -3.38643971e-01 -1.67347959e-03 1.88927309e+02] [-1.73105637e-03 -1.32007211e-04 9.99998493e-01 -6.15859237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68576923100005 meters 0.028762653962687762 Centerline is valid? [True, True] Translation: X:175.66, Y:188.89, Z:0.09 [[-2.26164656e-01 -9.74088569e-01 1.00452601e-03 1.75660983e+02] [-9.74082711e-01 2.26166786e-01 3.38482717e-03 1.88885054e+02] [-3.52431187e-03 -2.12963150e-04 -9.99993767e-01 9.47706112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7157692310001 meters 0.02664973100114535 Centerline is valid? [True, True] Translation: X:175.63, Y:188.86, Z:0.09 [[-1.58325531e-01 -9.87386677e-01 7.59085134e-04 1.75628680e+02] [-9.87380713e-01 1.58327218e-01 3.43790588e-03 1.88857380e+02] [-3.51472630e-03 -2.05197746e-04 -9.99993802e-01 9.45192588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74576923100005 meters 0.024568292628690695 Centerline is valid? [True, True] Translation: X:175.60, Y:188.83, Z:0.09 [[-8.97120211e-02 -9.95967634e-01 4.74688107e-04 1.75600331e+02] [-9.95962715e-01 8.97130727e-02 3.13605146e-03 1.88830943e+02] [-3.16599148e-03 -1.91430142e-04 -9.99994970e-01 9.35929634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7757692310001 meters 0.019539298948414784 Centerline is valid? [True, True] Translation: X:175.58, Y:188.80, Z:0.09 [[-2.34610457e-02 -9.99724729e-01 2.11454263e-04 1.75579243e+02] [-9.99722540e-01 2.34614382e-02 2.09846344e-03 1.88797076e+02] [-2.10284682e-03 -1.62163447e-04 -9.99997776e-01 9.06680260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80576923100006 meters 0.017547093535042423 Centerline is valid? [True, True] Translation: X:175.56, Y:188.76, Z:0.09 [[ 4.56024956e-02 -9.98959662e-01 7.43839756e-05 1.75555604e+02] [-9.98958175e-01 -4.56022988e-02 1.73088999e-03 1.88755874e+02] [-1.72569720e-03 -1.53239384e-04 -9.99998499e-01 9.00178044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.83576923100003 meters 0.0160968017431835 Centerline is valid? [True, True] Translation: X:175.53, Y:188.73, Z:0.09 [[ 1.15138204e-01 -9.93349482e-01 1.84953118e-05 1.75532916e+02] [-9.93348886e-01 -1.15138114e-01 1.09771786e-03 1.88727806e+02] [-1.08828795e-03 -1.44761560e-04 -9.99999397e-01 8.92160327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86576923100006 meters 0.015424043070340556 Centerline is valid? [True, True] Translation: X:175.51, Y:188.68, Z:0.09 [[ 1.84762955e-01 -9.82783114e-01 -3.18168179e-05 1.75513134e+02] [-9.82782676e-01 -1.84762903e-01 9.38685628e-04 1.88676885e+02] [-9.28402952e-04 -1.42165313e-04 -9.99999559e-01 8.92008561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89576923100003 meters 0.01683555490646753 Centerline is valid? [True, True] Translation: X:175.49, Y:188.64, Z:0.09 [[ 2.55942268e-01 -9.66692030e-01 -2.73530522e-04 1.75486850e+02] [-9.66690685e-01 -2.55942371e-01 1.61913137e-03 1.88640580e+02] [-1.63520944e-03 -1.49984749e-04 -9.99998652e-01 9.14079430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92576923100006 meters 0.019272180693372443 Centerline is valid? [True, True] Translation: X:175.51, Y:188.63, Z:-0.62 [[ 1.69319901e-01 9.85561086e-01 3.40915183e-04 1.75508604e+02] [-9.85560049e-01 1.69320219e-01 -1.43284900e-03 1.88633049e+02] [-1.46988405e-03 -9.33825337e-05 9.99998915e-01 -6.17585177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95576923100003 meters 0.0204785518950473 Centerline is valid? [True, True] Translation: X:175.49, Y:188.59, Z:0.09 [[ 2.64425646e-01 -9.64405979e-01 -4.29663880e-04 1.75489474e+02] [-9.64403496e-01 -2.64425943e-01 2.19495604e-03 1.88592159e+02] [-2.23044300e-03 -1.66033320e-04 -9.99997499e-01 9.21305656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98576923100006 meters 0.02282339053298473 Centerline is valid? [True, True] Translation: X:175.46, Y:188.57, Z:0.09 [[ 3.34902540e-01 -9.42252708e-01 -3.50533337e-04 1.75461875e+02] [-9.42251589e-01 -3.34902686e-01 1.46118970e-03 1.88571335e+02] [-1.49420450e-03 -1.59065547e-04 -9.99998871e-01 9.02231264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01576923100004 meters 0.027738321726901525 Centerline is valid? [True, True] Translation: X:175.43, Y:188.54, Z:0.09 [[ 4.04037994e-01 -9.14742177e-01 2.20646953e-04 1.75431255e+02] [-9.14742168e-01 -4.04038034e-01 -1.82356845e-04 1.88539964e+02] [ 2.55959258e-04 -1.28155978e-04 -9.99999959e-01 8.66008794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04576923100007 meters 0.02778342215829611 Centerline is valid? [True, True] Translation: X:175.41, Y:188.51, Z:0.09 [[ 4.69141068e-01 -8.83123206e-01 2.46877796e-04 1.75411956e+02] [-8.83123194e-01 -4.69141115e-01 -1.94536305e-04 1.88508730e+02] [ 2.87620050e-04 -1.26758538e-04 -9.99999951e-01 8.69151142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07576923100004 meters 0.026012954615701002 Centerline is valid? [True, True] Translation: X:175.40, Y:188.47, Z:0.09 [[ 5.31157804e-01 -8.47272857e-01 3.06344635e-04 1.75403463e+02] [-8.47272828e-01 -5.31157878e-01 -2.54671393e-04 1.88466519e+02] [ 3.78493525e-04 -1.24286787e-04 -9.99999921e-01 8.80316206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10576923100007 meters 0.028101598974720317 Centerline is valid? [True, True] Translation: X:175.40, Y:188.41, Z:0.09 [[ 5.90090983e-01 -8.07336747e-01 -9.25881593e-05 1.75403353e+02] [-8.07336678e-01 -5.90090973e-01 3.63574828e-04 1.88405426e+02] [-3.48162756e-04 -1.39792410e-04 -9.99999930e-01 8.93782335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13576923100004 meters 0.026429937913708113 Centerline is valid? [True, True] Translation: X:175.40, Y:188.36, Z:0.09 [[ 6.45709597e-01 -7.63582455e-01 -9.75683476e-04 1.75399206e+02] [-7.63581163e-01 -6.45710312e-01 1.41460875e-03 1.88356896e+02] [-1.71017931e-03 -1.68412925e-04 -9.99998523e-01 9.18929338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16576923100007 meters 0.027368683337293215 Centerline is valid? [True, True] Translation: X:175.39, Y:188.32, Z:0.09 [[ 6.98263074e-01 -7.15840203e-01 -1.21783068e-03 1.75391035e+02] [-7.15838662e-01 -6.98264115e-01 1.49510916e-03 1.88316099e+02] [-1.92062671e-03 -1.72209234e-04 -9.99998141e-01 9.23611494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19576923100004 meters 0.02893883473640582 Centerline is valid? [True, True] Translation: X:175.40, Y:188.26, Z:0.09 [[ 7.47366738e-01 -6.64410654e-01 -1.20088958e-03 1.75395516e+02] [-6.64409418e-01 -7.47367684e-01 1.29274918e-03 1.88259811e+02] [-1.75642239e-03 -1.68275391e-04 -9.99998443e-01 9.20720729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2257692310001 meters 0.026045757660881998 Centerline is valid? [True, True] Translation: X:175.49, Y:188.32, Z:-0.62 [[ 7.19393064e-01 6.94602162e-01 1.20691474e-03 1.75485346e+02] [-6.94601260e-01 7.19394075e-01 -1.11956406e-03 1.88315762e+02] [-1.64589892e-03 -3.29178814e-05 9.99998645e-01 -6.19223180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25576923100004 meters 0.025361929488290767 Centerline is valid? [True, True] Translation: X:175.51, Y:188.30, Z:-0.62 [[ 7.20070789e-01 6.93900403e-01 5.37256235e-04 1.75507524e+02] [-6.93900225e-01 7.20070990e-01 -4.98276159e-04 1.88299193e+02] [-7.32616657e-04 -1.40081147e-05 9.99999732e-01 -6.20697079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2857692310001 meters 0.024178406103548503 Centerline is valid? [True, True] Translation: X:175.53, Y:188.28, Z:-0.62 [[ 7.20950290e-01 6.92986713e-01 -3.06897103e-04 1.75530110e+02] [-6.92986655e-01 7.20950356e-01 2.84035014e-04 1.88281772e+02] [ 4.18090066e-04 7.90047145e-06 9.99999913e-01 -6.22920746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31576923100005 meters 0.021598472785419882 Centerline is valid? [True, True] Translation: X:175.55, Y:188.26, Z:-0.62 [[ 7.22881070e-01 6.90971877e-01 -9.07720148e-04 1.75552755e+02] [-6.90971366e-01 7.22881640e-01 8.40631311e-04 1.88263487e+02] [ 1.23702682e-03 1.95321690e-05 9.99999235e-01 -6.24710687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3457692310001 meters 0.019856540679454172 Centerline is valid? [True, True] Translation: X:175.57, Y:188.24, Z:-0.62 [[ 7.24270312e-01 6.89515825e-01 -6.65371114e-04 1.75573404e+02] [-6.89515550e-01 7.24270618e-01 6.15877983e-04 1.88242966e+02] [ 9.06566363e-04 1.27215907e-05 9.99999589e-01 -6.24499347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37576923100005 meters 0.017774213737670398 Centerline is valid? [True, True] Translation: X:175.59, Y:188.22, Z:-0.62 [[ 7.25953629e-01 6.87743635e-01 -1.45412715e-04 1.75592869e+02] [-6.87743622e-01 7.25953644e-01 1.34223964e-04 1.88222045e+02] [ 1.97874567e-04 2.56629287e-06 9.99999980e-01 -6.23677902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4057692310001 meters 0.01607502585196957 Centerline is valid? [True, True] Translation: X:175.61, Y:188.20, Z:-0.62 [[ 7.27548468e-01 6.86056227e-01 2.83275913e-04 1.75611844e+02] [-6.86056177e-01 7.27548523e-01 -2.62412063e-04 1.88201723e+02] [-3.86126402e-04 -3.42569538e-06 9.99999925e-01 -6.23133568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43576923100005 meters 0.014156292304663802 Centerline is valid? [True, True] Translation: X:175.63, Y:188.18, Z:-0.62 [[ 7.29611537e-01 6.83861639e-01 5.14226744e-04 1.75632159e+02] [-6.83861473e-01 7.29611718e-01 -4.76338352e-04 1.88182082e+02] [-7.00935384e-04 -4.11790194e-06 9.99999754e-01 -6.22759712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4657692310001 meters 0.013905645317301176 Centerline is valid? [True, True] Translation: X:175.65, Y:188.16, Z:-0.62 [[ 7.29871251e-01 6.83584555e-01 3.36262340e-04 1.75653986e+02] [-6.83584484e-01 7.29871329e-01 -3.11576339e-04 1.88164665e+02] [-4.58417014e-04 -2.45310587e-06 9.99999895e-01 -6.22345520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49576923100005 meters 0.014121001392637016 Centerline is valid? [True, True] Translation: X:175.68, Y:188.15, Z:-0.62 [[ 7.29680666e-01 6.83787980e-01 3.51645424e-04 1.75675787e+02] [-6.83787902e-01 7.29680751e-01 -3.25482864e-04 1.88148961e+02] [-4.79150167e-04 -2.95233347e-06 9.99999885e-01 -6.22659792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5257692310001 meters 0.0142171262975819 Centerline is valid? [True, True] Translation: X:175.70, Y:188.13, Z:-0.62 [[ 7.29391802e-01 6.84096138e-01 2.71634115e-04 1.75697635e+02] [-6.84096091e-01 7.29391853e-01 -2.51429401e-04 1.88131952e+02] [-3.70129593e-04 -2.43329317e-06 9.99999932e-01 -6.22621640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55576923100006 meters 0.014827815908576476 Centerline is valid? [True, True] Translation: X:175.72, Y:188.12, Z:-0.62 [[ 7.29158974e-01 6.84343245e-01 1.23057575e-03 1.75720823e+02] [-6.84342298e-01 7.29160012e-01 -1.13811991e-03 1.88117707e+02] [-1.67615130e-03 -1.22646937e-05 9.99998595e-01 -6.20350464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.58576923100003 meters 0.014527176372346797 Centerline is valid? [True, True] Translation: X:175.74, Y:188.10, Z:-0.62 [[ 7.28993346e-01 6.84518178e-01 1.88797010e-03 1.75742242e+02] [-6.84515953e-01 7.28995791e-01 -1.74560042e-03 1.88099240e+02] [-2.57121748e-03 -1.98145596e-05 9.99996694e-01 -6.18622055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61576923100006 meters 0.014877066534620096 Centerline is valid? [True, True] Translation: X:175.76, Y:188.08, Z:-0.62 [[ 7.28715230e-01 6.84813212e-01 2.23135196e-03 1.75764775e+02] [-6.84810108e-01 7.28718645e-01 -2.06218556e-03 1.88082062e+02] [-3.03823969e-03 -2.53063569e-05 9.99995384e-01 -6.17818548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64576923100003 meters 0.01538936483573648 Centerline is valid? [True, True] Translation: X:175.79, Y:188.07, Z:-0.62 [[ 7.28361686e-01 6.85189736e-01 2.06882245e-03 1.75786831e+02] [-6.85187070e-01 7.28364624e-01 -1.91139777e-03 1.88065656e+02] [-2.81652722e-03 -2.53414884e-05 9.99996033e-01 -6.18209706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67576923100006 meters 0.01594818603371995 Centerline is valid? [True, True] Translation: X:175.81, Y:188.05, Z:-0.62 [[ 7.28043330e-01 6.85528732e-01 1.80757172e-03 1.75811024e+02] [-6.85526699e-01 7.28045574e-01 -1.66975650e-03 1.88051816e+02] [-2.46066065e-03 -2.34835885e-05 9.99996972e-01 -6.19551697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70576923100003 meters 0.016373381682536645 Centerline is valid? [True, True] Translation: X:175.83, Y:188.04, Z:-0.62 [[ 7.28113284e-01 6.85453120e-01 2.25088103e-03 1.75833167e+02] [-6.85449968e-01 7.28116762e-01 -2.07887878e-03 1.88036597e+02] [-3.06387816e-03 -2.92070764e-05 9.99995306e-01 -6.18229019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73576923100006 meters 0.015937443130112864 Centerline is valid? [True, True] Translation: X:175.86, Y:188.02, Z:-0.62 [[ 7.28297248e-01 6.85255000e-01 2.95014076e-03 1.75855930e+02] [-6.85249587e-01 7.28303222e-01 -2.72386409e-03 1.88019424e+02] [-4.01513851e-03 -3.78000152e-05 9.99991939e-01 -6.16141383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76576923100004 meters 0.015678221296057268 Centerline is valid? [True, True] Translation: X:175.88, Y:188.00, Z:-0.61 [[ 7.28724745e-01 6.84797401e-01 3.57299096e-03 1.75878551e+02] [-6.84789462e-01 7.28733503e-01 -3.29757563e-03 1.88002423e+02] [-4.86192944e-03 -4.37215954e-05 9.99988180e-01 -6.14070662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79576923100007 meters 0.014845989734384968 Centerline is valid? [True, True] Translation: X:175.90, Y:187.99, Z:-0.61 [[ 7.29630239e-01 6.83829950e-01 4.03900915e-03 1.75900819e+02] [-6.83819797e-01 7.29641417e-01 -3.72663332e-03 1.87985424e+02] [-5.49541184e-03 -4.28900528e-05 9.99984899e-01 -6.12547042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82576923100004 meters 0.014349774948089577 Centerline is valid? [True, True] Translation: X:175.92, Y:187.97, Z:-0.61 [[ 7.30344437e-01 6.83069740e-01 3.56832957e-03 1.75922011e+02] [-6.83061811e-01 7.30353154e-01 -3.29145635e-03 1.87966480e+02] [-4.85443499e-03 -3.34928211e-05 9.99988217e-01 -6.13818306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85576923100007 meters 0.013342044571521395 Centerline is valid? [True, True] Translation: X:175.94, Y:187.95, Z:-0.62 [[ 7.31142928e-01 6.82220622e-01 2.24552601e-03 1.75942620e+02] [-6.82217479e-01 7.31146376e-01 -2.07074547e-03 1.87946259e+02] [-3.05451347e-03 -1.79261859e-05 9.99995335e-01 -6.17906498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88576923100004 meters 0.013124969455669681 Centerline is valid? [True, True] Translation: X:175.96, Y:187.93, Z:-0.62 [[ 7.31818608e-01 6.81499138e-01 6.71258272e-04 1.75962464e+02] [-6.81498857e-01 7.31818916e-01 -6.18985229e-04 1.87928141e+02] [-9.13077400e-04 -4.47683651e-06 9.99999583e-01 -6.21646618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91576923100007 meters 0.012776266282534188 Centerline is valid? [True, True] Translation: X:175.98, Y:187.91, Z:-0.63 [[ 7.32759642e-01 6.80487181e-01 -7.09380275e-04 1.75982440e+02] [-6.80486867e-01 7.32759986e-01 6.53600350e-04 1.87910386e+02] [ 9.64572140e-04 3.79200232e-06 9.99999535e-01 -6.25292404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94576923100004 meters 0.012598690659032716 Centerline is valid? [True, True] Translation: X:176.00, Y:187.89, Z:-0.62 [[ 7.33265524e-01 6.79942313e-01 -3.50570129e-04 1.76003126e+02] [-6.79942236e-01 7.33265608e-01 3.22516497e-04 1.87891372e+02] [ 4.76353631e-04 1.87720978e-06 9.99999887e-01 -6.24606414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9757692310001 meters 0.012579057661292819 Centerline is valid? [True, True] Translation: X:176.02, Y:187.87, Z:-0.62 [[ 7.33443409e-01 6.79750517e-01 1.09261928e-05 1.76023222e+02] [-6.79750517e-01 7.33443409e-01 -1.03845561e-05 1.87873047e+02] [-1.50726516e-05 1.89398985e-07 1.00000000e+00 -6.23450811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00576923100004 meters 0.012207337798782863 Centerline is valid? [True, True] Translation: X:176.04, Y:187.85, Z:-0.62 [[ 7.34039616e-01 6.79106393e-01 5.90758945e-04 1.76042238e+02] [-6.79106175e-01 7.34039854e-01 -5.44401703e-04 1.87852754e+02] [-8.03347287e-04 -1.57563017e-06 9.99999677e-01 -6.21838398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0357692310001 meters 0.01185939116510614 Centerline is valid? [True, True] Translation: X:176.06, Y:187.83, Z:-0.62 [[ 7.35389816e-01 6.77642036e-01 1.75791399e-03 1.76059290e+02] [-6.77640103e-01 7.35391917e-01 -1.61842621e-03 1.87830031e+02] [-2.38946937e-03 -1.05886915e-06 9.99997145e-01 -6.19951578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06576923100005 meters 0.011897554455343323 Centerline is valid? [True, True] Translation: X:176.08, Y:187.81, Z:-0.62 [[ 7.36156491e-01 6.76807869e-01 2.17459726e-03 1.76077362e+02] [-6.76804910e-01 7.36159703e-01 -2.00133410e-03 1.87809138e+02] [-2.95536954e-03 1.51698337e-06 9.99995633e-01 -6.19141040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0957692310001 meters 0.011966401030665895 Centerline is valid? [True, True] Translation: X:176.10, Y:187.79, Z:-0.62 [[ 7.36966989e-01 6.75925210e-01 2.18344607e-03 1.76095893e+02] [-6.75922224e-01 7.36970224e-01 -2.00898494e-03 1.87787687e+02] [-2.96705830e-03 4.71586261e-06 9.99995598e-01 -6.19568446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12576923100005 meters 0.012492453159668054 Centerline is valid? [True, True] Translation: X:176.11, Y:187.76, Z:-0.62 [[ 7.38519563e-01 6.74229024e-01 2.01969397e-03 1.76111779e+02] [-6.74226464e-01 7.38522324e-01 -1.85768491e-03 1.87762756e+02] [-2.74409417e-03 1.02055248e-05 9.99996235e-01 -6.20021026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1557692310001 meters 0.01294579550930613 Centerline is valid? [True, True] Translation: X:176.13, Y:187.74, Z:-0.62 [[ 7.39447549e-01 6.73212952e-01 1.28181130e-03 1.76129284e+02] [-6.73211920e-01 7.39448660e-01 -1.17875848e-03 1.87740837e+02] [-1.74138913e-03 8.69942026e-06 9.99998484e-01 -6.21833979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18576923100005 meters 0.013793475539776575 Centerline is valid? [True, True] Translation: X:176.15, Y:187.72, Z:-0.62 [[ 7.40304877e-01 6.72271095e-01 5.13590530e-04 1.76146056e+02] [-6.72270929e-01 7.40305056e-01 -4.72202874e-04 1.87718603e+02] [-6.97662009e-04 4.30210873e-06 9.99999757e-01 -6.24006905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2157692310001 meters 0.014484913316642927 Centerline is valid? [True, True] Translation: X:176.16, Y:187.70, Z:-0.62 [[ 7.41258194e-01 6.71219933e-01 3.02123114e-04 1.76163916e+02] [-6.71219875e-01 7.41258256e-01 -2.78002040e-04 1.87695748e+02] [-4.10551763e-04 3.28025154e-06 9.99999916e-01 -6.24438688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24576923100005 meters 0.014484913316642927 Centerline is valid? [True, True] Translation: X:176.18, Y:187.68, Z:-0.62 [[ 7.41380830e-01 6.71084475e-01 3.02145479e-04 1.76184281e+02] [-6.71084418e-01 7.41380892e-01 -2.77977734e-04 1.87677305e+02] [-4.10551427e-04 3.32224072e-06 9.99999916e-01 -6.24489240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2757692310001 meters 0.015436051451770476 Centerline is valid? [True, True] Translation: X:176.20, Y:187.65, Z:-0.62 [[ 7.42199362e-01 6.70176775e-01 1.78829188e-03 1.76200211e+02] [-6.70174763e-01 7.42201516e-01 -1.64250517e-03 1.87653427e+02] [-2.42804176e-03 2.05982075e-05 9.99997052e-01 -6.20129154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30576923100006 meters 0.015529429170726703 Centerline is valid? [True, True] Translation: X:176.22, Y:187.63, Z:-0.62 [[ 7.42535123e-01 6.69802620e-01 2.45778839e-03 1.76219895e+02] [-6.69798819e-01 7.42539190e-01 -2.25685899e-03 1.87633046e+02] [-3.33665427e-03 2.95733043e-05 9.99994433e-01 -6.18046680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.33576923100003 meters 0.016155381078841426 Centerline is valid? [True, True] Translation: X:176.24, Y:187.61, Z:-0.62 [[ 7.42999382e-01 6.69287819e-01 2.39446721e-03 1.76238074e+02] [-6.69284210e-01 7.43003240e-01 -2.19811086e-03 1.87611982e+02] [-3.25026571e-03 3.06159124e-05 9.99994717e-01 -6.18549858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36576923100006 meters 0.01734307475674883 Centerline is valid? [True, True] Translation: X:176.26, Y:187.59, Z:-0.62 [[ 7.44007293e-01 6.68169215e-01 1.74623671e-03 1.76255955e+02] [-6.68167293e-01 7.44009341e-01 -1.60277021e-03 1.87588463e+02] [-2.37013814e-03 2.56944719e-05 9.99997191e-01 -6.20735878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39576923100003 meters 0.021115942231312954 Centerline is valid? [True, True] Translation: X:176.27, Y:187.56, Z:-0.62 [[ 7.46726592e-01 6.65130836e-01 6.06816180e-04 1.76267923e+02] [-6.65130603e-01 7.46726838e-01 -5.57041387e-04 1.87558836e+02] [-8.23631331e-04 1.23456047e-05 9.99999661e-01 -6.24940129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42576923100006 meters 0.023295231260851236 Centerline is valid? [True, True] Translation: X:176.28, Y:187.54, Z:-0.62 [[ 7.47867806e-01 6.63847580e-01 3.67687550e-04 1.76283751e+02] [-6.63847495e-01 7.47867896e-01 -3.37411947e-04 1.87535586e+02] [-4.98971819e-04 8.25107350e-06 9.99999875e-01 -6.24803964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45576923100003 meters 0.0247038315495881 Centerline is valid? [True, True] Translation: X:176.30, Y:187.51, Z:-0.63 [[ 7.49517891e-01 6.61984026e-01 -2.82777426e-04 1.76298914e+02] [-6.61983975e-01 7.49517945e-01 2.59192653e-04 1.87510127e+02] [ 3.83528151e-04 -7.07540658e-06 9.99999926e-01 -6.25788131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48576923100006 meters 0.023853235833299864 Centerline is valid? [True, True] Translation: X:176.32, Y:187.49, Z:-0.63 [[ 7.50441392e-01 6.60936347e-01 -9.28049617e-04 1.76318217e+02] [-6.60935800e-01 7.50441966e-01 8.50734356e-04 1.87489339e+02] [ 1.25872864e-03 -2.50450581e-05 9.99999207e-01 -6.26820834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51576923100004 meters 0.025546674851979912 Centerline is valid? [True, True] Translation: X:176.33, Y:187.47, Z:-0.63 [[ 7.51447828e-01 6.59790652e-01 -1.56776432e-03 1.76334325e+02] [-6.59789088e-01 7.51449462e-01 1.43714761e-03 1.87466325e+02] [ 2.12631222e-03 -4.55476547e-05 9.99997738e-01 -6.28268938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54576923100007 meters 0.027590370767665753 Centerline is valid? [True, True] Translation: X:176.35, Y:187.44, Z:-0.63 [[ 7.52251675e-01 6.58874029e-01 -1.55916768e-03 1.76350764e+02] [-6.58872481e-01 7.52253290e-01 1.42912732e-03 1.87443300e+02] [ 2.11450390e-03 -4.77707430e-05 9.99997763e-01 -6.28603812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57576923100004 meters 0.03238993846937245 Centerline is valid? [True, True] Translation: X:176.36, Y:187.42, Z:-0.63 [[ 7.52707903e-01 6.58353643e-01 -1.13703939e-03 1.76364554e+02] [-6.58352820e-01 7.52708761e-01 1.04204702e-03 1.87417012e+02] [ 1.54189496e-03 -3.57839374e-05 9.99998811e-01 -6.28908470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60576923100007 meters 0.0335761485424351 Centerline is valid? [True, True] Translation: X:176.38, Y:187.39, Z:-0.62 [[ 7.53431666e-01 6.57526088e-01 4.11519537e-04 1.76379831e+02] [-6.57525979e-01 7.53431778e-01 -3.77454077e-04 1.87390530e+02] [-5.58237799e-04 1.38010672e-05 9.99999844e-01 -6.24602501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63576923100004 meters 0.03244872524044806 Centerline is valid? [True, True] Translation: X:176.40, Y:187.37, Z:-0.62 [[ 7.54032900e-01 6.56835857e-01 1.02122675e-03 1.76399013e+02] [-6.56835191e-01 7.54033591e-01 -9.35853750e-04 1.87369303e+02] [-1.38474157e-03 3.48868515e-05 9.99999041e-01 -6.22577429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66576923100007 meters 0.031334422770687494 Centerline is valid? [True, True] Translation: X:176.42, Y:187.35, Z:-0.62 [[ 7.54796369e-01 6.55956766e-01 1.77807596e-03 1.76418004e+02] [-6.55954747e-01 7.54798461e-01 -1.62870675e-03 1.87348071e+02] [-2.41045021e-03 6.30045710e-05 9.99997093e-01 -6.21613682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69576923100004 meters 0.03401773799935312 Centerline is valid? [True, True] Translation: X:176.43, Y:187.32, Z:-0.62 [[ 7.55758081e-01 6.54846269e-01 2.46726922e-03 1.76429832e+02] [-6.54842377e-01 7.55762102e-01 -2.25968401e-03 1.87319452e+02] [-3.34441422e-03 9.21020088e-05 9.99994403e-01 -6.19831047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7257692310001 meters 0.03416513842992281 Centerline is valid? [True, True] Translation: X:176.45, Y:187.30, Z:-0.62 [[ 7.55638529e-01 6.54983342e-01 2.68995686e-03 1.76447004e+02] [-6.54978717e-01 7.55643310e-01 -2.46334048e-03 1.87297170e+02] [-3.64609488e-03 9.95304876e-05 9.99993348e-01 -6.19414192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75576923100004 meters 0.0331872351533238 Centerline is valid? [True, True] Translation: X:176.47, Y:187.28, Z:-0.62 [[ 7.55040143e-01 6.55674501e-01 2.30874497e-03 1.76466662e+02] [-6.55671099e-01 7.55043669e-01 -2.11386858e-03 1.87275149e+02] [-3.12921300e-03 8.22782854e-05 9.99995101e-01 -6.19971937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7857692310001 meters 0.028505561059311946 Centerline is valid? [True, True] Translation: X:176.49, Y:187.25, Z:-0.62 [[ 7.52725056e-01 6.58334686e-01 6.56458713e-04 1.76487922e+02] [-6.58334412e-01 7.52725342e-01 -6.01043219e-04 1.87254584e+02] [-8.89820708e-04 2.02509294e-05 9.99999604e-01 -6.23590179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81576923100005 meters 0.027422153270658303 Centerline is valid? [True, True] Translation: X:176.51, Y:187.23, Z:-0.62 [[ 7.51158988e-01 6.60121296e-01 2.22066627e-04 1.76507543e+02] [-6.60121265e-01 7.51159020e-01 -2.03420501e-04 1.87234401e+02] [-3.01089555e-04 6.21023461e-06 9.99999955e-01 -6.24888490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8457692310001 meters 0.02412106752961626 Centerline is valid? [True, True] Translation: X:176.53, Y:187.22, Z:-0.62 [[ 7.49607922e-01 6.61882104e-01 2.06964445e-04 1.76530474e+02] [-6.61882077e-01 7.49607951e-01 -1.89715599e-04 1.87216287e+02] [-2.80711553e-04 5.22625894e-06 9.99999961e-01 -6.24929727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87576923100005 meters 0.0204219251267544 Centerline is valid? [True, True] Translation: X:176.55, Y:187.20, Z:-0.62 [[ 7.47923546e-01 6.63784617e-01 5.94014664e-04 1.76553940e+02] [-6.63784394e-01 7.47923781e-01 -5.43682286e-04 1.87199707e+02] [-8.05165631e-04 1.23351189e-05 9.99999676e-01 -6.24085624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9057692310001 meters 0.01912296709971262 Centerline is valid? [True, True] Translation: X:176.58, Y:187.18, Z:-0.62 [[ 7.46376983e-01 6.65522323e-01 1.19913715e-03 1.76575308e+02] [-6.65521419e-01 7.46377946e-01 -1.09674996e-03 1.87181060e+02] [-1.62492111e-03 2.05374705e-05 9.99998680e-01 -6.22902905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93576923100005 meters 0.014994984319399468 Centerline is valid? [True, True] Translation: X:176.60, Y:187.17, Z:-0.62 [[ 7.44079380e-01 6.68087409e-01 2.25607634e-03 1.76600789e+02] [-6.68084226e-01 7.44082800e-01 -2.06242200e-03 1.87165462e+02] [-3.05658577e-03 2.73566631e-05 9.99995328e-01 -6.20459586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9657692310001 meters 0.015051167057582839 Centerline is valid? [True, True] Translation: X:176.62, Y:187.15, Z:-0.62 [[ 7.43490839e-01 6.68742218e-01 2.28426048e-03 1.76621043e+02] [-6.68738959e-01 7.43494348e-01 -2.08769540e-03 1.87145817e+02] [-3.09446481e-03 2.46084308e-05 9.99995212e-01 -6.19974784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99576923100005 meters 0.014680598272038865 Centerline is valid? [True, True] Translation: X:176.64, Y:187.13, Z:-0.62 [[ 7.43605012e-01 6.68617119e-01 1.65391989e-03 1.76641537e+02] [-6.68615411e-01 7.43606851e-01 -1.51138884e-03 1.87126408e+02] [-2.24040661e-03 1.80399874e-05 9.99997490e-01 -6.21668217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0257692310001 meters 0.017953374342167604 Centerline is valid? [True, True] Translation: X:176.66, Y:187.10, Z:-0.62 [[ 7.45151477e-01 6.66895008e-01 5.69401291e-04 1.76655585e+02] [-6.66894805e-01 7.45151695e-01 -5.20296897e-04 1.87100850e+02] [-7.71273740e-04 7.96923798e-06 9.99999703e-01 -6.24802005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05576923100006 meters 0.01763534796583664 Centerline is valid? [True, True] Translation: X:176.68, Y:187.08, Z:-0.62 [[ 7.45972413e-01 6.65976356e-01 8.07771965e-04 1.76676938e+02] [-6.65975947e-01 7.45972850e-01 -7.37967802e-04 1.87081045e+02] [-1.09404506e-03 1.25469226e-05 9.99999401e-01 -6.24359380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.08576923100003 meters 0.018713622381035015 Centerline is valid? [True, True] Translation: X:176.70, Y:187.06, Z:-0.62 [[ 7.46534404e-01 6.65345678e-01 1.22966905e-03 1.76695976e+02] [-6.65344731e-01 7.46535417e-01 -1.12281176e-03 1.87060548e+02] [-1.66504944e-03 2.00637829e-05 9.99998614e-01 -6.23550735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11576923100006 meters 0.019447962561301848 Centerline is valid? [True, True] Translation: X:176.71, Y:187.04, Z:-0.62 [[ 7.46843785e-01 6.64997666e-01 1.57005933e-03 1.76714746e+02] [-6.64996122e-01 7.46845435e-01 -1.43341928e-03 1.87040311e+02] [-2.12581212e-03 2.64569125e-05 9.99997740e-01 -6.23191271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14576923100003 meters 0.01833903672865843 Centerline is valid? [True, True] Translation: X:176.74, Y:187.02, Z:-0.62 [[ 7.46580892e-01 6.65293149e-01 1.41322547e-03 1.76735932e+02] [-6.65291898e-01 7.46582230e-01 -1.29009011e-03 1.87021708e+02] [-1.91337713e-03 2.29491760e-05 9.99998169e-01 -6.22917670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17576923100006 meters 0.014474525314737571 Centerline is valid? [True, True] Translation: X:176.76, Y:187.01, Z:-0.62 [[ 7.43302755e-01 6.68955091e-01 3.18474775e-04 1.76761022e+02] [-6.68955028e-01 7.43302823e-01 -2.90731187e-04 1.87008120e+02] [-4.31209307e-04 3.05599038e-06 9.99999907e-01 -6.24539338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20576923100003 meters 0.012311681479301482 Centerline is valid? [True, True] Translation: X:176.79, Y:187.00, Z:-0.63 [[ 7.41113702e-01 6.71379510e-01 -1.85602491e-04 1.76787656e+02] [-6.71379489e-01 7.41113725e-01 1.68894391e-04 1.86995121e+02] [ 2.50944787e-04 -5.60242134e-07 9.99999969e-01 -6.25868976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23576923100006 meters 0.011660411779217205 Centerline is valid? [True, True] Translation: X:176.81, Y:186.98, Z:-0.63 [[ 7.38514896e-01 6.74237036e-01 -4.09295545e-04 1.76813431e+02] [-6.74236932e-01 7.38515010e-01 3.73088221e-04 1.86983478e+02] [ 5.53820799e-04 4.30963808e-07 9.99999847e-01 -6.26930714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26576923100004 meters 0.012900340913242181 Centerline is valid? [True, True] Translation: X:176.84, Y:186.97, Z:-0.63 [[ 7.36118989e-01 6.76852030e-01 -4.04106456e-04 1.76840448e+02] [-6.76851930e-01 7.36119100e-01 3.68047821e-04 1.86970187e+02] [ 5.46584396e-04 2.59324459e-06 9.99999851e-01 -6.27713216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29576923100007 meters 0.017024373957539078 Centerline is valid? [True, True] Translation: X:176.87, Y:186.96, Z:-0.63 [[ 7.32564746e-01 6.80697345e-01 -1.32631073e-04 1.76869911e+02] [-6.80697335e-01 7.32564758e-01 1.20502049e-04 1.86960087e+02] [ 1.79186274e-04 2.00606485e-06 9.99999984e-01 -6.27440396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32576923100004 meters 0.01915792446424406 Centerline is valid? [True, True] Translation: X:176.89, Y:186.95, Z:-0.63 [[ 7.31158581e-01 6.82207447e-01 3.58708790e-04 1.76894362e+02] [-6.82207369e-01 7.31158669e-01 -3.27042228e-04 1.86945041e+02] [-4.85383685e-04 -5.59404821e-06 9.99999882e-01 -6.25779925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35576923100007 meters 0.020496948284693513 Centerline is valid? [True, True] Translation: X:176.92, Y:186.93, Z:-0.62 [[ 7.30372408e-01 6.83048278e-01 1.09379805e-03 1.76918869e+02] [-6.83047550e-01 7.30373227e-01 -9.96897973e-04 1.86929007e+02] [-1.47981025e-03 -1.90093047e-05 9.99998905e-01 -6.23751147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38576923100004 meters 0.021648347818675175 Centerline is valid? [True, True] Translation: X:176.94, Y:186.92, Z:-0.62 [[ 7.29870519e-01 6.83581768e-01 2.23434535e-03 1.76943642e+02] [-6.83578738e-01 7.29873938e-01 -2.03550673e-03 1.86915233e+02] [-3.02222573e-03 -4.16946183e-05 9.99995432e-01 -6.21305601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41576923100007 meters 0.020866496428538685 Centerline is valid? [True, True] Translation: X:176.96, Y:186.90, Z:-0.62 [[ 7.30450760e-01 6.82962136e-01 2.09980179e-03 1.76964504e+02] [-6.82959458e-01 7.30453777e-01 -1.91268606e-03 1.86897196e+02] [-2.84010031e-03 -3.69565145e-05 9.99995966e-01 -6.21944358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44576923100004 meters 0.016507088514727833 Centerline is valid? [True, True] Translation: X:176.98, Y:186.87, Z:-0.62 [[ 7.31746322e-01 6.81574681e-01 1.80939970e-03 1.76982483e+02] [-6.81572690e-01 7.31748559e-01 -1.64790564e-03 1.86874484e+02] [-2.44719638e-03 -2.73885308e-05 9.99997005e-01 -6.23698053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4757692310001 meters 0.01521754336843733 Centerline is valid? [True, True] Translation: X:177.00, Y:186.85, Z:-0.63 [[ 7.33073161e-01 6.80149301e-01 8.17253210e-04 1.77003621e+02] [-6.80148894e-01 7.33073617e-01 -7.44287975e-04 1.86854982e+02] [-1.10533371e-03 -1.02363286e-05 9.99999389e-01 -6.26097296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50576923100004 meters 0.013322971636144708 Centerline is valid? [True, True] Translation: X:177.02, Y:186.84, Z:-0.63 [[ 7.36048857e-01 6.76927444e-01 -1.14715115e-03 1.77023026e+02] [-6.76926639e-01 7.36049751e-01 1.04385628e-03 1.86835353e+02] [ 1.55097528e-03 8.20794963e-06 9.99998797e-01 -6.32133172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5357692310001 meters 0.012120288553158956 Centerline is valid? [True, True] Translation: X:177.04, Y:186.81, Z:-0.63 [[ 7.37545386e-01 6.75296791e-01 -1.02383773e-03 1.77041801e+02] [-6.75296149e-01 7.37546096e-01 9.31062809e-04 1.86813866e+02] [ 1.38387125e-03 4.69259552e-06 9.99999042e-01 -6.31499959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56576923100005 meters 0.011474249117666339 Centerline is valid? [True, True] Translation: X:177.06, Y:186.79, Z:-0.63 [[ 7.39163986e-01 6.73525491e-01 1.20052334e-04 1.77060989e+02] [-6.73525483e-01 7.39163996e-01 -1.09609259e-04 1.86792212e+02] [-1.62562993e-04 1.60910627e-07 9.99999987e-01 -6.27909448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5957692310001 meters 0.011940075578288469 Centerline is valid? [True, True] Translation: X:177.08, Y:186.77, Z:-0.62 [[ 7.42209604e-01 6.70164498e-01 2.10908972e-03 1.77077432e+02] [-6.70161754e-01 7.42212601e-01 -1.91807816e-03 1.86769185e+02] [-2.85082086e-03 1.01847690e-05 9.99995936e-01 -6.22896972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62576923100005 meters 0.012735058549301107 Centerline is valid? [True, True] Translation: X:177.10, Y:186.75, Z:-0.62 [[ 7.43473040e-01 6.68763626e-01 1.74658885e-03 1.77097434e+02] [-6.68761741e-01 7.43475092e-01 -1.58816670e-03 1.86748260e+02] [-2.36065342e-03 1.27073274e-05 9.99997214e-01 -6.24179324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6557692310001 meters 0.013477175147502516 Centerline is valid? [True, True] Translation: X:177.12, Y:186.73, Z:-0.63 [[ 7.44370775e-01 6.67766351e-01 5.00221111e-04 1.77117325e+02] [-6.67766196e-01 7.44370943e-01 -4.54990825e-04 1.86727877e+02] [-6.76177623e-04 4.65112432e-06 9.99999771e-01 -6.27210527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68576923100005 meters 0.014435662450183975 Centerline is valid? [True, True] Translation: X:177.14, Y:186.71, Z:-0.63 [[ 7.45195711e-01 6.66845383e-01 -7.66881740e-04 1.77136062e+02] [-6.66845019e-01 7.45196106e-01 6.96684393e-04 1.86707394e+02] [ 1.03605806e-03 -7.77495323e-06 9.99999463e-01 -6.30131441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7157692310001 meters 0.014725157341451477 Centerline is valid? [True, True] Translation: X:177.16, Y:186.69, Z:-0.63 [[ 7.45630429e-01 6.66359610e-01 -3.65916428e-04 1.77157280e+02] [-6.66359527e-01 7.45630519e-01 3.31902753e-04 1.86688855e+02] [ 4.94005045e-04 -3.64489389e-06 9.99999878e-01 -6.28525819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74576923100005 meters 0.014733463776549464 Centerline is valid? [True, True] Translation: X:177.18, Y:186.67, Z:-0.63 [[ 7.45822972e-01 6.66144002e-01 5.12653522e-04 1.77178559e+02] [-6.66143840e-01 7.45823148e-01 -4.65938104e-04 1.86671078e+02] [-6.92730738e-04 6.00635593e-06 9.99999760e-01 -6.26161209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7757692310001 meters 0.014518155705804217 Centerline is valid? [True, True] Translation: X:177.20, Y:186.65, Z:-0.62 [[ 7.46068072e-01 6.65867988e-01 1.50165668e-03 1.77200044e+02] [-6.65866592e-01 7.46069583e-01 -1.36341562e-03 1.86653625e+02] [-2.02819519e-03 1.72978421e-05 9.99997943e-01 -6.23711785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80576923100006 meters 0.01567813140793242 Centerline is valid? [True, True] Translation: X:177.22, Y:186.63, Z:-0.62 [[ 7.46743751e-01 6.65109944e-01 1.59133911e-03 1.77218576e+02] [-6.65108376e-01 7.46745446e-01 -1.44431796e-03 1.86633192e+02] [-2.14895547e-03 2.01224404e-05 9.99997691e-01 -6.23152782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.83576923100003 meters 0.016717363011775375 Centerline is valid? [True, True] Translation: X:177.24, Y:186.61, Z:-0.63 [[ 7.47830911e-01 6.63888777e-01 7.87262423e-04 1.77238622e+02] [-6.63888392e-01 7.47831326e-01 -7.14627097e-04 1.86612657e+02] [-1.06317241e-03 1.17658489e-05 9.99999435e-01 -6.25432580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86576923100006 meters 0.01898867364728065 Centerline is valid? [True, True] Translation: X:177.26, Y:186.59, Z:-0.63 [[ 7.49056460e-01 6.62506164e-01 -5.00082399e-05 1.77257229e+02] [-6.62506162e-01 7.49056462e-01 4.51458586e-05 1.86591339e+02] [ 6.73684048e-05 -6.86029928e-07 9.99999998e-01 -6.28134966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89576923100003 meters 0.020383360941869228 Centerline is valid? [True, True] Translation: X:177.28, Y:186.57, Z:-0.63 [[ 7.50281405e-01 6.61118432e-01 -4.80637412e-04 1.77277229e+02] [-6.61118289e-01 7.50281559e-01 4.35776389e-04 1.86571190e+02] [ 6.48713190e-04 -9.19673775e-06 9.99999790e-01 -6.29614665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92576923100006 meters 0.023632893414941996 Centerline is valid? [True, True] Translation: X:177.29, Y:186.55, Z:-0.63 [[ 7.51988237e-01 6.59176038e-01 8.01428724e-04 1.77293391e+02] [-6.59175637e-01 7.51988664e-01 -7.26933808e-04 1.86548201e+02] [-1.08184266e-03 1.83633828e-05 9.99999415e-01 -6.27144368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95576923100003 meters 0.023158323778831452 Centerline is valid? [True, True] Translation: X:177.31, Y:186.53, Z:-0.63 [[ 7.52941716e-01 6.58086253e-01 1.12094147e-03 1.77314419e+02] [-6.58085468e-01 7.52942549e-01 -1.01658207e-03 1.86528741e+02] [-1.51300321e-03 2.77517602e-05 9.99998855e-01 -6.26056454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98576923100006 meters 0.024364281735801307 Centerline is valid? [True, True] Translation: X:177.33, Y:186.51, Z:-0.63 [[ 7.53637501e-01 6.57289849e-01 7.55799755e-04 1.77333161e+02] [-6.57289492e-01 7.53637880e-01 -6.85256299e-04 1.86508097e+02] [-1.02001133e-03 1.96556076e-05 9.99999480e-01 -6.26583912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01576923100004 meters 0.026240635781171705 Centerline is valid? [True, True] Translation: X:177.35, Y:186.49, Z:-0.63 [[ 7.53897246e-01 6.56992323e-01 -1.70792003e-04 1.77351959e+02] [-6.56992305e-01 7.53897266e-01 1.54640043e-04 1.86487152e+02] [ 2.30356945e-04 -4.37367098e-06 9.99999973e-01 -6.28613558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04576923100007 meters 0.02568451666712953 Centerline is valid? [True, True] Translation: X:177.37, Y:186.47, Z:-0.63 [[ 7.53461691e-01 6.57488177e-01 -2.18580409e-03 1.77372764e+02] [-6.57485198e-01 7.53464859e-01 1.97977575e-03 1.86469080e+02] [ 2.94860572e-03 -5.45513487e-05 9.99995651e-01 -6.34526113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07576923100004 meters 0.025073610589139324 Centerline is valid? [True, True] Translation: X:177.39, Y:186.45, Z:-0.63 [[ 7.52956686e-01 6.58066555e-01 -2.15352974e-03 1.77393797e+02] [-6.58063666e-01 7.52959764e-01 1.95062469e-03 1.86451341e+02] [ 2.90516212e-03 -5.15762318e-05 9.99995779e-01 -6.34274621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10576923100007 meters 0.022894705833667643 Centerline is valid? [True, True] Translation: X:177.42, Y:186.43, Z:-0.63 [[ 7.52711295e-01 6.58349461e-01 -1.30121694e-03 1.77417410e+02] [-6.58348408e-01 7.52712420e-01 1.17791063e-03 1.86434374e+02] [ 1.75491898e-03 -2.99725369e-05 9.99998460e-01 -6.31778667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13576923100004 meters 0.022540277839587657 Centerline is valid? [True, True] Translation: X:177.44, Y:186.42, Z:-0.63 [[ 7.52403699e-01 6.58702213e-01 -2.63349082e-04 1.77438727e+02] [-6.58702170e-01 7.52403745e-01 2.38303837e-04 1.86415954e+02] [ 3.55116100e-04 -5.83207636e-06 9.99999937e-01 -6.29022419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16576923100007 meters 0.022540277839587657 Centerline is valid? [True, True] Translation: X:177.46, Y:186.40, Z:-0.63 [[ 7.52525428e-01 6.58563142e-01 -2.63549810e-04 1.77459244e+02] [-6.58563099e-01 7.52525474e-01 2.38082090e-04 1.86397648e+02] [ 3.55120035e-04 -5.59864692e-06 9.99999937e-01 -6.29072989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19576923100004 meters 0.023661786811713426 Centerline is valid? [True, True] Translation: X:177.48, Y:186.38, Z:-0.63 [[ 7.52745684e-01 6.58311423e-01 7.92901796e-05 1.77478320e+02] [-6.58311419e-01 7.52745688e-01 -7.19001408e-05 1.86376932e+02] [-1.07018025e-04 1.92489007e-06 9.99999994e-01 -6.28851406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2257692310001 meters 0.023263274630053746 Centerline is valid? [True, True] Translation: X:177.50, Y:186.36, Z:-0.63 [[ 7.53451270e-01 6.57503444e-01 -6.37200140e-04 1.77499573e+02] [-6.57503191e-01 7.53451539e-01 5.76071972e-04 1.86357225e+02] [ 8.58868731e-04 -1.50810328e-05 9.99999631e-01 -6.30770602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25576923100004 meters 0.026531596509078378 Centerline is valid? [True, True] Translation: X:177.52, Y:186.33, Z:-0.64 [[ 7.54733296e-01 6.56028287e-01 -2.13021290e-03 1.77515603e+02] [-6.56025460e-01 7.54736300e-01 1.92684344e-03 1.86333901e+02] [ 2.87181280e-03 -5.67790059e-05 9.99995875e-01 -6.36099705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2857692310001 meters 0.027554653905918602 Centerline is valid? [True, True] Translation: X:177.53, Y:186.31, Z:-0.64 [[ 7.55090491e-01 6.55616068e-01 -2.43328800e-03 1.77534380e+02] [-6.55612378e-01 7.55094409e-01 2.20076042e-03 1.86313086e+02] [ 3.28021606e-03 -6.64795324e-05 9.99994618e-01 -6.36670317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31576923100005 meters 0.025898967119133448 Centerline is valid? [True, True] Translation: X:177.56, Y:186.29, Z:-0.64 [[ 7.55371794e-01 6.55292724e-01 -2.21301325e-03 1.77556240e+02] [-6.55289674e-01 7.55375034e-01 2.00044021e-03 1.86294841e+02] [ 2.98252887e-03 -6.09113851e-05 9.99995550e-01 -6.35220793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3457692310001 meters 0.024894819621684654 Centerline is valid? [True, True] Translation: X:177.58, Y:186.28, Z:-0.63 [[ 7.54956966e-01 6.55770861e-01 -2.13479124e-03 1.77577568e+02] [-6.55768026e-01 7.54959982e-01 1.92913677e-03 1.86275985e+02] [ 2.87675364e-03 -5.64874083e-05 9.99995861e-01 -6.33490110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37576923100005 meters 0.02385352183396935 Centerline is valid? [True, True] Translation: X:177.60, Y:186.26, Z:-0.63 [[ 7.54037683e-01 6.56827606e-01 -2.16090469e-03 1.77598604e+02] [-6.56824707e-01 7.54040777e-01 1.95209952e-03 1.86257746e+02] [ 2.91160310e-03 -5.26210134e-05 9.99995760e-01 -6.32928250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4057692310001 meters 0.01987301651407844 Centerline is valid? [True, True] Translation: X:177.62, Y:186.24, Z:-0.63 [[ 7.51524424e-01 6.59702898e-01 -1.76828425e-03 1.77622325e+02] [-6.59700966e-01 7.51526504e-01 1.59687844e-03 1.86240378e+02] [ 2.38237781e-03 -3.35543240e-05 9.99997162e-01 -6.32644275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43576923100005 meters 0.019666777797589723 Centerline is valid? [True, True] Translation: X:177.64, Y:186.22, Z:-0.63 [[ 7.50717891e-01 6.60621702e-01 -1.27118806e-03 1.77641962e+02] [-6.60620705e-01 7.50718966e-01 1.14796029e-03 1.86221029e+02] [ 1.71267246e-03 -2.20211727e-05 9.99998533e-01 -6.32709231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4657692310001 meters 0.018899119495621022 Centerline is valid? [True, True] Translation: X:177.66, Y:186.20, Z:-0.63 [[ 7.50263084e-01 6.61139200e-01 -5.12812142e-04 1.77661664e+02] [-6.61139038e-01 7.50263259e-01 4.62967059e-04 1.86201982e+02] [ 6.90829780e-04 -8.30696744e-06 9.99999761e-01 -6.31333080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49576923100005 meters 0.017756757469725475 Centerline is valid? [True, True] Translation: X:177.68, Y:186.18, Z:-0.63 [[ 7.50316902e-01 6.61078214e-01 3.77778818e-04 1.77681133e+02] [-6.61078125e-01 7.50316997e-01 -3.41499119e-04 1.86181764e+02] [-5.09211496e-04 6.49124811e-06 9.99999870e-01 -6.28643342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5257692310001 meters 0.019733181177974058 Centerline is valid? [True, True] Translation: X:177.70, Y:186.16, Z:-0.63 [[ 7.50429544e-01 6.60950119e-01 6.62990787e-04 1.77697225e+02] [-6.60949848e-01 7.50429837e-01 -5.98606556e-04 1.86159362e+02] [-8.93177143e-04 1.10083847e-05 9.99999601e-01 -6.28036697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55576923100006 meters 0.01864905130357266 Centerline is valid? [True, True] Translation: X:177.72, Y:186.14, Z:-0.63 [[ 7.50575666e-01 6.60783985e-01 8.33192715e-04 1.77716847e+02] [-6.60783557e-01 7.50576129e-01 -7.52200415e-04 1.86139187e+02] [-1.12241655e-03 1.40232819e-05 9.99999370e-01 -6.27703063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.58576923100003 meters 0.018705830253483612 Centerline is valid? [True, True] Translation: X:177.73, Y:186.12, Z:-0.63 [[ 7.50445093e-01 6.60932352e-01 7.67097124e-04 1.77734732e+02] [-6.60931990e-01 7.50445485e-01 -6.92201829e-04 1.86118293e+02] [-1.03316316e-03 1.24604374e-05 9.99999466e-01 -6.27351948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61576923100006 meters 0.016496316989669364 Centerline is valid? [True, True] Translation: X:177.76, Y:186.10, Z:-0.63 [[ 7.49547992e-01 6.61949194e-01 1.03549779e-03 1.77756139e+02] [-6.61948535e-01 7.49548707e-01 -9.34230723e-04 1.86098686e+02] [-1.39456930e-03 1.48045169e-05 9.99999027e-01 -6.26512588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64576923100003 meters 0.015744663831208573 Centerline is valid? [True, True] Translation: X:177.78, Y:186.08, Z:-0.63 [[ 7.49127447e-01 6.62424902e-01 1.14789094e-03 1.77777475e+02] [-6.62424093e-01 7.49128327e-01 -1.03524845e-03 1.86079559e+02] [-1.54569198e-03 1.51424146e-05 9.99998805e-01 -6.26816498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67576923100006 meters 0.014923110593490057 Centerline is valid? [True, True] Translation: X:177.80, Y:186.06, Z:-0.63 [[ 7.48323709e-01 6.63333324e-01 7.26633147e-04 1.77797771e+02] [-6.63333001e-01 7.48324062e-01 -6.55139121e-04 1.86060769e+02] [-9.78332678e-04 8.25639096e-06 9.99999521e-01 -6.28754816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70576923100003 meters 0.01364675191398748 Centerline is valid? [True, True] Translation: X:177.82, Y:186.04, Z:-0.63 [[ 7.47118907e-01 6.64690350e-01 2.76135307e-04 1.77819229e+02] [-6.64690304e-01 7.47118958e-01 -2.49230664e-04 1.86041598e+02] [-3.71967141e-04 2.66048045e-06 9.99999931e-01 -6.30132250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73576923100006 meters 0.011821687582897658 Centerline is valid? [True, True] Translation: X:177.84, Y:186.03, Z:-0.63 [[ 7.44255094e-01 6.67894901e-01 -8.69034045e-04 1.77841716e+02] [-6.67894443e-01 7.44255602e-01 7.82870147e-04 1.86025346e+02] [ 1.16965844e-03 -2.23208583e-06 9.99999316e-01 -6.32621140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76576923100004 meters 0.011681334973198957 Centerline is valid? [True, True] Translation: X:177.86, Y:186.01, Z:-0.63 [[ 7.43001747e-01 6.69288583e-01 -1.09361075e-03 1.77864274e+02] [-6.69287859e-01 7.43002552e-01 9.84514928e-04 1.86008617e+02] [ 1.47148018e-03 4.44085112e-07 9.99998917e-01 -6.32674114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79576923100007 meters 0.013085854246107904 Centerline is valid? [True, True] Translation: X:177.89, Y:185.99, Z:-0.63 [[ 7.40239986e-01 6.72340937e-01 -1.55767809e-03 1.77888428e+02] [-6.72339475e-01 7.40241625e-01 1.40248959e-03 1.85993818e+02] [ 2.09600933e-03 9.10958972e-06 9.99997803e-01 -6.33952923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82576923100004 meters 0.014365489902961822 Centerline is valid? [True, True] Translation: X:177.91, Y:185.98, Z:-0.63 [[ 7.39199373e-01 6.73484704e-01 -1.62503800e-03 1.77910018e+02] [-6.73483115e-01 7.39201159e-01 1.46289464e-03 1.85976498e+02] [ 2.18646713e-03 1.30648577e-05 9.99997610e-01 -6.34329946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85576923100007 meters 0.014975601073256333 Centerline is valid? [True, True] Translation: X:177.93, Y:185.96, Z:-0.63 [[ 7.38466289e-01 6.74288513e-01 -1.59380075e-03 1.77931818e+02] [-6.74286988e-01 7.38468009e-01 1.43411831e-03 1.85957000e+02] [ 2.14398037e-03 1.56310844e-05 9.99997702e-01 -6.34120865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88576923100004 meters 0.016127974646990565 Centerline is valid? [True, True] Translation: X:177.95, Y:185.94, Z:-0.63 [[ 7.37886711e-01 6.74922352e-01 -1.73787340e-03 1.77953987e+02] [-6.74920540e-01 7.37888758e-01 1.56387019e-03 1.85939344e+02] [ 2.33784819e-03 1.89674205e-05 9.99997267e-01 -6.34905219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91576923100007 meters 0.01762752290252322 Centerline is valid? [True, True] Translation: X:177.98, Y:185.92, Z:-0.64 [[ 7.36910336e-01 6.75988089e-01 -1.80565236e-03 1.77977559e+02] [-6.75986139e-01 7.36912547e-01 1.62409474e-03 1.85923013e+02] [ 2.42847658e-03 2.37837682e-05 9.99997051e-01 -6.35206564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94576923100004 meters 0.019021456878842203 Centerline is valid? [True, True] Translation: X:178.00, Y:185.91, Z:-0.64 [[ 7.36109550e-01 6.76859521e-01 -1.97985701e-03 1.78000334e+02] [-6.76857179e-01 7.36112212e-01 1.78070301e-03 1.85906729e+02] [ 2.66268271e-03 2.92879364e-05 9.99996455e-01 -6.35774509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9757692310001 meters 0.020269942090200367 Centerline is valid? [True, True] Translation: X:178.02, Y:185.89, Z:-0.64 [[ 7.35249757e-01 6.77793281e-01 -2.01560956e-03 1.78023407e+02] [-6.77790860e-01 7.35252519e-01 1.81210468e-03 1.85889202e+02] [ 2.71021439e-03 3.38122101e-05 9.99996327e-01 -6.35724121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00576923100004 meters 0.021623224291603446 Centerline is valid? [True, True] Translation: X:178.05, Y:185.87, Z:-0.63 [[ 7.34403685e-01 6.78710820e-01 -1.68817120e-03 1.78047135e+02] [-6.78709125e-01 7.34405625e-01 1.51718179e-03 1.85872011e+02] [ 2.26953013e-03 3.15533013e-05 9.99997424e-01 -6.34498922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0357692310001 meters 0.024819275045453084 Centerline is valid? [True, True] Translation: X:178.07, Y:185.86, Z:-0.63 [[ 7.32418336e-01 6.80854190e-01 -9.76071360e-04 1.78074088e+02] [-6.80853625e-01 7.32418986e-01 8.77196792e-04 1.85859979e+02] [ 1.31213631e-03 2.20867092e-05 9.99999139e-01 -6.30847998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06576923100005 meters 0.026075780599494974 Centerline is valid? [True, True] Translation: X:178.10, Y:185.84, Z:-0.63 [[ 7.31727984e-01 6.81596569e-01 -5.24123879e-04 1.78098765e+02] [-6.81596406e-01 7.31728172e-01 4.70571729e-04 1.85843974e+02] [ 7.04256284e-04 1.29104498e-05 9.99999752e-01 -6.29975617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0957692310001 meters 0.027335225842336858 Centerline is valid? [True, True] Translation: X:178.12, Y:185.83, Z:-0.63 [[ 7.31123939e-01 6.82244667e-01 3.04146057e-07 1.78121827e+02] [-6.82244667e-01 7.31123939e-01 -4.10174791e-07 1.85828210e+02] [-5.02208125e-07 9.23865875e-08 1.00000000e+00 -6.29128018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12576923100005 meters 0.02718225840642327 Centerline is valid? [True, True] Translation: X:178.15, Y:185.81, Z:-0.63 [[ 7.30799799e-01 6.82591227e-01 9.32873636e-04 1.78145697e+02] [-6.82590713e-01 7.30800394e-01 -8.38275270e-04 1.85811130e+02] [-1.25394377e-03 -2.41594816e-05 9.99999214e-01 -6.26433821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1557692310001 meters 0.02955221115103254 Centerline is valid? [True, True] Translation: X:178.17, Y:185.80, Z:-0.63 [[ 7.30647858e-01 6.82753413e-01 1.21870511e-03 1.78170673e+02] [-6.82752536e-01 7.30648873e-01 -1.09462599e-03 1.85797087e+02] [-1.63780515e-03 -3.22878751e-05 9.99998658e-01 -6.25380096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18576923100005 meters 0.027635748670790987 Centerline is valid? [True, True] Translation: X:178.19, Y:185.78, Z:-0.63 [[ 7.30630728e-01 6.82771751e-01 1.21447177e-03 1.78191713e+02] [-6.82770881e-01 7.30631737e-01 -1.09073572e-03 1.85778646e+02] [-1.63205516e-03 -3.22809280e-05 9.99998668e-01 -6.25580072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2157692310001 meters 0.026795151607581977 Centerline is valid? [True, True] Translation: X:178.21, Y:185.76, Z:-0.63 [[ 7.30497626e-01 6.82914253e-01 1.15843791e-03 1.78213793e+02] [-6.82913462e-01 7.30498544e-01 -1.04004633e-03 1.85760502e+02] [-1.55649967e-03 -3.13614708e-05 9.99998788e-01 -6.26122890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24576923100005 meters 0.024721549164203657 Centerline is valid? [True, True] Translation: X:178.23, Y:185.74, Z:-0.63 [[ 7.30527406e-01 6.82881417e-01 1.63709452e-03 1.78234341e+02] [-6.82879838e-01 7.30529239e-01 -1.46912092e-03 1.85742022e+02] [-2.19918079e-03 -4.47057471e-05 9.99997581e-01 -6.25528649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2757692310001 meters 0.027700757313729372 Centerline is valid? [True, True] Translation: X:178.26, Y:185.73, Z:-0.62 [[ 7.30686135e-01 6.82710941e-01 1.88260252e-03 1.78258122e+02] [-6.82708854e-01 7.30688558e-01 -1.68879904e-03 1.85728118e+02] [-2.52855770e-03 -5.12873651e-05 9.99996802e-01 -6.24616573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30576923100006 meters 0.028687731363748716 Centerline is valid? [True, True] Translation: X:178.28, Y:185.71, Z:-0.62 [[ 7.31467994e-01 6.81872975e-01 1.95428326e-03 1.78280871e+02] [-6.81870724e-01 7.31470603e-01 -1.75282099e-03 1.85711559e+02] [-2.62470202e-03 -5.04360888e-05 9.99996554e-01 -6.24247162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.33576923100003 meters 0.024897037624026074 Centerline is valid? [True, True] Translation: X:178.30, Y:185.69, Z:-0.63 [[ 7.34063982e-01 6.79078243e-01 1.67614365e-03 1.78299400e+02] [-6.79076580e-01 7.34065895e-01 -1.50315142e-03 1.85689806e+02] [-2.25115731e-03 -3.48205812e-05 9.99997466e-01 -6.25192418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36576923100006 meters 0.021470613315120228 Centerline is valid? [True, True] Translation: X:178.32, Y:185.67, Z:-0.62 [[ 7.35528700e-01 6.77490257e-01 2.11713423e-03 1.78316790e+02] [-6.77487600e-01 7.35531746e-01 -1.89794816e-03 1.85666601e+02] [-2.84306082e-03 -3.83368476e-05 9.99995958e-01 -6.24859957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39576923100003 meters 0.019137367954938044 Centerline is valid? [True, True] Translation: X:178.34, Y:185.64, Z:-0.62 [[ 7.36965058e-01 6.75927494e-01 2.12755437e-03 1.78335407e+02] [-6.75924806e-01 7.36968128e-01 -1.90667754e-03 1.85643693e+02] [-2.85671553e-03 -3.29120543e-05 9.99995919e-01 -6.24866943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42576923100006 meters 0.019107199795243786 Centerline is valid? [True, True] Translation: X:178.36, Y:185.63, Z:-0.63 [[ 7.37720404e-01 6.75103341e-01 2.02120245e-03 1.78355513e+02] [-6.75100912e-01 7.37723172e-01 -1.81091747e-03 1.85625128e+02] [-2.71364432e-03 -2.85648454e-05 9.99996318e-01 -6.25239598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45576923100003 meters 0.018735386614648117 Centerline is valid? [True, True] Translation: X:178.38, Y:185.61, Z:-0.63 [[ 7.38139599e-01 6.74646600e-01 1.37735542e-03 1.78375809e+02] [-6.74645472e-01 7.38140884e-01 -1.23395627e-03 1.85606221e+02] [-1.84916675e-03 -1.83946128e-05 9.99998290e-01 -6.26696658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48576923100006 meters 0.019218180647163914 Centerline is valid? [True, True] Translation: X:178.40, Y:185.59, Z:-0.63 [[ 7.37888097e-01 6.74923026e-01 2.53043153e-04 1.78396482e+02] [-6.74922988e-01 7.37888141e-01 -2.26728871e-04 1.85587582e+02] [-3.39742078e-04 -3.48410520e-06 9.99999942e-01 -6.29984342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51576923100004 meters 0.018856640449726923 Centerline is valid? [True, True] Translation: X:178.42, Y:185.57, Z:-0.63 [[ 7.37368108e-01 6.75491004e-01 -4.19681259e-04 1.78417134e+02] [-6.75490900e-01 7.37368228e-01 3.75279917e-04 1.85567526e+02] [ 5.62957834e-04 6.77142879e-06 9.99999842e-01 -6.31188224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54576923100007 meters 0.022154253270847527 Centerline is valid? [True, True] Translation: X:178.44, Y:185.55, Z:-0.63 [[ 7.34899394e-01 6.78173748e-01 -1.80221885e-03 1.78442726e+02] [-6.78171831e-01 7.34901603e-01 1.61296599e-03 1.85553594e+02] [ 2.41832471e-03 3.68463248e-05 9.99997075e-01 -6.33622870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57576923100004 meters 0.02622454712768698 Centerline is valid? [True, True] Translation: X:178.47, Y:185.54, Z:-0.64 [[ 7.33053261e-01 6.80165862e-01 -2.70497912e-03 1.78468499e+02] [-6.80161557e-01 7.33058249e-01 2.42071377e-03 1.85540460e+02] [ 3.62939413e-03 6.53106905e-05 9.99993412e-01 -6.36971877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60576923100007 meters 0.027323672464072902 Centerline is valid? [True, True] Translation: X:178.49, Y:185.52, Z:-0.64 [[ 7.31351327e-01 6.81993809e-01 -3.11141917e-03 1.78491218e+02] [-6.81988135e-01 7.31357940e-01 2.78328501e-03 1.85522941e+02] [ 4.17374426e-03 8.63917779e-05 9.99991286e-01 -6.37646324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63576923100004 meters 0.03096503751039558 Centerline is valid? [True, True] Translation: X:178.52, Y:185.51, Z:-0.64 [[ 7.29558814e-01 6.83911992e-01 -2.88513844e-03 1.78515447e+02] [-6.83907130e-01 7.29564513e-01 2.58053961e-03 1.85508672e+02] [ 3.86975661e-03 9.05113289e-05 9.99992508e-01 -6.37433727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66576923100007 meters 0.03627289685906864 Centerline is valid? [True, True] Translation: X:178.54, Y:185.50, Z:-0.63 [[ 7.26029157e-01 6.87662845e-01 -1.21440661e-03 1.78544188e+02] [-6.87661989e-01 7.26030172e-01 1.08555348e-03 1.85497326e+02] [ 1.62819063e-03 4.69577867e-05 9.99998673e-01 -6.32923592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69576923100004 meters 0.03796400687435974 Centerline is valid? [True, True] Translation: X:178.57, Y:185.48, Z:-0.63 [[ 7.24026766e-01 6.89771282e-01 -9.05971315e-04 1.78569282e+02] [-6.89770807e-01 7.24027332e-01 8.09936928e-04 1.85482324e+02] [ 1.21461923e-03 3.84965504e-05 9.99999262e-01 -6.31139754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7257692310001 meters 0.04257483187310046 Centerline is valid? [True, True] Translation: X:178.60, Y:185.47, Z:-0.63 [[ 7.22143568e-01 6.91742785e-01 -7.66202228e-04 1.78596727e+02] [-6.91742447e-01 7.22143973e-01 6.84829613e-04 1.85470797e+02] [ 1.02703426e-03 3.54693039e-05 9.99999472e-01 -6.30910679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75576923100004 meters 0.04602740576030483 Centerline is valid? [True, True] Translation: X:178.62, Y:185.46, Z:-0.63 [[ 7.20563977e-01 6.93387528e-01 -1.13619679e-03 1.78623177e+02] [-6.93386787e-01 7.20564870e-01 1.01540508e-03 1.85458120e+02] [ 1.52277271e-03 5.61595218e-05 9.99998839e-01 -6.31517090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7857692310001 meters 0.047338115919425515 Centerline is valid? [True, True] Translation: X:178.65, Y:185.45, Z:-0.63 [[ 7.18484984e-01 6.95541609e-01 -1.09439675e-03 1.78650670e+02] [-6.95540925e-01 7.18485815e-01 9.77503648e-04 1.85446361e+02] [ 1.46620300e-03 5.88760321e-05 9.99998923e-01 -6.31307865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81576923100005 meters 0.04824264667764825 Centerline is valid? [True, True] Translation: X:178.67, Y:185.43, Z:-0.63 [[ 7.18358825e-01 6.95672753e-01 -1.39037075e-04 1.78674950e+02] [-6.95672742e-01 7.18358839e-01 1.24017344e-04 1.85431803e+02] [ 1.86153999e-04 7.63535021e-06 9.99999983e-01 -6.29240214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8457692310001 meters 0.04964539812468894 Centerline is valid? [True, True] Translation: X:178.70, Y:185.42, Z:-0.63 [[ 7.19024712e-01 6.94984110e-01 7.42400117e-04 1.78699324e+02] [-6.94983795e-01 7.19025094e-01 -6.63338165e-04 1.85417640e+02] [-9.94813797e-04 -3.89995176e-05 9.99999504e-01 -6.27833077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87576923100005 meters 0.04424081581701524 Centerline is valid? [True, True] Translation: X:178.72, Y:185.40, Z:-0.63 [[ 7.21828501e-01 6.92071830e-01 4.44213794e-04 1.78720687e+02] [-6.92071716e-01 7.21828638e-01 -3.97091079e-04 1.85398663e+02] [-5.95461787e-04 -2.07961440e-05 9.99999823e-01 -6.28273537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9057692310001 meters 0.052898761070407814 Centerline is valid? [True, True] Translation: X:178.75, Y:185.39, Z:-0.63 [[ 7.23587450e-01 6.90232519e-01 5.21610975e-04 1.78752245e+02] [-6.90232362e-01 7.23587638e-01 -4.65899155e-04 1.85392104e+02] [-6.99010001e-04 -2.29139944e-05 9.99999755e-01 -6.28974406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93576923100005 meters 0.040023113881813774 Centerline is valid? [True, True] Translation: X:178.77, Y:185.36, Z:-0.63 [[ 7.25200929e-01 6.88536273e-01 1.18860291e-03 1.78765346e+02] [-6.88535457e-01 7.25201902e-01 -1.06136130e-03 1.85362671e+02] [-1.59276285e-03 -4.86950473e-05 9.99998730e-01 -6.27060045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9657692310001 meters 0.03695021955399857 Centerline is valid? [True, True] Translation: X:178.79, Y:185.34, Z:-0.62 [[ 7.27005107e-01 6.86628401e-01 2.23930254e-03 1.78786614e+02] [-6.86625496e-01 7.27008551e-01 -1.99897220e-03 1.85343227e+02] [-3.00054318e-03 -8.42992161e-05 9.99995495e-01 -6.24410021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99576923100005 meters 0.031468529913498126 Centerline is valid? [True, True] Translation: X:178.81, Y:185.32, Z:-0.62 [[ 7.30797302e-01 6.82590661e-01 2.30070966e-03 1.78806498e+02] [-6.82587576e-01 7.30800920e-01 -2.05327244e-03 1.85324437e+02] [-3.08290533e-03 -6.99098681e-05 9.99995245e-01 -6.23962543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0257692310001 meters 0.027984858832789245 Centerline is valid? [True, True] Translation: X:178.83, Y:185.30, Z:-0.63 [[ 7.32967996e-01 6.80261312e-01 1.56988408e-03 1.78827441e+02] [-6.80259870e-01 7.32969676e-01 -1.40090060e-03 1.85303708e+02] [-2.10365590e-03 -4.11138360e-05 9.99997786e-01 -6.26312112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05576923100006 meters 0.027984858832789245 Centerline is valid? [True, True] Translation: X:178.85, Y:185.29, Z:-0.63 [[ 7.33089982e-01 6.80129850e-01 1.57001376e-03 1.78848086e+02] [-6.80128409e-01 7.33091662e-01 -1.40075525e-03 1.85285571e+02] [-2.10365945e-03 -4.09313240e-05 9.99997786e-01 -6.26362665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.08576923100003 meters 0.02493653121343178 Centerline is valid? [True, True] Translation: X:178.87, Y:185.27, Z:-0.63 [[ 7.35253257e-01 6.77792053e-01 7.61777805e-04 1.78868352e+02] [-6.77791713e-01 7.35253652e-01 -6.79532961e-04 1.85266239e+02] [-1.02068195e-03 -1.66978601e-05 9.99999479e-01 -6.28226330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11576923100006 meters 0.018973935251549102 Centerline is valid? [True, True] Translation: X:178.89, Y:185.24, Z:-0.63 [[ 7.39925595e-01 6.72688378e-01 6.79108498e-04 1.78885947e+02] [-6.72688105e-01 7.39925906e-01 -6.05809516e-04 1.85244271e+02] [-9.10010991e-04 -8.57424208e-06 9.99999586e-01 -6.28931343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14576923100003 meters 0.015434291622381448 Centerline is valid? [True, True] Translation: X:178.90, Y:185.22, Z:-0.63 [[ 7.42654368e-01 6.69674020e-01 1.09439274e-03 1.78903454e+02] [-6.69673309e-01 7.42655174e-01 -9.75677889e-04 1.85220541e+02] [-1.46614256e-03 -8.29415881e-06 9.99998925e-01 -6.28099221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17576923100006 meters 0.013883221696218882 Centerline is valid? [True, True] Translation: X:178.92, Y:185.20, Z:-0.63 [[ 7.45413898e-01 6.66598914e-01 2.00196082e-03 1.78920776e+02] [-6.66596527e-01 7.45416586e-01 -1.78391687e-03 1.85196885e+02] [-2.68145185e-03 -4.74370204e-06 9.99996405e-01 -6.26338370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20576923100003 meters 0.014081124798155657 Centerline is valid? [True, True] Translation: X:178.94, Y:185.17, Z:-0.62 [[ 7.48174551e-01 6.63496587e-01 2.66827221e-03 1.78937146e+02] [-6.63492330e-01 7.48179309e-01 -2.37694052e-03 1.85174844e+02] [-3.57343798e-03 7.98826342e-06 9.99993615e-01 -6.24117629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23576923100006 meters 0.017901154700557975 Centerline is valid? [True, True] Translation: X:178.95, Y:185.15, Z:-0.62 [[ 7.52464496e-01 6.58626829e-01 2.80769670e-03 1.78951406e+02] [-6.58622082e-01 7.52469733e-01 -2.50079582e-03 1.85149100e+02] [-3.75979800e-03 3.25490194e-05 9.99992931e-01 -6.23392098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26576923100004 meters 0.019959000830287107 Centerline is valid? [True, True] Translation: X:178.97, Y:185.13, Z:-0.63 [[ 7.54018877e-01 6.56850269e-01 1.80457819e-03 1.78969625e+02] [-6.56848303e-01 7.54021036e-01 -1.60719808e-03 1.85127615e+02] [-2.41637840e-03 2.65235680e-05 9.99997080e-01 -6.26138055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29576923100007 meters 0.021631143022618083 Centerline is valid? [True, True] Translation: X:178.99, Y:185.11, Z:-0.63 [[ 7.55134641e-01 6.55569118e-01 8.97544095e-04 1.78988998e+02] [-6.55568631e-01 7.55135174e-01 -7.99434556e-04 1.85106331e+02] [-1.20185172e-03 1.52789727e-05 9.99999278e-01 -6.29012329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32576923100004 meters 0.022601204321083396 Centerline is valid? [True, True] Translation: X:179.01, Y:185.09, Z:-0.63 [[ 7.55663044e-01 6.54959695e-01 1.07815546e-03 1.79008739e+02] [-6.54958992e-01 7.55663813e-01 -9.59891026e-04 1.85086179e+02] [-1.44341300e-03 1.92065584e-05 9.99998958e-01 -6.28828773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35576923100007 meters 0.021165636690090663 Centerline is valid? [True, True] Translation: X:179.03, Y:185.07, Z:-0.63 [[ 7.55557015e-01 6.55080708e-01 1.69195655e-03 1.79031055e+02] [-6.55078977e-01 7.55558909e-01 -1.50605766e-03 1.85069053e+02] [-2.26496217e-03 2.95472676e-05 9.99997435e-01 -6.26837784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38576923100004 meters 0.02170415844274067 Centerline is valid? [True, True] Translation: X:179.05, Y:185.05, Z:-0.63 [[ 7.55315049e-01 6.55359042e-01 1.92403628e-03 1.79049710e+02] [-6.55356807e-01 7.55317499e-01 -1.71206966e-03 1.85049786e+02] [-2.57527861e-03 3.22217128e-05 9.99996683e-01 -6.26079848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41576923100007 meters 0.0219185736345753 Centerline is valid? [True, True] Translation: X:179.07, Y:185.03, Z:-0.63 [[ 7.55511808e-01 6.55133222e-01 1.53905461e-03 1.79069771e+02] [-6.55131792e-01 7.55513375e-01 -1.36930661e-03 1.85030545e+02] [-2.05985460e-03 2.62437149e-05 9.99997878e-01 -6.27407908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44576923100004 meters 0.022490492134447915 Centerline is valid? [True, True] Translation: X:179.09, Y:185.01, Z:-0.63 [[ 7.56448953e-01 6.54052730e-01 -8.91702874e-05 1.79089373e+02] [-6.54052726e-01 7.56448958e-01 7.89095693e-05 1.85009754e+02] [ 1.19063790e-04 -1.36899153e-06 9.99999993e-01 -6.33230353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4757692310001 meters 0.02225630064194493 Centerline is valid? [True, True] Translation: X:179.11, Y:184.99, Z:-0.63 [[ 7.57143744e-01 6.53248286e-01 -1.63761335e-04 1.79110304e+02] [-6.53248270e-01 7.57143762e-01 1.45170616e-04 1.84989579e+02] [ 2.18823329e-04 -2.93821481e-06 9.99999976e-01 -6.33697506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50576923100004 meters 0.022640989736994962 Centerline is valid? [True, True] Translation: X:179.13, Y:184.97, Z:-0.63 [[ 7.58058502e-01 6.52186511e-01 2.49856027e-04 1.79129775e+02] [-6.52186473e-01 7.58058543e-01 -2.22419502e-04 1.84967921e+02] [-3.34464495e-04 5.65427295e-06 9.99999944e-01 -6.32495482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5357692310001 meters 0.02263426020023532 Centerline is valid? [True, True] Translation: X:179.15, Y:184.95, Z:-0.63 [[ 7.59149187e-01 6.50915717e-01 1.11390354e-03 1.79149800e+02] [-6.50914965e-01 7.59150004e-01 -9.89876983e-04 1.84947261e+02] [-1.48994636e-03 2.64078250e-05 9.99998890e-01 -6.29893524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56576923100005 meters 0.02635793542797207 Centerline is valid? [True, True] Translation: X:179.16, Y:184.92, Z:-0.63 [[ 7.59956873e-01 6.49972099e-01 1.35008371e-03 1.79164838e+02] [-6.49970993e-01 7.59958071e-01 -1.19925260e-03 1.84921929e+02] [-1.80548774e-03 3.38650034e-05 9.99998370e-01 -6.28284557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5957692310001 meters 0.02432178987281747 Centerline is valid? [True, True] Translation: X:179.19, Y:184.91, Z:-0.63 [[ 7.59834088e-01 6.50116679e-01 6.80184245e-04 1.79187119e+02] [-6.50116398e-01 7.59834392e-01 -6.04352473e-04 1.84905259e+02] [-9.09727005e-04 1.70086787e-05 9.99999586e-01 -6.29998739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62576923100005 meters 0.02350243083118065 Centerline is valid? [True, True] Translation: X:179.21, Y:184.89, Z:-0.63 [[ 7.59257719e-01 6.50789918e-01 -4.45829489e-04 1.79208477e+02] [-6.50789798e-01 7.59257850e-01 3.95325231e-04 1.84886263e+02] [ 5.95773214e-04 -1.00124495e-05 9.99999822e-01 -6.32590622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6557692310001 meters 0.020732120521063848 Centerline is valid? [True, True] Translation: X:179.23, Y:184.87, Z:-0.64 [[ 7.57044069e-01 6.53362456e-01 -1.33369319e-03 1.79230118e+02] [-6.53361385e-01 7.57045243e-01 1.18344913e-03 1.84868769e+02] [ 1.78288732e-03 -2.45395171e-05 9.99998410e-01 -6.35131794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68576923100005 meters 0.019500090237142557 Centerline is valid? [True, True] Translation: X:179.25, Y:184.85, Z:-0.63 [[ 7.56007731e-01 6.54562319e-01 -6.93407914e-04 1.79251465e+02] [-6.54562030e-01 7.56008049e-01 6.15154321e-04 1.84850935e+02] [ 9.26878803e-04 -1.11829313e-05 9.99999570e-01 -6.33958251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7157692310001 meters 0.018167868963638766 Centerline is valid? [True, True] Translation: X:179.27, Y:184.83, Z:-0.63 [[ 7.55204957e-01 6.55488680e-01 2.52207487e-04 1.79273395e+02] [-6.55488641e-01 7.55204999e-01 -2.24125434e-04 1.84832554e+02] [-3.37380040e-04 3.94149547e-06 9.99999943e-01 -6.31945802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74576923100005 meters 0.017535342904341628 Centerline is valid? [True, True] Translation: X:179.29, Y:184.81, Z:-0.63 [[ 7.54661013e-01 6.56114149e-01 9.89705952e-04 1.79294979e+02] [-6.56113561e-01 7.54661662e-01 -8.78040673e-04 1.84813209e+02] [-1.32298805e-03 1.32635669e-05 9.99999125e-01 -6.30495430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7757692310001 meters 0.01647231884484978 Centerline is valid? [True, True] Translation: X:179.32, Y:184.79, Z:-0.63 [[ 7.53756759e-01 6.57153382e-01 -4.25147364e-04 1.79315734e+02] [-6.57153274e-01 7.53756879e-01 3.76478124e-04 1.84792502e+02] [ 5.67861622e-04 -4.38594860e-06 9.99999839e-01 -6.34087168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80576923100006 meters 0.015936400465595864 Centerline is valid? [True, True] Translation: X:179.34, Y:184.77, Z:-0.64 [[ 7.53461853e-01 6.57489097e-01 -1.82311879e-03 1.79336837e+02] [-6.57487114e-01 7.53464058e-01 1.61503577e-03 1.84773731e+02] [ 2.43552289e-03 -1.81907274e-05 9.99997034e-01 -6.36440944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.83576923100003 meters 0.015911602614209396 Centerline is valid? [True, True] Translation: X:179.36, Y:184.76, Z:-0.64 [[ 7.53043551e-01 6.57965859e-01 -2.51771079e-03 1.79356953e+02] [-6.57962079e-01 7.53047759e-01 2.23042151e-03 1.84755084e+02] [ 3.36349767e-03 -2.30463148e-05 9.99994343e-01 -6.38852899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86576923100006 meters 0.014847228296788858 Centerline is valid? [True, True] Translation: X:179.38, Y:184.74, Z:-0.64 [[ 7.51873480e-01 6.59306104e-01 -1.31536430e-03 1.79379274e+02] [-6.59305076e-01 7.51874631e-01 1.16459712e-03 1.84737644e+02] [ 1.75681504e-03 -8.40333213e-06 9.99998457e-01 -6.35911209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89576923100003 meters 0.014309405332752184 Centerline is valid? [True, True] Translation: X:179.40, Y:184.72, Z:-0.63 [[ 7.51320778e-01 6.59937080e-01 -3.73959355e-04 1.79401231e+02] [-6.59936997e-01 7.51320871e-01 3.30701903e-04 1.84719490e+02] [ 4.99205916e-04 -1.67359729e-06 9.99999875e-01 -6.33714860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92576923100006 meters 0.01378338964545016 Centerline is valid? [True, True] Translation: X:179.42, Y:184.70, Z:-0.63 [[ 7.50744100e-01 6.60593139e-01 -2.40409522e-05 1.79422083e+02] [-6.60593139e-01 7.50744101e-01 2.08173517e-05 1.84700950e+02] [ 3.18004026e-05 2.52784045e-07 9.99999999e-01 -6.32953212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95576923100003 meters 0.013743954827260593 Centerline is valid? [True, True] Translation: X:179.44, Y:184.68, Z:-0.63 [[ 7.50651810e-01 6.60697923e-01 -3.39586187e-04 1.79441862e+02] [-6.60697854e-01 7.50651887e-01 3.00304122e-04 1.84682832e+02] [ 4.53321322e-04 -1.05996717e-06 9.99999897e-01 -6.33924059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98576923100006 meters 0.013906395998473604 Centerline is valid? [True, True] Translation: X:179.46, Y:184.66, Z:-0.63 [[ 7.51083943e-01 6.60206548e-01 -4.73342929e-04 1.79462360e+02] [-6.60206415e-01 7.51084093e-01 4.18247826e-04 1.84663845e+02] [ 6.31650297e-04 -1.63518804e-06 9.99999801e-01 -6.34335433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01576923100004 meters 0.014570913211962883 Centerline is valid? [True, True] Translation: X:179.48, Y:184.64, Z:-0.63 [[ 7.52465436e-01 6.58631616e-01 -4.02679633e-04 1.79479601e+02] [-6.58631520e-01 7.52465543e-01 3.56017317e-04 1.84641835e+02] [ 5.37486810e-04 -2.67322629e-06 9.99999856e-01 -6.34280571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04576923100007 meters 0.015050878501715024 Centerline is valid? [True, True] Translation: X:179.50, Y:184.62, Z:-0.63 [[ 7.53362664e-01 6.57605172e-01 3.66507120e-04 1.79499081e+02] [-6.57605092e-01 7.53362753e-01 -3.24508763e-04 1.84621687e+02] [-4.89511454e-04 3.45583791e-06 9.99999880e-01 -6.32735964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07576923100004 meters 0.015840366347756898 Centerline is valid? [True, True] Translation: X:179.52, Y:184.60, Z:-0.63 [[ 7.54529111e-01 6.56265680e-01 1.08534758e-03 1.79518187e+02] [-6.56264979e-01 7.54529891e-01 -9.59682953e-04 1.84600416e+02] [-1.44873417e-03 1.18331222e-05 9.99998951e-01 -6.30721195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10576923100007 meters 0.01756580126285261 Centerline is valid? [True, True] Translation: X:179.54, Y:184.58, Z:-0.63 [[ 7.56223594e-01 6.54310876e-01 1.77600572e-03 1.79535415e+02] [-6.54308994e-01 7.56225679e-01 -1.56958828e-03 1.84576079e+02] [-2.37005981e-03 2.49031763e-05 9.99997191e-01 -6.28286033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13576923100004 meters 0.018890547051634246 Centerline is valid? [True, True] Translation: X:179.55, Y:184.55, Z:-0.63 [[ 7.56796653e-01 6.53649441e-01 1.11106828e-03 1.79553497e+02] [-6.53648704e-01 7.56797468e-01 -9.81706819e-04 1.84554316e+02] [-1.48254577e-03 1.67040962e-05 9.99998901e-01 -6.29909529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16576923100007 meters 0.01853936750577866 Centerline is valid? [True, True] Translation: X:179.57, Y:184.53, Z:-0.63 [[ 7.57294154e-01 6.53073922e-01 1.27554776e-04 1.79574245e+02] [-6.53073912e-01 7.57294165e-01 -1.13059010e-04 1.84534056e+02] [-1.70432379e-04 2.31623020e-06 9.99999985e-01 -6.32392468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19576923100004 meters 0.019403846545135047 Centerline is valid? [True, True] Translation: X:179.59, Y:184.51, Z:-0.63 [[ 7.57735259e-01 6.52561905e-01 -4.87612972e-04 1.79592426e+02] [-6.52561763e-01 7.57735416e-01 4.30434329e-04 1.84512750e+02] [ 6.50366664e-04 -7.95768743e-06 9.99999788e-01 -6.34237814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2257692310001 meters 0.01926299818054146 Centerline is valid? [True, True] Translation: X:179.61, Y:184.49, Z:-0.63 [[ 7.57877345e-01 6.52396974e-01 -3.43875638e-04 1.79611958e+02] [-6.52396903e-01 7.57877423e-01 3.03075667e-04 1.84493145e+02] [ 4.58341231e-04 -5.35078075e-06 9.99999895e-01 -6.33693098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25576923100004 meters 0.017543955886829016 Centerline is valid? [True, True] Translation: X:179.63, Y:184.47, Z:-0.63 [[ 7.56601745e-01 6.53874486e-01 1.39863846e-03 1.79634364e+02] [-6.53873321e-01 7.56603037e-01 -1.23457351e-03 1.84474175e+02] [-1.86547023e-03 1.95481007e-05 9.99998260e-01 -6.28595297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2857692310001 meters 0.015776321513660395 Centerline is valid? [True, True] Translation: X:179.66, Y:184.46, Z:-0.63 [[ 7.55395464e-01 6.55266301e-01 1.94111810e-03 1.79657703e+02] [-6.55264063e-01 7.55397957e-01 -1.71272884e-03 1.84457653e+02] [-2.58861014e-03 2.18426682e-05 9.99996649e-01 -6.27337744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31576923100005 meters 0.014212771060894632 Centerline is valid? [True, True] Translation: X:179.68, Y:184.44, Z:-0.63 [[ 7.53073905e-01 6.57934442e-01 1.40101135e-03 1.79680767e+02] [-6.57933282e-01 7.53075208e-01 -1.23586842e-03 1.84441758e+02] [-1.86818731e-03 8.92826882e-06 9.99998255e-01 -6.30133708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3457692310001 meters 0.013794519863934712 Centerline is valid? [True, True] Translation: X:179.70, Y:184.42, Z:-0.63 [[ 7.52546818e-01 6.58538422e-01 6.59310325e-04 1.79702908e+02] [-6.58538165e-01 7.52547106e-01 -5.81751791e-04 1.84423783e+02] [-8.79267984e-04 3.61444749e-06 9.99999613e-01 -6.32266540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37576923100005 meters 0.013568711904723843 Centerline is valid? [True, True] Translation: X:179.72, Y:184.41, Z:-0.63 [[ 7.52323243e-01 6.58793976e-01 -4.84407212e-04 1.79723963e+02] [-6.58793838e-01 7.52323399e-01 4.26473958e-04 1.84405346e+02] [ 6.45389355e-04 -1.72178434e-06 9.99999792e-01 -6.34499700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4057692310001 meters 0.013601481100041056 Centerline is valid? [True, True] Translation: X:179.74, Y:184.39, Z:-0.64 [[ 7.52161772e-01 6.58976884e-01 -1.46098038e-03 1.79744136e+02] [-6.58975627e-01 7.52163191e-01 1.28736352e-03 1.84386465e+02] [ 1.94723846e-03 -5.55516575e-06 9.99998104e-01 -6.36960801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43576923100005 meters 0.01325419900053877 Centerline is valid? [True, True] Translation: X:179.77, Y:184.37, Z:-0.64 [[ 7.51531522e-01 6.59695014e-01 -1.69103718e-03 1.79765480e+02] [-6.59693333e-01 7.51533425e-01 1.48921216e-03 1.84367759e+02] [ 2.25329680e-03 -3.62393148e-06 9.99997461e-01 -6.37145914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4657692310001 meters 0.01296669467130298 Centerline is valid? [True, True] Translation: X:179.79, Y:184.35, Z:-0.64 [[ 7.51046843e-01 6.60248169e-01 -9.97827131e-04 1.79786996e+02] [-6.60247585e-01 7.51047506e-01 8.78206234e-04 1.84350373e+02] [ 1.32924964e-03 -7.61066475e-07 9.99999117e-01 -6.35869873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49576923100005 meters 0.012828373981603618 Centerline is valid? [True, True] Translation: X:179.81, Y:184.33, Z:-0.63 [[ 7.50679895e-01 6.60665984e-01 -3.90872388e-04 1.79809394e+02] [-6.60665895e-01 7.50679996e-01 3.43601200e-04 1.84333110e+02] [ 5.20425707e-04 3.01543223e-07 9.99999865e-01 -6.34202211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5257692310001 meters 0.012705634848487706 Centerline is valid? [True, True] Translation: X:179.83, Y:184.32, Z:-0.63 [[ 7.50042485e-01 6.61389641e-01 1.17617771e-04 1.79831125e+02] [-6.61389633e-01 7.50042494e-01 -1.03718582e-04 1.84317140e+02] [-1.56816722e-04 2.16838820e-09 9.99999988e-01 -6.33505444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55576923100006 meters 0.013754566591156127 Centerline is valid? [True, True] Translation: X:179.86, Y:184.30, Z:-0.64 [[ 7.48118814e-01 6.63564115e-01 -9.51690368e-04 1.79856664e+02] [-6.63563587e-01 7.48119419e-01 8.37347610e-04 1.84303997e+02] [ 1.26761187e-03 5.07157400e-06 9.99999197e-01 -6.35462301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.58576923100003 meters 0.014710252749527936 Centerline is valid? [True, True] Translation: X:179.88, Y:184.29, Z:-0.64 [[ 7.46938856e-01 6.64891449e-01 -1.30643352e-03 1.79880616e+02] [-6.64890455e-01 7.46939999e-01 1.14939179e-03 1.84288897e+02] [ 1.74004822e-03 1.01097890e-05 9.99998486e-01 -6.36226066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61576923100006 meters 0.015772939278052647 Centerline is valid? [True, True] Translation: X:179.91, Y:184.27, Z:-0.64 [[ 7.45812877e-01 6.66154899e-01 -8.96403888e-04 1.79905315e+02] [-6.66154433e-01 7.45813416e-01 7.88099211e-04 1.84272683e+02] [ 1.19354620e-03 9.36888337e-06 9.99999288e-01 -6.35569553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64576923100003 meters 0.017282895394386308 Centerline is valid? [True, True] Translation: X:179.93, Y:184.26, Z:-0.63 [[ 7.44664208e-01 6.67439298e-01 -1.92365083e-05 1.79930494e+02] [-6.67439298e-01 7.44664208e-01 1.65246271e-05 1.84258021e+02] [ 2.53539246e-05 5.33903254e-07 1.00000000e+00 -6.33463785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67576923100006 meters 0.01762907219212339 Centerline is valid? [True, True] Translation: X:179.95, Y:184.24, Z:-0.63 [[ 7.44396128e-01 6.67738265e-01 -1.19616602e-04 1.79952556e+02] [-6.67738256e-01 7.44396138e-01 1.05028129e-04 1.84240899e+02] [ 1.59173438e-04 1.69004874e-06 9.99999987e-01 -6.34121289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70576923100003 meters 0.01716605607440623 Centerline is valid? [True, True] Translation: X:179.97, Y:184.22, Z:-0.63 [[ 7.44557605e-01 6.67558068e-01 -4.45385012e-04 1.79973459e+02] [-6.67557954e-01 7.44557738e-01 3.90987283e-04 1.84222530e+02] [ 5.92621573e-04 6.20775251e-06 9.99999824e-01 -6.34701220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73576923100006 meters 0.016497755140296312 Centerline is valid? [True, True] Translation: X:180.00, Y:184.20, Z:-0.63 [[ 7.45166887e-01 6.66877443e-01 8.87031042e-04 1.79996074e+02] [-6.66876987e-01 7.45167415e-01 -7.79753012e-04 1.84204443e+02] [-1.18098632e-03 -1.04944642e-05 9.99999303e-01 -6.31796434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76576923100004 meters 0.01650803715085064 Centerline is valid? [True, True] Translation: X:180.02, Y:184.19, Z:-0.63 [[ 7.45371761e-01 6.66647295e-01 1.52387816e-03 1.80018754e+02] [-6.66645951e-01 7.45373319e-01 -1.33884138e-03 1.84187180e+02] [-2.02839310e-03 -1.79526461e-05 9.99997943e-01 -6.30379482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79576923100007 meters 0.017027861231728367 Centerline is valid? [True, True] Translation: X:180.04, Y:184.17, Z:-0.63 [[ 7.45244055e-01 6.66790355e-01 1.38630270e-03 1.80041340e+02] [-6.66789243e-01 7.45245344e-01 -1.21755397e-03 1.84171352e+02] [-1.84498887e-03 -1.69968734e-05 9.99998298e-01 -6.31084082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82576923100004 meters 0.016978414792937227 Centerline is valid? [True, True] Translation: X:180.06, Y:184.15, Z:-0.63 [[ 7.45181308e-01 6.66861801e-01 3.94863786e-04 1.80063270e+02] [-6.66861711e-01 7.45181413e-01 -3.47035039e-04 1.84153867e+02] [-5.25669565e-04 -4.71551542e-06 9.99999862e-01 -6.33580700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85576923100007 meters 0.017807816593498005 Centerline is valid? [True, True] Translation: X:180.09, Y:184.14, Z:-0.64 [[ 7.45323293e-01 6.66701826e-01 -1.36527045e-03 1.80086216e+02] [-6.66700750e-01 7.45324543e-01 1.19795876e-03 1.84138380e+02] [ 1.81625087e-03 1.73602649e-05 9.99998350e-01 -6.38470987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88576923100004 meters 0.016640928399238225 Centerline is valid? [True, True] Translation: X:180.11, Y:184.12, Z:-0.64 [[ 7.45939767e-01 6.66012117e-01 -1.31302602e-03 1.80106650e+02] [-6.66011121e-01 7.45940923e-01 1.15142782e-03 1.84119833e+02] [ 1.74630472e-03 1.55941310e-05 9.99998475e-01 -6.38302198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91576923100007 meters 0.015897716634368324 Centerline is valid? [True, True] Translation: X:180.13, Y:184.10, Z:-0.64 [[ 7.46651995e-01 6.65214497e-01 -6.86937228e-04 1.80128276e+02] [-6.65214224e-01 7.46652311e-01 6.02085891e-04 1.84100040e+02] [ 9.13419532e-04 7.41178363e-06 9.99999583e-01 -6.37735966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94576923100004 meters 0.014892403429755065 Centerline is valid? [True, True] Translation: X:180.15, Y:184.08, Z:-0.64 [[ 7.47588251e-01 6.64162365e-01 3.99943886e-04 1.80148421e+02] [-6.64162272e-01 7.47588358e-01 -3.51030641e-04 1.84079402e+02] [-5.32134734e-04 -3.20125778e-06 9.99999858e-01 -6.35224112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9757692310001 meters 0.014892403429755065 Centerline is valid? [True, True] Translation: X:180.17, Y:184.06, Z:-0.64 [[ 7.47709559e-01 6.64025795e-01 3.99980429e-04 1.80169226e+02] [-6.64025702e-01 7.47709665e-01 -3.50988993e-04 1.84061441e+02] [-5.32134978e-04 -3.15946073e-06 9.99999858e-01 -6.35274665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00576923100004 meters 0.012907687611334488 Centerline is valid? [True, True] Translation: X:180.19, Y:184.04, Z:-0.63 [[ 7.50258087e-01 6.61143321e-01 1.52045513e-03 1.80185124e+02] [-6.61141978e-01 7.50259628e-01 -1.33251076e-03 1.84036802e+02] [-2.02171669e-03 -5.50973730e-06 9.99997956e-01 -6.32359609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0357692310001 meters 0.012398574788356128 Centerline is valid? [True, True] Translation: X:180.20, Y:184.02, Z:-0.63 [[ 7.52025563e-01 6.59132818e-01 1.21681399e-03 1.80203208e+02] [-6.59131956e-01 7.52026547e-01 -1.06634462e-03 1.84015144e+02] [-1.61793915e-03 -1.22573430e-07 9.99998691e-01 -6.32871097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06576923100005 meters 0.012678924175841374 Centerline is valid? [True, True] Translation: X:180.22, Y:183.99, Z:-0.63 [[ 7.53764033e-01 6.57144689e-01 8.00214985e-04 1.80220605e+02] [-6.57144315e-01 7.53764458e-01 -7.01052954e-04 1.83993478e+02] [-1.06386684e-03 2.57177378e-06 9.99999434e-01 -6.33764343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0957692310001 meters 0.01450570335456823 Centerline is valid? [True, True] Translation: X:180.24, Y:183.97, Z:-0.63 [[ 7.56411177e-01 6.54096047e-01 7.02010954e-04 1.80235518e+02] [-6.54095758e-01 7.56411502e-01 -6.15040910e-04 1.83966339e+02] [-9.33304988e-04 6.04143122e-06 9.99999564e-01 -6.34905838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12576923100005 meters 0.015386398345324091 Centerline is valid? [True, True] Translation: X:180.25, Y:183.94, Z:-0.63 [[ 7.57208167e-01 6.53173322e-01 6.34597548e-04 1.80253641e+02] [-6.53173086e-01 7.57208433e-01 -5.55707833e-04 1.83944694e+02] [-8.43496147e-04 6.28447059e-06 9.99999644e-01 -6.34553236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1557692310001 meters 0.016002225347505922 Centerline is valid? [True, True] Translation: X:180.27, Y:183.92, Z:-0.63 [[ 7.57776542e-01 6.52514015e-01 4.16013087e-04 1.80273521e+02] [-6.52513913e-01 7.57776656e-01 -3.64473077e-04 1.83923900e+02] [-5.53068797e-04 4.73482044e-06 9.99999847e-01 -6.34849783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18576923100005 meters 0.016239833401387405 Centerline is valid? [True, True] Translation: X:180.29, Y:183.90, Z:-0.64 [[ 7.58012477e-01 6.52239950e-01 -3.63890541e-04 1.80293880e+02] [-6.52239872e-01 7.58012564e-01 3.17928991e-04 1.83904412e+02] [ 4.83199591e-04 -3.65022235e-06 9.99999883e-01 -6.36376362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2157692310001 meters 0.017241468805319765 Centerline is valid? [True, True] Translation: X:180.31, Y:183.88, Z:-0.64 [[ 7.58672017e-01 6.51469694e-01 -2.00238188e-03 1.80311778e+02] [-6.51467340e-01 7.58674659e-01 1.75136307e-03 1.83882563e+02] [ 2.66011635e-03 -2.42237596e-05 9.99996462e-01 -6.41194102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24576923100005 meters 0.018690441810427068 Centerline is valid? [True, True] Translation: X:180.33, Y:183.86, Z:-0.64 [[ 7.59434317e-01 6.50581124e-01 -1.92866294e-03 1.80329509e+02] [-6.50578938e-01 7.59436765e-01 1.68669871e-03 1.83861358e+02] [ 2.56203189e-03 -2.61893894e-05 9.99996718e-01 -6.41632575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2757692310001 meters 0.019794863354084678 Centerline is valid? [True, True] Translation: X:180.35, Y:183.84, Z:-0.64 [[ 7.60479446e-01 6.49360771e-01 -1.26550982e-03 1.80348116e+02] [-6.49359829e-01 7.60480498e-01 1.10614150e-03 1.83839305e+02] [ 1.68068043e-03 -1.94266344e-05 9.99998587e-01 -6.39877955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30576923100006 meters 0.02130846321913179 Centerline is valid? [True, True] Translation: X:180.37, Y:183.82, Z:-0.64 [[ 7.61478688e-01 6.48189757e-01 -4.96028701e-04 1.80366634e+02] [-6.48189613e-01 7.61478850e-01 4.33207787e-04 1.83816772e+02] [ 6.58516215e-04 -8.35784561e-06 9.99999783e-01 -6.38265545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.33576923100003 meters 0.02590310366682349 Centerline is valid? [True, True] Translation: X:180.38, Y:183.79, Z:-0.64 [[ 7.64037020e-01 6.45172202e-01 -5.12009093e-04 1.80379602e+02] [-6.45172047e-01 7.64037192e-01 4.47056927e-04 1.83787865e+02] [ 6.79622691e-04 -1.12340881e-05 9.99999769e-01 -6.38782144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36576923100006 meters 0.029089990004103946 Centerline is valid? [True, True] Translation: X:180.39, Y:183.76, Z:-0.64 [[ 7.65626254e-01 6.43284987e-01 -9.29605729e-04 1.80394906e+02] [-6.43284475e-01 7.65626818e-01 8.12106078e-04 1.83762794e+02] [ 1.23414672e-03 -2.37688009e-05 9.99999238e-01 -6.40201702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39576923100003 meters 0.02981002207374795 Centerline is valid? [True, True] Translation: X:180.41, Y:183.74, Z:-0.64 [[ 7.68929285e-01 6.39332011e-01 -1.52780707e-03 1.80410601e+02] [-6.39330621e-01 7.68930801e-01 1.33426900e-03 1.83735529e+02] [ 2.02781880e-03 -4.91846615e-05 9.99997943e-01 -6.41042517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42576923100006 meters 0.037718903570203445 Centerline is valid? [True, True] Translation: X:180.42, Y:183.71, Z:-0.64 [[ 7.70091359e-01 6.37932233e-01 -1.32871604e-03 1.80421220e+02] [-6.37931179e-01 7.70092504e-01 1.16038460e-03 1.83705192e+02] [ 1.76348100e-03 -4.59727687e-05 9.99998444e-01 -6.41193292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45576923100003 meters 0.03477341215879554 Centerline is valid? [True, True] Translation: X:180.44, Y:183.69, Z:-0.64 [[ 7.70733910e-01 6.37156755e-01 -7.14373617e-04 1.80442295e+02] [-6.37156450e-01 7.70734240e-01 6.23364219e-04 1.83685536e+02] [ 9.47772929e-04 -2.52801835e-05 9.99999551e-01 -6.38311795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48576923100006 meters 0.034832963526393625 Centerline is valid? [True, True] Translation: X:180.46, Y:183.66, Z:-0.64 [[ 7.70638174e-01 6.37272876e-01 -2.93859435e-04 1.80460895e+02] [-6.37272825e-01 7.70638230e-01 2.56116079e-04 1.83662778e+02] [ 3.89675145e-04 -1.01041951e-05 9.99999924e-01 -6.36568168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51576923100004 meters 0.03791742898805344 Centerline is valid? [True, True] Translation: X:180.48, Y:183.64, Z:-0.64 [[ 7.69771109e-01 6.38319970e-01 -2.38668631e-04 1.80476237e+02] [-6.38319936e-01 7.69771146e-01 2.08165141e-04 1.83638063e+02] [ 3.16596192e-04 -7.89256606e-06 9.99999950e-01 -6.36834928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54576923100007 meters 0.030590472852192064 Centerline is valid? [True, True] Translation: X:180.50, Y:183.62, Z:-0.64 [[ 7.68393443e-01 6.39977663e-01 -3.27261894e-04 1.80501765e+02] [-6.39977600e-01 7.68393513e-01 2.85485932e-04 1.83623898e+02] [ 4.34170535e-04 -9.92523664e-06 9.99999906e-01 -6.37017419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57576923100004 meters 0.023270796561893122 Centerline is valid? [True, True] Translation: X:180.53, Y:183.61, Z:-0.64 [[ 7.64909004e-01 6.44138315e-01 -2.17167346e-04 1.80525021e+02] [-6.44138287e-01 7.64909034e-01 1.89397691e-04 1.83606526e+02] [ 2.88111574e-04 -4.98619686e-06 9.99999958e-01 -6.38246413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60576923100007 meters 0.019658040964819254 Centerline is valid? [True, True] Translation: X:180.55, Y:183.59, Z:-0.64 [[ 7.63363492e-01 6.45969172e-01 -8.73739583e-05 1.80547282e+02] [-6.45969168e-01 7.63363497e-01 7.57990805e-05 1.83588315e+02] [ 1.15661960e-04 -1.42136769e-06 9.99999993e-01 -6.37753249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63576923100004 meters 0.02255115228870546 Centerline is valid? [True, True] Translation: X:180.56, Y:183.56, Z:-0.64 [[ 7.62095044e-01 6.47465098e-01 -3.01255624e-04 1.80562606e+02] [-6.47465044e-01 7.62095104e-01 2.62607317e-04 1.83563513e+02] [ 3.99614509e-04 -5.07924913e-06 9.99999920e-01 -6.39179250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66576923100007 meters 0.017816047894368133 Centerline is valid? [True, True] Translation: X:180.59, Y:183.55, Z:-0.64 [[ 7.61100433e-01 6.48633605e-01 -7.59966666e-04 1.80586971e+02] [-6.48633267e-01 7.61100812e-01 6.62230477e-04 1.83547687e+02] [ 1.00795619e-03 -1.10842416e-05 9.99999492e-01 -6.39414496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69576923100004 meters 0.014850768313019815 Centerline is valid? [True, True] Translation: X:180.61, Y:183.53, Z:-0.64 [[ 7.58568705e-01 6.51589298e-01 -2.21504844e-03 1.80607369e+02] [-6.51586437e-01 7.58571939e-01 1.93097093e-03 1.83529259e+02] [ 2.93847358e-03 -2.14785959e-05 9.99995682e-01 -6.43168243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7257692310001 meters 0.013464022041106298 Centerline is valid? [True, True] Translation: X:180.63, Y:183.51, Z:-0.64 [[ 7.57188448e-01 6.53192825e-01 -2.18803535e-03 1.80629287e+02] [-6.53190043e-01 7.57191609e-01 1.90654482e-03 1.83511140e+02] [ 2.90210340e-03 -1.44108140e-05 9.99995789e-01 -6.43151350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75576923100004 meters 0.012382337490660186 Centerline is valid? [True, True] Translation: X:180.65, Y:183.49, Z:-0.64 [[ 7.55782316e-01 6.54820756e-01 -1.69352400e-03 1.80651632e+02] [-6.54819095e-01 7.55784213e-01 1.47508378e-03 1.83493190e+02] [ 2.24585418e-03 -5.89038438e-06 9.99997478e-01 -6.41201139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7857692310001 meters 0.011571920079189923 Centerline is valid? [True, True] Translation: X:180.67, Y:183.48, Z:-0.64 [[ 7.54400090e-01 6.56414108e-01 -1.01110914e-03 1.80674014e+02] [-6.56413518e-01 7.54400768e-01 8.80148251e-04 1.83476001e+02] [ 1.34052324e-03 -2.78209200e-07 9.99999102e-01 -6.38908177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81576923100005 meters 0.012137667377208217 Centerline is valid? [True, True] Translation: X:180.69, Y:183.46, Z:-0.64 [[ 7.52039405e-01 6.59118144e-01 -7.43604328e-05 1.80694716e+02] [-6.59118141e-01 7.52039408e-01 6.45554675e-05 1.83458408e+02] [ 9.84716557e-05 4.64054931e-07 9.99999995e-01 -6.37664062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8457692310001 meters 0.012444106539060354 Centerline is valid? [True, True] Translation: X:180.71, Y:183.44, Z:-0.64 [[ 7.51550781e-01 6.59675239e-01 5.27539616e-05 1.80714553e+02] [-6.59675237e-01 7.51550783e-01 -4.63663132e-05 1.83437804e+02] [-7.02339900e-05 4.61567742e-08 9.99999998e-01 -6.37714707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87576923100005 meters 0.01337063906302801 Centerline is valid? [True, True] Translation: X:180.73, Y:183.42, Z:-0.64 [[ 7.51396940e-01 6.59850406e-01 -2.82193017e-04 1.80734228e+02] [-6.59850361e-01 7.51396993e-01 2.45407677e-04 1.83418812e+02] [ 3.73971339e-04 1.80658663e-06 9.99999930e-01 -6.40658354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9057692310001 meters 0.012917781431580158 Centerline is valid? [True, True] Translation: X:180.75, Y:183.40, Z:-0.64 [[ 7.51303669e-01 6.59956065e-01 -8.88797164e-04 1.80752114e+02] [-6.59955612e-01 7.51304194e-01 7.72818823e-04 1.83396597e+02] [ 1.17778351e-03 5.94505996e-06 9.99999306e-01 -6.40665967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93576923100005 meters 0.015490385910080388 Centerline is valid? [True, True] Translation: X:180.77, Y:183.38, Z:-0.64 [[ 7.49084620e-01 6.62472512e-01 -1.55016565e-03 1.80773630e+02] [-6.62471140e-01 7.49086224e-01 1.34836382e-03 1.83379145e+02] [ 2.05446169e-03 1.69014064e-05 9.99997889e-01 -6.41879792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9657692310001 meters 0.018940703411438636 Centerline is valid? [True, True] Translation: X:180.80, Y:183.36, Z:-0.64 [[ 7.46752910e-01 6.65099958e-01 -1.46200111e-03 1.80798656e+02] [-6.65098744e-01 7.46754341e-01 1.27103608e-03 1.83364029e+02] [ 1.93712172e-03 2.32252088e-05 9.99998124e-01 -6.40606231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99576923100005 meters 0.023957958885625068 Centerline is valid? [True, True] Translation: X:180.83, Y:183.35, Z:-0.64 [[ 7.43627206e-01 6.68593431e-01 -1.18453331e-03 1.80825832e+02] [-6.68592639e-01 7.43628149e-01 1.02951815e-03 1.83349625e+02] [ 1.56918138e-03 2.63925475e-05 9.99998768e-01 -6.39146628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0257692310001 meters 0.027874768095893773 Centerline is valid? [True, True] Translation: X:180.85, Y:183.33, Z:-0.64 [[ 7.40342918e-01 6.72228681e-01 -9.81623248e-04 1.80851900e+02] [-6.72228141e-01 7.40343568e-01 8.52860274e-04 1.83334002e+02] [ 1.30005560e-03 2.84657070e-05 9.99999155e-01 -6.38000781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05576923100006 meters 0.03835143797472702 Centerline is valid? [True, True] Translation: X:180.88, Y:183.33, Z:-0.64 [[ 7.34208415e-01 6.78922727e-01 -1.39096762e-03 1.80882264e+02] [-6.78921653e-01 7.34209730e-01 1.20866546e-03 1.83325935e+02] [ 1.84185241e-03 5.69456831e-05 9.99998302e-01 -6.39769763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.08576923100003 meters 0.042218329524698325 Centerline is valid? [True, True] Translation: X:180.91, Y:183.31, Z:-0.64 [[ 7.32141861e-01 6.81150330e-01 -1.58829737e-03 1.80908138e+02] [-6.81148937e-01 7.32143581e-01 1.37959495e-03 1.83311530e+02] [ 2.10257328e-03 7.18078506e-05 9.99997787e-01 -6.40862721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11576923100006 meters 0.04461010366340965 Centerline is valid? [True, True] Translation: X:180.93, Y:183.30, Z:-0.64 [[ 7.30728632e-01 6.82667057e-01 -1.16435377e-03 1.80933607e+02] [-6.82666311e-01 7.30729557e-01 1.01095612e-03 1.83296344e+02] [ 1.54097415e-03 5.61305065e-05 9.99998811e-01 -6.39953999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14576923100003 meters 0.04397915874743684 Centerline is valid? [True, True] Translation: X:180.96, Y:183.28, Z:-0.63 [[ 7.29366698e-01 6.84122193e-01 1.02212303e-03 1.80958797e+02] [-6.84121619e-01 7.29367413e-01 -8.87861364e-04 1.83279760e+02] [-1.35290890e-03 -5.16799533e-05 9.99999083e-01 -6.34562105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17576923100006 meters 0.04876678736769083 Centerline is valid? [True, True] Translation: X:180.99, Y:183.27, Z:-0.63 [[ 7.29241048e-01 6.84254671e-01 1.74356566e-03 1.80985982e+02] [-6.84253002e-01 7.29243127e-01 -1.51392828e-03 1.83268696e+02] [-2.30739578e-03 -8.90213904e-05 9.99997334e-01 -6.32771195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20576923100003 meters 0.047790173214957515 Centerline is valid? [True, True] Translation: X:181.01, Y:183.25, Z:-0.63 [[ 7.29847064e-01 6.83608256e-01 1.73654461e-03 1.81009753e+02] [-6.83606599e-01 7.29849125e-01 -1.50759956e-03 1.83251534e+02] [-2.29802307e-03 -8.67962442e-05 9.99997356e-01 -6.32468902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23576923100006 meters 0.04250670789014818 Centerline is valid? [True, True] Translation: X:181.03, Y:183.23, Z:-0.64 [[ 7.31349174e-01 6.82002643e-01 8.84132033e-04 1.81031512e+02] [-6.82002212e-01 7.31349707e-01 -7.67482779e-04 1.83232914e+02] [-1.17003499e-03 -4.16821062e-05 9.99999315e-01 -6.35737000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26576923100004 meters 0.04526022027501638 Centerline is valid? [True, True] Translation: X:181.06, Y:183.22, Z:-0.64 [[ 7.32117359e-01 6.81178117e-01 7.38545525e-04 1.81056836e+02] [-6.81177816e-01 7.32117731e-01 -6.40959799e-04 1.83219488e+02] [-9.77310062e-04 -3.38230326e-05 9.99999522e-01 -6.36254186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29576923100007 meters 0.043691282650485094 Centerline is valid? [True, True] Translation: X:181.08, Y:183.20, Z:-0.64 [[ 7.32963670e-01 6.80267052e-01 9.98567355e-04 1.81079121e+02] [-6.80266502e-01 7.32964349e-01 -8.66455621e-04 1.83201529e+02] [-1.32133548e-03 -4.42114295e-05 9.99999126e-01 -6.35475686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32576923100004 meters 0.037256304970203054 Centerline is valid? [True, True] Translation: X:181.10, Y:183.18, Z:-0.63 [[ 7.33949755e-01 6.79201663e-01 1.69028791e-03 1.81097252e+02] [-6.79200085e-01 7.33951698e-01 -1.46594984e-03 1.83178902e+02] [-2.23626525e-03 -7.21101682e-05 9.99997497e-01 -6.33445619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35576923100007 meters 0.03420406664578899 Centerline is valid? [True, True] Translation: X:181.12, Y:183.16, Z:-0.63 [[ 7.36165976e-01 6.76798225e-01 1.95408721e-03 1.81121359e+02] [-6.76796109e-01 7.36168565e-01 -1.69413001e-03 1.83162059e+02] [-2.58512176e-03 -7.53577539e-05 9.99996656e-01 -6.32854265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38576923100004 meters 0.03825756540754639 Centerline is valid? [True, True] Translation: X:181.15, Y:183.15, Z:-0.63 [[ 7.37412346e-01 6.75441403e-01 1.39417595e-03 1.81147903e+02] [-6.75440324e-01 7.37413662e-01 -1.20844325e-03 1.83149384e+02] [-1.84431700e-03 -5.05616817e-05 9.99998298e-01 -6.34887732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41576923100007 meters 0.033162989830906764 Centerline is valid? [True, True] Translation: X:181.17, Y:183.13, Z:-0.64 [[ 7.38896777e-01 6.73818413e-01 5.47373941e-04 1.81166162e+02] [-6.73818246e-01 7.38896980e-01 -4.74503169e-04 1.83126270e+02] [-7.24181924e-04 -1.82216866e-05 9.99999738e-01 -6.36844051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44576923100004 meters 0.028654158578551 Centerline is valid? [True, True] Translation: X:181.19, Y:183.10, Z:-0.64 [[ 7.41825546e-01 6.70591503e-01 -1.37651813e-03 1.81185670e+02] [-6.70590445e-01 7.41826822e-01 1.19206173e-03 1.83103750e+02] [ 1.82052453e-03 3.87780617e-05 9.99998342e-01 -6.40469346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4757692310001 meters 0.024826236203776837 Centerline is valid? [True, True] Translation: X:181.21, Y:183.08, Z:-0.64 [[ 7.43078853e-01 6.69200151e-01 -2.23064897e-03 1.81205467e+02] [-6.69197368e-01 7.43082199e-01 1.93099116e-03 1.83082358e+02] [ 2.94977512e-03 5.78657205e-05 9.99995648e-01 -6.41969745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50576923100004 meters 0.02421935382830003 Centerline is valid? [True, True] Translation: X:181.23, Y:183.07, Z:-0.64 [[ 7.43897311e-01 6.68287012e-01 -3.04315776e-03 1.81227439e+02] [-6.68281824e-01 7.43903532e-01 2.63422467e-03 1.83065075e+02] [ 4.02423393e-03 7.40943708e-05 9.99991900e-01 -6.43581098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5357692310001 meters 0.022341682667372867 Centerline is valid? [True, True] Translation: X:181.25, Y:183.05, Z:-0.64 [[ 7.45176862e-01 6.66861386e-01 -2.70870850e-03 1.81249782e+02] [-6.66857270e-01 7.45181782e-01 2.34382806e-03 1.83046125e+02] [ 3.58148865e-03 5.97555128e-05 9.99993585e-01 -6.43569485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56576923100005 meters 0.02138909458143642 Centerline is valid? [True, True] Translation: X:181.27, Y:183.03, Z:-0.64 [[ 7.45943611e-01 6.66007504e-01 -1.46088710e-03 1.81270445e+02] [-6.66006305e-01 7.45945041e-01 1.26400717e-03 1.83027817e+02] [ 1.93157975e-03 3.00819457e-05 9.99998134e-01 -6.40710310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5957692310001 meters 0.02025874732902822 Centerline is valid? [True, True] Translation: X:181.29, Y:183.01, Z:-0.64 [[ 7.46802637e-01 6.65045729e-01 1.48189352e-05 1.81292280e+02] [-6.65045729e-01 7.46802637e-01 -1.30283845e-05 1.83008274e+02] [-1.97312915e-05 -1.25637657e-07 1.00000000e+00 -6.37186366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62576923100005 meters 0.018967577365803883 Centerline is valid? [True, True] Translation: X:181.31, Y:182.99, Z:-0.64 [[ 7.47784029e-01 6.63941521e-01 8.37850813e-04 1.81313436e+02] [-6.63941125e-01 7.47784499e-01 -7.25044705e-04 1.82988699e+02] [-1.10791913e-03 -1.41067610e-05 9.99999386e-01 -6.35701365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6557692310001 meters 0.015061492257905134 Centerline is valid? [True, True] Translation: X:181.33, Y:182.96, Z:-0.64 [[ 7.50071650e-01 6.61356487e-01 3.42905679e-04 1.81331002e+02] [-6.61356420e-01 7.50071728e-01 -2.96888183e-04 1.82964779e+02] [-4.53552781e-04 -4.09546354e-06 9.99999897e-01 -6.37041908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68576923100005 meters 0.014493444175000234 Centerline is valid? [True, True] Translation: X:181.35, Y:182.94, Z:-0.64 [[ 7.51337029e-01 6.59918682e-01 -4.61771475e-05 1.81350662e+02] [-6.59918681e-01 7.51337030e-01 3.97749278e-05 1.82944908e+02] [ 6.09428187e-05 5.88786253e-07 9.99999998e-01 -6.38183863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7157692310001 meters 0.01284514657386826 Centerline is valid? [True, True] Translation: X:181.37, Y:182.92, Z:-0.64 [[ 7.52976886e-01 6.58046887e-01 -3.23200997e-04 1.81369654e+02] [-6.58046828e-01 7.52976955e-01 2.78939271e-04 1.82922810e+02] [ 4.26918022e-04 2.64656734e-06 9.99999909e-01 -6.38662819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74576923100005 meters 0.012068230814899595 Centerline is valid? [True, True] Translation: X:181.39, Y:182.90, Z:-0.64 [[ 7.54049410e-01 6.56817458e-01 -5.60254209e-04 1.81388529e+02] [-6.56817280e-01 7.54049618e-01 4.83997823e-04 1.82902691e+02] [ 7.40357692e-04 3.02637303e-06 9.99999726e-01 -6.39204846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7757692310001 meters 0.01171512917767098 Centerline is valid? [True, True] Translation: X:181.41, Y:182.88, Z:-0.64 [[ 7.54722722e-01 6.56042627e-01 -1.29792707e-03 1.81407808e+02] [-6.56041670e-01 7.54723838e-01 1.12074241e-03 1.82882754e+02] [ 1.71483130e-03 5.64448510e-06 9.99998530e-01 -6.41111353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80576923100006 meters 0.011610033238128379 Centerline is valid? [True, True] Translation: X:181.43, Y:182.86, Z:-0.64 [[ 7.54601155e-01 6.56182453e-01 -1.29850512e-03 1.81427797e+02] [-6.56181496e-01 7.54602272e-01 1.12077566e-03 1.82863811e+02] [ 1.71528823e-03 6.31642658e-06 9.99998529e-01 -6.41226265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.83576923100003 meters 0.011798373640292157 Centerline is valid? [True, True] Translation: X:181.45, Y:182.84, Z:-0.64 [[ 7.54513744e-01 6.56283003e-01 -1.27660049e-03 1.81448640e+02] [-6.56282079e-01 7.54514824e-01 1.10143485e-03 1.82844477e+02] [ 1.68606696e-03 6.76229078e-06 9.99998579e-01 -6.41170229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86576923100006 meters 0.011798373640292157 Centerline is valid? [True, True] Translation: X:181.47, Y:182.83, Z:-0.64 [[ 7.54639883e-01 6.56137955e-01 -1.27681315e-03 1.81469587e+02] [-6.56137031e-01 7.54640963e-01 1.10118837e-03 1.82826658e+02] [ 1.68606699e-03 6.76372909e-06 9.99998579e-01 -6.41220782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89576923100003 meters 0.01160736081833013 Centerline is valid? [True, True] Translation: X:181.49, Y:182.81, Z:-0.64 [[ 7.54730417e-01 6.56034155e-01 -1.08919898e-03 1.81489656e+02] [-6.56033483e-01 7.54731203e-01 9.38933348e-04 1.82806682e+02] [ 1.43802480e-03 5.90944048e-06 9.99998966e-01 -6.40666884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92576923100006 meters 0.011375089962435702 Centerline is valid? [True, True] Translation: X:181.51, Y:182.78, Z:-0.64 [[ 7.55179197e-01 6.55518400e-01 8.22385238e-05 1.81506025e+02] [-6.55518396e-01 7.55179202e-01 -7.10667177e-05 1.82783431e+02] [-1.08690364e-04 -2.40758466e-07 9.99999994e-01 -6.38321916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95576923100003 meters 0.011069245264212891 Centerline is valid? [True, True] Translation: X:181.52, Y:182.76, Z:-0.64 [[ 7.55664483e-01 6.54958817e-01 3.70717665e-04 1.81524263e+02] [-6.54958739e-01 7.55664573e-01 -3.20036676e-04 1.82761412e+02] [-4.89749049e-04 -9.64425008e-07 9.99999880e-01 -6.37583845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98576923100006 meters 0.011216874131852083 Centerline is valid? [True, True] Translation: X:181.54, Y:182.74, Z:-0.64 [[ 7.55973195e-01 6.54602567e-01 8.65275265e-05 1.81541922e+02] [-6.54602563e-01 7.55973200e-01 -7.48865261e-05 1.82741266e+02] [-1.14433403e-04 -2.89341653e-08 9.99999993e-01 -6.38446081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01576923100004 meters 0.011164185499256253 Centerline is valid? [True, True] Translation: X:181.56, Y:182.72, Z:-0.64 [[ 7.56000030e-01 6.54571460e-01 -3.98431157e-04 1.81560942e+02] [-6.54571370e-01 7.56000135e-01 3.43116548e-04 1.82722039e+02] [ 5.25808307e-04 1.40550762e-06 9.99999862e-01 -6.39943230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04576923100007 meters 0.011872370097615935 Centerline is valid? [True, True] Translation: X:181.58, Y:182.70, Z:-0.64 [[ 7.55151511e-01 6.55548688e-01 -1.45381631e-03 1.81581244e+02] [-6.55547492e-01 7.55152910e-01 1.25227472e-03 1.82702681e+02] [ 1.91878067e-03 7.38848481e-06 9.99998159e-01 -6.42154297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07576923100004 meters 0.012369742390387437 Centerline is valid? [True, True] Translation: X:181.60, Y:182.68, Z:-0.64 [[ 7.54449859e-01 6.56354447e-01 -2.06165022e-03 1.81602299e+02] [-6.56352047e-01 7.54452676e-01 1.77514341e-03 1.82683499e+02] [ 2.72054080e-03 1.39116483e-05 9.99996299e-01 -6.42853097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10576923100007 meters 0.013857210946504335 Centerline is valid? [True, True] Translation: X:181.62, Y:182.67, Z:-0.64 [[ 7.53103646e-01 6.57897369e-01 -2.43946728e-03 1.81624290e+02] [-6.57894016e-01 7.53107597e-01 2.10054029e-03 1.82666429e+02] [ 3.21912127e-03 2.29863783e-05 9.99994818e-01 -6.43403395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13576923100004 meters 0.016013506139470442 Centerline is valid? [True, True] Translation: X:181.65, Y:182.65, Z:-0.64 [[ 7.51251386e-01 6.60012058e-01 -2.33212933e-03 1.81648211e+02] [-6.60009007e-01 7.51255005e-01 2.00718995e-03 1.82649881e+02] [ 3.07679340e-03 3.13221389e-05 9.99995266e-01 -6.43516197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16576923100007 meters 0.019025757082718635 Centerline is valid? [True, True] Translation: X:181.67, Y:182.63, Z:-0.64 [[ 7.49050101e-01 6.62510277e-01 -2.01983432e-03 1.81673139e+02] [-6.62507999e-01 7.49052823e-01 1.73777826e-03 1.82634101e+02] [ 2.66425856e-03 3.64734120e-05 9.99996450e-01 -6.42377237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19576923100004 meters 0.027208458617318965 Centerline is valid? [True, True] Translation: X:181.70, Y:182.62, Z:-0.64 [[ 7.44081921e-01 6.68087575e-01 -1.04290539e-03 1.81701813e+02] [-6.68086973e-01 7.44082651e-01 8.97194614e-04 1.82624418e+02] [ 1.37541238e-03 2.91652150e-05 9.99999054e-01 -6.39262833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2257692310001 meters 0.030742975346705777 Centerline is valid? [True, True] Translation: X:181.73, Y:182.61, Z:-0.64 [[ 7.41562300e-01 6.70883253e-01 -1.00823734e-03 1.81728275e+02] [-6.70882693e-01 7.41562985e-01 8.67382280e-04 1.82610170e+02] [ 1.32958374e-03 3.31909847e-05 9.99999116e-01 -6.38590318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25576923100004 meters 0.035798416325479664 Centerline is valid? [True, True] Translation: X:181.76, Y:182.60, Z:-0.64 [[ 7.38901142e-01 6.73813109e-01 -9.97931334e-04 1.81755636e+02] [-6.73812564e-01 7.38901815e-01 8.58335105e-04 1.82599063e+02] [ 1.31573072e-03 3.81938814e-05 9.99999134e-01 -6.38425759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2857692310001 meters 0.04543473329697769 Centerline is valid? [True, True] Translation: X:181.79, Y:182.60, Z:-0.64 [[ 7.33736045e-01 6.79434415e-01 -5.39961716e-04 1.81789148e+02] [-6.79434257e-01 7.33736243e-01 4.64320572e-04 1.82595537e+02] [ 7.11664858e-04 2.61797473e-05 9.99999746e-01 -6.38624066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31576923100005 meters 0.048695180788485934 Centerline is valid? [True, True] Translation: X:181.82, Y:182.58, Z:-0.64 [[ 7.31806452e-01 6.81512349e-01 -4.85310188e-04 1.81815890e+02] [-6.81512221e-01 7.31806613e-01 4.16986132e-04 1.82581327e+02] [ 6.39334403e-04 2.55916820e-05 9.99999795e-01 -6.38783635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3457692310001 meters 0.051480614491301674 Centerline is valid? [True, True] Translation: X:181.84, Y:182.57, Z:-0.64 [[ 7.30329467e-01 6.83094572e-01 -8.21226880e-04 1.81841959e+02] [-6.83094209e-01 7.30329928e-01 7.05814265e-04 1.82566973e+02] [ 1.08190446e-03 4.54983697e-05 9.99999414e-01 -6.39969096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37576923100005 meters 0.05415812988451673 Centerline is valid? [True, True] Translation: X:181.87, Y:182.55, Z:-0.64 [[ 7.29645384e-01 6.83824911e-01 -1.05123952e-03 1.81867124e+02] [-6.83824316e-01 7.29646139e-01 9.03573029e-04 1.82553982e+02] [ 1.38491860e-03 5.95752545e-05 9.99999039e-01 -6.40370323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4057692310001 meters 0.054558230235835364 Centerline is valid? [True, True] Translation: X:181.89, Y:182.54, Z:-0.64 [[ 7.29491915e-01 6.83989158e-01 -6.14144426e-04 1.81894424e+02] [-6.83988956e-01 7.29492173e-01 5.27422182e-04 1.82541953e+02] [ 8.08764606e-04 3.53177869e-05 9.99999672e-01 -6.39398585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43576923100005 meters 0.0540274267719423 Centerline is valid? [True, True] Translation: X:181.92, Y:182.53, Z:-0.64 [[ 7.29930377e-01 6.83521418e-01 -3.40682727e-04 1.81918415e+02] [-6.83521355e-01 7.29930457e-01 2.92320512e-04 1.82525829e+02] [ 4.48482029e-04 1.94902981e-05 9.99999899e-01 -6.38306051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4657692310001 meters 0.05380190569375984 Centerline is valid? [True, True] Translation: X:181.94, Y:182.51, Z:-0.64 [[ 7.30454392e-01 6.82961478e-01 -3.30554408e-05 1.81941567e+02] [-6.82961478e-01 7.30454392e-01 2.82645986e-05 1.82509946e+02] [ 4.34491238e-05 1.92959253e-06 9.99999999e-01 -6.37838690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49576923100005 meters 0.04876054734652405 Centerline is valid? [True, True] Translation: X:181.96, Y:182.49, Z:-0.64 [[ 7.31350768e-01 6.82001468e-01 2.28815206e-04 1.81964126e+02] [-6.82001439e-01 7.31350804e-01 -1.96865754e-04 1.82491625e+02] [-3.01606918e-04 -1.20743792e-05 9.99999954e-01 -6.36704660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5257692310001 meters 0.04940403337850617 Centerline is valid? [True, True] Translation: X:181.99, Y:182.48, Z:-0.64 [[ 7.32006445e-01 6.81297422e-01 6.23123422e-04 1.81988475e+02] [-6.81297212e-01 7.32006709e-01 -5.35195725e-04 1.82477039e+02] [-8.20757993e-04 -3.27655299e-05 9.99999663e-01 -6.36587280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55576923100006 meters 0.04894379040798586 Centerline is valid? [True, True] Translation: X:182.01, Y:182.46, Z:-0.64 [[ 7.32615807e-01 6.80641086e-01 1.33830630e-03 1.82011850e+02] [-6.80640120e-01 7.32617026e-01 -1.14917539e-03 1.82461285e+02] [-1.76264197e-03 -6.90009060e-05 9.99998444e-01 -6.35452995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.58576923100003 meters 0.04642981336140111 Centerline is valid? [True, True] Translation: X:182.03, Y:182.44, Z:-0.63 [[ 7.33347737e-01 6.79852127e-01 1.47724028e-03 1.82034760e+02] [-6.79850948e-01 7.33349221e-01 -1.26830690e-03 1.82443081e+02] [-1.94559415e-03 -7.41932095e-05 9.99998105e-01 -6.34713366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61576923100006 meters 0.04600726188830774 Centerline is valid? [True, True] Translation: X:182.06, Y:182.43, Z:-0.64 [[ 7.34139991e-01 6.78998060e-01 3.28375190e-04 1.82061020e+02] [-6.78998002e-01 7.34140064e-01 -2.81956009e-04 1.82431406e+02] [-4.32520966e-04 -1.59709159e-05 9.99999906e-01 -6.37100747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64576923100003 meters 0.03870512764184833 Centerline is valid? [True, True] Translation: X:182.08, Y:182.41, Z:-0.64 [[ 7.34612911e-01 6.78486096e-01 -6.99416721e-04 1.82079392e+02] [-6.78485832e-01 7.34613243e-01 5.99640174e-04 1.82408120e+02] [ 9.20648306e-04 3.40409220e-05 9.99999576e-01 -6.38836807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67576923100006 meters 0.04553516197297566 Centerline is valid? [True, True] Translation: X:182.11, Y:182.40, Z:-0.64 [[ 7.34927013e-01 6.78144961e-01 -1.30306107e-03 1.82108934e+02] [-6.78144043e-01 7.34928165e-01 1.11765614e-03 1.82399847e+02] [ 1.71558916e-03 6.22674181e-05 9.99998526e-01 -6.41049894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70576923100003 meters 0.04588530913470062 Centerline is valid? [True, True] Translation: X:182.13, Y:182.38, Z:-0.64 [[ 7.35347782e-01 6.77688423e-01 -1.42870625e-03 1.82132677e+02] [-6.77687319e-01 7.35349166e-01 1.22531459e-03 1.82384893e+02] [ 1.88097946e-03 6.71837418e-05 9.99998229e-01 -6.41117047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73576923100006 meters 0.04589101639765105 Centerline is valid? [True, True] Translation: X:182.16, Y:182.37, Z:-0.64 [[ 7.35749185e-01 6.77254104e-01 1.22710860e-04 1.82159901e+02] [-6.77254096e-01 7.35749195e-01 -1.05373678e-04 1.82373653e+02] [-1.61649172e-04 -5.57783462e-06 9.99999987e-01 -6.36932378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76576923100004 meters 0.04606110838233501 Centerline is valid? [True, True] Translation: X:182.18, Y:182.36, Z:-0.63 [[ 7.35887837e-01 6.77102723e-01 9.97027817e-04 1.82184754e+02] [-6.77102184e-01 7.35888511e-01 -8.55209316e-04 1.82359811e+02] [-1.31276587e-03 -4.57515793e-05 9.99999137e-01 -6.34643472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79576923100007 meters 0.048071600959889944 Centerline is valid? [True, True] Translation: X:182.21, Y:182.35, Z:-0.63 [[ 7.35790863e-01 6.77206779e-01 1.66882226e-03 1.82210055e+02] [-6.77205272e-01 7.35792751e-01 -1.43070113e-03 1.82347212e+02] [-2.19678783e-03 -7.74384134e-05 9.99997584e-01 -6.33503607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82576923100004 meters 0.04446743868413425 Centerline is valid? [True, True] Translation: X:182.23, Y:182.33, Z:-0.63 [[ 7.37402257e-01 6.75450932e-01 1.98747123e-03 1.82234323e+02] [-6.75448789e-01 7.37404930e-01 -1.70347283e-03 1.82331244e+02] [-2.61618340e-03 -8.62903266e-05 9.99996574e-01 -6.32868460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85576923100007 meters 0.04184854362376303 Centerline is valid? [True, True] Translation: X:182.26, Y:182.31, Z:-0.63 [[ 7.39331307e-01 6.73339434e-01 1.79587209e-03 1.82255342e+02] [-6.73337680e-01 7.39333484e-01 -1.53888216e-03 1.82313920e+02] [-2.36393841e-03 -7.14845859e-05 9.99997203e-01 -6.33458676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88576923100004 meters 0.03672102090594842 Centerline is valid? [True, True] Translation: X:182.28, Y:182.29, Z:-0.64 [[ 7.41867592e-01 6.70545702e-01 9.68260014e-04 1.82275407e+02] [-6.70545190e-01 7.41868223e-01 -8.29729060e-04 1.82292673e+02] [-1.27469259e-03 -3.37129957e-05 9.99999187e-01 -6.35061067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91576923100007 meters 0.03247116956274141 Centerline is valid? [True, True] Translation: X:182.29, Y:182.27, Z:-0.64 [[ 7.44512098e-01 6.67608964e-01 8.96510885e-05 1.82294093e+02] [-6.67608959e-01 7.44512103e-01 -7.69408955e-05 1.82272616e+02] [-1.18112752e-04 -2.56844234e-06 9.99999993e-01 -6.37524970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94576923100004 meters 0.023520892054260494 Centerline is valid? [True, True] Translation: X:182.31, Y:182.25, Z:-0.64 [[ 7.47275247e-01 6.64514469e-01 -4.75842343e-04 1.82309024e+02] [-6.64514344e-01 7.47275398e-01 4.07129883e-04 1.82245848e+02] [ 6.26128974e-04 1.19659794e-05 9.99999804e-01 -6.38734242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9757692310001 meters 0.018904624070523 Centerline is valid? [True, True] Translation: X:182.33, Y:182.22, Z:-0.64 [[ 7.52265872e-01 6.58859665e-01 2.56564358e-05 1.82327715e+02] [-6.58859664e-01 7.52265872e-01 -2.22071837e-05 1.82224351e+02] [-3.39318787e-05 -1.98284272e-07 9.99999999e-01 -6.38485207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00576923100004 meters 0.015612450004963502 Centerline is valid? [True, True] Translation: X:182.35, Y:182.20, Z:-0.64 [[ 7.54320740e-01 6.56505735e-01 6.63809534e-04 1.82347111e+02] [-6.56505489e-01 7.54321032e-01 -5.68438089e-04 1.82202619e+02] [-8.73908358e-04 -7.00996210e-06 9.99999618e-01 -6.36571308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0357692310001 meters 0.012597605226693733 Centerline is valid? [True, True] Translation: X:182.37, Y:182.18, Z:-0.64 [[ 7.55799519e-01 6.54802379e-01 9.65382196e-04 1.82366258e+02] [-6.54801857e-01 7.55800135e-01 -8.26284808e-04 1.82180365e+02] [-1.27068925e-03 -7.62839438e-06 9.99999193e-01 -6.35358171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06576923100005 meters 0.012309340804957011 Centerline is valid? [True, True] Translation: X:182.39, Y:182.16, Z:-0.63 [[ 7.56913559e-01 6.53513892e-01 1.20682396e-03 1.82387603e+02] [-6.53513077e-01 7.56914521e-01 -1.03245492e-03 1.82162254e+02] [-1.58818621e-03 -7.19610996e-06 9.99998739e-01 -6.34608378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0957692310001 meters 0.011881362792392332 Centerline is valid? [True, True] Translation: X:182.41, Y:182.14, Z:-0.64 [[ 7.57417963e-01 6.52929570e-01 1.00278605e-03 1.82407412e+02] [-6.52929007e-01 7.57418627e-01 -8.57839502e-04 1.82144158e+02] [-1.31963761e-03 -5.00505355e-06 9.99999129e-01 -6.35292576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12576923100005 meters 0.011808106588779047 Centerline is valid? [True, True] Translation: X:182.43, Y:182.13, Z:-0.64 [[ 7.57689234e-01 6.52615449e-01 -3.16636337e-04 1.82428484e+02] [-6.52615393e-01 7.57689300e-01 2.70303254e-04 1.82126263e+02] [ 4.16316044e-04 1.83588213e-06 9.99999913e-01 -6.39803510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1557692310001 meters 0.0123198925980134 Centerline is valid? [True, True] Translation: X:182.45, Y:182.11, Z:-0.64 [[ 7.57405429e-01 6.52944406e-01 -7.86329009e-04 1.82451002e+02] [-6.52944061e-01 7.57405838e-01 6.71641110e-04 1.82109097e+02] [ 1.03411449e-03 4.72423270e-06 9.99999465e-01 -6.40871807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18576923100005 meters 0.011938098689121405 Centerline is valid? [True, True] Translation: X:182.47, Y:182.09, Z:-0.64 [[ 7.57155042e-01 6.53234904e-01 -6.34213449e-04 1.82471419e+02] [-6.53234680e-01 7.57155308e-01 5.41378552e-04 1.82090610e+02] [ 8.33845445e-04 4.38271930e-06 9.99999652e-01 -6.39744441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2157692310001 meters 0.01319038776955373 Centerline is valid? [True, True] Translation: X:182.49, Y:182.07, Z:-0.64 [[ 7.55997939e-01 6.54573790e-01 5.19795383e-04 1.82493819e+02] [-6.54573639e-01 7.55998118e-01 -4.44169265e-04 1.82073593e+02] [-6.83705890e-04 -4.45330663e-06 9.99999766e-01 -6.35866360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24576923100005 meters 0.013634028894891183 Centerline is valid? [True, True] Translation: X:182.52, Y:182.06, Z:-0.64 [[ 7.55237401e-01 6.55451141e-01 5.19661200e-04 1.82516264e+02] [-6.55450991e-01 7.55237579e-01 -4.44169383e-04 1.82055666e+02] [-6.83598996e-04 -5.15911814e-06 9.99999766e-01 -6.35584459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2757692310001 meters 0.014881478987881582 Centerline is valid? [True, True] Translation: X:182.54, Y:182.04, Z:-0.64 [[ 7.54354700e-01 6.56466813e-01 5.57861998e-04 1.82539306e+02] [-6.56466640e-01 7.54354906e-01 -4.76470427e-04 1.82039348e+02] [-7.33612958e-04 -6.79008603e-06 9.99999731e-01 -6.36471995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30576923100006 meters 0.017797902282887263 Centerline is valid? [True, True] Translation: X:182.56, Y:182.02, Z:-0.63 [[ 7.52879358e-01 6.58157568e-01 1.13510307e-03 1.82563262e+02] [-6.58156855e-01 7.52880213e-01 -9.69239235e-04 1.82024416e+02] [-1.49250878e-03 -1.73556565e-05 9.99998886e-01 -6.34977151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.33576923100003 meters 0.01782706275944808 Centerline is valid? [True, True] Translation: X:182.58, Y:182.01, Z:-0.63 [[ 7.52367728e-01 6.58741435e-01 1.58853663e-03 1.82584819e+02] [-6.58740040e-01 7.52369405e-01 -1.35606244e-03 1.82005183e+02] [-2.08846088e-03 -2.61750615e-05 9.99997819e-01 -6.34385208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36576923100006 meters 0.018916326675510006 Centerline is valid? [True, True] Translation: X:182.61, Y:181.99, Z:-0.63 [[ 7.51711036e-01 6.59489604e-01 1.99517861e-03 1.82606650e+02] [-6.59487407e-01 7.51713683e-01 -1.70263460e-03 1.81987438e+02] [-2.62267288e-03 -3.59059469e-05 9.99996560e-01 -6.33517038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39576923100003 meters 0.019209419604957825 Centerline is valid? [True, True] Translation: X:182.63, Y:181.97, Z:-0.63 [[ 7.51548465e-01 6.59674001e-01 2.26216404e-03 1.82628467e+02] [-6.59671179e-01 7.51551868e-01 -1.93006812e-03 1.81968372e+02] [-2.97334937e-03 -4.17446798e-05 9.99995579e-01 -6.33090301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42576923100006 meters 0.019266545021521603 Centerline is valid? [True, True] Translation: X:182.65, Y:181.95, Z:-0.63 [[ 7.51649410e-01 6.59558143e-01 2.49392004e-03 1.82648862e+02] [-6.59554715e-01 7.51653546e-01 -2.12721006e-03 1.81950336e+02] [-3.27758256e-03 -4.59605361e-05 9.99994628e-01 -6.32914495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45576923100003 meters 0.01837819673653392 Centerline is valid? [True, True] Translation: X:182.67, Y:181.93, Z:-0.63 [[ 7.52193069e-01 6.58939468e-01 2.08921048e-03 1.82669281e+02] [-6.58937060e-01 7.52195970e-01 -1.78166268e-03 1.81929124e+02] [-2.74550356e-03 -3.65038940e-05 9.99996230e-01 -6.33949722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48576923100006 meters 0.01864755250771137 Centerline is valid? [True, True] Translation: X:182.69, Y:181.91, Z:-0.64 [[ 7.52494291e-01 6.58596851e-01 1.59037860e-03 1.82689860e+02] [-6.58595456e-01 7.52495971e-01 -1.35595578e-03 1.81911124e+02] [-2.08978170e-03 -2.70671296e-05 9.99997816e-01 -6.35330156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51576923100004 meters 0.017817632894948747 Centerline is valid? [True, True] Translation: X:182.71, Y:181.89, Z:-0.64 [[ 7.53214913e-01 6.57773886e-01 8.99621996e-04 1.82709761e+02] [-6.57773439e-01 7.53215450e-01 -7.67049077e-04 1.81890040e+02] [-1.18215404e-03 -1.39946507e-05 9.99999301e-01 -6.36917613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54576923100007 meters 0.017364562717492323 Centerline is valid? [True, True] Translation: X:182.73, Y:181.87, Z:-0.64 [[ 7.53655402e-01 6.57269278e-01 7.94625094e-04 1.82730285e+02] [-6.57268929e-01 7.53655820e-01 -6.77373218e-04 1.81871144e+02] [-1.04409043e-03 -1.17764000e-05 9.99999455e-01 -6.36820307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57576923100004 meters 0.017120367187680945 Centerline is valid? [True, True] Translation: X:182.75, Y:181.85, Z:-0.64 [[ 7.53921852e-01 6.56963566e-01 8.44785388e-04 1.82750656e+02] [-6.56963172e-01 7.53922326e-01 -7.19737219e-04 1.81853147e+02] [-1.10974369e-03 -1.23672706e-05 9.99999384e-01 -6.36935772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60576923100007 meters 0.01768957347083345 Centerline is valid? [True, True] Translation: X:182.77, Y:181.84, Z:-0.64 [[ 7.53745273e-01 6.57165994e-01 9.59686592e-04 1.82772993e+02] [-6.57165485e-01 7.53745883e-01 -8.17551073e-04 1.81835480e+02] [-1.26062658e-03 -1.44476480e-05 9.99999205e-01 -6.37213535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63576923100004 meters 0.018362591692999235 Centerline is valid? [True, True] Translation: X:182.80, Y:181.82, Z:-0.64 [[ 7.53242475e-01 6.57742616e-01 6.52938034e-04 1.82795126e+02] [-6.57742380e-01 7.53242757e-01 -5.56145510e-04 1.81816588e+02] [-8.57621448e-04 -1.05525964e-05 9.99999632e-01 -6.39378593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66576923100007 meters 0.018307064260923288 Centerline is valid? [True, True] Translation: X:182.82, Y:181.80, Z:-0.64 [[ 7.53421483e-01 6.57537696e-01 4.96308193e-04 1.82815299e+02] [-6.57537560e-01 7.53421647e-01 -4.22564353e-04 1.81798597e+02] [-6.51781327e-04 -7.97221677e-06 9.99999788e-01 -6.39755395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69576923100004 meters 0.01776279472459685 Centerline is valid? [True, True] Translation: X:182.84, Y:181.78, Z:-0.64 [[ 7.54076020e-01 6.56787036e-01 3.82331941e-04 1.82835551e+02] [-6.56786955e-01 7.54076117e-01 -3.25473457e-04 1.81779238e+02] [-5.02074132e-04 -5.67890225e-06 9.99999874e-01 -6.40267076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7257692310001 meters 0.016245041603151985 Centerline is valid? [True, True] Translation: X:182.85, Y:181.76, Z:-0.64 [[ 7.55040209e-01 6.55678445e-01 2.44683610e-04 1.82854982e+02] [-6.55678412e-01 7.55040249e-01 -2.08522808e-04 1.81757756e+02] [-3.21469884e-04 -2.99065617e-06 9.99999948e-01 -6.40645616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75576923100004 meters 0.013273014176769035 Centerline is valid? [True, True] Translation: X:182.87, Y:181.73, Z:-0.64 [[ 7.57437705e-01 6.52906919e-01 -8.23637952e-04 1.82870508e+02] [-6.52906544e-01 7.57438153e-01 7.00024877e-04 1.81731121e+02] [ 1.08090589e-03 7.53337189e-06 9.99999416e-01 -6.44252319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7857692310001 meters 0.013273014176769035 Centerline is valid? [True, True] Translation: X:182.89, Y:181.71, Z:-0.64 [[ 7.57555518e-01 6.52770219e-01 -8.23790874e-04 1.82891584e+02] [-6.52769844e-01 7.57555966e-01 6.99844977e-04 1.81713475e+02] [ 1.08090565e-03 7.57441624e-06 9.99999416e-01 -6.44302873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81576923100005 meters 0.012642534041361717 Centerline is valid? [True, True] Translation: X:182.91, Y:181.69, Z:-0.65 [[ 7.58280205e-01 6.51927541e-01 -1.26961620e-03 1.82909657e+02] [-6.51926648e-01 7.58281268e-01 1.07891425e-03 1.81693284e+02] [ 1.66610009e-03 9.57731597e-06 9.99998612e-01 -6.45455940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8457692310001 meters 0.012688238845927721 Centerline is valid? [True, True] Translation: X:182.93, Y:181.67, Z:-0.65 [[ 7.58367896e-01 6.51825562e-01 -1.25330586e-03 1.82929808e+02] [-6.51824693e-01 7.58368931e-01 1.06441838e-03 1.81673517e+02] [ 1.64428333e-03 9.71498023e-06 9.99998648e-01 -6.45285523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87576923100005 meters 0.01441629109282568 Centerline is valid? [True, True] Translation: X:182.95, Y:181.65, Z:-0.64 [[ 7.57029843e-01 6.53380081e-01 -5.35226261e-04 1.82951809e+02] [-6.53379923e-01 7.57030032e-01 4.54225791e-04 1.81654839e+02] [ 7.01964437e-04 5.84361435e-06 9.99999754e-01 -6.42397017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9057692310001 meters 0.016873057195265617 Centerline is valid? [True, True] Translation: X:182.98, Y:181.64, Z:-0.64 [[ 7.55477802e-01 6.55174212e-01 -2.06049632e-04 1.82975339e+02] [-6.55174188e-01 7.55477830e-01 1.74858439e-04 1.81639074e+02] [ 2.70228669e-04 2.89673108e-06 9.99999963e-01 -6.41463260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93576923100005 meters 0.01953728176634932 Centerline is valid? [True, True] Translation: X:183.00, Y:181.62, Z:-0.64 [[ 7.53987411e-01 6.56888847e-01 -1.64862260e-04 1.82999841e+02] [-6.56888832e-01 7.53987429e-01 1.39597078e-04 1.81623615e+02] [ 2.16003835e-04 3.04173782e-06 9.99999977e-01 -6.41561782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9657692310001 meters 0.02120496720364396 Centerline is valid? [True, True] Translation: X:183.02, Y:181.61, Z:-0.64 [[ 7.51480541e-01 6.59755070e-01 -4.92870107e-04 1.83023682e+02] [-6.59754938e-01 7.51480703e-01 4.17925664e-04 1.81607072e+02] [ 6.46110950e-04 1.11104828e-05 9.99999791e-01 -6.43227661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99576923100005 meters 0.02230951246633517 Centerline is valid? [True, True] Translation: X:183.05, Y:181.59, Z:-0.64 [[ 7.51008917e-01 6.60292027e-01 -2.13838205e-04 1.83046633e+02] [-6.60292003e-01 7.51008947e-01 1.81326557e-04 1.81591111e+02] [ 2.80322885e-04 5.01779551e-06 9.99999961e-01 -6.43087772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0257692310001 meters 0.025247076786653933 Centerline is valid? [True, True] Translation: X:183.07, Y:181.58, Z:-0.64 [[ 7.51189660e-01 6.60086315e-01 3.88527235e-04 1.83071081e+02] [-6.60086233e-01 7.51189761e-01 -3.29852143e-04 1.81578168e+02] [-5.09588566e-04 -8.67995969e-06 9.99999870e-01 -6.42273405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05576923100006 meters 0.023965842237561773 Centerline is valid? [True, True] Translation: X:183.09, Y:181.56, Z:-0.64 [[ 7.51947113e-01 6.59222941e-01 8.08552377e-04 1.83092633e+02] [-6.59222584e-01 7.51947547e-01 -6.86203430e-04 1.81559545e+02] [-1.06035002e-03 -1.70272996e-05 9.99999438e-01 -6.41250796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.08576923100003 meters 0.01862459380402967 Centerline is valid? [True, True] Translation: X:183.11, Y:181.54, Z:-0.64 [[ 7.55227491e-01 6.55462621e-01 4.36170726e-04 1.83110328e+02] [-6.55462516e-01 7.55227617e-01 -3.70114786e-04 1.81537344e+02] [-5.72004586e-04 -6.37270103e-06 9.99999836e-01 -6.42261082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11576923100006 meters 0.013509290639685836 Centerline is valid? [True, True] Translation: X:183.13, Y:181.51, Z:-0.64 [[ 7.57674863e-01 6.52632208e-01 -6.63498164e-05 1.83127594e+02] [-6.52632205e-01 7.57674865e-01 5.58497484e-05 1.81512783e+02] [ 8.67209327e-05 9.86076537e-07 9.99999996e-01 -6.43022464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14576923100003 meters 0.011480502094213108 Centerline is valid? [True, True] Translation: X:183.15, Y:181.49, Z:-0.65 [[ 7.60461731e-01 6.49382330e-01 -7.38390619e-04 1.83145828e+02] [-6.49382028e-01 7.60462090e-01 6.25789520e-04 1.81491786e+02] [ 9.67894730e-04 3.60861615e-06 9.99999532e-01 -6.45478476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17576923100006 meters 0.010534639019790282 Centerline is valid? [True, True] Translation: X:183.16, Y:181.47, Z:-0.65 [[ 7.63680316e-01 6.45593945e-01 -9.12832311e-04 1.83161242e+02] [-6.45593482e-01 7.63680862e-01 7.73127187e-04 1.81467061e+02] [ 1.19623880e-03 -1.10342416e-06 9.99999285e-01 -6.46714944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20576923100003 meters 0.01527559049273444 Centerline is valid? [True, True] Translation: X:183.17, Y:181.44, Z:-0.65 [[ 7.69425710e-01 6.38735880e-01 -7.42704348e-04 1.83172780e+02] [-6.38735571e-01 7.69426069e-01 6.28760556e-04 1.81436322e+02] [ 9.73068014e-04 -9.39285221e-06 9.99999527e-01 -6.45421731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23576923100006 meters 0.021556660018210855 Centerline is valid? [True, True] Translation: X:183.19, Y:181.41, Z:-0.65 [[ 7.71526869e-01 6.36196367e-01 -6.87608929e-04 1.83186400e+02] [-6.36196101e-01 7.71527176e-01 5.82277277e-04 1.81409017e+02] [ 9.00951663e-04 -1.17884455e-05 9.99999594e-01 -6.45468544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26576923100004 meters 0.023494412644816397 Centerline is valid? [True, True] Translation: X:183.20, Y:181.39, Z:-0.64 [[ 7.72674927e-01 6.34801835e-01 -2.94745816e-04 1.83204738e+02] [-6.34801786e-01 7.72674983e-01 2.49229635e-04 1.81386502e+02] [ 3.85954148e-04 -5.46831898e-06 9.99999926e-01 -6.44056264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29576923100007 meters 0.01963947968392125 Centerline is valid? [True, True] Translation: X:183.23, Y:181.37, Z:-0.64 [[ 7.72720349e-01 6.34746469e-01 4.27657309e-04 1.83226870e+02] [-6.34746366e-01 7.72720467e-01 -3.62441000e-04 1.81368856e+02] [-5.60517700e-04 8.61161310e-06 9.99999843e-01 -6.41729951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32576923100004 meters 0.018484498647398852 Centerline is valid? [True, True] Translation: X:183.25, Y:181.35, Z:-0.64 [[ 7.72253972e-01 6.35313798e-01 4.24809903e-04 1.83248581e+02] [-6.35313697e-01 7.72254089e-01 -3.59857874e-04 1.81349329e+02] [-5.56683857e-04 8.01412267e-06 9.99999845e-01 -6.41816863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35576923100007 meters 0.017893578155980586 Centerline is valid? [True, True] Translation: X:183.27, Y:181.33, Z:-0.64 [[ 7.71657636e-01 6.36038098e-01 1.74613135e-04 1.83269041e+02] [-6.36038081e-01 7.71657656e-01 -1.48100012e-04 1.81329621e+02] [-2.28938812e-04 3.22190177e-06 9.99999974e-01 -6.42337783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38576923100004 meters 0.01617177331024199 Centerline is valid? [True, True] Translation: X:183.29, Y:181.31, Z:-0.64 [[ 7.70762652e-01 6.37122361e-01 1.76780058e-04 1.83290514e+02] [-6.37122343e-01 7.70762672e-01 -1.49882441e-04 1.81310980e+02] [-2.31748925e-04 2.89326286e-06 9.99999973e-01 -6.42273566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41576923100007 meters 0.013879110149678273 Centerline is valid? [True, True] Translation: X:183.31, Y:181.29, Z:-0.64 [[ 7.68696915e-01 6.39613098e-01 3.71401009e-04 1.83309886e+02] [-6.39613021e-01 7.68697005e-01 -3.14158469e-04 1.81290598e+02] [-4.86434715e-04 3.93972498e-06 9.99999882e-01 -6.41492359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44576923100004 meters 0.012785057851875803 Centerline is valid? [True, True] Translation: X:183.33, Y:181.27, Z:-0.64 [[ 7.67884600e-01 6.40587609e-01 8.69780728e-04 1.83331525e+02] [-6.40587187e-01 7.67885093e-01 -7.35541153e-04 1.81271347e+02] [-1.13907020e-03 7.64033420e-06 9.99999351e-01 -6.40298975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4757692310001 meters 0.012051527773905304 Centerline is valid? [True, True] Translation: X:183.35, Y:181.25, Z:-0.64 [[ 7.67203547e-01 6.41402542e-01 1.22317240e-03 1.83351858e+02] [-6.41401709e-01 7.67204522e-01 -1.03386999e-03 1.81252893e+02] [-1.60155024e-03 8.64386073e-06 9.99998717e-01 -6.39527061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50576923100004 meters 0.011294989816355808 Centerline is valid? [True, True] Translation: X:183.37, Y:181.24, Z:-0.64 [[ 7.66598523e-01 6.42125149e-01 1.41304777e-03 1.83373095e+02] [-6.42124039e-01 7.66599826e-01 -1.19419940e-03 1.81235043e+02] [-1.85006764e-03 8.11955359e-06 9.99998289e-01 -6.39415586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5357692310001 meters 0.010090072918593018 Centerline is valid? [True, True] Translation: X:183.40, Y:181.22, Z:-0.64 [[ 7.64299411e-01 6.44860566e-01 1.12270976e-03 1.83398588e+02] [-6.44859869e-01 7.64300235e-01 -9.48550673e-04 1.81219775e+02] [-1.46977026e-03 9.86249008e-07 9.99998920e-01 -6.40950399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56576923100005 meters 0.010263577673345538 Centerline is valid? [True, True] Translation: X:183.42, Y:181.21, Z:-0.64 [[ 7.62987314e-01 6.46413190e-01 5.88946052e-04 1.83421492e+02] [-6.46412999e-01 7.62987541e-01 -4.97510599e-04 1.81205216e+02] [-7.70955913e-04 -1.10810806e-06 9.99999703e-01 -6.41666405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5957692310001 meters 0.010715375970422266 Centerline is valid? [True, True] Translation: X:183.44, Y:181.19, Z:-0.64 [[ 7.62029557e-01 6.47542237e-01 -6.82978974e-05 1.83444760e+02] [-6.47542235e-01 7.62029560e-01 5.75212942e-05 1.81188871e+02] [ 8.92924842e-05 3.92846728e-07 9.99999996e-01 -6.42665803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62576923100005 meters 0.010976107323279756 Centerline is valid? [True, True] Translation: X:183.47, Y:181.17, Z:-0.64 [[ 7.61801058e-01 6.47810843e-01 -5.09763002e-04 1.83465770e+02] [-6.47810700e-01 7.61801229e-01 4.30140769e-04 1.81171738e+02] [ 6.66987935e-04 2.54823404e-06 9.99999778e-01 -6.42957215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6557692310001 meters 0.010402407298585548 Centerline is valid? [True, True] Translation: X:183.49, Y:181.15, Z:-0.64 [[ 7.62894836e-01 6.46522574e-01 -1.76471852e-04 1.83485074e+02] [-6.46522557e-01 7.62894856e-01 1.48468258e-04 1.81151437e+02] [ 2.30617548e-04 8.27365655e-07 9.99999973e-01 -6.42743530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68576923100005 meters 0.010023340632631704 Centerline is valid? [True, True] Translation: X:183.50, Y:181.13, Z:-0.64 [[ 7.64645736e-01 6.44450483e-01 6.87594899e-04 1.83503405e+02] [-6.44450222e-01 7.64646046e-01 -5.80469418e-04 1.81129614e+02] [-8.99850517e-04 7.32780303e-07 9.99999595e-01 -6.41156840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7157692310001 meters 0.011004994002369178 Centerline is valid? [True, True] Translation: X:183.52, Y:181.11, Z:-0.64 [[ 7.66706530e-01 6.41996556e-01 1.23252062e-03 1.83520076e+02] [-6.41995714e-01 7.66707520e-01 -1.03969761e-03 1.81106256e+02] [-1.61246512e-03 5.86998599e-06 9.99998700e-01 -6.40073398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74576923100005 meters 0.016326065125025074 Centerline is valid? [True, True] Translation: X:183.53, Y:181.08, Z:-0.64 [[ 7.71587101e-01 6.36122404e-01 1.27786451e-03 1.83532582e+02] [-6.36121491e-01 7.71588159e-01 -1.07781224e-03 1.81076452e+02] [-1.67160564e-03 1.87489462e-05 9.99998603e-01 -6.39818638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7757692310001 meters 0.021371723838296948 Centerline is valid? [True, True] Translation: X:183.55, Y:181.05, Z:-0.64 [[ 7.73637370e-01 6.33627941e-01 9.23515661e-04 1.83547859e+02] [-6.33627463e-01 7.73637921e-01 -7.78898463e-04 1.81050978e+02] [-1.20799857e-03 1.74200732e-05 9.99999270e-01 -6.40712235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80576923100006 meters 0.0221217020922736 Centerline is valid? [True, True] Translation: X:183.57, Y:181.03, Z:-0.64 [[ 7.75171546e-01 6.31750801e-01 1.60345413e-05 1.83567679e+02] [-6.31750801e-01 7.75171546e-01 -1.36586082e-05 1.81030564e+02] [-2.10583569e-05 4.57930165e-07 1.00000000e+00 -6.42137232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.83576923100003 meters 0.025271056967134584 Centerline is valid? [True, True] Translation: X:183.58, Y:181.01, Z:-0.64 [[ 7.76945507e-01 6.29567797e-01 -2.60105369e-04 1.83583518e+02] [-6.29567759e-01 7.76945551e-01 2.19144414e-04 1.81006163e+02] [ 3.40053975e-04 -6.50931363e-06 9.99999942e-01 -6.43204401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86576923100006 meters 0.026327351283401263 Centerline is valid? [True, True] Translation: X:183.60, Y:180.98, Z:-0.64 [[ 7.77652224e-01 6.28694615e-01 3.15267321e-04 1.83603297e+02] [-6.28694559e-01 7.77652288e-01 -2.66087690e-04 1.80984254e+02] [-4.12456251e-04 8.71683439e-06 9.99999915e-01 -6.41686663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89576923100003 meters 0.02750814133545416 Centerline is valid? [True, True] Translation: X:183.62, Y:180.96, Z:-0.64 [[ 7.78184505e-01 6.28034840e-01 1.05594477e-03 1.83621968e+02] [-6.28034211e-01 7.78185221e-01 -8.89964314e-04 1.80962713e+02] [-1.38064921e-03 2.93869982e-05 9.99999046e-01 -6.40389245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92576923100006 meters 0.028028622143591024 Centerline is valid? [True, True] Translation: X:183.64, Y:180.94, Z:-0.64 [[ 7.78425538e-01 6.27736805e-01 4.30654833e-04 1.83638139e+02] [-6.27736700e-01 7.78425657e-01 -3.63209068e-04 1.80938713e+02] [-5.63232472e-04 1.23933703e-05 9.99999841e-01 -6.41996226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95576923100003 meters 0.02829993764887887 Centerline is valid? [True, True] Translation: X:183.66, Y:180.92, Z:-0.64 [[ 7.78398126e-01 6.27770741e-01 -5.03934412e-04 1.83655959e+02] [-6.27770598e-01 7.78398289e-01 4.24242427e-04 1.80918485e+02] [ 6.58588667e-04 -1.38743032e-05 9.99999783e-01 -6.44138665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98576923100006 meters 0.02799726066016501 Centerline is valid? [True, True] Translation: X:183.68, Y:180.90, Z:-0.65 [[ 7.78328544e-01 6.27855391e-01 -1.51163123e-03 1.83675122e+02] [-6.27854104e-01 7.78330011e-01 1.27225122e-03 1.80898412e+02] [ 1.97533773e-03 -4.11455695e-05 9.99998048e-01 -6.47464332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01576923100004 meters 0.027649885544668643 Centerline is valid? [True, True] Translation: X:183.70, Y:180.88, Z:-0.65 [[ 7.78000194e-01 6.28259529e-01 -2.37943466e-03 1.83695512e+02] [-6.28256342e-01 7.78003830e-01 2.00229667e-03 1.80878176e+02] [ 3.10917124e-03 -6.28922787e-05 9.99995165e-01 -6.49658587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04576923100007 meters 0.025892740995223523 Centerline is valid? [True, True] Translation: X:183.72, Y:180.86, Z:-0.65 [[ 7.77121106e-01 6.29346564e-01 -2.38497513e-03 1.83717542e+02] [-6.29343369e-01 7.77124764e-01 2.00639267e-03 1.80858906e+02] [ 3.11613957e-03 -5.82418076e-05 9.99995143e-01 -6.49218357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07576923100004 meters 0.02057491911695501 Centerline is valid? [True, True] Translation: X:183.74, Y:180.84, Z:-0.64 [[ 7.73997246e-01 6.33188397e-01 -8.46475078e-04 1.83741524e+02] [-6.33187997e-01 7.73997709e-01 7.12078705e-04 1.80843227e+02] [ 1.10604974e-03 -1.51690982e-05 9.99999388e-01 -6.44565356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10576923100007 meters 0.017623436553588664 Centerline is valid? [True, True] Translation: X:183.77, Y:180.83, Z:-0.64 [[ 7.72423925e-01 6.35107296e-01 5.97190482e-05 1.83765592e+02] [-6.35107294e-01 7.72423927e-01 -5.06019532e-05 1.80826798e+02] [-7.82660915e-05 1.15815617e-06 9.99999997e-01 -6.42613459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13576923100004 meters 0.012769786300137934 Centerline is valid? [True, True] Translation: X:183.79, Y:180.81, Z:-0.64 [[ 7.69214313e-01 6.38990862e-01 -1.38455440e-04 1.83790681e+02] [-6.38990851e-01 7.69214325e-01 1.16043766e-04 1.80812457e+02] [ 1.80652813e-04 -7.90766415e-07 9.99999984e-01 -6.44303131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16576923100007 meters 0.011342710907327717 Centerline is valid? [True, True] Translation: X:183.81, Y:180.80, Z:-0.65 [[ 7.67817195e-01 6.40667699e-01 -1.28642660e-03 1.83813826e+02] [-6.40666787e-01 7.67818273e-01 1.08093980e-03 1.80795107e+02] [ 1.68026507e-03 -5.79336344e-06 9.99998588e-01 -6.47096799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19576923100004 meters 0.010853461600432698 Centerline is valid? [True, True] Translation: X:183.84, Y:180.78, Z:-0.65 [[ 7.66730525e-01 6.41964226e-01 -2.49711805e-03 1.83836054e+02] [-6.41960798e-01 7.66734591e-01 2.09779703e-03 1.80778182e+02] [ 3.26133743e-03 -5.39311555e-06 9.99994682e-01 -6.50427870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2257692310001 meters 0.011002796458074183 Centerline is valid? [True, True] Translation: X:183.86, Y:180.76, Z:-0.65 [[ 7.65619764e-01 6.43282585e-01 -3.72737751e-03 1.83858436e+02] [-6.43274964e-01 7.65628837e-01 3.13123384e-03 1.80761539e+02] [ 4.86805590e-03 3.94121632e-07 9.99988151e-01 -6.53479578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25576923100004 meters 0.013310268695115977 Centerline is valid? [True, True] Translation: X:183.89, Y:180.75, Z:-0.66 [[ 7.62389500e-01 6.47100111e-01 -4.86796323e-03 1.83885026e+02] [-6.47087192e-01 7.62405040e-01 4.08907961e-03 1.80749322e+02] [ 6.35740357e-03 3.25252972e-05 9.99979791e-01 -6.56476708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2857692310001 meters 0.015964514021676833 Centerline is valid? [True, True] Translation: X:183.91, Y:180.74, Z:-0.66 [[ 7.60371643e-01 6.49470512e-01 -4.79773732e-03 1.83910923e+02] [-6.49458019e-01 7.60386778e-01 4.02862696e-03 1.80735685e+02] [ 6.26461043e-03 5.26752747e-05 9.99980376e-01 -6.55846861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31576923100005 meters 0.01942862260176122 Centerline is valid? [True, True] Translation: X:183.94, Y:180.72, Z:-0.66 [[ 7.58316391e-01 6.51869019e-01 -4.79933583e-03 1.83936674e+02] [-6.51856567e-01 7.58331575e-01 4.02976555e-03 1.80723413e+02] [ 6.26636722e-03 7.26413126e-05 9.99980363e-01 -6.56273805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3457692310001 meters 0.023209951153994404 Centerline is valid? [True, True] Translation: X:183.96, Y:180.71, Z:-0.66 [[ 7.56320279e-01 6.54182558e-01 -4.98165535e-03 1.83964065e+02] [-6.54169201e-01 7.56336679e-01 4.18137913e-03 1.80710603e+02] [ 6.50319396e-03 9.63836778e-05 9.99978849e-01 -6.56640744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37576923100005 meters 0.030016775910812674 Centerline is valid? [True, True] Translation: X:183.99, Y:180.70, Z:-0.66 [[ 7.52888094e-01 6.58132071e-01 -4.65775037e-03 1.83994799e+02] [-6.58120471e-01 7.52902492e-01 3.90933622e-03 1.80703686e+02] [ 6.07969140e-03 1.22068172e-04 9.99981511e-01 -6.56331259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4057692310001 meters 0.031874682261538216 Centerline is valid? [True, True] Translation: X:184.02, Y:180.69, Z:-0.65 [[ 7.51961734e-01 6.59199723e-01 -3.04581160e-03 1.84018789e+02] [-6.59194772e-01 7.51967897e-01 2.55608760e-03 1.80689519e+02] [ 3.97532478e-03 8.57030187e-05 9.99992095e-01 -6.51862150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43576923100005 meters 0.027260825528390657 Centerline is valid? [True, True] Translation: X:184.04, Y:180.67, Z:-0.65 [[ 7.52119412e-01 6.59025882e-01 -1.13011076e-03 1.84037748e+02] [-6.59025202e-01 7.52120260e-01 9.47765586e-04 1.80667142e+02] [ 1.47458125e-03 3.19385782e-05 9.99998912e-01 -6.45542262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4657692310001 meters 0.022890761815550355 Centerline is valid? [True, True] Translation: X:184.06, Y:180.65, Z:-0.64 [[ 7.54950126e-01 6.55782139e-01 3.06327613e-04 1.84056596e+02] [-6.55782089e-01 7.54950188e-01 -2.57085829e-04 1.80645547e+02] [-3.99854384e-04 -6.79718330e-06 9.99999920e-01 -6.42339222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49576923100005 meters 0.02190520115347892 Centerline is valid? [True, True] Translation: X:184.08, Y:180.63, Z:-0.64 [[ 7.57298885e-01 6.53068260e-01 4.96872572e-04 1.84076896e+02] [-6.53068127e-01 7.57299048e-01 -4.16952803e-04 1.80626970e+02] [-6.48579767e-04 -8.73374738e-06 9.99999790e-01 -6.42697783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5257692310001 meters 0.015278157871130998 Centerline is valid? [True, True] Translation: X:184.09, Y:180.60, Z:-0.64 [[ 7.59880367e-01 6.50062285e-01 9.23654964e-04 1.84092243e+02] [-6.50061824e-01 7.59880928e-01 -7.74875691e-04 1.80599987e+02] [-1.20558525e-03 -1.16200060e-05 9.99999273e-01 -6.42127452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55576923100006 meters 0.012256770027864567 Centerline is valid? [True, True] Translation: X:184.11, Y:180.58, Z:-0.64 [[ 7.62372982e-01 6.47136799e-01 1.18308643e-03 1.84109981e+02] [-6.47136038e-01 7.62373900e-01 -9.92086259e-04 1.80576233e+02] [-1.54396974e-03 -9.27810284e-06 9.99998808e-01 -6.41386583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.58576923100003 meters 0.010263837263359473 Centerline is valid? [True, True] Translation: X:184.12, Y:180.55, Z:-0.64 [[ 7.65943401e-01 6.42907524e-01 7.88200942e-04 1.84124257e+02] [-6.42907185e-01 7.65943807e-01 -6.60746410e-04 1.80549743e+02] [-1.02851647e-03 -6.45695899e-07 9.99999471e-01 -6.41890161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61576923100006 meters 0.010332790988371495 Centerline is valid? [True, True] Translation: X:184.14, Y:180.53, Z:-0.64 [[ 7.66742001e-01 6.41955365e-01 -1.13657493e-04 1.84143969e+02] [-6.41955358e-01 7.66742010e-01 9.47643328e-05 1.80528990e+02] [ 1.47980446e-04 3.03242152e-07 9.99999989e-01 -6.43804928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64576923100003 meters 0.010372497776947587 Centerline is valid? [True, True] Translation: X:184.16, Y:180.51, Z:-0.65 [[ 7.66859709e-01 6.41813138e-01 -1.44303593e-03 1.84164551e+02] [-6.41812001e-01 7.66861067e-01 1.20803866e-03 1.80509814e+02] [ 1.88194315e-03 -2.38395239e-07 9.99998229e-01 -6.46073946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67576923100006 meters 0.010372497776947587 Centerline is valid? [True, True] Translation: X:184.19, Y:180.49, Z:-0.65 [[ 7.66982055e-01 6.41666926e-01 -1.44326670e-03 1.84185767e+02] [-6.41665789e-01 7.66983413e-01 1.20776299e-03 1.80492303e+02] [ 1.88194319e-03 -2.37673368e-07 9.99998229e-01 -6.46124498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70576923100003 meters 0.01067856574846545 Centerline is valid? [True, True] Translation: X:184.21, Y:180.47, Z:-0.65 [[ 7.66529065e-01 6.42205213e-01 -2.37829736e-03 1.84207232e+02] [-6.42202128e-01 7.66532755e-01 1.99059322e-03 1.80474158e+02] [ 3.10141217e-03 1.50007043e-06 9.99995191e-01 -6.48434081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73576923100006 meters 0.011465030961001084 Centerline is valid? [True, True] Translation: X:184.23, Y:180.46, Z:-0.65 [[ 7.64336474e-01 6.44815574e-01 -1.62167998e-03 1.84230690e+02] [-6.44814147e-01 7.64338195e-01 1.35643763e-03 1.80459067e+02] [ 2.11416406e-03 8.90743541e-06 9.99997765e-01 -6.45969901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76576923100004 meters 0.012938780145283768 Centerline is valid? [True, True] Translation: X:184.25, Y:180.44, Z:-0.64 [[ 7.62657200e-01 6.46802339e-01 -8.53464650e-04 1.84253778e+02] [-6.46801946e-01 7.62657678e-01 7.13884409e-04 1.80443619e+02] [ 1.11264347e-03 7.57351130e-06 9.99999381e-01 -6.43902157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79576923100007 meters 0.014684738634744706 Centerline is valid? [True, True] Translation: X:184.28, Y:180.43, Z:-0.64 [[ 7.61069469e-01 6.48670382e-01 1.07993057e-05 1.84277365e+02] [-6.48670381e-01 7.61069469e-01 -9.42772977e-06 1.80426986e+02] [-1.43345110e-05 1.69967565e-07 1.00000000e+00 -6.42424558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82576923100004 meters 0.016965672981071697 Centerline is valid? [True, True] Translation: X:184.30, Y:180.41, Z:-0.64 [[ 7.58797605e-01 6.51326131e-01 6.82584272e-04 1.84300185e+02] [-6.51325881e-01 7.58797912e-01 -5.70947322e-04 1.80409915e+02] [-8.89816431e-04 -1.13513418e-05 9.99999604e-01 -6.41671144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85576923100007 meters 0.018997936262802027 Centerline is valid? [True, True] Translation: X:184.32, Y:180.39, Z:-0.64 [[ 7.58377367e-01 6.51815533e-01 5.28285312e-04 1.84322774e+02] [-6.51815384e-01 7.58377551e-01 -4.41861783e-04 1.80392942e+02] [-6.88652095e-04 -9.24651725e-06 9.99999763e-01 -6.42699975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88576923100004 meters 0.016799696565840745 Centerline is valid? [True, True] Translation: X:184.34, Y:180.37, Z:-0.64 [[ 7.59757965e-01 6.50205957e-01 2.19513774e-04 1.84339072e+02] [-6.50205931e-01 7.59757997e-01 -1.83871861e-04 1.80367876e+02] [-2.86331925e-04 -3.03104657e-06 9.99999959e-01 -6.43897296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91576923100007 meters 0.01541927795342364 Centerline is valid? [True, True] Translation: X:184.36, Y:180.35, Z:-0.64 [[ 7.61100278e-01 6.48633935e-01 6.21209706e-04 1.84356963e+02] [-6.48633727e-01 7.61100531e-01 -5.19319834e-04 1.80345436e+02] [-8.09651505e-04 -7.68309689e-06 9.99999672e-01 -6.42883035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94576923100004 meters 0.01347944274798862 Centerline is valid? [True, True] Translation: X:184.37, Y:180.32, Z:-0.64 [[ 7.62654191e-01 6.46805687e-01 9.94561050e-04 1.84374296e+02] [-6.46805152e-01 7.62654839e-01 -8.31328161e-04 1.80321484e+02] [-1.29621458e-03 -9.27130577e-06 9.99999160e-01 -6.41527992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9757692310001 meters 0.011377318925160453 Centerline is valid? [True, True] Translation: X:184.39, Y:180.29, Z:-0.64 [[ 7.64596719e-01 6.44508963e-01 -2.31164333e-04 1.84388516e+02] [-6.44508934e-01 7.64596754e-01 1.92876134e-04 1.80292767e+02] [ 3.01057895e-04 1.51501845e-06 9.99999955e-01 -6.44283677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00576923100004 meters 0.011593645231938978 Centerline is valid? [True, True] Translation: X:184.41, Y:180.27, Z:-0.65 [[ 7.64940587e-01 6.44098513e-01 -1.73324320e-03 1.84407151e+02] [-6.44096886e-01 7.64942551e-01 1.44750398e-03 1.80271947e+02] [ 2.25816663e-03 9.12200985e-06 9.99997450e-01 -6.48364370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0357692310001 meters 0.023144004603666883 Centerline is valid? [True, True] Translation: X:184.43, Y:180.25, Z:-0.65 [[ 7.64948222e-01 6.44083868e-01 -3.19178792e-03 1.84426362e+02] [-6.44078357e-01 7.64954881e-01 2.66454332e-03 1.80250061e+02] [ 4.15776312e-03 1.75238457e-05 9.99991356e-01 -6.48451238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06576923100005 meters 0.014482894419236423 Centerline is valid? [True, True] Translation: X:184.45, Y:180.23, Z:-0.65 [[ 7.62237390e-01 6.47278899e-01 -4.91807853e-03 1.84447284e+02] [-6.47265882e-01 7.62253254e-01 4.10532550e-03 1.80232123e+02] [ 6.40611194e-03 5.40718399e-05 9.99979479e-01 -6.54120190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0957692310001 meters 0.01698618178122896 Centerline is valid? [True, True] Translation: X:184.47, Y:180.22, Z:-0.65 [[ 7.60162035e-01 6.49714443e-01 -4.98226410e-03 1.84471115e+02] [-6.49701147e-01 7.60178358e-01 4.15731882e-03 1.80215313e+02] [ 6.48847942e-03 7.67467626e-05 9.99978947e-01 -6.53482569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12576923100005 meters 0.021998250476335697 Centerline is valid? [True, True] Translation: X:184.50, Y:180.20, Z:-0.65 [[ 7.57675329e-01 6.52618484e-01 -4.14841868e-03 1.84496341e+02] [-6.52609311e-01 7.57686681e-01 3.46131460e-03 1.80202216e+02] [ 5.40211948e-03 8.47439760e-05 9.99985405e-01 -6.52661761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1557692310001 meters 0.024102309050196082 Centerline is valid? [True, True] Translation: X:184.52, Y:180.18, Z:-0.65 [[ 7.55151528e-01 6.55542231e-01 -3.24861564e-03 1.84520375e+02] [-6.55536637e-01 7.55158511e-01 2.70954139e-03 1.80184788e+02] [ 4.22943856e-03 8.34722543e-05 9.99991052e-01 -6.49640456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18576923100005 meters 0.03120796432105685 Centerline is valid? [True, True] Translation: X:184.55, Y:180.17, Z:-0.65 [[ 7.50748407e-01 6.60584778e-01 -2.14029007e-03 1.84548702e+02] [-6.60582371e-01 7.50751454e-01 1.78459552e-03 1.80173673e+02] [ 2.78570251e-03 7.40556490e-05 9.99996117e-01 -6.47613965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2157692310001 meters 0.034313602185788536 Centerline is valid? [True, True] Translation: X:184.57, Y:180.16, Z:-0.65 [[ 7.49331106e-01 6.62192078e-01 -2.13219381e-03 1.84573685e+02] [-6.62189696e-01 7.49334135e-01 1.77786750e-03 1.80159547e+02] [ 2.77501538e-03 7.97053513e-05 9.99996146e-01 -6.47926241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24576923100005 meters 0.03517976224439024 Centerline is valid? [True, True] Translation: X:184.60, Y:180.14, Z:-0.65 [[ 7.48543620e-01 6.63082778e-01 -1.91802650e-03 1.84597656e+02] [-6.63080855e-01 7.48546074e-01 1.59847834e-03 1.80142671e+02] [ 2.49565466e-03 7.52758933e-05 9.99996883e-01 -6.47881862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2757692310001 meters 0.03574149419710225 Centerline is valid? [True, True] Translation: X:184.62, Y:180.13, Z:-0.65 [[ 7.48333009e-01 6.63320978e-01 -1.72861262e-03 1.84621318e+02] [-6.63319418e-01 7.48335002e-01 1.44011237e-03 1.80126721e+02] [ 2.24883808e-03 6.89386967e-05 9.99997469e-01 -6.46517370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30576923100006 meters 0.032001716968236144 Centerline is valid? [True, True] Translation: X:184.64, Y:180.11, Z:-0.65 [[ 7.48915751e-01 6.62662257e-01 -1.98263993e-03 1.84641339e+02] [-6.62660204e-01 7.48918372e-01 1.65121350e-03 1.80105018e+02] [ 2.57903234e-03 7.71967804e-05 9.99996671e-01 -6.46379542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.33576923100003 meters 0.03014389929070388 Centerline is valid? [True, True] Translation: X:184.66, Y:180.09, Z:-0.65 [[ 7.49721165e-01 6.61750861e-01 -1.99324471e-03 1.84662550e+02] [-6.61748785e-01 7.49723811e-01 1.65946105e-03 1.80085609e+02] [ 2.59253280e-03 7.48941954e-05 9.99996637e-01 -6.46300187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36576923100006 meters 0.033007007807526974 Centerline is valid? [True, True] Translation: X:184.69, Y:180.07, Z:-0.64 [[ 7.50805876e-01 6.60522715e-01 -5.29219133e-04 1.84687900e+02] [-6.60522568e-01 7.50806062e-01 4.40145405e-04 1.80071625e+02] [ 6.88066971e-04 1.90974239e-05 9.99999763e-01 -6.44521841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39576923100003 meters 0.033477228252095675 Centerline is valid? [True, True] Translation: X:184.71, Y:180.05, Z:-0.64 [[ 7.50572533e-01 6.60788067e-01 6.39771857e-05 1.84710450e+02] [-6.60788065e-01 7.50572535e-01 -5.33883196e-05 1.80054444e+02] [-8.32978831e-05 -2.20355447e-06 9.99999997e-01 -6.42729600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42576923100006 meters 0.03477867046989705 Centerline is valid? [True, True] Translation: X:184.73, Y:180.04, Z:-0.64 [[ 7.49854969e-01 6.61601798e-01 7.65768745e-04 1.84734675e+02] [-6.61601491e-01 7.49855360e-01 -6.37572456e-04 1.80038152e+02] [-9.96034880e-04 -2.85468695e-05 9.99999504e-01 -6.41654684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45576923100003 meters 0.040666455216751794 Centerline is valid? [True, True] Translation: X:184.76, Y:180.03, Z:-0.64 [[ 7.46493894e-01 6.65391376e-01 1.08772367e-03 1.84764652e+02] [-6.65390763e-01 7.46494684e-01 -9.05119932e-04 1.80027794e+02] [-1.41423893e-03 -4.80947785e-05 9.99998999e-01 -6.41111334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48576923100006 meters 0.044149965415746166 Centerline is valid? [True, True] Translation: X:184.79, Y:180.01, Z:-0.64 [[ 7.44496501e-01 6.67626195e-01 4.72292873e-04 1.84791027e+02] [-6.67626080e-01 7.44496651e-01 -3.93077261e-04 1.80014622e+02] [-6.14049138e-04 -2.26703937e-05 9.99999811e-01 -6.42177354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51576923100004 meters 0.04182861206191808 Centerline is valid? [True, True] Translation: X:184.81, Y:179.99, Z:-0.64 [[ 7.42836578e-01 6.69472643e-01 -4.45897449e-04 1.84813404e+02] [-6.69472541e-01 7.42836711e-01 3.70527298e-04 1.79994873e+02] [ 5.79286884e-04 2.32748684e-05 9.99999832e-01 -6.44524915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54576923100007 meters 0.051714492519663896 Centerline is valid? [True, True] Translation: X:184.85, Y:179.99, Z:-0.65 [[ 7.40579270e-01 6.71968232e-01 -1.01988516e-03 1.84846789e+02] [-6.71967700e-01 7.40579970e-01 8.47949358e-04 1.79990762e+02] [ 1.32510156e-03 5.73561718e-05 9.99999120e-01 -6.47129600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57576923100004 meters 0.05268119849901151 Centerline is valid? [True, True] Translation: X:184.87, Y:179.98, Z:-0.65 [[ 7.40041442e-01 6.72560978e-01 -6.27618182e-04 1.84871618e+02] [-6.72560777e-01 7.40041708e-01 5.21705839e-04 1.79976177e+02] [ 8.15342621e-04 3.60274304e-05 9.99999667e-01 -6.46251931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60576923100007 meters 0.048883132881804535 Centerline is valid? [True, True] Translation: X:184.89, Y:179.96, Z:-0.64 [[ 7.39601557e-01 6.73044973e-01 2.43431882e-05 1.84893167e+02] [-6.73044973e-01 7.39601558e-01 -2.06224144e-05 1.79956560e+02] [-3.18840724e-05 -1.13169069e-06 9.99999999e-01 -6.44016967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63576923100004 meters 0.056452209883013964 Centerline is valid? [True, True] Translation: X:184.93, Y:179.95, Z:-0.65 [[ 7.39108183e-01 6.73586668e-01 -3.06484971e-04 1.84925800e+02] [-6.73586620e-01 7.39108247e-01 2.54543685e-04 1.79953100e+02] [ 3.97982802e-04 1.83088548e-05 9.99999921e-01 -6.45139767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66576923100007 meters 0.0575576692240218 Centerline is valid? [True, True] Translation: X:184.95, Y:179.94, Z:-0.65 [[ 7.39223877e-01 6.73459092e-01 -9.54182006e-04 1.84950393e+02] [-6.73458628e-01 7.39224491e-01 7.92511734e-04 1.79940354e+02] [ 1.23907894e-03 5.67585078e-05 9.99999231e-01 -6.47020360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69576923100004 meters 0.05703311907627561 Centerline is valid? [True, True] Translation: X:184.97, Y:179.92, Z:-0.65 [[ 7.39666988e-01 6.72971889e-01 -1.25789374e-03 1.84974781e+02] [-6.72971083e-01 7.39668054e-01 1.04445123e-03 1.79924829e+02] [ 1.63331013e-03 7.39800213e-05 9.99998663e-01 -6.47699384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7257692310001 meters 0.04727131729217033 Centerline is valid? [True, True] Translation: X:184.99, Y:179.90, Z:-0.65 [[ 7.40475637e-01 6.72082658e-01 -8.55752357e-04 1.84991213e+02] [-6.72082284e-01 7.40476130e-01 7.10158051e-04 1.79899684e+02] [ 1.11094910e-03 4.92812637e-05 9.99999382e-01 -6.46630529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75576923100004 meters 0.04618677800889081 Centerline is valid? [True, True] Translation: X:185.02, Y:179.89, Z:-0.65 [[ 7.43619310e-01 6.68603242e-01 -1.60675736e-04 1.85016842e+02] [-6.68603229e-01 7.43619328e-01 1.33285628e-04 1.79887038e+02] [ 2.08596786e-04 8.31454919e-06 9.99999978e-01 -6.45500276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7857692310001 meters 0.04247565928895448 Centerline is valid? [True, True] Translation: X:185.04, Y:179.87, Z:-0.65 [[ 7.46042730e-01 6.65897983e-01 -3.47937345e-04 1.85038888e+02] [-6.65897921e-01 7.46042811e-01 2.88433694e-04 1.79867282e+02] [ 4.51643570e-04 1.65068945e-05 9.99999898e-01 -6.45547272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81576923100005 meters 0.0345036605606923 Centerline is valid? [True, True] Translation: X:185.06, Y:179.84, Z:-0.65 [[ 7.48797554e-01 6.62798596e-01 -4.95290300e-04 1.85056547e+02] [-6.62798469e-01 7.48797717e-01 4.10597585e-04 1.79842607e+02] [ 6.43015749e-04 2.08231855e-05 9.99999793e-01 -6.45227036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8457692310001 meters 0.029685928141855115 Centerline is valid? [True, True] Translation: X:185.08, Y:179.82, Z:-0.65 [[ 7.53899904e-01 6.56987875e-01 -1.36626757e-03 1.85076210e+02] [-6.56986899e-01 7.53901141e-01 1.13343237e-03 1.79821394e+02] [ 1.77468201e-03 4.31253346e-05 9.99998424e-01 -6.47059822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87576923100005 meters 0.02690152602572314 Centerline is valid? [True, True] Translation: X:185.10, Y:179.80, Z:-0.65 [[ 7.55902478e-01 6.54682640e-01 -1.44392275e-03 1.85096967e+02] [-6.54681547e-01 7.55903856e-01 1.19724853e-03 1.79800566e+02] [ 1.87528460e-03 4.03064442e-05 9.99998241e-01 -6.47645667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9057692310001 meters 0.023624758161859282 Centerline is valid? [True, True] Translation: X:185.12, Y:179.78, Z:-0.65 [[ 7.57014591e-01 6.53396948e-01 -1.15642756e-03 1.85117369e+02] [-6.53396246e-01 7.57015474e-01 9.58425509e-04 1.79780340e+02] [ 1.50166586e-03 3.00633354e-05 9.99998872e-01 -6.46839747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93576923100005 meters 0.024458525417594863 Centerline is valid? [True, True] Translation: X:185.14, Y:179.77, Z:-0.65 [[ 7.57537358e-01 6.52791360e-01 -7.68311323e-04 1.85141645e+02] [-6.52791051e-01 7.57537748e-01 6.36415782e-04 1.79765211e+02] [ 9.97471553e-04 1.94380254e-05 9.99999502e-01 -6.46607776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9657692310001 meters 0.023180545095219458 Centerline is valid? [True, True] Translation: X:185.16, Y:179.75, Z:-0.64 [[ 7.57672316e-01 6.52634922e-01 5.66934786e-04 1.85164587e+02] [-6.52634752e-01 7.57672527e-01 -4.70175409e-04 1.79748715e+02] [-7.36403803e-04 -1.37624531e-05 9.99999729e-01 -6.43666113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99576923100005 meters 0.02340039558144294 Centerline is valid? [True, True] Translation: X:185.19, Y:179.73, Z:-0.64 [[ 7.57818684e-01 6.52464346e-01 1.05748482e-03 1.85186316e+02] [-6.52463759e-01 7.57819422e-01 -8.76203623e-04 1.79732698e+02] [-1.37307416e-03 -2.59670420e-05 9.99999057e-01 -6.42590522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0257692310001 meters 0.022445346721252844 Centerline is valid? [True, True] Translation: X:185.21, Y:179.72, Z:-0.64 [[ 7.57963512e-01 6.52296088e-01 1.06204302e-03 1.85207992e+02] [-6.52295495e-01 7.57964256e-01 -8.79897702e-04 1.79715085e+02] [-1.37894448e-03 -2.58355255e-05 9.99999049e-01 -6.42771988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05576923100006 meters 0.02373720923608144 Centerline is valid? [True, True] Translation: X:185.23, Y:179.70, Z:-0.64 [[ 7.57903624e-01 6.52366203e-01 6.58721850e-04 1.85232553e+02] [-6.52365975e-01 7.57903910e-01 -5.45537454e-04 1.79701398e+02] [-8.55138064e-04 -1.62629091e-05 9.99999634e-01 -6.44971840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.08576923100003 meters 0.02351537492584739 Centerline is valid? [True, True] Translation: X:185.25, Y:179.68, Z:-0.65 [[ 7.58116826e-01 6.52118583e-01 4.81492495e-04 1.85254574e+02] [-6.52118461e-01 7.58116979e-01 -3.98951895e-04 1.79684289e+02] [-6.25191580e-04 -1.15379999e-05 9.99999805e-01 -6.45935567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11576923100006 meters 0.0238042980459846 Centerline is valid? [True, True] Translation: X:185.28, Y:179.67, Z:-0.65 [[ 7.58341845e-01 6.51857027e-01 2.50408064e-04 1.85276802e+02] [-6.51856994e-01 7.58341886e-01 -2.07362951e-04 1.79667280e+02] [-3.25065920e-04 -5.97824555e-06 9.99999947e-01 -6.46001412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14576923100003 meters 0.022692653703852355 Centerline is valid? [True, True] Translation: X:185.30, Y:179.65, Z:-0.65 [[ 7.59054593e-01 6.51026863e-01 -3.84318002e-04 1.85299354e+02] [-6.51026786e-01 7.59054691e-01 3.17544788e-04 1.79649451e+02] [ 4.98448569e-04 9.16748379e-06 9.99999876e-01 -6.46114444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17576923100006 meters 0.022452591304713915 Centerline is valid? [True, True] Translation: X:185.32, Y:179.63, Z:-0.64 [[ 7.59220583e-01 6.50833219e-01 4.76332948e-04 1.85322227e+02] [-6.50833100e-01 7.59220732e-01 -3.94352168e-04 1.79632833e+02] [-6.18299341e-04 -1.06129657e-05 9.99999809e-01 -6.43737908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20576923100003 meters 0.023885849746611957 Centerline is valid? [True, True] Translation: X:185.35, Y:179.62, Z:-0.64 [[ 7.58582882e-01 6.51574083e-01 1.79584608e-03 1.85346241e+02] [-6.51572392e-01 7.58585007e-01 -1.48504082e-03 1.79618645e+02] [-2.32991603e-03 -4.35971793e-05 9.99997285e-01 -6.40689155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23576923100006 meters 0.026972616598664192 Centerline is valid? [True, True] Translation: X:185.37, Y:179.61, Z:-0.64 [[ 7.57230425e-01 6.53141142e-01 2.95495922e-03 1.85372219e+02] [-6.53136577e-01 7.57236187e-01 -2.44317070e-03 1.79606081e+02] [-3.83333735e-03 -7.99487695e-05 9.99992650e-01 -6.37948902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26576923100004 meters 0.028469331533748077 Centerline is valid? [True, True] Translation: X:185.40, Y:179.59, Z:-0.64 [[ 7.55820157e-01 6.54772194e-01 3.04374651e-03 1.85397868e+02] [-6.54767367e-01 7.55826280e-01 -2.51599445e-03 1.79591298e+02] [-3.94794681e-03 -9.13065634e-05 9.99992203e-01 -6.38240356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29576923100007 meters 0.030062521514037863 Centerline is valid? [True, True] Translation: X:185.43, Y:179.58, Z:-0.64 [[ 7.54117430e-01 6.56738284e-01 1.31435234e-03 1.85425394e+02] [-6.56737387e-01 7.54118574e-01 -1.08630167e-03 1.79579271e+02] [-1.70459341e-03 -4.39852935e-05 9.99998546e-01 -6.43905573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32576923100004 meters 0.03315454954849067 Centerline is valid? [True, True] Translation: X:185.45, Y:179.57, Z:-0.65 [[ 7.54571413e-01 6.56217890e-01 2.52705049e-04 1.85451627e+02] [-6.56217856e-01 7.54571455e-01 -2.08944582e-04 1.79567578e+02] [-3.27797190e-04 -8.16595704e-06 9.99999946e-01 -6.47205834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35576923100007 meters 0.032293258820912656 Centerline is valid? [True, True] Translation: X:185.47, Y:179.55, Z:-0.65 [[ 7.55836638e-01 6.54759844e-01 -7.23025620e-04 1.85474387e+02] [-6.54759572e-01 7.55836984e-01 5.96865202e-04 1.79550745e+02] [ 9.37292870e-04 2.22753576e-05 9.99999560e-01 -6.50589918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38576923100004 meters 0.023128320203347076 Centerline is valid? [True, True] Translation: X:185.49, Y:179.52, Z:-0.65 [[ 7.60186701e-01 6.49699638e-01 -2.56140921e-03 1.85489430e+02] [-6.49696198e-01 7.60191014e-01 2.11478930e-03 1.79523083e+02] [ 3.32113811e-03 5.65031296e-05 9.99994483e-01 -6.54681347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41576923100007 meters 0.017058809162779645 Centerline is valid? [True, True] Translation: X:185.51, Y:179.50, Z:-0.65 [[ 7.63269689e-01 6.46075906e-01 -2.30325302e-03 1.85506228e+02] [-6.46073111e-01 7.63273163e-01 1.90097469e-03 1.79497563e+02] [ 2.98618516e-03 3.71134826e-05 9.99995541e-01 -6.53165729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44576923100004 meters 0.013884586143056302 Centerline is valid? [True, True] Translation: X:185.52, Y:179.48, Z:-0.65 [[ 7.66737010e-01 6.41958989e-01 -1.73591301e-03 1.85524978e+02] [-6.41957391e-01 7.66738975e-01 1.43257411e-03 1.79475589e+02] [ 2.25064599e-03 1.59745956e-05 9.99997467e-01 -6.52937942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4757692310001 meters 0.011592466316605736 Centerline is valid? [True, True] Translation: X:185.54, Y:179.44, Z:-0.65 [[ 7.73949499e-01 6.33247108e-01 5.23018788e-04 1.85536360e+02] [-6.33246960e-01 7.73949676e-01 -4.31918848e-04 1.79443793e+02] [-6.78301583e-04 3.08331858e-06 9.99999770e-01 -6.48635473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50576923100004 meters 0.014247834835821399 Centerline is valid? [True, True] Translation: X:185.55, Y:179.42, Z:-0.65 [[ 7.76984406e-01 6.29519158e-01 9.28631117e-04 1.85553173e+02] [-6.29518692e-01 7.76984961e-01 -7.66360321e-04 1.79418566e+02] [-1.20397092e-03 1.08593727e-05 9.99999275e-01 -6.48111728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5357692310001 meters 0.01720723576570661 Centerline is valid? [True, True] Translation: X:185.57, Y:179.39, Z:-0.65 [[ 7.79351726e-01 6.26586212e-01 7.78431344e-04 1.85569869e+02] [-6.26585883e-01 7.79352114e-01 -6.42130755e-04 1.79394533e+02] [-1.00902239e-03 1.26916208e-05 9.99999491e-01 -6.48873047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56576923100005 meters 0.019630900245475064 Centerline is valid? [True, True] Translation: X:185.59, Y:179.37, Z:-0.65 [[ 7.80871377e-01 6.24691764e-01 -3.02900272e-04 1.85587093e+02] [-6.24691714e-01 7.80871436e-01 2.49546543e-04 1.79371574e+02] [ 3.92415841e-04 -5.64446249e-06 9.99999923e-01 -6.50897951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5957692310001 meters 0.019630900245475064 Centerline is valid? [True, True] Translation: X:185.61, Y:179.35, Z:-0.65 [[ 7.80989891e-01 6.24543592e-01 -3.03064250e-04 1.85608440e+02] [-6.24543542e-01 7.80989950e-01 2.49347614e-04 1.79354227e+02] [ 3.92418588e-04 -5.46114541e-06 9.99999923e-01 -6.50948527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62576923100005 meters 0.022213534909409874 Centerline is valid? [True, True] Translation: X:185.62, Y:179.33, Z:-0.65 [[ 7.82390452e-01 6.22784673e-01 -2.10511268e-03 1.85623097e+02] [-6.22782259e-01 7.82393283e-01 1.73460935e-03 1.79328473e+02] [ 2.72731413e-03 -4.61149605e-05 9.99996280e-01 -6.54041028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6557692310001 meters 0.022464339896015543 Centerline is valid? [True, True] Translation: X:185.64, Y:179.31, Z:-0.65 [[ 7.82693119e-01 6.22402943e-01 -2.46139915e-03 1.85642540e+02] [-6.22399643e-01 7.82696987e-01 2.02735705e-03 1.79307107e+02] [ 3.18836269e-03 -5.48244636e-05 9.99994916e-01 -6.54630672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68576923100005 meters 0.0228774922270703 Centerline is valid? [True, True] Translation: X:185.66, Y:179.29, Z:-0.65 [[ 7.82647268e-01 6.22460405e-01 -2.50948709e-03 1.85660800e+02] [-6.22456977e-01 7.82651290e-01 2.06651483e-03 1.79287166e+02] [ 3.25037697e-03 -5.53044355e-05 9.99994716e-01 -6.54904716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7157692310001 meters 0.021535011390364078 Centerline is valid? [True, True] Translation: X:185.68, Y:179.27, Z:-0.65 [[ 7.82178444e-01 6.23050751e-01 -2.15465853e-03 1.85682522e+02] [-6.23048228e-01 7.82181411e-01 1.77359617e-03 1.79268182e+02] [ 2.79037427e-03 -4.48125141e-05 9.99996106e-01 -6.53876738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74576923100005 meters 0.01749112314510472 Centerline is valid? [True, True] Translation: X:185.71, Y:179.25, Z:-0.65 [[ 7.79597545e-01 6.26280003e-01 -1.01237247e-03 1.85705406e+02] [-6.26279450e-01 7.79598202e-01 8.32892713e-04 1.79250099e+02] [ 1.31086781e-03 -1.52930395e-05 9.99999141e-01 -6.50899734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7757692310001 meters 0.015517846507683087 Centerline is valid? [True, True] Translation: X:185.73, Y:179.23, Z:-0.65 [[ 7.78187439e-01 6.28032067e-01 -1.84223254e-04 1.85727184e+02] [-6.28032048e-01 7.78187460e-01 1.51396867e-04 1.79232466e+02] [ 2.38442314e-04 -2.11703252e-06 9.99999972e-01 -6.49028219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80576923100006 meters 0.0140028326017334 Centerline is valid? [True, True] Translation: X:185.75, Y:179.21, Z:-0.65 [[ 7.77195396e-01 6.29259193e-01 4.29385230e-04 1.85749104e+02] [-6.29259093e-01 7.77195515e-01 -3.53622512e-04 1.79214036e+02] [-5.56236491e-04 4.63922820e-06 9.99999845e-01 -6.47511579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.83576923100003 meters 0.013398351505131393 Centerline is valid? [True, True] Translation: X:185.77, Y:179.20, Z:-0.65 [[ 7.76669841e-01 6.29907704e-01 4.91854484e-04 1.85770595e+02] [-6.29907574e-01 7.76669997e-01 -4.04877282e-04 1.79195170e+02] [-6.37043940e-04 4.63310951e-06 9.99999797e-01 -6.47300939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86576923100006 meters 0.013160041711041362 Centerline is valid? [True, True] Translation: X:185.79, Y:179.18, Z:-0.65 [[ 7.76542889e-01 6.30064377e-01 -1.51313439e-04 1.85791864e+02] [-6.30064365e-01 7.76542903e-01 1.23945641e-04 1.79176713e+02] [ 1.95595111e-04 -9.11900372e-07 9.99999981e-01 -6.49073044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89576923100003 meters 0.013442862588234867 Centerline is valid? [True, True] Translation: X:185.81, Y:179.16, Z:-0.65 [[ 7.76388345e-01 6.30252711e-01 -1.63017781e-03 1.85810775e+02] [-6.30251287e-01 7.76390057e-01 1.33982627e-03 1.79156331e+02] [ 2.11008298e-03 -1.28038379e-05 9.99997774e-01 -6.53731392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92576923100006 meters 0.013469858297410748 Centerline is valid? [True, True] Translation: X:185.83, Y:179.14, Z:-0.65 [[ 7.76546219e-01 6.30057234e-01 -1.96280759e-03 1.85831109e+02] [-6.30055171e-01 7.76548699e-01 1.61234256e-03 1.79136957e+02] [ 2.54008377e-03 -1.53814491e-05 9.99996774e-01 -6.54671874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95576923100003 meters 0.013816513297464559 Centerline is valid? [True, True] Translation: X:185.85, Y:179.12, Z:-0.65 [[ 7.76804670e-01 6.29738483e-01 -1.98660540e-03 1.85851026e+02] [-6.29736369e-01 7.76807211e-01 1.63200719e-03 1.79117311e+02] [ 2.57094713e-03 -1.67131310e-05 9.99996695e-01 -6.54121834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98576923100006 meters 0.014418172057134117 Centerline is valid? [True, True] Translation: X:185.87, Y:179.10, Z:-0.65 [[ 7.77325030e-01 6.29097597e-01 -1.41800621e-03 1.85870549e+02] [-6.29096519e-01 7.77326324e-01 1.16472838e-03 1.79097852e+02] [ 1.83498138e-03 -1.33097533e-05 9.99998316e-01 -6.52483940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01576923100004 meters 0.016512137240062966 Centerline is valid? [True, True] Translation: X:185.89, Y:179.07, Z:-0.65 [[ 7.79061469e-01 6.26947409e-01 4.15870560e-04 1.85888991e+02] [-6.26947316e-01 7.79061580e-01 -3.41893579e-04 1.79074507e+02] [-5.38338069e-04 5.62718248e-06 9.99999855e-01 -6.47959212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04576923100007 meters 0.017572122695903435 Centerline is valid? [True, True] Translation: X:185.91, Y:179.05, Z:-0.65 [[ 7.79808895e-01 6.26016797e-01 1.02846592e-03 1.85909042e+02] [-6.26016227e-01 7.79809573e-01 -8.44695716e-04 1.79053614e+02] [-1.33080127e-03 1.48648794e-05 9.99999114e-01 -6.46093464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07576923100004 meters 0.018172396113987098 Centerline is valid? [True, True] Translation: X:185.93, Y:179.03, Z:-0.65 [[ 7.80348324e-01 6.25344521e-01 8.50559754e-04 1.85929541e+02] [-6.25344131e-01 7.80348787e-01 -6.98420605e-04 1.79032916e+02] [-1.10048677e-03 1.31187979e-05 9.99999394e-01 -6.46728828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10576923100007 meters 0.01883294948306312 Centerline is valid? [True, True] Translation: X:185.95, Y:179.01, Z:-0.65 [[ 7.80544181e-01 6.25100579e-01 -2.21052563e-04 1.85948932e+02] [-6.25100552e-01 7.80544212e-01 1.81165350e-04 1.79013459e+02] [ 2.85787864e-04 -3.22748044e-06 9.99999959e-01 -6.50003397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13576923100004 meters 0.016824956605725052 Centerline is valid? [True, True] Translation: X:185.97, Y:179.00, Z:-0.65 [[ 7.80424008e-01 6.25250623e-01 -1.57950917e-04 1.85972271e+02] [-6.25250610e-01 7.80424024e-01 1.29097989e-04 1.78997863e+02] [ 2.03987289e-04 -1.99226266e-06 9.99999979e-01 -6.50170866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16576923100007 meters 0.017163970897753268 Centerline is valid? [True, True] Translation: X:185.99, Y:178.98, Z:-0.65 [[ 7.80329691e-01 6.25368346e-01 -6.89157279e-05 1.85992722e+02] [-6.25368343e-01 7.80329694e-01 5.63181759e-05 1.78979721e+02] [ 8.89965933e-05 -8.49030246e-07 9.99999996e-01 -6.50179749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19576923100004 meters 0.016994907612269274 Centerline is valid? [True, True] Translation: X:186.01, Y:178.96, Z:-0.65 [[ 7.80469771e-01 6.25193507e-01 -1.24913409e-04 1.86013850e+02] [-6.25193498e-01 7.80469781e-01 1.01948920e-04 1.78960659e+02] [ 1.61228944e-04 -1.47299875e-06 9.99999987e-01 -6.50076431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2257692310001 meters 0.01928051977002299 Centerline is valid? [True, True] Translation: X:186.03, Y:178.94, Z:-0.65 [[ 7.80713253e-01 6.24887591e-01 -1.52166061e-03 1.86031392e+02] [-6.24886347e-01 7.80714735e-01 1.24710863e-03 1.78937408e+02] [ 1.96728557e-03 -2.27692921e-05 9.99998065e-01 -6.53199123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25576923100004 meters 0.018352198175751927 Centerline is valid? [True, True] Translation: X:186.05, Y:178.92, Z:-0.65 [[ 7.80636756e-01 6.24980560e-01 -2.35697098e-03 1.86052863e+02] [-6.24977578e-01 7.80640313e-01 1.93078575e-03 1.78919955e+02] [ 3.04665012e-03 -3.41883156e-05 9.99995358e-01 -6.54773707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2857692310001 meters 0.01896736504674004 Centerline is valid? [True, True] Translation: X:186.07, Y:178.90, Z:-0.66 [[ 7.80412763e-01 6.25258802e-01 -2.71130755e-03 1.86072407e+02] [-6.25254858e-01 7.80417471e-01 2.22100445e-03 1.78900879e+02] [ 3.50465437e-03 -3.80419997e-05 9.99993858e-01 -6.55906001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31576923100005 meters 0.017312717994371667 Centerline is valid? [True, True] Translation: X:186.10, Y:178.88, Z:-0.66 [[ 7.79927577e-01 6.25863663e-01 -2.76572602e-03 1.86095266e+02] [-6.25859567e-01 7.79932480e-01 2.26467509e-03 1.78883454e+02] [ 3.57445741e-03 -3.53264681e-05 9.99993611e-01 -6.55579762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3457692310001 meters 0.015537514316553229 Centerline is valid? [True, True] Translation: X:186.12, Y:178.87, Z:-0.66 [[ 7.78353838e-01 6.27821429e-01 -2.35706632e-03 1.86118426e+02] [-6.27818463e-01 7.78357407e-01 1.93001656e-03 1.78867384e+02] [ 3.04634578e-03 -2.24260389e-05 9.99995360e-01 -6.55667013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37576923100005 meters 0.013464160995495857 Centerline is valid? [True, True] Translation: X:186.14, Y:178.85, Z:-0.65 [[ 7.77283247e-01 6.29147465e-01 -2.05440375e-03 1.86144538e+02] [-6.29145219e-01 7.77285962e-01 1.68137611e-03 1.78853156e+02] [ 2.65469272e-03 -1.43871850e-05 9.99996476e-01 -6.53535040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4057692310001 meters 0.01216187069573124 Centerline is valid? [True, True] Translation: X:186.17, Y:178.84, Z:-0.65 [[ 7.75739919e-01 6.31049546e-01 -2.01220255e-03 1.86170288e+02] [-6.31047399e-01 7.75742528e-01 1.64629366e-03 1.78839623e+02] [ 2.59984396e-03 -7.30052487e-06 9.99996620e-01 -6.53397009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43576923100005 meters 0.012660350783374952 Centerline is valid? [True, True] Translation: X:186.20, Y:178.83, Z:-0.65 [[ 7.71692936e-01 6.35988048e-01 -3.03584770e-03 1.86200369e+02] [-6.35983197e-01 7.71698907e-01 2.48394495e-03 1.78832938e+02] [ 3.92251965e-03 1.39053549e-05 9.99992307e-01 -6.54986161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4657692310001 meters 0.013716322538262956 Centerline is valid? [True, True] Translation: X:186.23, Y:178.82, Z:-0.66 [[ 7.69993237e-01 6.38041428e-01 -3.68125224e-03 1.86226278e+02] [-6.38034325e-01 7.70002036e-01 3.01075572e-03 1.78819346e+02] [ 4.75555860e-03 3.05037433e-05 9.99988692e-01 -6.55112077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49576923100005 meters 0.015081962956660895 Centerline is valid? [True, True] Translation: X:186.25, Y:178.81, Z:-0.66 [[ 7.68816447e-01 6.39458338e-01 -3.78214066e-03 1.86250965e+02] [-6.39450859e-01 7.68825749e-01 3.09305868e-03 1.78806299e+02] [ 4.88568928e-03 4.04987056e-05 9.99988064e-01 -6.56345571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5257692310001 meters 0.01575402183738692 Centerline is valid? [True, True] Translation: X:186.27, Y:178.79, Z:-0.66 [[ 7.68889704e-01 6.39373317e-01 -3.22245091e-03 1.86274103e+02] [-6.39367890e-01 7.68896456e-01 2.63448427e-03 1.78792361e+02] [ 4.16215003e-03 3.47038034e-05 9.99991338e-01 -6.56784398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55576923100006 meters 0.0120445175476087 Centerline is valid? [True, True] Translation: X:186.29, Y:178.77, Z:-0.65 [[ 7.72042793e-01 6.35570078e-01 -7.75105542e-04 1.86293290e+02] [-6.35569763e-01 7.72043182e-01 6.33147230e-04 1.78770187e+02] [ 1.00082438e-03 3.81689010e-06 9.99999499e-01 -6.50345040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.58576923100003 meters 0.011218871438252688 Centerline is valid? [True, True] Translation: X:186.31, Y:178.75, Z:-0.65 [[ 7.74460814e-01 6.32621883e-01 3.00194779e-05 1.86313178e+02] [-6.32621882e-01 7.74460815e-01 -2.49223635e-05 1.78749393e+02] [-3.90153419e-05 3.10415294e-07 9.99999999e-01 -6.48465090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61576923100006 meters 0.01198159487865489 Centerline is valid? [True, True] Translation: X:186.33, Y:178.73, Z:-0.65 [[ 7.76556354e-01 6.30047797e-01 4.55526149e-05 1.86332536e+02] [-6.30047796e-01 7.76556355e-01 -3.73553416e-05 1.78729418e+02] [-5.89098234e-05 3.08203220e-07 9.99999998e-01 -6.48621448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64576923100003 meters 0.013568383350541415 Centerline is valid? [True, True] Translation: X:186.35, Y:178.71, Z:-0.65 [[ 7.78456108e-01 6.27699038e-01 -7.53366678e-05 1.86351619e+02] [-6.27699035e-01 7.78456111e-01 6.14027802e-05 1.78709432e+02] [ 9.71887555e-05 -5.10615540e-07 9.99999995e-01 -6.49331355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67576923100006 meters 0.017021875392740173 Centerline is valid? [True, True] Translation: X:186.37, Y:178.69, Z:-0.65 [[ 7.81170043e-01 6.24318220e-01 3.50604959e-04 1.86369312e+02] [-6.24318155e-01 7.81170122e-01 -2.86529151e-04 1.78687824e+02] [-4.52767488e-04 4.93894819e-06 9.99999897e-01 -6.48203746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70576923100003 meters 0.01741424076326007 Centerline is valid? [True, True] Translation: X:186.39, Y:178.67, Z:-0.65 [[ 7.81761200e-01 6.23577604e-01 6.31383626e-04 1.86391707e+02] [-6.23577391e-01 7.81761455e-01 -5.15913989e-04 1.78668903e+02] [-8.15303791e-04 9.60498520e-06 9.99999668e-01 -6.46542940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73576923100006 meters 0.017637650959681075 Centerline is valid? [True, True] Translation: X:186.41, Y:178.65, Z:-0.65 [[ 7.81621869e-01 6.23751995e-01 8.38018148e-04 1.86413398e+02] [-6.23751620e-01 7.81622318e-01 -6.84365114e-04 1.78652271e+02] [-1.08188779e-03 1.21995627e-05 9.99999415e-01 -6.45217228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76576923100004 meters 0.013895495102686816 Centerline is valid? [True, True] Translation: X:186.44, Y:178.64, Z:-0.65 [[ 7.79082642e-01 6.26921132e-01 3.63989320e-04 1.86443194e+02] [-6.26921061e-01 7.79082727e-01 -2.97406827e-04 1.78643579e+02] [-4.70028417e-04 3.51192582e-06 9.99999890e-01 -6.45660887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79576923100007 meters 0.012376654445998229 Centerline is valid? [True, True] Translation: X:186.47, Y:178.63, Z:-0.65 [[ 7.77489909e-01 6.28895410e-01 -6.70348767e-05 1.86470745e+02] [-6.28895408e-01 7.77489912e-01 5.43277372e-05 1.78631008e+02] [ 8.62854049e-05 -8.13413558e-08 9.99999996e-01 -6.46826905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82576923100004 meters 0.011577848342706542 Centerline is valid? [True, True] Translation: X:186.50, Y:178.62, Z:-0.65 [[ 7.75931577e-01 6.30816755e-01 -6.40431996e-04 1.86496975e+02] [-6.30816539e-01 7.75931841e-01 5.22160911e-04 1.78618651e+02] [ 8.26319429e-04 -1.16604379e-06 9.99999659e-01 -6.48326875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85576923100007 meters 0.011583906184538093 Centerline is valid? [True, True] Translation: X:186.52, Y:178.61, Z:-0.65 [[ 7.74844234e-01 6.32151346e-01 -1.04348797e-03 1.86522856e+02] [-6.32150774e-01 7.74844937e-01 8.50352626e-04 1.78605963e+02] [ 1.34609292e-03 7.50896526e-07 9.99999094e-01 -6.50298805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88576923100004 meters 0.011907513862341384 Centerline is valid? [True, True] Translation: X:186.55, Y:178.60, Z:-0.65 [[ 7.73489913e-01 6.33807626e-01 -1.11729999e-03 1.86551398e+02] [-6.33806971e-01 7.73490720e-01 9.10725239e-04 1.78596289e+02] [ 1.44144577e-03 3.71573624e-06 9.99998961e-01 -6.51038462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91576923100007 meters 0.01236144104261845 Centerline is valid? [True, True] Translation: X:186.58, Y:178.58, Z:-0.65 [[ 7.72736661e-01 6.34725723e-01 -1.14458545e-03 1.86576234e+02] [-6.34725038e-01 7.72737508e-01 9.32863903e-04 1.78582960e+02] [ 1.47657682e-03 5.63890593e-06 9.99998910e-01 -6.50746764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94576923100004 meters 0.013316846200469456 Centerline is valid? [True, True] Translation: X:186.60, Y:178.57, Z:-0.65 [[ 7.71691742e-01 6.35995141e-01 -1.42711257e-03 1.86603074e+02] [-6.35994078e-01 7.71693061e-01 1.16254296e-03 1.78569985e+02] [ 1.84066454e-03 1.05103371e-05 9.99998306e-01 -6.50345960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9757692310001 meters 0.01658339425112192 Centerline is valid? [True, True] Translation: X:186.63, Y:178.56, Z:-0.65 [[ 7.69423321e-01 6.38735063e-01 -2.29603053e-03 1.86634739e+02] [-6.38732324e-01 7.69426747e-01 1.87063146e-03 1.78564540e+02] [ 2.96146520e-03 2.72414477e-05 9.99995614e-01 -6.53190312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00576923100004 meters 0.018024379561340148 Centerline is valid? [True, True] Translation: X:186.66, Y:178.55, Z:-0.65 [[ 7.68567774e-01 6.39764610e-01 -2.19547112e-03 1.86661186e+02] [-6.39762111e-01 7.68570909e-01 1.78850094e-03 1.78552991e+02] [ 2.83159484e-03 2.99950502e-05 9.99995991e-01 -6.53819916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0357692310001 meters 0.018291132362951157 Centerline is valid? [True, True] Translation: X:186.69, Y:178.54, Z:-0.65 [[ 7.68025817e-01 6.40415049e-01 -2.21596482e-03 1.86686665e+02] [-6.40412508e-01 7.68029013e-01 1.80436766e-03 1.78539341e+02] [ 2.85746947e-03 3.33306430e-05 9.99995917e-01 -6.52922954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06576923100005 meters 0.02102021824708959 Centerline is valid? [True, True] Translation: X:186.72, Y:178.53, Z:-0.66 [[ 7.67033421e-01 6.41599785e-01 -3.07344473e-03 1.86716418e+02] [-6.41594906e-01 7.67039577e-01 2.50267891e-03 1.78531670e+02] [ 3.96317199e-03 5.22681129e-05 9.99992145e-01 -6.55921598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0957692310001 meters 0.020395906919815777 Centerline is valid? [True, True] Translation: X:186.74, Y:178.52, Z:-0.66 [[ 7.67063257e-01 6.41560264e-01 -3.79317781e-03 1.86740400e+02] [-6.41552837e-01 7.67072633e-01 3.08755661e-03 1.78516174e+02] [ 4.89049652e-03 6.51727570e-05 9.99988039e-01 -6.57418592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12576923100005 meters 0.020493164650609214 Centerline is valid? [True, True] Translation: X:186.76, Y:178.50, Z:-0.66 [[ 7.67276633e-01 6.41303713e-01 -4.01445043e-03 1.86763560e+02] [-6.41295393e-01 7.67287132e-01 3.26735601e-03 1.78502093e+02] [ 5.17560370e-03 6.74826457e-05 9.99986604e-01 -6.57799126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1557692310001 meters 0.01774527300787211 Centerline is valid? [True, True] Translation: X:186.79, Y:178.48, Z:-0.65 [[ 7.67882958e-01 6.40581301e-01 -3.37031342e-03 1.86785225e+02] [-6.40575436e-01 7.67890352e-01 2.74189628e-03 1.78483127e+02] [ 4.34443865e-03 5.34845602e-05 9.99990561e-01 -6.54876769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18576923100005 meters 0.016623910012585976 Centerline is valid? [True, True] Translation: X:186.81, Y:178.47, Z:-0.65 [[ 7.68494290e-01 6.39853520e-01 -1.99984669e-03 1.86808506e+02] [-6.39851454e-01 7.68496892e-01 1.62621870e-03 1.78465747e+02] [ 2.57741772e-03 2.98650253e-05 9.99996678e-01 -6.51861676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2157692310001 meters 0.017137110029923755 Centerline is valid? [True, True] Translation: X:186.83, Y:178.45, Z:-0.65 [[ 7.69488710e-01 6.38660403e-01 1.25097337e-04 1.86834988e+02] [-6.38660395e-01 7.69488720e-01 -1.01883938e-04 1.78453728e+02] [-1.61330227e-04 -1.49617430e-06 9.99999987e-01 -6.47873776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24576923100005 meters 0.016640286572917773 Centerline is valid? [True, True] Translation: X:186.86, Y:178.44, Z:-0.65 [[ 7.69917513e-01 6.38143039e-01 6.97337913e-04 1.86858121e+02] [-6.38142786e-01 7.69917828e-01 -5.67339006e-04 1.78438197e+02] [-8.98936329e-04 -8.19692269e-06 9.99999596e-01 -6.46132391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2757692310001 meters 0.01571484085338114 Centerline is valid? [True, True] Translation: X:186.88, Y:178.42, Z:-0.65 [[ 7.69940072e-01 6.38115908e-01 6.10573347e-04 1.86879984e+02] [-6.38115715e-01 7.69940314e-01 -4.96642112e-04 1.78421369e+02] [-7.87020267e-04 -7.23178387e-06 9.99999690e-01 -6.46438501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30576923100006 meters 0.01801632168808085 Centerline is valid? [True, True] Translation: X:186.91, Y:178.41, Z:-0.65 [[ 7.69464127e-01 6.38689770e-01 -5.78150342e-04 1.86906476e+02] [-6.38689598e-01 7.69464345e-01 4.69650286e-04 1.78409745e+02] [ 7.44826907e-04 7.87956206e-06 9.99999723e-01 -6.49648956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.33576923100003 meters 0.016647456939224592 Centerline is valid? [True, True] Translation: X:186.93, Y:178.39, Z:-0.65 [[ 7.69153504e-01 6.39063109e-01 -1.10874037e-03 1.86928582e+02] [-6.39062475e-01 7.69154303e-01 9.00220233e-04 1.78391620e+02] [ 1.42808997e-03 1.61468212e-05 9.99998980e-01 -6.49442991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36576923100006 meters 0.01738382471011592 Centerline is valid? [True, True] Translation: X:186.95, Y:178.38, Z:-0.65 [[ 7.68701135e-01 6.39606889e-01 -1.26211223e-03 1.86953272e+02] [-6.39606069e-01 7.68702171e-01 1.02444942e-03 1.78376874e+02] [ 1.62543331e-03 1.97592109e-05 9.99998679e-01 -6.49396545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39576923100003 meters 0.01868057865093327 Centerline is valid? [True, True] Translation: X:186.98, Y:178.36, Z:-0.65 [[ 7.68133563e-01 6.40288777e-01 -1.05468324e-03 1.86977760e+02] [-6.40288205e-01 7.68134287e-01 8.56046053e-04 1.78362548e+02] [ 1.35825504e-03 1.77435342e-05 9.99999077e-01 -6.49282336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42576923100006 meters 0.02006704454796709 Centerline is valid? [True, True] Translation: X:187.00, Y:178.35, Z:-0.65 [[ 7.67780971e-01 6.40712393e-01 9.68765704e-05 1.87002854e+02] [-6.40712388e-01 7.67780978e-01 -7.88450957e-05 1.78348820e+02] [-1.24897018e-04 -1.53425462e-06 9.99999992e-01 -6.47236359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45576923100003 meters 0.01856284621273282 Centerline is valid? [True, True] Translation: X:187.02, Y:178.33, Z:-0.65 [[ 7.68259549e-01 6.40138450e-01 1.72961417e-04 1.87024304e+02] [-6.40138434e-01 7.68259569e-01 -1.40738489e-04 1.78329503e+02] [-2.22971382e-04 -2.59556286e-06 9.99999975e-01 -6.47609081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48576923100006 meters 0.01856284621273282 Centerline is valid? [True, True] Translation: X:187.05, Y:178.31, Z:-0.65 [[ 7.68380101e-01 6.39993743e-01 1.72960457e-04 1.87045774e+02] [-6.39993727e-01 7.68380120e-01 -1.40739718e-04 1.78312338e+02] [-2.22971916e-04 -2.55200839e-06 9.99999975e-01 -6.47659638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51576923100004 meters 0.017414998673485105 Centerline is valid? [True, True] Translation: X:187.07, Y:178.29, Z:-0.65 [[ 7.69343072e-01 6.38835552e-01 -6.13239847e-04 1.87066993e+02] [-6.38835358e-01 7.69343316e-01 4.96859159e-04 1.78293398e+02] [ 7.89203272e-04 9.50414575e-06 9.99999689e-01 -6.49674400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54576923100007 meters 0.0141612333582781 Centerline is valid? [True, True] Translation: X:187.08, Y:178.27, Z:-0.65 [[ 7.72329334e-01 6.35219320e-01 -1.95319365e-03 1.87084989e+02] [-6.35217348e-01 7.72331804e-01 1.58283907e-03 1.78270811e+02] [ 2.51396354e-03 1.82294445e-05 9.99996840e-01 -6.53543129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57576923100004 meters 0.012438046980680817 Centerline is valid? [True, True] Translation: X:187.10, Y:178.25, Z:-0.65 [[ 7.74415586e-01 6.32674675e-01 -1.80416704e-03 1.87103802e+02] [-6.32672987e-01 7.74417688e-01 1.46155230e-03 1.78248529e+02] [ 2.32186599e-03 9.59887117e-06 9.99997304e-01 -6.53018682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60576923100007 meters 0.011279930910907949 Centerline is valid? [True, True] Translation: X:187.12, Y:178.22, Z:-0.65 [[ 7.76662234e-01 6.29915933e-01 -1.30039001e-03 1.87122082e+02] [-6.29915053e-01 7.76663323e-01 1.05296126e-03 1.78224797e+02] [ 1.67324230e-03 1.33999928e-06 9.99998600e-01 -6.51304742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63576923100004 meters 0.012243262998745088 Centerline is valid? [True, True] Translation: X:187.14, Y:178.20, Z:-0.65 [[ 7.80060207e-01 6.25704182e-01 -5.91745146e-04 1.87137190e+02] [-6.25703999e-01 7.80060431e-01 4.78764746e-04 1.78198111e+02] [ 7.61162078e-04 -3.20802247e-06 9.99999710e-01 -6.50056749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66576923100007 meters 0.01335665190219761 Centerline is valid? [True, True] Translation: X:187.16, Y:178.18, Z:-0.65 [[ 7.81079042e-01 6.24431227e-01 -1.08272093e-03 1.87156381e+02] [-6.24430612e-01 7.81079793e-01 8.76361177e-04 1.78177370e+02] [ 1.39291873e-03 -8.42325315e-06 9.99999030e-01 -6.51421496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69576923100004 meters 0.013993494775574647 Centerline is valid? [True, True] Translation: X:187.18, Y:178.16, Z:-0.65 [[ 7.81840940e-01 6.23475215e-01 -1.84409578e-03 1.87176817e+02] [-6.23473430e-01 7.81843114e-01 1.49209072e-03 1.78156858e+02] [ 2.37207517e-03 -1.68328884e-05 9.99997186e-01 -6.52926282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7257692310001 meters 0.01506339503507694 Centerline is valid? [True, True] Translation: X:187.20, Y:178.14, Z:-0.65 [[ 7.82325251e-01 6.22866184e-01 -2.21770758e-03 1.87196112e+02] [-6.22863599e-01 7.82328394e-01 1.79450237e-03 1.78137035e+02] [ 2.85271045e-03 -2.25551936e-05 9.99995931e-01 -6.54475416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75576923100004 meters 0.015381841869678347 Centerline is valid? [True, True] Translation: X:187.22, Y:178.12, Z:-0.65 [[ 7.82821441e-01 6.22241772e-01 -2.40192526e-03 1.87216521e+02] [-6.22238740e-01 7.82825125e-01 1.94268665e-03 1.78116119e+02] [ 3.08910823e-03 -2.62058146e-05 9.99995228e-01 -6.54372642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7857692310001 meters 0.014846648101914934 Centerline is valid? [True, True] Translation: X:187.24, Y:178.10, Z:-0.65 [[ 7.82884120e-01 6.22164366e-01 -1.98909599e-03 1.87237640e+02] [-6.22162289e-01 7.82886646e-01 1.60802646e-03 1.78098490e+02] [ 2.55769345e-03 -2.13578696e-05 9.99996729e-01 -6.52901032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81576923100005 meters 0.014790653064556 Centerline is valid? [True, True] Translation: X:187.26, Y:178.08, Z:-0.65 [[ 7.82697105e-01 6.22400289e-01 -1.76699090e-03 1.87258778e+02] [-6.22398650e-01 7.82699099e-01 1.42856035e-03 1.78080597e+02] [ 2.27215856e-03 -1.83572987e-05 9.99997418e-01 -6.52261049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8457692310001 meters 0.013996053847955044 Centerline is valid? [True, True] Translation: X:187.28, Y:178.06, Z:-0.65 [[ 7.82158304e-01 6.23077927e-01 -1.51143678e-03 1.87282383e+02] [-6.23076730e-01 7.82159764e-01 1.22127192e-03 1.78063297e+02] [ 1.94313261e-03 -1.34868905e-05 9.99998112e-01 -6.51437775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87576923100005 meters 0.012030355868401989 Centerline is valid? [True, True] Translation: X:187.31, Y:178.05, Z:-0.65 [[ 7.80199635e-01 6.25530314e-01 -5.96114393e-04 1.87308359e+02] [-6.25530129e-01 7.80199863e-01 4.81278160e-04 1.78049814e+02] [ 7.66142446e-04 -2.60553137e-06 9.99999707e-01 -6.48496700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9057692310001 meters 0.01125880090512532 Centerline is valid? [True, True] Translation: X:187.33, Y:178.03, Z:-0.65 [[ 7.79239876e-01 6.26725774e-01 -1.41110667e-04 1.87331717e+02] [-6.26725764e-01 7.79239889e-01 1.13510779e-04 1.78034740e+02] [ 1.81099191e-04 -1.44347129e-08 9.99999984e-01 -6.47265735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93576923100005 meters 0.011148494257128862 Centerline is valid? [True, True] Translation: X:187.35, Y:178.02, Z:-0.65 [[ 7.78272821e-01 6.27926225e-01 2.68673364e-04 1.87354375e+02] [-6.27926187e-01 7.78272868e-01 -2.17166700e-04 1.78019512e+02] [-3.45465856e-04 3.07898621e-07 9.99999940e-01 -6.47300806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9657692310001 meters 0.01121352138138106 Centerline is valid? [True, True] Translation: X:187.38, Y:178.00, Z:-0.65 [[ 7.77565497e-01 6.28801698e-01 5.68024400e-04 1.87377979e+02] [-6.28801530e-01 7.77565705e-01 -4.58987011e-04 1.78003815e+02] [-7.30288105e-04 -2.82148718e-07 9.99999733e-01 -6.48127237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99576923100005 meters 0.011397095777486339 Centerline is valid? [True, True] Translation: X:187.40, Y:177.99, Z:-0.65 [[ 7.77686919e-01 6.28651722e-01 -2.62809196e-04 1.87399298e+02] [-6.28651686e-01 7.77686963e-01 2.11903402e-04 1.77986516e+02] [ 3.37596724e-04 4.20940797e-07 9.99999943e-01 -6.50696769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0257692310001 meters 0.011658560903141364 Centerline is valid? [True, True] Translation: X:187.42, Y:177.97, Z:-0.65 [[ 7.78239330e-01 6.27965107e-01 -1.83561998e-03 1.87420767e+02] [-6.27963362e-01 7.78241495e-01 1.48059776e-03 1.77967643e+02] [ 2.35831937e-03 4.42684246e-07 9.99997219e-01 -6.54694886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05576923100006 meters 0.011864784048803404 Centerline is valid? [True, True] Translation: X:187.44, Y:177.95, Z:-0.66 [[ 7.78577664e-01 6.27539286e-01 -3.35636124e-03 1.87442319e+02] [-6.27533449e-01 7.78584899e-01 2.70659648e-03 1.77948421e+02] [ 4.31170780e-03 -1.06662114e-06 9.99990705e-01 -6.57023786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.08576923100003 meters 0.012069910648734779 Centerline is valid? [True, True] Translation: X:187.46, Y:177.93, Z:-0.66 [[ 7.78233877e-01 6.27962394e-01 -3.90692852e-03 1.87464067e+02] [-6.27954491e-01 7.78243684e-01 3.15051461e-03 1.77930464e+02] [ 5.01894715e-03 1.53611038e-06 9.99987405e-01 -6.57046278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11576923100006 meters 0.011883730246097492 Centerline is valid? [True, True] Translation: X:187.49, Y:177.91, Z:-0.66 [[ 7.77642691e-01 6.28697704e-01 -3.32292393e-03 1.87487176e+02] [-6.28692000e-01 7.77649791e-01 2.67820171e-03 1.77914651e+02] [ 4.26785036e-03 6.41170504e-06 9.99990893e-01 -6.55121084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14576923100003 meters 0.012227396593187473 Centerline is valid? [True, True] Translation: X:187.51, Y:177.90, Z:-0.65 [[ 7.76597043e-01 6.29993555e-01 -2.27000719e-03 1.87510301e+02] [-6.29990899e-01 7.76600361e-01 1.82937605e-03 1.77900249e+02] [ 2.91538353e-03 9.39583895e-06 9.99995750e-01 -6.52782070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17576923100006 meters 0.013291437289664589 Centerline is valid? [True, True] Translation: X:187.54, Y:177.89, Z:-0.65 [[ 7.74962675e-01 6.32006583e-01 -7.29402812e-04 1.87535278e+02] [-6.32006310e-01 7.74963018e-01 5.87672340e-04 1.77886581e+02] [ 9.36672992e-04 5.56305157e-06 9.99999561e-01 -6.49664283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20576923100003 meters 0.014094122792513129 Centerline is valid? [True, True] Translation: X:187.56, Y:177.87, Z:-0.65 [[ 7.74425120e-01 6.32665577e-01 -2.39332307e-05 1.87558582e+02] [-6.32665577e-01 7.74425121e-01 1.91476730e-05 1.77871070e+02] [ 3.06485685e-05 3.13292276e-07 1.00000000e+00 -6.48030419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23576923100006 meters 0.014071826514057077 Centerline is valid? [True, True] Translation: X:187.58, Y:177.85, Z:-0.65 [[ 7.74320200e-01 6.32793627e-01 6.73833651e-04 1.87580456e+02] [-6.32793394e-01 7.74320493e-01 -5.43194258e-04 1.77854280e+02] [-8.65493069e-04 -5.79119670e-06 9.99999625e-01 -6.46186302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26576923100004 meters 0.013479728669757595 Centerline is valid? [True, True] Translation: X:187.60, Y:177.84, Z:-0.65 [[ 7.74616812e-01 6.32430306e-01 8.37614152e-04 1.87602136e+02] [-6.32429946e-01 7.74617265e-01 -6.74869566e-04 1.77837005e+02] [-1.07563835e-03 -6.96696098e-06 9.99999421e-01 -6.45620844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29576923100007 meters 0.013225049579587929 Centerline is valid? [True, True] Translation: X:187.63, Y:177.82, Z:-0.65 [[ 7.75449641e-01 6.31409332e-01 -3.31590739e-04 1.87625164e+02] [-6.31409276e-01 7.75449712e-01 2.66811922e-04 1.77820493e+02] [ 4.25599481e-04 2.47025924e-06 9.99999909e-01 -6.48719603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32576923100004 meters 0.012815567722346348 Centerline is valid? [True, True] Translation: X:187.65, Y:177.80, Z:-0.65 [[ 7.76148588e-01 6.30549078e-01 -1.10881583e-03 1.87646302e+02] [-6.30548447e-01 7.76149380e-01 8.92337147e-04 1.77803480e+02] [ 1.42326908e-03 6.57588389e-06 9.99998987e-01 -6.50877023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35576923100007 meters 0.012353567841709268 Centerline is valid? [True, True] Translation: X:187.67, Y:177.79, Z:-0.65 [[ 7.77020083e-01 6.29474093e-01 -1.46874192e-03 1.87668005e+02] [-6.29472985e-01 7.77021471e-01 1.18137582e-03 1.77785435e+02] [ 1.88488948e-03 6.58061954e-06 9.99998224e-01 -6.51814118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38576923100004 meters 0.01187831726323232 Centerline is valid? [True, True] Translation: X:187.69, Y:177.77, Z:-0.65 [[ 7.77952806e-01 6.28320654e-01 -1.60828397e-03 1.87688558e+02] [-6.28319322e-01 7.77954469e-01 1.29368989e-03 1.77768127e+02] [ 2.06402378e-03 4.08621137e-06 9.99997870e-01 -6.52350425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41576923100007 meters 0.011768302126006965 Centerline is valid? [True, True] Translation: X:187.71, Y:177.75, Z:-0.65 [[ 7.80040582e-01 6.25727046e-01 -1.53463255e-03 1.87707880e+02] [-6.25725829e-01 7.80042091e-01 1.23423984e-03 1.77748538e+02] [ 1.96937523e-03 -2.49794265e-06 9.99998061e-01 -6.52495024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44576923100004 meters 0.012220809068782127 Centerline is valid? [True, True] Translation: X:187.73, Y:177.73, Z:-0.65 [[ 7.81228685e-01 6.24243323e-01 -1.41970008e-03 1.87728910e+02] [-6.24242280e-01 7.81229975e-01 1.14113585e-03 1.77729564e+02] [ 1.82145870e-03 -5.25124400e-06 9.99998341e-01 -6.52353935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4757692310001 meters 0.012904643164669426 Centerline is valid? [True, True] Translation: X:187.75, Y:177.71, Z:-0.65 [[ 7.82109846e-01 6.23139213e-01 -1.30774263e-03 1.87749287e+02] [-6.23138327e-01 7.82110939e-01 1.05073039e-03 1.77710998e+02] [ 1.67755113e-03 -6.88203083e-06 9.99998593e-01 -6.52140526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50576923100004 meters 0.013548710576770793 Centerline is valid? [True, True] Translation: X:187.77, Y:177.69, Z:-0.65 [[ 7.82814094e-01 6.22253535e-01 -1.62244551e-03 1.87769772e+02] [-6.22252169e-01 7.82815776e-01 1.30382744e-03 1.77692183e+02] [ 2.08138717e-03 -1.10842583e-05 9.99997834e-01 -6.52927785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5357692310001 meters 0.013000597297863082 Centerline is valid? [True, True] Translation: X:187.79, Y:177.68, Z:-0.65 [[ 7.82823078e-01 6.22241858e-01 -1.76021804e-03 1.87793274e+02] [-6.22240252e-01 7.82825057e-01 1.41369275e-03 1.77676399e+02] [ 2.25760159e-03 -1.13927988e-05 9.99997452e-01 -6.52662812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56576923100005 meters 0.012895651433455065 Centerline is valid? [True, True] Translation: X:187.82, Y:177.66, Z:-0.65 [[ 7.82600404e-01 6.22523233e-01 -1.19702397e-03 1.87815764e+02] [-6.22522491e-01 7.82601319e-01 9.61421172e-04 1.77659899e+02] [ 1.53529955e-03 -7.23425469e-06 9.99998821e-01 -6.51933407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5957692310001 meters 0.01138443821186096 Centerline is valid? [True, True] Translation: X:187.84, Y:177.65, Z:-0.65 [[ 7.81213953e-01 6.24262689e-01 9.24431846e-04 1.87841431e+02] [-6.24262247e-01 7.81214500e-01 -7.42728659e-04 1.77646069e+02] [-1.18583735e-03 3.14209062e-06 9.99999297e-01 -6.45993984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62576923100005 meters 0.011100705011130458 Centerline is valid? [True, True] Translation: X:187.87, Y:177.63, Z:-0.65 [[ 7.80133921e-01 6.25611201e-01 1.30048982e-03 1.87865725e+02] [-6.25610329e-01 7.80135005e-01 -1.04435702e-03 1.77631203e+02] [-1.66791908e-03 1.13846938e-06 9.99998609e-01 -6.45200989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6557692310001 meters 0.011265256004076737 Centerline is valid? [True, True] Translation: X:187.89, Y:177.62, Z:-0.65 [[ 7.79037295e-01 6.26977315e-01 5.82053046e-04 1.87890691e+02] [-6.26977141e-01 7.79037513e-01 -4.67482024e-04 1.77617365e+02] [-7.46541781e-04 -7.48022587e-07 9.99999721e-01 -6.45884297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68576923100005 meters 0.01355537737337543 Centerline is valid? [True, True] Translation: X:187.92, Y:177.61, Z:-0.65 [[ 7.75936314e-01 6.30810997e-01 -5.68010007e-04 1.87921436e+02] [-6.30810832e-01 7.75936522e-01 4.55572184e-04 1.77610950e+02] [ 7.28119652e-04 4.81186397e-06 9.99999735e-01 -6.48448492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7157692310001 meters 0.015897394839374898 Centerline is valid? [True, True] Translation: X:187.95, Y:177.60, Z:-0.65 [[ 7.73963692e-01 6.33229241e-01 -9.65205000e-04 1.87949041e+02] [-6.33228769e-01 7.73964294e-01 7.73724718e-04 1.77599467e+02] [ 1.23697932e-03 1.23607343e-05 9.99999235e-01 -6.48912801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74576923100005 meters 0.01929066478949554 Centerline is valid? [True, True] Translation: X:187.98, Y:177.59, Z:-0.65 [[ 7.71659695e-01 6.36035008e-01 -8.85468958e-04 1.87976132e+02] [-6.36034612e-01 7.71660203e-01 7.09896494e-04 1.77589411e+02] [ 1.13480018e-03 1.53903937e-05 9.99999356e-01 -6.49095577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7757692310001 meters 0.022274500433389858 Centerline is valid? [True, True] Translation: X:188.00, Y:177.58, Z:-0.65 [[ 7.69787680e-01 6.38299664e-01 -6.83129035e-04 1.88003952e+02] [-6.38299430e-01 7.69787983e-01 5.47236087e-04 1.77578142e+02] [ 8.75165132e-04 1.47852750e-05 9.99999617e-01 -6.48256910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80576923100006 meters 0.024329100570958922 Centerline is valid? [True, True] Translation: X:188.03, Y:177.57, Z:-0.65 [[ 7.68621810e-01 6.39703147e-01 -6.30055270e-04 1.88031178e+02] [-6.39702948e-01 7.68622068e-01 5.04524749e-04 1.77566002e+02] [ 8.07020454e-04 1.52594880e-05 9.99999674e-01 -6.48667748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8357692310001 meters 0.02410318222657407 Centerline is valid? [True, True] Translation: X:188.06, Y:177.55, Z:-0.65 [[ 7.68708906e-01 6.39597675e-01 -1.19626313e-03 1.88057992e+02] [-6.39596959e-01 7.68709837e-01 9.57836936e-04 1.77554790e+02] [ 1.53220951e-03 2.88284771e-05 9.99998826e-01 -6.50677234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86576923100006 meters 0.0221395062664157 Centerline is valid? [True, True] Translation: X:188.08, Y:177.54, Z:-0.65 [[ 7.70172813e-01 6.37833410e-01 -1.54237394e-03 1.88080184e+02] [-6.37832216e-01 7.70174357e-01 1.23473136e-03 1.77536571e+02] [ 1.97544978e-03 3.28192613e-05 9.99998048e-01 -6.51676837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89576923100003 meters 0.019129082590556686 Centerline is valid? [True, True] Translation: X:188.10, Y:177.52, Z:-0.65 [[ 7.72295312e-01 6.35261340e-01 -1.72652361e-03 1.88101523e+02] [-6.35259838e-01 7.72297241e-01 1.38179134e-03 1.77516234e+02] [ 2.21118803e-03 2.96401351e-05 9.99997555e-01 -6.52254923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92576923100006 meters 0.013257246579847315 Centerline is valid? [True, True] Translation: X:188.12, Y:177.49, Z:-0.65 [[ 7.77277476e-01 6.29155585e-01 -1.72497177e-03 1.88118826e+02] [-6.29154070e-01 7.77279390e-01 1.38060573e-03 1.77493474e+02] [ 2.20940081e-03 1.21592728e-05 9.99997559e-01 -6.51919169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95576923100003 meters 0.011762291258535703 Centerline is valid? [True, True] Translation: X:188.14, Y:177.47, Z:-0.65 [[ 7.79745771e-01 6.26093903e-01 -1.71971753e-03 1.88138537e+02] [-6.26092391e-01 7.79747668e-01 1.37567982e-03 1.77472594e+02] [ 2.20225048e-03 4.02153662e-06 9.99997575e-01 -6.52041219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98576923100006 meters 0.011813491516389558 Centerline is valid? [True, True] Translation: X:188.16, Y:177.45, Z:-0.65 [[ 7.82065550e-01 6.23194085e-01 -1.61497786e-03 1.88156756e+02] [-6.23192746e-01 7.82067217e-01 1.29184967e-03 1.77452628e+02] [ 2.06809431e-03 -3.86863222e-06 9.99997861e-01 -6.51670115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01576923100004 meters 0.014048090904671014 Centerline is valid? [True, True] Translation: X:188.17, Y:177.43, Z:-0.65 [[ 7.85106624e-01 6.19359237e-01 -1.31319663e-03 1.88173571e+02] [-6.19358347e-01 7.85107722e-01 1.05021637e-03 1.77429403e+02] [ 1.68146203e-03 -1.11925356e-05 9.99998586e-01 -6.51159858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04576923100007 meters 0.013914326662517696 Centerline is valid? [True, True] Translation: X:188.20, Y:177.41, Z:-0.65 [[ 7.85477733e-01 6.18889208e-01 -9.37431842e-04 1.88195207e+02] [-6.18888755e-01 7.85478293e-01 7.49113836e-04 1.77412296e+02] [ 1.19995083e-03 -8.24621302e-06 9.99999280e-01 -6.49978926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07576923100004 meters 0.013495711531344308 Centerline is valid? [True, True] Translation: X:188.22, Y:177.40, Z:-0.65 [[ 7.85315210e-01 6.19096014e-01 -3.82221999e-04 1.88217966e+02] [-6.19095939e-01 7.85315303e-01 3.05048930e-04 1.77395949e+02] [ 4.89019362e-04 -2.92747703e-06 9.99999880e-01 -6.48441390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10576923100007 meters 0.012971224374038316 Centerline is valid? [True, True] Translation: X:188.24, Y:177.38, Z:-0.65 [[ 7.84823192e-01 6.19719528e-01 5.12968502e-04 1.88240738e+02] [-6.19719393e-01 7.84823360e-01 -4.10137781e-04 1.77379226e+02] [-6.56760056e-04 3.98911354e-06 9.99999784e-01 -6.46439663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13576923100004 meters 0.012331384767441809 Centerline is valid? [True, True] Translation: X:188.26, Y:177.36, Z:-0.64 [[ 7.83837100e-01 6.20962698e-01 2.17449199e-03 1.88263529e+02] [-6.20960267e-01 7.83840116e-01 -1.73762094e-03 1.77362722e+02] [-2.78345184e-03 1.17386319e-05 9.99996126e-01 -6.42346577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16576923100007 meters 0.01230944717909764 Centerline is valid? [True, True] Translation: X:188.28, Y:177.35, Z:-0.64 [[ 7.83782989e-01 6.21030305e-01 2.36348860e-03 1.88284158e+02] [-6.21027434e-01 7.83786552e-01 -1.88837646e-03 1.77345357e+02] [-3.02520959e-03 1.22860832e-05 9.99995424e-01 -6.41782592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19576923100004 meters 0.012421659069524523 Centerline is valid? [True, True] Translation: X:188.31, Y:177.33, Z:-0.64 [[ 7.84142887e-01 6.20577273e-01 1.94449303e-03 1.88305154e+02] [-6.20575329e-01 7.84145298e-01 -1.55330462e-03 1.77327324e+02] [-2.48871061e-03 1.13083665e-05 9.99996903e-01 -6.43404483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2257692310001 meters 0.013554534803681517 Centerline is valid? [True, True] Translation: X:188.32, Y:177.31, Z:-0.65 [[ 7.85408084e-01 6.18977026e-01 1.25825073e-03 1.88324927e+02] [-6.18976211e-01 7.85409091e-01 -1.00488959e-03 1.77305462e+02] [-1.61024513e-03 1.04211380e-05 9.99998704e-01 -6.45578757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25576923100004 meters 0.014721730660696436 Centerline is valid? [True, True] Translation: X:188.34, Y:177.29, Z:-0.65 [[ 7.85972053e-01 6.18261364e-01 9.04456029e-04 1.88344677e+02] [-6.18260943e-01 7.85972573e-01 -7.22112703e-04 1.77285135e+02] [-1.15733202e-03 8.37056657e-06 9.99999330e-01 -6.46202006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2857692310001 meters 0.015541988825286561 Centerline is valid? [True, True] Translation: X:188.37, Y:177.27, Z:-0.65 [[ 7.86614267e-01 6.17444665e-01 2.83382405e-04 1.88365721e+02] [-6.17444623e-01 7.86614319e-01 -2.26494995e-04 1.77265434e+02] [-3.62760784e-04 3.19125239e-06 9.99999934e-01 -6.47438003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31576923100005 meters 0.014947765192318363 Centerline is valid? [True, True] Translation: X:188.39, Y:177.25, Z:-0.65 [[ 7.86986220e-01 6.16970068e-01 -7.90440001e-04 1.88388317e+02] [-6.16969746e-01 7.86986617e-01 6.30167057e-04 1.77248095e+02] [ 1.01085991e-03 -8.25522320e-06 9.99999489e-01 -6.49153152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3457692310001 meters 0.01542030144460815 Centerline is valid? [True, True] Translation: X:188.41, Y:177.23, Z:-0.65 [[ 7.87040130e-01 6.16898368e-01 -2.05841324e-03 1.88407027e+02] [-6.16896184e-01 7.87042821e-01 1.64171827e-03 1.77227067e+02] [ 2.63283268e-03 -2.22708890e-05 9.99996534e-01 -6.52943346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37576923100005 meters 0.015752146931028294 Centerline is valid? [True, True] Translation: X:188.43, Y:177.21, Z:-0.65 [[ 7.87110088e-01 6.16808568e-01 -2.21374329e-03 1.88426159e+02] [-6.16806043e-01 7.87113200e-01 1.76500127e-03 1.77208400e+02] [ 2.83113447e-03 -2.38000610e-05 9.99995992e-01 -6.53960015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4057692310001 meters 0.015752146931028294 Centerline is valid? [True, True] Translation: X:188.45, Y:177.19, Z:-0.65 [[ 7.87221516e-01 6.16666346e-01 -2.21412511e-03 1.88447780e+02] [-6.16663822e-01 7.87224630e-01 1.76452233e-03 1.77191426e+02] [ 2.83113536e-03 -2.36990915e-05 9.99995992e-01 -6.54010570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43576923100005 meters 0.015721015520163445 Centerline is valid? [True, True] Translation: X:188.47, Y:177.17, Z:-0.65 [[ 7.87359888e-01 6.16491011e-01 -1.80008240e-03 1.88468491e+02] [-6.16489344e-01 7.87361945e-01 1.43394303e-03 1.77173093e+02] [ 2.30132937e-03 -1.92976073e-05 9.99997352e-01 -6.53035713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4657692310001 meters 0.015305704516642918 Centerline is valid? [True, True] Translation: X:188.49, Y:177.15, Z:-0.65 [[ 7.87257521e-01 6.16623703e-01 -8.97211098e-04 1.88490262e+02] [-6.16623289e-01 7.87258032e-01 7.14236682e-04 1.77154958e+02] [ 1.14675191e-03 -9.04694095e-06 9.99999342e-01 -6.51352190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49576923100005 meters 0.014163483219772717 Centerline is valid? [True, True] Translation: X:188.51, Y:177.14, Z:-0.65 [[ 7.86567571e-01 6.17502482e-01 1.46315970e-03 1.88512797e+02] [-6.17501382e-01 7.86568932e-01 -1.16545667e-03 1.77136355e+02] [-1.87054835e-03 1.32072869e-05 9.99998250e-01 -6.45649396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5257692310001 meters 0.01367264040836273 Centerline is valid? [True, True] Translation: X:188.53, Y:177.12, Z:-0.65 [[ 7.86046871e-01 6.18165604e-01 1.26621190e-03 1.88534652e+02] [-6.18164781e-01 7.86047891e-01 -1.00827445e-03 1.77119045e+02] [-1.61858377e-03 9.82337199e-06 9.99998690e-01 -6.46098890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55576923100006 meters 0.01268152178468608 Centerline is valid? [True, True] Translation: X:188.56, Y:177.10, Z:-0.65 [[ 7.85409991e-01 6.18975828e-01 2.64632452e-04 1.88557705e+02] [-6.18975792e-01 7.85410036e-01 -2.11057586e-04 1.77102723e+02] [-3.38484528e-04 1.96565452e-06 9.99999943e-01 -6.48048198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5857692310001 meters 0.011973479497295365 Centerline is valid? [True, True] Translation: X:188.58, Y:177.09, Z:-0.65 [[ 7.83409916e-01 6.21504120e-01 -1.23767085e-03 1.88582086e+02] [-6.21503341e-01 7.83410894e-01 9.84263920e-04 1.77088862e+02] [ 1.58132891e-03 -1.86554875e-06 9.99998750e-01 -6.51445448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61576923100006 meters 0.011841186176632726 Centerline is valid? [True, True] Translation: X:188.60, Y:177.07, Z:-0.65 [[ 7.82557933e-01 6.22576969e-01 -9.99914826e-04 1.88604787e+02] [-6.22576461e-01 7.82558572e-01 7.95194808e-04 1.77073414e+02] [ 1.27756189e-03 2.37428607e-07 9.99999184e-01 -6.51501429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64576923100003 meters 0.011682096940964079 Centerline is valid? [True, True] Translation: X:188.63, Y:177.06, Z:-0.65 [[ 7.81997913e-01 6.23281048e-01 -2.58349459e-05 1.88627249e+02] [-6.23281047e-01 7.81997913e-01 2.00923558e-05 1.77056938e+02] [ 3.27260583e-05 3.90251819e-07 9.99999999e-01 -6.48895862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67576923100006 meters 0.011823558314967222 Centerline is valid? [True, True] Translation: X:188.65, Y:177.04, Z:-0.65 [[ 7.81241650e-01 6.24227588e-01 1.18434982e-03 1.88649527e+02] [-6.24226878e-01 7.81242547e-01 -9.41763180e-04 1.77041496e+02] [-1.51313903e-03 -3.55836826e-06 9.99998855e-01 -6.45457100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70576923100003 meters 0.012163946358777546 Centerline is valid? [True, True] Translation: X:188.67, Y:177.03, Z:-0.64 [[ 7.80667962e-01 6.24944462e-01 1.39742266e-03 1.88672751e+02] [-6.24943475e-01 7.80669212e-01 -1.11097520e-03 1.77025406e+02] [-1.78522265e-03 -6.00742798e-06 9.99998406e-01 -6.44526199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73576923100006 meters 0.013065430342309885 Centerline is valid? [True, True] Translation: X:188.70, Y:177.01, Z:-0.65 [[ 7.79861145e-01 6.25951521e-01 1.13477627e-03 1.88697177e+02] [-6.25950872e-01 7.79861970e-01 -9.01851461e-04 1.77010817e+02] [-1.44948415e-03 -6.99528107e-06 9.99998949e-01 -6.45103542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76576923100004 meters 0.014936867086591964 Centerline is valid? [True, True] Translation: X:188.72, Y:177.00, Z:-0.65 [[ 7.77989989e-01 6.28276443e-01 5.37972350e-04 1.88724723e+02] [-6.28276297e-01 7.77990175e-01 -4.27578107e-04 1.77000029e+02] [-6.87174455e-04 -5.34378902e-06 9.99999764e-01 -6.47586528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79576923100007 meters 0.01637113858727382 Centerline is valid? [True, True] Translation: X:188.75, Y:176.99, Z:-0.65 [[ 7.77033682e-01 6.29458719e-01 6.14639968e-04 1.88749302e+02] [-6.29458530e-01 7.77033925e-01 -4.88373253e-04 1.76986976e+02] [-7.85006909e-04 -7.40790361e-06 9.99999692e-01 -6.48529531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82576923100004 meters 0.019927589391721654 Centerline is valid? [True, True] Translation: X:188.78, Y:176.98, Z:-0.65 [[ 7.74681913e-01 6.32349511e-01 1.42508245e-03 1.88778991e+02] [-6.32348498e-01 7.74683223e-01 -1.13195073e-03 1.76978272e+02] [-1.81977596e-03 -2.42469869e-05 9.99998344e-01 -6.45381621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85576923100007 meters 0.022451629794375448 Centerline is valid? [True, True] Translation: X:188.81, Y:176.97, Z:-0.64 [[ 7.73302708e-01 6.34035016e-01 1.58722735e-03 1.88805774e+02] [-6.34033764e-01 7.73304337e-01 -1.26030968e-03 1.76967025e+02] [-2.02649026e-03 -3.17548387e-05 9.99997946e-01 -6.43760170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88576923100004 meters 0.024721000316048933 Centerline is valid? [True, True] Translation: X:188.83, Y:176.95, Z:-0.64 [[ 7.72065544e-01 6.35542356e-01 8.42456470e-04 1.88833162e+02] [-6.35542004e-01 7.72066004e-01 -6.69021797e-04 1.76954578e+02] [-1.07562369e-03 -1.88877956e-05 9.99999421e-01 -6.44902217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91576923100007 meters 0.027301137102215364 Centerline is valid? [True, True] Translation: X:188.86, Y:176.94, Z:-0.65 [[ 7.71406902e-01 6.36342196e-01 -3.97844541e-05 1.88859470e+02] [-6.36342195e-01 7.71406903e-01 3.14405158e-05 1.76943236e+02] [ 5.06969293e-05 1.06309595e-06 9.99999999e-01 -6.47208743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94576923100004 meters 0.022706215958920282 Centerline is valid? [True, True] Translation: X:188.88, Y:176.93, Z:-0.65 [[ 7.72632403e-01 6.34853618e-01 -2.32355851e-04 1.88882172e+02] [-6.34853592e-01 7.72632437e-01 1.83942811e-04 1.76925884e+02] [ 2.96302426e-04 5.39177031e-06 9.99999956e-01 -6.48965290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9757692310001 meters 0.022088938938452922 Centerline is valid? [True, True] Translation: X:188.91, Y:176.91, Z:-0.65 [[ 7.74085927e-01 6.33079977e-01 8.48951182e-04 1.88905473e+02] [-6.33079619e-01 7.74086392e-01 -6.73578079e-04 1.76910294e+02] [-1.08359035e-03 -1.60463783e-05 9.99999413e-01 -6.47561553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00576923100004 meters 0.019591315030777347 Centerline is valid? [True, True] Translation: X:188.93, Y:176.89, Z:-0.64 [[ 7.75766705e-01 6.31016378e-01 2.08586426e-03 1.88926852e+02] [-6.31014210e-01 7.75769508e-01 -1.65430786e-03 1.76891619e+02] [-2.66204525e-03 -3.28530347e-05 9.99996456e-01 -6.44856902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0357692310001 meters 0.014070858776787206 Centerline is valid? [True, True] Translation: X:188.95, Y:176.87, Z:-0.64 [[ 7.79213489e-01 6.26750658e-01 3.15453419e-03 1.88945262e+02] [-6.26745669e-01 7.79219874e-01 -2.50085172e-03 1.76869002e+02] [-4.02548620e-03 -2.83932472e-05 9.99991897e-01 -6.42444002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06576923100005 meters 0.012761078369480826 Centerline is valid? [True, True] Translation: X:188.97, Y:176.85, Z:-0.64 [[ 7.80825095e-01 6.24746745e-01 1.91721518e-03 1.88967325e+02] [-6.24744897e-01 7.80827449e-01 -1.51956435e-03 1.76850165e+02] [-2.44635712e-03 -1.12564280e-05 9.99997008e-01 -6.44457508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0957692310001 meters 0.012076897442832147 Centerline is valid? [True, True] Translation: X:188.99, Y:176.83, Z:-0.65 [[ 7.82289351e-01 6.22914808e-01 7.16404910e-04 1.88989193e+02] [-6.22914549e-01 7.82289679e-01 -5.67866459e-04 1.76832017e+02] [-9.14168593e-04 -2.02315809e-06 9.99999582e-01 -6.47636512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12576923100005 meters 0.012105514214005795 Centerline is valid? [True, True] Translation: X:189.01, Y:176.81, Z:-0.65 [[ 7.84524073e-01 6.20096332e-01 -1.58704644e-03 1.89009563e+02] [-6.20095059e-01 7.84525678e-01 1.25616765e-03 1.76813278e+02] [ 2.02402364e-03 -1.37410065e-06 9.99997952e-01 -6.52700109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1557692310001 meters 0.012315615565694764 Centerline is valid? [True, True] Translation: X:189.03, Y:176.80, Z:-0.65 [[ 7.85135481e-01 6.19322067e-01 -1.56669661e-03 1.89030305e+02] [-6.19320825e-01 7.85137044e-01 1.24009641e-03 1.76795861e+02] [ 1.99809061e-03 -3.35585182e-06 9.99998004e-01 -6.53031455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18576923100005 meters 0.01218975872598376 Centerline is valid? [True, True] Translation: X:189.05, Y:176.78, Z:-0.65 [[ 7.85517328e-01 6.18839475e-01 -4.81186511e-04 1.89051675e+02] [-6.18839357e-01 7.85517476e-01 3.80687882e-04 1.76779145e+02] [ 6.13565102e-04 -1.25977632e-06 9.99999812e-01 -6.50107784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2157692310001 meters 0.012339481223820017 Centerline is valid? [True, True] Translation: X:189.07, Y:176.76, Z:-0.65 [[ 7.86129682e-01 6.18061229e-01 6.63254676e-04 1.89073700e+02] [-6.18061006e-01 7.86129962e-01 -5.25224349e-04 1.76762502e+02] [-8.46025180e-04 2.96259834e-06 9.99999642e-01 -6.47385615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24576923100005 meters 0.013388586366083971 Centerline is valid? [True, True] Translation: X:189.10, Y:176.74, Z:-0.65 [[ 7.87691187e-01 6.16069364e-01 1.06437170e-03 1.89095031e+02] [-6.16068789e-01 7.87691906e-01 -8.42261044e-04 1.76743379e+02] [-1.35728820e-03 7.71541675e-06 9.99999079e-01 -6.47370401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2757692310001 meters 0.014321628092659808 Centerline is valid? [True, True] Translation: X:189.12, Y:176.72, Z:-0.65 [[ 7.88596147e-01 6.14911201e-01 5.76765004e-04 1.89115091e+02] [-6.14911031e-01 7.88596358e-01 -4.56280676e-04 1.76723692e+02] [-7.35406879e-04 5.16201944e-06 9.99999730e-01 -6.48665734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30576923100006 meters 0.015323933834339689 Centerline is valid? [True, True] Translation: X:189.14, Y:176.70, Z:-0.65 [[ 7.89415874e-01 6.13858730e-01 -1.93981264e-04 1.89135424e+02] [-6.13858711e-01 7.89415898e-01 1.53184074e-04 1.76703894e+02] [ 2.47165275e-04 -1.84885111e-06 9.99999969e-01 -6.50375766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3357692310001 meters 0.01692386411142599 Centerline is valid? [True, True] Translation: X:189.16, Y:176.68, Z:-0.65 [[ 7.91123034e-01 6.11656985e-01 -2.79730613e-04 1.89155328e+02] [-6.11656945e-01 7.91123084e-01 2.20731066e-04 1.76682507e+02] [ 3.56313044e-04 -3.52625883e-06 9.99999937e-01 -6.50889224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36576923100006 meters 0.01914349225867014 Centerline is valid? [True, True] Translation: X:189.17, Y:176.66, Z:-0.65 [[ 7.92136882e-01 6.10343383e-01 3.37860269e-04 1.89174254e+02] [-6.10343325e-01 7.92136955e-01 -2.67169891e-04 1.76662048e+02] [-4.30696980e-04 5.42436494e-06 9.99999907e-01 -6.49668914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39576923100003 meters 0.02030448109784918 Centerline is valid? [True, True] Translation: X:189.19, Y:176.64, Z:-0.65 [[ 7.93230961e-01 6.08920313e-01 8.33618950e-04 1.89194905e+02] [-6.08919956e-01 7.93231399e-01 -6.59022744e-04 1.76641623e+02] [-1.06254506e-03 1.51500299e-05 9.99999435e-01 -6.48716552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42576923100006 meters 0.02546612496329057 Centerline is valid? [True, True] Translation: X:189.21, Y:176.61, Z:-0.65 [[ 7.95309934e-01 6.06202698e-01 6.30276586e-04 1.89209462e+02] [-6.06202494e-01 7.95310184e-01 -4.98059846e-04 1.76614584e+02] [-8.03190610e-04 1.40367049e-05 9.99999677e-01 -6.49806135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45576923100003 meters 0.024934343661184494 Centerline is valid? [True, True] Translation: X:189.23, Y:176.60, Z:-0.65 [[ 7.96763180e-01 6.04291576e-01 3.54962292e-04 1.89231180e+02] [-6.04291511e-01 7.96763259e-01 -2.80715725e-04 1.76595799e+02] [-4.52455061e-04 9.16325372e-06 9.99999898e-01 -6.50473928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48576923100006 meters 0.028876856677710096 Centerline is valid? [True, True] Translation: X:189.25, Y:176.57, Z:-0.65 [[ 7.98311880e-01 6.02244096e-01 4.37595510e-04 1.89247447e+02] [-6.02243996e-01 7.98312000e-01 -3.45704502e-04 1.76572474e+02] [-5.57536242e-04 1.24407421e-05 9.99999845e-01 -6.50015873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51576923100004 meters 0.03125851702959686 Centerline is valid? [True, True] Translation: X:189.26, Y:176.55, Z:-0.65 [[ 8.00556404e-01 5.99251711e-01 2.61356940e-03 1.89263528e+02] [-5.99248163e-01 8.00560666e-01 -2.06366900e-03 1.76545900e+02] [-3.32897804e-03 8.59067754e-05 9.99994455e-01 -6.45573884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54576923100007 meters 0.034671541175853124 Centerline is valid? [True, True] Translation: X:189.28, Y:176.52, Z:-0.64 [[ 8.01479850e-01 5.98013521e-01 3.14314471e-03 1.89279500e+02] [-5.98008382e-01 8.01486005e-01 -2.48152179e-03 1.76521519e+02] [-4.00317008e-03 1.09262831e-04 9.99991981e-01 -6.44477249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57576923100004 meters 0.034854996284597234 Centerline is valid? [True, True] Translation: X:189.30, Y:176.50, Z:-0.65 [[ 8.02256472e-01 5.96971792e-01 3.03859998e-03 1.89298830e+02] [-5.96966984e-01 8.02262219e-01 -2.39844035e-03 1.76499216e+02] [-3.86955519e-03 1.10220425e-04 9.99992507e-01 -6.45041626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60576923100007 meters 0.0377884173773753 Centerline is valid? [True, True] Translation: X:189.31, Y:176.48, Z:-0.65 [[ 8.03059440e-01 5.95895362e-01 2.06224909e-03 1.89314850e+02] [-5.95893145e-01 8.03062084e-01 -1.62746097e-03 1.76475420e+02] [-2.62591050e-03 7.80677932e-05 9.99996549e-01 -6.47041077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63576923100004 meters 0.03756450350910098 Centerline is valid? [True, True] Translation: X:189.33, Y:176.45, Z:-0.65 [[ 8.03401131e-01 5.95437279e-01 1.03464671e-03 1.89331085e+02] [-5.95436720e-01 8.03401796e-01 -8.16534563e-04 1.76450083e+02] [-1.31743214e-03 3.99381476e-05 9.99999131e-01 -6.48992297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66576923100007 meters 0.03668579915543455 Centerline is valid? [True, True] Translation: X:189.35, Y:176.43, Z:-0.65 [[ 8.02949657e-01 5.96045688e-01 1.17719792e-03 1.89351156e+02] [-5.96044966e-01 8.02950519e-01 -9.28683494e-04 1.76428659e+02] [-1.49876947e-03 4.40231994e-05 9.99998876e-01 -6.48145088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69576923100004 meters 0.03769444726098745 Centerline is valid? [True, True] Translation: X:189.37, Y:176.41, Z:-0.65 [[ 8.02082024e-01 5.97212631e-01 1.22506064e-03 1.89372111e+02] [-5.97211851e-01 8.02082958e-01 -9.66114143e-04 1.76408193e+02] [-1.55957583e-03 4.32820560e-05 9.99998783e-01 -6.45959021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7257692310001 meters 0.030388789039188874 Centerline is valid? [True, True] Translation: X:189.39, Y:176.39, Z:-0.65 [[ 7.99268296e-01 6.00974182e-01 -4.73580807e-04 1.89391144e+02] [-6.00974066e-01 7.99268436e-01 3.73134053e-04 1.76387185e+02] [ 6.02762124e-04 -1.36244354e-05 9.99999818e-01 -6.52280707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75576923100004 meters 0.02711175736774976 Centerline is valid? [True, True] Translation: X:189.41, Y:176.37, Z:-0.65 [[ 7.97334238e-01 6.03537745e-01 -5.51152597e-04 1.89414313e+02] [-6.03537589e-01 7.97334428e-01 4.34086907e-04 1.76368954e+02] [ 7.01440774e-04 -1.34710439e-05 9.99999754e-01 -6.53444130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7857692310001 meters 0.02268797727383608 Centerline is valid? [True, True] Translation: X:189.44, Y:176.35, Z:-0.65 [[ 7.94835942e-01 6.06824237e-01 -4.12661559e-04 1.89438365e+02] [-6.06824150e-01 7.94836049e-01 3.25063951e-04 1.76352638e+02] [ 5.25254967e-04 -7.95951196e-06 9.99999862e-01 -6.53341315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81576923100005 meters 0.015315560758717544 Centerline is valid? [True, True] Translation: X:189.46, Y:176.34, Z:-0.66 [[ 7.89705087e-01 6.13485064e-01 -1.39708236e-03 1.89464167e+02] [-6.13484077e-01 7.89706322e-01 1.10067111e-03 1.76339493e+02] [ 1.77853006e-03 -1.21177972e-05 9.99998418e-01 -6.55596149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8457692310001 meters 0.013122376440298152 Centerline is valid? [True, True] Translation: X:189.49, Y:176.32, Z:-0.66 [[ 7.87671765e-01 6.16092217e-01 -1.88945091e-03 1.89488676e+02] [-6.16090421e-01 7.87674031e-01 1.48788033e-03 1.76323904e+02] [ 2.40494291e-03 -7.88872453e-06 9.99997108e-01 -6.56739477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87576923100005 meters 0.012418669642044244 Centerline is valid? [True, True] Translation: X:189.51, Y:176.31, Z:-0.66 [[ 7.85853979e-01 6.18408913e-01 -1.98488057e-03 1.89511950e+02] [-6.18406940e-01 7.85856486e-01 1.56242482e-03 1.76307898e+02] [ 2.52604871e-03 -3.73843169e-07 9.99996810e-01 -6.56465687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9057692310001 meters 0.013285795837314745 Centerline is valid? [True, True] Translation: X:189.53, Y:176.29, Z:-0.65 [[ 7.83140387e-01 6.21844553e-01 -6.96375739e-04 1.89534963e+02] [-6.21844312e-01 7.83140697e-01 5.47679105e-04 1.76291998e+02] [ 8.85931450e-04 4.12766658e-06 9.99999608e-01 -6.53702083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93576923100005 meters 0.014740755521566874 Centerline is valid? [True, True] Translation: X:189.56, Y:176.28, Z:-0.65 [[ 7.81910493e-01 6.23390597e-01 3.80403844e-04 1.89558120e+02] [-6.23390525e-01 7.81910585e-01 -2.99504616e-04 1.76276483e+02] [-4.84150154e-04 -2.95435023e-06 9.99999883e-01 -6.51462350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9657692310001 meters 0.016175501431341832 Centerline is valid? [True, True] Translation: X:189.58, Y:176.26, Z:-0.65 [[ 7.80607565e-01 6.25020326e-01 1.19224549e-03 1.89582533e+02] [-6.25019622e-01 7.80608476e-01 -9.38346424e-04 1.76260191e+02] [-1.51716252e-03 -1.26965076e-05 9.99998849e-01 -6.49308208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99576923100005 meters 0.02393664345413302 Centerline is valid? [True, True] Translation: X:189.61, Y:176.25, Z:-0.65 [[ 7.76348709e-01 6.30303109e-01 8.20548532e-04 1.89612500e+02] [-6.30302778e-01 7.76349142e-01 -6.45615945e-04 1.76252982e+02] [-1.04396589e-03 -1.59709139e-05 9.99999455e-01 -6.49686257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0257692310001 meters 0.02391924140286213 Centerline is valid? [True, True] Translation: X:189.64, Y:176.24, Z:-0.65 [[ 7.73894649e-01 6.33314077e-01 5.93611477e-04 1.89637075e+02] [-6.33313905e-01 7.73894877e-01 -4.67160832e-04 1.76236108e+02] [-7.55252412e-04 -1.44091341e-05 9.99999715e-01 -6.49603613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05576923100006 meters 0.034145650044200386 Centerline is valid? [True, True] Translation: X:189.67, Y:176.23, Z:-0.65 [[ 7.71094604e-01 6.36720345e-01 5.60455897e-04 1.89670407e+02] [-6.36720193e-01 7.71094807e-01 -4.40792133e-04 1.76231765e+02] [-7.12825951e-04 -1.69611515e-05 9.99999746e-01 -6.49712641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0857692310001 meters 0.04180052396006169 Centerline is valid? [True, True] Translation: X:189.70, Y:176.23, Z:-0.65 [[ 7.66502197e-01 6.42241599e-01 3.32578211e-04 1.89702886e+02] [-6.42241546e-01 7.66502269e-01 -2.61633577e-04 1.76225918e+02] [-4.22953920e-04 -1.30528323e-05 9.99999910e-01 -6.51288818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11576923100006 meters 0.04727009202881305 Centerline is valid? [True, True] Translation: X:189.73, Y:176.22, Z:-0.65 [[ 7.65060617e-01 6.43958268e-01 2.69430602e-05 1.89730358e+02] [-6.43958268e-01 7.65060618e-01 -2.13598388e-05 1.76216047e+02] [-3.43679192e-05 -1.00863497e-06 9.99999999e-01 -6.52883650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14576923100003 meters 0.04630412463856873 Centerline is valid? [True, True] Translation: X:189.75, Y:176.20, Z:-0.65 [[ 7.64589056e-01 6.44518087e-01 1.05569576e-04 1.89753779e+02] [-6.44518082e-01 7.64589063e-01 -8.33153275e-05 1.76198664e+02] [-1.34415579e-04 -4.33951294e-06 9.99999991e-01 -6.53500720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17576923100006 meters 0.03845775302781484 Centerline is valid? [True, True] Translation: X:189.77, Y:176.18, Z:-0.65 [[ 7.65312839e-01 6.43657498e-01 1.13277011e-03 1.89773222e+02] [-6.43656884e-01 7.65313676e-01 -8.90285247e-04 1.76175907e+02] [-1.43996324e-03 -4.77685528e-05 9.99998962e-01 -6.50853303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20576923100003 meters 0.04478610226070148 Centerline is valid? [True, True] Translation: X:189.80, Y:176.17, Z:-0.65 [[ 7.65861482e-01 6.43004810e-01 1.00222429e-03 1.89802025e+02] [-6.43004329e-01 7.65862137e-01 -7.87410642e-04 1.76167478e+02] [-1.27387446e-03 -4.13870730e-05 9.99999188e-01 -6.50888128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23576923100006 meters 0.04683473420517071 Centerline is valid? [True, True] Translation: X:189.83, Y:176.16, Z:-0.65 [[ 7.66130904e-01 6.42683735e-01 1.02637643e-03 1.89829503e+02] [-6.42683231e-01 7.66131591e-01 -8.06282683e-04 1.76157920e+02] [-1.30452418e-03 -4.19168418e-05 9.99999148e-01 -6.51437776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26576923100004 meters 0.038122936477911804 Centerline is valid? [True, True] Translation: X:189.85, Y:176.13, Z:-0.65 [[ 7.66039170e-01 6.42792528e-01 1.32494932e-03 1.89846967e+02] [-6.42791688e-01 7.66040314e-01 -1.04068234e-03 1.76134287e+02] [-1.68390742e-03 -5.44629725e-05 9.99998581e-01 -6.50142012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29576923100007 meters 0.038122936477911804 Centerline is valid? [True, True] Translation: X:189.87, Y:176.12, Z:-0.65 [[ 7.66158207e-01 6.42650640e-01 1.32499749e-03 1.89868708e+02] [-6.42649800e-01 7.66159351e-01 -1.04062100e-03 1.76117455e+02] [-1.68391497e-03 -5.42290517e-05 9.99998581e-01 -6.50192586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32576923100004 meters 0.04079208649691802 Centerline is valid? [True, True] Translation: X:189.90, Y:176.11, Z:-0.65 [[ 7.66102094e-01 6.42716477e-01 1.76425179e-03 1.89895534e+02] [-6.42714989e-01 7.66104122e-01 -1.38497953e-03 1.76106684e+02] [-2.24174973e-03 -7.28753476e-05 9.99997485e-01 -6.49183311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35576923100007 meters 0.036157541878849224 Centerline is valid? [True, True] Translation: X:189.92, Y:176.09, Z:-0.65 [[ 7.66530934e-01 6.42205795e-01 1.42975086e-03 1.89919038e+02] [-6.42204818e-01 7.66532265e-01 -1.12222868e-03 1.76089408e+02] [-1.81665192e-03 -5.79698948e-05 9.99998348e-01 -6.49372566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38576923100004 meters 0.03917377297364262 Centerline is valid? [True, True] Translation: X:189.95, Y:176.08, Z:-0.65 [[ 7.67088739e-01 6.41539924e-01 1.17977373e-03 1.89946014e+02] [-6.41539258e-01 7.67089645e-01 -9.25767428e-04 1.76077923e+02] [-1.49890898e-03 -4.67253967e-05 9.99998876e-01 -6.49845206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41576923100007 meters 0.03871917144737206 Centerline is valid? [True, True] Translation: X:189.97, Y:176.06, Z:-0.65 [[ 7.67723274e-01 6.40779645e-01 1.55600331e-03 1.89970878e+02] [-6.40778486e-01 7.67724848e-01 -1.22045172e-03 1.76062428e+02] [-1.97662303e-03 -6.00842606e-05 9.99998045e-01 -6.49251555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44576923100004 meters 0.036385016862244844 Centerline is valid? [True, True] Translation: X:189.99, Y:176.05, Z:-0.65 [[ 7.68515778e-01 6.39828142e-01 1.85714825e-03 1.89994063e+02] [-6.39826488e-01 7.68518018e-01 -1.45610928e-03 1.76045117e+02] [-2.35891158e-03 -6.92096882e-05 9.99997215e-01 -6.48621457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4757692310001 meters 0.03631268249250211 Centerline is valid? [True, True] Translation: X:190.02, Y:176.03, Z:-0.65 [[ 7.69525032e-01 6.38613394e-01 2.03908019e-03 1.90018296e+02] [-6.38611398e-01 7.69527731e-01 -1.59828752e-03 1.76030413e+02] [-2.58981657e-03 -7.22575985e-05 9.99996644e-01 -6.48408988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50576923100004 meters 0.031828202318277196 Centerline is valid? [True, True] Translation: X:190.04, Y:176.01, Z:-0.65 [[ 7.71957942e-01 6.35669208e-01 2.36525619e-03 1.90041710e+02] [-6.35666509e-01 7.71961562e-01 -1.85368900e-03 1.76012959e+02] [-3.00421989e-03 -7.25442012e-05 9.99995485e-01 -6.48215936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5357692310001 meters 0.028931617976060073 Centerline is valid? [True, True] Translation: X:190.06, Y:176.00, Z:-0.65 [[ 7.72987673e-01 6.34418356e-01 1.84587744e-03 1.90064312e+02] [-6.34416709e-01 7.72989875e-01 -1.44640481e-03 1.75995501e+02] [-2.34447034e-03 -5.30024036e-05 9.99997250e-01 -6.49092054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56576923100005 meters 0.02792448847245583 Centerline is valid? [True, True] Translation: X:190.09, Y:175.98, Z:-0.65 [[ 7.74125015e-01 6.33032749e-01 -3.23710151e-06 1.90090149e+02] [-6.33032749e-01 7.74125015e-01 2.15935569e-06 1.75983821e+02] [ 3.87286404e-06 3.77580022e-07 1.00000000e+00 -6.52281919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5957692310001 meters 0.026991909823306 Centerline is valid? [True, True] Translation: X:190.11, Y:175.97, Z:-0.65 [[ 7.74468210e-01 6.32612643e-01 -4.86275504e-04 1.90113969e+02] [-6.32612529e-01 7.74468362e-01 3.80266447e-04 1.75968067e+02] [ 6.17166355e-04 1.31197023e-05 9.99999809e-01 -6.53186932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62576923100005 meters 0.026576818148545567 Centerline is valid? [True, True] Translation: X:190.14, Y:175.95, Z:-0.65 [[ 7.75034603e-01 6.31918584e-01 -5.16395337e-04 1.90138254e+02] [-6.31918455e-01 7.75034775e-01 4.03980913e-04 1.75953459e+02] [ 6.55507390e-04 1.32205576e-05 9.99999785e-01 -6.53528293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6557692310001 meters 0.023662034204075477 Centerline is valid? [True, True] Translation: X:190.16, Y:175.94, Z:-0.65 [[ 7.76052902e-01 6.30667789e-01 -1.82139799e-04 1.90161184e+02] [-6.30667773e-01 7.76052924e-01 1.42147797e-04 1.75936008e+02] [ 2.30998160e-04 4.55549116e-06 9.99999973e-01 -6.52699368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68576923100005 meters 0.020230055660373496 Centerline is valid? [True, True] Translation: X:190.19, Y:175.92, Z:-0.65 [[ 7.78621272e-01 6.27491817e-01 1.71337293e-03 1.90185174e+02] [-6.27490385e-01 7.78623156e-01 -1.34056400e-03 1.75920982e+02] [-2.17526478e-03 -3.13333936e-05 9.99997634e-01 -6.49180055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7157692310001 meters 0.01898002657230032 Centerline is valid? [True, True] Translation: X:190.21, Y:175.90, Z:-0.65 [[ 7.80133890e-01 6.25608478e-01 2.26839556e-03 1.90207748e+02] [-6.25605963e-01 7.80137188e-01 -1.77430954e-03 1.75904481e+02] [-2.87968282e-03 -3.49227773e-05 9.99995853e-01 -6.47905784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74576923100005 meters 0.0170534159346381 Centerline is valid? [True, True] Translation: X:190.23, Y:175.89, Z:-0.65 [[ 7.81673017e-01 6.23685011e-01 2.07382664e-03 1.90229045e+02] [-6.23682903e-01 7.81675768e-01 -1.62193625e-03 1.75886822e+02] [-2.63263736e-03 -2.55864212e-05 9.99996534e-01 -6.47989753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7757692310001 meters 0.013339483604079211 Centerline is valid? [True, True] Translation: X:190.25, Y:175.87, Z:-0.65 [[ 7.85062951e-01 6.19414272e-01 1.45678746e-03 1.90249858e+02] [-6.19413225e-01 7.85064303e-01 -1.13925552e-03 1.75865913e+02] [-1.84934296e-03 -7.96611975e-06 9.99998290e-01 -6.49010870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80576923100006 meters 0.012322877143427207 Centerline is valid? [True, True] Translation: X:190.27, Y:175.85, Z:-0.65 [[ 7.86990895e-01 6.16962520e-01 1.60643812e-03 1.90271119e+02] [-6.16961242e-01 7.86992534e-01 -1.25587214e-03 1.75845553e+02] [-2.03908085e-03 -2.75011719e-06 9.99997921e-01 -6.49106501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8357692310001 meters 0.01362684731486513 Centerline is valid? [True, True] Translation: X:190.29, Y:175.82, Z:-0.65 [[ 7.91348300e-01 6.11364079e-01 1.35279254e-03 1.90289075e+02] [-6.11363165e-01 7.91349456e-01 -1.05731703e-03 1.75821379e+02] [-1.71693730e-03 9.65850937e-06 9.99998526e-01 -6.50793311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86576923100006 meters 0.015999418044496196 Centerline is valid? [True, True] Translation: X:190.31, Y:175.80, Z:-0.65 [[ 7.93819458e-01 6.08151948e-01 1.36991378e-03 1.90308064e+02] [-6.08151006e-01 7.93820640e-01 -1.07032845e-03 1.75799463e+02] [-1.73838817e-03 1.65331039e-05 9.99998489e-01 -6.51377588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89576923100003 meters 0.020055818289469292 Centerline is valid? [True, True] Translation: X:190.32, Y:175.78, Z:-0.65 [[ 7.95980922e-01 6.05319473e-01 1.64564299e-03 1.90324296e+02] [-6.05318109e-01 7.95982622e-01 -1.28527421e-03 1.75775571e+02] [-2.08790473e-03 2.69162480e-05 9.99997820e-01 -6.50850535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92576923100006 meters 0.022235580448479668 Centerline is valid? [True, True] Translation: X:190.34, Y:175.75, Z:-0.65 [[ 7.98145889e-01 6.02462811e-01 1.30430245e-03 1.90343738e+02] [-6.02461950e-01 7.98146954e-01 -1.01861085e-03 1.75753177e+02] [-1.65470019e-03 2.72074668e-05 9.99998631e-01 -6.51513444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95576923100003 meters 0.028539514513634782 Centerline is valid? [True, True] Translation: X:190.36, Y:175.72, Z:-0.65 [[ 8.02186340e-01 5.97073597e-01 4.42371825e-04 1.90357678e+02] [-5.97073497e-01 8.02186462e-01 -3.45552305e-04 1.75723116e+02] [-5.61184847e-04 1.30688470e-05 9.99999842e-01 -6.53221292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98576923100006 meters 0.030551736009880565 Centerline is valid? [True, True] Translation: X:190.38, Y:175.70, Z:-0.65 [[ 8.03949223e-01 5.94697797e-01 4.21817999e-04 1.90377601e+02] [-5.94697706e-01 8.03949333e-01 -3.29436144e-04 1.75700462e+02] [-5.35035248e-04 1.39957358e-05 9.99999857e-01 -6.53250251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01576923100004 meters 0.033385812665845255 Centerline is valid? [True, True] Translation: X:190.40, Y:175.68, Z:-0.65 [[ 8.05011429e-01 5.93259089e-01 5.01669568e-04 1.90395235e+02] [-5.93258960e-01 8.05011585e-01 -3.91519383e-04 1.75677731e+02] [-6.36122247e-04 1.75576121e-05 9.99999798e-01 -6.53235936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04576923100007 meters 0.03840648715669365 Centerline is valid? [True, True] Translation: X:190.41, Y:175.65, Z:-0.65 [[ 8.05415998e-01 5.92708871e-01 1.12457764e-03 1.90408538e+02] [-5.92708223e-01 8.05416782e-01 -8.77382172e-04 1.75649903e+02] [-1.42578590e-03 4.01112232e-05 9.99998983e-01 -6.52761752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07576923100004 meters 0.03702625940744882 Centerline is valid? [True, True] Translation: X:190.43, Y:175.63, Z:-0.65 [[ 8.04702281e-01 5.93677307e-01 1.22197136e-03 1.90430635e+02] [-5.93676543e-01 8.04703208e-01 -9.53277224e-04 1.75631375e+02] [-1.54926333e-03 4.16486232e-05 9.99998799e-01 -6.51609684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10576923100007 meters 0.028646367037456415 Centerline is valid? [True, True] Translation: X:190.46, Y:175.62, Z:-0.65 [[ 8.02352988e-01 5.96849522e-01 5.75798165e-04 1.90457999e+02] [-5.96849353e-01 8.02353194e-01 -4.49228940e-04 1.75618665e+02] [-7.30115575e-04 1.67754199e-05 9.99999733e-01 -6.52013428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13576923100004 meters 0.029880821580257712 Centerline is valid? [True, True] Translation: X:190.48, Y:175.60, Z:-0.66 [[ 8.01037263e-01 5.98614323e-01 -4.41731920e-04 1.90477171e+02] [-5.98614224e-01 8.01037385e-01 3.44119447e-04 1.75598489e+02] [ 5.59838612e-04 -1.12254891e-05 9.99999843e-01 -6.55545114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16576923100007 meters 0.02510425088734833 Centerline is valid? [True, True] Translation: X:190.50, Y:175.58, Z:-0.66 [[ 7.99962308e-01 6.00048573e-01 -1.41995008e-03 1.90502492e+02] [-6.00047554e-01 7.99963567e-01 1.10606433e-03 1.75584468e+02] [ 1.79960065e-03 -3.27722014e-05 9.99998380e-01 -6.57227871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19576923100004 meters 0.021513175670941406 Centerline is valid? [True, True] Translation: X:190.53, Y:175.57, Z:-0.66 [[ 7.97728361e-01 6.03016492e-01 -7.57065927e-04 1.90525541e+02] [-6.03016204e-01 7.97728720e-01 5.89710083e-04 1.75568535e+02] [ 9.59538138e-04 -1.39054365e-05 9.99999540e-01 -6.56000569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2257692310001 meters 0.019203349503736016 Centerline is valid? [True, True] Translation: X:190.55, Y:175.55, Z:-0.65 [[ 7.96234772e-01 6.04987723e-01 -2.06444236e-04 1.90549378e+02] [-6.04987701e-01 7.96234799e-01 1.60693654e-04 1.75553325e+02] [ 2.61595772e-04 -3.05365104e-06 9.99999966e-01 -6.54051590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25576923100004 meters 0.01700591397910911 Centerline is valid? [True, True] Translation: X:190.57, Y:175.54, Z:-0.65 [[ 7.94820672e-01 6.06844352e-01 -1.79194268e-04 1.90574224e+02] [-6.06844336e-01 7.94820692e-01 1.39184534e-04 1.75538531e+02] [ 2.26890661e-04 -1.88371826e-06 9.99999974e-01 -6.53701327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2857692310001 meters 0.013411953799226798 Centerline is valid? [True, True] Translation: X:190.60, Y:175.53, Z:-0.66 [[ 7.91662950e-01 6.10956580e-01 -1.35307955e-03 1.90602523e+02] [-6.10955672e-01 7.91664107e-01 1.05305739e-03 1.75527903e+02] [ 1.71455686e-03 -6.99489579e-06 9.99998530e-01 -6.56515605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31576923100005 meters 0.012650143079590722 Centerline is valid? [True, True] Translation: X:190.63, Y:175.51, Z:-0.66 [[ 7.90006752e-01 6.13096614e-01 -1.36886511e-03 1.90627485e+02] [-6.13095689e-01 7.90007938e-01 1.06496020e-03 1.75513903e+02] [ 1.73433780e-03 -2.08044914e-06 9.99998496e-01 -6.57311926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3457692310001 meters 0.013116449913846962 Centerline is valid? [True, True] Translation: X:190.65, Y:175.50, Z:-0.66 [[ 7.87033754e-01 6.16909362e-01 -8.42193480e-04 1.90654588e+02] [-6.16909015e-01 7.87034204e-01 6.54998231e-04 1.75504653e+02] [ 1.06690962e-03 4.05103311e-06 9.99999431e-01 -6.55367064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37576923100005 meters 0.01415109506667381 Centerline is valid? [True, True] Translation: X:190.68, Y:175.49, Z:-0.65 [[ 7.85975236e-01 6.18257883e-01 -3.44293549e-04 1.90679633e+02] [-6.18257825e-01 7.85975312e-01 2.67436160e-04 1.75490478e+02] [ 4.35950743e-04 2.66398200e-06 9.99999905e-01 -6.53918619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4057692310001 meters 0.015702786256748757 Centerline is valid? [True, True] Translation: X:190.71, Y:175.48, Z:-0.65 [[ 7.84147538e-01 6.20574201e-01 5.48152227e-04 1.90706936e+02] [-6.20574054e-01 7.84147729e-01 -4.26603151e-04 1.75478239e+02] [-6.94571233e-04 -5.64923917e-06 9.99999759e-01 -6.51398856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43576923100005 meters 0.01809087731705333 Centerline is valid? [True, True] Translation: X:190.73, Y:175.47, Z:-0.65 [[ 7.83196613e-01 6.21773801e-01 6.37804055e-04 1.90732740e+02] [-6.21773603e-01 7.83196872e-01 -4.96003931e-04 1.75466174e+02] [-8.07928391e-04 -8.10112648e-06 9.99999674e-01 -6.51698681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4657692310001 meters 0.01753703576993273 Centerline is valid? [True, True] Translation: X:190.76, Y:175.45, Z:-0.65 [[ 7.82738973e-01 6.22350090e-01 2.58354851e-04 1.90755662e+02] [-6.22350057e-01 7.82739015e-01 -2.01179716e-04 1.75448892e+02] [-3.27428636e-04 -3.31595175e-06 9.99999946e-01 -6.52562027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49576923100005 meters 0.018373149916137692 Centerline is valid? [True, True] Translation: X:190.78, Y:175.43, Z:-0.65 [[ 7.82345462e-01 6.22844745e-01 3.34535850e-05 1.90779304e+02] [-6.22844745e-01 7.82345463e-01 -2.61345894e-05 1.75434035e+02] [-4.24500522e-05 -3.90112151e-07 9.99999999e-01 -6.53348018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5257692310001 meters 0.01847482764089328 Centerline is valid? [True, True] Translation: X:190.80, Y:175.42, Z:-0.65 [[ 7.82407670e-01 6.22766522e-01 3.11806958e-04 1.90801921e+02] [-6.22766475e-01 7.82407732e-01 -2.42539450e-04 1.75419150e+02] [-3.95005625e-04 -4.41819449e-06 9.99999922e-01 -6.53217523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55576923100006 meters 0.016570732415881372 Centerline is valid? [True, True] Translation: X:190.82, Y:175.40, Z:-0.65 [[ 7.83749854e-01 6.21074384e-01 1.66607708e-03 1.90824580e+02] [-6.21073035e-01 7.83751625e-01 -1.29430499e-03 1.75400985e+02] [-2.10965029e-03 -2.03441999e-05 9.99997774e-01 -6.50171302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5857692310001 meters 0.016229931370600924 Centerline is valid? [True, True] Translation: X:190.85, Y:175.38, Z:-0.65 [[ 7.84883676e-01 6.19641473e-01 1.43519981e-03 1.90846977e+02] [-6.19640471e-01 7.84884988e-01 -1.11461495e-03 1.75384437e+02] [-1.81712843e-03 -1.44648041e-05 9.99998349e-01 -6.50600589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61576923100006 meters 0.013718738745758815 Centerline is valid? [True, True] Translation: X:190.87, Y:175.36, Z:-0.65 [[ 7.86918469e-01 6.17056978e-01 9.84160097e-05 1.90867224e+02] [-6.17056973e-01 7.86918475e-01 -7.67681117e-05 1.75363033e+02] [-1.24815675e-04 -3.18040059e-07 9.99999992e-01 -6.54155043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64576923100003 meters 0.013077577511179272 Centerline is valid? [True, True] Translation: X:190.89, Y:175.34, Z:-0.65 [[ 7.87889189e-01 6.15816923e-01 -3.79842922e-04 1.90888333e+02] [-6.15816852e-01 7.87889280e-01 2.94317018e-04 1.75344629e+02] [ 4.80519567e-04 2.02447615e-06 9.99999885e-01 -6.54765134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67576923100006 meters 0.012645553345473055 Centerline is valid? [True, True] Translation: X:190.91, Y:175.33, Z:-0.65 [[ 7.88891102e-01 6.14533014e-01 -6.91748762e-05 1.90909481e+02] [-6.14533011e-01 7.88891105e-01 5.32215364e-05 1.75326403e+02] [ 8.72778356e-05 5.24248485e-07 9.99999996e-01 -6.54241137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70576923100003 meters 0.012361064609247883 Centerline is valid? [True, True] Translation: X:190.93, Y:175.31, Z:-0.65 [[ 7.90695397e-01 6.12209115e-01 8.88065495e-04 1.90927634e+02] [-6.12208727e-01 7.90695896e-01 -6.88926876e-04 1.75306200e+02] [-1.12395705e-03 1.04986318e-06 9.99999368e-01 -6.52668913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73576923100006 meters 0.012526387769252445 Centerline is valid? [True, True] Translation: X:190.95, Y:175.29, Z:-0.65 [[ 7.91756570e-01 6.10835879e-01 1.03095327e-03 1.90947792e+02] [-6.10835355e-01 7.91757241e-01 -7.99679877e-04 1.75286619e+02] [-1.30473788e-03 3.40908677e-06 9.99999149e-01 -6.51892644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76576923100004 meters 0.013100209502168 Centerline is valid? [True, True] Translation: X:190.97, Y:175.27, Z:-0.65 [[ 7.92733750e-01 6.09566630e-01 1.31310055e-03 1.90967866e+02] [-6.09565780e-01 7.92734838e-01 -1.01799686e-03 1.75266913e+02] [-1.66147746e-03 6.57930540e-06 9.99998620e-01 -6.52066064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79576923100007 meters 0.014475275807212402 Centerline is valid? [True, True] Translation: X:190.99, Y:175.25, Z:-0.65 [[ 7.94548235e-01 6.07199910e-01 1.17160831e-03 1.90986893e+02] [-6.07199231e-01 7.94549098e-01 -9.08210331e-04 1.75245262e+02] [-1.48236556e-03 1.02172509e-05 9.99998901e-01 -6.52336322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82576923100004 meters 0.015185087434128558 Centerline is valid? [True, True] Translation: X:191.01, Y:175.23, Z:-0.65 [[ 7.95366961e-01 6.06127428e-01 9.68874434e-04 1.91008123e+02] [-6.06126962e-01 7.95367551e-01 -7.51068079e-04 1.75225258e+02] [-1.22585425e-03 1.01138185e-05 9.99999249e-01 -6.52919994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85576923100007 meters 0.015838514723457302 Centerline is valid? [True, True] Translation: X:191.03, Y:175.21, Z:-0.65 [[ 7.95899259e-01 6.05428143e-01 1.06460585e-03 1.91029353e+02] [-6.05427581e-01 7.95899971e-01 -8.24964253e-04 1.75205319e+02] [-1.34677634e-03 1.20466892e-05 9.99999093e-01 -6.52776001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88576923100004 meters 0.01693335298844706 Centerline is valid? [True, True] Translation: X:191.05, Y:175.18, Z:-0.65 [[ 7.96370007e-01 6.04808779e-01 1.07396008e-03 1.91048269e+02] [-6.04808207e-01 7.96370731e-01 -8.31867042e-04 1.75184705e+02] [-1.35839086e-03 1.29340948e-05 9.99999077e-01 -6.53136057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91576923100007 meters 0.016353248729612777 Centerline is valid? [True, True] Translation: X:191.07, Y:175.17, Z:-0.65 [[ 7.96566285e-01 6.04550953e-01 5.46969743e-04 1.91070867e+02] [-6.04550805e-01 7.96566472e-01 -4.23875004e-04 1.75167899e+02] [-6.91951796e-04 6.97353876e-06 9.99999761e-01 -6.53945030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94576923100004 meters 0.01661963189242293 Centerline is valid? [True, True] Translation: X:191.09, Y:175.15, Z:-0.66 [[ 7.96888380e-01 6.04126484e-01 -3.17775986e-04 1.91092364e+02] [-6.04126434e-01 7.96888444e-01 2.45473167e-04 1.75150605e+02] [ 4.01528852e-04 -3.63784112e-06 9.99999919e-01 -6.55717643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9757692310001 meters 0.018172551963346793 Centerline is valid? [True, True] Translation: X:191.11, Y:175.13, Z:-0.66 [[ 7.97193964e-01 6.03719254e-01 -2.20123435e-03 1.91111396e+02] [-6.03716853e-01 7.97197003e-01 1.70309051e-03 1.75130130e+02] [ 2.78300596e-03 -2.87712057e-05 9.99996127e-01 -6.60092849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00576923100004 meters 0.016941388401851828 Centerline is valid? [True, True] Translation: X:191.13, Y:175.11, Z:-0.66 [[ 7.97145548e-01 6.03781792e-01 -2.55415296e-03 1.91134690e+02] [-6.03778562e-01 7.97149639e-01 1.97508715e-03 1.75114756e+02] [ 3.22856376e-03 -3.22891257e-05 9.99994788e-01 -6.60313479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0357692310001 meters 0.017240394539228664 Centerline is valid? [True, True] Translation: X:191.16, Y:175.10, Z:-0.66 [[ 7.96785934e-01 6.04255864e-01 -2.65085483e-03 1.91156744e+02] [-6.04252387e-01 7.96790343e-01 2.04993687e-03 1.75097700e+02] [ 3.35086190e-03 -3.15754996e-05 9.99994385e-01 -6.60758710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06576923100005 meters 0.014545308545852918 Centerline is valid? [True, True] Translation: X:191.18, Y:175.09, Z:-0.66 [[ 7.95154963e-01 6.06403893e-01 -1.70429823e-03 1.91184783e+02] [-6.06402462e-01 7.95156789e-01 1.31721106e-03 1.75086715e+02] [ 2.15394622e-03 -1.38962658e-05 9.99997680e-01 -6.58590470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0957692310001 meters 0.013600358231473661 Centerline is valid? [True, True] Translation: X:191.21, Y:175.07, Z:-0.66 [[ 7.94384470e-01 6.07413739e-01 -1.36516672e-03 1.91209987e+02] [-6.07412823e-01 7.94385643e-01 1.05499807e-03 1.75071402e+02] [ 1.72528916e-03 -8.85430804e-06 9.99998512e-01 -6.57731852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12576923100005 meters 0.013096131197258925 Centerline is valid? [True, True] Translation: X:191.23, Y:175.06, Z:-0.65 [[ 7.93885063e-01 6.08067734e-01 3.71506771e-04 1.91233140e+02] [-6.08067666e-01 7.93885150e-01 -2.87260224e-04 1.75056567e+02] [-4.69607382e-04 2.15034587e-06 9.99999890e-01 -6.54448513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1557692310001 meters 0.013322994551193306 Centerline is valid? [True, True] Translation: X:191.26, Y:175.04, Z:-0.65 [[ 7.94331613e-01 6.07484073e-01 6.23803743e-04 1.91255012e+02] [-6.07483882e-01 7.94331858e-01 -4.82363336e-04 1.75039692e+02] [-7.88535231e-04 4.20572780e-06 9.99999689e-01 -6.53592162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18576923100005 meters 0.01450334649239545 Centerline is valid? [True, True] Translation: X:191.28, Y:175.02, Z:-0.66 [[ 7.95606705e-01 6.05813400e-01 -3.08703529e-04 1.91276271e+02] [-6.05813353e-01 7.95606765e-01 2.38025632e-04 1.75019352e+02] [ 3.89805733e-04 -2.35806906e-06 9.99999924e-01 -6.55251444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2157692310001 meters 0.01450334649239545 Centerline is valid? [True, True] Translation: X:191.30, Y:175.00, Z:-0.66 [[ 7.95720651e-01 6.05663727e-01 -3.08773958e-04 1.91298141e+02] [-6.05663680e-01 7.95720711e-01 2.37934372e-04 1.75002709e+02] [ 3.89806052e-04 -2.31612146e-06 9.99999924e-01 -6.55301996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24576923100005 meters 0.015074377809924114 Centerline is valid? [True, True] Translation: X:191.32, Y:174.98, Z:-0.66 [[ 7.96292144e-01 6.04911957e-01 -5.87418800e-04 1.91320450e+02] [-6.04911787e-01 7.96292361e-01 4.52948727e-04 1.74983978e+02] [ 7.41751204e-04 -5.34295745e-06 9.99999725e-01 -6.55905573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2757692310001 meters 0.014971442767197717 Centerline is valid? [True, True] Translation: X:191.34, Y:174.97, Z:-0.66 [[ 7.96260680e-01 6.04953314e-01 -6.46237320e-04 1.91342029e+02] [-6.04953109e-01 7.96260942e-01 4.98448934e-04 1.74967990e+02] [ 8.16111871e-04 -5.95201129e-06 9.99999667e-01 -6.55483328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30576923100006 meters 0.014954475509411553 Centerline is valid? [True, True] Translation: X:191.36, Y:174.95, Z:-0.65 [[ 7.96358192e-01 6.04825255e-01 -2.04162140e-04 1.91364842e+02] [-6.04825235e-01 7.96358218e-01 1.57040576e-04 1.74951932e+02] [ 2.57568304e-04 -1.57813477e-06 9.99999967e-01 -6.54793713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3357692310001 meters 0.01496715711739332 Centerline is valid? [True, True] Translation: X:191.39, Y:174.94, Z:-0.65 [[ 7.96536593e-01 6.04589593e-01 9.38077962e-04 1.91387774e+02] [-6.04589160e-01 7.96537145e-01 -7.23698378e-04 1.74935814e+02] [-1.18475445e-03 9.30047349e-06 9.99999298e-01 -6.52920655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36576923100006 meters 0.015245146794199128 Centerline is valid? [True, True] Translation: X:191.41, Y:174.92, Z:-0.65 [[ 7.96628736e-01 6.04466762e-01 1.60967026e-03 1.91409069e+02] [-6.04465488e-01 7.96630362e-01 -1.24105323e-03 1.74918664e+02] [-2.03248763e-03 1.56685426e-05 9.99997934e-01 -6.51591535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39576923100003 meters 0.015156922946730777 Centerline is valid? [True, True] Translation: X:191.43, Y:174.90, Z:-0.65 [[ 7.96951038e-01 6.04040254e-01 2.10120108e-03 1.91431349e+02] [-6.04038083e-01 7.96953808e-01 -1.61958683e-03 1.74901686e+02] [-2.65285584e-03 2.15259297e-05 9.99996481e-01 -6.50154738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42576923100006 meters 0.017557382495151153 Centerline is valid? [True, True] Translation: X:191.45, Y:174.88, Z:-0.65 [[ 7.98462789e-01 6.02043816e-01 6.46953458e-04 1.91449658e+02] [-6.02043610e-01 7.98463051e-01 -4.98606777e-04 1.74879601e+02] [-8.16751559e-04 8.62476219e-06 9.99999666e-01 -6.54114696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45576923100003 meters 0.01971762693766496 Centerline is valid? [True, True] Translation: X:191.47, Y:174.86, Z:-0.66 [[ 7.99925800e-01 6.00098757e-01 -4.42135379e-04 1.91469199e+02] [-6.00098661e-01 7.99925923e-01 3.40183671e-04 1.74858097e+02] [ 5.57819349e-04 -6.79684653e-06 9.99999844e-01 -6.57328161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48576923100006 meters 0.02201841776648678 Centerline is valid? [True, True] Translation: X:191.49, Y:174.84, Z:-0.66 [[ 8.01397442e-01 5.98131722e-01 -7.63329140e-04 1.91488308e+02] [-5.98131434e-01 8.01397806e-01 5.87391365e-04 1.74836280e+02] [ 9.63067707e-04 -1.41627842e-05 9.99999536e-01 -6.58268444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51576923100004 meters 0.02387430730350943 Centerline is valid? [True, True] Translation: X:191.51, Y:174.82, Z:-0.66 [[ 8.02527248e-01 5.96615360e-01 -3.58593474e-04 1.91508395e+02] [-5.96615296e-01 8.02527328e-01 2.75661398e-04 1.74815182e+02] [ 4.52244887e-04 -7.28343113e-06 9.99999898e-01 -6.57262662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54576923100007 meters 0.023498290188984333 Centerline is valid? [True, True] Translation: X:191.53, Y:174.80, Z:-0.65 [[ 8.03042557e-01 5.95918123e-01 2.05959600e-03 1.91531073e+02] [-5.95916017e-01 8.03045197e-01 -1.58520096e-03 1.74796736e+02] [-2.59859865e-03 4.56375860e-05 9.99996623e-01 -6.51131715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57576923100004 meters 0.023808394273817857 Centerline is valid? [True, True] Translation: X:191.55, Y:174.78, Z:-0.65 [[ 8.02475967e-01 5.96680143e-01 2.26467622e-03 1.91553047e+02] [-5.96677601e-01 8.02479161e-01 -1.74255942e-03 1.74779249e+02] [-2.85710608e-03 4.70804833e-05 9.99995917e-01 -6.49889112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60576923100007 meters 0.021982788338396266 Centerline is valid? [True, True] Translation: X:191.58, Y:174.76, Z:-0.65 [[ 8.01483807e-01 5.98013547e-01 1.87229220e-03 1.91577209e+02] [-5.98011813e-01 8.01485993e-01 -1.44042755e-03 1.74763160e+02] [-2.36201116e-03 3.48265038e-05 9.99997210e-01 -6.51016609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63576923100004 meters 0.02028916613832523 Centerline is valid? [True, True] Translation: X:191.60, Y:174.75, Z:-0.65 [[ 8.00409599e-01 5.99453287e-01 4.80992398e-04 1.91602066e+02] [-5.99453172e-01 8.00409743e-01 -3.70080761e-04 1.74747330e+02] [-6.06837130e-04 7.88377508e-06 9.99999816e-01 -6.53987533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66576923100007 meters 0.016357578767684323 Centerline is valid? [True, True] Translation: X:191.63, Y:174.74, Z:-0.66 [[ 7.97680327e-01 6.03078720e-01 -1.46726872e-03 1.91628724e+02] [-6.03077665e-01 7.97681676e-01 1.12810309e-03 1.74736839e+02] [ 1.85074834e-03 -1.49886469e-05 9.99998287e-01 -6.58651657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69576923100004 meters 0.014358761810943631 Centerline is valid? [True, True] Translation: X:191.65, Y:174.72, Z:-0.66 [[ 7.96312841e-01 6.04882580e-01 -1.71000153e-03 1.91654949e+02] [-6.04881153e-01 7.96314677e-01 1.31407755e-03 1.74724068e+02] [ 2.15656193e-03 -1.20691331e-05 9.99997675e-01 -6.59026213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7257692310001 meters 0.013130702161579064 Centerline is valid? [True, True] Translation: X:191.68, Y:174.71, Z:-0.66 [[ 7.94898612e-01 6.06740052e-01 -1.64489205e-03 1.91680655e+02] [-6.06738736e-01 7.94900314e-01 1.26361818e-03 1.74710841e+02] [ 2.07421297e-03 -6.42861292e-06 9.99997849e-01 -6.58609510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75576923100004 meters 0.0125684274819333 Centerline is valid? [True, True] Translation: X:191.71, Y:174.70, Z:-0.66 [[ 7.91955518e-01 6.10578113e-01 -9.09005422e-04 1.91709177e+02] [-6.10577714e-01 7.91956039e-01 6.97830618e-04 1.74701647e+02] [ 1.14597244e-03 2.36764427e-06 9.99999343e-01 -6.57422598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7857692310001 meters 0.013097198251759605 Centerline is valid? [True, True] Translation: X:191.73, Y:174.69, Z:-0.66 [[ 7.91103014e-01 6.11682715e-01 -5.27354598e-04 1.91733593e+02] [-6.11682581e-01 7.91103190e-01 4.04843915e-04 1.74688403e+02] [ 6.64827929e-04 2.30038042e-06 9.99999779e-01 -6.57360086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81576923100005 meters 0.013356264817360214 Centerline is valid? [True, True] Translation: X:191.76, Y:174.67, Z:-0.66 [[ 7.90775647e-01 6.12105568e-01 -8.06492422e-04 1.91757366e+02] [-6.12105255e-01 7.90776058e-01 6.18764518e-04 1.74673234e+02] [ 1.01650411e-03 4.35433732e-06 9.99999483e-01 -6.58083100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8457692310001 meters 0.013567797100309665 Centerline is valid? [True, True] Translation: X:191.78, Y:174.66, Z:-0.66 [[ 7.91178749e-01 6.11579154e-01 -2.66941176e-03 1.91780165e+02] [-6.11575721e-01 7.91183252e-01 2.04905254e-03 1.74657324e+02] [ 3.36515170e-03 1.13805947e-05 9.99994338e-01 -6.63251346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87576923100005 meters 0.013125623208709405 Centerline is valid? [True, True] Translation: X:191.80, Y:174.64, Z:-0.66 [[ 7.91509048e-01 6.11152122e-01 -2.55147753e-03 1.91801785e+02] [-6.11148987e-01 7.91513161e-01 1.95746072e-03 1.74639642e+02] [ 3.21583432e-03 9.98503867e-06 9.99994829e-01 -6.62021932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9057692310001 meters 0.012991855213987331 Centerline is valid? [True, True] Translation: X:191.82, Y:174.62, Z:-0.66 [[ 7.91631325e-01 6.10996937e-01 -1.60891056e-03 1.91823877e+02] [-6.10995690e-01 7.91632960e-01 1.23432641e-03 1.74623013e+02] [ 2.02783629e-03 5.90596552e-06 9.99997944e-01 -6.60464786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93576923100005 meters 0.012717763039213547 Centerline is valid? [True, True] Translation: X:191.85, Y:174.61, Z:-0.66 [[ 7.91841033e-01 6.10726863e-01 -6.91529328e-04 1.91845759e+02] [-6.10726633e-01 7.91841335e-01 5.29936462e-04 1.74606128e+02] [ 8.71227939e-04 2.70994197e-06 9.99999620e-01 -6.57702917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9657692310001 meters 0.012961780661153065 Centerline is valid? [True, True] Translation: X:191.87, Y:174.59, Z:-0.66 [[ 7.91649148e-01 6.10975654e-01 -6.13714012e-04 1.91867508e+02] [-6.10975473e-01 7.91649386e-01 4.70423810e-04 1.74590092e+02] [ 7.73263815e-04 2.55360014e-06 9.99999701e-01 -6.57831820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99576923100005 meters 0.01307268692817113 Centerline is valid? [True, True] Translation: X:191.89, Y:174.57, Z:-0.66 [[ 7.91716660e-01 6.10887469e-01 -1.10924028e-03 1.91888801e+02] [-6.10886878e-01 7.91717437e-01 8.50276816e-04 1.74573350e+02] [ 1.39762833e-03 4.44201165e-06 9.99999023e-01 -6.59098505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0257692310001 meters 0.01289113436261917 Centerline is valid? [True, True] Translation: X:191.91, Y:174.56, Z:-0.66 [[ 7.92062253e-01 6.10439437e-01 -1.03925378e-03 1.91910607e+02] [-6.10438918e-01 7.92062935e-01 7.96085563e-04 1.74555629e+02] [ 1.30911642e-03 3.85162662e-06 9.99999143e-01 -6.59201408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05576923100006 meters 0.012742724424394555 Centerline is valid? [True, True] Translation: X:191.93, Y:174.54, Z:-0.66 [[ 7.92457331e-01 6.09927090e-01 -5.69312196e-04 1.91932930e+02] [-6.09926934e-01 7.92457535e-01 4.35747670e-04 1.74537981e+02] [ 7.16930048e-04 1.92740714e-06 9.99999743e-01 -6.58009274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0857692310001 meters 0.01265416397268835 Centerline is valid? [True, True] Translation: X:191.96, Y:174.52, Z:-0.65 [[ 7.92205928e-01 6.10253035e-01 1.00085816e-03 1.91955759e+02] [-6.10252553e-01 7.92206560e-01 -7.66924140e-04 1.74521156e+02] [-1.26090419e-03 -3.21439934e-06 9.99999205e-01 -6.54710796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11576923100006 meters 0.012762155919101079 Centerline is valid? [True, True] Translation: X:191.98, Y:174.51, Z:-0.65 [[ 7.92045083e-01 6.10461696e-01 1.05104710e-03 1.91976951e+02] [-6.10461165e-01 7.92045780e-01 -8.04982201e-04 1.74505250e+02] [-1.32388822e-03 -4.04124332e-06 9.99999124e-01 -6.54885058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14576923100003 meters 0.0124169361667441 Centerline is valid? [True, True] Translation: X:192.00, Y:174.49, Z:-0.66 [[ 7.93060658e-01 6.09142664e-01 -8.70178038e-05 1.91997227e+02] [-6.09142661e-01 7.93060663e-01 6.64395780e-05 1.74486807e+02] [ 1.09481579e-04 3.15641093e-07 9.99999994e-01 -6.57787391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17576923100006 meters 0.012369734263015027 Centerline is valid? [True, True] Translation: X:192.02, Y:174.47, Z:-0.66 [[ 7.94217730e-01 6.07632772e-01 -7.82065804e-04 1.92018001e+02] [-6.07632478e-01 7.94218115e-01 5.98079684e-04 1.74467889e+02] [ 9.84543645e-04 2.03093197e-07 9.99999515e-01 -6.59384840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20576923100003 meters 0.012743475288175505 Centerline is valid? [True, True] Translation: X:192.04, Y:174.45, Z:-0.66 [[ 7.95688215e-01 6.05704306e-01 -1.59958958e-03 1.92038808e+02] [-6.05703071e-01 7.95689822e-01 1.22335065e-03 1.74448013e+02] [ 2.01376591e-03 -4.52937980e-06 9.99997972e-01 -6.61749675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23576923100006 meters 0.013842069827939982 Centerline is valid? [True, True] Translation: X:192.06, Y:174.43, Z:-0.66 [[ 7.97317522e-01 6.03555473e-01 -2.35815154e-03 1.92058281e+02] [-6.03552778e-01 7.97321009e-01 1.80370144e-03 1.74427135e+02] [ 2.96883764e-03 -1.48538536e-05 9.99995593e-01 -6.64114416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26576923100004 meters 0.015617813024520734 Centerline is valid? [True, True] Translation: X:192.08, Y:174.41, Z:-0.67 [[ 7.99158802e-01 6.01114292e-01 -2.61099146e-03 1.92078161e+02] [-6.01110978e-01 7.99163067e-01 1.99619687e-03 1.74405147e+02] [ 3.28655041e-03 -2.57826731e-05 9.99994599e-01 -6.65269933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29576923100007 meters 0.020666240231408426 Centerline is valid? [True, True] Translation: X:192.09, Y:174.38, Z:-0.66 [[ 8.02935656e-01 5.96061619e-01 -2.20877893e-03 1.92094692e+02] [-5.96059230e-01 8.02938693e-01 1.68817732e-03 1.74378297e+02] [ 2.77977177e-03 -3.89346965e-05 9.99996136e-01 -6.64699205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32576923100004 meters 0.02305962876498025 Centerline is valid? [True, True] Translation: X:192.11, Y:174.36, Z:-0.66 [[ 8.04567892e-01 5.93858319e-01 -1.67468138e-03 1.92114471e+02] [-5.93856941e-01 8.04569634e-01 1.27941957e-03 1.74356442e+02] [ 2.10719174e-03 -3.48587452e-05 9.99997779e-01 -6.63400596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35576923100007 meters 0.025152910763650345 Centerline is valid? [True, True] Translation: X:192.13, Y:174.33, Z:-0.66 [[ 8.05825106e-01 5.92152453e-01 -1.17116712e-03 1.92133970e+02] [-5.92151778e-01 8.05825956e-01 8.94340846e-04 1.74334954e+02] [ 1.47334299e-03 -2.71736149e-05 9.99998914e-01 -6.61771072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38576923100004 meters 0.02652216780171338 Centerline is valid? [True, True] Translation: X:192.15, Y:174.31, Z:-0.66 [[ 8.06506998e-01 5.91224031e-01 -7.78766866e-04 1.92150816e+02] [-5.91223733e-01 8.06507374e-01 5.94735516e-04 1.74311179e+02] [ 9.79703150e-04 -1.92329028e-05 9.99999520e-01 -6.61405602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41576923100007 meters 0.026592064969006714 Centerline is valid? [True, True] Translation: X:192.17, Y:174.29, Z:-0.66 [[ 8.06555436e-01 5.91156649e-01 -1.46440694e-03 1.92170510e+02] [-5.91155593e-01 8.06556765e-01 1.11776289e-03 1.74291564e+02] [ 1.84190029e-03 -3.58453831e-05 9.99998303e-01 -6.63209080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44576923100004 meters 0.026540219638995215 Centerline is valid? [True, True] Translation: X:192.19, Y:174.27, Z:-0.67 [[ 8.06300610e-01 5.91501116e-01 -2.39915283e-03 1.92190725e+02] [-5.91498283e-01 8.06304177e-01 1.83158336e-03 1.74271595e+02] [ 3.01783055e-03 -5.77120043e-05 9.99995445e-01 -6.65576285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4757692310001 meters 0.027304270778022437 Centerline is valid? [True, True] Translation: X:192.21, Y:174.25, Z:-0.67 [[ 8.05758698e-01 5.92236386e-01 -2.99741134e-03 1.92209466e+02] [-5.92231971e-01 8.05764270e-01 2.28788480e-03 1.74251053e+02] [ 3.77017558e-03 -6.83202577e-05 9.99992891e-01 -6.67607424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50576923100004 meters 0.022224479780971935 Centerline is valid? [True, True] Translation: X:192.23, Y:174.23, Z:-0.67 [[ 8.04037113e-01 5.94570258e-01 -3.24490113e-03 1.92232500e+02] [-5.94565106e-01 8.04043658e-01 2.47589991e-03 1.74233121e+02] [ 4.08113862e-03 -6.14104289e-05 9.99991670e-01 -6.66531528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5357692310001 meters 0.020541299810268244 Centerline is valid? [True, True] Translation: X:192.25, Y:174.22, Z:-0.67 [[ 8.02826475e-01 5.96206688e-01 -2.69020563e-03 1.92254340e+02] [-5.96203156e-01 8.02830981e-01 2.05257247e-03 1.74215289e+02] [ 3.38353786e-03 -4.39504379e-05 9.99994275e-01 -6.65605591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56576923100005 meters 0.017961862215032244 Centerline is valid? [True, True] Translation: X:192.28, Y:174.20, Z:-0.66 [[ 8.01297530e-01 5.98261999e-01 -2.20212814e-03 1.92277622e+02] [-5.98259642e-01 8.01300555e-01 1.67937887e-03 1.74198907e+02] [ 2.76927506e-03 -2.82377531e-05 9.99996165e-01 -6.64013589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5957692310001 meters 0.013636238701545959 Centerline is valid? [True, True] Translation: X:192.30, Y:174.18, Z:-0.66 [[ 7.97678516e-01 6.03078450e-01 -2.31712005e-03 1.92302994e+02] [-6.03075862e-01 7.97681881e-01 1.76658510e-03 1.74183737e+02] [ 2.91371408e-03 -1.17678103e-05 9.99995755e-01 -6.64918243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62576923100005 meters 0.012680243975680162 Centerline is valid? [True, True] Translation: X:192.33, Y:174.17, Z:-0.67 [[ 7.96113004e-01 6.05142355e-01 -2.61058447e-03 1.92326144e+02] [-6.05139084e-01 7.96117284e-01 1.98955187e-03 1.74168125e+02] [ 3.28229352e-03 -4.14141929e-06 9.99994613e-01 -6.65857133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6557692310001 meters 0.012821604300352247 Centerline is valid? [True, True] Translation: X:192.35, Y:174.15, Z:-0.67 [[ 7.94569100e-01 6.07166442e-01 -2.97612126e-03 1.92349463e+02] [-6.07162208e-01 7.94574674e-01 2.26734418e-03 1.74152476e+02] [ 3.74140587e-03 5.42672795e-06 9.99993001e-01 -6.66482628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68576923100005 meters 0.015445154801634046 Centerline is valid? [True, True] Translation: X:192.37, Y:174.14, Z:-0.66 [[ 7.91349122e-01 6.11358836e-01 -2.63460691e-03 1.92374433e+02] [-6.11355542e-01 7.91353507e-01 2.00689661e-03 1.74140055e+02] [ 3.31183939e-03 2.25256622e-05 9.99994516e-01 -6.64725281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7157692310001 meters 0.01794647283523735 Centerline is valid? [True, True] Translation: X:192.40, Y:174.13, Z:-0.66 [[ 7.89466403e-01 6.13790953e-01 -1.86119566e-03 1.92400087e+02] [-6.13789318e-01 7.89468597e-01 1.41710081e-03 1.74126238e+02] [ 2.33915918e-03 2.36285362e-05 9.99997264e-01 -6.63272947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74576923100005 meters 0.02056802320752792 Centerline is valid? [True, True] Translation: X:192.43, Y:174.11, Z:-0.66 [[ 7.87778543e-01 6.15957924e-01 -8.96485230e-04 1.92425636e+02] [-6.15957546e-01 7.87779053e-01 6.82173648e-04 1.74112475e+02] [ 1.12642255e-03 1.47950796e-05 9.99999365e-01 -6.61186359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7757692310001 meters 0.023669841186473653 Centerline is valid? [True, True] Translation: X:192.45, Y:174.10, Z:-0.66 [[ 7.86137558e-01 6.18051418e-01 -4.30216775e-04 1.92450765e+02] [-6.18051331e-01 7.86137676e-01 3.27295882e-04 1.74099788e+02] [ 5.40495299e-04 8.59646482e-06 9.99999854e-01 -6.60130756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80576923100006 meters 0.02393528426095836 Centerline is valid? [True, True] Translation: X:192.47, Y:174.08, Z:-0.66 [[ 7.84859800e-01 6.19673172e-01 -5.04132772e-04 1.92473750e+02] [-6.19673053e-01 7.84859962e-01 3.83244845e-04 1.74082802e+02] [ 6.33160177e-04 1.16040214e-05 9.99999799e-01 -6.59979451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8357692310001 meters 0.029784283064622434 Centerline is valid? [True, True] Translation: X:192.50, Y:174.07, Z:-0.66 [[ 7.83343934e-01 6.21585693e-01 -1.87254935e-03 1.92501135e+02] [-6.21584063e-01 7.83346171e-01 1.42462002e-03 1.74072522e+02] [ 2.35237779e-03 4.79793777e-05 9.99997232e-01 -6.64808432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86576923100006 meters 0.029809089919712047 Centerline is valid? [True, True] Translation: X:192.52, Y:174.06, Z:-0.67 [[ 7.83509608e-01 6.21377265e-01 -1.72901484e-03 1.92523305e+02] [-6.21375876e-01 7.83511514e-01 1.31467956e-03 1.74056072e+02] [ 2.17161503e-03 4.43040431e-05 9.99997641e-01 -6.65692375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89576923100003 meters 0.028781136719498446 Centerline is valid? [True, True] Translation: X:192.54, Y:174.04, Z:-0.67 [[ 7.84181371e-01 6.20530045e-01 -1.42827512e-03 1.92544798e+02] [-6.20529096e-01 7.84182671e-01 1.08565200e-03 1.74037140e+02] [ 1.79370828e-03 3.49381994e-05 9.99998391e-01 -6.65444285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92576923100006 meters 0.027508639801302585 Centerline is valid? [True, True] Translation: X:192.56, Y:174.02, Z:-0.67 [[ 7.85021375e-01 6.19466822e-01 -1.51549091e-03 1.92564966e+02] [-6.19465752e-01 7.85022837e-01 1.15206245e-03 1.74018300e+02] [ 1.90335944e-03 3.44010690e-05 9.99998188e-01 -6.66080024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95576923100003 meters 0.024670963737533136 Centerline is valid? [True, True] Translation: X:192.58, Y:174.00, Z:-0.67 [[ 7.86783913e-01 6.17221993e-01 -2.84369943e-03 1.92582675e+02] [-6.17218210e-01 7.86789050e-01 2.16162673e-03 1.73995621e+02] [ 3.57159513e-03 5.44499319e-05 9.99993620e-01 -6.67808756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98576923100006 meters 0.023760088247696005 Centerline is valid? [True, True] Translation: X:192.60, Y:173.98, Z:-0.67 [[ 7.87305563e-01 6.16556203e-01 -2.89814295e-03 1.92604610e+02] [-6.16552273e-01 7.87310895e-01 2.20211644e-03 1.73976886e+02] [ 3.63946807e-03 5.31180956e-05 9.99993376e-01 -6.67219712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01576923100004 meters 0.02638046395049794 Centerline is valid? [True, True] Translation: X:192.63, Y:173.96, Z:-0.66 [[ 7.86310959e-01 6.17829699e-01 -1.24056684e-03 1.92629451e+02] [-6.17828980e-01 7.86311937e-01 9.42550017e-04 1.73964197e+02] [ 1.55780790e-03 2.53207350e-05 9.99998786e-01 -6.63005693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04576923100007 meters 0.02482440585421421 Centerline is valid? [True, True] Translation: X:192.65, Y:173.95, Z:-0.66 [[ 7.85167737e-01 6.19282932e-01 -5.24882212e-04 1.92651049e+02] [-6.19282804e-01 7.85167912e-01 3.98573667e-04 1.73945817e+02] [ 6.58950539e-04 1.21033438e-05 9.99999783e-01 -6.60690287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07576923100004 meters 0.03132568433721444 Centerline is valid? [True, True] Translation: X:192.68, Y:173.94, Z:-0.66 [[ 7.83835884e-01 6.20967818e-01 -5.25630916e-04 1.92678794e+02] [-6.20967690e-01 7.83836060e-01 3.99162636e-04 1.73936762e+02] [ 6.59875617e-04 1.35218182e-05 9.99999782e-01 -6.61189966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10576923100007 meters 0.03132568433721444 Centerline is valid? [True, True] Translation: X:192.70, Y:173.92, Z:-0.66 [[ 7.83939208e-01 6.20837372e-01 -5.25819276e-04 1.92700821e+02] [-6.20837244e-01 7.83939384e-01 3.98914621e-04 1.73920313e+02] [ 6.59871544e-04 1.37233781e-05 9.99999782e-01 -6.61240530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13576923100004 meters 0.03400154581268838 Centerline is valid? [True, True] Translation: X:192.73, Y:173.91, Z:-0.66 [[ 7.82857055e-01 6.22200682e-01 -1.06905745e-03 1.92726118e+02] [-6.22200153e-01 7.82857785e-01 8.11244079e-04 1.73906316e+02] [ 1.34167657e-03 3.00795606e-05 9.99999100e-01 -6.62842280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16576923100007 meters 0.03738774997105749 Centerline is valid? [True, True] Translation: X:192.75, Y:173.89, Z:-0.67 [[ 7.81487014e-01 6.23917882e-01 -2.12676512e-03 1.92752047e+02] [-6.23915797e-01 7.81489905e-01 1.61428383e-03 1.73893045e+02] [ 2.66922602e-03 6.53805041e-05 9.99996435e-01 -6.66189733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19576923100004 meters 0.03318060650804505 Centerline is valid? [True, True] Translation: X:192.77, Y:173.87, Z:-0.66 [[ 7.81400401e-01 6.24026945e-01 -1.94575610e-03 1.92771505e+02] [-6.24025202e-01 7.81402821e-01 1.47615663e-03 1.73871432e+02] [ 2.44158081e-03 6.07314620e-05 9.99997018e-01 -6.64968425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2257692310001 meters 0.0294420445571399 Centerline is valid? [True, True] Translation: X:192.79, Y:173.85, Z:-0.66 [[ 7.81875245e-01 6.23432967e-01 -1.56139110e-03 1.92791385e+02] [-6.23431844e-01 7.81876802e-01 1.18405661e-03 1.73850246e+02] [ 1.95899541e-03 4.76363834e-05 9.99998080e-01 -6.63524815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25576923100004 meters 0.02899809332559815 Centerline is valid? [True, True] Translation: X:192.81, Y:173.83, Z:-0.66 [[ 7.82625870e-01 6.22491077e-01 -1.26729837e-03 1.92813103e+02] [-6.22490336e-01 7.82626895e-01 9.61092227e-04 1.73833052e+02] [ 1.59009313e-03 3.67053506e-05 9.99998735e-01 -6.62766333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2857692310001 meters 0.026143399384051347 Centerline is valid? [True, True] Translation: X:192.83, Y:173.81, Z:-0.66 [[ 7.84316620e-01 6.20360439e-01 -6.04504809e-04 1.92834063e+02] [-6.20360270e-01 7.84316853e-01 4.58008793e-04 1.73811964e+02] [ 7.58253845e-04 1.57868581e-05 9.99999712e-01 -6.60746458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31576923100005 meters 0.02567515821023962 Centerline is valid? [True, True] Translation: X:192.86, Y:173.79, Z:-0.66 [[ 7.84773961e-01 6.19782082e-01 -3.28216918e-05 1.92855951e+02] [-6.19782082e-01 7.84773961e-01 2.47483504e-05 1.73794415e+02] [ 4.10961932e-05 9.20435508e-07 9.99999999e-01 -6.59806603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3457692310001 meters 0.026476634954493015 Centerline is valid? [True, True] Translation: X:192.88, Y:173.78, Z:-0.66 [[ 7.84970189e-01 6.19533461e-01 -3.03227381e-04 1.92878971e+02] [-6.19533419e-01 7.84970248e-01 2.29731043e-04 1.73778005e+02] [ 3.80350540e-04 7.52747617e-06 9.99999928e-01 -6.60597280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37576923100005 meters 0.028572757493311847 Centerline is valid? [True, True] Translation: X:192.90, Y:173.76, Z:-0.66 [[ 7.85233857e-01 6.19198959e-01 -6.61815639e-04 1.92902867e+02] [-6.19198756e-01 7.85234136e-01 5.01507990e-04 1.73763974e+02] [ 8.30213457e-04 1.59943670e-05 9.99999655e-01 -6.62476613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4057692310001 meters 0.026817597597521236 Centerline is valid? [True, True] Translation: X:192.92, Y:173.75, Z:-0.66 [[ 7.86325826e-01 6.17811589e-01 -7.32254835e-04 1.92924807e+02] [-6.17811340e-01 7.86326167e-01 5.54514799e-04 1.73745593e+02] [ 9.18376806e-04 1.63660336e-05 9.99999578e-01 -6.63854201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43576923100005 meters 0.021831603521279063 Centerline is valid? [True, True] Translation: X:192.94, Y:173.72, Z:-0.66 [[ 7.87563456e-01 6.16233283e-01 -5.86666489e-04 1.92943639e+02] [-6.16233123e-01 7.87563674e-01 4.44014313e-04 1.73722509e+02] [ 7.35653613e-04 1.18338760e-05 9.99999729e-01 -6.63354226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4657692310001 meters 0.016559246401309274 Centerline is valid? [True, True] Translation: X:192.96, Y:173.70, Z:-0.66 [[ 7.91222438e-01 6.11527254e-01 -1.21300020e-03 1.92959689e+02] [-6.11526564e-01 7.91223368e-01 9.18628360e-04 1.73695844e+02] [ 1.52152038e-03 1.49424755e-05 9.99998842e-01 -6.64938048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49576923100005 meters 0.014291602338119767 Centerline is valid? [True, True] Translation: X:192.98, Y:173.67, Z:-0.67 [[ 7.93627471e-01 6.08401312e-01 -1.81106162e-03 1.92977322e+02] [-6.08399767e-01 7.93629538e-01 1.37141082e-03 1.73672814e+02] [ 2.27168014e-03 1.34601597e-05 9.99997420e-01 -6.66636800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5257692310001 meters 0.01276794662825744 Centerline is valid? [True, True] Translation: X:192.99, Y:173.65, Z:-0.67 [[ 7.95946724e-01 6.05361660e-01 -2.46433365e-03 1.92994917e+02] [-6.05358785e-01 7.95950539e-01 1.86592602e-03 1.73649250e+02] [ 3.09104777e-03 6.62831883e-06 9.99995223e-01 -6.67647124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55576923100006 meters 0.012637783124404325 Centerline is valid? [True, True] Translation: X:193.01, Y:173.63, Z:-0.67 [[ 7.97972730e-01 6.02688755e-01 -2.40546567e-03 1.93013219e+02] [-6.02686006e-01 7.97976356e-01 1.82034111e-03 1.73626972e+02] [ 3.01660385e-03 -2.84206435e-06 9.99995450e-01 -6.67186969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5857692310001 meters 0.013183833487107674 Centerline is valid? [True, True] Translation: X:193.03, Y:173.60, Z:-0.66 [[ 7.99799418e-01 6.00266465e-01 -1.03006778e-03 1.93031132e+02] [-6.00265960e-01 7.99800082e-01 7.78957523e-04 1.73603630e+02] [ 1.29143038e-03 -4.69514633e-06 9.99999166e-01 -6.63612960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61576923100006 meters 0.013300870499761778 Centerline is valid? [True, True] Translation: X:193.05, Y:173.59, Z:-0.66 [[ 7.99998335e-01 6.00002026e-01 -4.83189876e-04 1.93051677e+02] [-6.00001915e-01 7.99998480e-01 3.65350639e-04 1.73585291e+02] [ 6.05762290e-04 -2.36505146e-06 9.99999817e-01 -6.62110371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64576923100003 meters 0.0133766438412893 Centerline is valid? [True, True] Translation: X:193.07, Y:173.57, Z:-0.66 [[ 7.99905622e-01 6.00125463e-01 -6.52194520e-04 1.93072110e+02] [-6.00125260e-01 7.99905888e-01 4.93124147e-04 1.73567266e+02] [ 8.17630593e-04 -3.05437153e-06 9.99999666e-01 -6.63073722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67576923100006 meters 0.013286992802882008 Centerline is valid? [True, True] Translation: X:193.09, Y:173.55, Z:-0.67 [[ 7.99711611e-01 6.00380373e-01 -2.17889493e-03 1.93091527e+02] [-6.00378114e-01 7.99714579e-01 1.64702376e-03 1.73547202e+02] [ 2.73133478e-03 -8.98319541e-06 9.99996270e-01 -6.66345694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70576923100003 meters 0.013294794336846303 Centerline is valid? [True, True] Translation: X:193.11, Y:173.53, Z:-0.67 [[ 7.99587573e-01 6.00542267e-01 -2.94936190e-03 1.93112479e+02] [-6.00538128e-01 7.99593012e-01 2.22959579e-03 1.73528452e+02] [ 3.69725567e-03 -1.15528165e-05 9.99993165e-01 -6.67740558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73576923100006 meters 0.013104949260901931 Centerline is valid? [True, True] Translation: X:193.13, Y:173.51, Z:-0.67 [[ 7.99357140e-01 6.00848673e-01 -3.00579412e-03 1.93133464e+02] [-6.00844381e-01 7.99362791e-01 2.27111178e-03 1.73510601e+02] [ 3.76731448e-03 -9.41491222e-06 9.99992904e-01 -6.67530817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76576923100004 meters 0.012573147310965736 Centerline is valid? [True, True] Translation: X:193.15, Y:173.49, Z:-0.66 [[ 7.98319906e-01 6.02231263e-01 -1.68332579e-03 1.93154490e+02] [-6.02229920e-01 7.98321681e-01 1.27169999e-03 1.73492423e+02] [ 2.10969296e-03 -1.47425553e-06 9.99997775e-01 -6.64961924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79576923100007 meters 0.012500044607975236 Centerline is valid? [True, True] Translation: X:193.18, Y:173.48, Z:-0.66 [[ 7.97271669e-01 6.03620087e-01 -8.22668303e-04 1.93177368e+02] [-6.03619767e-01 7.97272094e-01 6.20946710e-04 1.73476533e+02] [ 1.03070639e-03 1.51562999e-06 9.99999469e-01 -6.63161460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82576923100004 meters 0.013237379278730666 Centerline is valid? [True, True] Translation: X:193.20, Y:173.46, Z:-0.66 [[ 7.95716824e-01 6.05668768e-01 -2.81928089e-04 1.93201366e+02] [-6.05668731e-01 7.95716874e-01 2.12787487e-04 1.73461362e+02] [ 3.53213673e-04 1.43644468e-06 9.99999938e-01 -6.61730815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85576923100007 meters 0.018715394373118154 Centerline is valid? [True, True] Translation: X:193.23, Y:173.45, Z:-0.66 [[ 7.91287389e-01 6.11444379e-01 -2.00538434e-04 1.93230558e+02] [-6.11444360e-01 7.91287414e-01 1.51057391e-04 1.73451998e+02] [ 2.51046732e-04 3.08828568e-06 9.99999968e-01 -6.60813149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88576923100004 meters 0.023449624693768014 Centerline is valid? [True, True] Translation: X:193.26, Y:173.44, Z:-0.66 [[ 7.88631983e-01 6.14865203e-01 -6.14196287e-04 1.93257605e+02] [-6.14865028e-01 7.88632222e-01 4.63575671e-04 1.73441116e+02] [ 7.69411531e-04 1.20572160e-05 9.99999704e-01 -6.60947592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91576923100007 meters 0.028239476651228917 Centerline is valid? [True, True] Translation: X:193.29, Y:173.43, Z:-0.66 [[ 7.85881548e-01 6.18376399e-01 -9.06870546e-04 1.93285166e+02] [-6.18376020e-01 7.85882071e-01 6.84488903e-04 1.73428945e+02] [ 1.13596509e-03 2.28598001e-05 9.99999355e-01 -6.61671514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94576923100004 meters 0.032780845574068296 Centerline is valid? [True, True] Translation: X:193.31, Y:173.42, Z:-0.66 [[ 7.83561310e-01 6.21313644e-01 -1.01409709e-03 1.93311870e+02] [-6.21313174e-01 7.83561966e-01 7.65273925e-04 1.73417303e+02] [ 1.27008304e-03 3.04328414e-05 9.99999193e-01 -6.62410677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9757692310001 meters 0.032315438128728884 Centerline is valid? [True, True] Translation: X:193.34, Y:173.40, Z:-0.66 [[ 7.81747991e-01 6.23594301e-01 -4.75043303e-04 1.93335329e+02] [-6.23594199e-01 7.81748135e-01 3.58176860e-04 1.73399520e+02] [ 5.94721265e-04 1.62302070e-05 9.99999823e-01 -6.61419368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00576923100004 meters 0.03965828326870162 Centerline is valid? [True, True] Translation: X:193.36, Y:173.39, Z:-0.66 [[ 7.80433427e-01 6.25238856e-01 1.95463428e-04 1.93364485e+02] [-6.25238839e-01 7.80433452e-01 -1.47626062e-04 1.73391198e+02] [-2.44847748e-04 -6.99901266e-06 9.99999970e-01 -6.60142336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0357692310001 meters 0.040917486363334234 Centerline is valid? [True, True] Translation: X:193.39, Y:173.38, Z:-0.66 [[ 7.78780837e-01 6.27294220e-01 1.53947734e-03 1.93390806e+02] [-6.27293148e-01 7.78782356e-01 -1.16148241e-03 1.73377112e+02] [-1.92750900e-03 -6.11633412e-05 9.99998140e-01 -6.56951690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06576923100005 meters 0.04519144510766181 Centerline is valid? [True, True] Translation: X:193.42, Y:173.37, Z:-0.66 [[ 7.77941527e-01 6.28334674e-01 1.58685638e-03 1.93417557e+02] [-6.28333538e-01 7.77943143e-01 -1.19690345e-03 1.73366288e+02] [-1.98653998e-03 -6.59541872e-05 9.99998025e-01 -6.56752991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0957692310001 meters 0.04723525789695322 Centerline is valid? [True, True] Translation: X:193.44, Y:173.35, Z:-0.66 [[ 7.77132645e-01 6.29335817e-01 1.13265289e-03 1.93442517e+02] [-6.29335239e-01 7.77133468e-01 -8.54258825e-04 1.73353757e+02] [-1.41783815e-03 -4.89459573e-05 9.99998994e-01 -6.57979842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12576923100005 meters 0.04385297979762365 Centerline is valid? [True, True] Translation: X:193.47, Y:173.34, Z:-0.66 [[ 7.75528161e-01 6.31312665e-01 -6.25551475e-04 1.93466807e+02] [-6.31312489e-01 7.75528413e-01 4.71264994e-04 1.73336593e+02] [ 7.82648501e-04 2.94391848e-05 9.99999693e-01 -6.62331864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1557692310001 meters 0.047972281702926264 Centerline is valid? [True, True] Translation: X:193.49, Y:173.33, Z:-0.66 [[ 7.74890932e-01 6.32093080e-01 -1.54314238e-03 1.93493695e+02] [-6.32092015e-01 7.74892465e-01 1.16299823e-03 1.73326893e+02] [ 1.93089254e-03 7.42111907e-05 9.99998133e-01 -6.64117603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18576923100005 meters 0.04782779230955853 Centerline is valid? [True, True] Translation: X:193.52, Y:173.31, Z:-0.67 [[ 7.74413898e-01 6.32676479e-01 -1.89414297e-03 1.93518475e+02] [-6.32674877e-01 7.74416209e-01 1.42689468e-03 1.73311895e+02] [ 2.36961772e-03 9.33695972e-05 9.99997188e-01 -6.65044261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2157692310001 meters 0.04903109034526861 Centerline is valid? [True, True] Translation: X:193.55, Y:173.30, Z:-0.67 [[ 7.74018778e-01 6.33160631e-01 -1.59580986e-03 1.93545047e+02] [-6.33159495e-01 7.74020419e-01 1.20219142e-03 1.73300963e+02] [ 1.99636969e-03 7.98834339e-05 9.99998004e-01 -6.65592562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24576923100005 meters 0.046864757344476815 Centerline is valid? [True, True] Translation: X:193.57, Y:173.28, Z:-0.67 [[ 7.74809031e-01 6.32193365e-01 -1.58597379e-03 1.93567863e+02] [-6.32192242e-01 7.74810650e-01 1.19415084e-03 1.73283678e+02] [ 1.98376362e-03 7.74014657e-05 9.99998029e-01 -6.65606927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2757692310001 meters 0.045471972341256994 Centerline is valid? [True, True] Translation: X:193.59, Y:173.27, Z:-0.66 [[ 7.75966078e-01 6.30773284e-01 -1.30739316e-03 1.93591429e+02] [-6.30772519e-01 7.75967177e-01 9.84143003e-04 1.73267301e+02] [ 1.63526530e-03 6.10060914e-05 9.99998661e-01 -6.64760148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30576923100006 meters 0.04331511097093695 Centerline is valid? [True, True] Translation: X:193.61, Y:173.25, Z:-0.66 [[ 7.77487812e-01 6.28897646e-01 -6.73663587e-04 1.93614210e+02] [-6.28897442e-01 7.77488103e-01 5.07057339e-04 1.73250426e+02] [ 8.42652591e-04 2.94344059e-05 9.99999645e-01 -6.63142239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3357692310001 meters 0.03719589006960381 Centerline is valid? [True, True] Translation: X:193.63, Y:173.23, Z:-0.66 [[ 7.81147554e-01 6.24346000e-01 7.55167893e-04 1.93634443e+02] [-6.24345742e-01 7.81147919e-01 -5.68608981e-04 1.73230960e+02] [-9.44906570e-04 -2.73183435e-05 9.99999553e-01 -6.59353535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36576923100006 meters 0.03441792213620371 Centerline is valid? [True, True] Translation: X:193.66, Y:173.21, Z:-0.66 [[ 7.83083359e-01 6.21915499e-01 1.25140684e-03 1.93655216e+02] [-6.21914786e-01 7.83084358e-01 -9.42088070e-04 1.73212327e+02] [-1.56585629e-03 -4.05349245e-05 9.99998773e-01 -6.58774497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39576923100003 meters 0.030799836486707543 Centerline is valid? [True, True] Translation: X:193.68, Y:173.19, Z:-0.66 [[ 7.85114434e-01 6.19349329e-01 1.31716978e-03 1.93676538e+02] [-6.19348536e-01 7.85115538e-01 -9.91499942e-04 1.73191583e+02] [-1.64821528e-03 -3.73462602e-05 9.99998641e-01 -6.59373585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42576923100006 meters 0.027639782881673108 Centerline is valid? [True, True] Translation: X:193.70, Y:173.17, Z:-0.66 [[ 7.86978820e-01 6.16979344e-01 9.08777491e-04 1.93697309e+02] [-6.16978965e-01 7.86979345e-01 -6.83892810e-04 1.73171356e+02] [-1.13713685e-03 -2.24874386e-05 9.99999353e-01 -6.60735356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45576923100003 meters 0.02652952558150427 Centerline is valid? [True, True] Translation: X:193.72, Y:173.15, Z:-0.66 [[ 7.89588605e-01 6.13636399e-01 -4.53335507e-04 1.93719013e+02] [-6.13636304e-01 7.89588735e-01 3.40937480e-04 1.73154308e+02] [ 5.67160257e-04 8.98277602e-06 9.99999839e-01 -6.64447908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48576923100006 meters 0.020782279946262295 Centerline is valid? [True, True] Translation: X:193.74, Y:173.13, Z:-0.66 [[ 7.90172138e-01 6.12884538e-01 -7.32068226e-04 1.93737215e+02] [-6.12884291e-01 7.90172477e-01 5.50237472e-04 1.73129723e+02] [ 9.15692202e-04 1.38907957e-05 9.99999581e-01 -6.64193947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51576923100004 meters 0.02571365987459823 Centerline is valid? [True, True] Translation: X:193.76, Y:173.12, Z:-0.67 [[ 7.90267383e-01 6.12761758e-01 -7.01465981e-04 1.93763016e+02] [-6.12761531e-01 7.90267694e-01 5.27295441e-04 1.73119873e+02] [ 8.77452385e-04 1.31269801e-05 9.99999615e-01 -6.65721582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54576923100007 meters 0.023259687553783392 Centerline is valid? [True, True] Translation: X:193.79, Y:173.10, Z:-0.66 [[ 7.89134507e-01 6.14220207e-01 -5.17079166e-04 1.93785006e+02] [-6.14220084e-01 7.89134677e-01 3.88324695e-04 1.73101652e+02] [ 6.46561974e-04 1.11599919e-05 9.99999791e-01 -6.63425706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57576923100004 meters 0.02669888176155976 Centerline is valid? [True, True] Translation: X:193.81, Y:173.09, Z:-0.66 [[ 7.87786360e-01 6.15947930e-01 -8.93115139e-04 1.93811542e+02] [-6.15947565e-01 7.87786866e-01 6.71159511e-04 1.73090761e+02] [ 1.11698369e-03 2.13817872e-05 9.99999376e-01 -6.64401827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60576923100007 meters 0.027153255473007253 Centerline is valid? [True, True] Translation: X:193.84, Y:173.08, Z:-0.66 [[ 7.86010056e-01 6.18212468e-01 -1.23937968e-03 1.93836979e+02] [-6.18211768e-01 7.86011033e-01 9.30905334e-04 1.73075473e+02] [ 1.54966339e-03 3.44981515e-05 9.99998799e-01 -6.64196875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63576923100004 meters 0.03288791898156742 Centerline is valid? [True, True] Translation: X:193.87, Y:173.07, Z:-0.66 [[ 7.83794047e-01 6.21019828e-01 -1.12519358e-03 1.93866145e+02] [-6.21019253e-01 7.83794854e-01 8.45315573e-04 1.73066641e+02] [ 1.40687867e-03 3.62135627e-05 9.99999010e-01 -6.64490320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66576923100007 meters 0.03841474781101072 Centerline is valid? [True, True] Translation: X:193.90, Y:173.06, Z:-0.66 [[ 7.79583455e-01 6.26297459e-01 -1.06318301e-03 1.93897981e+02] [-6.26296952e-01 7.79584179e-01 7.98192978e-04 1.73060432e+02] [ 1.32874689e-03 4.36102394e-05 9.99999116e-01 -6.63342621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69576923100004 meters 0.04089623190898101 Centerline is valid? [True, True] Translation: X:193.93, Y:173.05, Z:-0.66 [[ 7.77780952e-01 6.28534080e-01 -1.30438611e-03 1.93925559e+02] [-6.28533319e-01 7.77782043e-01 9.79561043e-04 1.73048904e+02] [ 1.63021559e-03 5.79662087e-05 9.99998670e-01 -6.63808607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7257692310001 meters 0.05221758117801998 Centerline is valid? [True, True] Translation: X:193.96, Y:173.05, Z:-0.67 [[ 7.76757352e-01 6.29798167e-01 -1.51182850e-03 1.93960058e+02] [-6.29797147e-01 7.76758820e-01 1.13523398e-03 1.73047546e+02] [ 1.88929440e-03 7.03439384e-05 9.99998213e-01 -6.65971595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75576923100004 meters 0.04752737496430597 Centerline is valid? [True, True] Translation: X:193.98, Y:173.03, Z:-0.66 [[ 7.76776035e-01 6.29776675e-01 -5.74975448e-04 1.93984411e+02] [-6.29776528e-01 7.76776248e-01 4.31218231e-04 1.73033651e+02] [ 7.18198455e-04 2.71460540e-05 9.99999742e-01 -6.63948124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7857692310001 meters 0.04692213496803949 Centerline is valid? [True, True] Translation: X:194.01, Y:173.02, Z:-0.66 [[ 7.77521874e-01 6.28855847e-01 2.44912780e-04 1.94009243e+02] [-6.28855820e-01 7.77521912e-01 -1.83959775e-04 1.73019936e+02] [-3.06109233e-04 -1.09820785e-05 9.99999953e-01 -6.62100823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81576923100005 meters 0.04435817331748655 Centerline is valid? [True, True] Translation: X:194.03, Y:173.00, Z:-0.66 [[ 7.78601010e-01 6.27518461e-01 1.02418013e-03 1.94033353e+02] [-6.27517991e-01 7.78601682e-01 -7.68804817e-04 1.73003238e+02] [-1.27986759e-03 -4.40992534e-05 9.99999180e-01 -6.60158073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8457692310001 meters 0.03843562271264313 Centerline is valid? [True, True] Translation: X:194.06, Y:172.99, Z:-0.66 [[ 7.80964578e-01 6.24574528e-01 9.93544793e-04 1.94056467e+02] [-6.24574084e-01 7.80965209e-01 -7.45678089e-04 1.72986193e+02] [-1.24165546e-03 -3.81941545e-05 9.99999228e-01 -6.60120666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87576923100005 meters 0.03499755803940037 Centerline is valid? [True, True] Translation: X:194.08, Y:172.97, Z:-0.66 [[ 7.82588568e-01 6.22539254e-01 9.79584413e-05 1.94079410e+02] [-6.22539250e-01 7.82588575e-01 -7.38324910e-05 1.72968144e+02] [-1.22624781e-04 -3.20251113e-06 9.99999992e-01 -6.62554339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9057692310001 meters 0.03240974402579242 Centerline is valid? [True, True] Translation: X:194.10, Y:172.95, Z:-0.66 [[ 7.84289693e-01 6.20394726e-01 -2.46164908e-04 1.94103346e+02] [-6.20394699e-01 7.84289732e-01 1.84261648e-04 1.72951269e+02] [ 3.07379565e-04 8.20489258e-06 9.99999953e-01 -6.63761197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93576923100005 meters 0.030852102803341226 Centerline is valid? [True, True] Translation: X:194.13, Y:172.94, Z:-0.66 [[ 7.85846570e-01 6.18421256e-01 -5.64078416e-04 1.94126757e+02] [-6.18421112e-01 7.85846772e-01 4.22767295e-04 1.72936327e+02] [ 7.04727484e-04 1.66077727e-05 9.99999752e-01 -6.64237153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9657692310001 meters 0.029018103492410158 Centerline is valid? [True, True] Translation: X:194.15, Y:172.92, Z:-0.66 [[ 7.86996579e-01 6.16956913e-01 -7.42512895e-04 1.94150965e+02] [-6.16956663e-01 7.86996929e-01 5.56235354e-04 1.72919843e+02] [ 9.27528615e-04 2.03429571e-05 9.99999570e-01 -6.64360835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99576923100005 meters 0.026792400379030103 Centerline is valid? [True, True] Translation: X:194.17, Y:172.91, Z:-0.66 [[ 7.88732927e-01 6.14735801e-01 -5.15170540e-04 1.94174958e+02] [-6.14735680e-01 7.88733095e-01 3.85721616e-04 1.72905317e+02] [ 6.43448941e-04 1.24623738e-05 9.99999793e-01 -6.62833054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0257692310001 meters 0.026792400379030103 Centerline is valid? [True, True] Translation: X:194.20, Y:172.89, Z:-0.66 [[ 7.88844656e-01 6.14592420e-01 -5.15284402e-04 1.94197076e+02] [-6.14592300e-01 7.88844824e-01 3.85569602e-04 1.72889012e+02] [ 6.43447588e-04 1.25353056e-05 9.99999793e-01 -6.62883611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05576923100006 meters 0.02543656062681748 Centerline is valid? [True, True] Translation: X:194.22, Y:172.87, Z:-0.66 [[ 7.89669862e-01 6.13531988e-01 9.61100015e-05 1.94219677e+02] [-6.13531983e-01 7.89669868e-01 -7.21149823e-05 1.72872665e+02] [-1.20140021e-04 -2.01953171e-06 9.99999993e-01 -6.61873225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0857692310001 meters 0.024032935115720373 Centerline is valid? [True, True] Translation: X:194.24, Y:172.86, Z:-0.66 [[ 7.90547688e-01 6.12400303e-01 4.71098818e-04 1.94243238e+02] [-6.12400201e-01 7.90547829e-01 -3.53093795e-04 1.72855795e+02] [-5.88660894e-04 -9.36352759e-06 9.99999827e-01 -6.61289698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11576923100006 meters 0.02147385265265284 Centerline is valid? [True, True] Translation: X:194.27, Y:172.84, Z:-0.66 [[ 7.92043022e-01 6.10465204e-01 2.92688517e-04 1.94267029e+02] [-6.10465165e-01 7.92043076e-01 -2.19299255e-04 1.72838751e+02] [-3.65696478e-04 -4.98169943e-06 9.99999933e-01 -6.62453038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14576923100003 meters 0.01911348241338559 Centerline is valid? [True, True] Translation: X:194.29, Y:172.82, Z:-0.66 [[ 7.92987762e-01 6.09237556e-01 9.44349202e-05 1.94288173e+02] [-6.09237552e-01 7.92987768e-01 -7.10512671e-05 1.72819376e+02] [-1.18172837e-04 -1.19051431e-06 9.99999993e-01 -6.62674054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17576923100006 meters 0.018339413332523976 Centerline is valid? [True, True] Translation: X:194.31, Y:172.80, Z:-0.66 [[ 7.94001810e-01 6.07915324e-01 2.90586829e-04 1.94309482e+02] [-6.07915285e-01 7.94001863e-01 -2.17570196e-04 1.72802120e+02] [-3.62990739e-04 -3.90104531e-06 9.99999934e-01 -6.62520760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20576923100003 meters 0.01600908600543774 Centerline is valid? [True, True] Translation: X:194.33, Y:172.78, Z:-0.66 [[ 7.95249107e-01 6.06281344e-01 1.33797726e-03 1.94330437e+02] [-6.06280517e-01 7.95250232e-01 -1.00119362e-03 1.72781296e+02] [-1.67103174e-03 -1.49912092e-05 9.99998604e-01 -6.59802525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23576923100006 meters 0.016236368270606615 Centerline is valid? [True, True] Translation: X:194.35, Y:172.77, Z:-0.66 [[ 7.95231568e-01 6.06304645e-01 1.19601756e-03 1.94353508e+02] [-6.06303985e-01 7.95232467e-01 -8.94729802e-04 1.72766077e+02] [-1.49359083e-03 -1.36328300e-05 9.99998885e-01 -6.60048162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26576923100004 meters 0.017206577202289377 Centerline is valid? [True, True] Translation: X:194.38, Y:172.75, Z:-0.66 [[ 7.94761595e-01 6.06921717e-01 1.90418811e-04 1.94377830e+02] [-6.06921700e-01 7.94761618e-01 -1.42498934e-04 1.72751397e+02] [-2.37823260e-04 -2.31662823e-06 9.99999972e-01 -6.62774086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29576923100007 meters 0.018162381012531276 Centerline is valid? [True, True] Translation: X:194.40, Y:172.74, Z:-0.67 [[ 7.94069901e-01 6.07825197e-01 -1.23385303e-03 1.94402182e+02] [-6.07824499e-01 7.94070859e-01 9.21774833e-04 1.72735926e+02] [ 1.54004471e-03 1.80124496e-05 9.99998814e-01 -6.66585090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32576923100004 meters 0.018931487103216918 Centerline is valid? [True, True] Translation: X:194.43, Y:172.72, Z:-0.67 [[ 7.93734697e-01 6.08259825e-01 -2.28377964e-03 1.94426783e+02] [-6.08257434e-01 7.93737982e-01 1.70588028e-03 1.72720205e+02] [ 2.85034108e-03 3.51095775e-05 9.99995937e-01 -6.68915348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35576923100007 meters 0.018437248280731983 Centerline is valid? [True, True] Translation: X:194.45, Y:172.70, Z:-0.67 [[ 7.94531081e-01 6.07222873e-01 -8.62437691e-04 1.94449463e+02] [-6.07222531e-01 7.94531549e-01 6.44131331e-04 1.72703944e+02] [ 1.07636523e-03 1.19092349e-05 9.99999421e-01 -6.66351666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38576923100004 meters 0.01527204728245967 Centerline is valid? [True, True] Translation: X:194.47, Y:172.68, Z:-0.66 [[ 7.95939342e-01 6.05375532e-01 1.01461078e-03 1.94469563e+02] [-6.05375057e-01 7.95939989e-01 -7.58059218e-04 1.72681790e+02] [-1.26647980e-03 -1.08509056e-05 9.99999198e-01 -6.62703927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41576923100007 meters 0.014368964337239404 Centerline is valid? [True, True] Translation: X:194.49, Y:172.66, Z:-0.66 [[ 7.97446914e-01 6.03386334e-01 1.83074285e-03 1.94490374e+02] [-6.03384785e-01 7.97449015e-01 -1.36712496e-03 1.72662876e+02] [-2.28482860e-03 -1.44327997e-05 9.99997390e-01 -6.60808647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44576923100004 meters 0.012490175409415914 Centerline is valid? [True, True] Translation: X:194.51, Y:172.64, Z:-0.66 [[ 8.00489599e-01 5.99345847e-01 9.78261757e-04 1.94506943e+02] [-5.99345402e-01 8.00490197e-01 -7.30576042e-04 1.72637860e+02] [-1.22095666e-03 -1.49816335e-06 9.99999255e-01 -6.63914546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4757692310001 meters 0.012424371796784166 Centerline is valid? [True, True] Translation: X:194.53, Y:172.62, Z:-0.67 [[ 8.01942215e-01 5.97401605e-01 7.69537960e-05 1.94527005e+02] [-5.97401603e-01 8.01942219e-01 -5.78368152e-05 1.72617271e+02] [-9.62643042e-05 4.09462664e-07 9.99999995e-01 -6.66090596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50576923100004 meters 0.012933013176141667 Centerline is valid? [True, True] Translation: X:194.55, Y:172.60, Z:-0.67 [[ 8.03213547e-01 5.95690925e-01 -5.65845398e-04 1.94547221e+02] [-5.95690776e-01 8.03213746e-01 4.21625305e-04 1.72597628e+02] [ 7.05653170e-04 -1.58627280e-06 9.99999751e-01 -6.66826220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5357692310001 meters 0.013819451576493579 Centerline is valid? [True, True] Translation: X:194.57, Y:172.58, Z:-0.67 [[ 8.04589270e-01 5.93831378e-01 -6.33758256e-04 1.94565733e+02] [-5.93831190e-01 8.04589520e-01 4.72474945e-04 1.72576761e+02] [ 7.90485698e-04 -3.80285199e-06 9.99999688e-01 -6.66703051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56576923100005 meters 0.013884919884926234 Centerline is valid? [True, True] Translation: X:194.59, Y:172.56, Z:-0.67 [[ 8.04995228e-01 5.93281044e-01 -5.33641338e-04 1.94586890e+02] [-5.93280911e-01 8.04995405e-01 3.97381621e-04 1.72558205e+02] [ 6.65337809e-04 -3.29108965e-06 9.99999779e-01 -6.66611070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5957692310001 meters 0.014128397088466327 Centerline is valid? [True, True] Translation: X:194.61, Y:172.54, Z:-0.67 [[ 8.05051510e-01 5.93204633e-01 -5.75261443e-04 1.94606416e+02] [-5.93204478e-01 8.05051715e-01 4.28577381e-04 1.72539399e+02] [ 7.17349300e-04 -3.77920376e-06 9.99999743e-01 -6.67193458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62576923100005 meters 0.013630396309788023 Centerline is valid? [True, True] Translation: X:194.63, Y:172.52, Z:-0.67 [[ 8.04866368e-01 5.93455942e-01 -4.18480218e-04 1.94627892e+02] [-5.93455860e-01 8.04866477e-01 3.11359683e-04 1.72521856e+02] [ 5.21598952e-04 -2.25340019e-06 9.99999864e-01 -6.66295259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6557692310001 meters 0.013169606316896398 Centerline is valid? [True, True] Translation: X:194.65, Y:172.50, Z:-0.67 [[ 8.04223020e-01 5.94327325e-01 -6.04506014e-04 1.94648742e+02] [-5.94327154e-01 8.04223247e-01 4.50198773e-04 1.72502781e+02] [ 7.53723221e-04 -2.78587795e-06 9.99999716e-01 -6.66222607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68576923100005 meters 0.01302757908315174 Centerline is valid? [True, True] Translation: X:194.67, Y:172.49, Z:-0.67 [[ 8.03975538e-01 5.94661396e-01 -1.07632736e-03 1.94669532e+02] [-5.94660856e-01 8.03976258e-01 8.01509872e-04 1.72485607e+02] [ 1.34196862e-03 -4.34458049e-06 9.99999100e-01 -6.67650553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7157692310001 meters 0.012733715958267973 Centerline is valid? [True, True] Translation: X:194.69, Y:172.47, Z:-0.67 [[ 8.03576374e-01 5.95200055e-01 -1.38043984e-03 1.94691141e+02] [-5.95199168e-01 8.03577560e-01 1.02739678e-03 1.72468605e+02] [ 1.72079709e-03 -3.95513506e-06 9.99998519e-01 -6.68833771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74576923100005 meters 0.012377816425370287 Centerline is valid? [True, True] Translation: X:194.71, Y:172.45, Z:-0.67 [[ 8.02092765e-01 5.97197539e-01 -1.51515406e-03 1.94714152e+02] [-5.97196475e-01 8.02094196e-01 1.12727376e-03 1.72452142e+02] [ 1.88850139e-03 6.66534053e-07 9.99998217e-01 -6.68774755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7757692310001 meters 0.012392340302778988 Centerline is valid? [True, True] Translation: X:194.74, Y:172.44, Z:-0.67 [[ 8.01302279e-01 5.98259505e-01 -4.70906851e-04 1.94736941e+02] [-5.98259403e-01 8.01302418e-01 3.50245212e-04 1.72436846e+02] [ 5.86876326e-04 1.07216439e-06 9.99999828e-01 -6.67014357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80576923100006 meters 0.012807883363355357 Centerline is valid? [True, True] Translation: X:194.76, Y:172.42, Z:-0.66 [[ 8.00450393e-01 5.99398936e-01 2.89164044e-04 1.94760080e+02] [-5.99398897e-01 8.00450446e-01 -2.15322202e-04 1.72422119e+02] [-3.60525387e-04 -9.69867520e-07 9.99999935e-01 -6.64505298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8357692310001 meters 0.013586016804386963 Centerline is valid? [True, True] Translation: X:194.78, Y:172.40, Z:-0.67 [[ 7.99582523e-01 6.00556219e-01 -1.30812779e-04 1.94782860e+02] [-6.00556211e-01 7.99582534e-01 9.69366250e-05 1.72404914e+02] [ 1.62811507e-04 1.05159601e-06 9.99999987e-01 -6.66821857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86576923100006 meters 0.013660237461665973 Centerline is valid? [True, True] Translation: X:194.80, Y:172.39, Z:-0.67 [[ 7.99744393e-01 6.00339965e-01 -9.12120546e-04 1.94804713e+02] [-6.00339582e-01 7.99744913e-01 6.77757545e-04 1.72387465e+02] [ 1.13634871e-03 5.54927120e-06 9.99999354e-01 -6.68900257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89576923100003 meters 0.013593788424831589 Centerline is valid? [True, True] Translation: X:194.83, Y:172.37, Z:-0.67 [[ 8.00013799e-01 5.99980557e-01 -1.11905325e-03 1.94827258e+02] [-5.99979981e-01 8.00014582e-01 8.31302224e-04 1.72370762e+02] [ 1.39402409e-03 6.35629699e-06 9.99999028e-01 -6.69679374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92576923100006 meters 0.013595972458869175 Centerline is valid? [True, True] Translation: X:194.85, Y:172.35, Z:-0.67 [[ 8.00146571e-01 5.99804263e-01 -5.58052487e-04 1.94850518e+02] [-5.99804120e-01 8.00146765e-01 4.14193329e-04 1.72354961e+02] [ 6.94958817e-04 3.30680860e-06 9.99999759e-01 -6.68400830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95576923100003 meters 0.01411541957591728 Centerline is valid? [True, True] Translation: X:194.88, Y:172.34, Z:-0.66 [[ 7.99219950e-01 6.01038310e-01 6.49567197e-04 1.94876204e+02] [-6.01038116e-01 7.99220214e-01 -4.82808416e-04 1.72340973e+02] [-8.09333588e-04 -4.54452612e-06 9.99999672e-01 -6.64804194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98576923100006 meters 0.014729442706147058 Centerline is valid? [True, True] Translation: X:194.90, Y:172.33, Z:-0.66 [[ 7.98552708e-01 6.01924616e-01 5.74440992e-04 1.94901063e+02] [-6.01924464e-01 7.98552914e-01 -4.26868744e-04 1.72325568e+02] [-7.15664333e-04 -4.89289547e-06 9.99999744e-01 -6.64792683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01576923100004 meters 0.015715782500253316 Centerline is valid? [True, True] Translation: X:194.93, Y:172.31, Z:-0.67 [[ 7.97907407e-01 6.02779782e-01 5.50711375e-04 1.94925726e+02] [-6.02779644e-01 7.97907597e-01 -4.08952785e-04 1.72312226e+02] [-6.85925261e-04 -5.65115046e-06 9.99999765e-01 -6.65104964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04576923100007 meters 0.018198611745818088 Centerline is valid? [True, True] Translation: X:194.95, Y:172.30, Z:-0.67 [[ 7.96963635e-01 6.04027277e-01 1.17446043e-04 1.94951684e+02] [-6.04027271e-01 7.96963643e-01 -8.73698477e-05 1.72301239e+02] [-1.46373998e-04 -1.31002157e-06 9.99999989e-01 -6.66506736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07576923100004 meters 0.01990909022071404 Centerline is valid? [True, True] Translation: X:194.98, Y:172.29, Z:-0.67 [[ 7.95441618e-01 6.06029607e-01 -8.65252382e-04 1.94979399e+02] [-6.06029267e-01 7.95442088e-01 6.41610126e-04 1.72289668e+02] [ 1.07709289e-03 1.40048709e-05 9.99999420e-01 -6.69664122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10576923100007 meters 0.020191009610476235 Centerline is valid? [True, True] Translation: X:195.00, Y:172.27, Z:-0.67 [[ 7.95180302e-01 6.06372480e-01 -8.38919779e-04 1.95004001e+02] [-6.06372161e-01 7.95180744e-01 6.21855352e-04 1.72273958e+02] [ 1.04416883e-03 1.42104733e-05 9.99999455e-01 -6.69919731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13576923100004 meters 0.020649312865811627 Centerline is valid? [True, True] Translation: X:195.03, Y:172.26, Z:-0.67 [[ 7.95407048e-01 6.06075583e-01 1.26166355e-04 1.95027635e+02] [-6.06075576e-01 7.95407058e-01 -9.36992637e-05 1.72258876e+02] [-1.57142445e-04 -1.93729175e-06 9.99999988e-01 -6.68913238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16576923100007 meters 0.01679282379845072 Centerline is valid? [True, True] Translation: X:195.05, Y:172.24, Z:-0.67 [[ 7.97433186e-01 6.03405851e-01 1.30124751e-03 1.95048562e+02] [-6.03405079e-01 7.97434247e-01 -9.65067416e-04 1.72238425e+02] [-1.61998665e-03 -1.56025731e-05 9.99998688e-01 -6.66240803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19576923100004 meters 0.01518967249261316 Centerline is valid? [True, True] Translation: X:195.07, Y:172.22, Z:-0.67 [[ 7.98741085e-01 6.01674564e-01 6.30493602e-04 1.95070515e+02] [-6.01674382e-01 7.98741334e-01 -4.67640436e-04 1.72220063e+02] [-7.84968657e-04 -5.82821938e-06 9.99999692e-01 -6.67950015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2257692310001 meters 0.014435988728455548 Centerline is valid? [True, True] Translation: X:195.09, Y:172.20, Z:-0.67 [[ 7.99733475e-01 6.00354995e-01 -4.98282056e-04 1.95092542e+02] [-6.00354882e-01 7.99733630e-01 3.69095214e-04 1.72202370e+02] [ 6.20081073e-04 3.96826629e-06 9.99999808e-01 -6.69993223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25576923100004 meters 0.014100085775914335 Centerline is valid? [True, True] Translation: X:195.11, Y:172.19, Z:-0.67 [[ 8.00211271e-01 5.99717153e-01 -1.12148952e-03 1.95113542e+02] [-5.99716578e-01 8.00212057e-01 8.30702209e-04 1.72186031e+02] [ 1.39561580e-03 7.83858737e-06 9.99999026e-01 -6.71775945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2857692310001 meters 0.013652866444357417 Centerline is valid? [True, True] Translation: X:195.14, Y:172.17, Z:-0.67 [[ 8.00770216e-01 5.98970092e-01 -1.37483776e-03 1.95135948e+02] [-5.98969228e-01 8.00771396e-01 1.01775136e-03 1.72168790e+02] [ 1.71053338e-03 8.50053286e-06 9.99998537e-01 -6.72073680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31576923100005 meters 0.013556156727543307 Centerline is valid? [True, True] Translation: X:195.16, Y:172.15, Z:-0.67 [[ 8.01006774e-01 5.98654773e-01 -7.81196129e-04 1.95158287e+02] [-5.98654494e-01 8.01007155e-01 5.77876377e-04 1.72152605e+02] [ 9.71692140e-04 4.78368085e-06 9.99999528e-01 -6.71400485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3457692310001 meters 0.013218780965479663 Centerline is valid? [True, True] Translation: X:195.18, Y:172.14, Z:-0.67 [[ 8.01385034e-01 5.98148833e-01 2.56741213e-05 1.95180474e+02] [-5.98148833e-01 8.01385034e-01 -1.94335835e-05 1.72135940e+02] [-3.21990320e-05 2.16837285e-07 9.99999999e-01 -6.70082403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37576923100005 meters 0.013305062791155458 Centerline is valid? [True, True] Translation: X:195.20, Y:172.12, Z:-0.67 [[ 8.01857179e-01 5.97515640e-01 3.53435338e-04 1.95201439e+02] [-5.97515583e-01 8.01857257e-01 -2.61684524e-04 1.72118461e+02] [-4.39765286e-04 -1.34950791e-06 9.99999903e-01 -6.69591793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4057692310001 meters 0.012931322032130967 Centerline is valid? [True, True] Translation: X:195.22, Y:172.10, Z:-0.67 [[ 8.02488657e-01 5.96667366e-01 -1.00589336e-04 1.95222766e+02] [-5.96667361e-01 8.02488663e-01 7.40067430e-05 1.72100481e+02] [ 1.24879210e-04 6.28801957e-07 9.99999992e-01 -6.70433048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43576923100005 meters 0.012574164562759109 Centerline is valid? [True, True] Translation: X:195.24, Y:172.08, Z:-0.67 [[ 8.03399786e-01 5.95439829e-01 -4.40997603e-04 1.95243942e+02] [-5.95439739e-01 8.03399907e-01 3.25602110e-04 1.72081363e+02] [ 5.48173898e-04 9.98832145e-07 9.99999850e-01 -6.71026403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4657692310001 meters 0.014017939269817252 Centerline is valid? [True, True] Translation: X:195.26, Y:172.06, Z:-0.67 [[ 8.07554409e-01 5.89793042e-01 -2.11384944e-04 1.95260381e+02] [-5.89793021e-01 8.07554437e-01 1.55846713e-04 1.72055506e+02] [ 2.62622156e-04 -1.18133558e-06 9.99999966e-01 -6.71108635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49576923100005 meters 0.016940920873093863 Centerline is valid? [True, True] Translation: X:195.28, Y:172.03, Z:-0.67 [[ 8.10384280e-01 5.85898718e-01 1.02890631e-04 1.95278692e+02] [-5.85898713e-01 8.10384287e-01 -7.63936324e-05 1.72031154e+02] [-1.28139882e-04 1.62471047e-06 9.99999992e-01 -6.70451747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5257692310001 meters 0.020617539376586037 Centerline is valid? [True, True] Translation: X:195.30, Y:172.01, Z:-0.67 [[ 8.12965559e-01 5.82311666e-01 3.52673128e-04 1.95296382e+02] [-5.82311607e-01 8.12965635e-01 -2.60841940e-04 1.72006294e+02] [-4.38602438e-04 6.68985699e-06 9.99999904e-01 -6.70013979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55576923100006 meters 0.027826227422048787 Centerline is valid? [True, True] Translation: X:195.31, Y:171.97, Z:-0.67 [[ 8.17291639e-01 5.76222744e-01 1.31341450e-03 1.95308113e+02] [-5.76221929e-01 8.17292694e-01 -9.70029975e-04 1.71974720e+02] [-1.63239741e-03 3.59791494e-05 9.99998667e-01 -6.68167465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5857692310001 meters 0.031533065102162666 Centerline is valid? [True, True] Translation: X:195.33, Y:171.95, Z:-0.67 [[ 8.19076503e-01 5.73682936e-01 1.25328036e-03 1.95325849e+02] [-5.73682191e-01 8.19077461e-01 -9.25535006e-04 1.71950528e+02] [-1.55749734e-03 3.90993516e-05 9.99998786e-01 -6.67769876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61576923100006 meters 0.033363725538207475 Centerline is valid? [True, True] Translation: X:195.35, Y:171.93, Z:-0.67 [[ 8.20476267e-01 5.71680161e-01 6.99527285e-04 1.95345788e+02] [-5.71679928e-01 8.20476565e-01 -5.16717175e-04 1.71927144e+02] [-8.69342701e-04 2.40484704e-05 9.99999622e-01 -6.69116814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64576923100003 meters 0.0366227788116693 Centerline is valid? [True, True] Translation: X:195.36, Y:171.90, Z:-0.67 [[ 8.22027166e-01 5.69446423e-01 -1.45229102e-03 1.95360468e+02] [-5.69445417e-01 8.22028447e-01 1.07187526e-03 1.71899118e+02] [ 1.80420006e-03 -5.41101205e-05 9.99998371e-01 -6.74107149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67576923100006 meters 0.037416341526444026 Centerline is valid? [True, True] Translation: X:195.38, Y:171.88, Z:-0.67 [[ 8.22349756e-01 5.68980220e-01 -1.54523678e-03 1.95379642e+02] [-5.68979081e-01 8.22351206e-01 1.13984785e-03 1.71876816e+02] [ 1.91927821e-03 -5.81461950e-05 9.99998157e-01 -6.74475535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70576923100003 meters 0.03668675824853299 Centerline is valid? [True, True] Translation: X:195.40, Y:171.86, Z:-0.67 [[ 8.22480066e-01 5.68793638e-01 -5.81904456e-04 1.95399001e+02] [-5.68793477e-01 8.22480271e-01 4.28790737e-04 1.71856383e+02] [ 7.22498378e-04 -2.16883749e-05 9.99999739e-01 -6.72620026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73576923100006 meters 0.03755154715780104 Centerline is valid? [True, True] Translation: X:195.42, Y:171.83, Z:-0.67 [[ 8.22240073e-01 5.69140405e-01 6.79644596e-04 1.95416846e+02] [-5.69140184e-01 8.22240354e-01 -5.01378801e-04 1.71833836e+02] [-8.44186146e-04 2.54406912e-05 9.99999643e-01 -6.69914102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76576923100004 meters 0.036331677954264396 Centerline is valid? [True, True] Translation: X:195.43, Y:171.81, Z:-0.67 [[ 8.21350720e-01 5.70422119e-01 1.26521869e-03 1.95433149e+02] [-5.70421358e-01 8.21351693e-01 -9.33135270e-04 1.71808669e+02] [-1.57147052e-03 4.47235597e-05 9.99998764e-01 -6.67212880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79576923100007 meters 0.03501261635746987 Centerline is valid? [True, True] Translation: X:195.45, Y:171.79, Z:-0.67 [[ 8.20525064e-01 5.71610147e-01 6.76916637e-04 1.95453060e+02] [-5.71609930e-01 8.20525343e-01 -4.99245975e-04 1.71789113e+02] [-8.40801322e-04 2.27115641e-05 9.99999646e-01 -6.68384161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82576923100004 meters 0.031693277881988946 Centerline is valid? [True, True] Translation: X:195.48, Y:171.77, Z:-0.67 [[ 8.19272395e-01 5.73404237e-01 5.69359000e-04 1.95476269e+02] [-5.73404083e-01 8.19272593e-01 -4.19875814e-04 1.71771552e+02] [-7.07218795e-04 1.75198881e-05 9.99999750e-01 -6.68059526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85576923100007 meters 0.022720884994762283 Centerline is valid? [True, True] Translation: X:195.50, Y:171.76, Z:-0.67 [[ 8.15370522e-01 5.78937002e-01 1.69089853e-03 1.95503291e+02] [-5.78935661e-01 8.15372275e-01 -1.24660150e-03 1.71757959e+02] [-2.10041551e-03 3.75206529e-05 9.99997793e-01 -6.65513357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88576923100004 meters 0.020827414415970646 Centerline is valid? [True, True] Translation: X:195.53, Y:171.74, Z:-0.66 [[ 8.12754038e-01 5.82603734e-01 1.93977832e-03 1.95526219e+02] [-5.82601981e-01 8.12756352e-01 -1.42966322e-03 1.71741146e+02] [-2.40949428e-03 3.18458652e-05 9.99997097e-01 -6.64777635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91576923100007 meters 0.020827414415970646 Centerline is valid? [True, True] Translation: X:195.55, Y:171.73, Z:-0.66 [[ 8.12858103e-01 5.82458531e-01 1.93989166e-03 1.95548482e+02] [-5.82456778e-01 8.12860418e-01 -1.42950942e-03 1.71725003e+02] [-2.40949110e-03 3.20852711e-05 9.99997097e-01 -6.64828209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94576923100004 meters 0.016325494070314733 Centerline is valid? [True, True] Translation: X:195.58, Y:171.71, Z:-0.67 [[ 8.10148078e-01 5.86222350e-01 1.85692976e-03 1.95575341e+02] [-5.86220754e-01 8.10150206e-01 -1.36789874e-03 1.71712048e+02] [-2.30628484e-03 1.96297746e-05 9.99997340e-01 -6.65185389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9757692310001 meters 0.013860917802379384 Centerline is valid? [True, True] Translation: X:195.60, Y:171.70, Z:-0.67 [[ 8.07752005e-01 5.89520562e-01 1.48510582e-03 1.95600737e+02] [-5.89519548e-01 8.07753370e-01 -1.09372691e-03 1.71698815e+02] [-1.84437373e-03 7.96119011e-06 9.99998299e-01 -6.66492668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00576923100004 meters 0.013273508714587512 Centerline is valid? [True, True] Translation: X:195.63, Y:171.69, Z:-0.67 [[ 8.03919647e-01 5.94737851e-01 2.99134990e-04 1.95628367e+02] [-5.94737810e-01 8.03919703e-01 -2.20553991e-04 1.71688867e+02] [-3.71652319e-04 -5.99202511e-07 9.99999931e-01 -6.69281455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0357692310001 meters 0.013852803108119326 Centerline is valid? [True, True] Translation: X:195.65, Y:171.67, Z:-0.67 [[ 8.02964767e-01 5.96026468e-01 -1.81125212e-04 1.95652854e+02] [-5.96026453e-01 8.02964787e-01 1.32895616e-04 1.71673373e+02] [ 2.24646472e-04 1.24492050e-06 9.99999975e-01 -6.70753040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06576923100005 meters 0.014498573910145708 Centerline is valid? [True, True] Translation: X:195.68, Y:171.66, Z:-0.67 [[ 8.02290774e-01 5.96929774e-01 -2.08789529e-03 1.95675505e+02] [-5.96927800e-01 8.02293491e-01 1.53517026e-03 1.71656188e+02] [ 2.59149363e-03 1.46697995e-05 9.99996642e-01 -6.74805096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0957692310001 meters 0.01484461662211301 Centerline is valid? [True, True] Translation: X:195.70, Y:171.64, Z:-0.68 [[ 8.02212249e-01 5.97029211e-01 -3.41000896e-03 1.95698523e+02] [-5.97023950e-01 8.02219496e-01 2.50664167e-03 1.71638530e+02] [ 4.23211397e-03 2.49983662e-05 9.99991044e-01 -6.78180888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12576923100005 meters 0.015239897135781206 Centerline is valid? [True, True] Translation: X:195.72, Y:171.62, Z:-0.68 [[ 8.01831315e-01 5.97535980e-01 -4.15879970e-03 1.95722005e+02] [-5.97528166e-01 8.01842099e-01 3.05605013e-03 1.71622398e+02] [ 5.16080059e-03 3.45632622e-05 9.99986682e-01 -6.79437860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1557692310001 meters 0.016141504939990843 Centerline is valid? [True, True] Translation: X:195.74, Y:171.61, Z:-0.68 [[ 8.00385875e-01 5.99473318e-01 3.76727545e-03 1.95742215e+02] [-5.99476090e-01 8.00323411e-01 1.05287539e-02 1.71605745e+02] [ 3.29666829e-03 -1.06854575e-02 9.99937475e-01 -6.77594799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18576923100005 meters 0.01609202457744074 Centerline is valid? [True, True] Translation: X:195.77, Y:171.60, Z:-0.67 [[ 8.00761276e-01 5.98935301e-01 -7.60811524e-03 1.95773043e+02] [-5.98981758e-01 8.00725872e-01 -7.67667213e-03 1.71597375e+02] [ 1.49418478e-03 1.07043040e-02 9.99941591e-01 -6.74664691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2157692310001 meters 0.019370849203981303 Centerline is valid? [True, True] Translation: X:195.80, Y:171.58, Z:-0.67 [[ 7.99689083e-01 6.00414292e-01 2.18981677e-04 1.95797416e+02] [-6.00414271e-01 7.99689113e-01 -1.60989883e-04 1.71584307e+02] [-2.71777890e-04 -2.73787201e-06 9.99999963e-01 -6.71015262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24576923100005 meters 0.021879481112245698 Centerline is valid? [True, True] Translation: X:195.82, Y:171.57, Z:-0.67 [[ 7.97348088e-01 6.03518769e-01 1.05879667e-03 1.95824865e+02] [-6.03518269e-01 7.97348791e-01 -7.77710700e-04 1.71572776e+02] [-1.31359325e-03 -1.88969906e-05 9.99999137e-01 -6.69155234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2757692310001 meters 0.021783293174768986 Centerline is valid? [True, True] Translation: X:195.85, Y:171.56, Z:-0.67 [[ 7.96715151e-01 6.04354705e-01 5.98381992e-04 1.95848618e+02] [-6.04354545e-01 7.96715376e-01 -4.39546175e-04 1.71556595e+02] [-7.42381933e-04 -1.14417793e-05 9.99999724e-01 -6.70756666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30576923100006 meters 0.021895061890201763 Centerline is valid? [True, True] Translation: X:195.87, Y:171.54, Z:-0.67 [[ 7.96726092e-01 6.04340478e-01 3.47338578e-04 1.95871608e+02] [-6.04340424e-01 7.96726168e-01 -2.55252050e-04 1.71541012e+02] [-4.30992880e-04 -6.54477558e-06 9.99999907e-01 -6.71890405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3357692310001 meters 0.02000229078560687 Centerline is valid? [True, True] Translation: X:195.89, Y:171.52, Z:-0.67 [[ 7.98425957e-01 6.02092256e-01 9.52516435e-04 1.95892414e+02] [-6.02091850e-01 7.98426525e-01 -6.98849521e-04 1.71522689e+02] [-1.18128627e-03 -1.55227856e-05 9.99999302e-01 -6.70535574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36576923100006 meters 0.01764821493243187 Centerline is valid? [True, True] Translation: X:195.91, Y:171.50, Z:-0.67 [[ 8.00071651e-01 5.99901486e-01 1.88693102e-03 1.95914014e+02] [-5.99899890e-01 8.00073876e-01 -1.38405735e-03 1.71502596e+02] [-2.33998228e-03 -2.46246631e-05 9.99997262e-01 -6.68281240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39576923100003 meters 0.01579742130967502 Centerline is valid? [True, True] Translation: X:195.94, Y:171.48, Z:-0.67 [[ 8.01742739e-01 5.97660297e-01 3.27874572e-03 1.95935491e+02] [-5.97655463e-01 8.01749443e-01 -2.40389362e-03 1.71483704e+02] [-4.06544433e-03 -3.22560409e-05 9.99991736e-01 -6.65481362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42576923100006 meters 0.014378336736948832 Centerline is valid? [True, True] Translation: X:195.96, Y:171.47, Z:-0.66 [[ 8.02869027e-01 5.96139327e-01 4.38493133e-03 1.95957975e+02] [-5.96130666e-01 8.02881001e-01 -3.21365783e-03 1.71465197e+02] [-5.43636587e-03 -3.38456962e-05 9.99985222e-01 -6.63659803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45576923100003 meters 0.013920724746114258 Centerline is valid? [True, True] Translation: X:195.98, Y:171.45, Z:-0.66 [[ 8.03801550e-01 5.94884675e-01 3.91043397e-03 1.95980723e+02] [-5.94877774e-01 8.03811062e-01 -2.86533073e-03 1.71449701e+02] [-4.84779142e-03 -2.30729755e-05 9.99988249e-01 -6.63906467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48576923100006 meters 0.013894021662709017 Centerline is valid? [True, True] Translation: X:196.00, Y:171.43, Z:-0.67 [[ 8.04077080e-01 5.94520217e-01 2.40010138e-03 1.96003731e+02] [-5.94517617e-01 8.04080662e-01 -1.75844907e-03 1.71434272e+02] [-2.97530863e-03 -1.29739630e-05 9.99995574e-01 -6.67419509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51576923100004 meters 0.013677421605343515 Centerline is valid? [True, True] Translation: X:196.03, Y:171.42, Z:-0.67 [[ 8.04166346e-01 5.94404045e-01 5.66050834e-04 1.96026580e+02] [-5.94403900e-01 8.04166545e-01 -4.14941541e-04 1.71417758e+02] [-7.01842074e-04 -2.78080052e-06 9.99999754e-01 -6.71405921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54576923100007 meters 0.014291788101401198 Centerline is valid? [True, True] Translation: X:196.05, Y:171.40, Z:-0.67 [[ 8.03815250e-01 5.94878772e-01 -5.38680556e-04 1.96050322e+02] [-5.94878641e-01 8.03815431e-01 3.94288152e-04 1.71403859e+02] [ 6.67553395e-04 3.51472784e-06 9.99999777e-01 -6.73921393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57576923100004 meters 0.01571821296083007 Centerline is valid? [True, True] Translation: X:196.08, Y:171.39, Z:-0.67 [[ 8.02521770e-01 5.96622074e-01 -9.53581031e-04 1.96077284e+02] [-5.96621666e-01 8.02522337e-01 6.97611541e-04 1.71391630e+02] [ 1.18148052e-03 9.07865409e-06 9.99999302e-01 -6.74394250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60576923100007 meters 0.01689485293144096 Centerline is valid? [True, True] Translation: X:196.10, Y:171.38, Z:-0.67 [[ 8.01754986e-01 5.97652781e-01 -3.11637524e-04 1.96101916e+02] [-5.97652737e-01 8.01755046e-01 2.27946711e-04 1.71378195e+02] [ 3.86089943e-04 3.49360747e-06 9.99999925e-01 -6.73189776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63576923100004 meters 0.01787262870571628 Centerline is valid? [True, True] Translation: X:196.13, Y:171.36, Z:-0.67 [[ 8.01054558e-01 5.98591176e-01 4.45073580e-04 1.96127386e+02] [-5.98591088e-01 8.01054682e-01 -3.25985629e-04 1.71364114e+02] [-5.51660396e-04 -5.28480462e-06 9.99999848e-01 -6.71059490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66576923100007 meters 0.019899536083760938 Centerline is valid? [True, True] Translation: X:196.16, Y:171.35, Z:-0.67 [[ 7.99715461e-01 6.00379152e-01 2.33138867e-04 1.96155083e+02] [-6.00379128e-01 7.99715495e-01 -1.70874345e-04 1.71353791e+02] [-2.89034159e-04 -3.32085418e-06 9.99999958e-01 -6.71818551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69576923100004 meters 0.0214705470719676 Centerline is valid? [True, True] Translation: X:196.18, Y:171.34, Z:-0.67 [[ 7.98969615e-01 6.01371207e-01 -4.75009102e-04 1.96180077e+02] [-6.01371107e-01 7.98969756e-01 3.47157339e-04 1.71341337e+02] [ 5.88288334e-04 8.28858421e-06 9.99999827e-01 -6.73907039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7257692310001 meters 0.02051717743781997 Centerline is valid? [True, True] Translation: X:196.20, Y:171.32, Z:-0.67 [[ 7.98526210e-01 6.01959375e-01 -8.95872653e-04 1.96203648e+02] [-6.01959019e-01 7.98526713e-01 6.54489672e-04 1.71324069e+02] [ 1.10935444e-03 1.66514660e-05 9.99999385e-01 -6.74875176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75576923100004 meters 0.021463697082771682 Centerline is valid? [True, True] Translation: X:196.23, Y:171.31, Z:-0.67 [[ 7.97816355e-01 6.02900519e-01 -1.66287018e-04 1.96230006e+02] [-6.02900507e-01 7.97816372e-01 1.21128185e-04 1.71311934e+02] [ 2.05694751e-04 3.61648020e-06 9.99999979e-01 -6.73079141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7857692310001 meters 0.023697049243565374 Centerline is valid? [True, True] Translation: X:196.26, Y:171.30, Z:-0.67 [[ 7.97478706e-01 6.03347001e-01 3.31520333e-04 1.96256522e+02] [-6.03346952e-01 7.97478775e-01 -2.42357713e-04 1.71300442e+02] [-4.10606229e-04 -6.74666703e-06 9.99999916e-01 -6.72099955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81576923100005 meters 0.023024001584117076 Centerline is valid? [True, True] Translation: X:196.28, Y:171.28, Z:-0.67 [[ 7.97323626e-01 6.03551839e-01 4.61616485e-04 1.96280565e+02] [-6.03551744e-01 7.97323760e-01 -3.37534620e-04 1.71284955e+02] [-5.71777432e-04 -9.48510748e-06 9.99999836e-01 -6.71539908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8457692310001 meters 0.024333256492240985 Centerline is valid? [True, True] Translation: X:196.31, Y:171.27, Z:-0.67 [[ 7.97457577e-01 6.03374844e-01 4.59391396e-04 1.96306233e+02] [-6.03374751e-01 7.97457709e-01 -3.35735712e-04 1.71273626e+02] [-5.68919693e-04 -9.45018154e-06 9.99999838e-01 -6.71922396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87576923100005 meters 0.022858905102964244 Centerline is valid? [True, True] Translation: X:196.33, Y:171.26, Z:-0.67 [[ 7.97892785e-01 6.02799140e-01 5.47888854e-04 1.96329412e+02] [-6.02799007e-01 7.97892973e-01 -4.00294684e-04 1.71256814e+02] [-6.78453958e-04 -1.08746171e-05 9.99999770e-01 -6.71576254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9057692310001 meters 0.022034936533085518 Centerline is valid? [True, True] Translation: X:196.35, Y:171.24, Z:-0.67 [[ 7.98280714e-01 6.02285218e-01 6.46227949e-04 1.96354050e+02] [-6.02285034e-01 7.98280975e-01 -4.71916634e-04 1.71240930e+02] [-8.00099890e-04 -1.24914746e-05 9.99999680e-01 -6.71372137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93576923100005 meters 0.02221837249335574 Centerline is valid? [True, True] Translation: X:196.38, Y:171.23, Z:-0.67 [[ 7.98010218e-01 6.02643886e-01 1.99422961e-04 1.96379695e+02] [-6.02643868e-01 7.98010243e-01 -1.45845823e-04 1.71227731e+02] [-2.47034659e-04 -3.79456822e-06 9.99999969e-01 -6.73151814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9657692310001 meters 0.025530159783685846 Centerline is valid? [True, True] Translation: X:196.40, Y:171.22, Z:-0.67 [[ 7.98144771e-01 6.02465702e-01 4.58544736e-05 1.96404645e+02] [-6.02465701e-01 7.98144773e-01 -3.36313029e-05 1.71216906e+02] [-5.68602150e-05 -7.83098977e-07 9.99999998e-01 -6.74052773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99576923100005 meters 0.022730915409636586 Centerline is valid? [True, True] Translation: X:196.43, Y:171.20, Z:-0.67 [[ 7.98755087e-01 6.01656272e-01 2.06170607e-04 1.96426138e+02] [-6.01656253e-01 7.98755113e-01 -1.50671573e-04 1.71197081e+02] [-2.55332323e-04 -3.69414949e-06 9.99999967e-01 -6.73825611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0257692310001 meters 0.01983421501427298 Centerline is valid? [True, True] Translation: X:196.45, Y:171.18, Z:-0.67 [[ 8.00503101e-01 5.99328598e-01 -1.33800925e-04 1.96447907e+02] [-5.99328590e-01 8.00503112e-01 9.71711606e-05 1.71177688e+02] [ 1.65345512e-04 2.40490417e-06 9.99999986e-01 -6.74072985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05576923100006 meters 0.018629318537132712 Centerline is valid? [True, True] Translation: X:196.47, Y:171.16, Z:-0.67 [[ 8.01521750e-01 5.97965603e-01 -1.46593433e-04 1.96469178e+02] [-5.97965593e-01 8.01521764e-01 1.06694078e-04 1.71160374e+02] [ 1.81297215e-04 2.14020463e-06 9.99999984e-01 -6.74175472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0857692310001 meters 0.017037948997364195 Centerline is valid? [True, True] Translation: X:196.49, Y:171.14, Z:-0.67 [[ 8.02505839e-01 5.96644262e-01 -4.63035559e-05 1.96490734e+02] [-5.96644261e-01 8.02505841e-01 3.33573213e-05 1.71141538e+02] [ 5.70613283e-05 8.57305836e-07 9.99999998e-01 -6.73638118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11576923100006 meters 0.016266173740624463 Centerline is valid? [True, True] Translation: X:196.51, Y:171.12, Z:-0.67 [[ 8.03152480e-01 5.95773439e-01 3.22257063e-04 1.96512865e+02] [-5.95773393e-01 8.03152544e-01 -2.35050554e-04 1.71123192e+02] [-3.98858457e-04 -3.21074801e-06 9.99999920e-01 -6.72562665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14576923100003 meters 0.01589636890382195 Centerline is valid? [True, True] Translation: X:196.54, Y:171.11, Z:-0.67 [[ 8.03417067e-01 5.95414677e-01 1.54237817e-03 1.96535275e+02] [-5.95413618e-01 8.03418547e-01 -1.12317876e-03 1.71107236e+02] [-1.90793235e-03 -1.59719800e-05 9.99998180e-01 -6.69034438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17576923100006 meters 0.016097744891060216 Centerline is valid? [True, True] Translation: X:196.56, Y:171.09, Z:-0.67 [[ 8.03206916e-01 5.95697019e-01 1.92661046e-03 1.96558319e+02] [-5.95695369e-01 8.03209226e-01 -1.40230185e-03 1.71092138e+02] [-2.38281833e-03 -2.13343857e-05 9.99997161e-01 -6.68179427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20576923100003 meters 0.01753914364072416 Centerline is valid? [True, True] Translation: X:196.58, Y:171.08, Z:-0.67 [[ 8.02609051e-01 5.96502749e-01 1.78348533e-03 1.96582980e+02] [-5.96501338e-01 8.02611033e-01 -1.29768748e-03 1.71078092e+02] [-2.20551915e-03 -2.23156677e-05 9.99997568e-01 -6.68675298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23576923100006 meters 0.018891834997732795 Centerline is valid? [True, True] Translation: X:196.61, Y:171.06, Z:-0.67 [[ 8.01138838e-01 5.98478450e-01 3.28936125e-04 1.96608256e+02] [-5.98478402e-01 8.01138905e-01 -2.39418909e-04 1.71064638e+02] [-4.06810584e-04 -5.05337990e-06 9.99999917e-01 -6.71314018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26576923100004 meters 0.020197171239641067 Centerline is valid? [True, True] Translation: X:196.63, Y:171.05, Z:-0.67 [[ 8.00574402e-01 5.99233316e-01 2.43907030e-04 1.96633379e+02] [-5.99233290e-01 8.00574439e-01 -1.77542009e-04 1.71051286e+02] [-3.01654821e-04 -4.02162372e-06 9.99999955e-01 -6.71413751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29576923100007 meters 0.020521293535549302 Centerline is valid? [True, True] Translation: X:196.66, Y:171.04, Z:-0.67 [[ 8.00297185e-01 5.99603309e-01 5.36151697e-04 1.96658166e+02] [-5.99603182e-01 8.00297364e-01 -3.90213537e-04 1.71036563e+02] [-6.63054118e-04 -9.19146873e-06 9.99999780e-01 -6.71143789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32576923100004 meters 0.020896670421997398 Centerline is valid? [True, True] Translation: X:196.68, Y:171.02, Z:-0.67 [[ 8.00221230e-01 5.99704419e-01 7.69860035e-04 1.96681798e+02] [-5.99704158e-01 8.00221600e-01 -5.59970361e-04 1.71021703e+02] [-9.51875329e-04 -1.35880926e-05 9.99999547e-01 -6.70690559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35576923100007 meters 0.021631910760071746 Centerline is valid? [True, True] Translation: X:196.71, Y:171.01, Z:-0.67 [[ 8.00462312e-01 5.99382646e-01 7.28411787e-04 1.96705891e+02] [-5.99382412e-01 8.00462644e-01 -5.29482961e-04 1.71007896e+02] [-9.00429323e-04 -1.27660584e-05 9.99999595e-01 -6.71532352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38576923100004 meters 0.021636247258734257 Centerline is valid? [True, True] Translation: X:196.73, Y:170.99, Z:-0.67 [[ 8.00605119e-01 5.99191593e-01 9.37445664e-04 1.96729236e+02] [-5.99191206e-01 8.00605667e-01 -6.81323563e-04 1.70993329e+02] [-1.15876766e-03 -1.62380662e-05 9.99999329e-01 -6.70928923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41576923100007 meters 0.022056582368441057 Centerline is valid? [True, True] Translation: X:196.75, Y:170.98, Z:-0.67 [[ 8.00518986e-01 5.99305399e-01 1.54652054e-03 1.96753663e+02] [-5.99304347e-01 8.00520479e-01 -1.12367926e-03 1.70979815e+02] [-1.91144841e-03 -2.73099024e-05 9.99998173e-01 -6.69372024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44576923100004 meters 0.02235678488974737 Centerline is valid? [True, True] Translation: X:196.78, Y:170.97, Z:-0.67 [[ 7.99826984e-01 6.00227076e-01 2.06256068e-03 1.96779802e+02] [-6.00225208e-01 7.99829642e-01 -1.49793823e-03 1.70966549e+02] [-2.54880025e-03 -3.99094940e-05 9.99996751e-01 -6.68737346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4757692310001 meters 0.0221882768745053 Centerline is valid? [True, True] Translation: X:196.80, Y:170.95, Z:-0.67 [[ 7.99923436e-01 6.00097942e-01 2.22638685e-03 1.96803101e+02] [-6.00095767e-01 7.99926533e-01 -1.61630586e-03 1.70951596e+02] [-2.75088773e-03 -4.31243828e-05 9.99996215e-01 -6.69675002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50576923100004 meters 0.02142295535697338 Centerline is valid? [True, True] Translation: X:196.83, Y:170.93, Z:-0.67 [[ 8.00277322e-01 5.99626687e-01 2.01096889e-03 1.96826149e+02] [-5.99624912e-01 8.00279848e-01 -1.45939023e-03 1.70934864e+02] [-2.48442721e-03 -3.79101382e-05 9.99996913e-01 -6.70336681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5357692310001 meters 0.020809456699390508 Centerline is valid? [True, True] Translation: X:196.85, Y:170.92, Z:-0.67 [[ 8.00947584e-01 5.98732705e-01 1.45414985e-03 1.96848330e+02] [-5.98731776e-01 8.00948904e-01 -1.05500880e-03 1.70918574e+02] [-1.79636800e-03 -2.56389737e-05 9.99998386e-01 -6.71888731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56576923100005 meters 0.01851896394411818 Centerline is valid? [True, True] Translation: X:196.87, Y:170.90, Z:-0.67 [[ 8.03008412e-01 5.95967288e-01 6.94527765e-04 1.96869015e+02] [-5.95967075e-01 8.03008712e-01 -5.03897548e-04 1.70899288e+02] [-8.58018301e-04 -9.28171136e-06 9.99999632e-01 -6.72925478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5957692310001 meters 0.01702017969155411 Centerline is valid? [True, True] Translation: X:196.89, Y:170.88, Z:-0.67 [[ 8.04484125e-01 5.93974150e-01 -5.24758027e-05 1.96889281e+02] [-5.93974148e-01 8.04484126e-01 3.78671422e-05 1.70880190e+02] [ 6.47080538e-05 7.05755496e-07 9.99999998e-01 -6.73969846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62576923100005 meters 0.014361951893197207 Centerline is valid? [True, True] Translation: X:196.91, Y:170.86, Z:-0.67 [[ 8.06298744e-01 5.91508395e-01 -3.92178712e-04 1.96908624e+02] [-5.91508327e-01 8.06298840e-01 2.83946980e-04 1.70857606e+02] [ 4.84170263e-04 3.03088078e-06 9.99999883e-01 -6.74553380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6557692310001 meters 0.012464318766879466 Centerline is valid? [True, True] Translation: X:196.93, Y:170.83, Z:-0.67 [[ 8.09713823e-01 5.86824213e-01 9.31697184e-04 1.96925192e+02] [-5.86823824e-01 8.09714359e-01 -6.75585460e-04 1.70831367e+02] [-1.15085849e-03 2.88780720e-07 9.99999338e-01 -6.71320444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68576923100005 meters 0.012750379440465026 Centerline is valid? [True, True] Translation: X:196.95, Y:170.81, Z:-0.67 [[ 8.11025033e-01 5.85007158e-01 2.24059820e-03 1.96946058e+02] [-5.85004906e-01 8.11028128e-01 -1.62354929e-03 1.70811831e+02] [-2.76697612e-03 5.97818404e-06 9.99996172e-01 -6.69093466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7157692310001 meters 0.01319655431946869 Centerline is valid? [True, True] Translation: X:196.97, Y:170.79, Z:-0.67 [[ 8.12043294e-01 5.83589047e-01 3.08440697e-03 1.96967174e+02] [-5.83584770e-01 8.12049151e-01 -2.23422900e-03 1.70793408e+02] [-3.80856163e-03 1.42777417e-05 9.99992747e-01 -6.67143666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74576923100005 meters 0.014022987593657159 Centerline is valid? [True, True] Translation: X:196.99, Y:170.77, Z:-0.67 [[ 8.12910272e-01 5.82381320e-01 2.98129691e-03 1.96988143e+02] [-5.82377317e-01 8.12915739e-01 -2.15927549e-03 1.70774264e+02] [-3.68106489e-03 1.90575331e-05 9.99993225e-01 -6.67914085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7757692310001 meters 0.015836341957540384 Centerline is valid? [True, True] Translation: X:197.01, Y:170.75, Z:-0.67 [[ 8.15012236e-01 5.79442348e-01 1.27295385e-03 1.97006837e+02] [-5.79441615e-01 8.15013230e-01 -9.21964196e-04 1.70750867e+02] [-1.57169933e-03 1.38096644e-05 9.99998765e-01 -6.72699893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80576923100006 meters 0.017207615904056717 Centerline is valid? [True, True] Translation: X:197.03, Y:170.73, Z:-0.67 [[ 8.16231908e-01 5.77724225e-01 4.38724354e-04 1.97027117e+02] [-5.77724137e-01 8.16232026e-01 -3.17889250e-04 1.70729185e+02] [-5.41753189e-04 6.00970030e-06 9.99999853e-01 -6.74273417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8357692310001 meters 0.017207615904056717 Centerline is valid? [True, True] Translation: X:197.05, Y:170.71, Z:-0.67 [[ 8.16340472e-01 5.77570810e-01 4.38758411e-04 1.97049500e+02] [-5.77570723e-01 8.16340590e-01 -3.17842231e-04 1.70713228e+02] [-5.41752695e-04 6.05346407e-06 9.99999853e-01 -6.74323863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86576923100006 meters 0.01886314989722836 Centerline is valid? [True, True] Translation: X:197.07, Y:170.69, Z:-0.68 [[ 8.17270444e-01 5.76253881e-01 -6.97424768e-04 1.97068465e+02] [-5.76253661e-01 8.17270741e-01 5.04313670e-04 1.70692876e+02] [ 8.60597567e-04 -1.02670810e-05 9.99999630e-01 -6.75929993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89576923100003 meters 0.018855248681341016 Centerline is valid? [True, True] Translation: X:197.09, Y:170.67, Z:-0.68 [[ 8.17655743e-01 5.75706317e-01 -1.14997836e-03 1.97088478e+02] [-5.75705717e-01 8.17656552e-01 8.31155706e-04 1.70671701e+02] [ 1.41878893e-03 -1.75501229e-05 9.99998993e-01 -6.76651412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92576923100006 meters 0.018234038420729203 Centerline is valid? [True, True] Translation: X:197.11, Y:170.65, Z:-0.68 [[ 8.17069365e-01 5.76539299e-01 -3.00020157e-04 1.97110148e+02] [-5.76539258e-01 8.17069420e-01 2.16780037e-04 1.70653529e+02] [ 3.70119506e-04 -4.15092808e-06 9.99999932e-01 -6.75044784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95576923100003 meters 0.016674570349134145 Centerline is valid? [True, True] Translation: X:197.13, Y:170.64, Z:-0.67 [[ 8.16373451e-01 5.77523795e-01 8.09549578e-04 1.97133261e+02] [-5.77523498e-01 8.16373852e-01 -5.85472548e-04 1.70635837e+02] [-9.99019436e-04 1.04303406e-05 9.99999501e-01 -6.73030446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98576923100006 meters 0.016044663020992576 Centerline is valid? [True, True] Translation: X:197.15, Y:170.62, Z:-0.67 [[ 8.15489884e-01 5.78769713e-01 1.36695781e-03 1.97154727e+02] [-5.78768870e-01 8.15491030e-01 -9.87965367e-04 1.70618356e+02] [-1.68654626e-03 1.45231371e-05 9.99998578e-01 -6.72083702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01576923100004 meters 0.013138313919275306 Centerline is valid? [True, True] Translation: X:197.18, Y:170.60, Z:-0.67 [[ 8.12738735e-01 5.82628207e-01 3.47507629e-04 1.97180926e+02] [-5.82628153e-01 8.12738810e-01 -2.51406386e-04 1.70604786e+02] [-4.28909388e-04 1.85998046e-06 9.99999908e-01 -6.73909765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04576923100007 meters 0.012611961433113224 Centerline is valid? [True, True] Translation: X:197.21, Y:170.59, Z:-0.68 [[ 8.11092669e-01 5.84916654e-01 -1.09155044e-03 1.97205527e+02] [-5.84916123e-01 8.11093403e-01 7.87805390e-04 1.70591795e+02] [ 1.34614985e-03 -5.17723855e-07 9.99999094e-01 -6.77198531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07576923100004 meters 0.013053528371442939 Centerline is valid? [True, True] Translation: X:197.23, Y:170.58, Z:-0.68 [[ 8.09477762e-01 5.87145678e-01 -2.38866224e-03 1.97231026e+02] [-5.87143148e-01 8.09481286e-01 1.72392253e-03 1.70577836e+02] [ 2.94577105e-03 7.00971965e-06 9.99995661e-01 -6.80273124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10576923100007 meters 0.014157876895145532 Centerline is valid? [True, True] Translation: X:197.26, Y:170.56, Z:-0.68 [[ 8.07897965e-01 5.89316435e-01 -2.64906624e-03 1.97255553e+02] [-5.89313334e-01 8.07902308e-01 1.91190470e-03 1.70564746e+02] [ 3.26690359e-03 1.65061394e-05 9.99994664e-01 -6.81516036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13576923100004 meters 0.01612055985425339 Centerline is valid? [True, True] Translation: X:197.28, Y:170.55, Z:-0.67 [[ 8.05261664e-01 5.92919587e-01 -1.25735940e-04 1.97282725e+02] [-5.92919580e-01 8.05261674e-01 9.03293885e-05 1.70553626e+02] [ 1.54808397e-04 1.81250697e-06 9.99999988e-01 -6.74645361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16576923100007 meters 0.017312324974027418 Centerline is valid? [True, True] Translation: X:197.31, Y:170.54, Z:-0.67 [[ 8.04319325e-01 5.94195779e-01 1.34154339e-03 1.97307496e+02] [-5.94194991e-01 8.04320444e-01 -9.67957541e-04 1.70540719e+02] [-1.65418706e-03 -1.85914080e-05 9.99998632e-01 -6.71382697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19576923100004 meters 0.01826210511494305 Centerline is valid? [True, True] Translation: X:197.33, Y:170.53, Z:-0.67 [[ 8.03769195e-01 5.94936642e-01 2.33946808e-03 1.97332098e+02] [-5.94934250e-01 8.03772599e-01 -1.68766577e-03 1.70527805e+02] [-2.88445454e-03 -3.53359286e-05 9.99995839e-01 -6.70079913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2257692310001 meters 0.018703092856399112 Centerline is valid? [True, True] Translation: X:197.36, Y:170.52, Z:-0.67 [[ 8.04011566e-01 5.94612560e-01 1.14260982e-03 1.97357484e+02] [-5.94611989e-01 8.04012377e-01 -8.24267814e-04 1.70516899e+02] [-1.40879243e-03 -1.66886422e-05 9.99999008e-01 -6.73428794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25576923100004 meters 0.017515617108578723 Centerline is valid? [True, True] Translation: X:197.38, Y:170.50, Z:-0.68 [[ 8.04730039e-01 5.93640928e-01 1.18028130e-04 1.97381277e+02] [-5.93640921e-01 8.04730047e-01 -8.54613211e-05 1.70500082e+02] [-1.45714121e-04 -1.29303580e-06 9.99999989e-01 -6.76022197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2857692310001 meters 0.017293877802435662 Centerline is valid? [True, True] Translation: X:197.40, Y:170.49, Z:-0.68 [[ 8.05569456e-01 5.92501171e-01 -4.62695787e-04 1.97404903e+02] [-5.92501077e-01 8.05569589e-01 3.33370971e-04 1.70485015e+02] [ 5.70256346e-04 5.59428003e-06 9.99999837e-01 -6.77822122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31576923100005 meters 0.01520582587204102 Centerline is valid? [True, True] Translation: X:197.43, Y:170.47, Z:-0.68 [[ 8.07227126e-01 5.90240914e-01 -1.76990858e-04 1.97426864e+02] [-5.90240900e-01 8.07227145e-01 1.27361525e-04 1.70468506e+02] [ 2.18045808e-04 1.65756590e-06 9.99999976e-01 -6.76790290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3457692310001 meters 0.013744066720136353 Centerline is valid? [True, True] Translation: X:197.45, Y:170.45, Z:-0.67 [[ 8.08181412e-01 5.88933427e-01 4.73564112e-04 1.97449553e+02] [-5.88933328e-01 8.08181551e-01 -3.41521631e-04 1.70449832e+02] [-5.83859283e-04 -2.88625494e-06 9.99999830e-01 -6.74655219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37576923100005 meters 0.013516322075305625 Centerline is valid? [True, True] Translation: X:197.47, Y:170.43, Z:-0.67 [[ 8.08951951e-01 5.87873863e-01 1.03078083e-03 1.97472825e+02] [-5.87873394e-01 8.08952607e-01 -7.42660153e-04 1.70434266e+02] [-1.27044333e-03 -5.19224552e-06 9.99999193e-01 -6.73217738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4057692310001 meters 0.012892965590669945 Centerline is valid? [True, True] Translation: X:197.50, Y:170.42, Z:-0.67 [[ 8.09467623e-01 5.87162554e-01 1.51715946e-03 1.97497439e+02] [-5.87161537e-01 8.09469045e-01 -1.09277728e-03 1.70419796e+02] [-1.86973152e-03 -6.24985056e-06 9.99998252e-01 -6.71255171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43576923100005 meters 0.013059932893042324 Centerline is valid? [True, True] Translation: X:197.52, Y:170.41, Z:-0.67 [[ 8.09543927e-01 5.87053508e-01 2.60953818e-03 1.97521676e+02] [-5.87050502e-01 8.09548133e-01 -1.87853384e-03 1.70405709e+02] [-3.21534664e-03 -1.11750367e-05 9.99994831e-01 -6.69053049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4657692310001 meters 0.01302120499233847 Centerline is valid? [True, True] Translation: X:197.55, Y:170.39, Z:-0.67 [[ 8.09609782e-01 5.86957636e-01 3.56847805e-03 1.97546313e+02] [-5.86952020e-01 8.09617646e-01 -2.56766374e-03 1.70391689e+02] [-4.39621264e-03 -1.57197161e-05 9.99990336e-01 -6.66796309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49576923100005 meters 0.013116825798889765 Centerline is valid? [True, True] Translation: X:197.57, Y:170.38, Z:-0.67 [[ 8.09586668e-01 5.86984931e-01 4.25650607e-03 1.97570573e+02] [-5.86976945e-01 8.09597857e-01 -3.06196953e-03 1.70377981e+02] [-5.24338816e-03 -1.95412233e-05 9.99986253e-01 -6.65970935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5257692310001 meters 0.012832114543164172 Centerline is valid? [True, True] Translation: X:197.60, Y:170.37, Z:-0.67 [[ 8.09892182e-01 5.86572902e-01 2.62363982e-03 1.97595737e+02] [-5.86569867e-01 8.09896432e-01 -1.88694012e-03 1.70365680e+02] [-3.23170447e-03 -1.07300122e-05 9.99994778e-01 -6.70411224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55576923100006 meters 0.012492184404774188 Centerline is valid? [True, True] Translation: X:197.62, Y:170.35, Z:-0.67 [[ 8.10670805e-01 5.85500441e-01 1.44207750e-03 1.97619441e+02] [-5.85499523e-01 8.10672088e-01 -1.03693112e-03 1.70350483e+02] [-1.77617560e-03 -3.72590379e-06 9.99998423e-01 -6.72954706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5857692310001 meters 0.012324616963705081 Centerline is valid? [True, True] Translation: X:197.64, Y:170.33, Z:-0.67 [[ 8.12209928e-01 5.83364524e-01 9.30508552e-04 1.97642052e+02] [-5.83364140e-01 8.12210461e-01 -6.68970439e-04 1.70333417e+02] [-1.14602240e-03 5.19111241e-07 9.99999343e-01 -6.73575919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61576923100006 meters 0.012826788599109042 Centerline is valid? [True, True] Translation: X:197.66, Y:170.31, Z:-0.67 [[ 8.14111238e-01 5.80708734e-01 5.08036170e-04 1.97663923e+02] [-5.80708619e-01 8.14111397e-01 -3.65253912e-04 1.70314329e+02] [-6.25704173e-04 2.33633189e-06 9.99999804e-01 -6.74340350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64576923100003 meters 0.017688681205533675 Centerline is valid? [True, True] Translation: X:197.68, Y:170.29, Z:-0.68 [[ 8.18463119e-01 5.74558722e-01 -6.30335833e-04 1.97680613e+02] [-5.74558544e-01 8.18463362e-01 4.52568549e-04 1.70289698e+02] [ 7.75933992e-04 -8.24582762e-06 9.99999699e-01 -6.77144569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67576923100006 meters 0.020844502208821062 Centerline is valid? [True, True] Translation: X:197.70, Y:170.27, Z:-0.68 [[ 8.20540706e-01 5.71586965e-01 -1.13679938e-03 1.97701052e+02] [-5.71586382e-01 8.20541493e-01 8.16168343e-04 1.70269719e+02] [ 1.39930224e-03 -1.99203054e-05 9.99999021e-01 -6.78759666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70576923100003 meters 0.023372752127940898 Centerline is valid? [True, True] Translation: X:197.72, Y:170.25, Z:-0.68 [[ 8.22547252e-01 5.68695243e-01 -1.31841044e-03 1.97723293e+02] [-5.68694456e-01 8.22548308e-01 9.46515661e-04 1.70251183e+02] [ 1.62273523e-03 -2.87811454e-05 9.99998683e-01 -6.79127165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73576923100006 meters 0.027838115061421306 Centerline is valid? [True, True] Translation: X:197.74, Y:170.23, Z:-0.68 [[ 8.24172718e-01 5.66337730e-01 -9.52151793e-04 1.97743338e+02] [-5.66337318e-01 8.24173268e-01 6.83428403e-04 1.70231152e+02] [ 1.17178934e-03 -2.40239509e-05 9.99999313e-01 -6.78389267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76576923100004 meters 0.032776693309702475 Centerline is valid? [True, True] Translation: X:197.76, Y:170.21, Z:-0.67 [[ 8.26637309e-01 5.62734391e-01 8.74754872e-04 1.97762876e+02] [-5.62734041e-01 8.26637771e-01 -6.28045262e-04 1.70209962e+02] [-1.07652809e-03 2.69113015e-05 9.99999420e-01 -6.74100088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79576923100007 meters 0.03363849436731705 Centerline is valid? [True, True] Translation: X:197.79, Y:170.19, Z:-0.67 [[ 8.27462928e-01 5.61518743e-01 1.34318799e-03 1.97785259e+02] [-5.61517917e-01 8.27464017e-01 -9.64216112e-04 1.70191413e+02] [-1.65286515e-03 4.36289660e-05 9.99998633e-01 -6.72655088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82576923100004 meters 0.03513531484695784 Centerline is valid? [True, True] Translation: X:197.81, Y:170.17, Z:-0.67 [[ 8.27996376e-01 5.60731246e-01 1.57207579e-03 1.97806298e+02] [-5.60730114e-01 8.27997866e-01 -1.12810316e-03 1.70173837e+02] [-1.93423809e-03 5.25550943e-05 9.99998128e-01 -6.72721559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85576923100007 meters 0.036344004745835316 Centerline is valid? [True, True] Translation: X:197.83, Y:170.16, Z:-0.68 [[ 8.28542229e-01 5.59925182e-01 -1.25070524e-03 1.97829395e+02] [-5.59924466e-01 8.28543172e-01 8.96729619e-04 1.70156833e+02] [ 1.53836479e-03 -4.26778915e-05 9.99998816e-01 -6.79450881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88576923100004 meters 0.03682779664761009 Centerline is valid? [True, True] Translation: X:197.85, Y:170.14, Z:-0.68 [[ 8.28600520e-01 5.59835125e-01 -2.41039765e-03 1.97851891e+02] [-5.59832463e-01 8.28604022e-01 1.72855420e-03 1.70139973e+02] [ 2.96497055e-03 -8.28620571e-05 9.99995601e-01 -6.82162112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91576923100007 meters 0.03517379933953535 Centerline is valid? [True, True] Translation: X:197.88, Y:170.13, Z:-0.68 [[ 8.28672721e-01 5.59728563e-01 -2.33619207e-03 1.97875970e+02] [-5.59726064e-01 8.28676010e-01 1.67441452e-03 1.70125098e+02] [ 2.87316396e-03 -7.99140392e-05 9.99995869e-01 -6.81719602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94576923100004 meters 0.037072263239354315 Centerline is valid? [True, True] Translation: X:197.90, Y:170.11, Z:-0.68 [[ 8.28721499e-01 5.59659368e-01 -1.43827786e-03 1.97897254e+02] [-5.59658421e-01 8.28722746e-01 1.03085629e-03 1.70106313e+02] [ 1.76886196e-03 -4.93484510e-05 9.99998434e-01 -6.79662069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9757692310001 meters 0.036170992965218016 Centerline is valid? [True, True] Translation: X:197.92, Y:170.09, Z:-0.68 [[ 8.29046094e-01 5.59180166e-01 -3.41283335e-04 1.97921432e+02] [-5.59180113e-01 8.29046164e-01 2.44204344e-04 1.70091010e+02] [ 4.19493865e-04 -1.16178037e-05 9.99999912e-01 -6.76728354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00576923100004 meters 0.040934027792933717 Centerline is valid? [True, True] Translation: X:197.94, Y:170.07, Z:-0.68 [[ 8.29888392e-01 5.57929415e-01 -1.59754109e-04 1.97941148e+02] [-5.57929403e-01 8.29888407e-01 1.14337905e-04 1.70070533e+02] [ 1.96370563e-04 -5.75618603e-06 9.99999981e-01 -6.76282039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0357692310001 meters 0.04232176650474183 Centerline is valid? [True, True] Translation: X:197.96, Y:170.05, Z:-0.68 [[ 8.30668766e-01 5.56765826e-01 -1.10314249e-03 1.97963677e+02] [-5.56765267e-01 8.30669497e-01 7.89811098e-04 1.70052456e+02] [ 1.35608665e-03 -4.18799855e-05 9.99999080e-01 -6.78380038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06576923100005 meters 0.04374114307879313 Centerline is valid? [True, True] Translation: X:197.99, Y:170.03, Z:-0.68 [[ 8.31492147e-01 5.55535306e-01 -1.15464565e-03 1.97985826e+02] [-5.55534693e-01 8.31492948e-01 8.26439410e-04 1.70033766e+02] [ 1.41919599e-03 -4.57321628e-05 9.99998992e-01 -6.78615724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0957692310001 meters 0.04622010457919748 Centerline is valid? [True, True] Translation: X:198.01, Y:170.01, Z:-0.68 [[ 8.32547101e-01 5.53954086e-01 -4.41551813e-04 1.98008120e+02] [-5.53953996e-01 8.32547218e-01 3.15798241e-04 1.70013416e+02] [ 5.42550459e-04 -1.83175187e-05 9.99999853e-01 -6.77008034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12576923100005 meters 0.04095691258132741 Centerline is valid? [True, True] Translation: X:198.03, Y:170.00, Z:-0.67 [[ 8.34178400e-01 5.51493461e-01 1.16599937e-03 1.98034502e+02] [-5.51492832e-01 8.34179213e-01 -8.34700029e-04 1.69999724e+02] [-1.43298404e-03 5.32484396e-05 9.99998972e-01 -6.73886079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1557692310001 meters 0.048244813496745746 Centerline is valid? [True, True] Translation: X:198.05, Y:169.97, Z:-0.67 [[ 8.34971108e-01 5.50293101e-01 8.67850435e-04 1.98050362e+02] [-5.50292751e-01 8.34971558e-01 -6.21260899e-04 1.69973906e+02] [-1.06650602e-03 4.11630976e-05 9.99999430e-01 -6.74467015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18576923100005 meters 0.04303911619267379 Centerline is valid? [True, True] Translation: X:198.08, Y:169.96, Z:-0.67 [[ 8.35596749e-01 5.49343284e-01 1.70623170e-04 1.98076094e+02] [-5.49343270e-01 8.35596767e-01 -1.22234846e-04 1.69960966e+02] [-2.09721061e-04 8.40834971e-06 9.99999978e-01 -6.74960591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2157692310001 meters 0.04507705293334369 Centerline is valid? [True, True] Translation: X:198.09, Y:169.94, Z:-0.67 [[ 8.36230294e-01 5.48378373e-01 2.37050489e-04 1.98094796e+02] [-5.48378347e-01 8.36230327e-01 -1.69835033e-04 1.69939972e+02] [-2.91362668e-04 1.20278443e-05 9.99999957e-01 -6.74782606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24576923100005 meters 0.04908081434846855 Centerline is valid? [True, True] Translation: X:198.11, Y:169.92, Z:-0.67 [[ 8.36155348e-01 5.48491926e-01 9.16819445e-04 1.98114127e+02] [-5.48491536e-01 8.36155850e-01 -6.56092022e-04 1.69918301e+02] [-1.12646512e-03 4.57271477e-05 9.99999365e-01 -6.73620607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2757692310001 meters 0.04525649455246527 Centerline is valid? [True, True] Translation: X:198.14, Y:169.90, Z:-0.67 [[ 8.36009299e-01 5.48712941e-01 1.60045653e-03 1.98139692e+02] [-5.48711752e-01 8.36010827e-01 -1.14465122e-03 1.69904747e+02] [-1.96608392e-03 7.87497576e-05 9.99998064e-01 -6.72932640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30576923100006 meters 0.044761523351554616 Centerline is valid? [True, True] Translation: X:198.16, Y:169.88, Z:-0.68 [[ 8.35834999e-01 5.48980564e-01 4.42071841e-04 1.98161010e+02] [-5.48980473e-01 8.35835116e-01 -3.16327647e-04 1.69884462e+02] [-5.43156898e-04 2.17089099e-05 9.99999852e-01 -6.75606039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3357692310001 meters 0.04466136950975876 Centerline is valid? [True, True] Translation: X:198.18, Y:169.87, Z:-0.68 [[ 8.35972402e-01 5.48771328e-01 -4.16399803e-04 1.98182537e+02] [-5.48771248e-01 8.35972505e-01 2.97077176e-04 1.69865761e+02] [ 5.11126223e-04 -1.98400808e-05 9.99999869e-01 -6.76760477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36576923100006 meters 0.050096788793168194 Centerline is valid? [True, True] Translation: X:198.20, Y:169.84, Z:-0.68 [[ 8.36077148e-01 5.48611343e-01 -7.72905699e-04 1.98199524e+02] [-5.48611066e-01 8.36077504e-01 5.52004491e-04 1.69841120e+02] [ 9.49044993e-04 -3.74937213e-05 9.99999549e-01 -6.77802305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39576923100003 meters 0.044301386582461244 Centerline is valid? [True, True] Translation: X:198.22, Y:169.83, Z:-0.68 [[ 8.36440212e-01 5.48057892e-01 -5.64288651e-04 1.98223905e+02] [-5.48057744e-01 8.36440402e-01 4.02923562e-04 1.69826446e+02] [ 6.92819264e-04 -2.77587041e-05 9.99999760e-01 -6.76740480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42576923100006 meters 0.05114611168267595 Centerline is valid? [True, True] Translation: X:198.24, Y:169.80, Z:-0.68 [[ 8.36521656e-01 5.47933829e-01 -1.95651209e-04 1.98239673e+02] [-5.47933811e-01 8.36521679e-01 1.39598638e-04 1.69800716e+02] [ 2.40157294e-04 -9.57337075e-06 9.99999971e-01 -6.76672407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45576923100003 meters 0.04669420949901952 Centerline is valid? [True, True] Translation: X:198.26, Y:169.79, Z:-0.68 [[ 8.36503165e-01 5.47962089e-01 5.63579467e-05 1.98264935e+02] [-5.47962088e-01 8.36503167e-01 -4.05975690e-05 1.69785844e+02] [-6.93895297e-05 3.07797683e-06 9.99999998e-01 -6.75781228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48576923100006 meters 0.04576216716468627 Centerline is valid? [True, True] Translation: X:198.29, Y:169.77, Z:-0.68 [[ 8.36595070e-01 5.47821616e-01 4.06733904e-04 1.98286800e+02] [-5.47821540e-01 8.36595169e-01 -2.90688819e-04 1.69767520e+02] [-4.99517238e-04 2.03712394e-05 9.99999875e-01 -6.75642111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51576923100004 meters 0.04574790875835594 Centerline is valid? [True, True] Translation: X:198.31, Y:169.75, Z:-0.68 [[ 8.36324617e-01 5.48234457e-01 3.39021070e-04 1.98305199e+02] [-5.48234404e-01 8.36324686e-01 -2.42047356e-04 1.69745003e+02] [-4.16230391e-04 1.65671483e-05 9.99999913e-01 -6.76234138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54576923100007 meters 0.04574113959988472 Centerline is valid? [True, True] Translation: X:198.33, Y:169.73, Z:-0.68 [[ 8.36094205e-01 5.48585892e-01 -1.22917732e-06 1.98326315e+02] [-5.48585892e-01 8.36094205e-01 5.16489006e-07 1.69725065e+02] [ 1.31104653e-06 2.42475874e-07 1.00000000e+00 -6.76930746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57576923100004 meters 0.044780317614142785 Centerline is valid? [True, True] Translation: X:198.35, Y:169.71, Z:-0.68 [[ 8.35830976e-01 5.48986345e-01 -7.56884528e-04 1.98347836e+02] [-5.48986081e-01 8.35831318e-01 5.39365589e-04 1.69705844e+02] [ 9.28732136e-04 -3.52993955e-05 9.99999568e-01 -6.78281552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60576923100007 meters 0.04163321060347827 Centerline is valid? [True, True] Translation: X:198.37, Y:169.68, Z:-0.68 [[ 8.34112025e-01 5.51591774e-01 -1.90923806e-03 1.98367990e+02] [-5.51590100e-01 8.34114206e-01 1.36130140e-03 1.69683618e+02] [ 2.34340524e-03 -8.23610526e-05 9.99997251e-01 -6.79515775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63576923100004 meters 0.040023169897885826 Centerline is valid? [True, True] Translation: X:198.39, Y:169.67, Z:-0.68 [[ 8.32732186e-01 5.53672164e-01 -2.05948669e-03 1.98389979e+02] [-5.53670223e-01 8.32734729e-01 1.46833209e-03 1.69665813e+02] [ 2.52798070e-03 -8.24509391e-05 9.99996801e-01 -6.79511941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66576923100007 meters 0.03683741989266507 Centerline is valid? [True, True] Translation: X:198.41, Y:169.65, Z:-0.68 [[ 8.30758760e-01 5.56630697e-01 -1.46627717e-03 1.98414205e+02] [-5.56629718e-01 8.30760052e-01 1.04528437e-03 1.69650061e+02] [ 1.79996186e-03 -5.22057025e-05 9.99998379e-01 -6.78925203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69576923100004 meters 0.03179193143686752 Centerline is valid? [True, True] Translation: X:198.44, Y:169.64, Z:-0.68 [[ 8.28428192e-01 5.60095118e-01 -4.34938066e-04 1.98441161e+02] [-5.60095033e-01 8.28428306e-01 3.09680010e-04 1.69637515e+02] [ 5.33765267e-04 -1.29410002e-05 9.99999857e-01 -6.77261863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7257692310001 meters 0.03179193143686752 Centerline is valid? [True, True] Translation: X:198.46, Y:169.62, Z:-0.68 [[ 8.28529429e-01 5.59945351e-01 -4.35038451e-04 1.98463678e+02] [-5.59945265e-01 8.28529543e-01 3.09539098e-04 1.69621713e+02] [ 5.33767187e-04 -1.28645313e-05 9.99999857e-01 -6.77312327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75576923100004 meters 0.02129740384959111 Centerline is valid? [True, True] Translation: X:198.49, Y:169.62, Z:-0.67 [[ 8.22719971e-01 5.68446525e-01 6.31190172e-04 1.98494680e+02] [-5.68446347e-01 8.22720213e-01 -4.49832095e-04 1.69616391e+02] [-7.74998404e-04 1.12881002e-05 9.99999700e-01 -6.74157624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7857692310001 meters 0.01681459573480093 Centerline is valid? [True, True] Translation: X:198.52, Y:169.61, Z:-0.68 [[ 8.20012697e-01 5.72345326e-01 7.10889639e-05 1.98522256e+02] [-5.72345323e-01 8.20012700e-01 -5.07327824e-05 1.69605541e+02] [-8.73305241e-05 9.14089651e-07 9.99999996e-01 -6.75013956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81576923100005 meters 0.013884673135324188 Centerline is valid? [True, True] Translation: X:198.55, Y:169.59, Z:-0.68 [[ 8.17782564e-01 5.75526794e-01 -7.66803621e-04 1.98549263e+02] [-5.75526535e-01 8.17782923e-01 5.45610064e-04 1.69594547e+02] [ 9.41092117e-04 -4.87456559e-06 9.99999557e-01 -6.77201962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8457692310001 meters 0.012381164290364628 Centerline is valid? [True, True] Translation: X:198.58, Y:169.58, Z:-0.68 [[ 8.16081766e-01 5.77934909e-01 -1.33875627e-03 1.98576773e+02] [-5.77934124e-01 8.16082864e-01 9.52481280e-04 1.69582845e+02] [ 1.64300823e-03 -3.58967336e-06 9.99998650e-01 -6.78975232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87576923100005 meters 0.012176139798227018 Centerline is valid? [True, True] Translation: X:198.60, Y:169.57, Z:-0.68 [[ 8.14665071e-01 5.79929817e-01 -1.49315816e-03 1.98602138e+02] [-5.79928844e-01 8.14666440e-01 1.06216595e-03 1.69571551e+02] [ 1.83240755e-03 6.15988910e-07 9.99998321e-01 -6.80549830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9057692310001 meters 0.012303032567280865 Centerline is valid? [True, True] Translation: X:198.63, Y:169.56, Z:-0.68 [[ 8.13278594e-01 5.81874490e-01 8.30347276e-05 1.98629093e+02] [-5.81874487e-01 8.13278598e-01 -5.94941505e-05 1.69561617e+02] [-1.02148495e-04 6.95295335e-08 9.99999995e-01 -6.75924116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93576923100005 meters 0.012479887142903854 Centerline is valid? [True, True] Translation: X:198.65, Y:169.55, Z:-0.67 [[ 8.12970191e-01 5.82304321e-01 1.07108371e-03 1.98652868e+02] [-5.82303822e-01 8.12970896e-01 -7.61872925e-04 1.69549105e+02] [-1.31440178e-03 -4.31616280e-06 9.99999136e-01 -6.73536200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9657692310001 meters 0.012588984478887134 Centerline is valid? [True, True] Translation: X:198.68, Y:169.54, Z:-0.67 [[ 8.12887698e-01 5.82418345e-01 1.56908929e-03 1.98677598e+02] [-5.82417276e-01 8.12889212e-01 -1.11581311e-03 1.69536039e+02] [-1.92536578e-03 -6.83396567e-06 9.99998146e-01 -6.72303462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99576923100005 meters 0.012797854807260985 Centerline is valid? [True, True] Translation: X:198.70, Y:169.52, Z:-0.67 [[ 8.12927810e-01 5.82361831e-01 1.75321835e-03 1.98701725e+02] [-5.82360498e-01 8.12929700e-01 -1.24624647e-03 1.69523861e+02] [-2.15100964e-03 -7.89669396e-06 9.99997687e-01 -6.72189345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0257692310001 meters 0.012091936264237038 Centerline is valid? [True, True] Translation: X:198.73, Y:169.51, Z:-0.67 [[ 8.13795068e-01 5.81148695e-01 1.94469424e-03 1.98725840e+02] [-5.81147051e-01 8.13797392e-01 -1.38203269e-03 1.69510301e+02] [-2.38575359e-03 -5.46193726e-06 9.99997154e-01 -6.72788135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05576923100006 meters 0.011853972552641952 Centerline is valid? [True, True] Translation: X:198.75, Y:169.49, Z:-0.67 [[ 8.14543389e-01 5.80099378e-01 1.94427004e-03 1.98748620e+02] [-5.80097733e-01 8.14545709e-01 -1.38121021e-03 1.69493740e+02] [-2.38493601e-03 -2.81099824e-06 9.99997156e-01 -6.73159458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0857692310001 meters 0.011770827077798834 Centerline is valid? [True, True] Translation: X:198.77, Y:169.48, Z:-0.67 [[ 8.15366197e-01 5.78942550e-01 1.86776235e-03 1.98771853e+02] [-5.78941031e-01 8.15368336e-01 -1.32634315e-03 1.69477392e+02] [-2.29079077e-03 1.31105832e-07 9.99997376e-01 -6.73149357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11576923100006 meters 0.011914687794023004 Centerline is valid? [True, True] Translation: X:198.79, Y:169.46, Z:-0.67 [[ 8.16753059e-01 5.76984736e-01 1.74797132e-03 1.98794807e+02] [-5.76983402e-01 8.16754929e-01 -1.24080655e-03 1.69460955e+02] [-2.14359063e-03 4.88211003e-06 9.99997703e-01 -6.73518054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14576923100003 meters 0.012081157178722261 Centerline is valid? [True, True] Translation: X:198.82, Y:169.45, Z:-0.67 [[ 8.17314591e-01 5.76189523e-01 1.57901872e-03 1.98818130e+02] [-5.76188433e-01 8.17316116e-01 -1.12046745e-03 1.69445347e+02] [-1.93615905e-03 5.96206826e-06 9.99998126e-01 -6.73362161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17576923100006 meters 0.012326358364383543 Centerline is valid? [True, True] Translation: X:198.84, Y:169.43, Z:-0.67 [[ 8.17609173e-01 5.75771873e-01 1.41101228e-03 1.98841788e+02] [-5.75771003e-01 8.17610391e-01 -1.00089695e-03 1.69430396e+02] [-1.72994661e-03 5.92256846e-06 9.99998504e-01 -6.74120256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20576923100003 meters 0.012438250083478515 Centerline is valid? [True, True] Translation: X:198.87, Y:169.42, Z:-0.68 [[ 8.17627255e-01 5.75747892e-01 -1.91576506e-04 1.98866185e+02] [-5.75747876e-01 8.17627277e-01 1.35628691e-04 1.69417494e+02] [ 2.34726110e-04 -5.93948130e-07 9.99999972e-01 -6.78465383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23576923100006 meters 0.012262223437351649 Centerline is valid? [True, True] Translation: X:198.89, Y:169.40, Z:-0.68 [[ 8.17527550e-01 5.75888944e-01 -7.92752061e-04 1.98890102e+02] [-5.75888671e-01 8.17527935e-01 5.61355839e-04 1.69403365e+02] [ 9.71375577e-04 -2.38693301e-06 9.99999528e-01 -6.80009872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26576923100004 meters 0.012150008696498914 Centerline is valid? [True, True] Translation: X:198.91, Y:169.39, Z:-0.68 [[ 8.17309345e-01 5.76198213e-01 -1.02709467e-03 1.98914800e+02] [-5.76197754e-01 8.17309990e-01 7.27136724e-04 1.69389019e+02] [ 1.25842961e-03 -2.48599843e-06 9.99999208e-01 -6.80010403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29576923100007 meters 0.012112848712540024 Centerline is valid? [True, True] Translation: X:198.94, Y:169.37, Z:-0.68 [[ 8.17409046e-01 5.76057329e-01 -6.36864328e-04 1.98938507e+02] [-5.76057153e-01 8.17409294e-01 4.50535005e-04 1.69374414e+02] [ 7.80112812e-04 -1.40113717e-06 9.99999696e-01 -6.79043156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32576923100004 meters 0.012711604890742755 Centerline is valid? [True, True] Translation: X:198.96, Y:169.36, Z:-0.68 [[ 8.18574599e-01 5.74399532e-01 8.96037794e-04 1.98961503e+02] [-5.74399182e-01 8.18575090e-01 -6.34521472e-04 1.69358439e+02] [-1.09794305e-03 4.71978370e-06 9.99999397e-01 -6.75893458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35576923100007 meters 0.013309057373812837 Centerline is valid? [True, True] Translation: X:198.99, Y:169.34, Z:-0.68 [[ 8.19626648e-01 5.72896524e-01 1.31546845e-03 1.98985183e+02] [-5.72895767e-01 8.19627704e-01 -9.31393001e-04 1.69341206e+02] [-1.61178620e-03 9.76821768e-06 9.99998701e-01 -6.75188983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38576923100004 meters 0.01446544139041484 Centerline is valid? [True, True] Translation: X:199.01, Y:169.32, Z:-0.68 [[ 8.20658423e-01 5.71417759e-01 1.22339885e-03 1.99007221e+02] [-5.71417103e-01 8.20659335e-01 -8.65881244e-04 1.69323817e+02] [-1.49877361e-03 1.15217080e-05 9.99998877e-01 -6.75293026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41576923100007 meters 0.016025154445163944 Centerline is valid? [True, True] Translation: X:199.03, Y:169.31, Z:-0.68 [[ 8.21584387e-01 5.70086282e-01 8.52086119e-04 1.99028383e+02] [-5.70085963e-01 8.21584829e-01 -6.03043045e-04 1.69306278e+02] [-1.04384760e-03 9.68841518e-06 9.99999455e-01 -6.75809884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44576923100004 meters 0.01911037928228023 Centerline is valid? [True, True] Translation: X:199.05, Y:169.29, Z:-0.68 [[ 8.23481381e-01 5.67342529e-01 9.32504479e-04 1.99049421e+02] [-5.67342146e-01 8.23481909e-01 -6.59861170e-04 1.69287774e+02] [-1.14226787e-03 1.43342955e-05 9.99999348e-01 -6.75371551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4757692310001 meters 0.019247149788415983 Centerline is valid? [True, True] Translation: X:199.07, Y:169.27, Z:-0.67 [[ 8.24496926e-01 5.65864168e-01 1.60068218e-03 1.99072996e+02] [-5.65863035e-01 8.24498480e-01 -1.13243518e-03 1.69271846e+02] [-1.96056451e-03 2.79224475e-05 9.99998078e-01 -6.74069035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50576923100004 meters 0.020462336440485354 Centerline is valid? [True, True] Translation: X:199.09, Y:169.25, Z:-0.67 [[ 8.25190551e-01 5.64850665e-01 2.06920811e-03 1.99094656e+02] [-5.64848771e-01 8.25193144e-01 -1.46336833e-03 1.69254105e+02] [-2.53408092e-03 3.87680569e-05 9.99996788e-01 -6.73054977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5357692310001 meters 0.03341289844048697 Centerline is valid? [True, True] Translation: X:199.11, Y:169.24, Z:-0.67 [[ 8.26351496e-01 5.63150349e-01 2.21115830e-03 1.99114952e+02] [-5.63148180e-01 8.26354453e-01 -1.56355242e-03 1.69235073e+02] [-2.70771560e-03 4.68341111e-05 9.99996333e-01 -6.70473521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56576923100005 meters 0.021759174378506073 Centerline is valid? [True, True] Translation: X:199.14, Y:169.22, Z:-0.67 [[ 8.26627353e-01 5.62746551e-01 1.88094491e-03 1.99139216e+02] [-5.62744981e-01 8.26629492e-01 -1.32982852e-03 1.69220453e+02] [-2.30320095e-03 4.07803218e-05 9.99997347e-01 -6.74097351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5957692310001 meters 0.02349984283835062 Centerline is valid? [True, True] Translation: X:199.16, Y:169.20, Z:-0.68 [[ 8.26488899e-01 5.62952205e-01 9.56847534e-04 1.99161330e+02] [-5.62951799e-01 8.26489452e-01 -6.76339387e-04 1.69202859e+02] [-1.17157114e-03 2.03279545e-05 9.99999314e-01 -6.75359940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62576923100005 meters 0.020112560207466403 Centerline is valid? [True, True] Translation: X:199.19, Y:169.19, Z:-0.68 [[ 8.25816834e-01 5.63937983e-01 -7.13089463e-04 1.99189357e+02] [-5.63937758e-01 8.25817142e-01 5.03368262e-04 1.69192401e+02] [ 8.72749985e-04 -1.35519116e-05 9.99999619e-01 -6.78573118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6557692310001 meters 0.021145709926252587 Centerline is valid? [True, True] Translation: X:199.21, Y:169.18, Z:-0.68 [[ 8.25434090e-01 5.64497218e-01 -1.20544724e-03 1.99211816e+02] [-5.64496577e-01 8.25434970e-01 8.51278524e-04 1.69175465e+02] [ 1.47556267e-03 -2.22034720e-05 9.99998911e-01 -6.80160010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68576923100005 meters 0.02005092765947085 Centerline is valid? [True, True] Translation: X:199.24, Y:169.16, Z:-0.68 [[ 8.25367005e-01 5.64595685e-01 -1.00954943e-03 1.99236355e+02] [-5.64595236e-01 8.25367622e-01 7.12338023e-04 1.69161641e+02] [ 1.23543238e-03 -1.79535036e-05 9.99999237e-01 -6.79608846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7157692310001 meters 0.019849903642018486 Centerline is valid? [True, True] Translation: X:199.26, Y:169.15, Z:-0.68 [[ 8.24924773e-01 5.65241996e-01 -7.77725052e-04 1.99260742e+02] [-5.65241730e-01 8.24925139e-01 5.48890369e-04 1.69148447e+02] [ 9.51820834e-04 -1.31906093e-05 9.99999547e-01 -6.80050496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74576923100005 meters 0.01949775692699837 Centerline is valid? [True, True] Translation: X:199.28, Y:169.13, Z:-0.68 [[ 8.24966909e-01 5.65180313e-01 -9.02128607e-04 1.99284038e+02] [-5.65179955e-01 8.24967402e-01 6.36168560e-04 1.69133737e+02] [ 1.10377664e-03 -1.49530047e-05 9.99999391e-01 -6.81245336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7757692310001 meters 0.019218447597785196 Centerline is valid? [True, True] Translation: X:199.31, Y:169.12, Z:-0.68 [[ 8.25098416e-01 5.64987922e-01 -1.11893407e-03 1.99307564e+02] [-5.64987371e-01 8.25099175e-01 7.88833215e-04 1.69118430e+02] [ 1.36891282e-03 -1.86814150e-05 9.99999063e-01 -6.81696434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80576923100006 meters 0.01995608362845837 Centerline is valid? [True, True] Translation: X:199.33, Y:169.10, Z:-0.68 [[ 8.25328694e-01 5.64651530e-01 -1.09351320e-03 1.99329507e+02] [-5.64651004e-01 8.25329418e-01 7.71100425e-04 1.69101440e+02] [ 1.33791165e-03 -1.89579806e-05 9.99999105e-01 -6.81369062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8357692310001 meters 0.022444004166067504 Centerline is valid? [True, True] Translation: X:199.35, Y:169.08, Z:-0.68 [[ 8.26748827e-01 5.62571214e-01 8.22259580e-05 1.99348815e+02] [-5.62571211e-01 8.26748831e-01 -5.81152138e-05 1.69081099e+02] [-1.00674161e-04 1.78872805e-06 9.99999995e-01 -6.78575782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86576923100006 meters 0.02404149189103652 Centerline is valid? [True, True] Translation: X:199.37, Y:169.06, Z:-0.68 [[ 8.28021234e-01 5.60696475e-01 5.46896174e-04 1.99370160e+02] [-5.60696342e-01 8.28021415e-01 -3.85901672e-04 1.69061328e+02] [-6.69215451e-04 1.28920944e-05 9.99999776e-01 -6.77199639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89576923100003 meters 0.026118855230087466 Centerline is valid? [True, True] Translation: X:199.39, Y:169.04, Z:-0.68 [[ 8.29161067e-01 5.59009292e-01 7.32076611e-04 1.99390367e+02] [-5.59009054e-01 8.29161390e-01 -5.16142586e-04 1.69040775e+02] [-8.95538162e-04 1.87278831e-05 9.99999599e-01 -6.76419377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92576923100006 meters 0.028408706589923748 Centerline is valid? [True, True] Translation: X:199.41, Y:169.02, Z:-0.68 [[ 8.30347697e-01 5.57245295e-01 -6.18734150e-04 1.99410013e+02] [-5.57245125e-01 8.30347928e-01 4.35605598e-04 1.69018837e+02] [ 7.56503789e-04 -1.69175166e-05 9.99999714e-01 -6.79399761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95576923100003 meters 0.028039297681811733 Centerline is valid? [True, True] Translation: X:199.43, Y:169.00, Z:-0.68 [[ 8.29938312e-01 5.57853073e-01 -1.53229333e-03 1.99432335e+02] [-5.57852030e-01 8.29939725e-01 1.07941782e-03 1.69002088e+02] [ 1.87386765e-03 -4.10572568e-05 9.99998243e-01 -6.80986436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98576923100006 meters 0.0263529323658326 Centerline is valid? [True, True] Translation: X:199.46, Y:168.99, Z:-0.68 [[ 8.28990042e-01 5.59261972e-01 -1.24801452e-03 1.99455896e+02] [-5.59261283e-01 8.28990980e-01 8.78603831e-04 1.68986404e+02] [ 1.52596249e-03 -3.03876244e-05 9.99998835e-01 -6.80051882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01576923100004 meters 0.02422245612452954 Centerline is valid? [True, True] Translation: X:199.48, Y:168.97, Z:-0.68 [[ 8.28008549e-01 5.60715394e-01 -2.99896173e-04 1.99480860e+02] [-5.60715354e-01 8.28008603e-01 2.10783237e-04 1.68971269e+02] [ 3.66506017e-04 -6.37393338e-06 9.99999933e-01 -6.77478569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04576923100007 meters 0.01941365410804446 Centerline is valid? [True, True] Translation: X:199.51, Y:168.96, Z:-0.67 [[ 8.25197944e-01 5.64841619e-01 1.51614313e-03 1.99507979e+02] [-5.64840610e-01 8.25199337e-01 -1.06744113e-03 1.68959990e+02] [-1.85405549e-03 2.44710171e-05 9.99998281e-01 -6.72139053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07576923100004 meters 0.017555442187005436 Centerline is valid? [True, True] Translation: X:199.53, Y:168.95, Z:-0.67 [[ 8.23503790e-01 5.67308222e-01 1.69982559e-03 1.99532360e+02] [-5.67306960e-01 8.23505544e-01 -1.19664359e-03 1.68946097e+02] [-2.07868154e-03 2.11176404e-05 9.99997839e-01 -6.72144962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10576923100007 meters 0.01456566672418166 Centerline is valid? [True, True] Translation: X:199.56, Y:168.93, Z:-0.67 [[ 8.22008362e-01 5.69474302e-01 1.12801070e-03 1.99558900e+02] [-5.69473749e-01 8.22009136e-01 -7.94095002e-04 1.68932766e+02] [-1.37945180e-03 1.03802518e-05 9.99999049e-01 -6.74290351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13576923100004 meters 0.012969586977662319 Centerline is valid? [True, True] Translation: X:199.58, Y:168.92, Z:-0.68 [[ 8.20799570e-01 5.71215994e-01 5.94975737e-04 1.99583314e+02] [-5.71215840e-01 8.20799786e-01 -4.18899595e-04 1.68918101e+02] [-7.27638106e-04 3.97304230e-06 9.99999735e-01 -6.75887203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16576923100007 meters 0.01211210138512182 Centerline is valid? [True, True] Translation: X:199.61, Y:168.90, Z:-0.68 [[ 8.19652169e-01 5.72861141e-01 6.59668888e-04 1.99608002e+02] [-5.72860953e-01 8.19652434e-01 -4.64244625e-04 1.68902521e+02] [-8.06646915e-04 2.62056646e-06 9.99999675e-01 -6.75682872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19576923100004 meters 0.011818194551687531 Centerline is valid? [True, True] Translation: X:199.63, Y:168.89, Z:-0.67 [[ 8.16912807e-01 5.76757090e-01 2.17353645e-03 1.99633441e+02] [-5.76755065e-01 8.16915699e-01 -1.52833272e-03 1.68892119e+02] [-2.65707278e-03 -5.08358410e-06 9.99996470e-01 -6.71621749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2257692310001 meters 0.012464706220756296 Centerline is valid? [True, True] Translation: X:199.66, Y:168.88, Z:-0.67 [[ 8.15803713e-01 5.78323337e-01 2.53360427e-03 1.99659008e+02] [-5.78320595e-01 8.15807647e-01 -1.78104574e-03 1.68878092e+02] [-3.09695405e-03 -1.22517950e-05 9.99995204e-01 -6.70427064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25576923100004 meters 0.013139923857935488 Centerline is valid? [True, True] Translation: X:199.68, Y:168.86, Z:-0.67 [[ 8.15147174e-01 5.79248973e-01 2.39006120e-03 1.99683235e+02] [-5.79246538e-01 8.15150677e-01 -1.67971178e-03 1.68864307e+02] [-2.92123133e-03 -1.52223651e-05 9.99995733e-01 -6.70138270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2857692310001 meters 0.013528506391909115 Centerline is valid? [True, True] Translation: X:199.71, Y:168.85, Z:-0.67 [[ 8.14825626e-01 5.79703414e-01 1.77507139e-03 1.99707391e+02] [-5.79702072e-01 8.14827559e-01 -1.24732842e-03 1.68849320e+02] [-2.16945763e-03 -1.26573999e-05 9.99997647e-01 -6.71914204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31576923100005 meters 0.01421841534125009 Centerline is valid? [True, True] Translation: X:199.73, Y:168.83, Z:-0.68 [[ 8.14302443e-01 5.80440726e-01 3.08111940e-04 1.99732009e+02] [-5.80440685e-01 8.14302502e-01 -2.16726945e-04 1.68833991e+02] [-3.76693469e-04 -2.35942418e-06 9.99999929e-01 -6.76605335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3457692310001 meters 0.014761338443240882 Centerline is valid? [True, True] Translation: X:199.76, Y:168.82, Z:-0.68 [[ 8.14073687e-01 5.80761595e-01 -3.05489989e-05 1.99755330e+02] [-5.80761595e-01 8.14073688e-01 2.10245304e-05 1.68818527e+02] [ 3.70793759e-05 6.26168362e-07 9.99999999e-01 -6.77747515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37576923100005 meters 0.015030889457485942 Centerline is valid? [True, True] Translation: X:199.78, Y:168.80, Z:-0.68 [[ 8.13883860e-01 5.81027587e-01 7.08167010e-05 1.99778710e+02] [-5.81027585e-01 8.13883863e-01 -5.01112003e-05 1.68803475e+02] [-8.67525601e-05 -3.61759680e-07 9.99999996e-01 -6.77098999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4057692310001 meters 0.015852191758693807 Centerline is valid? [True, True] Translation: X:199.80, Y:168.79, Z:-0.68 [[ 8.13457167e-01 5.81624819e-01 -8.68451033e-05 1.99803965e+02] [-5.81624816e-01 8.13457172e-01 6.07958376e-05 1.68790579e+02] [ 1.06005140e-04 1.05645742e-06 9.99999994e-01 -6.77641470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43576923100005 meters 0.0156604918134545 Centerline is valid? [True, True] Translation: X:199.83, Y:168.77, Z:-0.68 [[ 8.13477366e-01 5.81596253e-01 -6.10778365e-04 1.99827512e+02] [-5.81596096e-01 8.13477596e-01 4.27896232e-04 1.68774594e+02] [ 7.45717361e-04 7.14241241e-06 9.99999722e-01 -6.78747656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4657692310001 meters 0.016266191600609034 Centerline is valid? [True, True] Translation: X:199.85, Y:168.76, Z:-0.68 [[ 8.13489596e-01 5.81578035e-01 -1.29120178e-03 1.99850488e+02] [-5.81577330e-01 8.13490620e-01 9.05241331e-04 1.68759621e+02] [ 1.57684901e-03 1.45292796e-05 9.99998757e-01 -6.80973786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49576923100005 meters 0.01608903628701734 Centerline is valid? [True, True] Translation: X:199.87, Y:168.74, Z:-0.68 [[ 8.13876365e-01 5.81033770e-01 -2.24066522e-03 1.99871942e+02] [-5.81031648e-01 8.13879449e-01 1.57043015e-03 1.68743641e+02] [ 2.73610433e-03 2.37614264e-05 9.99996257e-01 -6.83445789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5257692310001 meters 0.014227939570894087 Centerline is valid? [True, True] Translation: X:199.89, Y:168.72, Z:-0.69 [[ 8.15319352e-01 5.79000251e-01 -3.61443711e-03 1.99892210e+02] [-5.78994713e-01 8.15327363e-01 2.53246598e-03 1.68723114e+02] [ 4.41324791e-03 2.79714563e-05 9.99990261e-01 -6.86183345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55576923100006 meters 0.013620320849462814 Centerline is valid? [True, True] Translation: X:199.91, Y:168.71, Z:-0.69 [[ 8.16062035e-01 5.77952969e-01 -3.62232417e-03 1.99914013e+02] [-5.77947401e-01 8.16070074e-01 2.53692097e-03 1.68705533e+02] [ 4.42229136e-03 2.32279563e-05 9.99990221e-01 -6.85940290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5857692310001 meters 0.013263458336029113 Centerline is valid? [True, True] Translation: X:199.94, Y:168.69, Z:-0.69 [[ 8.16557264e-01 5.77254066e-01 -3.46081693e-03 1.99935840e+02] [-5.77248978e-01 8.16564598e-01 2.42377829e-03 1.68688616e+02] [ 4.22511646e-03 1.85992625e-05 9.99991074e-01 -6.85596386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61576923100006 meters 0.013095372083331188 Centerline is valid? [True, True] Translation: X:199.96, Y:168.67, Z:-0.68 [[ 8.16588009e-01 5.77212969e-01 -3.03518704e-03 1.99958653e+02] [-5.77209059e-01 8.16593650e-01 2.12451171e-03 1.68672478e+02] [ 3.70481017e-03 1.70866681e-05 9.99993137e-01 -6.83958918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64576923100003 meters 0.013095372083331188 Centerline is valid? [True, True] Translation: X:199.98, Y:168.66, Z:-0.68 [[ 8.16698597e-01 5.77056485e-01 -3.03559465e-03 1.99981284e+02] [-5.77052577e-01 8.16704238e-01 2.12392931e-03 1.68656879e+02] [ 3.70481020e-03 1.70876309e-05 9.99993137e-01 -6.84009362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67576923100006 meters 0.01406007281012165 Centerline is valid? [True, True] Translation: X:200.01, Y:168.64, Z:-0.68 [[ 8.16019074e-01 5.78017735e-01 -2.89302213e-03 2.00006191e+02] [-5.78014191e-01 8.16024202e-01 2.02419433e-03 1.68643675e+02] [ 3.53079630e-03 2.04266647e-05 9.99993767e-01 -6.84227238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70576923100003 meters 0.015401910074268632 Centerline is valid? [True, True] Translation: X:200.03, Y:168.63, Z:-0.68 [[ 8.14941747e-01 5.79535250e-01 -2.97373689e-03 2.00031994e+02] [-5.79531516e-01 8.14947172e-01 2.08042496e-03 1.68631091e+02] [ 3.62911807e-03 2.79490991e-05 9.99993414e-01 -6.84449593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73576923100006 meters 0.017202845944833532 Centerline is valid? [True, True] Translation: X:200.06, Y:168.62, Z:-0.68 [[ 8.13776273e-01 5.81171547e-01 -2.79466879e-03 2.00058227e+02] [-5.81168263e-01 8.13781071e-01 1.95424502e-03 1.68618397e+02] [ 3.41000016e-03 3.38545811e-05 9.99994185e-01 -6.83950753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76576923100004 meters 0.0220797067546743 Centerline is valid? [True, True] Translation: X:200.09, Y:168.61, Z:-0.68 [[ 8.11465301e-01 5.84397807e-01 -1.80787859e-03 2.00087387e+02] [-5.84396441e-01 8.11467314e-01 1.26415811e-03 1.68610926e+02] [ 2.20580561e-03 3.06973711e-05 9.99997567e-01 -6.81805924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79576923100007 meters 0.02362523703968181 Centerline is valid? [True, True] Translation: X:200.11, Y:168.60, Z:-0.68 [[ 8.10759360e-01 5.85379210e-01 -6.63279489e-04 2.00112792e+02] [-5.85379027e-01 8.10759631e-01 4.63670782e-04 1.68597826e+02] [ 8.09183470e-04 1.23444758e-05 9.99999673e-01 -6.79071439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82576923100004 meters 0.023289394110494268 Centerline is valid? [True, True] Translation: X:200.14, Y:168.58, Z:-0.68 [[ 8.10412033e-01 5.85860334e-01 7.12652491e-05 2.00137460e+02] [-5.85860332e-01 8.10412036e-01 -5.01667774e-05 1.68582337e+02] [-8.71449406e-05 -1.09572245e-06 9.99999996e-01 -6.76837990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85576923100007 meters 0.023914562704336038 Centerline is valid? [True, True] Translation: X:200.16, Y:168.57, Z:-0.68 [[ 8.10182369e-01 5.86177853e-01 2.29274630e-04 2.00163226e+02] [-5.86177831e-01 8.10182402e-01 -1.60370359e-04 1.68570995e+02] [-2.79759823e-04 -4.46646779e-06 9.99999961e-01 -6.77158771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88576923100004 meters 0.022125881938356677 Centerline is valid? [True, True] Translation: X:200.19, Y:168.56, Z:-0.68 [[ 8.10448897e-01 5.85809317e-01 -1.70297288e-04 2.00186493e+02] [-5.85809305e-01 8.10448915e-01 1.18557084e-04 1.68555283e+02] [ 2.07469097e-04 3.67727777e-06 9.99999978e-01 -6.77720943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91576923100007 meters 0.021170088297785668 Centerline is valid? [True, True] Translation: X:200.21, Y:168.54, Z:-0.68 [[ 8.11120677e-01 5.84878822e-01 1.04664247e-04 2.00211157e+02] [-5.84878818e-01 8.11120684e-01 -7.34649780e-05 1.68540482e+02] [-1.27863446e-04 -1.62693846e-06 9.99999992e-01 -6.76362848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94576923100004 meters 0.018578231188166927 Centerline is valid? [True, True] Translation: X:200.23, Y:168.53, Z:-0.68 [[ 8.13961051e-01 5.80919193e-01 5.46368617e-04 2.00234844e+02] [-5.80919067e-01 8.13961235e-01 -3.81666280e-04 1.68526152e+02] [-6.66440141e-04 -6.73446095e-06 9.99999778e-01 -6.75493680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9757692310001 meters 0.01439953745408191 Centerline is valid? [True, True] Translation: X:200.25, Y:168.50, Z:-0.68 [[ 8.16021404e-01 5.78021680e-01 7.93881378e-05 2.00254686e+02] [-5.78021677e-01 8.16021408e-01 -5.57732700e-05 1.68504833e+02] [-9.70205793e-05 -3.75882464e-07 9.99999995e-01 -6.77303958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00576923100004 meters 0.012495709704296464 Centerline is valid? [True, True] Translation: X:200.28, Y:168.48, Z:-0.68 [[ 8.18380362e-01 5.74676581e-01 -6.41515268e-04 2.00275218e+02] [-5.74676406e-01 8.18380613e-01 4.47323978e-04 1.68484825e+02] [ 7.82070272e-04 2.58253026e-06 9.99999694e-01 -6.79960741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0357692310001 meters 0.011915604738449534 Centerline is valid? [True, True] Translation: X:200.29, Y:168.46, Z:-0.68 [[ 8.20868970e-01 5.71116322e-01 -5.29583228e-04 2.00294229e+02] [-5.71116203e-01 8.20869141e-01 3.69042446e-04 1.68463718e+02] [ 6.45484694e-04 -4.81929988e-07 9.99999792e-01 -6.79897513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06576923100005 meters 0.014588024773193898 Centerline is valid? [True, True] Translation: X:200.31, Y:168.44, Z:-0.68 [[ 8.24516509e-01 5.65837888e-01 -1.03347868e-04 2.00313945e+02] [-5.65837883e-01 8.24516516e-01 7.17097211e-05 1.68441961e+02] [ 1.25788101e-04 -6.47710137e-07 9.99999992e-01 -6.78260528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0957692310001 meters 0.015499839472825887 Centerline is valid? [True, True] Translation: X:200.34, Y:168.42, Z:-0.68 [[ 8.25374026e-01 5.64586232e-01 -3.21668554e-04 2.00337572e+02] [-5.64586187e-01 8.25374089e-01 2.23874259e-04 1.68424690e+02] [ 3.91893214e-04 -3.17037572e-06 9.99999923e-01 -6.78056407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12576923100005 meters 0.016422618238450017 Centerline is valid? [True, True] Translation: X:200.36, Y:168.41, Z:-0.68 [[ 8.25679830e-01 5.64138723e-01 -5.65554018e-04 2.00359455e+02] [-5.64138585e-01 8.25680024e-01 3.94073687e-04 1.68408263e+02] [ 6.89278881e-04 -6.32785143e-06 9.99999762e-01 -6.79102878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1557692310001 meters 0.016485292750901784 Centerline is valid? [True, True] Translation: X:200.38, Y:168.39, Z:-0.68 [[ 8.25842253e-01 5.63899805e-01 -1.25816473e-03 2.00382486e+02] [-5.63899124e-01 8.25843212e-01 8.76227886e-04 1.68392658e+02] [ 1.53315154e-03 -1.41480204e-05 9.99998825e-01 -6.80539775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18576923100005 meters 0.01593579866666253 Centerline is valid? [True, True] Translation: X:200.40, Y:168.38, Z:-0.68 [[ 8.25316969e-01 5.64664702e-01 -2.38225358e-03 2.00404849e+02] [-5.64662264e-01 8.25320407e-01 1.65939001e-03 1.68377816e+02] [ 2.90312146e-03 -2.43540383e-05 9.99995786e-01 -6.82879092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2157692310001 meters 0.01565231715159301 Centerline is valid? [True, True] Translation: X:200.43, Y:168.36, Z:-0.68 [[ 8.25375627e-01 5.64578436e-01 -2.50283908e-03 2.00427569e+02] [-5.64575747e-01 8.25379421e-01 1.74249346e-03 1.68361581e+02] [ 3.04956610e-03 -2.51693887e-05 9.99995350e-01 -6.83122109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24576923100005 meters 0.015655855035793906 Centerline is valid? [True, True] Translation: X:200.45, Y:168.34, Z:-0.68 [[ 8.25414806e-01 5.64520744e-01 -2.59388164e-03 2.00450213e+02] [-5.64517858e-01 8.25418881e-01 1.80520228e-03 1.68344293e+02] [ 3.16011302e-03 -2.57481821e-05 9.99995007e-01 -6.83063501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2757692310001 meters 0.016112829818098588 Centerline is valid? [True, True] Translation: X:200.47, Y:168.33, Z:-0.68 [[ 8.25761428e-01 5.64014295e-01 -2.43685474e-03 2.00471788e+02] [-5.64011748e-01 8.25765023e-01 1.69531328e-03 1.68326352e+02] [ 2.96845034e-03 -2.55096142e-05 9.99995594e-01 -6.83485366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30576923100006 meters 0.01662940854098168 Centerline is valid? [True, True] Translation: X:200.49, Y:168.31, Z:-0.68 [[ 8.26214632e-01 5.63354009e-01 -1.28154401e-03 2.00492030e+02] [-5.63353304e-01 8.26215626e-01 8.91440084e-04 1.68307561e+02] [ 1.56102803e-03 -1.45587891e-05 9.99998781e-01 -6.81082502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3357692310001 meters 0.015977635003264712 Centerline is valid? [True, True] Translation: X:200.52, Y:168.29, Z:-0.68 [[ 8.26481836e-01 5.62962183e-01 -1.16396471e-03 2.00515096e+02] [-5.62961602e-01 8.26482656e-01 8.09062389e-04 1.68292118e+02] [ 1.41746817e-03 -1.34079316e-05 9.99998995e-01 -6.79757812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36576923100006 meters 0.01605665436116291 Centerline is valid? [True, True] Translation: X:200.54, Y:168.28, Z:-0.68 [[ 8.26512320e-01 5.62917358e-01 -1.19713349e-03 2.00536834e+02] [-5.62916743e-01 8.26513187e-01 8.32035417e-04 1.68275785e+02] [ 1.45781379e-03 -1.38010392e-05 9.99998937e-01 -6.79945500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39576923100003 meters 0.014424825789443084 Centerline is valid? [True, True] Translation: X:200.56, Y:168.26, Z:-0.68 [[ 8.25459709e-01 5.64459139e-01 -1.46605436e-03 2.00560912e+02] [-5.64458220e-01 8.25461011e-01 1.01861202e-03 1.68258989e+02] [ 1.78513558e-03 -1.32967467e-05 9.99998407e-01 -6.79847918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42576923100006 meters 0.013878101246747085 Centerline is valid? [True, True] Translation: X:200.58, Y:168.24, Z:-0.68 [[ 8.24395897e-01 5.66011466e-01 -1.55711240e-03 2.00584290e+02] [-5.66010432e-01 8.24397368e-01 1.08197801e-03 1.68243165e+02] [ 1.89609133e-03 -1.06363735e-05 9.99998202e-01 -6.80826337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45576923100003 meters 0.012421634754911072 Centerline is valid? [True, True] Translation: X:200.61, Y:168.23, Z:-0.68 [[ 8.23365369e-01 5.67510051e-01 -1.34566890e-03 2.00610619e+02] [-5.67509281e-01 8.23366469e-01 9.34460592e-04 1.68229850e+02] [ 1.63829443e-03 -5.72289948e-06 9.99998658e-01 -6.79614246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48576923100006 meters 0.011918534568430287 Centerline is valid? [True, True] Translation: X:200.64, Y:168.22, Z:-0.68 [[ 8.22046564e-01 5.69418854e-01 -1.27079109e-03 2.00635357e+02] [-5.69418170e-01 8.22047547e-01 8.82571576e-04 1.68216479e+02] [ 1.54720359e-03 -1.90339468e-06 9.99998803e-01 -6.80281161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51576923100004 meters 0.01232606598335944 Centerline is valid? [True, True] Translation: X:200.66, Y:168.21, Z:-0.68 [[ 8.19759683e-01 5.72705489e-01 -1.57664201e-03 2.00662835e+02] [-5.72704443e-01 8.19761199e-01 1.09428818e-03 1.68206264e+02] [ 1.91917479e-03 5.89655094e-06 9.99998158e-01 -6.79856723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54576923100007 meters 0.013168477094389957 Centerline is valid? [True, True] Translation: X:200.69, Y:168.19, Z:-0.68 [[ 8.18661384e-01 5.74273540e-01 -1.85448759e-03 2.00688455e+02] [-5.74272098e-01 8.18663485e-01 1.28680071e-03 1.68192886e+02] [ 2.25717687e-03 1.15264267e-05 9.99997453e-01 -6.79645068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57576923100004 meters 0.013752695174809008 Centerline is valid? [True, True] Translation: X:200.71, Y:168.18, Z:-0.68 [[ 8.17983855e-01 5.75239188e-01 -1.51315167e-03 2.00713797e+02] [-5.75238230e-01 8.17985255e-01 1.04950048e-03 1.68178656e+02] [ 1.84144955e-03 1.19482401e-05 9.99998304e-01 -6.78491330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60576923100007 meters 0.014080819609742761 Centerline is valid? [True, True] Translation: X:200.74, Y:168.16, Z:-0.68 [[ 8.17665051e-01 5.75693837e-01 -6.85828949e-04 2.00737515e+02] [-5.75693641e-01 8.17665339e-01 4.75214340e-04 1.68164502e+02] [ 8.34356527e-04 6.26120669e-06 9.99999652e-01 -6.76752627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63576923100004 meters 0.013968170584462602 Centerline is valid? [True, True] Translation: X:200.76, Y:168.15, Z:-0.67 [[ 8.17653330e-01 5.75709987e-01 1.02105581e-03 2.00761737e+02] [-5.75709552e-01 8.17653968e-01 -7.08288728e-04 1.68149869e+02] [-1.24263923e-03 -8.69694788e-06 9.99999228e-01 -6.73336070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66576923100007 meters 0.014607714153705617 Centerline is valid? [True, True] Translation: X:200.79, Y:168.14, Z:-0.67 [[ 8.17778995e-01 5.75531028e-01 1.24554663e-03 2.00785147e+02] [-5.75530380e-01 8.17779944e-01 -8.63512780e-04 1.68136048e+02] [-1.51556145e-03 -1.06873091e-05 9.99998851e-01 -6.73583720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69576923100004 meters 0.01400168748124154 Centerline is valid? [True, True] Translation: X:200.81, Y:168.12, Z:-0.67 [[ 8.17906556e-01 5.75349757e-01 1.23403717e-03 2.00809039e+02] [-5.75349121e-01 8.17907487e-01 -8.55423360e-04 1.68121701e+02] [-1.50149586e-03 -1.03458263e-05 9.99998873e-01 -6.73897216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7257692310001 meters 0.014461114826794455 Centerline is valid? [True, True] Translation: X:200.83, Y:168.11, Z:-0.67 [[ 8.17649887e-01 5.75714980e-01 9.61291165e-04 2.00834489e+02] [-5.75714595e-01 8.17650452e-01 -6.66178990e-04 1.68108515e+02] [-1.16952938e-03 -8.72817712e-06 9.99999316e-01 -6.74021889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75576923100004 meters 0.014924092880044409 Centerline is valid? [True, True] Translation: X:200.86, Y:168.10, Z:-0.67 [[ 8.17507353e-01 5.75917503e-01 8.70093774e-04 2.00859510e+02] [-5.75917188e-01 8.17507816e-01 -6.02770426e-04 1.68095599e+02] [-1.05845450e-03 -8.33270338e-06 9.99999440e-01 -6.74735841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7857692310001 meters 0.014603219742714314 Centerline is valid? [True, True] Translation: X:200.88, Y:168.08, Z:-0.68 [[ 8.17563918e-01 5.75837558e-01 5.89253633e-04 2.00883153e+02] [-5.75837413e-01 8.17564130e-01 -4.08194882e-04 1.68081170e+02] [-7.16806578e-04 -5.58888059e-06 9.99999743e-01 -6.75564418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81576923100005 meters 0.014229716977844174 Centerline is valid? [True, True] Translation: X:200.91, Y:168.07, Z:-0.68 [[ 8.18114151e-01 5.75055628e-01 -5.11298935e-04 2.00907391e+02] [-5.75055519e-01 8.18114311e-01 3.53219023e-04 1.68066854e+02] [ 6.21421563e-04 5.05179335e-06 9.99999807e-01 -6.77608037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8457692310001 meters 0.01403197569326657 Centerline is valid? [True, True] Translation: X:200.93, Y:168.05, Z:-0.68 [[ 8.18675295e-01 5.74255379e-01 -1.23318290e-03 2.00930591e+02] [-5.74254746e-01 8.18676224e-01 8.52733065e-04 1.68051492e+02] [ 1.49926407e-03 1.00496408e-05 9.99998876e-01 -6.79607852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87576923100005 meters 0.01370095812085296 Centerline is valid? [True, True] Translation: X:200.95, Y:168.04, Z:-0.68 [[ 8.19309389e-01 5.73349349e-01 -1.62785202e-03 2.00952473e+02] [-5.73348245e-01 8.19311006e-01 1.12522138e-03 1.68035485e+02] [ 1.97886202e-03 1.14216553e-05 9.99998042e-01 -6.81520108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9057692310001 meters 0.012862797608242063 Centerline is valid? [True, True] Translation: X:200.97, Y:168.02, Z:-0.68 [[ 8.20187542e-01 5.72091587e-01 -1.90026308e-03 2.00974229e+02] [-5.72090081e-01 8.20189744e-01 1.31287905e-03 1.68017343e+02] [ 2.30966335e-03 1.03146194e-05 9.99997333e-01 -6.81987467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93576923100005 meters 0.012323561789091735 Centerline is valid? [True, True] Translation: X:201.00, Y:168.00, Z:-0.68 [[ 8.21457995e-01 5.70264668e-01 -2.22969174e-03 2.00995971e+02] [-5.70262587e-01 8.21461021e-01 1.54065444e-03 1.67999700e+02] [ 2.71018565e-03 5.92687672e-06 9.99996327e-01 -6.82273488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9657692310001 meters 0.01205576975062692 Centerline is valid? [True, True] Translation: X:201.02, Y:167.98, Z:-0.68 [[ 8.22025606e-01 5.69446727e-01 -2.08017269e-03 2.01019211e+02] [-5.69444916e-01 8.22028238e-01 1.43644665e-03 1.67983358e+02] [ 2.52794053e-03 3.74783023e-06 9.99996805e-01 -6.80944330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99576923100005 meters 0.011859966310753584 Centerline is valid? [True, True] Translation: X:201.04, Y:167.97, Z:-0.68 [[ 8.22480045e-01 5.68792327e-01 -1.36532954e-03 2.01042090e+02] [-5.68791546e-01 8.22481178e-01 9.42845808e-04 1.67967147e+02] [ 1.65924131e-03 1.11603458e-06 9.99998623e-01 -6.79468737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0257692310001 meters 0.011707987023425358 Centerline is valid? [True, True] Translation: X:201.06, Y:167.95, Z:-0.68 [[ 8.22873344e-01 5.68224802e-01 1.86331030e-04 2.01064377e+02] [-5.68224787e-01 8.22873365e-01 -1.29067303e-04 1.67949842e+02] [-2.26666084e-04 3.28133199e-07 9.99999974e-01 -6.76277615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05576923100006 meters 0.011681418796963087 Centerline is valid? [True, True] Translation: X:201.09, Y:167.93, Z:-0.68 [[ 8.22732971e-01 5.68427929e-01 3.86189197e-04 2.01086383e+02] [-5.68427866e-01 8.22733061e-01 -2.66754284e-04 1.67934009e+02] [-4.69361205e-04 -5.31569719e-08 9.99999890e-01 -6.76062269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0857692310001 meters 0.011699828300941828 Centerline is valid? [True, True] Translation: X:201.11, Y:167.92, Z:-0.68 [[ 8.22774504e-01 5.68367892e-01 2.34913394e-04 2.01108440e+02] [-5.68367868e-01 8.22774538e-01 -1.62306185e-04 1.67917723e+02] [-2.85530383e-04 2.41656108e-08 9.99999959e-01 -6.76638647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11576923100006 meters 0.011684343011930417 Centerline is valid? [True, True] Translation: X:201.13, Y:167.90, Z:-0.68 [[ 8.23732796e-01 5.66977872e-01 6.11118121e-04 2.01128996e+02] [-5.66977715e-01 8.23733022e-01 -4.22002449e-04 1.67898664e+02] [-7.42664228e-04 1.12690150e-06 9.99999724e-01 -6.76303660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14576923100003 meters 0.011919539495781648 Centerline is valid? [True, True] Translation: X:201.15, Y:167.88, Z:-0.68 [[ 8.24577543e-01 5.65747864e-01 1.10909933e-03 2.01149909e+02] [-5.65747346e-01 8.24578289e-01 -7.65225416e-04 1.67880294e+02] [-1.34746387e-03 3.51769264e-06 9.99999092e-01 -6.75275040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17576923100006 meters 0.012518128373840408 Centerline is valid? [True, True] Translation: X:201.17, Y:167.86, Z:-0.68 [[ 8.25429722e-01 5.64503721e-01 1.15041741e-03 2.01170430e+02] [-5.64503164e-01 8.25430523e-01 -7.93327224e-04 1.67861370e+02] [-1.39742582e-03 5.42160107e-06 9.99999024e-01 -6.75048280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20576923100003 meters 0.013062962698565717 Centerline is valid? [True, True] Translation: X:201.19, Y:167.84, Z:-0.67 [[ 8.26277194e-01 5.63262851e-01 9.79831005e-04 2.01191944e+02] [-5.63262445e-01 8.26277775e-01 -6.75707207e-04 1.67842635e+02] [-1.19021335e-03 6.41944722e-06 9.99999292e-01 -6.74967085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23576923100006 meters 0.013895605712953613 Centerline is valid? [True, True] Translation: X:201.21, Y:167.82, Z:-0.68 [[ 8.27131656e-01 5.62007846e-01 6.36240670e-04 2.01213363e+02] [-5.62007674e-01 8.27131901e-01 -4.38736811e-04 1.67822678e+02] [-7.72828485e-04 5.32096636e-06 9.99999701e-01 -6.76077999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26576923100004 meters 0.014020912600198127 Centerline is valid? [True, True] Translation: X:201.24, Y:167.81, Z:-0.68 [[ 8.27476366e-01 5.61500514e-01 1.92050078e-04 2.01236220e+02] [-5.61500498e-01 8.27476388e-01 -1.32692238e-04 1.67805777e+02] [-2.33423665e-04 1.96347691e-06 9.99999973e-01 -6.76524968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29576923100007 meters 0.014483351048651226 Centerline is valid? [True, True] Translation: X:201.26, Y:167.79, Z:-0.68 [[ 8.27686073e-01 5.61191356e-01 -1.64032779e-04 2.01258556e+02] [-5.61191345e-01 8.27686089e-01 1.12828218e-04 1.67788310e+02] [ 1.99085870e-04 -1.33256888e-06 9.99999980e-01 -6.77876209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32576923100004 meters 0.0152000755199897 Centerline is valid? [True, True] Translation: X:201.28, Y:167.77, Z:-0.68 [[ 8.28126755e-01 5.60540879e-01 -2.09248298e-06 2.01280183e+02] [-5.60540879e-01 8.28126755e-01 1.31180490e-06 1.67770524e+02] [ 2.46816133e-06 8.65815128e-08 1.00000000e+00 -6.78101011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35576923100007 meters 0.020659520071369945 Centerline is valid? [True, True] Translation: X:201.30, Y:167.75, Z:-0.67 [[ 8.28588785e-01 5.59857189e-01 7.44064676e-04 2.01303659e+02] [-5.59856954e-01 8.28589119e-01 -5.12544627e-04 1.67754928e+02] [-9.03475688e-04 8.11894607e-06 9.99999592e-01 -6.73839832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38576923100004 meters 0.01571178307900084 Centerline is valid? [True, True] Translation: X:201.33, Y:167.74, Z:-0.67 [[ 8.28899268e-01 5.59395255e-01 1.71787976e-03 2.01325742e+02] [-5.59394006e-01 8.28901048e-01 -1.18234804e-03 1.67738143e+02] [-2.08535222e-03 1.90757853e-05 9.99997825e-01 -6.74705934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41576923100007 meters 0.016099511663580656 Centerline is valid? [True, True] Translation: X:201.35, Y:167.72, Z:-0.67 [[ 8.29422880e-01 5.58615006e-01 2.63819598e-03 2.01348788e+02] [-5.58612058e-01 8.29427076e-01 -1.81528867e-03 1.67720319e+02] [-3.20223867e-03 3.19138697e-05 9.99994872e-01 -6.72866897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44576923100004 meters 0.016543461070844298 Centerline is valid? [True, True] Translation: X:201.37, Y:167.70, Z:-0.67 [[ 8.29693169e-01 5.58212054e-01 2.92355167e-03 2.01370058e+02] [-5.58208433e-01 8.29698319e-01 -2.01110960e-03 1.67701379e+02] [-3.54829153e-03 3.66526980e-05 9.99993704e-01 -6.71158391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4757692310001 meters 0.016241209497897754 Centerline is valid? [True, True] Translation: X:201.39, Y:167.68, Z:-0.67 [[ 8.29803106e-01 5.58050798e-01 2.47217858e-03 2.01392667e+02] [-5.58048209e-01 8.29806788e-01 -1.70023070e-03 1.67684628e+02] [-3.00024567e-03 3.12618944e-05 9.99995499e-01 -6.72221876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50576923100004 meters 0.016743331222203606 Centerline is valid? [True, True] Translation: X:201.41, Y:167.67, Z:-0.67 [[ 8.29870580e-01 5.57953611e-01 1.60892770e-03 2.01413264e+02] [-5.57952515e-01 8.29872139e-01 -1.10623811e-03 1.67667329e+02] [-1.95243382e-03 2.03292087e-05 9.99998094e-01 -6.73351243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5357692310001 meters 0.016743331222203606 Centerline is valid? [True, True] Translation: X:201.44, Y:167.65, Z:-0.67 [[ 8.29974052e-01 5.57799680e-01 1.60907551e-03 2.01436029e+02] [-5.57798584e-01 8.29975612e-01 -1.10602307e-03 1.67651921e+02] [-1.95243275e-03 2.04304085e-05 9.99998094e-01 -6.73401690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56576923100005 meters 0.016101697589909956 Centerline is valid? [True, True] Translation: X:201.46, Y:167.63, Z:-0.67 [[ 8.29754685e-01 5.58126921e-01 1.22563004e-03 2.01458442e+02] [-5.58126286e-01 8.29755591e-01 -8.42220732e-04 1.67634685e+02] [-1.48703944e-03 1.47802564e-05 9.99998894e-01 -6.74966309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5957692310001 meters 0.015329799067867035 Centerline is valid? [True, True] Translation: X:201.48, Y:167.62, Z:-0.68 [[ 8.29163914e-01 5.59004423e-01 1.12214341e-03 2.01481809e+02] [-5.59003891e-01 8.29164673e-01 -7.70757687e-04 1.67618782e+02] [-1.36129863e-03 1.18019255e-05 9.99999073e-01 -6.75769635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62576923100005 meters 0.014366531376521526 Centerline is valid? [True, True] Translation: X:201.51, Y:167.60, Z:-0.68 [[ 8.28524159e-01 5.59952986e-01 6.09038313e-04 2.01506514e+02] [-5.59952830e-01 8.28524383e-01 -4.18459349e-04 1.67602937e+02] [-7.38920655e-04 5.67095339e-06 9.99999727e-01 -6.76135496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6557692310001 meters 0.013631181902664644 Centerline is valid? [True, True] Translation: X:201.53, Y:167.59, Z:-0.68 [[ 8.27769198e-01 5.61068721e-01 2.10081151e-04 2.01529700e+02] [-5.61068703e-01 8.27769225e-01 -1.44337900e-04 1.67587824e+02] [-2.54882193e-04 1.60850846e-06 9.99999968e-01 -6.76663720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68576923100005 meters 0.012623508341547754 Centerline is valid? [True, True] Translation: X:201.55, Y:167.57, Z:-0.68 [[ 8.26763853e-01 5.62548629e-01 -7.55930874e-04 2.01554060e+02] [-5.62548390e-01 8.26764199e-01 5.18247624e-04 1.67573175e+02] [ 9.16516073e-04 -3.22070602e-06 9.99999580e-01 -6.78840656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7157692310001 meters 0.012613948296389054 Centerline is valid? [True, True] Translation: X:201.58, Y:167.56, Z:-0.68 [[ 8.26745480e-01 5.62574204e-01 -1.47516504e-03 2.01577095e+02] [-5.62573295e-01 8.26746796e-01 1.01133116e-03 1.67557029e+02] [ 1.78853680e-03 -6.22500772e-06 9.99998401e-01 -6.80734261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74576923100005 meters 0.012973152036200876 Centerline is valid? [True, True] Translation: X:201.60, Y:167.54, Z:-0.68 [[ 8.26789097e-01 5.62508348e-01 -2.03670380e-03 2.01599274e+02] [-5.62506614e-01 8.26791605e-01 1.39658708e-03 1.67540011e+02] [ 2.46952150e-03 -9.02361381e-06 9.99996951e-01 -6.82972806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7757692310001 meters 0.013415925303392987 Centerline is valid? [True, True] Translation: X:201.62, Y:167.52, Z:-0.68 [[ 8.27719797e-01 5.61138184e-01 -1.96882762e-03 2.01621130e+02] [-5.61136562e-01 8.27722138e-01 1.34932305e-03 1.67520839e+02] [ 2.38679889e-03 -1.20802436e-05 9.99997152e-01 -6.81785362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80576923100006 meters 0.014046964804482094 Centerline is valid? [True, True] Translation: X:201.64, Y:167.50, Z:-0.68 [[ 8.28338620e-01 5.60225256e-01 -1.67133929e-03 2.01642297e+02] [-5.60224085e-01 8.28340306e-01 1.14547846e-03 1.67502618e+02] [ 2.02616367e-03 -1.25195209e-05 9.99997947e-01 -6.80897016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8357692310001 meters 0.015231645599057516 Centerline is valid? [True, True] Translation: X:201.66, Y:167.48, Z:-0.68 [[ 8.29270638e-01 5.58846876e-01 -6.14380025e-04 2.01663493e+02] [-5.58846718e-01 8.29270866e-01 4.20942115e-04 1.67483523e+02] [ 7.44729641e-04 -5.73067574e-06 9.99999723e-01 -6.79162712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86576923100006 meters 0.01580319066864674 Centerline is valid? [True, True] Translation: X:201.69, Y:167.47, Z:-0.68 [[ 8.30098779e-01 5.57615972e-01 6.66894381e-04 2.01685969e+02] [-5.57615785e-01 8.30099047e-01 -4.57266362e-04 1.67466044e+02] [-8.08567417e-04 7.70541474e-06 9.99999673e-01 -6.76927821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89576923100003 meters 0.016011040879943098 Centerline is valid? [True, True] Translation: X:201.71, Y:167.45, Z:-0.67 [[ 8.30290223e-01 5.57326841e-01 2.22244473e-03 2.01708046e+02] [-5.57324761e-01 8.30293197e-01 -1.52257633e-03 1.67449856e+02] [-2.69385339e-03 2.55567573e-05 9.99996371e-01 -6.73734106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92576923100006 meters 0.015817674399708395 Centerline is valid? [True, True] Translation: X:201.73, Y:167.43, Z:-0.67 [[ 8.29958976e-01 5.57821207e-01 1.89710408e-03 2.01731277e+02] [-5.57819694e-01 8.29961144e-01 -1.29954563e-03 1.67433881e+02] [-2.29943678e-03 2.03275395e-05 9.99997356e-01 -6.74519451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95576923100003 meters 0.015397099188626112 Centerline is valid? [True, True] Translation: X:201.75, Y:167.42, Z:-0.68 [[ 8.29932294e-01 5.57862892e-01 1.17508991e-03 2.01754513e+02] [-5.57862312e-01 8.29933126e-01 -8.04967822e-04 1.67418754e+02] [-1.42430772e-03 1.25304165e-05 9.99998986e-01 -6.75403048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98576923100006 meters 0.015454163877047074 Centerline is valid? [True, True] Translation: X:201.78, Y:167.40, Z:-0.68 [[ 8.30277915e-01 5.57349592e-01 1.26796516e-04 2.01777088e+02] [-5.57349586e-01 8.30277924e-01 -8.72035277e-05 1.67402209e+02] [-1.53879199e-04 1.73317731e-06 9.99999988e-01 -6.77267029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01576923100004 meters 0.017139774156639642 Centerline is valid? [True, True] Translation: X:201.80, Y:167.38, Z:-0.68 [[ 8.30981663e-01 5.56299710e-01 3.28641470e-04 2.01797999e+02] [-5.56299664e-01 8.30981728e-01 -2.25024033e-04 1.67383118e+02] [-3.98275860e-04 4.16770578e-06 9.99999921e-01 -6.77222821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04576923100007 meters 0.01797787294239561 Centerline is valid? [True, True] Translation: X:201.82, Y:167.36, Z:-0.68 [[ 8.32040338e-01 5.54713765e-01 1.23098924e-03 2.01819949e+02] [-5.54713126e-01 8.32041248e-01 -8.42443933e-04 1.67364561e+02] [-1.49154907e-03 1.81014453e-05 9.99998887e-01 -6.75835348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07576923100004 meters 0.01997714122292937 Centerline is valid? [True, True] Translation: X:201.84, Y:167.34, Z:-0.67 [[ 8.33461810e-01 5.52571175e-01 2.55120633e-03 2.01839295e+02] [-5.52568421e-01 8.33465713e-01 -1.74494604e-03 1.67341730e+02] [-3.09054988e-03 4.46298320e-05 9.99995223e-01 -6.73477218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10576923100007 meters 0.02049044472005697 Centerline is valid? [True, True] Translation: X:201.86, Y:167.33, Z:-0.67 [[ 8.33693289e-01 5.52224351e-01 1.94064679e-03 2.01860880e+02] [-5.52222758e-01 8.33695547e-01 -1.32698324e-03 1.67325271e+02] [-2.35070105e-03 3.46276937e-05 9.99997237e-01 -6.74752317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13576923100004 meters 0.020442059295028216 Centerline is valid? [True, True] Translation: X:201.88, Y:167.31, Z:-0.68 [[ 8.33344026e-01 5.52754113e-01 7.90583885e-04 2.01883599e+02] [-5.52753849e-01 8.33344401e-01 -5.40533757e-04 1.67309113e+02] [-9.57610912e-04 1.34522924e-05 9.99999541e-01 -6.76942283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16576923100007 meters 0.018914570360058083 Centerline is valid? [True, True] Translation: X:201.91, Y:167.29, Z:-0.68 [[ 8.33040493e-01 5.53212015e-01 5.41152241e-05 2.01907249e+02] [-5.53212014e-01 8.33040495e-01 -3.73476483e-05 1.67292544e+02] [-6.57413410e-05 1.17491129e-06 9.99999998e-01 -6.79012607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19576923100004 meters 0.019255658478671188 Centerline is valid? [True, True] Translation: X:201.93, Y:167.27, Z:-0.68 [[ 8.33382670e-01 5.52696234e-01 4.45374127e-04 2.01929243e+02] [-5.52696151e-01 8.33382789e-01 -3.04589384e-04 1.67273758e+02] [-5.39512538e-04 7.68294794e-06 9.99999854e-01 -6.78515696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2257692310001 meters 0.01934017149722062 Centerline is valid? [True, True] Translation: X:201.95, Y:167.26, Z:-0.68 [[ 8.34001849e-01 5.51760506e-01 1.12294048e-03 2.01951200e+02] [-5.51759973e-01 8.34002604e-01 -7.67137999e-04 1.67255531e+02] [-1.35981174e-03 2.02009001e-05 9.99999075e-01 -6.77305381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25576923100004 meters 0.02118559538736036 Centerline is valid? [True, True] Translation: X:201.97, Y:167.24, Z:-0.68 [[ 8.34514505e-01 5.50983411e-01 1.67975397e-03 2.01971227e+02] [-5.50982218e-01 8.34516195e-01 -1.14693229e-03 1.67235302e+02] [-2.03372256e-03 3.16170618e-05 9.99997931e-01 -6.76458352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2857692310001 meters 0.02353185369495271 Centerline is valid? [True, True] Translation: X:201.99, Y:167.21, Z:-0.67 [[ 8.35315529e-01 5.49762280e-01 3.06640080e-03 2.01988209e+02] [-5.49758298e-01 8.35321155e-01 -2.09312903e-03 1.67211656e+02] [-3.71215284e-03 6.26438946e-05 9.99993108e-01 -6.73872210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31576923100005 meters 0.022936138732559598 Centerline is valid? [True, True] Translation: X:202.01, Y:167.19, Z:-0.67 [[ 8.35592699e-01 5.49342115e-01 2.84281751e-03 2.02011019e+02] [-5.49338693e-01 8.35597533e-01 -1.93998309e-03 1.67193185e+02] [-3.44116571e-03 5.93660525e-05 9.99994077e-01 -6.74265546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3457692310001 meters 0.02318517156774034 Centerline is valid? [True, True] Translation: X:202.03, Y:167.17, Z:-0.68 [[ 8.35710968e-01 5.49167691e-01 1.42265499e-03 2.02032488e+02] [-5.49166834e-01 8.35712179e-01 -9.70685777e-04 1.67174942e+02] [-1.72199937e-03 2.99378122e-05 9.99998517e-01 -6.76989236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37576923100005 meters 0.021013661676366348 Centerline is valid? [True, True] Translation: X:202.06, Y:167.16, Z:-0.68 [[ 8.34958319e-01 5.50313118e-01 -2.76761797e-04 2.02056042e+02] [-5.50313086e-01 8.34958365e-01 1.88316325e-04 1.67157807e+02] [ 3.34717521e-04 -4.93064334e-06 9.99999944e-01 -6.80907736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4057692310001 meters 0.019806231130789546 Centerline is valid? [True, True] Translation: X:202.08, Y:167.14, Z:-0.68 [[ 8.34044076e-01 5.51697677e-01 -3.91865774e-04 2.02078659e+02] [-5.51697612e-01 8.34044168e-01 2.66996599e-04 1.67142093e+02] [ 4.74134766e-04 -6.49552008e-06 9.99999888e-01 -6.81310848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43576923100005 meters 0.01810613274565037 Centerline is valid? [True, True] Translation: X:202.10, Y:167.13, Z:-0.68 [[ 8.33015478e-01 5.53249669e-01 -1.34447489e-04 2.02102885e+02] [-5.53249661e-01 8.33015489e-01 9.12499507e-05 1.67126778e+02] [ 1.62480845e-04 -1.62959372e-06 9.99999987e-01 -6.81178615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4657692310001 meters 0.014547007172854088 Centerline is valid? [True, True] Translation: X:202.13, Y:167.11, Z:-0.68 [[ 8.30398209e-01 5.57169714e-01 8.51012669e-04 2.02129105e+02] [-5.57169412e-01 8.30398645e-01 -5.80064287e-04 1.67113299e+02] [-1.02987402e-03 7.52611661e-06 9.99999470e-01 -6.78826868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49576923100005 meters 0.013233455852959713 Centerline is valid? [True, True] Translation: X:202.15, Y:167.10, Z:-0.68 [[ 8.28951660e-01 5.59318688e-01 1.32305873e-03 2.02152852e+02] [-5.59317962e-01 8.28952716e-01 -9.01305096e-04 1.67099541e+02] [-1.60086991e-03 7.12784462e-06 9.99998719e-01 -6.77970597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5257692310001 meters 0.012327091131428552 Centerline is valid? [True, True] Translation: X:202.18, Y:167.09, Z:-0.68 [[ 8.28036621e-01 5.60672205e-01 1.42568440e-03 2.02177498e+02] [-5.60671364e-01 8.28037849e-01 -9.71099594e-04 1.67085124e+02] [-1.72498920e-03 4.76560861e-06 9.99998512e-01 -6.78045273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55576923100006 meters 0.012133649849652848 Centerline is valid? [True, True] Translation: X:202.20, Y:167.07, Z:-0.68 [[ 8.27459599e-01 5.61523334e-01 1.46845452e-03 2.02200711e+02] [-5.61522444e-01 8.27460902e-01 -9.99842426e-04 1.67070070e+02] [-1.77652355e-03 2.75904228e-06 9.99998422e-01 -6.78471494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5857692310001 meters 0.012221994559142989 Centerline is valid? [True, True] Translation: X:202.23, Y:167.06, Z:-0.68 [[ 8.26204634e-01 5.63369749e-01 6.54839665e-04 2.02225263e+02] [-5.63369573e-01 8.26204893e-01 -4.45918460e-04 1.67056085e+02] [-7.92248706e-04 -4.96844410e-07 9.99999686e-01 -6.79947674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61576923100006 meters 0.012591044697439992 Centerline is valid? [True, True] Translation: X:202.25, Y:167.04, Z:-0.68 [[ 8.25151470e-01 5.64911119e-01 6.91676973e-04 2.02250160e+02] [-5.64910923e-01 8.25151760e-01 -4.70788715e-04 1.67043247e+02] [-8.36692252e-04 -2.26387696e-06 9.99999650e-01 -6.80277059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64576923100003 meters 0.013896841434539795 Centerline is valid? [True, True] Translation: X:202.28, Y:167.03, Z:-0.68 [[ 8.23728031e-01 5.66984896e-01 5.09105256e-04 2.02275927e+02] [-5.66984791e-01 8.23728188e-01 -3.46300385e-04 1.67032192e+02] [-6.15711438e-04 -3.39760302e-06 9.99999810e-01 -6.80571166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67576923100006 meters 0.017699079143218895 Centerline is valid? [True, True] Translation: X:202.31, Y:167.02, Z:-0.68 [[ 8.20909912e-01 5.71057670e-01 2.33745320e-04 2.02305221e+02] [-5.71057647e-01 8.20909945e-01 -1.59239062e-04 1.67024419e+02] [-2.82818546e-04 -2.76112859e-06 9.99999960e-01 -6.80901993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70576923100003 meters 0.01826303293736553 Centerline is valid? [True, True] Translation: X:202.33, Y:167.01, Z:-0.68 [[ 8.20245548e-01 5.72011428e-01 4.08428520e-04 2.02330021e+02] [-5.72011361e-01 8.20245650e-01 -2.77885834e-04 1.67009965e+02] [-4.93965590e-04 -5.69113503e-06 9.99999878e-01 -6.81374733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73576923100006 meters 0.018974277899377074 Centerline is valid? [True, True] Translation: X:202.35, Y:167.00, Z:-0.68 [[ 8.19959026e-01 5.72422103e-01 3.64029418e-04 2.02353918e+02] [-5.72422049e-01 8.19959106e-01 -2.47450987e-04 1.66995412e+02] [-4.40135650e-04 -5.47879507e-06 9.99999903e-01 -6.82243310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76576923100004 meters 0.01797860830549145 Centerline is valid? [True, True] Translation: X:202.38, Y:166.98, Z:-0.68 [[ 8.20390442e-01 5.71803657e-01 -3.17591498e-04 2.02377024e+02] [-5.71803617e-01 8.20390503e-01 2.15258527e-04 1.66979758e+02] [ 3.83634661e-04 5.00392879e-06 9.99999926e-01 -6.83536904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79576923100007 meters 0.01829533257705684 Centerline is valid? [True, True] Translation: X:202.40, Y:166.97, Z:-0.69 [[ 8.20872361e-01 5.71110585e-01 -1.12578488e-03 2.02401004e+02] [-5.71110074e-01 8.20873132e-01 7.64312555e-04 1.66966080e+02] [ 1.36063355e-03 1.55440321e-05 9.99999074e-01 -6.85706604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82576923100004 meters 0.01741032324504429 Centerline is valid? [True, True] Translation: X:202.43, Y:166.95, Z:-0.69 [[ 8.21516381e-01 5.70183411e-01 -1.30894054e-03 2.02425394e+02] [-5.70182719e-01 8.21517424e-01 8.88151010e-04 1.66949905e+02] [ 1.58172643e-03 1.67046704e-05 9.99998749e-01 -6.86110219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85576923100007 meters 0.017535032678006476 Centerline is valid? [True, True] Translation: X:202.45, Y:166.94, Z:-0.69 [[ 8.22150175e-01 5.69269634e-01 -1.08302233e-03 2.02449327e+02] [-5.69269160e-01 8.22150889e-01 7.34936453e-04 1.66935946e+02] [ 1.30878477e-03 1.23030766e-05 9.99999143e-01 -6.86266750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88576923100004 meters 0.014615915109584975 Centerline is valid? [True, True] Translation: X:202.47, Y:166.92, Z:-0.68 [[ 8.23303167e-01 5.67600665e-01 1.17476649e-03 2.02471549e+02] [-5.67600105e-01 8.23304005e-01 -7.97408356e-04 1.66916374e+02] [-1.41979947e-03 -1.02887555e-05 9.99998992e-01 -6.80554932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91576923100007 meters 0.014081990253646237 Centerline is valid? [True, True] Translation: X:202.49, Y:166.90, Z:-0.68 [[ 8.23818340e-01 5.66850901e-01 1.84387088e-03 2.02494318e+02] [-5.66849520e-01 8.23820403e-01 -1.25102154e-03 1.66900369e+02] [-2.22816114e-03 -1.45828350e-05 9.99997518e-01 -6.79369006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94576923100004 meters 0.013604652346198984 Centerline is valid? [True, True] Translation: X:202.52, Y:166.88, Z:-0.68 [[ 8.24343876e-01 5.66087702e-01 1.37410547e-03 2.02517286e+02] [-5.66086934e-01 8.24345021e-01 -9.32239560e-04 1.66884343e+02] [-1.66046635e-03 -9.37718064e-06 9.99998621e-01 -6.80281306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9757692310001 meters 0.012942009643631444 Centerline is valid? [True, True] Translation: X:202.54, Y:166.87, Z:-0.68 [[ 8.25260395e-01 5.64752388e-01 -1.45839151e-04 2.02539690e+02] [-5.64752380e-01 8.25260407e-01 9.84643069e-05 1.66867927e+02] [ 1.75963230e-04 1.10431506e-06 9.99999985e-01 -6.84886380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00576923100004 meters 0.012743638684352873 Centerline is valid? [True, True] Translation: X:202.56, Y:166.85, Z:-0.69 [[ 8.25649448e-01 5.64183348e-01 -3.72849285e-04 2.02562381e+02] [-5.64183291e-01 8.25649532e-01 2.52217116e-04 1.66851730e+02] [ 4.50139535e-04 2.11241464e-06 9.99999899e-01 -6.85652461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0357692310001 meters 0.012414901993774503 Centerline is valid? [True, True] Translation: X:202.58, Y:166.83, Z:-0.68 [[ 8.26293302e-01 5.63240023e-01 -2.35953792e-04 2.02584478e+02] [-5.63240000e-01 8.26293336e-01 1.59392295e-04 1.66834824e+02] [ 2.84743165e-04 1.19382808e-06 9.99999959e-01 -6.84505265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06576923100005 meters 0.011805476310739858 Centerline is valid? [True, True] Translation: X:202.61, Y:166.82, Z:-0.68 [[ 8.27728692e-01 5.61126623e-01 1.45809718e-03 2.02605289e+02] [-5.61125754e-01 8.27729976e-01 -9.87599198e-04 1.66816485e+02] [-1.76107895e-03 -7.11687885e-07 9.99998449e-01 -6.80900679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0957692310001 meters 0.011782375951512694 Centerline is valid? [True, True] Translation: X:202.63, Y:166.80, Z:-0.68 [[ 8.28271766e-01 5.60323112e-01 1.97272069e-03 2.02628565e+02] [-5.60321520e-01 8.28274116e-01 -1.33577057e-03 1.66800273e+02] [-2.38241661e-03 1.02319342e-06 9.99997162e-01 -6.79761135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12576923100005 meters 0.011845960060961098 Centerline is valid? [True, True] Translation: X:202.65, Y:166.78, Z:-0.68 [[ 8.28787978e-01 5.59560133e-01 1.71622527e-03 2.02651366e+02] [-5.59558927e-01 8.28789755e-01 -1.16167220e-03 1.66784385e+02] [-2.07241537e-03 2.45078445e-06 9.99997853e-01 -6.80763776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1557692310001 meters 0.012413791207446083 Centerline is valid? [True, True] Translation: X:202.67, Y:166.77, Z:-0.68 [[ 8.29792098e-01 5.58072564e-01 2.95914181e-04 2.02672304e+02] [-5.58072528e-01 8.29792151e-01 -2.00330014e-04 1.66765490e+02] [-3.57345949e-04 1.09068795e-06 9.99999936e-01 -6.83888132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18576923100005 meters 0.012503683963912528 Centerline is valid? [True, True] Translation: X:202.69, Y:166.75, Z:-0.68 [[ 8.30145738e-01 5.57546435e-01 1.64075769e-04 2.02694641e+02] [-5.57546424e-01 8.30145754e-01 -1.11373892e-04 1.66748683e+02] [-1.98302919e-04 9.76703826e-07 9.99999980e-01 -6.83383679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2157692310001 meters 0.012516697258607119 Centerline is valid? [True, True] Translation: X:202.72, Y:166.73, Z:-0.68 [[ 8.30297988e-01 5.57319595e-01 3.47593712e-04 2.02716290e+02] [-5.57319545e-01 8.30298061e-01 -2.35207295e-04 1.66732512e+02] [-4.19692020e-04 1.57137483e-06 9.99999912e-01 -6.82860426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24576923100005 meters 0.012342149484899438 Centerline is valid? [True, True] Translation: X:202.74, Y:166.72, Z:-0.68 [[ 8.30262714e-01 5.57371787e-01 7.19179145e-04 2.02739716e+02] [-5.57371574e-01 8.30263026e-01 -4.86492465e-04 1.66716606e+02] [-8.68265027e-04 3.06654248e-06 9.99999623e-01 -6.81989689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2757692310001 meters 0.012135775972575091 Centerline is valid? [True, True] Translation: X:202.76, Y:166.70, Z:-0.68 [[ 8.29921962e-01 5.57879335e-01 4.30022751e-04 2.02761827e+02] [-5.57879259e-01 8.29922073e-01 -2.90773454e-04 1.66701169e+02] [-5.19101874e-04 1.41850188e-06 9.99999865e-01 -6.83410723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30576923100006 meters 0.01206008059000129 Centerline is valid? [True, True] Translation: X:202.79, Y:166.69, Z:-0.69 [[ 8.29683419e-01 5.58234031e-01 -4.36819347e-04 2.02785096e+02] [-5.58233953e-01 8.29683534e-01 2.94667591e-04 1.66685374e+02] [ 5.26915297e-04 -6.33423918e-07 9.99999861e-01 -6.85783924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3357692310001 meters 0.011898790241806779 Centerline is valid? [True, True] Translation: X:202.81, Y:166.67, Z:-0.69 [[ 8.29024640e-01 5.59210944e-01 -1.12545342e-03 2.02808844e+02] [-5.59210428e-01 8.29025404e-01 7.59506153e-04 1.66671091e+02] [ 1.35775363e-03 -2.84023146e-07 9.99999078e-01 -6.86552244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36576923100006 meters 0.012552870548558186 Centerline is valid? [True, True] Translation: X:202.84, Y:166.66, Z:-0.69 [[ 8.26992053e-01 5.62210631e-01 -1.83056302e-03 2.02835020e+02] [-5.62209273e-01 8.26994079e-01 1.23574600e-03 1.66660738e+02] [ 2.20861432e-03 7.20738572e-06 9.99997561e-01 -6.87876076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39576923100003 meters 0.013692769504988806 Centerline is valid? [True, True] Translation: X:202.86, Y:166.65, Z:-0.69 [[ 8.25645499e-01 5.64186189e-01 -1.85844443e-03 2.02860924e+02] [-5.64184795e-01 8.25647591e-01 1.25441472e-03 1.66649398e+02] [ 2.24214362e-03 1.28042221e-05 9.99997486e-01 -6.87612089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42576923100006 meters 0.017698688440398187 Centerline is valid? [True, True] Translation: X:202.89, Y:166.64, Z:-0.69 [[ 8.22265770e-01 5.69101838e-01 -1.45009526e-03 2.02891558e+02] [-5.69100997e-01 8.22267048e-01 9.78168696e-04 1.66643699e+02] [ 1.74904315e-03 2.09360224e-05 9.99998470e-01 -6.86800389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45576923100003 meters 0.017698688440398187 Centerline is valid? [True, True] Translation: X:202.91, Y:166.63, Z:-0.69 [[ 8.22373681e-01 5.68945889e-01 -1.45030482e-03 2.02914457e+02] [-5.68945049e-01 8.22374960e-01 9.77858030e-04 1.66628482e+02] [ 1.74904268e-03 2.09790401e-05 9.99998470e-01 -6.86850836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48576923100006 meters 0.020172318124997646 Centerline is valid? [True, True] Translation: X:202.94, Y:166.62, Z:-0.69 [[ 8.20817685e-01 5.71188789e-01 -1.30189562e-03 2.02941777e+02] [-5.71188115e-01 8.20818717e-01 8.77806411e-04 1.66618288e+02] [ 1.57001347e-03 2.31082790e-05 9.99998767e-01 -6.86336537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51576923100004 meters 0.025333396100943553 Centerline is valid? [True, True] Translation: X:202.97, Y:166.61, Z:-0.69 [[ 8.19351806e-01 5.73290265e-01 -9.43168689e-04 2.02971217e+02] [-5.73289913e-01 8.19352349e-01 6.35865946e-04 1.66612033e+02] [ 1.13732324e-03 1.97111841e-05 9.99999353e-01 -6.86108141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54576923100007 meters 0.03176514375295341 Centerline is valid? [True, True] Translation: X:203.00, Y:166.61, Z:-0.68 [[ 8.16319730e-01 5.77600252e-01 2.17265880e-04 2.03003914e+02] [-5.77600233e-01 8.16319759e-01 -1.46588610e-04 1.66609703e+02] [-2.62028049e-04 -5.82964834e-06 9.99999966e-01 -6.83411412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57576923100004 meters 0.03467658302434722 Centerline is valid? [True, True] Translation: X:203.03, Y:166.60, Z:-0.68 [[ 8.15112264e-01 5.79302896e-01 3.90709438e-04 2.03032535e+02] [-5.79302836e-01 8.15112357e-01 -2.63685199e-04 1.66600328e+02] [-4.71225691e-04 -1.14060461e-05 9.99999889e-01 -6.83075706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60576923100007 meters 0.03221598697782208 Centerline is valid? [True, True] Translation: X:203.06, Y:166.58, Z:-0.68 [[ 8.13957721e-01 5.80923998e-01 3.71334855e-04 2.03056653e+02] [-5.80923944e-01 8.13957805e-01 -2.50569024e-04 1.66584689e+02] [-4.47812462e-04 -1.17647168e-05 9.99999900e-01 -6.82520666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63576923100004 meters 0.032756921500737425 Centerline is valid? [True, True] Translation: X:203.08, Y:166.57, Z:-0.68 [[ 8.13645770e-01 5.81360955e-01 1.46254188e-05 2.03083269e+02] [-5.81360955e-01 8.13645771e-01 -1.02164085e-05 1.66573048e+02] [-1.78393312e-05 -1.90109811e-07 1.00000000e+00 -6.83272452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66576923100007 meters 0.03581936805869121 Centerline is valid? [True, True] Translation: X:203.11, Y:166.57, Z:-0.69 [[ 8.15078421e-01 5.79350479e-01 -4.36198922e-04 2.03113282e+02] [-5.79350405e-01 8.15078538e-01 2.93671341e-04 1.66566717e+02] [ 5.25675011e-04 1.33468492e-05 9.99999862e-01 -6.85668875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69576923100004 meters 0.02868028464782512 Centerline is valid? [True, True] Translation: X:203.13, Y:166.54, Z:-0.68 [[ 8.16259484e-01 5.77685372e-01 -2.55573434e-04 2.03133721e+02] [-5.77685346e-01 8.16259524e-01 1.71731299e-04 1.66544708e+02] [ 3.07820909e-04 7.46372648e-06 9.99999953e-01 -6.84619291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7257692310001 meters 0.02733957963441272 Centerline is valid? [True, True] Translation: X:203.16, Y:166.53, Z:-0.68 [[ 8.17253395e-01 5.76278406e-01 2.93318951e-04 2.03158577e+02] [-5.76278373e-01 8.17253448e-01 -1.97773910e-04 1.66529541e+02] [-3.53688758e-04 -7.40196773e-06 9.99999937e-01 -6.83369377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75576923100004 meters 0.026288577627593526 Centerline is valid? [True, True] Translation: X:203.18, Y:166.52, Z:-0.68 [[ 8.17992674e-01 5.75227169e-01 1.30000383e-03 2.03184881e+02] [-5.75226504e-01 8.17993706e-01 -8.74959116e-04 1.66518227e+02] [-1.56669520e-03 -3.20865095e-05 9.99998772e-01 -6.79404546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7857692310001 meters 0.026697519365576527 Centerline is valid? [True, True] Translation: X:203.21, Y:166.51, Z:-0.68 [[ 8.17861227e-01 5.75413125e-01 1.65794687e-03 2.03210975e+02] [-5.75412045e-01 8.17862906e-01 -1.11567447e-03 1.66505690e+02] [-1.99794698e-03 -4.15357119e-05 9.99998003e-01 -6.78371836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81576923100005 meters 0.02720351267541623 Centerline is valid? [True, True] Translation: X:203.24, Y:166.49, Z:-0.68 [[ 8.17929314e-01 5.75316642e-01 1.54890747e-03 2.03235434e+02] [-5.75315700e-01 8.17930780e-01 -1.04195875e-03 1.66493852e+02] [-1.86635531e-03 -3.88621751e-05 9.99998258e-01 -6.79045069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8457692310001 meters 0.027083408538693968 Centerline is valid? [True, True] Translation: X:203.26, Y:166.48, Z:-0.68 [[ 8.18184125e-01 5.74954908e-01 1.26139308e-03 2.03259940e+02] [-5.74954283e-01 8.18185097e-01 -8.48388401e-04 1.66480280e+02] [-1.51983809e-03 -3.11054312e-05 9.99998845e-01 -6.80386769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87576923100005 meters 0.026497797844924814 Centerline is valid? [True, True] Translation: X:203.28, Y:166.47, Z:-0.68 [[ 8.18812606e-01 5.74060891e-01 -1.02634232e-04 2.03284995e+02] [-5.74060887e-01 8.18812612e-01 6.88617911e-05 1.66467903e+02] [ 1.23569064e-04 2.53339541e-06 9.99999992e-01 -6.83784703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9057692310001 meters 0.025601280739751833 Centerline is valid? [True, True] Translation: X:203.31, Y:166.45, Z:-0.68 [[ 8.19394628e-01 5.73229834e-01 -1.05485671e-05 2.03309270e+02] [-5.73229834e-01 8.19394628e-01 6.73581135e-06 1.66452368e+02] [ 1.25046072e-05 5.27465745e-07 1.00000000e+00 -6.83105184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93576923100005 meters 0.025239775825354152 Centerline is valid? [True, True] Translation: X:203.33, Y:166.44, Z:-0.68 [[ 8.20010028e-01 5.72348962e-01 4.68003210e-04 2.03333201e+02] [-5.72348876e-01 8.20010162e-01 -3.14558572e-04 1.66437478e+02] [-5.63804660e-04 -9.91992760e-06 9.99999841e-01 -6.81596253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9657692310001 meters 0.023546570615679614 Centerline is valid? [True, True] Translation: X:203.36, Y:166.42, Z:-0.68 [[ 8.20639852e-01 5.71444454e-01 1.21192763e-03 2.03355863e+02] [-5.71443874e-01 8.20640747e-01 -8.14319802e-04 1.66420290e+02] [-1.45989573e-03 -2.42853365e-05 9.99998934e-01 -6.79346110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99576923100005 meters 0.019675913469350666 Centerline is valid? [True, True] Translation: X:203.38, Y:166.40, Z:-0.68 [[ 8.22906866e-01 5.68173023e-01 1.92487906e-03 2.03376715e+02] [-5.68171553e-01 8.22909117e-01 -1.29278267e-03 1.66400700e+02] [-2.31852476e-03 -2.98217901e-05 9.99997312e-01 -6.77990584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0257692310001 meters 0.0169066153619327 Centerline is valid? [True, True] Translation: X:203.40, Y:166.38, Z:-0.68 [[ 8.24561493e-01 5.65769450e-01 1.80941218e-03 2.03397238e+02] [-5.65768145e-01 8.24563478e-01 -1.21511631e-03 1.66381971e+02] [-2.17945089e-03 -2.17696558e-05 9.99997625e-01 -6.79242782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05576923100006 meters 0.012274767076039524 Centerline is valid? [True, True] Translation: X:203.42, Y:166.36, Z:-0.68 [[ 8.27947889e-01 5.60802804e-01 1.58355384e-03 2.03415331e+02] [-5.60801796e-01 8.27949404e-01 -1.06332716e-03 1.66359125e+02] [-1.90741931e-03 -7.68035670e-06 9.99998181e-01 -6.79979321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0857692310001 meters 0.011325969505472454 Centerline is valid? [True, True] Translation: X:203.44, Y:166.34, Z:-0.68 [[ 8.29447803e-01 5.58580349e-01 2.08250550e-03 2.03435801e+02] [-5.58578599e-01 8.29450417e-01 -1.39815807e-03 1.66340247e+02] [-2.50831868e-03 -3.54386348e-06 9.99996854e-01 -6.78533052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11576923100006 meters 0.01112483905684144 Centerline is valid? [True, True] Translation: X:203.46, Y:166.32, Z:-0.68 [[ 8.30992827e-01 5.56276959e-01 2.62038261e-03 2.03456748e+02] [-5.56274178e-01 8.30996959e-01 -1.75883098e-03 1.66320865e+02] [-3.15592713e-03 3.92474777e-06 9.99995020e-01 -6.77355520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14576923100003 meters 0.01165708053077349 Centerline is valid? [True, True] Translation: X:203.48, Y:166.30, Z:-0.68 [[ 8.32491758e-01 5.54030195e-01 2.83132633e-03 2.03478525e+02] [-5.54026938e-01 8.32496573e-01 -1.89965925e-03 1.66301441e+02] [-3.40953805e-03 1.28196137e-05 9.99994187e-01 -6.77350137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17576923100006 meters 0.014683666463252629 Centerline is valid? [True, True] Translation: X:203.50, Y:166.28, Z:-0.68 [[ 8.34618662e-01 5.50823451e-01 2.28360307e-03 2.03496235e+02] [-5.50821321e-01 8.34621786e-01 -1.53179247e-03 1.66278688e+02] [-2.74969209e-03 2.06053212e-05 9.99996219e-01 -6.78170948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20576923100003 meters 0.01647937711795148 Centerline is valid? [True, True] Translation: X:203.52, Y:166.26, Z:-0.68 [[ 8.35696259e-01 5.49189598e-01 1.59631783e-03 2.03517886e+02] [-5.49188554e-01 8.35697784e-01 -1.07065092e-03 1.66259536e+02] [-1.92202962e-03 1.80594908e-05 9.99998153e-01 -6.79465255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23576923100006 meters 0.016349162217211378 Centerline is valid? [True, True] Translation: X:203.54, Y:166.24, Z:-0.68 [[ 8.36737463e-01 5.47602981e-01 1.18061435e-03 2.03541295e+02] [-5.47602409e-01 8.36738295e-01 -7.91674815e-04 1.66242812e+02] [-1.42138873e-03 1.59167151e-05 9.99998990e-01 -6.79969253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26576923100004 meters 0.017940756484362542 Centerline is valid? [True, True] Translation: X:203.56, Y:166.22, Z:-0.68 [[ 8.37692224e-01 5.46141600e-01 1.04408299e-03 2.03562335e+02] [-5.46141152e-01 8.37692875e-01 -6.99858304e-04 1.66223727e+02] [-1.25684261e-03 1.60491752e-05 9.99999210e-01 -6.80708562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29576923100007 meters 0.020337894163884818 Centerline is valid? [True, True] Translation: X:203.58, Y:166.20, Z:-0.68 [[ 8.39176164e-01 5.43857560e-01 1.52333924e-03 2.03580907e+02] [-5.43856603e-01 8.39177546e-01 -1.02082337e-03 1.66200588e+02] [-1.83353459e-03 2.81725377e-05 9.99998319e-01 -6.80173100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32576923100004 meters 0.021090599161839783 Centerline is valid? [True, True] Translation: X:203.60, Y:166.18, Z:-0.68 [[ 8.39625060e-01 5.43163249e-01 1.85592931e-03 2.03602492e+02] [-5.43161827e-01 8.39627110e-01 -1.24338307e-03 1.66181417e+02] [-2.23364855e-03 3.59056308e-05 9.99997505e-01 -6.79670108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35576923100007 meters 0.021570281427228902 Centerline is valid? [True, True] Translation: X:203.62, Y:166.16, Z:-0.68 [[ 8.39819435e-01 5.42863118e-01 1.71801836e-03 2.03623295e+02] [-5.42861900e-01 8.39821192e-01 -1.15063778e-03 1.66163307e+02] [-2.06746704e-03 3.36812619e-05 9.99997862e-01 -6.80087246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38576923100004 meters 0.021907550655834853 Centerline is valid? [True, True] Translation: X:203.64, Y:166.15, Z:-0.68 [[ 8.39947506e-01 5.42667419e-01 5.10176662e-04 2.03644577e+02] [-5.42667311e-01 8.39947661e-01 -3.41735972e-04 1.66145412e+02] [-6.13970671e-04 1.01840802e-05 9.99999811e-01 -6.82901719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41576923100007 meters 0.021829439369001363 Centerline is valid? [True, True] Translation: X:203.66, Y:166.13, Z:-0.69 [[ 8.39697513e-01 5.43051651e-01 -1.72916443e-03 2.03664087e+02] [-5.43050419e-01 8.39699293e-01 1.15744974e-03 1.66125690e+02] [ 2.08053314e-03 -3.28841987e-05 9.99997835e-01 -6.88235744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44576923100004 meters 0.024222072735239474 Centerline is valid? [True, True] Translation: X:203.68, Y:166.10, Z:-0.69 [[ 8.39424354e-01 5.43473769e-01 -1.73706337e-03 2.03683324e+02] [-5.43472526e-01 8.39426150e-01 1.16264580e-03 1.66104616e+02] [ 2.09000392e-03 -3.19069828e-05 9.99997815e-01 -6.89308500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4757692310001 meters 0.019470081033196557 Centerline is valid? [True, True] Translation: X:203.71, Y:166.09, Z:-0.69 [[ 8.38489540e-01 5.44916991e-01 -8.74366609e-04 2.03707844e+02] [-5.44916677e-01 8.38489996e-01 5.84736551e-04 1.66089719e+02] [ 1.05178054e-03 -1.38385348e-05 9.99999447e-01 -6.86120052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50576923100004 meters 0.017913676905179768 Centerline is valid? [True, True] Translation: X:203.73, Y:166.07, Z:-0.69 [[ 8.38113643e-01 5.45494910e-01 -9.08006894e-04 2.03731523e+02] [-5.45494573e-01 8.38114135e-01 6.07015664e-04 1.66073590e+02] [ 1.09213737e-03 -1.34352772e-05 9.99999404e-01 -6.85985424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5357692310001 meters 0.01841950067802342 Centerline is valid? [True, True] Translation: X:203.75, Y:166.06, Z:-0.69 [[ 8.37861319e-01 5.45882239e-01 -9.95622740e-04 2.03752593e+02] [-5.45881833e-01 8.37861910e-01 6.65774264e-04 1.66055272e+02] [ 1.19762872e-03 -1.43341363e-05 9.99999283e-01 -6.86727503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56576923100005 meters 0.019316894904058905 Centerline is valid? [True, True] Translation: X:203.77, Y:166.03, Z:-0.69 [[ 8.37285085e-01 5.46766570e-01 -6.56255155e-05 2.03770561e+02] [-5.46766569e-01 8.37285087e-01 4.35302129e-05 1.66032820e+02] [ 7.87481306e-05 -5.65360017e-07 9.99999997e-01 -6.85736170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5957692310001 meters 0.015651422762856068 Centerline is valid? [True, True] Translation: X:203.80, Y:166.02, Z:-0.68 [[ 8.36851998e-01 5.47428578e-01 8.28059132e-04 2.03796063e+02] [-5.47428298e-01 8.36852408e-01 -5.53811058e-04 1.66018951e+02] [-9.96135278e-04 1.01548893e-05 9.99999504e-01 -6.83568864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62576923100005 meters 0.01659148001193057 Centerline is valid? [True, True] Translation: X:203.82, Y:166.00, Z:-0.68 [[ 8.36127546e-01 5.48533688e-01 1.23290570e-03 2.03816197e+02] [-5.48533069e-01 8.36128455e-01 -8.24056451e-04 1.65999792e+02] [-1.48289026e-03 1.27267522e-05 9.99998900e-01 -6.82408023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6557692310001 meters 0.012597522240353536 Centerline is valid? [True, True] Translation: X:203.84, Y:165.99, Z:-0.68 [[ 8.34566492e-01 5.50905689e-01 1.30084453e-03 2.03841845e+02] [-5.50905003e-01 8.34567506e-01 -8.69383096e-04 1.65986581e+02] [-1.56459066e-03 8.91624365e-06 9.99998776e-01 -6.82770684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68576923100005 meters 0.012147223814287162 Centerline is valid? [True, True] Translation: X:203.86, Y:165.97, Z:-0.68 [[ 8.34030153e-01 5.51717893e-01 1.03486894e-03 2.03863846e+02] [-5.51717460e-01 8.34030795e-01 -6.91428434e-04 1.65970567e+02] [-1.24458600e-03 5.71690196e-06 9.99999225e-01 -6.83435174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7157692310001 meters 0.011684272905771613 Centerline is valid? [True, True] Translation: X:203.89, Y:165.95, Z:-0.68 [[ 8.33721453e-01 5.52184448e-01 9.34970483e-04 2.03886127e+02] [-5.52184094e-01 8.33721978e-01 -6.24588314e-04 1.65953854e+02] [-1.12439339e-03 4.45684769e-06 9.99999368e-01 -6.83709906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74576923100005 meters 0.011349773697153568 Centerline is valid? [True, True] Translation: X:203.91, Y:165.93, Z:-0.68 [[ 8.33253154e-01 5.52891154e-01 7.44174350e-04 2.03907230e+02] [-5.52890930e-01 8.33253486e-01 -4.97014118e-04 1.65934506e+02] [-8.94880581e-04 2.69133254e-06 9.99999600e-01 -6.83871886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7757692310001 meters 0.01137471876850433 Centerline is valid? [True, True] Translation: X:203.93, Y:165.92, Z:-0.68 [[ 8.32947798e-01 5.53351469e-01 3.42868417e-04 2.03928895e+02] [-5.53351422e-01 8.32947868e-01 -2.28941699e-04 1.65917770e+02] [-4.12276743e-04 9.69757920e-07 9.99999915e-01 -6.84504077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80576923100006 meters 0.011269900368920695 Centerline is valid? [True, True] Translation: X:203.95, Y:165.90, Z:-0.69 [[ 8.32500194e-01 5.54024587e-01 -4.28763844e-04 2.03951672e+02] [-5.54024514e-01 8.32500304e-01 2.85552771e-04 1.65901437e+02] [ 5.15149287e-04 -1.77057264e-07 9.99999867e-01 -6.86185017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8357692310001 meters 0.011152936385898551 Centerline is valid? [True, True] Translation: X:203.97, Y:165.89, Z:-0.69 [[ 8.31925614e-01 5.54886553e-01 -8.28660096e-04 2.03973744e+02] [-5.54886278e-01 8.31926027e-01 5.52236289e-04 1.65885868e+02] [ 9.95812391e-04 3.92601790e-07 9.99999504e-01 -6.87446165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86576923100006 meters 0.01187770700349277 Centerline is valid? [True, True] Translation: X:204.00, Y:165.87, Z:-0.69 [[ 8.30122481e-01 5.57580906e-01 -4.47099040e-04 2.03998422e+02] [-5.57580826e-01 8.30122601e-01 2.97654189e-04 1.65871019e+02] [ 5.37113310e-04 2.20441864e-06 9.99999856e-01 -6.86192663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89576923100003 meters 0.01276617739065093 Centerline is valid? [True, True] Translation: X:204.02, Y:165.86, Z:-0.68 [[ 8.29250989e-01 5.58876308e-01 2.61764692e-04 2.04023560e+02] [-5.58876281e-01 8.29251031e-01 -1.74763231e-04 1.65856364e+02] [-3.14739670e-04 -1.37149561e-06 9.99999950e-01 -6.83972211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92576923100006 meters 0.01448249541956001 Centerline is valid? [True, True] Translation: X:204.05, Y:165.84, Z:-0.68 [[ 8.28383292e-01 5.60159668e-01 1.50597017e-03 2.04048216e+02] [-5.60158769e-01 8.28384661e-01 -1.00342573e-03 1.65843078e+02] [-1.80960121e-03 -1.23612842e-05 9.99998363e-01 -6.80948760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95576923100003 meters 0.014411840248042977 Centerline is valid? [True, True] Translation: X:204.07, Y:165.83, Z:-0.68 [[ 8.27460438e-01 5.61510944e-01 3.83197024e-03 2.04070724e+02] [-5.61505145e-01 8.27469310e-01 -2.55235890e-03 1.65825152e+02] [-4.60401523e-03 -3.96949881e-05 9.99989401e-01 -6.76830258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98576923100006 meters 0.01599337351004265 Centerline is valid? [True, True] Translation: X:204.09, Y:165.81, Z:-0.68 [[ 8.27254814e-01 5.61812997e-01 3.95332870e-03 2.04094650e+02] [-5.61806831e-01 8.27264259e-01 -2.63259822e-03 1.65810847e+02] [-4.74947543e-03 -4.31775155e-05 9.99988720e-01 -6.77184483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01576923100004 meters 0.016035851152439964 Centerline is valid? [True, True] Translation: X:204.12, Y:165.79, Z:-0.68 [[ 8.27178332e-01 5.61930579e-01 3.16737795e-03 2.04117174e+02] [-5.61926623e-01 8.27184395e-01 -2.10868856e-03 1.65793816e+02] [-3.80494219e-03 -3.55725120e-05 9.99992761e-01 -6.79786535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04576923100007 meters 0.016891532574016505 Centerline is valid? [True, True] Translation: X:204.14, Y:165.78, Z:-0.68 [[ 8.26885343e-01 5.62368322e-01 1.58136157e-03 2.04139945e+02] [-5.62367337e-01 8.26886855e-01 -1.05259326e-03 1.65778549e+02] [-1.89955220e-03 -1.89321532e-05 9.99998196e-01 -6.83698304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07576923100004 meters 0.01907518927128663 Centerline is valid? [True, True] Translation: X:204.16, Y:165.76, Z:-0.69 [[ 8.25854941e-01 5.63880134e-01 -1.67638406e-03 2.04164484e+02] [-5.63879032e-01 8.25856643e-01 1.11500704e-03 1.65764009e+02] [ 2.01318324e-03 2.44437487e-05 9.99997973e-01 -6.90356105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10576923100007 meters 0.018138121257989515 Centerline is valid? [True, True] Translation: X:204.19, Y:165.75, Z:-0.69 [[ 8.25413879e-01 5.64525017e-01 -1.85283680e-03 2.04187859e+02] [-5.64523674e-01 8.25415958e-01 1.23193113e-03 1.65747298e+02] [ 2.22481701e-03 2.91171886e-05 9.99997525e-01 -6.89724499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13576923100004 meters 0.019492859653721276 Centerline is valid? [True, True] Translation: X:204.21, Y:165.73, Z:-0.69 [[ 8.24808873e-01 5.65410332e-01 -1.21625407e-03 2.04212378e+02] [-5.65409754e-01 8.24809770e-01 8.08680581e-04 1.65734255e+02] [ 1.46041460e-03 2.06749962e-05 9.99998933e-01 -6.88594280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16576923100007 meters 0.020156310373718678 Centerline is valid? [True, True] Translation: X:204.24, Y:165.72, Z:-0.69 [[ 8.24465956e-01 5.65911551e-01 6.20757400e-05 2.04237524e+02] [-5.65911549e-01 8.24465959e-01 -4.16244567e-05 1.65719275e+02] [-7.47350954e-05 -8.11430665e-07 9.99999997e-01 -6.86298079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19576923100004 meters 0.020366530281559905 Centerline is valid? [True, True] Translation: X:204.26, Y:165.70, Z:-0.68 [[ 8.24175807e-01 5.66327922e-01 2.63136169e-03 2.04261774e+02] [-5.66325223e-01 8.24180006e-01 -1.74898042e-03 1.65703330e+02] [-3.15921214e-03 -4.87391478e-05 9.99995008e-01 -6.81578709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2257692310001 meters 0.021299943737732648 Centerline is valid? [True, True] Translation: X:204.29, Y:165.69, Z:-0.68 [[ 8.24147084e-01 5.66366446e-01 3.26067536e-03 2.04286041e+02] [-5.66362305e-01 8.24153532e-01 -2.16666854e-03 1.65689512e+02] [-3.91442548e-03 -6.10700566e-05 9.99992337e-01 -6.79761976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25576923100004 meters 0.02121248922639562 Centerline is valid? [True, True] Translation: X:204.31, Y:165.68, Z:-0.68 [[ 8.24112002e-01 5.66418046e-01 3.16294891e-03 2.04310277e+02] [-5.66414152e-01 8.24118070e-01 -2.10116821e-03 1.65675022e+02] [-3.79678294e-03 -5.99410791e-05 9.99992790e-01 -6.79875385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2857692310001 meters 0.022099554952160285 Centerline is valid? [True, True] Translation: X:204.34, Y:165.66, Z:-0.68 [[ 8.23482014e-01 5.67341669e-01 8.95588592e-04 2.04337449e+02] [-5.67341358e-01 8.23482501e-01 -5.94979865e-04 1.65663992e+02] [-1.07505840e-03 -1.81492299e-05 9.99999422e-01 -6.84321395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31576923100005 meters 0.022087160482552715 Centerline is valid? [True, True] Translation: X:204.36, Y:165.65, Z:-0.69 [[ 8.23534061e-01 5.67266771e-01 -2.48483127e-04 2.04363063e+02] [-5.67266747e-01 8.23534098e-01 1.64495077e-04 1.65651344e+02] [ 2.97946919e-04 5.48891668e-06 9.99999956e-01 -6.87091262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3457692310001 meters 0.022087160482552715 Centerline is valid? [True, True] Translation: X:204.39, Y:165.64, Z:-0.69 [[ 8.23640947e-01 5.67111566e-01 -2.48514054e-04 2.04386081e+02] [-5.67111542e-01 8.23640985e-01 1.64448408e-04 1.65636299e+02] [ 2.97946954e-04 5.48874588e-06 9.99999956e-01 -6.87141712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37576923100005 meters 0.022757300309073334 Centerline is valid? [True, True] Translation: X:204.41, Y:165.62, Z:-0.69 [[ 8.23962387e-01 5.66643792e-01 -8.93278024e-04 2.04411505e+02] [-5.66643483e-01 8.23962871e-01 5.92393839e-04 1.65624789e+02] [ 1.07170422e-03 1.80599294e-05 9.99999426e-01 -6.89762017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4057692310001 meters 0.019756370100660336 Centerline is valid? [True, True] Translation: X:204.44, Y:165.61, Z:-0.69 [[ 8.25382473e-01 5.64573520e-01 -7.16173952e-04 2.04436373e+02] [-5.64573321e-01 8.25382784e-01 4.74519631e-04 1.65609585e+02] [ 8.59018869e-04 1.26725198e-05 9.99999631e-01 -6.89558434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43576923100005 meters 0.018254213535837047 Centerline is valid? [True, True] Translation: X:204.46, Y:165.59, Z:-0.69 [[ 8.26374435e-01 5.63121028e-01 -1.67092007e-05 2.04460801e+02] [-5.63121028e-01 8.26374436e-01 1.07173550e-05 1.65593716e+02] [ 1.98432242e-05 5.52754083e-07 1.00000000e+00 -6.87787168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4657692310001 meters 0.01416687656068586 Centerline is valid? [True, True] Translation: X:204.48, Y:165.58, Z:-0.69 [[ 8.29009202e-01 5.59233880e-01 1.10048541e-03 2.04483998e+02] [-5.59233404e-01 8.29009932e-01 -7.29550438e-04 1.65576170e+02] [-1.32030266e-03 -1.06241752e-05 9.99999128e-01 -6.85409474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49576923100005 meters 0.012299460534407527 Centerline is valid? [True, True] Translation: X:204.51, Y:165.56, Z:-0.69 [[ 8.30864869e-01 5.56473327e-01 1.00323926e-03 2.04506126e+02] [-5.56472930e-01 8.30865475e-01 -6.64799818e-04 1.65559255e+02] [-1.20350023e-03 -5.91667561e-06 9.99999276e-01 -6.86252668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5257692310001 meters 0.010775203363549092 Centerline is valid? [True, True] Translation: X:204.53, Y:165.54, Z:-0.69 [[ 8.33051057e-01 5.53195892e-01 4.90666410e-04 2.04528105e+02] [-5.53195796e-01 8.33051202e-01 -3.25330000e-04 1.65539634e+02] [-5.88721462e-04 -4.18094858e-07 9.99999827e-01 -6.87297036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55576923100006 meters 0.013862397691087288 Centerline is valid? [True, True] Translation: X:204.54, Y:165.51, Z:-0.69 [[ 8.37507227e-01 5.46426164e-01 3.04632500e-04 2.04544002e+02] [-5.46426127e-01 8.37507282e-01 -2.01858376e-04 1.65513362e+02] [-3.65432635e-04 2.59869210e-06 9.99999933e-01 -6.88956628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5857692310001 meters 0.016842755596288044 Centerline is valid? [True, True] Translation: X:204.56, Y:165.49, Z:-0.69 [[ 8.39684155e-01 5.43074932e-01 3.71434920e-04 2.04563962e+02] [-5.43074877e-01 8.39684237e-01 -2.46230383e-04 1.65491690e+02] [-4.45609596e-04 5.03877795e-06 9.99999901e-01 -6.89066459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61576923100006 meters 0.020879350713876154 Centerline is valid? [True, True] Translation: X:204.58, Y:165.47, Z:-0.69 [[ 8.41699316e-01 5.39946389e-01 3.97365051e-04 2.04581976e+02] [-5.39946325e-01 8.41699410e-01 -2.63204360e-04 1.65469324e+02] [-4.76578173e-04 6.98313062e-06 9.99999886e-01 -6.89282893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64576923100003 meters 0.022739965946195338 Centerline is valid? [True, True] Translation: X:204.60, Y:165.45, Z:-0.69 [[ 8.43581857e-01 5.37000455e-01 4.01866393e-04 2.04602985e+02] [-5.37000389e-01 8.43581953e-01 -2.66232263e-04 1.65448263e+02] [-4.81974083e-04 8.78629749e-06 9.99999884e-01 -6.89410492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67576923100006 meters 0.027291905962375098 Centerline is valid? [True, True] Translation: X:204.62, Y:165.42, Z:-0.69 [[ 8.46288692e-01 5.32723907e-01 8.29978124e-04 2.04619620e+02] [-5.32723625e-01 8.46289098e-01 -5.49135695e-04 1.65420312e+02] [-9.94939152e-04 2.25783740e-05 9.99999505e-01 -6.88244706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70576923100003 meters 0.028319030832198534 Centerline is valid? [True, True] Translation: X:204.64, Y:165.40, Z:-0.69 [[ 8.46871927e-01 5.31795550e-01 1.19701584e-03 2.04640974e+02] [-5.31794961e-01 8.46872772e-01 -7.91944093e-04 1.65399852e+02] [-1.43487246e-03 3.41082290e-05 9.99998970e-01 -6.86874494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73576923100006 meters 0.027457490002653018 Centerline is valid? [True, True] Translation: X:204.66, Y:165.38, Z:-0.69 [[ 8.46863527e-01 5.31807983e-01 1.56092461e-03 2.04662944e+02] [-5.31806983e-01 8.46864964e-01 -1.03221922e-03 1.65383050e+02] [-1.87083479e-03 4.40381973e-05 9.99998249e-01 -6.85818461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76576923100004 meters 0.028011150292604516 Centerline is valid? [True, True] Translation: X:204.68, Y:165.36, Z:-0.68 [[ 8.46277184e-01 5.32738329e-01 2.19112849e-03 2.04684159e+02] [-5.32736364e-01 8.46280018e-01 -1.44821124e-03 1.65363758e+02] [-2.62582590e-03 5.82943097e-05 9.99996551e-01 -6.84326589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79576923100007 meters 0.024116225937727144 Centerline is valid? [True, True] Translation: X:204.71, Y:165.35, Z:-0.68 [[ 8.44052326e-01 5.36255458e-01 2.39880950e-03 2.04706756e+02] [-5.36253118e-01 8.44055734e-01 -1.58502733e-03 1.65345259e+02] [-2.87470847e-03 5.14769271e-05 9.99995867e-01 -6.83161714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82576923100004 meters 0.020157714074218205 Centerline is valid? [True, True] Translation: X:204.73, Y:165.33, Z:-0.68 [[ 8.42578586e-01 5.38570688e-01 1.71449815e-03 2.04731455e+02] [-5.38569498e-01 8.42580330e-01 -1.13276155e-03 1.65330741e+02] [-2.05467458e-03 3.10642123e-05 9.99997889e-01 -6.84533295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85576923100007 meters 0.01693632976887082 Centerline is valid? [True, True] Translation: X:204.76, Y:165.32, Z:-0.69 [[ 8.41010284e-01 5.41018864e-01 5.39371665e-04 2.04756703e+02] [-5.41018747e-01 8.41010457e-01 -3.56487196e-04 1.65316129e+02] [-6.46483508e-04 7.99921598e-06 9.99999791e-01 -6.87190897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88576923100004 meters 0.014562467058879 Centerline is valid? [True, True] Translation: X:204.78, Y:165.30, Z:-0.69 [[ 8.38359825e-01 5.45116429e-01 -9.39660858e-04 2.04778399e+02] [-5.45116076e-01 8.38360351e-01 6.20187991e-04 1.65298974e+02] [ 1.12584907e-03 -7.71645570e-06 9.99999366e-01 -6.92058482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91576923100007 meters 0.012600969369700158 Centerline is valid? [True, True] Translation: X:204.80, Y:165.28, Z:-0.69 [[ 8.37719032e-01 5.46100505e-01 -1.03061494e-03 2.04803371e+02] [-5.46100082e-01 8.37719666e-01 6.79745786e-04 1.65283786e+02] [ 1.23457592e-03 -6.61707975e-06 9.99999238e-01 -6.91645300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94576923100004 meters 0.012052127263797535 Centerline is valid? [True, True] Translation: X:204.83, Y:165.27, Z:-0.69 [[ 8.37101650e-01 5.47045975e-01 -1.23680748e-03 2.04825685e+02] [-5.47045366e-01 8.37102563e-01 8.15947217e-04 1.65266751e+02] [ 1.48169535e-03 -6.44095968e-06 9.99998902e-01 -6.92217384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9757692310001 meters 0.011334143264691435 Centerline is valid? [True, True] Translation: X:204.85, Y:165.25, Z:-0.69 [[ 8.36090977e-01 5.48584891e-01 -2.54844678e-03 2.04847321e+02] [-5.48582318e-01 8.36094861e-01 1.68039017e-03 1.65249497e+02] [ 3.05257992e-03 -6.92621619e-06 9.99995341e-01 -6.93952072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00576923100004 meters 0.011345659372036548 Centerline is valid? [True, True] Translation: X:204.87, Y:165.23, Z:-0.70 [[ 8.35466514e-01 5.49533488e-01 -2.94088388e-03 2.04869260e+02] [-5.49530067e-01 8.35471690e-01 1.93910635e-03 1.65233932e+02] [ 3.52262911e-03 -3.95430542e-06 9.99993796e-01 -6.95797552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0357692310001 meters 0.011177176729971284 Centerline is valid? [True, True] Translation: X:204.89, Y:165.22, Z:-0.70 [[ 8.34472664e-01 5.51041694e-01 -2.90248907e-03 2.04893477e+02] [-5.51038374e-01 8.34477712e-01 1.91279618e-03 1.65219369e+02] [ 3.47609289e-03 3.20673580e-06 9.99993958e-01 -6.95205103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06576923100005 meters 0.013342893137210494 Centerline is valid? [True, True] Translation: X:204.92, Y:165.21, Z:-0.69 [[ 8.31558705e-01 5.55433467e-01 -1.94503492e-03 2.04920692e+02] [-5.55431988e-01 8.31560980e-01 1.28165936e-03 1.65209597e+02] [ 2.32929165e-03 1.45596159e-05 9.99997287e-01 -6.93481807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0957692310001 meters 0.015328746652011338 Centerline is valid? [True, True] Translation: X:204.95, Y:165.20, Z:-0.69 [[ 8.29896071e-01 5.57915253e-01 -1.75563511e-03 2.04947501e+02] [-5.57914055e-01 8.29897927e-01 1.15625889e-03 1.65197129e+02] [ 2.10209242e-03 1.99187950e-05 9.99997790e-01 -6.93159262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12576923100005 meters 0.018740436031942236 Centerline is valid? [True, True] Translation: X:204.97, Y:165.19, Z:-0.69 [[ 8.28135782e-01 5.60524488e-01 -1.85044786e-03 2.04974212e+02] [-5.60523164e-01 8.28137849e-01 1.21865756e-03 1.65187589e+02] [ 2.21551332e-03 2.80049565e-05 9.99997545e-01 -6.93755624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1557692310001 meters 0.023698406564968886 Centerline is valid? [True, True] Translation: X:205.00, Y:165.18, Z:-0.69 [[ 8.24866041e-01 5.65326554e-01 -1.37881687e-03 2.05004933e+02] [-5.65325826e-01 8.24867193e-01 9.08050808e-04 1.65180920e+02] [ 1.65068604e-03 3.04605108e-05 9.99998637e-01 -6.91790455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18576923100005 meters 0.024709615574858585 Centerline is valid? [True, True] Translation: X:205.03, Y:165.17, Z:-0.69 [[ 8.23801225e-01 5.66878397e-01 -6.51827785e-04 2.05030782e+02] [-5.66878234e-01 8.23801483e-01 4.29126795e-04 1.65168745e+02] [ 7.80239405e-04 1.59918038e-05 9.99999695e-01 -6.89751630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2157692310001 meters 0.02922865294923184 Centerline is valid? [True, True] Translation: X:205.06, Y:165.16, Z:-0.69 [[ 8.23138531e-01 5.67840551e-01 2.60187070e-04 2.05058893e+02] [-5.67840525e-01 8.23138572e-01 -1.71504612e-04 1.65160986e+02] [-3.11557286e-04 -6.57270812e-06 9.99999951e-01 -6.88310780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24576923100005 meters 0.02677857655657863 Centerline is valid? [True, True] Translation: X:205.08, Y:165.15, Z:-0.69 [[ 8.22885710e-01 5.68206631e-01 5.77238143e-04 2.05083207e+02] [-5.68206503e-01 8.22885912e-01 -3.80289110e-04 1.65145702e+02] [-6.91083929e-04 -1.50559924e-05 9.99999761e-01 -6.86977842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2757692310001 meters 0.02674345893640677 Centerline is valid? [True, True] Translation: X:205.11, Y:165.13, Z:-0.69 [[ 8.23199165e-01 5.67752701e-01 -7.47203994e-05 2.05107333e+02] [-5.67752699e-01 8.23199168e-01 4.90449656e-05 1.65131414e+02] [ 8.93551823e-05 2.04893372e-06 9.99999996e-01 -6.88672401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30576923100006 meters 0.02579795298501534 Centerline is valid? [True, True] Translation: X:205.13, Y:165.12, Z:-0.69 [[ 8.23612575e-01 5.67152550e-01 -5.57367517e-04 2.05131642e+02] [-5.67152432e-01 8.23612764e-01 3.66312438e-04 1.65115380e+02] [ 6.66810034e-04 1.44128124e-05 9.99999778e-01 -6.89908594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3357692310001 meters 0.024461865060443518 Centerline is valid? [True, True] Translation: X:205.16, Y:165.10, Z:-0.69 [[ 8.23996667e-01 5.66594395e-01 -5.32579826e-04 2.05155374e+02] [-5.66594287e-01 8.23996839e-01 3.49869865e-04 1.65099155e+02] [ 6.37078398e-04 1.34650840e-05 9.99999797e-01 -6.90007283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36576923100006 meters 0.02720785228057862 Centerline is valid? [True, True] Translation: X:205.18, Y:165.09, Z:-0.69 [[ 8.23720007e-01 5.66996586e-01 4.71159280e-04 2.05182651e+02] [-5.66996502e-01 8.23720141e-01 -3.09936297e-04 1.65090240e+02] [-5.63836211e-04 -1.18449352e-05 9.99999841e-01 -6.88325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39576923100003 meters 0.026972277822060464 Centerline is valid? [True, True] Translation: X:205.21, Y:165.08, Z:-0.69 [[ 8.23285965e-01 5.67626717e-01 3.60283487e-04 2.05207209e+02] [-5.67626667e-01 8.23286044e-01 -2.37173435e-04 1.65075808e+02] [-4.31242345e-04 -9.24495446e-06 9.99999907e-01 -6.88841779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42576923100006 meters 0.02821016941543431 Centerline is valid? [True, True] Translation: X:205.23, Y:165.06, Z:-0.69 [[ 8.22870465e-01 5.68228954e-01 -2.30254672e-04 2.05232352e+02] [-5.68228934e-01 8.22870498e-01 1.51202031e-04 1.65062933e+02] [ 2.75387148e-04 6.41768127e-06 9.99999962e-01 -6.89821135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45576923100003 meters 0.028083758087427267 Centerline is valid? [True, True] Translation: X:205.26, Y:165.05, Z:-0.69 [[ 8.22923656e-01 5.68151539e-01 -6.96711452e-04 2.05256045e+02] [-5.68151356e-01 8.22923950e-01 4.57300439e-04 1.65048389e+02] [ 8.33156489e-04 1.95142069e-05 9.99999653e-01 -6.90821576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48576923100006 meters 0.026205760211795857 Centerline is valid? [True, True] Translation: X:205.28, Y:165.03, Z:-0.69 [[ 8.24259924e-01 5.66209537e-01 -1.52890104e-03 2.05278537e+02] [-5.66208648e-01 8.24261341e-01 1.00405050e-03 1.65031391e+02] [ 1.82871699e-03 3.80783975e-05 9.99998327e-01 -6.92981743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51576923100004 meters 0.023971506747222322 Centerline is valid? [True, True] Translation: X:205.30, Y:165.01, Z:-0.69 [[ 8.25570422e-01 5.64296266e-01 -1.78989576e-03 2.05300049e+02] [-5.64295044e-01 8.25572361e-01 1.17489871e-03 1.65012318e+02] [ 2.14067942e-03 4.00676810e-05 9.99997708e-01 -6.94829404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54576923100007 meters 0.017550495495789176 Centerline is valid? [True, True] Translation: X:205.32, Y:164.99, Z:-0.69 [[ 8.29422438e-01 5.58620414e-01 -1.28533273e-03 2.05315762e+02] [-5.58619777e-01 8.29423434e-01 8.43729637e-04 1.64985167e+02] [ 1.53740969e-03 1.82039904e-05 9.99998818e-01 -6.94852062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57576923100004 meters 0.013894907537047967 Centerline is valid? [True, True] Translation: X:205.33, Y:164.96, Z:-0.69 [[ 8.31892206e-01 5.54936739e-01 -7.56853341e-04 2.05334181e+02] [-5.54936517e-01 8.31892551e-01 4.96705106e-04 1.64962551e+02] [ 9.05260568e-04 6.80044995e-06 9.99999590e-01 -6.92978770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60576923100007 meters 0.011556523918566793 Centerline is valid? [True, True] Translation: X:205.35, Y:164.94, Z:-0.69 [[ 8.34197216e-01 5.51466097e-01 -3.85328516e-04 2.05353610e+02] [-5.51466039e-01 8.34197305e-01 2.52508184e-04 1.64939508e+02] [ 4.60689713e-04 1.85396629e-06 9.99999894e-01 -6.91683003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63576923100004 meters 0.011243170843096333 Centerline is valid? [True, True] Translation: X:205.37, Y:164.91, Z:-0.69 [[ 8.37439711e-01 5.46527033e-01 -1.71239743e-03 2.05368809e+02] [-5.46525879e-01 8.37441462e-01 1.12283706e-03 1.64912135e+02] [ 2.04769341e-03 -4.43883109e-06 9.99997903e-01 -6.93240779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66576923100007 meters 0.011976966024630413 Centerline is valid? [True, True] Translation: X:205.39, Y:164.89, Z:-0.70 [[ 8.38376632e-01 5.45083371e-01 -2.95669412e-03 2.05390005e+02] [-5.45079925e-01 8.38381845e-01 1.93837221e-03 1.64892081e+02] [ 3.53541313e-03 -1.34513536e-05 9.99993750e-01 -6.95625441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69576923100004 meters 0.012659320860159617 Centerline is valid? [True, True] Translation: X:205.41, Y:164.87, Z:-0.70 [[ 8.38519096e-01 5.44857143e-01 -4.05198981e-03 2.05410690e+02] [-5.44850668e-01 8.38528886e-01 2.65646081e-03 1.64872849e+02] [ 4.84510215e-03 -1.97637702e-05 9.99988262e-01 -6.99039837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7257692310001 meters 0.01194455653658106 Centerline is valid? [True, True] Translation: X:205.44, Y:164.86, Z:-0.70 [[ 8.37858243e-01 5.45875503e-01 -3.67423976e-03 2.05435748e+02] [-5.45870192e-01 8.37866299e-01 2.40781946e-03 1.64857522e+02] [ 4.39289133e-03 -1.17534189e-05 9.99990351e-01 -6.97427308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75576923100004 meters 0.011157144086762612 Centerline is valid? [True, True] Translation: X:205.46, Y:164.84, Z:-0.69 [[ 8.36956259e-01 5.47262457e-01 -2.83272391e-03 2.05460632e+02] [-5.47259311e-01 8.36961052e-01 1.85560222e-03 1.64842379e+02] [ 3.38638101e-03 -2.82335403e-06 9.99994266e-01 -6.94683361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7857692310001 meters 0.011043751692751043 Centerline is valid? [True, True] Translation: X:205.48, Y:164.83, Z:-0.69 [[ 8.35832315e-01 5.48981276e-01 -1.97486943e-03 2.05483486e+02] [-5.48979753e-01 8.35834648e-01 1.29327692e-03 1.64828581e+02] [ 2.36064911e-03 3.20069563e-06 9.99997214e-01 -6.92723900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81576923100005 meters 0.012047990888884998 Centerline is valid? [True, True] Translation: X:205.51, Y:164.81, Z:-0.69 [[ 8.33935316e-01 5.51860472e-01 -1.38102136e-03 2.05508073e+02] [-5.51859732e-01 8.33936460e-01 9.03879041e-04 1.64814183e+02] [ 1.65049918e-03 8.35342617e-06 9.99998638e-01 -6.91428877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8457692310001 meters 0.01371715133225214 Centerline is valid? [True, True] Translation: X:205.53, Y:164.80, Z:-0.69 [[ 8.32903182e-01 5.53417464e-01 -1.18315077e-03 2.05532650e+02] [-5.53416923e-01 8.32904022e-01 7.74342153e-04 1.64801477e+02] [ 1.41398551e-03 9.82361490e-06 9.99999000e-01 -6.91546291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87576923100005 meters 0.015159668012693936 Centerline is valid? [True, True] Translation: X:205.56, Y:164.79, Z:-0.69 [[ 8.31970728e-01 5.54818606e-01 -1.01082999e-03 2.05557960e+02] [-5.54818212e-01 8.31971342e-01 6.61153978e-04 1.64786770e+02] [ 1.20780211e-03 1.07661301e-05 9.99999271e-01 -6.91713063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9057692310001 meters 0.01558304961231202 Centerline is valid? [True, True] Translation: X:205.58, Y:164.77, Z:-0.69 [[ 8.30996186e-01 5.56277075e-01 -1.07487107e-03 2.05580905e+02] [-5.56276631e-01 8.30996881e-01 7.03185067e-04 1.64770146e+02] [ 1.28438024e-03 1.35815515e-05 9.99999175e-01 -6.90720118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93576923100005 meters 0.019559753953474077 Centerline is valid? [True, True] Translation: X:205.61, Y:164.76, Z:-0.69 [[ 8.28990615e-01 5.59260201e-01 -1.60863540e-03 2.05605929e+02] [-5.59259212e-01 8.28992175e-01 1.05216914e-03 1.64757429e+02] [ 1.92198248e-03 2.74058254e-05 9.99998153e-01 -6.91644124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9657692310001 meters 0.02067893859460311 Centerline is valid? [True, True] Translation: X:205.63, Y:164.74, Z:-0.69 [[ 8.28177475e-01 5.60464311e-01 -1.35117697e-03 2.05630875e+02] [-5.60463615e-01 8.28178577e-01 8.83261441e-04 1.64742589e+02] [ 1.61405234e-03 2.57882991e-05 9.99998697e-01 -6.91333099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99576923100005 meters 0.022730398271791935 Centerline is valid? [True, True] Translation: X:205.66, Y:164.73, Z:-0.69 [[ 8.27427058e-01 5.61571667e-01 -1.31418543e-03 2.05655857e+02] [-5.61571010e-01 8.27428101e-01 8.59192883e-04 1.64729495e+02] [ 1.56989233e-03 2.70889998e-05 9.99998767e-01 -6.91218785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0257692310001 meters 0.02442649280800965 Centerline is valid? [True, True] Translation: X:205.68, Y:164.72, Z:-0.69 [[ 8.26033717e-01 5.63616651e-01 -2.13776585e-03 2.05681300e+02] [-5.63614922e-01 8.26036481e-01 1.39698454e-03 1.64716031e+02] [ 2.55323633e-03 5.09203983e-05 9.99996739e-01 -6.91972488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05576923100006 meters 0.02747995978095258 Centerline is valid? [True, True] Translation: X:205.71, Y:164.71, Z:-0.69 [[ 8.25333850e-01 5.64639285e-01 -2.55230452e-03 2.05706753e+02] [-5.64636826e-01 8.25337794e-01 1.66789884e-03 1.64705114e+02] [ 3.04827459e-03 6.45517527e-05 9.99995352e-01 -6.93494601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0857692310001 meters 0.026673900267378845 Centerline is valid? [True, True] Translation: X:205.73, Y:164.69, Z:-0.69 [[ 8.24843296e-01 5.65355800e-01 -2.52131752e-03 2.05730855e+02] [-5.65353405e-01 8.24847147e-01 1.64684948e-03 1.64689110e+02] [ 3.01075747e-03 6.70426902e-05 9.99995465e-01 -6.92565563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11576923100006 meters 0.029343144894279583 Centerline is valid? [True, True] Translation: X:205.76, Y:164.68, Z:-0.69 [[ 8.23702968e-01 5.67020075e-01 -1.28646495e-03 2.05757914e+02] [-5.67019454e-01 8.23703972e-01 8.40229770e-04 1.64679543e+02] [ 1.53609344e-03 3.73508980e-05 9.99998820e-01 -6.90379653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14576923100003 meters 0.030834525581111417 Centerline is valid? [True, True] Translation: X:205.78, Y:164.67, Z:-0.69 [[ 8.22988837e-01 5.68056999e-01 -7.87290014e-04 2.05783720e+02] [-5.68056767e-01 8.22989213e-01 5.13994730e-04 1.64667171e+02] [ 9.39909493e-04 2.42134950e-05 9.99999558e-01 -6.89154176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17576923100006 meters 0.03269434105583289 Centerline is valid? [True, True] Translation: X:205.81, Y:164.66, Z:-0.69 [[ 8.22160500e-01 5.69254772e-01 -1.05683817e-03 2.05809787e+02] [-5.69254355e-01 8.22161179e-01 6.89908619e-04 1.64655105e+02] [ 1.26162509e-03 3.43941129e-05 9.99999204e-01 -6.89866111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20576923100003 meters 0.034850536311582594 Centerline is valid? [True, True] Translation: X:205.84, Y:164.64, Z:-0.70 [[ 8.20287382e-01 5.71938411e-01 -3.88145409e-03 2.05838177e+02] [-5.71932814e-01 8.20296553e-01 2.53416163e-03 1.64644614e+02] [ 4.63332778e-03 1.41190148e-04 9.99989256e-01 -6.96066191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23576923100006 meters 0.03934746584413392 Centerline is valid? [True, True] Translation: X:205.87, Y:164.64, Z:-0.70 [[ 8.19195636e-01 5.73492506e-01 -4.98550982e-03 2.05866356e+02] [-5.73483303e-01 8.19210784e-01 3.25468168e-03 1.64636189e+02] [ 5.95071896e-03 1.92885609e-04 9.99982276e-01 -6.99385234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26576923100004 meters 0.03934746584413392 Centerline is valid? [True, True] Translation: X:205.89, Y:164.62, Z:-0.70 [[ 8.19299236e-01 5.73344486e-01 -4.98623168e-03 2.05889500e+02] [-5.73335286e-01 8.19314386e-01 3.25357573e-03 1.64621310e+02] [ 5.95071105e-03 1.93130453e-04 9.99982276e-01 -6.99435725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29576923100007 meters 0.04100857558994378 Centerline is valid? [True, True] Translation: X:205.92, Y:164.61, Z:-0.70 [[ 8.17217136e-01 5.76312395e-01 -4.49177735e-03 2.05918123e+02] [-5.76304975e-01 8.17229458e-01 2.93069115e-03 1.64610288e+02] [ 5.35980640e-03 1.93622606e-04 9.99985617e-01 -6.97537652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32576923100004 meters 0.045976924768441174 Centerline is valid? [True, True] Translation: X:205.95, Y:164.60, Z:-0.70 [[ 8.16154447e-01 5.77822772e-01 -3.57254262e-03 2.05946506e+02] [-5.77818094e-01 8.16162250e-01 2.33071374e-03 1.64602013e+02] [ 4.26251390e-03 1.62057383e-04 9.99990902e-01 -6.95818928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35576923100007 meters 0.04760189945755731 Centerline is valid? [True, True] Translation: X:205.97, Y:164.59, Z:-0.69 [[ 8.15426042e-01 5.78856052e-01 -2.45805055e-03 2.05972031e+02] [-5.78853843e-01 8.15429738e-01 1.60337527e-03 1.64590539e+02] [ 2.93249099e-03 1.15418054e-04 9.99995694e-01 -6.93608268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38576923100004 meters 0.04626755963732155 Centerline is valid? [True, True] Translation: X:206.00, Y:164.58, Z:-0.69 [[ 8.15036451e-01 5.79408915e-01 -9.44601576e-04 2.05996557e+02] [-5.79408590e-01 8.15036997e-01 6.15638160e-04 1.64575266e+02] [ 1.12659147e-03 4.55427259e-05 9.99999364e-01 -6.90400082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41576923100007 meters 0.046695766435158714 Centerline is valid? [True, True] Translation: X:206.02, Y:164.56, Z:-0.69 [[ 8.15082333e-01 5.79344967e-01 4.46483969e-04 2.06021915e+02] [-5.79344894e-01 8.15082455e-01 -2.91284178e-04 1.64564803e+02] [-5.32675273e-04 -2.12476204e-05 9.99999858e-01 -6.87138139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44576923100004 meters 0.04698481497836263 Centerline is valid? [True, True] Translation: X:206.05, Y:164.55, Z:-0.69 [[ 8.15142578e-01 5.79260295e-01 2.97490985e-04 2.06046067e+02] [-5.79260263e-01 8.15142632e-01 -1.94105006e-04 1.64552432e+02] [-3.54934907e-04 -1.41014510e-05 9.99999937e-01 -6.87104204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4757692310001 meters 0.04996561760994775 Centerline is valid? [True, True] Translation: X:206.07, Y:164.54, Z:-0.69 [[ 8.15309323e-01 5.79025626e-01 1.78330376e-04 2.06072763e+02] [-5.79025614e-01 8.15309343e-01 -1.16415676e-04 1.64542539e+02] [-2.12802081e-04 -8.34306944e-06 9.99999977e-01 -6.87920275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50576923100004 meters 0.04671442734265369 Centerline is valid? [True, True] Translation: X:206.10, Y:164.52, Z:-0.69 [[ 8.15646997e-01 5.78549827e-01 2.74141504e-04 2.06095494e+02] [-5.78549799e-01 8.15647043e-01 -1.78960959e-04 1.64524913e+02] [-3.27140539e-04 -1.26355436e-05 9.99999946e-01 -6.87789422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5357692310001 meters 0.04727725990488153 Centerline is valid? [True, True] Translation: X:206.12, Y:164.51, Z:-0.69 [[ 8.15857567e-01 5.78252360e-01 7.98786799e-04 2.06121626e+02] [-5.78252127e-01 8.15857957e-01 -5.20532350e-04 1.64514775e+02] [-9.52695626e-04 -3.72199093e-05 9.99999546e-01 -6.86935546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56576923100005 meters 0.04841528718565124 Centerline is valid? [True, True] Translation: X:206.15, Y:164.50, Z:-0.69 [[ 8.15524066e-01 5.78722972e-01 4.68305929e-04 2.06147486e+02] [-5.78722892e-01 8.15524201e-01 -3.05192753e-04 1.64503048e+02] [-5.58536876e-04 -2.21273266e-05 9.99999844e-01 -6.87848264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5957692310001 meters 0.04884187521584642 Centerline is valid? [True, True] Translation: X:206.17, Y:164.49, Z:-0.69 [[ 8.15473639e-01 5.78794214e-01 4.37817280e-05 2.06173114e+02] [-5.78794213e-01 8.15473640e-01 -2.88457611e-05 1.64490320e+02] [-5.23986048e-05 -1.81765299e-06 9.99999999e-01 -6.89177230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62576923100005 meters 0.048681386728032267 Centerline is valid? [True, True] Translation: X:206.20, Y:164.48, Z:-0.69 [[ 8.15874602e-01 5.78228848e-01 -1.80096767e-04 2.06199701e+02] [-5.78228836e-01 8.15874622e-01 1.16879721e-04 1.64479080e+02] [ 2.14519608e-04 8.77794869e-06 9.99999977e-01 -6.89913240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6557692310001 meters 0.051081347260597654 Centerline is valid? [True, True] Translation: X:206.23, Y:164.47, Z:-0.69 [[ 8.16454076e-01 5.77410361e-01 -1.31443699e-04 2.06226907e+02] [-5.77410355e-01 8.16454086e-01 8.54211744e-05 1.64469262e+02] [ 1.56640816e-04 6.15448704e-06 9.99999988e-01 -6.90191021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68576923100005 meters 0.04651681337756643 Centerline is valid? [True, True] Translation: X:206.25, Y:164.45, Z:-0.69 [[ 8.17628359e-01 5.75746135e-01 5.05647378e-04 2.06252425e+02] [-5.75746041e-01 8.17628515e-01 -3.29277601e-04 1.64454694e+02] [-6.03012021e-04 -2.18977717e-05 9.99999818e-01 -6.89318135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7157692310001 meters 0.04073715195701967 Centerline is valid? [True, True] Translation: X:206.27, Y:164.44, Z:-0.69 [[ 8.18259229e-01 5.74848478e-01 1.03035292e-03 2.06274798e+02] [-5.74848088e-01 8.18259877e-01 -6.70439062e-04 1.64435379e+02] [-1.22849733e-03 -4.37034545e-05 9.99999244e-01 -6.88129130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74576923100005 meters 0.04529450294947582 Centerline is valid? [True, True] Translation: X:206.30, Y:164.43, Z:-0.69 [[ 8.18816574e-01 5.74054648e-01 8.23817522e-04 2.06303151e+02] [-5.74054399e-01 8.18816988e-01 -5.35841515e-04 1.64427876e+02] [-9.82158095e-04 -3.41601595e-05 9.99999517e-01 -6.88383009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7757692310001 meters 0.04196367031985801 Centerline is valid? [True, True] Translation: X:206.33, Y:164.41, Z:-0.69 [[ 8.20692260e-01 5.71369841e-01 -8.48034667e-04 2.06327582e+02] [-5.71369576e-01 8.20692698e-01 5.51328219e-04 1.64413826e+02] [ 1.01098818e-03 3.20704053e-05 9.99999488e-01 -6.92285783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80576923100006 meters 0.03467079096039693 Centerline is valid? [True, True] Translation: X:206.35, Y:164.39, Z:-0.69 [[ 8.22215994e-01 5.69173357e-01 -1.59633464e-03 2.06348613e+02] [-5.69172415e-01 8.22217542e-01 1.03730849e-03 1.64392342e+02] [ 1.90294270e-03 5.56980113e-05 9.99998188e-01 -6.93489921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8357692310001 meters 0.03218717758360873 Centerline is valid? [True, True] Translation: X:206.37, Y:164.38, Z:-0.69 [[ 8.23821571e-01 5.66845698e-01 -1.99338909e-03 2.06371995e+02] [-5.66844221e-01 8.23823981e-01 1.29549860e-03 1.64376376e+02] [ 2.37654954e-03 6.26813980e-05 9.99997174e-01 -6.94247118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86576923100006 meters 0.0293362760655873 Centerline is valid? [True, True] Translation: X:206.39, Y:164.36, Z:-0.69 [[ 8.25471389e-01 5.64440537e-01 -1.96595756e-03 2.06394816e+02] [-5.64439094e-01 8.25473729e-01 1.27754063e-03 1.64359146e+02] [ 2.34394204e-03 5.50900686e-05 9.99997251e-01 -6.94371903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89576923100003 meters 0.024092079486544297 Centerline is valid? [True, True] Translation: X:206.42, Y:164.34, Z:-0.69 [[ 8.28610788e-01 5.59823876e-01 -1.17893903e-03 2.06416120e+02] [-5.59823352e-01 8.28611626e-01 7.66028715e-04 1.64339034e+02] [ 1.40572375e-03 2.52579438e-05 9.99999012e-01 -6.93450983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92576923100006 meters 0.021541681150652754 Centerline is valid? [True, True] Translation: X:206.44, Y:164.32, Z:-0.69 [[ 8.30147308e-01 5.57543323e-01 -9.43787253e-04 2.06438318e+02] [-5.57542986e-01 8.30147844e-01 6.12743687e-04 1.64320617e+02] [ 1.12511410e-03 1.75344414e-05 9.99999367e-01 -6.93248103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95576923100003 meters 0.019542997646388022 Centerline is valid? [True, True] Translation: X:206.46, Y:164.30, Z:-0.69 [[ 8.31381637e-01 5.55701533e-01 -6.16075245e-04 2.06460778e+02] [-5.55701390e-01 8.31381865e-01 3.99722489e-04 1.64301932e+02] [ 7.34320186e-04 1.00319329e-05 9.99999730e-01 -6.93117176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98576923100006 meters 0.01649226831609212 Centerline is valid? [True, True] Translation: X:206.48, Y:164.28, Z:-0.69 [[ 8.33103730e-01 5.53116650e-01 -3.83221922e-04 2.06481044e+02] [-5.53116594e-01 8.33103818e-01 2.48454996e-04 1.64279154e+02] [ 4.56688241e-04 4.97762015e-06 9.99999896e-01 -6.92511019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01576923100004 meters 0.01585610785441722 Centerline is valid? [True, True] Translation: X:206.50, Y:164.26, Z:-0.69 [[ 8.33644459e-01 5.52301010e-01 -7.14236558e-04 2.06502726e+02] [-5.52300816e-01 8.33644765e-01 4.63082786e-04 1.64262009e+02] [ 8.51180658e-04 8.42703549e-06 9.99999638e-01 -6.92993973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04576923100007 meters 0.015860781680288937 Centerline is valid? [True, True] Translation: X:206.53, Y:164.25, Z:-0.69 [[ 8.33751475e-01 5.52138906e-01 -1.05204131e-03 2.06525190e+02] [-5.52138485e-01 8.33752138e-01 6.82395759e-04 1.64246649e+02] [ 1.25391894e-03 1.19240218e-05 9.99999214e-01 -6.93897334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07576923100004 meters 0.016797255330446584 Centerline is valid? [True, True] Translation: X:206.55, Y:164.23, Z:-0.69 [[ 8.33307972e-01 5.52808306e-01 -8.94956579e-04 2.06548902e+02] [-5.52808002e-01 8.33308452e-01 5.80458093e-04 1.64232494e+02] [ 1.06665694e-03 1.10388016e-05 9.99999431e-01 -6.93938090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10576923100007 meters 0.01637196439382847 Centerline is valid? [True, True] Translation: X:206.57, Y:164.22, Z:-0.69 [[ 8.32799599e-01 5.53574245e-01 -6.18705018e-04 2.06572427e+02] [-5.53574100e-01 8.32799829e-01 4.00855895e-04 1.64216266e+02] [ 7.37160933e-04 8.66644516e-06 9.99999728e-01 -6.93463322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13576923100004 meters 0.01752607961217843 Centerline is valid? [True, True] Translation: X:206.60, Y:164.20, Z:-0.69 [[ 8.32146991e-01 5.54555081e-01 -2.19097909e-04 2.06597249e+02] [-5.54555063e-01 8.32147020e-01 1.41933584e-04 1.64202848e+02] [ 2.61031662e-04 3.39225007e-06 9.99999966e-01 -6.92655284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16576923100007 meters 0.02195023038431458 Centerline is valid? [True, True] Translation: X:206.63, Y:164.19, Z:-0.69 [[ 8.30869006e-01 5.56467612e-01 7.00531515e-04 2.06625088e+02] [-5.56467427e-01 8.30869302e-01 -4.54331308e-04 1.64194549e+02] [-8.34870789e-04 -1.23331667e-05 9.99999651e-01 -6.90493072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19576923100004 meters 0.020858906655737232 Centerline is valid? [True, True] Translation: X:206.65, Y:164.18, Z:-0.69 [[ 8.30192369e-01 5.57476918e-01 3.42683652e-04 2.06648423e+02] [-5.57476873e-01 8.30192439e-01 -2.22305106e-04 1.64178350e+02] [-4.08423342e-04 -6.48220835e-06 9.99999917e-01 -6.90484934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2257692310001 meters 0.024164485492538464 Centerline is valid? [True, True] Translation: X:206.68, Y:164.17, Z:-0.69 [[ 8.28460719e-01 5.60045373e-01 -1.42027855e-03 2.06676130e+02] [-5.60044618e-01 8.28461936e-01 9.20404617e-04 1.64168821e+02] [ 1.69211506e-03 3.29002841e-05 9.99998568e-01 -6.94857893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25576923100004 meters 0.029414705845320063 Centerline is valid? [True, True] Translation: X:206.70, Y:164.16, Z:-0.70 [[ 8.27911608e-01 5.60855753e-01 -1.78690318e-03 2.06704340e+02] [-5.60854560e-01 8.27913535e-01 1.15767830e-03 1.64161001e+02] [ 2.12869186e-03 4.37374975e-05 9.99997733e-01 -6.96884235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2857692310001 meters 0.026295533957660808 Centerline is valid? [True, True] Translation: X:206.73, Y:164.14, Z:-0.70 [[ 8.27666567e-01 5.61218185e-01 -1.48414930e-03 2.06727030e+02] [-5.61217364e-01 8.27667897e-01 9.60986554e-04 1.64143003e+02] [ 1.76770586e-03 3.75539169e-05 9.99998437e-01 -6.95383060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31576923100005 meters 0.02694610815424625 Centerline is valid? [True, True] Translation: X:206.75, Y:164.13, Z:-0.69 [[ 8.27503023e-01 5.61460199e-01 -1.09182141e-03 2.06751283e+02] [-5.61459755e-01 8.27503743e-01 7.07000309e-04 1.64129921e+02] [ 1.30043884e-03 2.79688871e-05 9.99999154e-01 -6.94425883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3457692310001 meters 0.028517610816477947 Centerline is valid? [True, True] Translation: X:206.78, Y:164.12, Z:-0.70 [[ 8.26789567e-01 5.62509409e-01 -1.47538409e-03 2.06778148e+02] [-5.62508600e-01 8.26790883e-01 9.54852744e-04 1.64118615e+02] [ 1.75694777e-03 4.04539530e-05 9.99998456e-01 -6.95043958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37576923100005 meters 0.03008483213667474 Centerline is valid? [True, True] Translation: X:206.80, Y:164.11, Z:-0.70 [[ 8.26205482e-01 5.63364389e-01 -2.25088254e-03 2.06804521e+02] [-5.63362510e-01 8.26208546e-01 1.45641982e-03 1.64105614e+02] [ 2.68019345e-03 6.47607971e-05 9.99996406e-01 -6.97399821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4057692310001 meters 0.029997397034738388 Centerline is valid? [True, True] Translation: X:206.83, Y:164.09, Z:-0.70 [[ 8.26004572e-01 5.63654784e-01 -3.11941634e-03 2.06829206e+02] [-5.63651180e-01 8.26010458e-01 2.01780660e-03 1.64090942e+02] [ 3.71401686e-03 9.15452207e-05 9.99993099e-01 -6.99381039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43576923100005 meters 0.03574186528091077 Centerline is valid? [True, True] Translation: X:206.86, Y:164.08, Z:-0.70 [[ 8.26183876e-01 5.63387283e-01 -3.86942816e-03 2.06856377e+02] [-5.63381736e-01 8.26192930e-01 2.50242197e-03 1.64083389e+02] [ 4.60672690e-03 1.12504477e-04 9.99989383e-01 -7.03404873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4657692310001 meters 0.02930330572136011 Centerline is valid? [True, True] Translation: X:206.88, Y:164.06, Z:-0.70 [[ 8.27257642e-01 5.61817768e-01 -2.36420772e-03 2.06876679e+02] [-5.61815691e-01 8.27261018e-01 1.52889065e-03 1.64061886e+02] [ 2.81477482e-03 6.34625160e-05 9.99996037e-01 -6.98446761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49576923100005 meters 0.0290758904647136 Centerline is valid? [True, True] Translation: X:206.90, Y:164.05, Z:-0.69 [[ 8.27510943e-01 5.61448945e-01 -8.49293613e-04 2.06900546e+02] [-5.61448677e-01 8.27511379e-01 5.48973373e-04 1.64047534e+02] [ 1.01102065e-03 2.25533014e-05 9.99999489e-01 -6.94961258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5257692310001 meters 0.03378331275745343 Centerline is valid? [True, True] Translation: X:206.93, Y:164.04, Z:-0.69 [[ 8.27354841e-01 5.61679572e-01 -1.60130364e-04 2.06928207e+02] [-5.61679562e-01 8.27354857e-01 1.03405857e-04 1.64038430e+02] [ 1.90565591e-04 4.38861601e-06 9.99999982e-01 -6.93557769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55576923100006 meters 0.03293986550800682 Centerline is valid? [True, True] Translation: X:206.95, Y:164.02, Z:-0.70 [[ 8.25976157e-01 5.63702209e-01 -1.79092399e-03 2.06953851e+02] [-5.63701024e-01 8.25978097e-01 1.15730058e-03 1.64023616e+02] [ 2.13163688e-03 5.36430065e-05 9.99997727e-01 -6.97082175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5857692310001 meters 0.030013826367385976 Centerline is valid? [True, True] Translation: X:206.98, Y:164.01, Z:-0.70 [[ 8.25344196e-01 5.64625382e-01 -2.26628565e-03 2.06977516e+02] [-5.64623489e-01 8.25347304e-01 1.46390325e-03 1.64007166e+02] [ 2.69702968e-03 7.13740622e-05 9.99996360e-01 -6.97606720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61576923100006 meters 0.0357615228020146 Centerline is valid? [True, True] Translation: X:207.01, Y:164.00, Z:-0.70 [[ 8.24825787e-01 5.65383305e-01 -2.03467402e-03 2.07006537e+02] [-5.65381782e-01 8.24828293e-01 1.31409126e-03 1.64001632e+02] [ 2.42122196e-03 6.64712676e-05 9.99997067e-01 -6.98157052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64576923100003 meters 0.03311391091172793 Centerline is valid? [True, True] Translation: X:207.03, Y:163.99, Z:-0.69 [[ 8.24657388e-01 5.65632247e-01 -5.95574605e-04 2.07031325e+02] [-5.65632117e-01 8.24657602e-01 3.84222511e-04 1.63986968e+02] [ 7.08473768e-04 2.00241926e-05 9.99999749e-01 -6.94887599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67576923100006 meters 0.03568331640175804 Centerline is valid? [True, True] Translation: X:207.06, Y:163.98, Z:-0.69 [[ 8.25379648e-01 5.64577942e-01 -4.28900997e-04 2.07056940e+02] [-5.64577874e-01 8.25379759e-01 2.76791373e-04 1.63976027e+02] [ 5.10276505e-04 1.36900471e-05 9.99999870e-01 -6.94457575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70576923100003 meters 0.031617008205189256 Centerline is valid? [True, True] Translation: X:207.08, Y:163.96, Z:-0.70 [[ 8.27608971e-01 5.61303038e-01 -1.51366175e-03 2.07078368e+02] [-5.61302189e-01 8.27610354e-01 9.77082037e-04 1.63957930e+02] [ 1.80116125e-03 4.09797951e-05 9.99998377e-01 -6.97187569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73576923100006 meters 0.029169292671140892 Centerline is valid? [True, True] Translation: X:207.10, Y:163.94, Z:-0.70 [[ 8.28883281e-01 5.59417754e-01 -2.06967452e-03 2.07101994e+02] [-5.59416162e-01 8.28885863e-01 1.33541935e-03 1.63940402e+02] [ 2.46258124e-03 5.09026091e-05 9.99996967e-01 -6.98573924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76576923100004 meters 0.02750062269236917 Centerline is valid? [True, True] Translation: X:207.13, Y:163.92, Z:-0.70 [[ 8.29800350e-01 5.58056921e-01 -1.96279215e-03 2.07125543e+02] [-5.58055487e-01 8.29802670e-01 1.26599675e-03 1.63924392e+02] [ 2.33522842e-03 4.48223885e-05 9.99997272e-01 -6.98158356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79576923100007 meters 0.02808602947127567 Centerline is valid? [True, True] Translation: X:207.15, Y:163.92, Z:-0.69 [[ 8.29646997e-01 5.58288274e-01 2.53219042e-04 2.07151255e+02] [-5.58288250e-01 8.29647036e-01 -1.63505685e-04 1.63915325e+02] [-3.01365735e-04 -5.71721515e-06 9.99999955e-01 -6.92003224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82576923100004 meters 0.03473418356709161 Centerline is valid? [True, True] Translation: X:207.18, Y:163.91, Z:-0.69 [[ 8.28503089e-01 5.59984379e-01 3.57546666e-04 2.07180848e+02] [-5.59984331e-01 8.28503166e-01 -2.30746393e-04 1.63910886e+02] [-4.25442920e-04 -9.04643144e-06 9.99999909e-01 -6.91955505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85576923100007 meters 0.0348170427729197 Centerline is valid? [True, True] Translation: X:207.21, Y:163.90, Z:-0.69 [[ 8.26952047e-01 5.62272439e-01 -1.26652709e-04 2.07207691e+02] [-5.62272433e-01 8.26952057e-01 8.13854226e-05 1.63897957e+02] [ 1.50496498e-04 3.91148499e-06 9.99999989e-01 -6.92684717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88576923100004 meters 0.034908911454354284 Centerline is valid? [True, True] Translation: X:207.23, Y:163.89, Z:-0.69 [[ 8.25639223e-01 5.64197396e-01 -1.08276946e-03 2.07234433e+02] [-5.64196965e-01 8.25639932e-01 6.98018740e-04 1.63885532e+02] [ 1.28779806e-03 3.45835929e-05 9.99999170e-01 -6.94706121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91576923100007 meters 0.03673812975469292 Centerline is valid? [True, True] Translation: X:207.26, Y:163.88, Z:-0.70 [[ 8.24417067e-01 5.65980310e-01 -1.66981221e-03 2.07264226e+02] [-5.65979290e-01 8.24418756e-01 1.07641606e-03 1.63877838e+02] [ 1.98585480e-03 5.76633531e-05 9.99998027e-01 -6.95937727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94576923100004 meters 0.03472970421233139 Centerline is valid? [True, True] Translation: X:207.29, Y:163.86, Z:-0.69 [[ 8.24566462e-01 5.65764803e-01 -5.81387707e-04 2.07288360e+02] [-5.65764679e-01 8.24566667e-01 3.74251081e-04 1.63862955e+02] [ 6.91131012e-04 2.03337396e-05 9.99999761e-01 -6.93289499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9757692310001 meters 0.03844730180550576 Centerline is valid? [True, True] Translation: X:207.32, Y:163.86, Z:-0.69 [[ 8.25885949e-01 5.63835257e-01 1.48408345e-03 2.07317220e+02] [-5.63834448e-01 8.25887281e-01 -9.56375210e-04 1.63855345e+02] [-1.76492370e-03 -4.69205234e-05 9.99998441e-01 -6.88500491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00576923100004 meters 0.035499687198008216 Centerline is valid? [True, True] Translation: X:207.34, Y:163.84, Z:-0.69 [[ 8.26949028e-01 5.62275873e-01 1.07110514e-03 2.07339653e+02] [-5.62275450e-01 8.26949721e-01 -6.90236701e-04 1.63837316e+02] [-1.27385354e-03 -3.14655562e-05 9.99999188e-01 -6.89005840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0357692310001 meters 0.02807641804528997 Centerline is valid? [True, True] Translation: X:207.36, Y:163.81, Z:-0.69 [[ 8.27997702e-01 5.60731491e-01 3.47375524e-05 2.07358919e+02] [-5.60731490e-01 8.27997702e-01 -2.27310468e-05 1.63813766e+02] [-4.15086274e-05 -6.57185051e-07 9.99999999e-01 -6.91494999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06576923100005 meters 0.02395155597528627 Centerline is valid? [True, True] Translation: X:207.38, Y:163.79, Z:-0.69 [[ 8.29787044e-01 5.58078578e-01 -1.32770226e-03 2.07380210e+02] [-5.58077925e-01 8.29788105e-01 8.54368219e-04 1.63793944e+02] [ 1.57851614e-03 3.20176438e-05 9.99998754e-01 -6.93584176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0957692310001 meters 0.024479223512784 Centerline is valid? [True, True] Translation: X:207.40, Y:163.78, Z:-0.69 [[ 8.30204078e-01 5.57459398e-01 -4.57180063e-04 2.07404286e+02] [-5.57459321e-01 8.30204203e-01 2.94139310e-04 1.63779319e+02] [ 5.43523532e-04 1.06636330e-05 9.99999852e-01 -6.91865132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12576923100005 meters 0.023642515566404756 Centerline is valid? [True, True] Translation: X:207.43, Y:163.76, Z:-0.69 [[ 8.30714163e-01 5.56697602e-01 1.32621040e-03 2.07427586e+02] [-5.56696948e-01 8.30715221e-01 -8.53690216e-04 1.63762163e+02] [-1.57695046e-03 -2.91247277e-05 9.99998756e-01 -6.88267145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1557692310001 meters 0.023642515566404756 Centerline is valid? [True, True] Translation: X:207.45, Y:163.75, Z:-0.69 [[ 8.30819075e-01 5.56541019e-01 1.32634827e-03 2.07450806e+02] [-5.56540365e-01 8.30820133e-01 -8.53475956e-04 1.63747458e+02] [-1.57695122e-03 -2.90822439e-05 9.99998756e-01 -6.88317595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18576923100005 meters 0.02205417090015044 Centerline is valid? [True, True] Translation: X:207.47, Y:163.73, Z:-0.68 [[ 8.31630556e-01 5.55321855e-01 2.87313185e-03 2.07472145e+02] [-5.55318785e-01 8.31635517e-01 -1.84759413e-03 1.63727044e+02] [-3.41540789e-03 -5.89883591e-05 9.99994166e-01 -6.84680095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2157692310001 meters 0.021154253036438454 Centerline is valid? [True, True] Translation: X:207.49, Y:163.71, Z:-0.69 [[ 8.31990826e-01 5.54785027e-01 2.19999478e-03 2.07494947e+02] [-5.54783226e-01 8.31993733e-01 -1.41429368e-03 1.63708477e+02] [-2.61501083e-03 -4.38408312e-05 9.99996580e-01 -6.86379524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24576923100005 meters 0.021052786458315195 Centerline is valid? [True, True] Translation: X:207.52, Y:163.69, Z:-0.69 [[ 8.32441453e-01 5.54112264e-01 9.09130658e-04 2.07516910e+02] [-5.54111956e-01 8.32441949e-01 -5.84374188e-04 1.63691270e+02] [-1.08060740e-03 -1.73028698e-05 9.99999416e-01 -6.89098889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2757692310001 meters 0.02106341406125555 Centerline is valid? [True, True] Translation: X:207.54, Y:163.67, Z:-0.69 [[ 8.33042181e-01 5.53209474e-01 -4.75793811e-05 2.07538868e+02] [-5.53209473e-01 8.33042183e-01 3.04408351e-05 1.63673615e+02] [ 5.64757898e-05 9.62864668e-07 9.99999998e-01 -6.91780924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30576923100006 meters 0.017336768098206296 Centerline is valid? [True, True] Translation: X:207.56, Y:163.65, Z:-0.69 [[ 8.34863318e-01 5.50457054e-01 -5.21748373e-04 2.07555808e+02] [-5.50456953e-01 8.34863481e-01 3.34734823e-04 1.63647179e+02] [ 6.19845807e-04 7.74219507e-06 9.99999808e-01 -6.92928289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3357692310001 meters 0.015648135888501447 Centerline is valid? [True, True] Translation: X:207.58, Y:163.63, Z:-0.69 [[ 8.35899555e-01 5.48882010e-01 -6.87939373e-04 2.07576740e+02] [-5.48881833e-01 8.35899838e-01 4.41303787e-04 1.63627032e+02] [ 8.17272120e-04 8.71178468e-06 9.99999666e-01 -6.93069149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36576923100006 meters 0.014757763477692103 Centerline is valid? [True, True] Translation: X:207.60, Y:163.61, Z:-0.69 [[ 8.36705320e-01 5.47651585e-01 -1.39636196e-03 2.07598003e+02] [-5.47650851e-01 8.36706485e-01 8.96241622e-04 1.63608764e+02] [ 1.65917325e-03 1.48286852e-05 9.99998623e-01 -6.94416940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39576923100003 meters 0.013534363810703226 Centerline is valid? [True, True] Translation: X:207.62, Y:163.59, Z:-0.70 [[ 8.37521057e-01 5.46399876e-01 -2.37793838e-03 2.07617850e+02] [-5.46397747e-01 8.37524433e-01 1.52538632e-03 1.63588684e+02] [ 2.82505239e-03 2.17570098e-05 9.99996009e-01 -6.96201842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42576923100006 meters 0.014132647594779084 Centerline is valid? [True, True] Translation: X:207.64, Y:163.57, Z:-0.70 [[ 8.37626764e-01 5.46239590e-01 -1.92701268e-03 2.07639983e+02] [-5.46238192e-01 8.37628981e-01 1.23605701e-03 1.63573016e+02] [ 2.28930494e-03 1.72534859e-05 9.99997379e-01 -6.95840694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45576923100003 meters 0.012684230964835348 Centerline is valid? [True, True] Translation: X:207.66, Y:163.55, Z:-0.69 [[ 8.38395641e-01 5.45061927e-01 4.95668251e-04 2.07660551e+02] [-5.45061834e-01 8.38395787e-01 -3.18232266e-04 1.63552354e+02] [-5.89022466e-04 -3.36530067e-06 9.99999827e-01 -6.90084077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48576923100006 meters 0.012162259716321419 Centerline is valid? [True, True] Translation: X:207.68, Y:163.54, Z:-0.69 [[ 8.38981849e-01 5.44158387e-01 1.05227293e-03 2.07682409e+02] [-5.44157969e-01 8.38982508e-01 -6.74955031e-04 1.63535109e+02] [-1.25012103e-03 -6.32768307e-06 9.99999219e-01 -6.88710214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51576923100004 meters 0.011411193298694016 Centerline is valid? [True, True] Translation: X:207.70, Y:163.52, Z:-0.69 [[ 8.39646839e-01 5.43131892e-01 9.65722209e-04 2.07703752e+02] [-5.43131539e-01 8.39647395e-01 -6.19222551e-04 1.63516848e+02] [-1.14718565e-03 -4.58593189e-06 9.99999342e-01 -6.89715660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54576923100007 meters 0.010715560296359406 Centerline is valid? [True, True] Translation: X:207.72, Y:163.49, Z:-0.69 [[ 8.41396852e-01 5.40417220e-01 -7.52648847e-04 2.07721574e+02] [-5.40417005e-01 8.41397188e-01 4.81829530e-04 1.63494798e+02] [ 8.93665598e-04 1.33438601e-06 9.99999601e-01 -6.94000857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57576923100004 meters 0.010798754519676592 Centerline is valid? [True, True] Translation: X:207.74, Y:163.48, Z:-0.70 [[ 8.42624188e-01 5.38499507e-01 -1.66057372e-03 2.07742368e+02] [-5.38498459e-01 8.42625825e-01 1.06283969e-03 1.63475661e+02] [ 1.97158095e-03 -1.35804378e-06 9.99998056e-01 -6.95476600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60576923100007 meters 0.011379824580241785 Centerline is valid? [True, True] Translation: X:207.76, Y:163.46, Z:-0.70 [[ 8.43800143e-01 5.36652658e-01 -2.28975530e-03 2.07762786e+02] [-5.36650656e-01 8.43803250e-01 1.46579792e-03 1.63456030e+02] [ 2.71872732e-03 -8.04180929e-06 9.99996304e-01 -6.97368445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63576923100004 meters 0.01241464016081049 Centerline is valid? [True, True] Translation: X:207.78, Y:163.44, Z:-0.70 [[ 8.44945793e-01 5.34846474e-01 -2.41984946e-03 2.07784581e+02] [-5.34844233e-01 8.44949258e-01 1.54830876e-03 1.63436145e+02] [ 2.87275748e-03 -1.39944464e-05 9.99995874e-01 -6.97672536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66576923100007 meters 0.01420006326307027 Centerline is valid? [True, True] Translation: X:207.80, Y:163.41, Z:-0.70 [[ 8.46802172e-01 5.31905939e-01 -1.46758012e-03 2.07803553e+02] [-5.31905110e-01 8.46803444e-01 9.38969847e-04 1.63413157e+02] [ 1.74219553e-03 -1.45083426e-05 9.99998482e-01 -6.95499109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69576923100004 meters 0.016099189280741145 Centerline is valid? [True, True] Translation: X:207.82, Y:163.39, Z:-0.69 [[ 8.47463458e-01 5.30852945e-01 -9.15316359e-04 2.07823858e+02] [-5.30852622e-01 8.47463952e-01 5.85396757e-04 1.63392562e+02] [ 1.08645721e-03 -1.02042705e-05 9.99999410e-01 -6.94664612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7257692310001 meters 0.015963755901251094 Centerline is valid? [True, True] Translation: X:207.85, Y:163.37, Z:-0.69 [[ 8.47935772e-01 5.30098497e-01 -7.13942374e-04 2.07846894e+02] [-5.30098300e-01 8.47936073e-01 4.56235321e-04 1.63374957e+02] [ 8.47227150e-04 -8.39861003e-06 9.99999641e-01 -6.93862321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75576923100004 meters 0.015943298558913986 Centerline is valid? [True, True] Translation: X:207.87, Y:163.36, Z:-0.69 [[ 8.47938150e-01 5.30094465e-01 -8.67235270e-04 2.07868053e+02] [-5.30094176e-01 8.47938593e-01 5.54352454e-04 1.63357087e+02] [ 1.02922142e-03 -1.03402289e-05 9.99999470e-01 -6.93743694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7857692310001 meters 0.01559779245458128 Centerline is valid? [True, True] Translation: X:207.89, Y:163.34, Z:-0.69 [[ 8.47868158e-01 5.30205766e-01 -1.19687189e-03 2.07891365e+02] [-5.30205215e-01 8.47869003e-01 7.64580141e-04 1.63341366e+02] [ 1.42017538e-03 -1.36754353e-05 9.99998991e-01 -6.94602879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81576923100005 meters 0.014742833321802349 Centerline is valid? [True, True] Translation: X:207.91, Y:163.32, Z:-0.69 [[ 8.47852513e-01 5.30231473e-01 -8.37062266e-04 2.07913933e+02] [-5.30231204e-01 8.47852926e-01 5.34355354e-04 1.63324827e+02] [ 9.93037719e-04 -9.21799616e-06 9.99999507e-01 -6.93512444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8457692310001 meters 0.014828722688645773 Centerline is valid? [True, True] Translation: X:207.94, Y:163.31, Z:-0.69 [[ 8.47621536e-01 5.30601180e-01 -3.46968096e-04 2.07936650e+02] [-5.30601133e-01 8.47621607e-01 2.21508630e-04 1.63309568e+02] [ 4.11630395e-04 -3.65381995e-06 9.99999915e-01 -6.92447447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87576923100005 meters 0.014488220315183832 Centerline is valid? [True, True] Translation: X:207.96, Y:163.30, Z:-0.69 [[ 8.47291568e-01 5.31128040e-01 6.59715277e-05 2.07960515e+02] [-5.31128039e-01 8.47291570e-01 -4.22648614e-05 1.63295474e+02] [-7.83451724e-05 7.71332575e-07 9.99999997e-01 -6.91603208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9057692310001 meters 0.013012557135703949 Centerline is valid? [True, True] Translation: X:207.99, Y:163.28, Z:-0.69 [[ 8.46404145e-01 5.32540976e-01 -3.65178280e-04 2.07986186e+02] [-5.32540925e-01 8.46404223e-01 2.32798235e-04 1.63282743e+02] [ 4.33063038e-04 -2.56901251e-06 9.99999906e-01 -6.92503614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93576923100005 meters 0.012847810413352173 Centerline is valid? [True, True] Translation: X:208.01, Y:163.27, Z:-0.69 [[ 8.46342576e-01 5.32638811e-01 -3.75820528e-04 2.08009960e+02] [-5.32638757e-01 8.46342660e-01 2.39439928e-04 1.63267658e+02] [ 4.45607944e-04 -2.47162697e-06 9.99999901e-01 -6.92977356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9657692310001 meters 0.012878924585713727 Centerline is valid? [True, True] Translation: X:208.03, Y:163.25, Z:-0.69 [[ 8.46608306e-01 5.32215972e-01 -7.31637769e-04 2.08033087e+02] [-5.32215768e-01 8.46608622e-01 4.66319444e-04 1.63252124e+02] [ 8.67593500e-04 -5.40075747e-06 9.99999624e-01 -6.93587879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99576923100005 meters 0.013399376427187486 Centerline is valid? [True, True] Translation: X:208.06, Y:163.24, Z:-0.70 [[ 8.46838055e-01 5.31850084e-01 -8.92538922e-04 2.08055317e+02] [-5.31849780e-01 8.46838525e-01 5.69180274e-04 1.63236060e+02] [ 1.05855492e-03 -7.30688713e-06 9.99999440e-01 -6.95495461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0257692310001 meters 0.014531677483510093 Centerline is valid? [True, True] Translation: X:208.08, Y:163.22, Z:-0.70 [[ 8.47800177e-01 5.30313960e-01 -1.40109477e-03 2.08076925e+02] [-5.30313208e-01 8.47801335e-01 8.93007261e-04 1.63216687e+02] [ 1.66142423e-03 -1.40726512e-05 9.99998620e-01 -6.96858376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05576923100006 meters 0.015102665358651936 Centerline is valid? [True, True] Translation: X:208.10, Y:163.20, Z:-0.70 [[ 8.48477455e-01 5.29230441e-01 -1.07165561e-03 2.08099033e+02] [-5.29230001e-01 8.48478132e-01 6.82689261e-04 1.63198270e+02] [ 1.27057629e-03 -1.20941440e-05 9.99999193e-01 -6.95983791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0857692310001 meters 0.01774288154334563 Centerline is valid? [True, True] Translation: X:208.12, Y:163.18, Z:-0.70 [[ 8.50067227e-01 5.26670652e-01 -1.93231384e-03 2.08117894e+02] [-5.26669213e-01 8.50069423e-01 1.23133323e-03 1.63175143e+02] [ 2.29110798e-03 -2.90258198e-05 9.99997375e-01 -6.97142806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11576923100006 meters 0.020094430728896526 Centerline is valid? [True, True] Translation: X:208.14, Y:163.15, Z:-0.70 [[ 8.50700064e-01 5.25643861e-01 -2.81635267e-03 2.08138255e+02] [-5.25640801e-01 8.50704725e-01 1.79431324e-03 1.63154629e+02] [ 3.33905427e-03 -4.60325157e-05 9.99994424e-01 -7.00097481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14576923100003 meters 0.020469138815353307 Centerline is valid? [True, True] Translation: X:208.16, Y:163.14, Z:-0.70 [[ 8.51127642e-01 5.24948677e-01 -3.25943368e-03 2.08160364e+02] [-5.24944576e-01 8.51133881e-01 2.07580101e-03 1.63136422e+02] [ 3.86390343e-03 -5.57495936e-05 9.99992534e-01 -7.00844981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17576923100006 meters 0.02030403085989795 Centerline is valid? [True, True] Translation: X:208.18, Y:163.12, Z:-0.70 [[ 8.50866307e-01 5.25379171e-01 -1.80381124e-03 2.08180144e+02] [-5.25377917e-01 8.50868219e-01 1.14868204e-03 1.63116275e+02] [ 2.13829928e-03 -2.96922549e-05 9.99997713e-01 -6.98319779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20576923100003 meters 0.018488957569198817 Centerline is valid? [True, True] Translation: X:208.20, Y:163.10, Z:-0.70 [[ 8.50694200e-01 5.25660230e-01 -8.36930496e-04 2.08204787e+02] [-5.25659960e-01 8.50694612e-01 5.32502197e-04 1.63100378e+02] [ 9.91887490e-04 -1.30556794e-05 9.99999508e-01 -6.95295609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23576923100006 meters 0.01842646899156579 Centerline is valid? [True, True] Translation: X:208.23, Y:163.08, Z:-0.69 [[ 8.50469205e-01 5.26024789e-01 -2.30466207e-04 2.08226840e+02] [-5.26024769e-01 8.50469236e-01 1.46505341e-04 1.63083351e+02] [ 2.73069860e-04 -3.36734715e-06 9.99999963e-01 -6.94075237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26576923100004 meters 0.017793987972312034 Centerline is valid? [True, True] Translation: X:208.25, Y:163.06, Z:-0.70 [[ 8.49774664e-01 5.27145212e-01 -9.72607326e-04 2.08247570e+02] [-5.27144848e-01 8.49775221e-01 6.18790256e-04 1.63064882e+02] [ 1.15268993e-03 -1.31273406e-05 9.99999336e-01 -6.95876489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29576923100007 meters 0.016404112949344032 Centerline is valid? [True, True] Translation: X:208.27, Y:163.05, Z:-0.70 [[ 8.49296898e-01 5.27912807e-01 -1.68749875e-03 2.08272119e+02] [-5.27911716e-01 8.49298574e-01 1.07320200e-03 1.63049335e+02] [ 1.99974737e-03 -2.06167697e-05 9.99998000e-01 -6.97220419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32576923100004 meters 0.015722742849138212 Centerline is valid? [True, True] Translation: X:208.30, Y:163.03, Z:-0.70 [[ 8.48852905e-01 5.28624821e-01 -2.13157747e-03 2.08295690e+02] [-5.28623083e-01 8.48855581e-01 1.35577249e-03 1.63034047e+02] [ 2.52609643e-03 -2.40503666e-05 9.99996809e-01 -6.97556116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35576923100007 meters 0.013713613311190094 Centerline is valid? [True, True] Translation: X:208.32, Y:163.02, Z:-0.70 [[ 8.47797303e-01 5.30317316e-01 -1.81052735e-03 2.08322127e+02] [-5.30316067e-01 8.47799236e-01 1.15090392e-03 1.63021466e+02] [ 2.14530798e-03 -1.55814932e-05 9.99997699e-01 -6.96047581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38576923100004 meters 0.01291803730281577 Centerline is valid? [True, True] Translation: X:208.35, Y:163.01, Z:-0.70 [[ 8.46939828e-01 5.31687328e-01 -1.23028823e-03 2.08347234e+02] [-5.31686753e-01 8.46940721e-01 7.81964631e-04 1.63008387e+02] [ 1.45774188e-03 -8.14903820e-06 9.99998937e-01 -6.95485157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41576923100007 meters 0.011488527892447035 Centerline is valid? [True, True] Translation: X:208.37, Y:163.00, Z:-0.69 [[ 8.46016097e-01 5.33156952e-01 -6.54516103e-04 2.08373720e+02] [-5.33156790e-01 8.46016350e-01 4.15602342e-04 1.62996830e+02] [ 7.75312603e-04 -2.64656645e-06 9.99999699e-01 -6.94003982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44576923100004 meters 0.01081915070975001 Centerline is valid? [True, True] Translation: X:208.40, Y:162.99, Z:-0.69 [[ 8.44919106e-01 5.34894101e-01 6.77844311e-05 2.08399432e+02] [-5.34894099e-01 8.44919109e-01 -4.31989391e-05 1.62985655e+02] [-8.03792189e-05 2.42116816e-07 9.99999997e-01 -6.92997209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4757692310001 meters 0.01066378545727532 Centerline is valid? [True, True] Translation: X:208.43, Y:162.97, Z:-0.69 [[ 8.44197312e-01 5.36032152e-01 6.56693586e-04 2.08425204e+02] [-5.36031989e-01 8.44197567e-01 -4.17517724e-04 1.62974069e+02] [-7.78182052e-04 4.58571004e-07 9.99999697e-01 -6.91899757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50576923100004 meters 0.010629521766711747 Centerline is valid? [True, True] Translation: X:208.45, Y:162.96, Z:-0.69 [[ 8.44041530e-01 5.36276956e-01 9.60333752e-04 2.08450749e+02] [-5.36276609e-01 8.44042076e-01 -6.10136091e-04 1.62962689e+02] [-1.13776402e-03 -2.43286358e-08 9.99999353e-01 -6.92368566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5357692310001 meters 0.010616000272159205 Centerline is valid? [True, True] Translation: X:208.47, Y:162.95, Z:-0.69 [[ 8.44833765e-01 5.35028813e-01 2.80168159e-04 2.08472876e+02] [-5.35028783e-01 8.44833812e-01 -1.78107515e-04 1.62947427e+02] [-3.31988186e-04 5.73213850e-07 9.99999945e-01 -6.94231897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56576923100005 meters 0.013470274955761731 Centerline is valid? [True, True] Translation: X:208.49, Y:162.93, Z:-0.70 [[ 8.47736763e-01 5.30415242e-01 -1.43249160e-03 2.08491637e+02] [-5.30414463e-01 8.47737973e-01 9.09035400e-04 1.62925202e+02] [ 1.69654376e-03 -1.08084642e-05 9.99998561e-01 -6.97524925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5957692310001 meters 0.015960430753865423 Centerline is valid? [True, True] Translation: X:208.51, Y:162.91, Z:-0.70 [[ 8.49295704e-01 5.27914339e-01 -1.80501171e-03 2.08513948e+02] [-5.27913098e-01 8.49297622e-01 1.14484727e-03 1.62905733e+02] [ 2.13737345e-03 -1.94245478e-05 9.99997716e-01 -6.98032878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62576923100005 meters 0.017574329889129676 Centerline is valid? [True, True] Translation: X:208.54, Y:162.89, Z:-0.70 [[ 8.50269498e-01 5.26346257e-01 -1.18265995e-03 2.08536894e+02] [-5.26345723e-01 8.50270321e-01 7.49738356e-04 1.62887759e+02] [ 1.40020263e-03 -1.49916487e-05 9.99999020e-01 -6.96859718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6557692310001 meters 0.018523099438031723 Centerline is valid? [True, True] Translation: X:208.56, Y:162.87, Z:-0.70 [[ 8.50793650e-01 5.25499758e-01 -4.12072632e-04 2.08559978e+02] [-5.25499693e-01 8.50793750e-01 2.60920655e-04 1.62870874e+02] [ 4.87702560e-04 -5.44559463e-06 9.99999881e-01 -6.95139940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68576923100005 meters 0.01898667477643952 Centerline is valid? [True, True] Translation: X:208.58, Y:162.86, Z:-0.69 [[ 8.51001552e-01 5.25163163e-01 -1.06507823e-04 2.08583433e+02] [-5.25163159e-01 8.51001558e-01 6.73985099e-05 1.62855279e+02] [ 1.26033538e-04 -1.42225156e-06 9.99999992e-01 -6.94646649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7157692310001 meters 0.01800870349805607 Centerline is valid? [True, True] Translation: X:208.61, Y:162.84, Z:-0.70 [[ 8.50681006e-01 5.25680964e-01 -1.16218102e-03 2.08608162e+02] [-5.25680449e-01 8.50681800e-01 7.36066127e-04 1.62842734e+02] [ 1.37558219e-03 -1.52216347e-05 9.99999054e-01 -6.97145407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74576923100005 meters 0.016948280084242658 Centerline is valid? [True, True] Translation: X:208.63, Y:162.83, Z:-0.70 [[ 8.49952549e-01 5.26854189e-01 -2.30809400e-03 2.08633434e+02] [-5.26852160e-01 8.49955683e-01 1.46230077e-03 1.62830154e+02] [ 2.73219690e-03 -2.68619539e-05 9.99996267e-01 -7.00062946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7757692310001 meters 0.015608850582727766 Centerline is valid? [True, True] Translation: X:208.66, Y:162.82, Z:-0.70 [[ 8.49113631e-01 5.28200466e-01 -3.21093505e-03 2.08658537e+02] [-5.28196551e-01 8.49119701e-01 2.03391591e-03 1.62817641e+02] [ 3.80078354e-03 -3.10209069e-05 9.99992777e-01 -7.02057478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80576923100006 meters 0.012292920612485244 Centerline is valid? [True, True] Translation: X:208.69, Y:162.81, Z:-0.70 [[ 8.47285513e-01 5.31129766e-01 -2.90380435e-03 2.08687510e+02] [-5.31126584e-01 8.47290488e-01 1.83849566e-03 1.62809642e+02] [ 3.43684558e-03 -1.54430551e-05 9.99994094e-01 -6.98776337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8357692310001 meters 0.011556171256766036 Centerline is valid? [True, True] Translation: X:208.71, Y:162.80, Z:-0.70 [[ 8.46141051e-01 5.32953901e-01 -2.33701225e-03 2.08713196e+02] [-5.32951848e-01 8.46144278e-01 1.47960993e-03 1.62799013e+02] [ 2.76601343e-03 -6.44369909e-06 9.99996175e-01 -6.98317108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86576923100006 meters 0.010986685613722926 Centerline is valid? [True, True] Translation: X:208.74, Y:162.79, Z:-0.70 [[ 8.44849396e-01 5.35001434e-01 -1.72191421e-03 2.08740943e+02] [-5.35000324e-01 8.44851150e-01 1.08948524e-03 1.62789633e+02] [ 2.03763737e-03 7.73718584e-07 9.99997924e-01 -6.97473937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89576923100003 meters 0.012007287333674092 Centerline is valid? [True, True] Translation: X:208.77, Y:162.78, Z:-0.70 [[ 8.42981981e-01 5.37940816e-01 -1.02913132e-03 2.08770941e+02] [-5.37940422e-01 8.42982609e-01 6.50747029e-04 1.62784134e+02] [ 1.21760319e-03 5.04331733e-06 9.99999259e-01 -6.95799819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92576923100006 meters 0.012395652886371572 Centerline is valid? [True, True] Translation: X:208.80, Y:162.77, Z:-0.70 [[ 8.42589472e-01 5.38555747e-01 -8.29563336e-04 2.08796072e+02] [-5.38555492e-01 8.42589881e-01 5.24264644e-04 1.62771901e+02] [ 9.81327409e-04 5.02602041e-06 9.99999518e-01 -6.95175864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95576923100003 meters 0.011878968932408526 Centerline is valid? [True, True] Translation: X:208.82, Y:162.76, Z:-0.69 [[ 8.42816051e-01 5.38201326e-01 -6.60851082e-04 2.08820127e+02] [-5.38201164e-01 8.42816310e-01 4.17359865e-04 1.62757147e+02] [ 7.81599703e-04 3.91322824e-06 9.99999695e-01 -6.94138060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98576923100006 meters 0.010757995909173894 Centerline is valid? [True, True] Translation: X:208.84, Y:162.74, Z:-0.69 [[ 8.44355208e-01 5.35782563e-01 1.15189733e-03 2.08843058e+02] [-5.35782068e-01 8.44355994e-01 -7.28296517e-04 1.62740130e+02] [-1.36281999e-03 -2.22497895e-06 9.99999071e-01 -6.91557122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01576923100004 meters 0.010643121335029425 Centerline is valid? [True, True] Translation: X:208.86, Y:162.72, Z:-0.69 [[ 8.45630205e-01 5.33766533e-01 1.68653231e-03 2.08864363e+02] [-5.33765469e-01 8.45631887e-01 -1.06575819e-03 1.62722435e+02] [-1.99505155e-03 1.02460662e-06 9.99998010e-01 -6.91074146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04576923100007 meters 0.011374652490949919 Centerline is valid? [True, True] Translation: X:208.89, Y:162.70, Z:-0.69 [[ 8.47337448e-01 5.31052876e-01 1.44637239e-03 2.08885787e+02] [-5.31052090e-01 8.47338683e-01 -9.13771912e-04 1.62702727e+02] [-1.71082847e-03 6.17408227e-06 9.99998537e-01 -6.91745082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07576923100004 meters 0.011374652490949919 Centerline is valid? [True, True] Translation: X:208.91, Y:162.69, Z:-0.69 [[ 8.47437151e-01 5.30893758e-01 1.44652101e-03 2.08909148e+02] [-5.30892973e-01 8.47438386e-01 -9.13536579e-04 1.62688214e+02] [-1.71082829e-03 6.21699854e-06 9.99998537e-01 -6.91795528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10576923100007 meters 0.01349433237257735 Centerline is valid? [True, True] Translation: X:208.93, Y:162.67, Z:-0.69 [[ 8.49173253e-01 5.28114122e-01 5.10979984e-04 2.08929378e+02] [-5.28114023e-01 8.49173407e-01 -3.22645443e-04 1.62667456e+02] [-6.04304229e-04 4.12618520e-06 9.99999817e-01 -6.94110461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13576923100004 meters 0.016119266892878927 Centerline is valid? [True, True] Translation: X:208.95, Y:162.65, Z:-0.70 [[ 8.51851482e-01 5.23782101e-01 -1.16716570e-03 2.08950548e+02] [-5.23781584e-01 8.51852282e-01 7.36025403e-04 1.62646912e+02] [ 1.37976970e-03 -1.56444291e-05 9.99999048e-01 -6.96115588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16576923100007 meters 0.017895388721411797 Centerline is valid? [True, True] Translation: X:208.97, Y:162.63, Z:-0.70 [[ 8.52284627e-01 5.23076926e-01 -1.20160340e-03 2.08971920e+02] [-5.23076377e-01 8.52285474e-01 7.57893433e-04 1.62629464e+02] [ 1.42054569e-03 -1.74105662e-05 9.99998991e-01 -6.96257687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19576923100004 meters 0.016887262805887347 Centerline is valid? [True, True] Translation: X:209.00, Y:162.62, Z:-0.70 [[ 8.52468095e-01 5.22778758e-01 -7.19641238e-04 2.08995643e+02] [-5.22778562e-01 8.52468398e-01 4.53351520e-04 1.62615487e+02] [ 8.50473959e-04 -1.02546952e-05 9.99999638e-01 -6.95653467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2257692310001 meters 0.017744743666601465 Centerline is valid? [True, True] Translation: X:209.02, Y:162.60, Z:-0.70 [[ 8.52310326e-01 5.23036349e-01 -2.92809770e-04 2.09017757e+02] [-5.23036316e-01 8.52310377e-01 1.84478071e-04 1.62598366e+02] [ 3.46053542e-04 -4.08242141e-06 9.99999940e-01 -6.95714800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25576923100004 meters 0.017581691861194938 Centerline is valid? [True, True] Translation: X:209.04, Y:162.58, Z:-0.70 [[ 8.52134037e-01 5.23323582e-01 -1.08210584e-04 2.09040704e+02] [-5.23323578e-01 8.52134044e-01 6.80889306e-05 1.62581844e+02] [ 1.27842465e-04 -1.39174556e-06 9.99999992e-01 -6.95382706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2857692310001 meters 0.016603601446949137 Centerline is valid? [True, True] Translation: X:209.07, Y:162.57, Z:-0.70 [[ 8.52058263e-01 5.23446754e-01 -4.61356835e-04 2.09065032e+02] [-5.23446673e-01 8.52058388e-01 2.90297583e-04 1.62567738e+02] [ 5.45058289e-04 -5.85475362e-06 9.99999851e-01 -6.95416305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31576923100005 meters 0.016699751658405846 Centerline is valid? [True, True] Translation: X:209.09, Y:162.55, Z:-0.70 [[ 8.51761479e-01 5.23926798e-01 -1.75845487e-03 2.09086801e+02] [-5.23925628e-01 8.51763294e-01 1.10767216e-03 1.62551899e+02] [ 2.07812644e-03 -2.21729004e-05 9.99997840e-01 -6.98280526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3457692310001 meters 0.016869748112803357 Centerline is valid? [True, True] Translation: X:209.11, Y:162.54, Z:-0.70 [[ 8.51899852e-01 5.23697206e-01 -2.80677054e-03 2.09110141e+02] [-5.23694225e-01 8.51904475e-01 1.76729595e-03 1.62535154e+02] [ 3.31662834e-03 -3.56696344e-05 9.99994499e-01 -7.01024380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37576923100005 meters 0.016295511358319074 Centerline is valid? [True, True] Translation: X:209.13, Y:162.52, Z:-0.70 [[ 8.52085498e-01 5.23387683e-01 -3.95453807e-03 2.09134057e+02] [-5.23381766e-01 8.52094673e-01 2.48915289e-03 1.62518921e+02] [ 4.67243278e-03 -5.12379551e-05 9.99989083e-01 -7.02324324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4057692310001 meters 0.016849877937446384 Centerline is valid? [True, True] Translation: X:209.15, Y:162.50, Z:-0.70 [[ 8.52418890e-01 5.22852146e-01 -2.76933060e-03 2.09153674e+02] [-5.22849243e-01 8.52423388e-01 1.74287508e-03 1.62500202e+02] [ 3.27190815e-03 -3.77172357e-05 9.99994647e-01 -7.00078577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43576923100005 meters 0.01618005952079753 Centerline is valid? [True, True] Translation: X:209.18, Y:162.48, Z:-0.70 [[ 8.52376080e-01 5.22927852e-01 -1.21667442e-03 2.09177855e+02] [-5.22927292e-01 8.52376948e-01 7.65120634e-04 1.62484477e+02] [ 1.43716812e-03 -1.59382662e-05 9.99998967e-01 -6.96564696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4657692310001 meters 0.015934556003980697 Centerline is valid? [True, True] Translation: X:209.20, Y:162.47, Z:-0.69 [[ 8.51986888e-01 5.23563102e-01 1.49278927e-04 2.09201332e+02] [-5.23563093e-01 8.51986901e-01 -9.40436599e-05 1.62468827e+02] [-1.76421481e-04 1.96702837e-06 9.99999984e-01 -6.94450082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49576923100005 meters 0.013996213573915395 Centerline is valid? [True, True] Translation: X:209.23, Y:162.45, Z:-0.69 [[ 8.50859200e-01 5.25393689e-01 3.06198846e-04 2.09226225e+02] [-5.25393654e-01 8.50859255e-01 -1.92927359e-04 1.62453715e+02] [-3.61894939e-04 3.27908769e-06 9.99999935e-01 -6.94645658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5257692310001 meters 0.01393792575415292 Centerline is valid? [True, True] Translation: X:209.25, Y:162.44, Z:-0.70 [[ 8.50505871e-01 5.25965373e-01 -4.36005449e-04 2.09248794e+02] [-5.25965301e-01 8.50505983e-01 2.74009301e-04 1.62436977e+02] [ 5.14944647e-04 -3.72278195e-06 9.99999867e-01 -6.96407662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55576923100006 meters 0.0141624351157924 Centerline is valid? [True, True] Translation: X:209.27, Y:162.42, Z:-0.70 [[ 8.50373978e-01 5.26177637e-01 -1.09182638e-03 2.09269939e+02] [-5.26177189e-01 8.50374679e-01 6.86192843e-04 1.62420476e+02] [ 1.28952084e-03 -9.02640137e-06 9.99999169e-01 -6.98007422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5857692310001 meters 0.013349537961951248 Centerline is valid? [True, True] Translation: X:209.29, Y:162.41, Z:-0.70 [[ 8.50248581e-01 5.26379079e-01 -1.55398595e-03 2.09293367e+02] [-5.26378175e-01 8.50250001e-01 9.76068948e-04 1.62405392e+02] [ 1.83505883e-03 -1.19169483e-05 9.99998316e-01 -6.98033165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61576923100006 meters 0.012832443689141406 Centerline is valid? [True, True] Translation: X:209.32, Y:162.39, Z:-0.69 [[ 8.49831421e-01 5.27054350e-01 -5.17995369e-04 2.09315067e+02] [-5.27054249e-01 8.49831579e-01 3.25235564e-04 1.62387323e+02] [ 6.11625641e-04 -3.38374080e-06 9.99999813e-01 -6.94580298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64576923100003 meters 0.012496346743965311 Centerline is valid? [True, True] Translation: X:209.34, Y:162.37, Z:-0.69 [[ 8.49755700e-01 5.27176677e-01 1.96929373e-05 2.09337847e+02] [-5.27176677e-01 8.49755701e-01 -1.27836170e-05 1.62370523e+02] [-2.34734105e-05 4.81294139e-07 1.00000000e+00 -6.94223496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67576923100006 meters 0.01250339481371757 Centerline is valid? [True, True] Translation: X:209.36, Y:162.35, Z:-0.70 [[ 8.49665797e-01 5.27321564e-01 3.66350569e-05 2.09359494e+02] [-5.27321564e-01 8.49665798e-01 -2.31832072e-05 1.62354134e+02] [-4.33525600e-05 3.79522790e-07 9.99999999e-01 -6.95020703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70576923100003 meters 0.012204676644422508 Centerline is valid? [True, True] Translation: X:209.38, Y:162.34, Z:-0.70 [[ 8.49485688e-01 5.27611537e-01 -3.63056098e-04 2.09380866e+02] [-5.27611488e-01 8.49485765e-01 2.27444977e-04 1.62335321e+02] [ 4.28413581e-04 -1.65868444e-06 9.99999908e-01 -6.96204461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73576923100006 meters 0.011892628644920586 Centerline is valid? [True, True] Translation: X:209.40, Y:162.32, Z:-0.69 [[ 8.49207612e-01 5.28059105e-01 1.17760866e-04 2.09403801e+02] [-5.28059100e-01 8.49207620e-01 -7.42871569e-05 1.62318913e+02] [-1.39231434e-04 9.00522230e-07 9.99999990e-01 -6.94980336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76576923100004 meters 0.011532442269992532 Centerline is valid? [True, True] Translation: X:209.43, Y:162.30, Z:-0.69 [[ 8.48619191e-01 5.29003367e-01 9.52580165e-04 2.09426815e+02] [-5.29003029e-01 8.48619725e-01 -5.97638327e-04 1.62302797e+02] [-1.12453100e-03 3.24956044e-06 9.99999368e-01 -6.92710049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79576923100007 meters 0.01107189814402526 Centerline is valid? [True, True] Translation: X:209.45, Y:162.29, Z:-0.69 [[ 8.47679178e-01 5.30506728e-01 1.61928199e-03 2.09450568e+02] [-5.30505756e-01 8.47680725e-01 -1.01569746e-03 1.62288584e+02] [-1.91146846e-03 1.94717665e-06 9.99998173e-01 -6.90957404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82576923100004 meters 0.012296853795912284 Centerline is valid? [True, True] Translation: X:209.48, Y:162.28, Z:-0.69 [[ 8.44793439e-01 5.35091742e-01 9.34557461e-04 2.09477131e+02] [-5.35091421e-01 8.44793956e-01 -5.86179954e-04 1.62278404e+02] [-1.10316855e-03 -4.87270104e-06 9.99999392e-01 -6.92594077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85576923100007 meters 0.013825243338908532 Centerline is valid? [True, True] Translation: X:209.50, Y:162.27, Z:-0.70 [[ 8.43387206e-01 5.37306263e-01 -3.96516603e-06 2.09503102e+02] [-5.37306263e-01 8.43387206e-01 2.12684066e-06 1.62265132e+02] [ 4.48693503e-06 3.36758346e-07 1.00000000e+00 -6.95084926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88576923100004 meters 0.016703269724446107 Centerline is valid? [True, True] Translation: X:209.53, Y:162.25, Z:-0.70 [[ 8.41841475e-01 5.39723985e-01 -9.75864318e-04 2.09528615e+02] [-5.39723638e-01 8.41842040e-01 6.11485566e-04 1.62254300e+02] [ 1.15155703e-03 1.19231302e-05 9.99999337e-01 -6.97367431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91576923100007 meters 0.018692383325875733 Centerline is valid? [True, True] Translation: X:209.55, Y:162.24, Z:-0.70 [[ 8.40397284e-01 5.41969061e-01 -1.39337236e-03 2.09553975e+02] [-5.41968359e-01 8.40398439e-01 8.72648067e-04 1.62240887e+02] [ 1.64393621e-03 2.17926653e-05 9.99998649e-01 -6.97765483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94576923100004 meters 0.024603058646932487 Centerline is valid? [True, True] Translation: X:209.58, Y:162.23, Z:-0.70 [[ 8.37634334e-01 5.46231165e-01 -4.86672460e-04 2.09581909e+02] [-5.46231080e-01 8.37634475e-01 3.04787773e-04 1.62232426e+02] [ 5.74138211e-04 1.05349198e-05 9.99999835e-01 -6.95497276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.9757692310001 meters 0.027062756240832538 Centerline is valid? [True, True] Translation: X:209.61, Y:162.22, Z:-0.69 [[ 8.36423174e-01 5.48084173e-01 1.17364157e-04 2.09608452e+02] [-5.48084168e-01 8.36423182e-01 -7.38398198e-05 1.62220333e+02] [-1.38636539e-04 -2.56410009e-06 9.99999990e-01 -6.94334899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00576923100004 meters 0.027911825602554233 Centerline is valid? [True, True] Translation: X:209.63, Y:162.21, Z:-0.69 [[ 8.35583646e-01 5.49362792e-01 7.02056808e-04 2.09633694e+02] [-5.49362616e-01 8.35583941e-01 -4.39857103e-04 1.62206696e+02] [-8.28268521e-04 -1.81463628e-05 9.99999657e-01 -6.94033440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0357692310001 meters 0.03220368814513594 Centerline is valid? [True, True] Translation: X:209.66, Y:162.20, Z:-0.70 [[ 8.34505670e-01 5.50999325e-01 1.75333215e-04 2.09660084e+02] [-5.50999314e-01 8.34505688e-01 -1.09895109e-04 1.62197115e+02] [-2.06868697e-04 -4.90038946e-06 9.99999979e-01 -6.96195283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06576923100005 meters 0.03364030753504794 Centerline is valid? [True, True] Translation: X:209.68, Y:162.18, Z:-0.70 [[ 8.33943570e-01 5.51849564e-01 -4.25561317e-04 2.09684219e+02] [-5.51849500e-01 8.33943678e-01 2.66111616e-04 1.62184042e+02] [ 5.01747749e-04 1.29237288e-05 9.99999874e-01 -6.97179318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0957692310001 meters 0.03261235705661375 Centerline is valid? [True, True] Translation: X:209.71, Y:162.17, Z:-0.70 [[ 8.33177248e-01 5.53005663e-01 -6.40799613e-04 2.09707909e+02] [-5.53005519e-01 8.33177494e-01 4.00526699e-04 1.62167644e+02] [ 7.55393349e-04 2.06559901e-05 9.99999714e-01 -6.97345280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12576923100005 meters 0.0328844653238446 Centerline is valid? [True, True] Translation: X:209.73, Y:162.15, Z:-0.70 [[ 8.31998135e-01 5.54777604e-01 -9.55525107e-04 2.09733709e+02] [-5.54777283e-01 8.31998683e-01 5.97677170e-04 1.62152811e+02] [ 1.12657354e-03 3.28373322e-05 9.99999365e-01 -6.96760040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1557692310001 meters 0.03808574643934661 Centerline is valid? [True, True] Translation: X:209.76, Y:162.15, Z:-0.70 [[ 8.29537288e-01 5.58450379e-01 -1.03047754e-03 2.09762547e+02] [-5.58450009e-01 8.29537927e-01 6.44474356e-04 1.62145579e+02] [ 1.21472715e-03 4.08546838e-05 9.99999261e-01 -6.97491413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18576923100005 meters 0.04025923974523843 Centerline is valid? [True, True] Translation: X:209.79, Y:162.13, Z:-0.70 [[ 8.28802000e-01 5.59541042e-01 -1.03251572e-03 2.09788117e+02] [-5.59540672e-01 8.28802642e-01 6.45625799e-04 1.62134065e+02] [ 1.21700589e-03 4.26385875e-05 9.99999259e-01 -6.97880681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2157692310001 meters 0.04048217985220426 Centerline is valid? [True, True] Translation: X:209.81, Y:162.12, Z:-0.70 [[ 8.28532825e-01 5.59939766e-01 -9.03497268e-04 2.09813105e+02] [-5.59939483e-01 8.28533317e-01 5.64503828e-04 1.62119876e+02] [ 1.06466573e-03 3.81938414e-05 9.99999433e-01 -6.98428451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24576923100005 meters 0.047108691574862 Centerline is valid? [True, True] Translation: X:209.84, Y:162.11, Z:-0.70 [[ 8.27680448e-01 5.61199469e-01 -4.81962840e-04 2.09842769e+02] [-5.61199389e-01 8.27680588e-01 3.01186829e-04 1.62114051e+02] [ 5.67937175e-04 2.11908018e-05 9.99999839e-01 -6.98135719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2757692310001 meters 0.044154187343036014 Centerline is valid? [True, True] Translation: X:209.87, Y:162.10, Z:-0.70 [[ 8.26929204e-01 5.62305874e-01 -4.41877655e-04 2.09865590e+02] [-5.62305807e-01 8.26929322e-01 2.75781481e-04 1.62096506e+02] [ 5.20475136e-04 2.04186110e-05 9.99999864e-01 -6.97251058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30576923100006 meters 0.047499440803844585 Centerline is valid? [True, True] Translation: X:209.89, Y:162.09, Z:-0.70 [[ 8.25251596e-01 5.64764947e-01 -5.98633706e-04 2.09894430e+02] [-5.64764824e-01 8.25251813e-01 3.73878715e-04 1.62086262e+02] [ 7.05177144e-04 2.95432530e-05 9.99999751e-01 -6.98150256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3357692310001 meters 0.054778232242710945 Centerline is valid? [True, True] Translation: X:209.92, Y:162.08, Z:-0.70 [[ 8.24530690e-01 5.65816755e-01 -7.35356691e-04 2.09924389e+02] [-5.65816570e-01 8.24531017e-01 4.59344872e-04 1.62080170e+02] [ 8.66229426e-04 3.73330565e-05 9.99999624e-01 -6.99102680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36576923100006 meters 0.05033742603000012 Centerline is valid? [True, True] Translation: X:209.95, Y:162.06, Z:-0.70 [[ 8.24239194e-01 5.66241440e-01 -6.18899428e-04 2.09946460e+02] [-5.66241310e-01 8.24239425e-01 3.86179553e-04 1.62061704e+02] [ 7.28792175e-04 3.21420990e-05 9.99999734e-01 -6.98718514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3957692310001 meters 0.04667629047149716 Centerline is valid? [True, True] Translation: X:209.97, Y:162.04, Z:-0.70 [[ 8.24144111e-01 5.66378837e-01 -1.22411559e-03 2.09969397e+02] [-5.66378325e-01 8.24145017e-01 7.63861987e-04 1.62044835e+02] [ 1.44148403e-03 6.37801809e-05 9.99998959e-01 -6.99795498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42576923100006 meters 0.047353276142621754 Centerline is valid? [True, True] Translation: X:209.99, Y:162.03, Z:-0.70 [[ 8.24362001e-01 5.66060624e-01 -1.63136058e-03 2.09993798e+02] [-5.66059715e-01 8.24363611e-01 1.01820503e-03 1.62031532e+02] [ 1.92120007e-03 8.40779661e-05 9.99998151e-01 -7.00891656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45576923100003 meters 0.04695750457719933 Centerline is valid? [True, True] Translation: X:210.02, Y:162.02, Z:-0.70 [[ 8.24633104e-01 5.65665549e-01 -1.65223038e-03 2.10018406e+02] [-5.65664617e-01 8.24634755e-01 1.03062529e-03 1.62016222e+02] [ 1.94547581e-03 8.47205300e-05 9.99998104e-01 -7.00175687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48576923100006 meters 0.049243267039161806 Centerline is valid? [True, True] Translation: X:210.05, Y:162.01, Z:-0.70 [[ 8.25009520e-01 5.65118796e-01 1.98382663e-04 2.10045012e+02] [-5.65118782e-01 8.25009544e-01 -1.23900126e-04 1.62006564e+02] [-2.33685880e-04 -9.89098486e-06 9.99999973e-01 -6.97055420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51576923100004 meters 0.04671463749486794 Centerline is valid? [True, True] Translation: X:210.07, Y:161.99, Z:-0.70 [[ 8.25184307e-01 5.64862827e-01 9.19579595e-04 2.10067634e+02] [-5.64862537e-01 8.25184818e-01 -5.73903109e-04 1.61990776e+02] [-1.08299965e-03 -4.58602241e-05 9.99999413e-01 -6.95915836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54576923100007 meters 0.047384572437520076 Centerline is valid? [True, True] Translation: X:210.09, Y:161.98, Z:-0.70 [[ 8.25195675e-01 5.64846215e-01 9.23180263e-04 2.10094153e+02] [-5.64845923e-01 8.25196190e-01 -5.75886875e-04 1.61977936e+02] [-1.08709236e-03 -4.62352495e-05 9.99999408e-01 -6.95946260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57576923100004 meters 0.04419218598097858 Centerline is valid? [True, True] Translation: X:210.12, Y:161.96, Z:-0.70 [[ 8.25204150e-01 5.64834174e-01 6.83382868e-04 2.10118358e+02] [-5.64834014e-01 8.25204432e-01 -4.26244124e-04 1.61961861e+02] [-8.04687819e-04 -3.42594686e-05 9.99999676e-01 -6.96875504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60576923100007 meters 0.04697737665213407 Centerline is valid? [True, True] Translation: X:210.15, Y:161.96, Z:-0.70 [[ 8.24609203e-01 5.65700639e-01 -1.56492459e-03 2.10147882e+02] [-5.65699804e-01 8.24610684e-01 9.74987284e-04 1.61957215e+02] [ 1.84200447e-03 8.12940455e-05 9.99998300e-01 -7.01030391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63576923100004 meters 0.050494209657496555 Centerline is valid? [True, True] Translation: X:210.18, Y:161.95, Z:-0.70 [[ 8.24601845e-01 5.65709202e-01 -2.21254368e-03 2.10176235e+02] [-5.65707534e-01 8.24604806e-01 1.37834559e-03 1.61950257e+02] [ 2.60421694e-03 1.15066314e-04 9.99996602e-01 -7.03179400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66576923100007 meters 0.046711439180349916 Centerline is valid? [True, True] Translation: X:210.20, Y:161.93, Z:-0.70 [[ 8.25250755e-01 5.64762302e-01 -2.17568495e-03 2.10199956e+02] [-5.64760688e-01 8.25253616e-01 1.35465416e-03 1.61934120e+02] [ 2.56054947e-03 1.10811966e-04 9.99996716e-01 -7.02475822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69576923100004 meters 0.0535794447909563 Centerline is valid? [True, True] Translation: X:210.23, Y:161.93, Z:-0.70 [[ 8.27964655e-01 5.60780027e-01 -5.39150818e-04 2.10232086e+02] [-5.60779927e-01 8.27964830e-01 3.35672525e-04 1.61932397e+02] [ 6.34636363e-04 2.44199702e-05 9.99999798e-01 -6.99936345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7257692310001 meters 0.03894930870234862 Centerline is valid? [True, True] Translation: X:210.25, Y:161.90, Z:-0.70 [[ 8.30022478e-01 5.57729852e-01 3.14056871e-04 2.10248750e+02] [-5.57729817e-01 8.30022537e-01 -1.95826681e-04 1.61902570e+02] [-3.69892667e-04 -1.26183345e-05 9.99999932e-01 -6.97458249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75576923100004 meters 0.036672735186670184 Centerline is valid? [True, True] Translation: X:210.27, Y:161.89, Z:-0.70 [[ 8.31992795e-01 5.54786044e-01 6.59233358e-04 2.10271952e+02] [-5.54785893e-01 8.31993056e-01 -4.10449832e-04 1.61886670e+02] [-7.76189414e-04 -2.42420645e-05 9.99999698e-01 -6.97329162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7857692310001 meters 0.029201722649182728 Centerline is valid? [True, True] Translation: X:210.29, Y:161.86, Z:-0.70 [[ 8.36038570e-01 5.48670412e-01 5.37622205e-04 2.10292467e+02] [-5.48670310e-01 8.36038742e-01 -3.34716009e-04 1.61863696e+02] [-6.33121763e-04 -1.51418480e-05 9.99999799e-01 -6.97851350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81576923100005 meters 0.025660369901308547 Centerline is valid? [True, True] Translation: X:210.31, Y:161.84, Z:-0.70 [[ 8.38036776e-01 5.45613499e-01 5.22389093e-04 2.10314519e+02] [-5.45613402e-01 8.38036938e-01 -3.25214754e-04 1.61844406e+02] [-6.15222916e-04 -1.24805662e-05 9.99999811e-01 -6.97671952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8457692310001 meters 0.022647346772148677 Centerline is valid? [True, True] Translation: X:210.34, Y:161.83, Z:-0.70 [[ 8.39899988e-01 5.42741141e-01 2.52809825e-04 2.10336500e+02] [-5.42741118e-01 8.39900026e-01 -1.57450317e-04 1.61826524e+02] [-2.97789743e-04 -4.96776754e-06 9.99999956e-01 -6.97380775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87576923100005 meters 0.01964426782617988 Centerline is valid? [True, True] Translation: X:210.36, Y:161.81, Z:-0.70 [[ 8.41550007e-01 5.40179216e-01 -1.25342950e-05 2.10359418e+02] [-5.40179216e-01 8.41550007e-01 7.46814677e-06 1.61807763e+02] [ 1.45823736e-05 4.85946665e-07 1.00000000e+00 -6.97731890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9057692310001 meters 0.015606815606629194 Centerline is valid? [True, True] Translation: X:210.38, Y:161.79, Z:-0.70 [[ 8.44045633e-01 5.36271353e-01 -7.08509910e-05 2.10380518e+02] [-5.36271351e-01 8.44045636e-01 4.37264881e-05 1.61786156e+02] [ 8.32507327e-05 1.08820531e-06 9.99999997e-01 -6.97222662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93576923100005 meters 0.014477667284246003 Centerline is valid? [True, True] Translation: X:210.40, Y:161.77, Z:-0.70 [[ 8.45088132e-01 5.34626942e-01 2.85578442e-04 2.10402658e+02] [-5.34626913e-01 8.45088180e-01 -1.77700443e-04 1.61768998e+02] [-3.36342411e-04 -2.50538522e-06 9.99999943e-01 -6.96852496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9657692310001 meters 0.014477667284246003 Centerline is valid? [True, True] Translation: X:210.43, Y:161.75, Z:-0.70 [[ 8.45187719e-01 5.34469493e-01 2.85488450e-04 2.10426117e+02] [-5.34469463e-01 8.45187767e-01 -1.77845221e-04 1.61754646e+02] [-3.36344191e-04 -2.27226223e-06 9.99999943e-01 -6.96902960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99576923100005 meters 0.013648045830534762 Centerline is valid? [True, True] Translation: X:210.45, Y:161.74, Z:-0.70 [[ 8.45986696e-01 5.33203652e-01 6.13945503e-04 2.10448455e+02] [-5.33203515e-01 8.45986918e-01 -3.81667744e-04 1.61737691e+02] [-7.22896498e-04 -4.47206698e-06 9.99999739e-01 -6.96478617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0257692310001 meters 0.012661545383624937 Centerline is valid? [True, True] Translation: X:210.47, Y:161.72, Z:-0.70 [[ 8.46755688e-01 5.31981956e-01 5.65570742e-05 2.10470100e+02] [-5.31981954e-01 8.46755690e-01 -3.55441392e-05 1.61718710e+02] [-6.67988652e-05 9.85923988e-09 9.99999998e-01 -6.97205775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05576923100006 meters 0.012983176177559272 Centerline is valid? [True, True] Translation: X:210.49, Y:161.70, Z:-0.70 [[ 8.46664034e-01 5.32127812e-01 7.99732650e-05 2.10492942e+02] [-5.32127809e-01 8.46664037e-01 -4.98489150e-05 1.61704726e+02] [-9.42364816e-05 -3.50714877e-07 9.99999996e-01 -6.97368195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0857692310001 meters 0.013355916068059186 Centerline is valid? [True, True] Translation: X:210.52, Y:161.69, Z:-0.70 [[ 8.46461965e-01 5.32448744e-01 6.90492211e-04 2.10515570e+02] [-5.32448571e-01 8.46462247e-01 -4.28948897e-04 1.61690606e+02] [-8.12868890e-04 -4.56266441e-06 9.99999670e-01 -6.96502110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11576923100006 meters 0.01331799434415719 Centerline is valid? [True, True] Translation: X:210.54, Y:161.68, Z:-0.70 [[ 8.46580277e-01 5.32259527e-01 1.27717861e-03 2.10538254e+02] [-5.32258936e-01 8.46581240e-01 -7.93138313e-04 1.61675396e+02] [-1.50339088e-03 -8.33447714e-06 9.99998870e-01 -6.95507190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1457692310001 meters 0.012456041936231461 Centerline is valid? [True, True] Translation: X:210.56, Y:161.66, Z:-0.69 [[ 8.47363653e-01 5.31010159e-01 1.74662995e-03 2.10559244e+02] [-5.31009052e-01 8.47365453e-01 -1.08426020e-03 1.61655620e+02] [-2.05578706e-03 -8.71362647e-06 9.99997887e-01 -6.94347492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17576923100006 meters 0.01200843387000177 Centerline is valid? [True, True] Translation: X:210.58, Y:161.64, Z:-0.69 [[ 8.47937401e-01 5.30094755e-01 1.30972532e-03 2.10581000e+02] [-5.30094131e-01 8.47938412e-01 -8.12770351e-04 1.61637673e+02] [-1.54141171e-03 -5.09932822e-06 9.99998812e-01 -6.94932496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20576923100003 meters 0.011797991790786515 Centerline is valid? [True, True] Translation: X:210.60, Y:161.62, Z:-0.70 [[ 8.48398305e-01 5.29358112e-01 5.52734529e-04 2.10602546e+02] [-5.29358000e-01 8.48398485e-01 -3.43206456e-04 1.61619906e+02] [-6.50618259e-04 -1.41866987e-06 9.99999788e-01 -6.96533343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23576923100006 meters 0.012111149899669767 Centerline is valid? [True, True] Translation: X:210.62, Y:161.60, Z:-0.70 [[ 8.48137659e-01 5.29775768e-01 -3.82451828e-04 2.10624369e+02] [-5.29775715e-01 8.48137746e-01 2.37057410e-04 1.61602355e+02] [ 4.49959102e-04 1.55637339e-06 9.99999899e-01 -6.98553145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26576923100004 meters 0.012648870731610294 Centerline is valid? [True, True] Translation: X:210.65, Y:161.59, Z:-0.70 [[ 8.47362592e-01 5.31014691e-01 -1.87622263e-04 2.10649246e+02] [-5.31014678e-01 8.47362613e-01 1.15953631e-04 1.61587308e+02] [ 2.20557173e-04 1.37540618e-06 9.99999976e-01 -6.96838173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29576923100007 meters 0.015065083086577828 Centerline is valid? [True, True] Translation: X:210.68, Y:161.58, Z:-0.70 [[ 8.45853896e-01 5.33414477e-01 4.27516409e-04 2.10675511e+02] [-5.33414411e-01 8.45854004e-01 -2.65118019e-04 1.61576517e+02] [-5.03034256e-04 -3.79230463e-06 9.99999873e-01 -6.95612474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32576923100004 meters 0.01933971720842058 Centerline is valid? [True, True] Translation: X:210.70, Y:161.57, Z:-0.69 [[ 8.41752224e-01 5.39863381e-01 8.50190106e-04 2.10704430e+02] [-5.39863124e-01 8.41752654e-01 -5.27017187e-04 1.61567558e+02] [-1.00016706e-03 -1.53683975e-05 9.99999500e-01 -6.94007502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35576923100007 meters 0.024061135232971792 Centerline is valid? [True, True] Translation: X:210.73, Y:161.56, Z:-0.70 [[ 8.39418300e-01 5.43485789e-01 3.38792399e-04 2.10732921e+02] [-5.43485749e-01 8.39418368e-01 -2.10067506e-04 1.61559469e+02] [-3.98557267e-04 -7.79433182e-06 9.99999921e-01 -6.95437732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38576923100004 meters 0.027264769823842794 Centerline is valid? [True, True] Translation: X:210.76, Y:161.55, Z:-0.70 [[ 8.37006244e-01 5.47193201e-01 -3.85101318e-04 2.10760982e+02] [-5.47193149e-01 8.37006332e-01 2.38510303e-04 1.61549436e+02] [ 4.52843458e-04 1.10901902e-05 9.99999897e-01 -6.97228506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41576923100007 meters 0.035361400795607845 Centerline is valid? [True, True] Translation: X:210.79, Y:161.55, Z:-0.70 [[ 8.32271615e-01 5.54367498e-01 -7.97888565e-04 2.10793703e+02] [-5.54367279e-01 8.32271997e-01 4.94272132e-04 1.61547168e+02] [ 9.38068714e-04 3.09546469e-05 9.99999560e-01 -6.97808890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44576923100004 meters 0.042912633801870076 Centerline is valid? [True, True] Translation: X:210.82, Y:161.54, Z:-0.70 [[ 8.30081664e-01 5.57641309e-01 -7.75713910e-04 2.10824799e+02] [-5.57641103e-01 8.30082026e-01 4.80492169e-04 1.61543117e+02] [ 9.11848456e-04 3.37222203e-05 9.99999584e-01 -6.97666380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.4757692310001 meters 0.04379666515634829 Centerline is valid? [True, True] Translation: X:210.85, Y:161.53, Z:-0.70 [[ 8.28005363e-01 5.60719400e-01 -9.34479977e-04 2.10852471e+02] [-5.60719103e-01 8.28005889e-01 5.78840942e-04 1.61531367e+02] [ 1.09832227e-03 4.46973700e-05 9.99999396e-01 -6.97276052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50576923100004 meters 0.05007256548870303 Centerline is valid? [True, True] Translation: X:210.88, Y:161.53, Z:-0.70 [[ 8.25988846e-01 5.63684404e-01 -1.52306851e-03 2.10883100e+02] [-5.63683620e-01 8.25990246e-01 9.43363666e-04 1.61526889e+02] [ 1.78979912e-03 7.93209078e-05 9.99998395e-01 -6.99355442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5357692310001 meters 0.06420475442492461 Centerline is valid? [True, True] Translation: X:210.92, Y:161.54, Z:-0.70 [[ 8.22394410e-01 5.68908813e-01 -3.19318466e-03 2.10921853e+02] [-5.68905408e-01 8.22400587e-01 1.97770549e-03 1.61536176e+02] [ 3.75121102e-03 1.90166083e-04 9.99992946e-01 -7.04025076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56576923100005 meters 0.05743534563886794 Centerline is valid? [True, True] Translation: X:210.95, Y:161.52, Z:-0.70 [[ 8.20994624e-01 5.70928108e-01 -2.98728606e-03 2.10945119e+02] [-5.70925141e-01 8.21000037e-01 1.85007909e-03 1.61517836e+02] [ 3.50882412e-03 1.86611731e-04 9.99993827e-01 -7.02521286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5957692310001 meters 0.061635115791447634 Centerline is valid? [True, True] Translation: X:210.98, Y:161.52, Z:-0.70 [[ 8.19207346e-01 5.73496425e-01 -1.08377461e-03 2.10978909e+02] [-5.73496037e-01 8.19208060e-01 6.71019388e-04 1.61518485e+02] [ 1.27266412e-03 7.18364324e-05 9.99999188e-01 -6.98252267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62576923100005 meters 0.06252296962237826 Centerline is valid? [True, True] Translation: X:211.01, Y:161.51, Z:-0.70 [[ 8.18948341e-01 5.73867229e-01 -1.38035132e-04 2.11007726e+02] [-5.73867223e-01 8.18948352e-01 8.50985413e-05 1.61510596e+02] [ 1.61878908e-04 9.52252844e-06 9.99999987e-01 -6.95785232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6557692310001 meters 0.0633178816575623 Centerline is valid? [True, True] Translation: X:211.04, Y:161.50, Z:-0.69 [[ 8.19096372e-01 5.73655653e-01 5.70597265e-04 2.11036269e+02] [-5.73655545e-01 8.19096570e-01 -3.53338726e-04 1.61502971e+02] [-6.70069020e-04 -3.79078172e-05 9.99999775e-01 -6.94704033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68576923100005 meters 0.06155846295071671 Centerline is valid? [True, True] Translation: X:211.07, Y:161.50, Z:-0.70 [[ 8.20653549e-01 5.71425680e-01 6.67488749e-04 2.11067116e+02] [-5.71425532e-01 8.20653819e-01 -4.13298414e-04 1.61496617e+02] [-7.83946518e-04 -4.22453035e-05 9.99999692e-01 -6.95336313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7157692310001 meters 0.06016484384662225 Centerline is valid? [True, True] Translation: X:211.09, Y:161.49, Z:-0.70 [[ 8.21743770e-01 5.69857144e-01 1.07780685e-04 2.11093231e+02] [-5.69857140e-01 8.21743777e-01 -6.67876752e-05 1.61485301e+02] [-1.26627541e-04 -6.53723706e-06 9.99999992e-01 -6.96733831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74576923100005 meters 0.05749354359138604 Centerline is valid? [True, True] Translation: X:211.12, Y:161.47, Z:-0.70 [[ 8.23108969e-01 5.67883361e-01 -3.37645267e-04 2.11119990e+02] [-5.67883323e-01 8.23109038e-01 2.08504053e-04 1.61472092e+02] [ 3.96324853e-04 2.01215599e-05 9.99999921e-01 -6.97553555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7757692310001 meters 0.05324357310767686 Centerline is valid? [True, True] Translation: X:211.15, Y:161.46, Z:-0.70 [[ 8.26398437e-01 5.63085530e-01 5.56083904e-04 2.11148895e+02] [-5.63085425e-01 8.26398624e-01 -3.44104885e-04 1.61464261e+02] [-6.53307454e-04 -2.87550022e-05 9.99999786e-01 -6.95544975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80576923100006 meters 0.05038073514375539 Centerline is valid? [True, True] Translation: X:211.18, Y:161.45, Z:-0.69 [[ 8.27923357e-01 5.60840422e-01 9.67978482e-04 2.11175309e+02] [-5.60840104e-01 8.27923921e-01 -5.98575419e-04 1.61450501e+02] [-1.13711783e-03 -4.73065829e-05 9.99999352e-01 -6.94757156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8357692310001 meters 0.048168560132795475 Centerline is valid? [True, True] Translation: X:211.20, Y:161.44, Z:-0.70 [[ 8.29369031e-01 5.58700277e-01 1.00518187e-03 2.11200481e+02] [-5.58699934e-01 8.29369639e-01 -6.21298485e-04 1.61437994e+02] [-1.18078696e-03 -4.63093202e-05 9.99999302e-01 -6.95084754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86576923100006 meters 0.04529664145085895 Centerline is valid? [True, True] Translation: X:211.23, Y:161.42, Z:-0.70 [[ 8.30850097e-01 5.56495946e-01 6.15944464e-04 2.11226477e+02] [-5.56495816e-01 8.30850325e-01 -3.80831814e-04 1.61423744e+02] [-7.23689018e-04 -2.63563681e-05 9.99999738e-01 -6.95286087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8957692310001 meters 0.039497126161976814 Centerline is valid? [True, True] Translation: X:211.25, Y:161.41, Z:-0.69 [[ 8.34065323e-01 5.51661997e-01 2.01947848e-03 2.11251580e+02] [-5.51660592e-01 8.34067764e-01 -1.24758738e-03 1.61410134e+02] [-2.37262845e-03 -7.34973231e-05 9.99997183e-01 -6.92598321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92576923100006 meters 0.03509244165995451 Centerline is valid? [True, True] Translation: X:211.27, Y:161.39, Z:-0.69 [[ 8.36303807e-01 5.48256619e-01 3.25920985e-03 2.11274561e+02] [-5.48252932e-01 8.36310151e-01 -2.01321941e-03 1.61393195e+02] [-3.82947115e-03 -1.03208299e-04 9.99992662e-01 -6.90205324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95576923100003 meters 0.030124913018598543 Centerline is valid? [True, True] Translation: X:211.30, Y:161.37, Z:-0.69 [[ 8.38782280e-01 5.44451490e-01 4.10633320e-03 2.11296956e+02] [-5.44445593e-01 8.38792325e-01 -2.53617727e-03 1.61373909e+02] [-4.82518626e-03 -1.08374460e-04 9.99988353e-01 -6.88323081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98576923100006 meters 0.018682392931260436 Centerline is valid? [True, True] Translation: X:211.31, Y:161.35, Z:-0.69 [[ 8.43636130e-01 5.36910675e-01 2.23752164e-03 2.11314852e+02] [-5.36908898e-01 8.43639097e-01 -1.38174739e-03 1.61346532e+02] [-2.62953566e-03 -3.56532551e-05 9.99996542e-01 -6.92598658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01576923100004 meters 0.016713096565868918 Centerline is valid? [True, True] Translation: X:211.34, Y:161.33, Z:-0.70 [[ 8.45773396e-01 5.33542093e-01 4.44686311e-04 2.11337254e+02] [-5.33542022e-01 8.45773513e-01 -2.74682130e-04 1.61329955e+02] [-5.22658382e-04 -4.93999544e-06 9.99999863e-01 -6.97060482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04576923100007 meters 0.014274994901524013 Centerline is valid? [True, True] Translation: X:211.36, Y:161.31, Z:-0.70 [[ 8.47369495e-01 5.31003340e-01 -6.25995159e-04 2.11358809e+02] [-5.31003200e-01 8.47369726e-01 3.86159525e-04 1.61312093e+02] [ 7.35501343e-04 5.18563049e-06 9.99999730e-01 -7.00438234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07576923100004 meters 0.012485455772074898 Centerline is valid? [True, True] Translation: X:211.38, Y:161.29, Z:-0.70 [[ 8.48506262e-01 5.29184502e-01 -9.41362485e-04 2.11381668e+02] [-5.29184184e-01 8.48506784e-01 5.80437131e-04 1.61293293e+02] [ 1.10591079e-03 5.64959757e-06 9.99999388e-01 -7.00334019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10576923100007 meters 0.011945404175732841 Centerline is valid? [True, True] Translation: X:211.40, Y:161.28, Z:-0.70 [[ 8.49356334e-01 5.27819769e-01 -3.31718932e-04 2.11404589e+02] [-5.27819730e-01 8.49356398e-01 2.04498358e-04 1.61277059e+02] [ 3.89685873e-04 1.39582190e-06 9.99999924e-01 -6.98248872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13576923100004 meters 0.01218238497057278 Centerline is valid? [True, True] Translation: X:211.43, Y:161.26, Z:-0.70 [[ 8.49235849e-01 5.28012976e-01 -8.77255872e-04 2.11427923e+02] [-5.28012699e-01 8.49236303e-01 5.40687993e-04 1.61264454e+02] [ 1.03048781e-03 4.03061371e-06 9.99999469e-01 -6.99169826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16576923100007 meters 0.013030833768263424 Centerline is valid? [True, True] Translation: X:211.45, Y:161.25, Z:-0.70 [[ 8.48749093e-01 5.28792117e-01 -1.96823367e-03 2.11453805e+02] [-5.28790726e-01 8.48751375e-01 1.21302010e-03 1.61251756e+02] [ 2.31197650e-03 1.12339989e-05 9.99997327e-01 -7.01475607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19576923100004 meters 0.014637623101237592 Centerline is valid? [True, True] Translation: X:211.48, Y:161.24, Z:-0.70 [[ 8.47288388e-01 5.31128866e-01 -2.12498348e-03 2.11481048e+02] [-5.31127253e-01 8.47291052e-01 1.30914695e-03 1.61241584e+02] [ 2.49580523e-03 1.94116326e-05 9.99996885e-01 -7.02016032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2257692310001 meters 0.015849366265558634 Centerline is valid? [True, True] Translation: X:211.51, Y:161.23, Z:-0.70 [[ 8.46570408e-01 5.32274417e-01 -1.57758738e-03 2.11507797e+02] [-5.32273531e-01 8.46571878e-01 9.71465378e-04 1.61229414e+02] [ 1.85262728e-03 1.72941645e-05 9.99998284e-01 -7.00901458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25576923100004 meters 0.018089106297385877 Centerline is valid? [True, True] Translation: X:211.53, Y:161.22, Z:-0.70 [[ 8.46072834e-01 5.33066232e-01 -1.07357740e-03 2.11534130e+02] [-5.33065822e-01 8.46073515e-01 6.61128238e-04 1.61219086e+02] [ 1.26075054e-03 1.29247760e-05 9.99999205e-01 -7.00192277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2857692310001 meters 0.018662429471364074 Centerline is valid? [True, True] Translation: X:211.56, Y:161.21, Z:-0.70 [[ 8.45864813e-01 5.33396910e-01 -6.73717496e-04 2.11559405e+02] [-5.33396749e-01 8.45865081e-01 4.14801977e-04 1.61206432e+02] [ 7.91128198e-04 8.49232525e-06 9.99999687e-01 -6.98999293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31576923100005 meters 0.01760232278626924 Centerline is valid? [True, True] Translation: X:211.58, Y:161.19, Z:-0.70 [[ 8.46304819e-01 5.32697603e-01 -1.19033620e-03 2.11583543e+02] [-5.32697100e-01 8.46305656e-01 7.32418984e-04 1.61192427e+02] [ 1.39754609e-03 1.42389255e-05 9.99999023e-01 -7.00208959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3457692310001 meters 0.016026214007124402 Centerline is valid? [True, True] Translation: X:211.61, Y:161.18, Z:-0.70 [[ 8.46934499e-01 5.31693447e-01 -2.00813602e-03 2.11606172e+02] [-5.31692013e-01 8.46936879e-01 1.23535477e-03 1.61176147e+02] [ 2.35759449e-03 2.14453116e-05 9.99997221e-01 -7.01891328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37576923100005 meters 0.015237342492853185 Centerline is valid? [True, True] Translation: X:211.63, Y:161.16, Z:-0.70 [[ 8.47669275e-01 5.30516525e-01 -3.00293325e-03 2.11629225e+02] [-5.30513308e-01 8.47674594e-01 1.84756118e-03 1.61159894e+02] [ 3.52567195e-03 2.69752071e-05 9.99993784e-01 -7.04644490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4057692310001 meters 0.013998702391238743 Centerline is valid? [True, True] Translation: X:211.65, Y:161.14, Z:-0.71 [[ 8.48362718e-01 5.29402475e-01 -3.70387234e-03 2.11651837e+02] [-5.29397576e-01 8.48370803e-01 2.27759386e-03 1.61142953e+02] [ 4.34802098e-03 2.85953209e-05 9.99990547e-01 -7.05509929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43576923100005 meters 0.013590913362328528 Centerline is valid? [True, True] Translation: X:211.68, Y:161.13, Z:-0.70 [[ 8.48563793e-01 5.29087957e-01 -2.32859770e-03 2.11676574e+02] [-5.29086021e-01 8.48566988e-01 1.43126947e-03 1.61128014e+02] [ 2.73323857e-03 1.75050419e-05 9.99996265e-01 -7.02516765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4657692310001 meters 0.013851456666032623 Centerline is valid? [True, True] Translation: X:211.70, Y:161.12, Z:-0.70 [[ 8.48319991e-01 5.29483231e-01 -8.37058824e-04 2.11700578e+02] [-5.29482981e-01 8.48320404e-01 5.14351860e-04 1.61115269e+02] [ 9.82434765e-04 6.87343647e-06 9.99999517e-01 -6.98863090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49576923100005 meters 0.01512078442667721 Centerline is valid? [True, True] Translation: X:211.73, Y:161.10, Z:-0.69 [[ 8.47317839e-01 5.31084838e-01 1.17247035e-03 2.11727221e+02] [-5.31084349e-01 8.47318650e-01 -7.20792817e-04 1.61103530e+02] [-1.37625813e-03 -1.19400427e-05 9.99999053e-01 -6.93986658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5257692310001 meters 0.015343990143710502 Centerline is valid? [True, True] Translation: X:211.75, Y:161.09, Z:-0.69 [[ 8.47109672e-01 5.31415536e-01 1.65270191e-03 2.11751615e+02] [-5.31414566e-01 8.47111284e-01 -1.01549827e-03 1.61089550e+02] [-1.93967399e-03 -1.80314655e-05 9.99998119e-01 -6.92621432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55576923100006 meters 0.01823084735460156 Centerline is valid? [True, True] Translation: X:211.78, Y:161.08, Z:-0.69 [[ 8.46986215e-01 5.31611194e-01 1.97242011e-03 2.11778238e+02] [-5.31609814e-01 8.46988511e-01 -1.21142131e-03 1.61079306e+02] [-2.31462230e-03 -2.25007367e-05 9.99997321e-01 -6.92066888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5857692310001 meters 0.01622532653136411 Centerline is valid? [True, True] Translation: X:211.80, Y:161.06, Z:-0.69 [[ 8.47516180e-01 5.30764855e-01 2.23471471e-03 2.11800907e+02] [-5.30763081e-01 8.47519126e-01 -1.37223035e-03 1.61061676e+02] [-2.62229509e-03 -2.31166400e-05 9.99996562e-01 -6.92622237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61576923100006 meters 0.014027017226737944 Centerline is valid? [True, True] Translation: X:211.82, Y:161.04, Z:-0.69 [[ 8.48117443e-01 5.29804425e-01 2.01868751e-03 2.11823025e+02] [-5.29802976e-01 8.48119845e-01 -1.23917498e-03 1.61042293e+02] [-2.36860933e-03 -1.85407346e-05 9.99997195e-01 -6.93702218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6457692310001 meters 0.012077121531838143 Centerline is valid? [True, True] Translation: X:211.84, Y:161.02, Z:-0.69 [[ 8.49976729e-01 5.26816918e-01 1.86974142e-03 2.11842850e+02] [-5.26815669e-01 8.49978785e-01 -1.14738066e-03 1.61020823e+02] [-2.19370008e-03 -9.76222053e-06 9.99997594e-01 -6.93114174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67576923100006 meters 0.011175954467792473 Centerline is valid? [True, True] Translation: X:211.86, Y:161.00, Z:-0.69 [[ 8.51343757e-01 5.24604767e-01 1.90928635e-03 2.11864431e+02] [-5.24603459e-01 8.51345898e-01 -1.17148785e-03 1.61002064e+02] [-2.24003121e-03 -4.27936125e-06 9.99997491e-01 -6.93197467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70576923100003 meters 0.010841263090296031 Centerline is valid? [True, True] Translation: X:211.89, Y:160.98, Z:-0.69 [[ 8.52628251e-01 5.22516132e-01 1.39888744e-03 2.11885928e+02] [-5.22515427e-01 8.52629399e-01 -8.58268648e-04 1.60983568e+02] [-1.64119177e-03 8.43829922e-07 9.99998653e-01 -6.93966067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73576923100006 meters 0.011204081042094426 Centerline is valid? [True, True] Translation: X:211.91, Y:160.97, Z:-0.70 [[ 8.53787484e-01 5.20621408e-01 5.30883310e-04 2.11907863e+02] [-5.20621306e-01 8.53787649e-01 -3.25835942e-04 1.60965795e+02] [-6.22898780e-04 1.80548634e-06 9.99999806e-01 -6.96075807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76576923100004 meters 0.01267125558775086 Centerline is valid? [True, True] Translation: X:211.93, Y:160.94, Z:-0.70 [[ 8.55275996e-01 5.18167911e-01 -2.23330593e-03 2.11927816e+02] [-5.18166105e-01 8.55278911e-01 1.36815068e-03 1.60943295e+02] [ 2.61903125e-03 -1.29230022e-05 9.99996570e-01 -7.01702419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79576923100007 meters 0.013076448044218382 Centerline is valid? [True, True] Translation: X:211.95, Y:160.93, Z:-0.70 [[ 8.55804485e-01 5.17293105e-01 -2.55476493e-03 2.11949980e+02] [-5.17290740e-01 8.55808298e-01 1.56455284e-03 1.60925159e+02] [ 2.99572142e-03 -1.73950989e-05 9.99995513e-01 -7.02149574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82576923100004 meters 0.014087358774068127 Centerline is valid? [True, True] Translation: X:211.97, Y:160.90, Z:-0.70 [[ 8.56635007e-01 5.15921083e-01 -1.37879869e-03 2.11969621e+02] [-5.15920392e-01 8.56636117e-01 8.44339663e-04 1.60904316e+02] [ 1.61674138e-03 -1.19405548e-05 9.99998693e-01 -6.98941095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85576923100007 meters 0.014360383170503198 Centerline is valid? [True, True] Translation: X:211.99, Y:160.89, Z:-0.70 [[ 8.56860232e-01 5.15548327e-01 -6.82109202e-04 2.11990914e+02] [-5.15548158e-01 8.56860504e-01 4.17517253e-04 1.60887430e+02] [ 7.99722756e-04 -6.09378804e-06 9.99999680e-01 -6.97163856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88576923100004 meters 0.014360383170503198 Centerline is valid? [True, True] Translation: X:212.01, Y:160.87, Z:-0.70 [[ 8.56954886e-01 5.15390975e-01 -6.82284208e-04 2.12014461e+02] [-5.15390806e-01 8.56955158e-01 4.17231377e-04 1.60873249e+02] [ 7.99724257e-04 -5.90545909e-06 9.99999680e-01 -6.97214302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91576923100007 meters 0.013944486545024753 Centerline is valid? [True, True] Translation: X:212.04, Y:160.86, Z:-0.70 [[ 8.56746302e-01 5.15737520e-01 -7.65309199e-04 2.12037648e+02] [-5.15737307e-01 8.56746643e-01 4.67858415e-04 1.60856946e+02] [ 8.96968226e-04 -6.13746120e-06 9.99999598e-01 -6.97441795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94576923100004 meters 0.012546308883237657 Centerline is valid? [True, True] Translation: X:212.06, Y:160.84, Z:-0.70 [[ 8.55489379e-01 5.17818276e-01 -1.46841871e-03 2.12061092e+02] [-5.17817497e-01 8.55490639e-01 8.98211732e-04 1.60842810e+02] [ 1.72132891e-03 -8.03769799e-06 9.99998518e-01 -6.99170241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.9757692310001 meters 0.011869139438000609 Centerline is valid? [True, True] Translation: X:212.09, Y:160.83, Z:-0.70 [[ 8.54557994e-01 5.19354357e-01 -1.29855944e-03 2.12085705e+02] [-5.19353749e-01 8.54558981e-01 7.94197019e-04 1.60830396e+02] [ 1.52216531e-03 -4.27569876e-06 9.99998842e-01 -6.99643674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00576923100004 meters 0.011153057969224289 Centerline is valid? [True, True] Translation: X:212.11, Y:160.82, Z:-0.70 [[ 8.53697506e-01 5.20768537e-01 -8.36615624e-04 2.12111036e+02] [-5.20768286e-01 8.53697916e-01 5.11152650e-04 1.60819091e+02] [ 9.80409232e-04 -6.86857359e-07 9.99999519e-01 -6.97696986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0357692310001 meters 0.011071745483044538 Centerline is valid? [True, True] Translation: X:212.14, Y:160.81, Z:-0.70 [[ 8.52758743e-01 5.22304951e-01 -2.55627383e-04 2.12137036e+02] [-5.22304927e-01 8.52758781e-01 1.55848575e-04 1.60807254e+02] [ 2.99388978e-04 6.14206764e-07 9.99999955e-01 -6.96312227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06576923100005 meters 0.013017626503432758 Centerline is valid? [True, True] Translation: X:212.17, Y:160.80, Z:-0.70 [[ 8.50422125e-01 5.26100946e-01 -6.60479354e-05 2.12165835e+02] [-5.26100945e-01 8.50422127e-01 4.00126587e-05 1.60799323e+02] [ 7.72193232e-05 7.20231032e-07 9.99999997e-01 -6.95650668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0957692310001 meters 0.0151385580797532 Centerline is valid? [True, True] Translation: X:212.19, Y:160.79, Z:-0.70 [[ 8.49108773e-01 5.28217678e-01 -6.13207258e-04 2.12192253e+02] [-5.28217545e-01 8.49108995e-01 3.74486396e-04 1.60788631e+02] [ 7.18490133e-04 5.92714837e-06 9.99999742e-01 -6.97124445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12576923100005 meters 0.016756215315948415 Centerline is valid? [True, True] Translation: X:212.22, Y:160.78, Z:-0.70 [[ 8.48199029e-01 5.29675567e-01 -1.48376018e-03 2.12218991e+02] [-5.29674792e-01 8.48200327e-01 9.05762919e-04 1.60776333e+02] [ 1.73828636e-03 1.76431384e-05 9.99998489e-01 -6.99041247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1557692310001 meters 0.019137567419977325 Centerline is valid? [True, True] Translation: X:212.25, Y:160.77, Z:-0.70 [[ 8.47209429e-01 5.31255107e-01 -2.04795543e-03 2.12245137e+02] [-5.31253636e-01 8.47211904e-01 1.25036725e-03 1.60765867e+02] [ 2.39931621e-03 2.86608424e-05 9.99997121e-01 -7.00730434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18576923100005 meters 0.019871380964835268 Centerline is valid? [True, True] Translation: X:212.27, Y:160.75, Z:-0.70 [[ 8.46916313e-01 5.31723586e-01 -1.66959013e-03 2.12269352e+02] [-5.31722610e-01 8.46917958e-01 1.01909051e-03 1.60752933e+02] [ 1.95588033e-03 2.46744402e-05 9.99998087e-01 -6.99928520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2157692310001 meters 0.02065396198940768 Centerline is valid? [True, True] Translation: X:212.29, Y:160.74, Z:-0.70 [[ 8.46620374e-01 5.32197137e-01 -3.86508339e-04 2.12293836e+02] [-5.32197085e-01 8.46620462e-01 2.35489587e-04 1.60739523e+02] [ 4.52552753e-04 6.32832879e-06 9.99999898e-01 -6.97237346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24576923100005 meters 0.021402071449763294 Centerline is valid? [True, True] Translation: X:212.32, Y:160.73, Z:-0.69 [[ 8.46318922e-01 5.32675350e-01 1.11986882e-03 2.12318535e+02] [-5.32674912e-01 8.46319663e-01 -6.83432811e-04 1.60725731e+02] [-1.31181482e-03 -1.81239069e-05 9.99999139e-01 -6.93891725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2757692310001 meters 0.021934514680045435 Centerline is valid? [True, True] Translation: X:212.34, Y:160.71, Z:-0.69 [[ 8.46135958e-01 5.32963226e-01 2.03501374e-03 2.12343809e+02] [-5.32961781e-01 8.46138404e-01 -1.24161567e-03 1.60711376e+02] [-2.38363877e-03 -3.40088791e-05 9.99997159e-01 -6.92381799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30576923100006 meters 0.02189551242079648 Centerline is valid? [True, True] Translation: X:212.37, Y:160.70, Z:-0.69 [[ 8.46348244e-01 5.32628849e-01 1.07689394e-03 2.12367436e+02] [-5.32628444e-01 8.46348929e-01 -6.56904388e-04 1.60696636e+02] [-1.26131426e-03 -1.76144697e-05 9.99999204e-01 -6.94456834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3357692310001 meters 0.020012556993755898 Centerline is valid? [True, True] Translation: X:212.39, Y:160.68, Z:-0.70 [[ 8.46656610e-01 5.32139612e-01 -1.32095305e-04 2.12390195e+02] [-5.32139606e-01 8.46656620e-01 8.01630276e-05 1.60679257e+02] [ 1.54497287e-04 2.42258650e-06 9.99999988e-01 -6.96955095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36576923100006 meters 0.021410009852530245 Centerline is valid? [True, True] Translation: X:212.42, Y:160.67, Z:-0.70 [[ 8.46250802e-01 5.32782433e-01 -1.56838298e-03 2.12415103e+02] [-5.32781576e-01 8.46252255e-01 9.55806746e-04 1.60665950e+02] [ 1.83648468e-03 2.67533301e-05 9.99998313e-01 -6.99863803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3957692310001 meters 0.022226393311292027 Centerline is valid? [True, True] Translation: X:212.44, Y:160.65, Z:-0.70 [[ 8.45805066e-01 5.33489596e-01 -1.62535333e-03 2.12440692e+02] [-5.33488678e-01 8.45806627e-01 9.90022810e-04 1.60652037e+02] [ 1.90290148e-03 2.97412898e-05 9.99998189e-01 -7.00026821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42576923100006 meters 0.02522981726048056 Centerline is valid? [True, True] Translation: X:212.47, Y:160.64, Z:-0.70 [[ 8.45335829e-01 5.34233691e-01 -1.30356867e-03 2.12466794e+02] [-5.34233101e-01 8.45336834e-01 7.94071993e-04 1.60641796e+02] [ 1.52617463e-03 2.51520280e-05 9.99998835e-01 -7.00333095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45576923100003 meters 0.024482391085829072 Centerline is valid? [True, True] Translation: X:212.49, Y:160.63, Z:-0.70 [[ 8.44888438e-01 5.34941575e-01 -1.01944213e-03 2.12490355e+02] [-5.34941215e-01 8.44889053e-01 6.20890901e-04 1.60626049e+02] [ 1.19345585e-03 2.07580680e-05 9.99999288e-01 -6.99196418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48576923100006 meters 0.024527470075346235 Centerline is valid? [True, True] Translation: X:212.51, Y:160.61, Z:-0.70 [[ 8.44986874e-01 5.34787009e-01 -1.96085029e-04 2.12511675e+02] [-5.34786996e-01 8.44986897e-01 1.19152358e-04 1.60610090e+02] [ 2.29410413e-04 4.18154468e-06 9.99999974e-01 -6.98112229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51576923100004 meters 0.024268238125517146 Centerline is valid? [True, True] Translation: X:212.53, Y:160.59, Z:-0.70 [[ 8.45238364e-01 5.34389445e-01 1.69674501e-04 2.12534197e+02] [-5.34389435e-01 8.45238381e-01 -1.03670681e-04 1.60594125e+02] [-1.98815918e-04 -3.04582377e-06 9.99999980e-01 -6.97478326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54576923100007 meters 0.02218603685151099 Centerline is valid? [True, True] Translation: X:212.56, Y:160.58, Z:-0.70 [[ 8.45364958e-01 5.34189181e-01 8.26585735e-05 2.12555974e+02] [-5.34189178e-01 8.45364962e-01 -5.07029516e-05 1.60576519e+02] [-9.69616301e-05 -1.29281687e-06 9.99999995e-01 -6.96840660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57576923100004 meters 0.02625356835307865 Centerline is valid? [True, True] Translation: X:212.58, Y:160.57, Z:-0.70 [[ 8.44827740e-01 5.35037421e-01 -1.02306613e-03 2.12583216e+02] [-5.35037060e-01 8.44828360e-01 6.22222243e-04 1.60567418e+02] [ 1.19722746e-03 2.17076813e-05 9.99999283e-01 -7.00430516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60576923100007 meters 0.02402753891876644 Centerline is valid? [True, True] Translation: X:212.61, Y:160.55, Z:-0.70 [[ 8.44405128e-01 5.35702862e-01 -1.55676561e-03 2.12606676e+02] [-5.35702027e-01 8.44406562e-01 9.46386908e-04 1.60550091e+02] [ 1.82152528e-03 3.48285365e-05 9.99998340e-01 -7.00817041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63576923100004 meters 0.033123247581728604 Centerline is valid? [True, True] Translation: X:212.64, Y:160.55, Z:-0.70 [[ 8.42269446e-01 5.39053029e-01 -2.00313217e-03 2.12638297e+02] [-5.39051656e-01 8.42271826e-01 1.21793188e-03 1.60547706e+02] [ 2.34371166e-03 5.39649062e-05 9.99997252e-01 -7.02781473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66576923100007 meters 0.03148518880052336 Centerline is valid? [True, True] Translation: X:212.66, Y:160.53, Z:-0.70 [[ 8.40841937e-01 5.41275000e-01 -2.49231977e-03 2.12663068e+02] [-5.41272884e-01 8.40845627e-01 1.51523353e-03 1.60532143e+02] [ 2.91581421e-03 7.49532167e-05 9.99995746e-01 -7.02465535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69576923100004 meters 0.03429114758766942 Centerline is valid? [True, True] Translation: X:212.69, Y:160.52, Z:-0.70 [[ 8.39453773e-01 5.43421303e-01 -3.26350597e-03 2.12690734e+02] [-5.43417692e-01 8.39460110e-01 1.98399348e-03 1.60521468e+02] [ 3.81772741e-03 1.07976067e-04 9.99992707e-01 -7.04608085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7257692310001 meters 0.03749854215655316 Centerline is valid? [True, True] Translation: X:212.72, Y:160.51, Z:-0.71 [[ 8.38019454e-01 5.45620142e-01 -4.69640203e-03 2.12719355e+02] [-5.45612704e-01 8.38032596e-01 2.85414875e-03 1.60511369e+02] [ 5.49301903e-03 1.70584428e-04 9.99984899e-01 -7.08141002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75576923100004 meters 0.03878647284234197 Centerline is valid? [True, True] Translation: X:212.74, Y:160.50, Z:-0.71 [[ 8.37765509e-01 5.46013107e-01 -4.31729393e-03 2.12744639e+02] [-5.46006828e-01 8.37776618e-01 2.62353039e-03 1.60499029e+02] [ 5.04940988e-03 1.59368688e-04 9.99987239e-01 -7.07631372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7857692310001 meters 0.040131428757308275 Centerline is valid? [True, True] Translation: X:212.77, Y:160.49, Z:-0.71 [[ 8.37765897e-01 5.46018973e-01 -3.40338534e-03 2.12770189e+02] [-5.46015072e-01 8.37772801e-01 2.06787402e-03 1.60487351e+02] [ 3.98036212e-03 1.25905358e-04 9.99992070e-01 -7.06766139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81576923100005 meters 0.04008737259336991 Centerline is valid? [True, True] Translation: X:212.79, Y:160.47, Z:-0.71 [[ 8.37906445e-01 5.45805634e-01 -2.99991929e-03 2.12794682e+02] [-5.45802605e-01 8.37911808e-01 1.82170419e-03 1.60474174e+02] [ 3.50796420e-03 1.10946085e-04 9.99993841e-01 -7.06350318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8457692310001 meters 0.04038130142502626 Centerline is valid? [True, True] Translation: X:212.82, Y:160.46, Z:-0.71 [[ 8.37708781e-01 5.46100934e-01 -4.21515399e-03 2.12821440e+02] [-5.46094961e-01 8.37719371e-01 2.55894462e-03 1.60462296e+02] [ 4.92855819e-03 1.58223977e-04 9.99987842e-01 -7.09000187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87576923100005 meters 0.042782732555365806 Centerline is valid? [True, True] Translation: X:212.85, Y:160.45, Z:-0.71 [[ 8.37112222e-01 5.47011063e-01 -4.69308012e-03 2.12847813e+02] [-5.47003674e-01 8.37125357e-01 2.84898152e-03 1.60451538e+02] [ 5.48712078e-03 1.82214817e-04 9.99984929e-01 -7.11161201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9057692310001 meters 0.047011034766175894 Centerline is valid? [True, True] Translation: X:212.88, Y:160.44, Z:-0.71 [[ 8.35455220e-01 5.49536862e-01 -4.87972198e-03 2.12876116e+02] [-5.49528920e-01 8.35469445e-01 2.96169176e-03 1.60443023e+02] [ 5.70441741e-03 2.07187509e-04 9.99983708e-01 -7.11100812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93576923100005 meters 0.049204874162836795 Centerline is valid? [True, True] Translation: X:212.90, Y:160.43, Z:-0.71 [[ 8.34477585e-01 5.51023695e-01 -4.47752344e-03 2.12903633e+02] [-5.51017035e-01 8.34489573e-01 2.71663001e-03 1.60430896e+02] [ 5.23337413e-03 2.00224836e-04 9.99986286e-01 -7.09309581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9657692310001 meters 0.051167477005538274 Centerline is valid? [True, True] Translation: X:212.93, Y:160.42, Z:-0.71 [[ 8.33349834e-01 5.52733310e-01 -3.73405405e-03 2.12930934e+02] [-5.52728698e-01 8.33358181e-01 2.26481645e-03 1.60418783e+02] [ 4.36364398e-03 1.76534423e-04 9.99990464e-01 -7.07588715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99576923100005 meters 0.05588447800502365 Centerline is valid? [True, True] Translation: X:212.96, Y:160.41, Z:-0.70 [[ 8.31323196e-01 5.55785722e-01 -1.99363740e-03 2.12960214e+02] [-5.55784416e-01 8.31325581e-01 1.20913811e-03 1.60412073e+02] [ 2.32938347e-03 1.02848034e-04 9.99997282e-01 -7.04285543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0257692310001 meters 0.05821630638978989 Centerline is valid? [True, True] Translation: X:212.99, Y:160.40, Z:-0.70 [[ 8.30551443e-01 5.56939767e-01 -1.54828655e-03 2.12988240e+02] [-5.56938982e-01 8.30552882e-01 9.38537361e-04 1.60401000e+02] [ 1.80864263e-03 8.27975752e-05 9.99998361e-01 -7.03512029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05576923100006 meters 0.05934208951859641 Centerline is valid? [True, True] Translation: X:213.02, Y:160.39, Z:-0.70 [[ 8.29957802e-01 5.57824222e-01 -1.47770028e-03 2.13015263e+02] [-5.57823509e-01 8.29959114e-01 8.95412623e-04 1.60389331e+02] [ 1.72591366e-03 8.11412623e-05 9.99998507e-01 -7.03003389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0857692310001 meters 0.059615679412889394 Centerline is valid? [True, True] Translation: X:213.04, Y:160.38, Z:-0.70 [[ 8.29185431e-01 5.58971208e-01 -1.64634780e-03 2.13044022e+02] [-5.58970326e-01 8.29187060e-01 9.97366636e-04 1.60379958e+02] [ 1.92262952e-03 9.32576807e-05 9.99998147e-01 -7.02433447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11576923100006 meters 0.06372870034287773 Centerline is valid? [True, True] Translation: X:213.07, Y:160.37, Z:-0.70 [[ 8.28729472e-01 5.59647709e-01 -1.37950446e-03 2.13072497e+02] [-5.59647091e-01 8.28730617e-01 8.35558110e-04 1.60374029e+02] [ 1.61085576e-03 7.95840238e-05 9.99998699e-01 -7.01710018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1457692310001 meters 0.0660147832529507 Centerline is valid? [True, True] Translation: X:213.10, Y:160.37, Z:-0.70 [[ 8.28039146e-01 5.60669516e-01 -9.30689174e-04 2.13100332e+02] [-5.60669236e-01 8.28039667e-01 5.63707117e-04 1.60365528e+02] [ 1.08670095e-03 5.50372281e-05 9.99999408e-01 -7.00947477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17576923100006 meters 0.06849172436306772 Centerline is valid? [True, True] Translation: X:213.13, Y:160.36, Z:-0.70 [[ 8.27386644e-01 5.61632731e-01 -1.29997959e-04 2.13130018e+02] [-5.61632725e-01 8.27386654e-01 7.85651643e-05 1.60361459e+02] [ 1.51683344e-04 8.00734028e-06 9.99999988e-01 -6.99749631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20576923100003 meters 0.058282158895179154 Centerline is valid? [True, True] Translation: X:213.15, Y:160.34, Z:-0.70 [[ 8.27602765e-01 5.61314224e-01 -7.89834484e-05 2.13150097e+02] [-5.61314222e-01 8.27602768e-01 4.74957980e-05 1.60338229e+02] [ 9.20269875e-05 5.02687913e-06 9.99999996e-01 -6.99387703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23576923100006 meters 0.056670356038509284 Centerline is valid? [True, True] Translation: X:213.18, Y:160.32, Z:-0.70 [[ 8.28145988e-01 5.60512359e-01 -3.43422726e-04 2.13175806e+02] [-5.60512321e-01 8.28146059e-01 2.07498161e-04 1.60324530e+02] [ 4.00709461e-04 2.06538995e-05 9.99999920e-01 -6.99578280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26576923100004 meters 0.053678615112947345 Centerline is valid? [True, True] Translation: X:213.20, Y:160.31, Z:-0.70 [[ 8.29891767e-01 5.57923921e-01 -7.43996743e-04 2.13201610e+02] [-5.57923741e-01 8.29892099e-01 4.50151162e-04 1.60312773e+02] [ 8.68587120e-04 4.15167032e-05 9.99999622e-01 -7.00451117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29576923100007 meters 0.05910922517382178 Centerline is valid? [True, True] Translation: X:213.23, Y:160.31, Z:-0.70 [[ 8.31312693e-01 5.55803990e-01 -1.06396448e-03 2.13231887e+02] [-5.55803620e-01 8.31313372e-01 6.43722568e-04 1.60307928e+02] [ 1.24227147e-03 5.62205687e-05 9.99999227e-01 -7.01826365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32576923100004 meters 0.056970433784334244 Centerline is valid? [True, True] Translation: X:213.26, Y:160.29, Z:-0.70 [[ 8.32765896e-01 5.53623157e-01 -1.53675771e-03 2.13256785e+02] [-5.53622382e-01 8.32767311e-01 9.29733638e-04 1.60293880e+02] [ 1.79448366e-03 7.65329991e-05 9.99998387e-01 -7.03270652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35576923100007 meters 0.051530981552386244 Centerline is valid? [True, True] Translation: X:213.28, Y:160.28, Z:-0.70 [[ 8.35439010e-01 5.49580590e-01 -1.68376939e-03 2.13280510e+02] [-5.49579651e-01 8.35440704e-01 1.01855979e-03 1.60279626e+02] [ 1.96647017e-03 7.44208040e-05 9.99998064e-01 -7.03964476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38576923100004 meters 0.042208961566033036 Centerline is valid? [True, True] Translation: X:213.30, Y:160.26, Z:-0.70 [[ 8.36519275e-01 5.47936069e-01 -1.25178781e-03 2.13300076e+02] [-5.47935549e-01 8.36520210e-01 7.57138425e-04 1.60256853e+02] [ 1.46200925e-03 5.25381555e-05 9.99998930e-01 -7.02649586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41576923100007 meters 0.04717016608444399 Centerline is valid? [True, True] Translation: X:213.33, Y:160.25, Z:-0.70 [[ 8.37702000e-01 5.46126525e-01 -1.08509164e-03 2.13328802e+02] [-5.46126133e-01 8.37702702e-01 6.56188457e-04 1.60250933e+02] [ 1.26734612e-03 4.29065207e-05 9.99999196e-01 -7.03335953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44576923100004 meters 0.03554676816883161 Centerline is valid? [True, True] Translation: X:213.35, Y:160.23, Z:-0.70 [[ 8.40266672e-01 5.42172678e-01 -8.40374989e-04 2.13349326e+02] [-5.42172441e-01 8.40267092e-01 5.08090753e-04 1.60228683e+02] [ 9.81612373e-04 2.86964326e-05 9.99999518e-01 -7.02468510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.4757692310001 meters 0.03308948506497694 Centerline is valid? [True, True] Translation: X:213.37, Y:160.21, Z:-0.70 [[ 8.41753643e-01 5.39860212e-01 -1.32542526e-03 2.13372765e+02] [-5.39859619e-01 8.41754685e-01 8.01333940e-04 1.60214253e+02] [ 1.54829124e-03 4.10178150e-05 9.99998801e-01 -7.03755076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50576923100004 meters 0.03052764178818808 Centerline is valid? [True, True] Translation: X:213.40, Y:160.20, Z:-0.71 [[ 8.43337937e-01 5.37380220e-01 -1.90340093e-03 2.13395671e+02] [-5.37378990e-01 8.43340084e-01 1.15067426e-03 1.60198968e+02] [ 2.22356388e-03 5.24404142e-05 9.99997527e-01 -7.05561179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5357692310001 meters 0.024883648840492628 Centerline is valid? [True, True] Translation: X:213.42, Y:160.18, Z:-0.71 [[ 8.46361653e-01 5.32598429e-01 -3.29637446e-03 2.13417759e+02] [-5.32594706e-01 8.46368069e-01 1.99268851e-03 1.60181243e+02] [ 3.85124886e-03 6.90964459e-05 9.99992582e-01 -7.08189858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56576923100005 meters 0.02204813765195003 Centerline is valid? [True, True] Translation: X:213.44, Y:160.17, Z:-0.71 [[ 8.47923913e-01 5.30107839e-01 -3.27354167e-03 2.13441172e+02] [-5.30104153e-01 8.47930230e-01 1.97792397e-03 1.60165167e+02] [ 3.82424794e-03 5.81890039e-05 9.99992686e-01 -7.07958406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5957692310001 meters 0.019123386641875923 Centerline is valid? [True, True] Translation: X:213.46, Y:160.15, Z:-0.71 [[ 8.49481477e-01 5.27610702e-01 -2.85789542e-03 2.13464612e+02] [-5.27607880e-01 8.49486284e-01 1.72611596e-03 1.60148526e+02] [ 3.33846021e-03 4.15446053e-05 9.99994426e-01 -7.07120685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62576923100005 meters 0.016594678407373654 Centerline is valid? [True, True] Translation: X:213.49, Y:160.13, Z:-0.71 [[ 8.51023680e-01 5.25120673e-01 -2.64103324e-03 2.13487798e+02] [-5.25118253e-01 8.51027777e-01 1.59453415e-03 1.60131076e+02] [ 3.08491549e-03 2.98684414e-05 9.99995241e-01 -7.06778492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6557692310001 meters 0.012579350852265464 Centerline is valid? [True, True] Translation: X:213.51, Y:160.11, Z:-0.71 [[ 8.54178996e-01 5.19969159e-01 -3.21201101e-03 2.13507089e+02] [-5.19965543e-01 8.54185035e-01 1.93931032e-03 1.60108917e+02] [ 3.75203329e-03 1.36169019e-05 9.99992961e-01 -7.08268651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68576923100005 meters 0.011728003599958688 Centerline is valid? [True, True] Translation: X:213.53, Y:160.09, Z:-0.71 [[ 8.55785241e-01 5.17317227e-01 -3.80892334e-03 2.13528903e+02] [-5.17312121e-01 8.55793717e-01 2.29846901e-03 1.60090541e+02] [ 4.44869028e-03 3.40635468e-06 9.99990105e-01 -7.08387721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7157692310001 meters 0.012926912379251863 Centerline is valid? [True, True] Translation: X:213.55, Y:160.07, Z:-0.71 [[ 8.58562981e-01 5.12694962e-01 -3.67205466e-03 2.13548670e+02] [-5.12690174e-01 8.58570833e-01 2.21584735e-03 1.60069357e+02] [ 4.28877280e-03 -1.98181689e-05 9.99990803e-01 -7.08758330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74576923100005 meters 0.013808165812586917 Centerline is valid? [True, True] Translation: X:213.57, Y:160.05, Z:-0.71 [[ 8.59913198e-01 5.10432456e-01 -2.82822581e-03 2.13571427e+02] [-5.10429607e-01 8.59917849e-01 1.70575294e-03 1.60051803e+02] [ 3.30271352e-03 -2.31892765e-05 9.99994546e-01 -7.06394290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7757692310001 meters 0.013808165812586917 Centerline is valid? [True, True] Translation: X:213.60, Y:160.04, Z:-0.71 [[ 8.60009705e-01 5.10269838e-01 -2.82857044e-03 2.13595044e+02] [-5.10266989e-01 8.60014356e-01 1.70518146e-03 1.60037776e+02] [ 3.30271385e-03 -2.31464760e-05 9.99994546e-01 -7.06444730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80576923100006 meters 0.01585191282070412 Centerline is valid? [True, True] Translation: X:213.62, Y:160.02, Z:-0.71 [[ 8.61064067e-01 5.08491452e-01 -2.26172573e-03 2.13616079e+02] [-5.08489625e-01 8.61067037e-01 1.36348082e-03 1.60018802e+02] [ 2.64081581e-03 -2.39802792e-05 9.99996513e-01 -7.05466641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8357692310001 meters 0.019340346126022843 Centerline is valid? [True, True] Translation: X:213.63, Y:160.00, Z:-0.71 [[ 8.62902857e-01 5.05364971e-01 -2.21480074e-03 2.13634896e+02] [-5.05363209e-01 8.62905699e-01 1.33488236e-03 1.59996486e+02] [ 2.58576697e-03 -3.25949885e-05 9.99996656e-01 -7.05058714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86576923100006 meters 0.018418075925677097 Centerline is valid? [True, True] Translation: X:213.66, Y:159.98, Z:-0.70 [[ 8.63610936e-01 5.04153106e-01 -2.40776519e-03 2.13659655e+02] [-5.04151021e-01 8.63614291e-01 1.45046785e-03 1.59981448e+02] [ 2.81063830e-03 -3.87626150e-05 9.99996049e-01 -7.04591120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8957692310001 meters 0.02008479797795248 Centerline is valid? [True, True] Translation: X:213.68, Y:159.96, Z:-0.71 [[ 8.63981663e-01 5.03517141e-01 -2.48476906e-03 2.13680767e+02] [-5.03514918e-01 8.63985235e-01 1.49689839e-03 1.59963021e+02] [ 2.90051778e-03 -4.21744655e-05 9.99995793e-01 -7.05585020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92576923100006 meters 0.023184436827384223 Centerline is valid? [True, True] Translation: X:213.70, Y:159.94, Z:-0.71 [[ 8.64863326e-01 5.02003575e-01 -1.95881252e-03 2.13699336e+02] [-5.02002191e-01 8.64865544e-01 1.17973585e-03 1.59939635e+02] [ 2.28634107e-03 -3.69820950e-05 9.99997386e-01 -7.05928711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95576923100003 meters 0.02475594096456561 Centerline is valid? [True, True] Translation: X:213.72, Y:159.92, Z:-0.71 [[ 8.65308393e-01 5.01236921e-01 -1.71309346e-03 2.13720428e+02] [-5.01235860e-01 8.65310088e-01 1.03166260e-03 1.59920830e+02] [ 1.99946444e-03 -3.40424267e-05 9.99998001e-01 -7.05697081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98576923100006 meters 0.02584973907088934 Centerline is valid? [True, True] Translation: X:213.74, Y:159.90, Z:-0.70 [[ 8.65876678e-01 5.00255918e-01 -1.26285567e-03 2.13743266e+02] [-5.00255342e-01 8.65877598e-01 7.60024200e-04 1.59902632e+02] [ 1.47368504e-03 -2.63369327e-05 9.99998914e-01 -7.04177143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01576923100004 meters 0.02379029268451504 Centerline is valid? [True, True] Translation: X:213.77, Y:159.89, Z:-0.70 [[ 8.66635321e-01 4.98942100e-01 4.30965067e-05 2.13766556e+02] [-4.98942100e-01 8.66635322e-01 -2.62914948e-05 1.59885030e+02] [-5.04668886e-05 1.28247646e-06 9.99999999e-01 -7.01086907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04576923100007 meters 0.024199449516796756 Centerline is valid? [True, True] Translation: X:213.79, Y:159.87, Z:-0.70 [[ 8.66917182e-01 4.98452088e-01 3.40772165e-04 2.13789447e+02] [-4.98452046e-01 8.66917249e-01 -2.05373307e-04 1.59866819e+02] [-3.97790021e-04 8.18306601e-06 9.99999921e-01 -7.00683400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07576923100004 meters 0.0272133788079745 Centerline is valid? [True, True] Translation: X:213.81, Y:159.84, Z:-0.70 [[ 8.67425523e-01 4.97566782e-01 5.09491713e-04 2.13808194e+02] [-4.97566688e-01 8.67425672e-01 -3.06654983e-04 1.59844358e+02] [-5.94527524e-04 1.24942544e-05 9.99999823e-01 -7.00183299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10576923100007 meters 0.02628916485658328 Centerline is valid? [True, True] Translation: X:213.83, Y:159.83, Z:-0.70 [[ 8.67615140e-01 4.97236309e-01 1.49828630e-04 2.13831482e+02] [-4.97236301e-01 8.67615153e-01 -9.04799262e-05 1.59829505e+02] [-1.74983495e-04 4.00151989e-06 9.99999985e-01 -7.00737900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13576923100004 meters 0.024091840521087655 Centerline is valid? [True, True] Translation: X:213.86, Y:159.82, Z:-0.70 [[ 8.67976270e-01 4.96605419e-01 -5.03259399e-04 2.13856673e+02] [-4.96605327e-01 8.67976416e-01 3.02107736e-04 1.59815449e+02] [ 5.86845628e-04 -1.23010470e-05 9.99999828e-01 -7.01873529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16576923100007 meters 0.028136272448485586 Centerline is valid? [True, True] Translation: X:213.88, Y:159.79, Z:-0.70 [[ 8.68307537e-01 4.96024125e-01 -1.44509801e-03 2.13875555e+02] [-4.96023367e-01 8.68308739e-01 8.68301464e-04 1.59793695e+02] [ 1.68548970e-03 -3.71503246e-05 9.99998579e-01 -7.04665912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19576923100004 meters 0.029975245996206722 Centerline is valid? [True, True] Translation: X:213.90, Y:159.77, Z:-0.71 [[ 8.69609295e-01 4.93735601e-01 -2.19808148e-03 2.13896289e+02] [-4.93733838e-01 8.69612070e-01 1.32081948e-03 1.59769989e+02] [ 2.56361378e-03 -6.33296965e-05 9.99996712e-01 -7.05919883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2257692310001 meters 0.033465261479379366 Centerline is valid? [True, True] Translation: X:213.92, Y:159.75, Z:-0.71 [[ 8.70412887e-01 4.92317724e-01 -2.15960719e-03 2.13915267e+02] [-4.92316019e-01 8.70415564e-01 1.29745738e-03 1.59747909e+02] [ 2.51851697e-03 -6.61144069e-05 9.99996826e-01 -7.05776774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25576923100004 meters 0.03769850963983102 Centerline is valid? [True, True] Translation: X:213.93, Y:159.72, Z:-0.71 [[ 8.72113836e-01 4.89298228e-01 -2.16814076e-03 2.13931608e+02] [-4.89296500e-01 8.72116528e-01 1.30248162e-03 1.59720288e+02] [ 2.52817334e-03 -7.50485572e-05 9.99996801e-01 -7.06822449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2857692310001 meters 0.040403821367197154 Centerline is valid? [True, True] Translation: X:213.95, Y:159.70, Z:-0.71 [[ 8.73066257e-01 4.87593964e-01 -2.72711494e-03 2.13951729e+02] [-4.87591222e-01 8.73070511e-01 1.63813930e-03 1.59698703e+02] [ 3.17971047e-03 -1.00486841e-04 9.99994940e-01 -7.08582825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31576923100005 meters 0.04238686496019319 Centerline is valid? [True, True] Translation: X:213.97, Y:159.68, Z:-0.71 [[ 8.73863114e-01 4.86161121e-01 -3.25925740e-03 2.13972966e+02] [-4.86157198e-01 8.73869183e-01 1.95689285e-03 1.59677759e+02] [ 3.79952982e-03 -1.25545032e-04 9.99992774e-01 -7.10357397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3457692310001 meters 0.03965191590711626 Centerline is valid? [True, True] Translation: X:214.00, Y:159.66, Z:-0.71 [[ 8.74343040e-01 4.85296680e-01 -3.37350640e-03 2.13995065e+02] [-4.85292472e-01 8.74349538e-01 2.02544032e-03 1.59659497e+02] [ 3.93256323e-03 -1.33792390e-04 9.99992259e-01 -7.08951993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37576923100005 meters 0.0388054655602531 Centerline is valid? [True, True] Translation: X:214.02, Y:159.64, Z:-0.71 [[ 8.74187270e-01 4.85580171e-01 -2.91802354e-03 2.14017938e+02] [-4.85577027e-01 8.74192132e-01 1.75107990e-03 1.59642432e+02] [ 3.40120290e-03 -1.13846565e-04 9.99994209e-01 -7.07310318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4057692310001 meters 0.04229232807115928 Centerline is valid? [True, True] Translation: X:214.04, Y:159.62, Z:-0.71 [[ 8.73559832e-01 4.86707917e-01 -2.93671038e-03 2.14037445e+02] [-4.86704741e-01 8.73564761e-01 1.76165192e-03 1.59620103e+02] [ 3.42281663e-03 -1.09597490e-04 9.99994136e-01 -7.08182890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43576923100005 meters 0.035776172619514636 Centerline is valid? [True, True] Translation: X:214.06, Y:159.61, Z:-0.71 [[ 8.72534890e-01 4.88545425e-01 -2.49659171e-03 2.14062632e+02] [-4.88543137e-01 8.72538458e-01 1.49767637e-03 1.59606099e+02] [ 2.91005522e-03 -8.70821442e-05 9.99995762e-01 -7.06941541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4657692310001 meters 0.03727472506142123 Centerline is valid? [True, True] Translation: X:214.08, Y:159.59, Z:-0.71 [[ 8.72311930e-01 4.88946698e-01 -1.73865574e-03 2.14084054e+02] [-4.88945590e-01 8.72313661e-01 1.04280918e-03 1.59587348e+02] [ 2.02653126e-03 -5.95468317e-05 9.99997945e-01 -7.05797875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49576923100005 meters 0.03992515197224542 Centerline is valid? [True, True] Translation: X:214.10, Y:159.57, Z:-0.70 [[ 8.72259100e-01 4.89043443e-01 -7.57291248e-04 2.14104689e+02] [-4.89043233e-01 8.72259428e-01 4.54085647e-04 1.59567656e+02] [ 8.82622039e-04 -2.57321778e-05 9.99999610e-01 -7.04317219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5257692310001 meters 0.04000627706775609 Centerline is valid? [True, True] Translation: X:214.13, Y:159.55, Z:-0.70 [[ 8.72214905e-01 4.89122845e-01 4.32351250e-05 2.14127409e+02] [-4.89122845e-01 8.72214906e-01 -2.62406231e-05 1.59548608e+02] [-5.05452088e-05 1.74017529e-06 9.99999999e-01 -7.01757542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55576923100006 meters 0.03378373349410914 Centerline is valid? [True, True] Translation: X:214.16, Y:159.54, Z:-0.70 [[ 8.71966264e-01 4.89565965e-01 -2.90705551e-05 2.14155744e+02] [-4.89565964e-01 8.71966264e-01 1.71001764e-05 1.59538945e+02] [ 3.37202077e-05 -6.78822603e-07 9.99999999e-01 -7.01361280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5857692310001 meters 0.035007884997982845 Centerline is valid? [True, True] Translation: X:214.18, Y:159.52, Z:-0.70 [[ 8.71646564e-01 4.90134373e-01 -7.51507176e-04 2.14177930e+02] [-4.90134166e-01 8.71646887e-01 4.50245386e-04 1.59521448e+02] [ 8.75729631e-04 -2.41155004e-05 9.99999616e-01 -7.03124988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61576923100006 meters 0.03160702055874343 Centerline is valid? [True, True] Translation: X:214.20, Y:159.51, Z:-0.71 [[ 8.70923129e-01 4.91415280e-01 -1.98128946e-03 2.14203165e+02] [-4.91413851e-01 8.70925381e-01 1.18657822e-03 1.59507006e+02] [ 2.30865794e-03 -5.97853327e-05 9.99997333e-01 -7.06262434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6457692310001 meters 0.03053491400580123 Centerline is valid? [True, True] Translation: X:214.23, Y:159.49, Z:-0.71 [[ 8.70619656e-01 4.91953152e-01 -1.87364921e-03 2.14227500e+02] [-4.91951877e-01 8.70621670e-01 1.12167811e-03 1.59492239e+02] [ 2.18305268e-03 -5.48097670e-05 9.99997616e-01 -7.05467825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67576923100006 meters 0.02696356669817595 Centerline is valid? [True, True] Translation: X:214.25, Y:159.48, Z:-0.70 [[ 8.70300811e-01 4.92517662e-01 -1.68860432e-03 2.14254405e+02] [-4.92516628e-01 8.70302448e-01 1.01044628e-03 1.59480985e+02] [ 1.96725911e-03 -4.77265130e-05 9.99998064e-01 -7.03980082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70576923100003 meters 0.02932581152898472 Centerline is valid? [True, True] Translation: X:214.28, Y:159.46, Z:-0.70 [[ 8.70011304e-01 4.93031412e-01 -5.98083169e-04 2.14276115e+02] [-4.93031282e-01 8.70011510e-01 3.57837260e-04 1.59462470e+02] [ 6.96764250e-04 -1.64487495e-05 9.99999757e-01 -7.02013306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73576923100006 meters 0.03112298696845844 Centerline is valid? [True, True] Translation: X:214.30, Y:159.45, Z:-0.70 [[ 8.70113960e-01 4.92850580e-01 -5.15922114e-05 2.14297994e+02] [-4.92850579e-01 8.70113961e-01 3.07516656e-05 1.59445781e+02] [ 6.00470796e-05 -1.33020225e-06 9.99999998e-01 -7.01195287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76576923100004 meters 0.029640306226699782 Centerline is valid? [True, True] Translation: X:214.32, Y:159.43, Z:-0.70 [[ 8.70378350e-01 4.92383391e-01 3.54228314e-04 2.14323787e+02] [-4.92383345e-01 8.70378422e-01 -2.12258783e-04 1.59432272e+02] [-4.12825380e-04 1.03293273e-05 9.99999915e-01 -7.00574511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79576923100007 meters 0.031508064045551724 Centerline is valid? [True, True] Translation: X:214.35, Y:159.41, Z:-0.70 [[ 8.70675444e-01 4.91857969e-01 -9.91730027e-05 2.14345151e+02] [-4.91857966e-01 8.70675449e-01 5.91316717e-05 1.59414276e+02] [ 1.15431883e-04 -2.70546313e-06 9.99999993e-01 -7.01729587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82576923100004 meters 0.029563325676123346 Centerline is valid? [True, True] Translation: X:214.37, Y:159.40, Z:-0.70 [[ 8.71037614e-01 4.91216313e-01 -9.81752600e-05 2.14371016e+02] [-4.91216310e-01 8.71037619e-01 5.83402265e-05 1.59401387e+02] [ 1.14172016e-04 -2.59124278e-06 9.99999993e-01 -7.01538448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85576923100007 meters 0.030589395451018703 Centerline is valid? [True, True] Translation: X:214.39, Y:159.39, Z:-0.70 [[ 8.71326708e-01 4.90703324e-01 -1.29011804e-04 2.14394024e+02] [-4.90703318e-01 8.71326717e-01 7.69964523e-05 1.59386129e+02] [ 1.50193846e-04 -3.78254525e-06 9.99999989e-01 -7.01403978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88576923100004 meters 0.031661435628155855 Centerline is valid? [True, True] Translation: X:214.42, Y:159.37, Z:-0.70 [[ 8.71871702e-01 4.89734352e-01 2.04113223e-05 2.14418069e+02] [-4.89734352e-01 8.71871702e-01 -1.23262826e-05 1.59371035e+02] [-2.38326584e-05 7.50811288e-07 1.00000000e+00 -7.01208947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91576923100007 meters 0.034285433625123034 Centerline is valid? [True, True] Translation: X:214.44, Y:159.35, Z:-0.70 [[ 8.72089030e-01 4.89347236e-01 8.55876592e-05 2.14440359e+02] [-4.89347233e-01 8.72089034e-01 -5.13345187e-05 1.59353916e+02] [-9.97604639e-05 2.88618639e-06 9.99999995e-01 -7.00864096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94576923100004 meters 0.033551742250483005 Centerline is valid? [True, True] Translation: X:214.47, Y:159.34, Z:-0.70 [[ 8.72030285e-01 4.89451572e-01 -5.83225623e-04 2.14465125e+02] [-4.89451448e-01 8.72030480e-01 3.47999771e-04 1.59341618e+02] [ 6.78919555e-04 -1.80057139e-05 9.99999769e-01 -7.02141732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.9757692310001 meters 0.032221097299241344 Centerline is valid? [True, True] Translation: X:214.49, Y:159.33, Z:-0.70 [[ 8.72049801e-01 4.89414989e-01 -1.45381487e-03 2.14490218e+02] [-4.89414222e-01 8.72051011e-01 8.67673058e-04 1.59329672e+02] [ 1.69245293e-03 -4.51364443e-05 9.99998567e-01 -7.04144840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00576923100004 meters 0.0324289375223192 Centerline is valid? [True, True] Translation: X:214.52, Y:159.31, Z:-0.71 [[ 8.72158096e-01 4.89218813e-01 -2.28216817e-03 2.14515439e+02] [-4.89216923e-01 8.72161079e-01 1.36183077e-03 1.59314840e+02] [ 2.65665149e-03 -7.12564423e-05 9.99996469e-01 -7.05700053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0357692310001 meters 0.03013240235327412 Centerline is valid? [True, True] Translation: X:214.54, Y:159.30, Z:-0.70 [[ 8.72366778e-01 4.88847910e-01 -1.98123735e-03 2.14540800e+02] [-4.88846486e-01 8.72369026e-01 1.18161628e-03 1.59302652e+02] [ 2.30600074e-03 -6.22818685e-05 9.99997339e-01 -7.03743812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06576923100005 meters 0.036299223205862347 Centerline is valid? [True, True] Translation: X:214.56, Y:159.28, Z:-0.70 [[ 8.72608389e-01 4.88419665e-01 -9.11200030e-04 2.14559554e+02] [-4.88419364e-01 8.72608864e-01 5.43430034e-04 1.59280105e+02] [ 1.06054314e-03 -2.91538675e-05 9.99999437e-01 -7.03307848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0957692310001 meters 0.03363484041947326 Centerline is valid? [True, True] Translation: X:214.59, Y:159.27, Z:-0.70 [[ 8.73205205e-01 4.87352717e-01 -4.79172047e-06 2.14585524e+02] [-4.87352717e-01 8.73205205e-01 2.50616289e-06 1.59267092e+02] [ 5.40554048e-06 1.46863516e-07 1.00000000e+00 -7.01262353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12576923100005 meters 0.037986836019956054 Centerline is valid? [True, True] Translation: X:214.61, Y:159.24, Z:-0.70 [[ 8.74480475e-01 4.85060327e-01 6.15924554e-04 2.14605087e+02] [-4.85060188e-01 8.74480691e-01 -3.67326798e-04 1.59243931e+02] [-7.16789786e-04 2.24596331e-05 9.99999743e-01 -7.00523138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1557692310001 meters 0.038285262981952686 Centerline is valid? [True, True] Translation: X:214.63, Y:159.23, Z:-0.70 [[ 8.75022436e-01 4.84082365e-01 -6.97224344e-06 2.14629109e+02] [-4.84082365e-01 8.75022436e-01 3.81201778e-06 1.59227108e+02] [ 7.94619996e-06 3.95390108e-08 1.00000000e+00 -7.01775052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18576923100005 meters 0.04011885262801076 Centerline is valid? [True, True] Translation: X:214.65, Y:159.21, Z:-0.71 [[ 8.75072001e-01 4.83990404e-01 -1.51080243e-03 2.14649524e+02] [-4.83989570e-01 8.75073303e-01 9.00264983e-04 1.59206999e+02] [ 1.75778248e-03 -5.65840639e-05 9.99998454e-01 -7.05112944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2157692310001 meters 0.03956593675865492 Centerline is valid? [True, True] Translation: X:214.67, Y:159.19, Z:-0.71 [[ 8.74750536e-01 4.84569123e-01 -2.06531819e-03 2.14673610e+02] [-4.84567567e-01 8.74752971e-01 1.23008847e-03 1.59190367e+02] [ 2.40270611e-03 -7.52343363e-05 9.99997111e-01 -7.06104068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24576923100005 meters 0.038248159484421694 Centerline is valid? [True, True] Translation: X:214.70, Y:159.17, Z:-0.71 [[ 8.74330238e-01 4.85326102e-01 -2.28269784e-03 2.14698304e+02] [-4.85324205e-01 8.74333214e-01 1.35916227e-03 1.59174532e+02] [ 2.65547546e-03 -8.05081558e-05 9.99996471e-01 -7.06564640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2757692310001 meters 0.03685844420425924 Centerline is valid? [True, True] Translation: X:214.72, Y:159.16, Z:-0.71 [[ 8.73613829e-01 4.86615868e-01 -1.96857548e-03 2.14720655e+02] [-4.86614461e-01 8.73616044e-01 1.17212795e-03 1.59157043e+02] [ 2.29015519e-03 -6.60498906e-05 9.99997375e-01 -7.06280260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30576923100006 meters 0.036455183084597685 Centerline is valid? [True, True] Translation: X:214.74, Y:159.14, Z:-0.71 [[ 8.73182217e-01 4.87390526e-01 -1.81403302e-03 2.14743295e+02] [-4.87389333e-01 8.73184099e-01 1.07996464e-03 1.59141209e+02] [ 2.11034932e-03 -5.88655735e-05 9.99997771e-01 -7.05402349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3357692310001 meters 0.03182680851428227 Centerline is valid? [True, True] Translation: X:214.77, Y:159.13, Z:-0.70 [[ 8.71161122e-01 4.90995646e-01 -1.25470822e-03 2.14770303e+02] [-4.90995080e-01 8.71162025e-01 7.46758143e-04 1.59127995e+02] [ 1.45970915e-03 -3.44911013e-05 9.99998934e-01 -7.04334796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36576923100006 meters 0.026500748042907772 Centerline is valid? [True, True] Translation: X:214.80, Y:159.12, Z:-0.70 [[ 8.69809701e-01 4.93386251e-01 -1.04514879e-03 2.14798756e+02] [-4.93385860e-01 8.69810328e-01 6.21639743e-04 1.59118292e+02] [ 1.21578971e-03 -2.50466451e-05 9.99999261e-01 -7.03251850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3957692310001 meters 0.025747379480320576 Centerline is valid? [True, True] Translation: X:214.82, Y:159.10, Z:-0.70 [[ 8.68563619e-01 4.95577267e-01 -6.41446165e-04 2.14822865e+02] [-4.95577121e-01 8.68563856e-01 3.81547911e-04 1.59104259e+02] [ 7.46223426e-04 -1.35125913e-05 9.99999721e-01 -7.03176108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42576923100006 meters 0.02334863434308891 Centerline is valid? [True, True] Translation: X:214.85, Y:159.09, Z:-0.70 [[ 8.67381644e-01 4.97643529e-01 4.28177962e-05 2.14848456e+02] [-4.97643528e-01 8.67381645e-01 -2.55919219e-05 1.59092351e+02] [-4.98750248e-05 8.89964144e-07 9.99999999e-01 -7.02647034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45576923100003 meters 0.017248325524841773 Centerline is valid? [True, True] Translation: X:214.88, Y:159.08, Z:-0.70 [[ 8.65208873e-01 5.01411572e-01 2.04219583e-04 2.14878077e+02] [-5.01411558e-01 8.65208897e-01 -1.21780708e-04 1.59084792e+02] [-2.37754856e-04 2.96768997e-06 9.99999972e-01 -7.01265875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48576923100006 meters 0.015690826215755984 Centerline is valid? [True, True] Translation: X:214.90, Y:159.07, Z:-0.70 [[ 8.64083753e-01 5.03347792e-01 -5.18417976e-04 2.14903617e+02] [-5.03347698e-01 8.64083908e-01 3.08157323e-04 1.59072669e+02] [ 6.03066939e-04 -5.32924121e-06 9.99999818e-01 -7.02433574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51576923100004 meters 0.014111107058867584 Centerline is valid? [True, True] Translation: X:214.93, Y:159.06, Z:-0.70 [[ 8.62984337e-01 5.05228989e-01 -1.30517625e-03 2.14929766e+02] [-5.05228393e-01 8.62985324e-01 7.75800629e-04 1.59061475e+02] [ 1.51830491e-03 -1.00916918e-05 9.99998847e-01 -7.04130688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54576923100007 meters 0.011866003550344915 Centerline is valid? [True, True] Translation: X:214.96, Y:159.06, Z:-0.71 [[ 8.60718344e-01 5.09078728e-01 -1.66762056e-03 2.14959259e+02] [-5.09077764e-01 8.60719960e-01 9.90766445e-04 1.59055193e+02] [ 1.93973242e-03 -3.82230926e-06 9.99998119e-01 -7.05344815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57576923100004 meters 0.01152346373166467 Centerline is valid? [True, True] Translation: X:214.99, Y:159.05, Z:-0.70 [[ 8.59553628e-01 5.11045274e-01 -5.37038254e-04 2.14985890e+02] [-5.11045175e-01 8.59553796e-01 3.18627752e-04 1.59045221e+02] [ 6.24446476e-04 5.73167894e-07 9.99999805e-01 -7.02936650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60576923100007 meters 0.012595022165351478 Centerline is valid? [True, True] Translation: X:215.02, Y:159.04, Z:-0.70 [[ 8.57384656e-01 5.14673039e-01 1.79320377e-03 2.15015520e+02] [-5.14671936e-01 8.57386531e-01 -1.06523323e-03 1.59038199e+02] [-2.08571558e-03 -9.59703445e-06 9.99997825e-01 -6.97842862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63576923100004 meters 0.0137217872449567 Centerline is valid? [True, True] Translation: X:215.04, Y:159.03, Z:-0.70 [[ 8.56511017e-01 5.16126643e-01 1.47149462e-03 2.15042440e+02] [-5.16125904e-01 8.56512281e-01 -8.73856822e-04 1.59027580e+02] [-1.71137400e-03 -1.10084964e-05 9.99998536e-01 -6.99346199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66576923100007 meters 0.014641273155884935 Centerline is valid? [True, True] Translation: X:215.07, Y:159.02, Z:-0.70 [[ 8.55886790e-01 5.17163226e-01 -2.80035899e-05 2.15068978e+02] [-5.17163226e-01 8.55886790e-01 1.62620050e-05 1.59016344e+02] [ 3.23780136e-05 5.63991622e-07 9.99999999e-01 -7.02941786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69576923100004 meters 0.014641273155884935 Centerline is valid? [True, True] Translation: X:215.09, Y:159.00, Z:-0.70 [[ 8.55985477e-01 5.16999868e-01 -2.80296365e-05 2.15092722e+02] [-5.16999867e-01 8.55985477e-01 1.62180440e-05 1.59002486e+02] [ 3.23776883e-05 6.08908185e-07 9.99999999e-01 -7.02992232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7257692310001 meters 0.016763644494735535 Centerline is valid? [True, True] Translation: X:215.12, Y:158.99, Z:-0.71 [[ 8.54894259e-01 5.18790408e-01 -3.50994294e-03 2.15120341e+02] [-5.18786237e-01 8.54901463e-01 2.08071677e-03 1.58992507e+02] [ 4.08011125e-03 4.21172658e-05 9.99991675e-01 -7.10721560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75576923100004 meters 0.01778098298601408 Centerline is valid? [True, True] Translation: X:215.15, Y:158.98, Z:-0.71 [[ 8.54424274e-01 5.19561169e-01 -3.91818544e-03 2.15145824e+02] [-5.19555980e-01 8.54433256e-01 2.32268229e-03 1.58981504e+02] [ 4.55460347e-03 5.11605445e-05 9.99989626e-01 -7.11309398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7857692310001 meters 0.020491086241750892 Centerline is valid? [True, True] Translation: X:215.18, Y:158.98, Z:-0.71 [[ 8.52956966e-01 5.21976291e-01 -2.27290212e-03 2.15175124e+02] [-5.21974555e-01 8.52959993e-01 1.34698472e-03 1.58975542e+02] [ 2.64178867e-03 3.74770779e-05 9.99996510e-01 -7.07141953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81576923100005 meters 0.022150897389291928 Centerline is valid? [True, True] Translation: X:215.20, Y:158.97, Z:-0.71 [[ 8.52238880e-01 5.23150147e-01 -1.67789053e-03 2.15201886e+02] [-5.23149203e-01 8.52240531e-01 9.94248048e-04 1.58966119e+02] [ 1.95010733e-03 3.04502517e-05 9.99998098e-01 -7.06102373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8457692310001 meters 0.025306587601265428 Centerline is valid? [True, True] Translation: X:215.23, Y:158.96, Z:-0.71 [[ 8.51581614e-01 5.24219295e-01 -1.69872579e-03 2.15229748e+02] [-5.24218330e-01 8.51583307e-01 1.00646572e-03 1.58958359e+02] [ 1.97421528e-03 3.34154943e-05 9.99998051e-01 -7.06659385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87576923100005 meters 0.02721747381054404 Centerline is valid? [True, True] Translation: X:215.26, Y:158.95, Z:-0.71 [[ 8.50117487e-01 5.26588081e-01 -2.29183355e-03 2.15259690e+02] [-5.26586334e-01 8.50120574e-01 1.35732779e-03 1.58950477e+02] [ 2.66308749e-03 5.29601382e-05 9.99996453e-01 -7.08741076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9057692310001 meters 0.02838593349727509 Centerline is valid? [True, True] Translation: X:215.29, Y:158.94, Z:-0.71 [[ 8.49509064e-01 5.27571014e-01 -1.78195422e-03 2.15287351e+02] [-5.27569961e-01 8.49510932e-01 1.05485543e-03 1.58940517e+02] [ 2.07030074e-03 4.39962736e-05 9.99997856e-01 -7.07924393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93576923100005 meters 0.026548727483795026 Centerline is valid? [True, True] Translation: X:215.31, Y:158.93, Z:-0.70 [[ 8.49031828e-01 5.28341271e-01 -6.75452027e-04 2.15312823e+02] [-5.28341120e-01 8.49032097e-01 3.99454570e-04 1.58927439e+02] [ 7.84528786e-04 1.77194369e-05 9.99999692e-01 -7.04860173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9657692310001 meters 0.03533209352381615 Centerline is valid? [True, True] Translation: X:215.35, Y:158.93, Z:-0.70 [[ 8.47907917e-01 5.30141353e-01 1.51976721e-03 2.15347285e+02] [-5.30140592e-01 8.47909278e-01 -8.99598635e-04 1.58931854e+02] [-1.76553916e-03 -4.29134835e-05 9.99998441e-01 -7.00303232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99576923100005 meters 0.03050415277425678 Centerline is valid? [True, True] Translation: X:215.37, Y:158.92, Z:-0.70 [[ 8.47599573e-01 5.30634451e-01 1.42931950e-03 2.15371104e+02] [-5.30633778e-01 8.47600778e-01 -8.45880698e-04 1.58915450e+02] [-1.66034576e-03 -4.14770853e-05 9.99998621e-01 -7.00515312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0257692310001 meters 0.029883629590117144 Centerline is valid? [True, True] Translation: X:215.40, Y:158.90, Z:-0.70 [[ 8.47884637e-01 5.30180439e-01 5.86629058e-04 2.15397559e+02] [-5.30180326e-01 8.47884840e-01 -3.47249735e-04 1.58904114e+02] [-6.81498902e-04 -1.65914693e-05 9.99999768e-01 -7.02177378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05576923100006 meters 0.02566028878495419 Centerline is valid? [True, True] Translation: X:215.42, Y:158.89, Z:-0.70 [[ 8.50882112e-01 5.25356647e-01 -1.61264753e-04 2.15423101e+02] [-5.25356638e-01 8.50882127e-01 9.52709174e-05 1.58890615e+02] [ 1.87268506e-04 3.65718933e-06 9.99999982e-01 -7.04714425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0857692310001 meters 0.02127417015837249 Centerline is valid? [True, True] Translation: X:215.44, Y:158.87, Z:-0.70 [[ 8.53666020e-01 5.20820214e-01 7.95070281e-04 2.15444946e+02] [-5.20820001e-01 8.53666390e-01 -4.70161595e-04 1.58872374e+02] [-9.23594439e-04 -1.27275274e-05 9.99999573e-01 -7.02837726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11576923100006 meters 0.011925033877026208 Centerline is valid? [True, True] Translation: X:215.46, Y:158.84, Z:-0.70 [[ 8.60178534e-01 5.09988755e-01 2.08779983e-03 2.15460177e+02] [-5.09987262e-01 8.60181068e-01 -1.23431832e-03 1.58840495e+02] [-2.42537435e-03 -3.01719796e-06 9.99997059e-01 -6.99362009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1457692310001 meters 0.013384231130364799 Centerline is valid? [True, True] Translation: X:215.48, Y:158.82, Z:-0.70 [[ 8.63116998e-01 5.05001286e-01 1.65775206e-03 2.15478969e+02] [-5.05000336e-01 8.63118590e-01 -9.80003070e-04 1.58817306e+02] [-1.92573943e-03 8.69196048e-06 9.99998146e-01 -7.00505659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17576923100006 meters 0.016130170844395286 Centerline is valid? [True, True] Translation: X:215.50, Y:158.80, Z:-0.70 [[ 8.65631875e-01 5.00680757e-01 4.85268072e-04 2.15500150e+02] [-5.00680675e-01 8.65632011e-01 -2.86921336e-04 1.58797537e+02] [-5.63719570e-04 5.40390845e-06 9.99999841e-01 -7.03525409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20576923100003 meters 0.022645390128303085 Centerline is valid? [True, True] Translation: X:215.52, Y:158.77, Z:-0.71 [[ 8.69229719e-01 4.94406308e-01 -1.44867217e-03 2.15519073e+02] [-4.94405567e-01 8.69230926e-01 8.56085872e-04 1.58771099e+02] [ 1.68248490e-03 -2.79036973e-05 9.99998584e-01 -7.07548203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23576923100006 meters 0.025335765785358802 Centerline is valid? [True, True] Translation: X:215.54, Y:158.75, Z:-0.71 [[ 8.70541151e-01 4.92093875e-01 -1.31228307e-03 2.15540182e+02] [-4.92093266e-01 8.70542140e-01 7.75307451e-04 1.58751314e+02] [ 1.52392176e-03 -2.91713795e-05 9.99998838e-01 -7.07233609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26576923100004 meters 0.02597468022509377 Centerline is valid? [True, True] Translation: X:215.56, Y:158.73, Z:-0.70 [[ 8.72037621e-01 4.89438849e-01 2.39707565e-05 2.15561057e+02] [-4.89438849e-01 8.72037621e-01 -1.42408731e-05 1.58729075e+02] [-2.78734380e-05 6.86357625e-07 1.00000000e+00 -7.02849695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29576923100007 meters 0.026948603713808684 Centerline is valid? [True, True] Translation: X:215.58, Y:158.71, Z:-0.70 [[ 8.72588141e-01 4.88456457e-01 4.74851412e-04 2.15582737e+02] [-4.88456376e-01 8.72588270e-01 -2.80820124e-04 1.58709811e+02] [-5.51518176e-04 1.30961104e-05 9.99999848e-01 -7.01278231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32576923100004 meters 0.03084661475794272 Centerline is valid? [True, True] Translation: X:215.60, Y:158.69, Z:-0.70 [[ 8.72906522e-01 4.87886884e-01 7.69596853e-04 2.15601863e+02] [-4.87886673e-01 8.72906861e-01 -4.54607924e-04 1.58687646e+02] [-8.93583617e-04 2.13541736e-05 9.99999601e-01 -7.00594000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35576923100007 meters 0.02922934006798321 Centerline is valid? [True, True] Translation: X:215.63, Y:158.67, Z:-0.70 [[ 8.73055054e-01 4.87621018e-01 7.84456634e-04 2.15625096e+02] [-4.87620798e-01 8.73055406e-01 -4.63455177e-04 1.58672485e+02] [-9.10864590e-04 2.21045152e-05 9.99999585e-01 -7.01022920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38576923100004 meters 0.02829387270549489 Centerline is valid? [True, True] Translation: X:215.65, Y:158.65, Z:-0.70 [[ 8.72706397e-01 4.88244909e-01 -6.73693991e-04 2.15647186e+02] [-4.88244748e-01 8.72706657e-01 3.97177416e-04 1.58652395e+02] [ 7.81857082e-04 -1.76917193e-05 9.99999694e-01 -7.03973417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41576923100007 meters 0.024380698269227473 Centerline is valid? [True, True] Translation: X:215.67, Y:158.64, Z:-0.71 [[ 8.71420348e-01 4.90530805e-01 -2.47116761e-03 2.15672265e+02] [-4.90528643e-01 8.71423850e-01 1.45730027e-03 1.58637368e+02] [ 2.86828507e-03 -5.77426101e-05 9.99995885e-01 -7.06504045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44576923100004 meters 0.02178887454477996 Centerline is valid? [True, True] Translation: X:215.70, Y:158.62, Z:-0.71 [[ 8.70272390e-01 4.92559231e-01 -3.37213281e-03 2.15697837e+02] [-4.92555225e-01 8.70278920e-01 1.98792547e-03 1.58624752e+02] [ 3.91386715e-03 -6.90750181e-05 9.99992338e-01 -7.07760209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.4757692310001 meters 0.020000683171230077 Centerline is valid? [True, True] Translation: X:215.72, Y:158.61, Z:-0.71 [[ 8.69018453e-01 4.94764527e-01 -3.87197002e-03 2.15722815e+02] [-4.94759266e-01 8.69027076e-01 2.28255887e-03 1.58612551e+02] [ 4.49417594e-03 -6.78927346e-05 9.99989899e-01 -7.09272553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50576923100004 meters 0.015769270762801935 Centerline is valid? [True, True] Translation: X:215.75, Y:158.60, Z:-0.71 [[ 8.65802763e-01 5.00373271e-01 -3.48794429e-03 2.15749379e+02] [-5.00369048e-01 8.65809788e-01 2.05599199e-03 1.58603110e+02] [ 4.04865975e-03 -3.48241825e-05 9.99991804e-01 -7.09964221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5357692310001 meters 0.013711121883382549 Centerline is valid? [True, True] Translation: X:215.78, Y:158.59, Z:-0.71 [[ 8.64376746e-01 5.02836193e-01 -2.93309634e-03 2.15776550e+02] [-5.02833224e-01 8.64381723e-01 1.72800169e-03 1.58591727e+02] [ 3.40421666e-03 -1.87861851e-05 9.99994205e-01 -7.08751424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56576923100005 meters 0.012541507024009068 Centerline is valid? [True, True] Translation: X:215.80, Y:158.58, Z:-0.71 [[ 8.63072850e-01 5.05073580e-01 -2.43617836e-03 2.15802956e+02] [-5.05071542e-01 8.63076288e-01 1.43464861e-03 1.58580732e+02] [ 2.82721089e-03 -7.76190444e-06 9.99996003e-01 -7.08407997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5957692310001 meters 0.012468992664200894 Centerline is valid? [True, True] Translation: X:215.83, Y:158.57, Z:-0.71 [[ 8.60303555e-01 5.09779717e-01 -1.55972854e-03 2.15831156e+02] [-5.09778890e-01 8.60304969e-01 9.17935702e-04 1.58573675e+02] [ 1.80978721e-03 5.41333600e-06 9.99998362e-01 -7.05893394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62576923100005 meters 0.013431928974049325 Centerline is valid? [True, True] Translation: X:215.86, Y:158.56, Z:-0.70 [[ 8.59114932e-01 5.11781689e-01 -1.01816951e-03 2.15857429e+02] [-5.11781339e-01 8.59115535e-01 5.98903108e-04 1.58562052e+02] [ 1.18123289e-03 6.55355113e-06 9.99999302e-01 -7.04402587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6557692310001 meters 0.016834120842878976 Centerline is valid? [True, True] Translation: X:215.88, Y:158.55, Z:-0.70 [[ 8.56546877e-01 5.16069152e-01 -2.78856786e-04 2.15884755e+02] [-5.16069126e-01 8.56546922e-01 1.63977200e-04 1.58552679e+02] [ 3.23477497e-04 3.45521922e-06 9.99999948e-01 -7.03931044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68576923100005 meters 0.018304227122614376 Centerline is valid? [True, True] Translation: X:215.91, Y:158.54, Z:-0.71 [[ 8.55447205e-01 5.17889405e-01 -8.02512853e-04 2.15911258e+02] [-5.17889190e-01 8.55447581e-01 4.71727309e-04 1.58540144e+02] [ 9.30810254e-04 1.20749229e-05 9.99999567e-01 -7.05141507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7157692310001 meters 0.020896933270489033 Centerline is valid? [True, True] Translation: X:215.94, Y:158.53, Z:-0.71 [[ 8.54340733e-01 5.19709636e-01 -1.95092573e-03 2.15937563e+02] [-5.19708371e-01 8.54342960e-01 1.14736227e-03 1.58529457e+02] [ 2.26305489e-03 3.36741068e-05 9.99997439e-01 -7.07602745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74576923100005 meters 0.02259270137791801 Centerline is valid? [True, True] Translation: X:215.96, Y:158.52, Z:-0.71 [[ 8.53265280e-01 5.21468065e-01 -3.06908012e-03 2.15963948e+02] [-5.21464947e-01 8.53270798e-01 1.80411543e-03 1.58517226e+02] [ 3.55954503e-03 6.10286465e-05 9.99993663e-01 -7.09280180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7757692310001 meters 0.024190147403444086 Centerline is valid? [True, True] Translation: X:215.99, Y:158.50, Z:-0.71 [[ 8.51770624e-01 5.23898813e-01 -4.10339487e-03 2.15990552e+02] [-5.23893271e-01 8.51780502e-01 2.41177029e-03 1.58504437e+02] [ 4.75871534e-03 9.54658744e-05 9.99988673e-01 -7.10759518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80576923100006 meters 0.027915861438509052 Centerline is valid? [True, True] Translation: X:216.02, Y:158.50, Z:-0.71 [[ 8.51667918e-01 5.24073950e-01 -2.87263702e-03 2.16016772e+02] [-5.24071236e-01 8.51672760e-01 1.68803848e-03 1.58495967e+02] [ 3.33120370e-03 6.78182174e-05 9.99994449e-01 -7.09784588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8357692310001 meters 0.02591934660197208 Centerline is valid? [True, True] Translation: X:216.04, Y:158.48, Z:-0.71 [[ 8.52099080e-01 5.23377437e-01 -1.79350203e-03 2.16040710e+02] [-5.23376379e-01 8.52100966e-01 1.05328960e-03 1.58479245e+02] [ 2.07951283e-03 4.11694979e-05 9.99997837e-01 -7.07799048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86576923100006 meters 0.024505670487485948 Centerline is valid? [True, True] Translation: X:216.06, Y:158.46, Z:-0.71 [[ 8.52556672e-01 5.22633704e-01 -1.06424254e-03 2.16064756e+02] [-5.22633331e-01 8.52557336e-01 6.24627943e-04 1.58463550e+02] [ 1.23377940e-03 2.36779063e-05 9.99999239e-01 -7.06922420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8957692310001 meters 0.02369354173772032 Centerline is valid? [True, True] Translation: X:216.09, Y:158.45, Z:-0.70 [[ 8.52978680e-01 5.21945751e-01 -6.12574396e-05 2.16089699e+02] [-5.21945750e-01 8.52978683e-01 3.56082695e-05 1.58449643e+02] [ 7.08368750e-05 1.59996546e-06 9.99999998e-01 -7.04532693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92576923100006 meters 0.026391334560369278 Centerline is valid? [True, True] Translation: X:216.12, Y:158.44, Z:-0.70 [[ 8.52702971e-01 5.22396047e-01 -1.16719803e-04 2.16115942e+02] [-5.22396043e-01 8.52702979e-01 6.83839539e-05 1.58440192e+02] [ 1.35250831e-04 2.66276241e-06 9.99999991e-01 -7.04913174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95576923100003 meters 0.024723254756278408 Centerline is valid? [True, True] Translation: X:216.14, Y:158.42, Z:-0.70 [[ 8.52491970e-01 5.22740160e-01 -4.08110484e-04 2.16140551e+02] [-5.22740105e-01 8.52492068e-01 2.39095010e-04 1.58424619e+02] [ 4.72895513e-04 9.50914126e-06 9.99999888e-01 -7.04996206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98576923100006 meters 0.025933084707675587 Centerline is valid? [True, True] Translation: X:216.17, Y:158.41, Z:-0.71 [[ 8.52033156e-01 5.23485266e-01 -1.63620753e-03 2.16167652e+02] [-5.23484389e-01 8.52034726e-01 9.59289686e-04 1.58413132e+02] [ 1.89627965e-03 3.91824795e-05 9.99998201e-01 -7.07251816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01576923100004 meters 0.026454580602444985 Centerline is valid? [True, True] Translation: X:216.19, Y:158.40, Z:-0.71 [[ 8.52114858e-01 5.23353011e-01 -1.37660208e-03 2.16192358e+02] [-5.23352390e-01 8.52115969e-01 8.07055375e-04 1.58401073e+02] [ 1.59539948e-03 3.27441139e-05 9.99998727e-01 -7.07364020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04576923100007 meters 0.026446552760828176 Centerline is valid? [True, True] Translation: X:216.22, Y:158.39, Z:-0.71 [[ 8.52378651e-01 5.22924686e-01 -6.38968720e-04 2.16218076e+02] [-5.22924553e-01 8.52378890e-01 3.74204411e-04 1.58387538e+02] [ 7.40324173e-04 1.51685813e-05 9.99999726e-01 -7.06212173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07576923100004 meters 0.024572248188550867 Centerline is valid? [True, True] Translation: X:216.24, Y:158.37, Z:-0.71 [[ 8.53345539e-01 5.21345428e-01 -5.79543684e-04 2.16243179e+02] [-5.21345318e-01 8.53345736e-01 3.39241010e-04 1.58372830e+02] [ 6.71412881e-04 1.26525836e-05 9.99999775e-01 -7.06065488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10576923100007 meters 0.02354001671190484 Centerline is valid? [True, True] Translation: X:216.27, Y:158.36, Z:-0.71 [[ 8.54052066e-01 5.20186391e-01 -1.08919306e-03 2.16266916e+02] [-5.20186001e-01 8.54052761e-01 6.38012969e-04 1.58358324e+02] [ 1.26211401e-03 2.16866895e-05 9.99999203e-01 -7.06859043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13576923100004 meters 0.02143059067224363 Centerline is valid? [True, True] Translation: X:216.29, Y:158.34, Z:-0.71 [[ 8.55394255e-01 5.17975776e-01 -1.32794130e-03 2.16290220e+02] [-5.17975193e-01 8.55395286e-01 7.77789024e-04 1.58342624e+02] [ 1.53879060e-03 2.25243861e-05 9.99998816e-01 -7.06919901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16576923100007 meters 0.020743638911655708 Centerline is valid? [True, True] Translation: X:216.31, Y:158.33, Z:-0.71 [[ 8.55825074e-01 5.17263314e-01 -1.45161570e-03 2.16314588e+02] [-5.17262617e-01 8.55826304e-01 8.49708721e-04 1.58327751e+02] [ 1.68185405e-03 2.36645066e-05 9.99998585e-01 -7.07222433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19576923100004 meters 0.02003840745326967 Centerline is valid? [True, True] Translation: X:216.34, Y:158.31, Z:-0.71 [[ 8.56184533e-01 5.16668640e-01 -1.24979979e-03 2.16339088e+02] [-5.16668123e-01 8.56185445e-01 7.31255344e-04 1.58311809e+02] [ 1.44787709e-03 1.96421946e-05 9.99998952e-01 -7.06886311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2257692310001 meters 0.01915476965136983 Centerline is valid? [True, True] Translation: X:216.36, Y:158.30, Z:-0.71 [[ 8.56804086e-01 5.15641919e-01 -4.10882984e-04 2.16362207e+02] [-5.15641863e-01 8.56804185e-01 2.40292268e-04 1.58295699e+02] [ 4.75951026e-04 5.98507052e-06 9.99999887e-01 -7.05506130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25576923100004 meters 0.018720239599947352 Centerline is valid? [True, True] Translation: X:216.39, Y:158.28, Z:-0.70 [[ 8.57158752e-01 5.15052256e-01 -2.17845292e-04 2.16385692e+02] [-5.15052241e-01 8.57158780e-01 1.27058815e-04 1.58281092e+02] [ 2.52169934e-04 3.29213076e-06 9.99999968e-01 -7.04693084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2857692310001 meters 0.01811356161437527 Centerline is valid? [True, True] Translation: X:216.41, Y:158.27, Z:-0.71 [[ 8.57616053e-01 5.14289972e-01 -7.27694855e-04 2.16409078e+02] [-5.14289796e-01 8.57616362e-01 4.25538819e-04 1.58265719e+02] [ 8.42933362e-04 9.29711625e-06 9.99999645e-01 -7.06216973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31576923100005 meters 0.017483849213723895 Centerline is valid? [True, True] Translation: X:216.43, Y:158.25, Z:-0.71 [[ 8.58057266e-01 5.13552131e-01 -1.39156667e-03 2.16432504e+02] [-5.13551487e-01 8.58058395e-01 8.13760682e-04 1.58250398e+02] [ 1.61195400e-03 1.63878674e-05 9.99998701e-01 -7.07588140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3457692310001 meters 0.014609483473181348 Centerline is valid? [True, True] Translation: X:216.45, Y:158.23, Z:-0.71 [[ 8.59509704e-01 5.11113319e-01 -2.49872734e-03 2.16454348e+02] [-5.11111232e-01 8.59513336e-01 1.46056361e-03 1.58229777e+02] [ 2.89420299e-03 2.17590088e-05 9.99995812e-01 -7.08958349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37576923100005 meters 0.014627911754875926 Centerline is valid? [True, True] Translation: X:216.48, Y:158.22, Z:-0.71 [[ 8.60047604e-01 5.10209348e-01 -2.13085284e-03 2.16477952e+02] [-5.10207828e-01 8.60050243e-01 1.24551669e-03 1.58215260e+02] [ 2.46811476e-03 1.59741516e-05 9.99996954e-01 -7.09331918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4057692310001 meters 0.013568553282612326 Centerline is valid? [True, True] Translation: X:216.50, Y:158.20, Z:-0.71 [[ 8.60446754e-01 5.09539559e-01 -9.06878589e-04 2.16501943e+02] [-5.09539283e-01 8.60447232e-01 5.29581801e-04 1.58198938e+02] [ 1.05016405e-03 6.41332470e-06 9.99999449e-01 -7.05840337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43576923100005 meters 0.014219575613556155 Centerline is valid? [True, True] Translation: X:216.53, Y:158.19, Z:-0.70 [[ 8.59826421e-01 5.10586358e-01 3.09854168e-04 2.16528112e+02] [-5.10586326e-01 8.59826477e-01 -1.81348078e-04 1.58186993e+02] [-3.59014672e-04 -2.27943222e-06 9.99999936e-01 -7.03021643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4657692310001 meters 0.015787306074129814 Centerline is valid? [True, True] Translation: X:216.56, Y:158.18, Z:-0.70 [[ 8.58892684e-01 5.12155599e-01 -8.97987297e-06 2.16555248e+02] [-5.12155599e-01 8.58892684e-01 4.89250684e-06 1.58176179e+02] [ 1.02184719e-05 3.96953893e-07 1.00000000e+00 -7.03416712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49576923100005 meters 0.020155907526228953 Centerline is valid? [True, True] Translation: X:216.59, Y:158.17, Z:-0.71 [[ 8.56441988e-01 5.16242275e-01 -1.01733139e-03 2.16585409e+02] [-5.16241934e-01 8.56442592e-01 5.93904188e-04 1.58171245e+02] [ 1.17788438e-03 1.65446430e-05 9.99999306e-01 -7.05746247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5257692310001 meters 0.024827879037447556 Centerline is valid? [True, True] Translation: X:216.61, Y:158.16, Z:-0.71 [[ 8.55168826e-01 5.18347816e-01 -1.34909380e-03 2.16613989e+02] [-5.18347218e-01 8.55169890e-01 7.87453365e-04 1.58164786e+02] [ 1.56187913e-03 2.58934460e-05 9.99998780e-01 -7.07064189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55576923100006 meters 0.024643678960930265 Centerline is valid? [True, True] Translation: X:216.64, Y:158.15, Z:-0.71 [[ 8.53993968e-01 5.20280808e-01 -1.47754596e-03 2.16639241e+02] [-5.20280095e-01 8.53995246e-01 8.62323814e-04 1.58151738e+02] [ 1.71046776e-03 3.23184168e-05 9.99998537e-01 -7.07042120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5857692310001 meters 0.024643678960930265 Centerline is valid? [True, True] Translation: X:216.66, Y:158.14, Z:-0.71 [[ 8.54091959e-01 5.20119929e-01 -1.47782831e-03 2.16663082e+02] [-5.20119216e-01 8.54093237e-01 8.61839963e-04 1.58138054e+02] [ 1.71046331e-03 3.25563219e-05 9.99998537e-01 -7.07092571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61576923100006 meters 0.03278270147170437 Centerline is valid? [True, True] Translation: X:216.69, Y:158.14, Z:-0.71 [[ 8.52042787e-01 5.23471147e-01 -1.02369605e-03 2.16694982e+02] [-5.23470807e-01 8.52043401e-01 5.97085727e-04 1.58136480e+02] [ 1.18479062e-03 2.71324125e-05 9.99999298e-01 -7.07240333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6457692310001 meters 0.029939136325032662 Centerline is valid? [True, True] Translation: X:216.72, Y:158.12, Z:-0.71 [[ 8.51503626e-01 5.24348453e-01 -5.23251177e-04 2.16719373e+02] [-5.24348365e-01 8.51503787e-01 3.04789960e-04 1.58120230e+02] [ 6.05366503e-04 1.48361430e-05 9.99999817e-01 -7.05372997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67576923100006 meters 0.029701775092693557 Centerline is valid? [True, True] Translation: X:216.75, Y:158.11, Z:-0.70 [[ 8.51634541e-01 5.24136010e-01 2.26686723e-04 2.16745200e+02] [-5.24135994e-01 8.51634571e-01 -1.32535529e-04 1.58109865e+02] [-2.62520894e-04 -5.94283643e-06 9.99999966e-01 -7.03888288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70576923100003 meters 0.02886881888166058 Centerline is valid? [True, True] Translation: X:216.77, Y:158.10, Z:-0.70 [[ 8.52252342e-01 5.23130905e-01 4.00164878e-05 2.16770458e+02] [-5.23130905e-01 8.52252343e-01 -2.36637516e-05 1.58095462e+02] [-4.64833854e-05 -7.66373717e-07 9.99999999e-01 -7.04376182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73576923100006 meters 0.027077074961962672 Centerline is valid? [True, True] Translation: X:216.80, Y:158.08, Z:-0.71 [[ 8.53338998e-01 5.21356356e-01 -3.24631591e-04 2.16795014e+02] [-5.21356322e-01 8.53339059e-01 1.88742639e-04 1.58079704e+02] [ 3.75422991e-04 8.18727774e-06 9.99999930e-01 -7.05669735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76576923100004 meters 0.0232000036451364 Centerline is valid? [True, True] Translation: X:216.82, Y:158.06, Z:-0.70 [[ 8.55510659e-01 5.17785198e-01 3.83500646e-05 2.16817408e+02] [-5.17785197e-01 8.55510660e-01 -2.24593671e-05 1.58062881e+02] [-4.44380169e-05 -6.42867826e-07 9.99999999e-01 -7.04666307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79576923100007 meters 0.021666968249815805 Centerline is valid? [True, True] Translation: X:216.84, Y:158.05, Z:-0.70 [[ 8.56475464e-01 5.16187207e-01 7.39188900e-04 2.16841074e+02] [-5.16187028e-01 8.56475783e-01 -4.30562731e-04 1.58048146e+02] [-8.55348366e-04 -1.27933063e-05 9.99999634e-01 -7.03152181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82576923100004 meters 0.02028273264607864 Centerline is valid? [True, True] Translation: X:216.87, Y:158.03, Z:-0.70 [[ 8.57313648e-01 5.14792590e-01 1.37789034e-03 2.16865418e+02] [-5.14791965e-01 8.57314755e-01 -8.02410718e-04 1.58033143e+02] [-1.59436081e-03 -2.14092185e-05 9.99998729e-01 -7.02529385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85576923100007 meters 0.01845293532183163 Centerline is valid? [True, True] Translation: X:216.89, Y:158.02, Z:-0.70 [[ 8.58439987e-01 5.12912682e-01 1.16978143e-03 2.16890011e+02] [-5.12912231e-01 8.58440784e-01 -6.81012726e-04 1.58017009e+02] [-1.35348815e-03 -1.53866453e-05 9.99999084e-01 -7.03485182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88576923100004 meters 0.018300387396708938 Centerline is valid? [True, True] Translation: X:216.91, Y:158.00, Z:-0.71 [[ 8.58687331e-01 5.12499823e-01 -1.61316986e-05 2.16914065e+02] [-5.12499823e-01 8.58687331e-01 8.99679427e-06 1.58003705e+02] [ 1.84629406e-05 5.42059414e-07 1.00000000e+00 -7.05739154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91576923100007 meters 0.018099380916260507 Centerline is valid? [True, True] Translation: X:216.94, Y:157.99, Z:-0.71 [[ 8.59005963e-01 5.11964260e-01 -1.16245443e-03 2.16938720e+02] [-5.11963815e-01 8.59006750e-01 6.75485874e-04 1.57990339e+02] [ 1.34438083e-03 1.48882117e-05 9.99999096e-01 -7.07850603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94576923100004 meters 0.017233891630331264 Centerline is valid? [True, True] Translation: X:216.96, Y:157.98, Z:-0.71 [[ 8.59696889e-01 5.10802224e-01 -1.53184289e-03 2.16963067e+02] [-5.10801448e-01 8.59698254e-01 8.90287017e-04 1.57977069e+02] [ 1.77168324e-03 1.70905871e-05 9.99998430e-01 -7.08594588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.9757692310001 meters 0.016117436099504074 Centerline is valid? [True, True] Translation: X:216.99, Y:157.96, Z:-0.71 [[ 8.60368328e-01 5.09672673e-01 -3.25245933e-04 2.16987789e+02] [-5.09672638e-01 8.60368390e-01 1.88663888e-04 1.57962310e+02] [ 3.75988148e-04 3.44851910e-06 9.99999929e-01 -7.06009704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00576923100004 meters 0.014328908075305827 Centerline is valid? [True, True] Translation: X:217.01, Y:157.95, Z:-0.70 [[ 8.61482649e-01 5.07784700e-01 1.53097594e-03 2.17012699e+02] [-5.07783921e-01 8.61484009e-01 -8.89651202e-04 1.57948488e+02] [-1.77066256e-03 -1.09858905e-05 9.99998432e-01 -7.02347228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0357692310001 meters 0.013530514113090942 Centerline is valid? [True, True] Translation: X:217.04, Y:157.93, Z:-0.70 [[ 8.62148866e-01 5.06653144e-01 1.38756305e-03 2.17036151e+02] [-5.06652503e-01 8.62149982e-01 -8.06034788e-04 1.57934318e+02] [-1.60466752e-03 -8.09031664e-06 9.99998713e-01 -7.03267687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06576923100005 meters 0.012703442555965387 Centerline is valid? [True, True] Translation: X:217.06, Y:157.92, Z:-0.70 [[ 8.62983245e-01 5.05232142e-01 6.33444540e-04 2.17059638e+02] [-5.05232008e-01 8.62983478e-01 -3.67956804e-04 1.57918488e+02] [-7.32555776e-04 -2.49590017e-06 9.99999732e-01 -7.04891905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0957692310001 meters 0.012007968247438803 Centerline is valid? [True, True] Translation: X:217.08, Y:157.90, Z:-0.71 [[ 8.64151446e-01 5.03231671e-01 4.04315587e-04 2.17082056e+02] [-5.03231616e-01 8.64151541e-01 -2.35064144e-04 1.57901871e+02] [-4.67681660e-04 -3.33366371e-07 9.99999891e-01 -7.05394391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12576923100005 meters 0.012870677721600233 Centerline is valid? [True, True] Translation: X:217.10, Y:157.88, Z:-0.70 [[ 8.66883509e-01 4.98509756e-01 1.00240505e-03 2.17101278e+02] [-4.98509416e-01 8.66884089e-01 -5.81900548e-04 1.57879642e+02] [-1.15905209e-03 4.73163409e-06 9.99999328e-01 -7.04589064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1557692310001 meters 0.01657810509446417 Centerline is valid? [True, True] Translation: X:217.12, Y:157.85, Z:-0.70 [[ 8.69300924e-01 4.94281103e-01 1.44722871e-03 2.17119655e+02] [-4.94280390e-01 8.69302128e-01 -8.39964383e-04 1.57854906e+02] [-1.67325752e-03 1.48450435e-05 9.99998600e-01 -7.03780725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18576923100005 meters 0.018223192669933035 Centerline is valid? [True, True] Translation: X:217.14, Y:157.84, Z:-0.70 [[ 8.70190218e-01 4.92713539e-01 1.53393564e-03 2.17141508e+02] [-4.92712735e-01 8.70191570e-01 -8.90178370e-04 1.57835800e+02] [-1.77342079e-03 1.88348871e-05 9.99998427e-01 -7.03513542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2157692310001 meters 0.016825835818703252 Centerline is valid? [True, True] Translation: X:217.17, Y:157.82, Z:-0.70 [[ 8.70638645e-01 4.91921235e-01 1.35984530e-03 2.17166698e+02] [-4.91920603e-01 8.70639706e-01 -7.88918211e-04 1.57820982e+02] [-1.57202093e-03 1.79267633e-05 9.99998764e-01 -7.03968489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24576923100005 meters 0.01923869704648193 Centerline is valid? [True, True] Translation: X:217.19, Y:157.80, Z:-0.70 [[ 8.70749663e-01 4.91725700e-01 9.27551784e-04 2.17186766e+02] [-4.91725406e-01 8.70750157e-01 -5.37950941e-04 1.57801520e+02] [-1.07219016e-03 1.23198237e-05 9.99999425e-01 -7.04767615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2757692310001 meters 0.015408788889343585 Centerline is valid? [True, True] Translation: X:217.21, Y:157.79, Z:-0.71 [[ 8.69520050e-01 4.93897353e-01 5.36178598e-04 2.17212225e+02] [-4.93897255e-01 8.69520215e-01 -3.11092728e-04 1.57788339e+02] [-6.19866005e-04 5.68422703e-06 9.99999808e-01 -7.05427599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30576923100006 meters 0.013403202342397731 Centerline is valid? [True, True] Translation: X:217.24, Y:157.78, Z:-0.71 [[ 8.68174689e-01 4.96258394e-01 5.61516966e-04 2.17237833e+02] [-4.96258287e-01 8.68174871e-01 -3.25659114e-04 1.57775711e+02] [-6.49105988e-04 4.07155219e-06 9.99999789e-01 -7.05153422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3357692310001 meters 0.011870139987828899 Centerline is valid? [True, True] Translation: X:217.27, Y:157.77, Z:-0.71 [[ 8.64767481e-01 5.02172373e-01 3.32534199e-04 2.17265965e+02] [-5.02172336e-01 8.64767545e-01 -1.92908024e-04 1.57766429e+02] [-3.84437863e-04 -1.68889658e-07 9.99999926e-01 -7.06210729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36576923100006 meters 0.013030683784679772 Centerline is valid? [True, True] Translation: X:217.29, Y:157.76, Z:-0.71 [[ 8.63072875e-01 5.05079255e-01 3.98401092e-04 2.17293321e+02] [-5.05079202e-01 8.63072967e-01 -2.30990835e-04 1.57755484e+02] [-4.60517891e-04 -1.86218087e-06 9.99999894e-01 -7.06154444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3957692310001 meters 0.01507865676571702 Centerline is valid? [True, True] Translation: X:217.32, Y:157.75, Z:-0.71 [[ 8.61435860e-01 5.07866048e-01 5.80347037e-04 2.17319524e+02] [-5.07865937e-01 8.61436055e-01 -3.36048147e-04 1.57745383e+02] [-6.70599307e-04 -5.25456727e-06 9.99999775e-01 -7.05807933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42576923100006 meters 0.019785803201423893 Centerline is valid? [True, True] Translation: X:217.35, Y:157.74, Z:-0.71 [[ 8.58680583e-01 5.12511000e-01 3.63004888e-04 2.17348117e+02] [-5.12510957e-01 8.58680659e-01 -2.10200200e-04 1.57738684e+02] [-4.19435191e-04 -5.54915233e-06 9.99999912e-01 -7.06178208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45576923100003 meters 0.021819970678109767 Centerline is valid? [True, True] Translation: X:217.37, Y:157.73, Z:-0.71 [[ 8.57648953e-01 5.14235552e-01 2.64258076e-04 2.17374479e+02] [-5.14235530e-01 8.57648994e-01 -1.53097218e-04 1.57727829e+02] [-3.05368706e-04 -4.58722284e-06 9.99999953e-01 -7.07261938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48576923100006 meters 0.02354904603410482 Centerline is valid? [True, True] Translation: X:217.40, Y:157.72, Z:-0.71 [[ 8.56838186e-01 5.15585253e-01 4.12349988e-04 2.17400766e+02] [-5.15585198e-01 8.56838285e-01 -2.38860445e-04 1.57716033e+02] [-4.76470180e-04 -7.93679950e-06 9.99999886e-01 -7.07598111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51576923100004 meters 0.026065854477088164 Centerline is valid? [True, True] Translation: X:217.43, Y:157.71, Z:-0.71 [[ 8.55790987e-01 5.17320679e-01 1.05004145e-03 2.17426624e+02] [-5.17320323e-01 8.55791631e-01 -6.07426681e-04 1.57706111e+02] [-1.21285107e-03 -2.33775029e-05 9.99999264e-01 -7.06538776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54576923100007 meters 0.025562832722981342 Centerline is valid? [True, True] Translation: X:217.45, Y:157.69, Z:-0.71 [[ 8.55614432e-01 5.17612333e-01 1.18992348e-03 2.17451331e+02] [-5.17611876e-01 8.55615259e-01 -6.88267012e-04 1.57691880e+02] [-1.37437218e-03 -2.70273390e-05 9.99999055e-01 -7.06257948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57576923100004 meters 0.026946630116300132 Centerline is valid? [True, True] Translation: X:217.48, Y:157.68, Z:-0.71 [[ 8.55653723e-01 5.17547877e-01 9.48932482e-04 2.17476769e+02] [-5.17547587e-01 8.55654249e-01 -5.48666485e-04 1.57681172e+02] [-1.09591929e-03 -2.16491962e-05 9.99999399e-01 -7.06639203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60576923100007 meters 0.026277484436410987 Centerline is valid? [True, True] Translation: X:217.50, Y:157.67, Z:-0.71 [[ 8.55547046e-01 5.17724846e-01 4.87059219e-04 2.17501743e+02] [-5.17724769e-01 8.55547184e-01 -2.81765831e-04 1.57667314e+02] [-5.62579315e-04 -1.10986972e-05 9.99999842e-01 -7.07311722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63576923100004 meters 0.028234254680045864 Centerline is valid? [True, True] Translation: X:217.53, Y:157.66, Z:-0.71 [[ 8.55244532e-01 5.18224651e-01 3.55106558e-05 2.17529252e+02] [-5.18224650e-01 8.55244533e-01 -2.06975201e-05 1.57658658e+02] [-4.10962594e-05 -7.01056286e-07 9.99999999e-01 -7.08795937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66576923100007 meters 0.02620987284468027 Centerline is valid? [True, True] Translation: X:217.55, Y:157.64, Z:-0.71 [[ 8.55251068e-01 5.18213838e-01 1.70576421e-04 2.17553455e+02] [-5.18213829e-01 8.55251085e-01 -9.88997297e-05 1.57643983e+02] [-1.97136878e-04 -3.81096086e-06 9.99999981e-01 -7.08938803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69576923100004 meters 0.027656096035014104 Centerline is valid? [True, True] Translation: X:217.58, Y:157.63, Z:-0.71 [[ 8.55148592e-01 5.18382859e-01 3.12747786e-04 2.17579211e+02] [-5.18382827e-01 8.55148649e-01 -1.80751045e-04 1.57633963e+02] [-3.61144090e-04 -7.55408000e-06 9.99999935e-01 -7.08767516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7257692310001 meters 0.02743568300238756 Centerline is valid? [True, True] Translation: X:217.60, Y:157.62, Z:-0.71 [[ 8.55061178e-01 5.18526843e-01 5.43268536e-04 2.17604712e+02] [-5.18526748e-01 8.55061351e-01 -3.13855274e-04 1.57621194e+02] [-6.27270313e-04 -1.33338069e-05 9.99999803e-01 -7.08566789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75576923100004 meters 0.02718334656257921 Centerline is valid? [True, True] Translation: X:217.63, Y:157.61, Z:-0.71 [[ 8.55405377e-01 5.17958997e-01 3.43741948e-04 2.17629549e+02] [-5.17958959e-01 8.55405446e-01 -1.98461897e-04 1.57609451e+02] [-3.96833860e-04 -8.27884752e-06 9.99999921e-01 -7.08875854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7857692310001 meters 0.02701940743400123 Centerline is valid? [True, True] Translation: X:217.65, Y:157.60, Z:-0.71 [[ 8.56024102e-01 5.16935912e-01 -1.93109428e-05 2.17654237e+02] [-5.16935912e-01 8.56024102e-01 1.10175027e-05 1.57596710e+02] [ 2.22259752e-05 5.51272026e-07 1.00000000e+00 -7.09225934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81576923100005 meters 0.02402181236730673 Centerline is valid? [True, True] Translation: X:217.68, Y:157.58, Z:-0.71 [[ 8.57064381e-01 5.15208501e-01 9.21130622e-04 2.17679055e+02] [-5.15208227e-01 8.57064875e-01 -5.31564910e-04 1.57581380e+02] [-1.06333546e-03 -1.89887245e-05 9.99999434e-01 -7.06919267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8457692310001 meters 0.024905613816334705 Centerline is valid? [True, True] Translation: X:217.70, Y:157.57, Z:-0.71 [[ 8.57099978e-01 5.15147854e-01 1.52200423e-03 2.17704547e+02] [-5.15147107e-01 8.57101329e-01 -8.77749030e-04 1.57570589e+02] [-1.75668238e-03 -3.17374014e-05 9.99998457e-01 -7.05629543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87576923100005 meters 0.02542195471059456 Centerline is valid? [True, True] Translation: X:217.73, Y:157.56, Z:-0.70 [[ 8.56886496e-01 5.15500702e-01 2.13534891e-03 2.17731138e+02] [-5.15499234e-01 8.56889155e-01 -1.23110986e-03 1.57558568e+02] [-2.46439532e-03 -4.58493111e-05 9.99996962e-01 -7.04575189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9057692310001 meters 0.026627765605190905 Centerline is valid? [True, True] Translation: X:217.76, Y:157.55, Z:-0.70 [[ 8.56508153e-01 5.16127413e-01 2.50557544e-03 2.17757340e+02] [-5.16125396e-01 8.56511816e-01 -1.44409010e-03 1.57548855e+02] [-2.89138946e-03 -5.63161711e-05 9.99995818e-01 -7.03516311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93576923100005 meters 0.029306508362048886 Centerline is valid? [True, True] Translation: X:217.79, Y:157.54, Z:-0.70 [[ 8.55399602e-01 5.17962183e-01 2.58802783e-03 2.17785939e+02] [-5.17960040e-01 8.55403515e-01 -1.49139692e-03 1.57543932e+02] [-2.98629531e-03 -6.47546702e-05 9.99995539e-01 -7.03889236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9657692310001 meters 0.030551963060050903 Centerline is valid? [True, True] Translation: X:217.81, Y:157.53, Z:-0.70 [[ 8.55185682e-01 5.18316650e-01 2.30203646e-03 2.17812731e+02] [-5.18314957e-01 8.55188778e-01 -1.32631358e-03 1.57534364e+02] [-2.65612616e-03 -5.89355413e-05 9.99996471e-01 -7.04675268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99576923100005 meters 0.030679397318993162 Centerline is valid? [True, True] Translation: X:217.84, Y:157.52, Z:-0.71 [[ 8.55105488e-01 5.18450511e-01 1.91611633e-03 2.17839671e+02] [-5.18449339e-01 8.55107634e-01 -1.10362256e-03 1.57522731e+02] [-2.21065938e-03 -4.96955353e-05 9.99997555e-01 -7.05413328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0257692310001 meters 0.026836326594348755 Centerline is valid? [True, True] Translation: X:217.86, Y:157.51, Z:-0.71 [[ 8.55401328e-01 5.17963059e-01 1.68413149e-03 2.17863257e+02] [-5.17962154e-01 8.55402985e-01 -9.69692959e-04 1.57506890e+02] [-1.94287624e-03 -4.28397294e-05 9.99998112e-01 -7.06387953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05576923100006 meters 0.025583279788808658 Centerline is valid? [True, True] Translation: X:217.89, Y:157.50, Z:-0.71 [[ 8.56414452e-01 5.16287476e-01 1.23623828e-03 2.17889445e+02] [-5.16286987e-01 8.56415344e-01 -7.11569442e-04 1.57496116e+02] [-1.42610783e-03 -2.88553846e-05 9.99998983e-01 -7.08043746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0857692310001 meters 0.02428950332072317 Centerline is valid? [True, True] Translation: X:217.91, Y:157.48, Z:-0.71 [[ 8.57338442e-01 5.14752208e-01 9.80155043e-04 2.17913990e+02] [-5.14751899e-01 8.57339002e-01 -5.64204925e-04 1.57482131e+02] [-1.13075088e-03 -2.08220989e-05 9.99999360e-01 -7.08954039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11576923100006 meters 0.022405259064614647 Centerline is valid? [True, True] Translation: X:217.94, Y:157.47, Z:-0.71 [[ 8.58401307e-01 5.12978533e-01 4.69433705e-04 2.17938939e+02] [-5.12978462e-01 8.58401436e-01 -2.70300010e-04 1.57467002e+02] [-5.41620669e-04 -8.78349808e-06 9.99999853e-01 -7.09595995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1457692310001 meters 0.020222862809800093 Centerline is valid? [True, True] Translation: X:217.96, Y:157.45, Z:-0.71 [[ 8.60551534e-01 5.09362958e-01 6.58650445e-04 2.17963244e+02] [-5.09362817e-01 8.60551786e-01 -3.78826739e-04 1.57453638e+02] [-7.59763125e-04 -9.49211481e-06 9.99999711e-01 -7.09663874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17576923100006 meters 0.01694707745777663 Centerline is valid? [True, True] Translation: X:217.99, Y:157.44, Z:-0.71 [[ 8.61741445e-01 5.07346777e-01 9.64715565e-04 2.17986415e+02] [-5.07346474e-01 8.61741984e-01 -5.54814352e-04 1.57436378e+02] [-1.11281918e-03 -1.13385187e-05 9.99999381e-01 -7.08468128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20576923100003 meters 0.01622193704317809 Centerline is valid? [True, True] Translation: X:218.01, Y:157.42, Z:-0.71 [[ 8.62905081e-01 5.05364576e-01 1.21143582e-03 2.18010654e+02] [-5.05364096e-01 8.62905931e-01 -6.96296101e-04 1.57422324e+02] [-1.39723854e-03 -1.13787250e-05 9.99999024e-01 -7.08348706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23576923100006 meters 0.014060245848919848 Centerline is valid? [True, True] Translation: X:218.03, Y:157.41, Z:-0.71 [[ 8.64228703e-01 5.03097269e-01 1.37343911e-03 2.18033686e+02] [-5.03096650e-01 8.64229794e-01 -7.89314204e-04 1.57405316e+02] [-1.58406882e-03 -8.82462608e-06 9.99998745e-01 -7.08408367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26576923100004 meters 0.011999535180422087 Centerline is valid? [True, True] Translation: X:218.06, Y:157.39, Z:-0.71 [[ 8.66272887e-01 4.99569037e-01 1.43605672e-03 2.18056074e+02] [-4.99568356e-01 8.66274078e-01 -8.24997466e-04 1.57385544e+02] [-1.65616190e-03 -2.73555605e-06 9.99998629e-01 -7.07909594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29576923100007 meters 0.011824064401315294 Centerline is valid? [True, True] Translation: X:218.08, Y:157.37, Z:-0.71 [[ 8.66938522e-01 4.98413352e-01 1.31539283e-03 2.18079299e+02] [-4.98412780e-01 8.66939520e-01 -7.55387286e-04 1.57371355e+02] [-1.51686113e-03 -7.34257361e-07 9.99998850e-01 -7.08278672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32576923100004 meters 0.011840738298084024 Centerline is valid? [True, True] Translation: X:218.10, Y:157.36, Z:-0.71 [[ 8.67593805e-01 4.97272192e-01 1.16443745e-03 2.18102130e+02] [-4.97271743e-01 8.67594587e-01 -6.68587467e-04 1.57355994e+02] [-1.34272958e-03 1.02050536e-06 9.99999099e-01 -7.08563016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35576923100007 meters 0.011890855129903287 Centerline is valid? [True, True] Translation: X:218.13, Y:157.34, Z:-0.71 [[ 8.67834222e-01 4.96850439e-01 1.84510736e-03 2.18125883e+02] [-4.96849310e-01 8.67836184e-01 -1.05910401e-03 1.57341037e+02] [-2.12746722e-03 2.38638504e-06 9.99997737e-01 -7.07299596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38576923100004 meters 0.01197668603327117 Centerline is valid? [True, True] Translation: X:218.15, Y:157.33, Z:-0.71 [[ 8.68256832e-01 4.96108747e-01 2.48680048e-03 2.18149925e+02] [-4.96106695e-01 8.68260394e-01 -1.42673831e-03 1.57326276e+02] [-2.86700772e-03 5.05691388e-06 9.99995890e-01 -7.06356101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41576923100007 meters 0.012182353707722993 Centerline is valid? [True, True] Translation: X:218.17, Y:157.31, Z:-0.71 [[ 8.68473479e-01 4.95729261e-01 2.51312385e-03 2.18173028e+02] [-4.95727166e-01 8.68477115e-01 -1.44129483e-03 1.57313307e+02] [-2.89708257e-03 5.90256979e-06 9.99995803e-01 -7.06275501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44576923100004 meters 0.01210002935953596 Centerline is valid? [True, True] Translation: X:218.20, Y:157.30, Z:-0.71 [[ 8.68098913e-01 4.96388181e-01 1.74702606e-03 2.18196824e+02] [-4.96387170e-01 8.68100670e-01 -1.00173220e-03 1.57301314e+02] [-2.01384252e-03 2.40131707e-06 9.99997972e-01 -7.08522789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.4757692310001 meters 0.012085605375549448 Centerline is valid? [True, True] Translation: X:218.22, Y:157.29, Z:-0.71 [[ 8.67680868e-01 4.97120347e-01 1.12763950e-03 2.18222007e+02] [-4.97119927e-01 8.67681601e-01 -6.46583905e-04 1.57288995e+02] [-1.29986206e-03 4.56420751e-07 9.99999155e-01 -7.09849369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50576923100004 meters 0.012085605375549448 Centerline is valid? [True, True] Translation: X:218.25, Y:157.28, Z:-0.71 [[ 8.67770671e-01 4.96963570e-01 1.12775636e-03 2.18245950e+02] [-4.96963150e-01 8.67771404e-01 -6.46379986e-04 1.57275515e+02] [-1.29986203e-03 4.56239544e-07 9.99999155e-01 -7.09899810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5357692310001 meters 0.012522448748722421 Centerline is valid? [True, True] Translation: X:218.27, Y:157.27, Z:-0.71 [[ 8.66633908e-01 4.98938947e-01 2.36553559e-03 2.18273793e+02] [-4.98937108e-01 8.66637137e-01 -1.35483312e-03 1.57267666e+02] [-2.72604000e-03 -6.10916263e-06 9.99996284e-01 -7.07393754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56576923100005 meters 0.012792701684189623 Centerline is valid? [True, True] Translation: X:218.30, Y:157.26, Z:-0.71 [[ 8.66080068e-01 4.99894923e-01 3.22216428e-03 2.18300651e+02] [-4.99891520e-01 8.66086061e-01 -1.84452912e-03 1.57257477e+02] [-3.71274231e-03 -1.32226991e-05 9.99993108e-01 -7.05724998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5957692310001 meters 0.013613210262650504 Centerline is valid? [True, True] Translation: X:218.33, Y:157.25, Z:-0.71 [[ 8.65338057e-01 5.01177745e-01 3.30381327e-03 2.18326886e+02] [-5.01174179e-01 8.65344364e-01 -1.89072823e-03 1.57248223e+02] [-3.80652710e-03 -1.96668145e-05 9.99992755e-01 -7.05574986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62576923100005 meters 0.01390869352057965 Centerline is valid? [True, True] Translation: X:218.35, Y:157.24, Z:-0.71 [[ 8.65017915e-01 5.01733820e-01 2.67969799e-03 2.18352151e+02] [-5.01731478e-01 8.65022066e-01 -1.53318059e-03 1.57235948e+02] [-3.08724645e-03 -1.82601544e-05 9.99995234e-01 -7.07692273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6557692310001 meters 0.014444054040714423 Centerline is valid? [True, True] Translation: X:218.38, Y:157.23, Z:-0.71 [[ 8.64590939e-01 5.02473425e-01 1.72194921e-03 2.18378766e+02] [-5.02472460e-01 8.64592654e-01 -9.84938697e-04 1.57225688e+02] [-1.98369016e-03 -1.36629823e-05 9.99998032e-01 -7.09727351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68576923100005 meters 0.014572494016444195 Centerline is valid? [True, True] Translation: X:218.40, Y:157.22, Z:-0.71 [[ 8.64815571e-01 5.02084865e-01 2.19451813e-03 2.18403337e+02] [-5.02083297e-01 8.64818356e-01 -1.25498134e-03 1.57215201e+02] [-2.52796670e-03 -1.65034936e-05 9.99996805e-01 -7.08852007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7157692310001 meters 0.014144489771001257 Centerline is valid? [True, True] Translation: X:218.43, Y:157.20, Z:-0.71 [[ 8.64978108e-01 5.01798863e-01 3.28232858e-03 2.18428560e+02] [-5.01795356e-01 8.64984335e-01 -1.87623460e-03 1.57202187e+02] [-3.78065520e-03 -2.41553840e-05 9.99992853e-01 -7.07242071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74576923100005 meters 0.013506349760624111 Centerline is valid? [True, True] Translation: X:218.45, Y:157.19, Z:-0.71 [[ 8.65626980e-01 5.00665980e-01 4.84859006e-03 2.18453210e+02] [-5.00658317e-01 8.65640558e-01 -2.77009681e-03 1.57189724e+02] [-5.58402944e-03 -2.96164100e-05 9.99984409e-01 -7.05348216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7757692310001 meters 0.013762226675417155 Centerline is valid? [True, True] Translation: X:218.48, Y:157.18, Z:-0.70 [[ 8.65869559e-01 5.00250245e-01 4.42706272e-03 2.18478008e+02] [-5.00243855e-01 8.65880876e-01 -2.52857342e-03 1.57177908e+02] [-5.09822842e-03 -2.51961718e-05 9.99987004e-01 -7.04850587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80576923100006 meters 0.013640926572588731 Centerline is valid? [True, True] Translation: X:218.50, Y:157.17, Z:-0.71 [[ 8.66010950e-01 5.00010519e-01 3.80982478e-03 2.18502989e+02] [-5.00005788e-01 8.66019330e-01 -2.17534950e-03 1.57165527e+02] [-4.38707954e-03 -2.10579519e-05 9.99990377e-01 -7.06054512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8357692310001 meters 0.013355994124198023 Centerline is valid? [True, True] Translation: X:218.53, Y:157.15, Z:-0.71 [[ 8.66087740e-01 4.99883611e-01 2.89856878e-03 2.18527495e+02] [-4.99880873e-01 8.66092591e-01 -1.65441386e-03 1.57151978e+02] [-3.33744332e-03 -1.60715358e-05 9.99994431e-01 -7.08167961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86576923100006 meters 0.013500436171856846 Centerline is valid? [True, True] Translation: X:218.55, Y:157.14, Z:-0.71 [[ 8.66103264e-01 4.99858273e-01 2.61588661e-03 2.18552118e+02] [-4.99856045e-01 8.66107214e-01 -1.49258436e-03 1.57139883e+02] [-3.01171890e-03 -1.48345498e-05 9.99995465e-01 -7.09054136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8957692310001 meters 0.013316805700889583 Centerline is valid? [True, True] Translation: X:218.58, Y:157.13, Z:-0.71 [[ 8.66377637e-01 4.99382184e-01 2.68785577e-03 2.18575649e+02] [-4.99379830e-01 8.66381806e-01 -1.53334552e-03 1.57126698e+02] [-3.09443477e-03 -1.38046867e-05 9.99995212e-01 -7.09652889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92576923100006 meters 0.01297820416949942 Centerline is valid? [True, True] Translation: X:218.60, Y:157.11, Z:-0.71 [[ 8.66955152e-01 4.98378850e-01 2.69922837e-03 2.18599958e+02] [-4.98376472e-01 8.66959354e-01 -1.53937762e-03 1.57112173e+02] [-3.10731454e-03 -1.06605577e-05 9.99995172e-01 -7.10557758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95576923100003 meters 0.012642344808164601 Centerline is valid? [True, True] Translation: X:218.62, Y:157.10, Z:-0.71 [[ 8.67899093e-01 4.96739753e-01 8.84436314e-04 2.18623846e+02] [-4.96739497e-01 8.67899544e-01 -5.04443548e-04 1.57097306e+02] [-1.01817904e-03 -1.52835229e-06 9.99999482e-01 -7.14035609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98576923100006 meters 0.01270904660368766 Centerline is valid? [True, True] Translation: X:218.65, Y:157.08, Z:-0.72 [[ 8.68285317e-01 4.96064944e-01 -4.22483661e-04 2.18646667e+02] [-4.96064886e-01 8.68285420e-01 2.40553916e-04 1.57083006e+02] [ 4.86166768e-04 7.09875656e-07 9.99999882e-01 -7.16239350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01576923100004 meters 0.012711261954685738 Centerline is valid? [True, True] Translation: X:218.67, Y:157.07, Z:-0.72 [[ 8.68779803e-01 4.95197129e-01 -1.20716223e-03 2.18670046e+02] [-4.95196652e-01 8.68780642e-01 6.87133420e-04 1.57067386e+02] [ 1.38902567e-03 8.15056468e-07 9.99999035e-01 -7.17505092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04576923100007 meters 0.012755754928115084 Centerline is valid? [True, True] Translation: X:218.69, Y:157.05, Z:-0.72 [[ 8.69948724e-01 4.93142177e-01 -1.07919558e-04 2.18692221e+02] [-4.93142173e-01 8.69948730e-01 6.10362529e-05 1.57049947e+02] [ 1.23984033e-04 1.21274963e-07 9.99999992e-01 -7.15776419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07576923100004 meters 0.012995641284268394 Centerline is valid? [True, True] Translation: X:218.71, Y:157.03, Z:-0.71 [[ 8.70556782e-01 4.92066962e-01 9.97700321e-04 2.18714766e+02] [-4.92066634e-01 8.70557353e-01 -5.68047583e-04 1.57034786e+02] [-1.14807280e-03 3.58263708e-06 9.99999341e-01 -7.14598522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10576923100007 meters 0.013423548927892243 Centerline is valid? [True, True] Translation: X:218.74, Y:157.02, Z:-0.71 [[ 8.71096475e-01 4.91109234e-01 1.62843474e-03 2.18737562e+02] [-4.91108359e-01 8.71097997e-01 -9.26873939e-04 1.57018851e+02] [-1.87372259e-03 7.65870605e-06 9.99998245e-01 -7.14146821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13576923100004 meters 0.014216427933412634 Centerline is valid? [True, True] Translation: X:218.76, Y:157.00, Z:-0.72 [[ 8.71845119e-01 4.89781074e-01 7.67020024e-04 2.18758398e+02] [-4.89780879e-01 8.71845456e-01 -4.36578727e-04 1.57000004e+02] [-8.82550921e-04 4.95729059e-06 9.99999611e-01 -7.16747968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16576923100007 meters 0.014684084041733648 Centerline is valid? [True, True] Translation: X:218.78, Y:156.98, Z:-0.72 [[ 8.72269836e-01 4.89024842e-01 -1.93342781e-04 2.18782588e+02] [-4.89024830e-01 8.72269857e-01 1.09639977e-04 1.56983675e+02] [ 2.22263752e-04 -1.08622466e-06 9.99999975e-01 -7.17980301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19576923100004 meters 0.01480407083592784 Centerline is valid? [True, True] Translation: X:218.81, Y:156.97, Z:-0.72 [[ 8.72562561e-01 4.88502353e-01 -1.67138011e-04 2.18806289e+02] [-4.88502344e-01 8.72562577e-01 9.46358427e-05 1.56969496e+02] [ 1.92068205e-04 -9.28383138e-07 9.99999982e-01 -7.16593188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2257692310001 meters 0.01457934147103401 Centerline is valid? [True, True] Translation: X:218.83, Y:156.96, Z:-0.71 [[ 8.72492230e-01 4.88626993e-01 9.84628790e-04 2.18830671e+02] [-4.88626672e-01 8.72492786e-01 -5.59981813e-04 1.56955309e+02] [-1.13270375e-03 7.46389199e-06 9.99999358e-01 -7.12585104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25576923100004 meters 0.014097647963464556 Centerline is valid? [True, True] Translation: X:218.86, Y:156.94, Z:-0.71 [[ 8.72385227e-01 4.88815379e-01 1.88198358e-03 2.18855163e+02] [-4.88814209e-01 8.72387257e-01 -1.06950599e-03 1.56941786e+02] [-2.16460947e-03 1.30809110e-05 9.99997657e-01 -7.11370241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2857692310001 meters 0.014211598908069705 Centerline is valid? [True, True] Translation: X:218.88, Y:156.93, Z:-0.71 [[ 8.72227518e-01 4.89091481e-01 2.94624753e-03 2.18878283e+02] [-4.89088619e-01 8.72232493e-01 -1.67352275e-03 1.56927050e+02] [-3.38831855e-03 1.87164566e-05 9.99994259e-01 -7.09665983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31576923100005 meters 0.014210405455998948 Centerline is valid? [True, True] Translation: X:218.90, Y:156.91, Z:-0.71 [[ 8.72080013e-01 4.89346403e-01 4.06792788e-03 2.18900991e+02] [-4.89340951e-01 8.72089501e-01 -2.31015077e-03 1.56912905e+02] [-4.67806116e-03 2.40326138e-05 9.99989058e-01 -7.07748013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3457692310001 meters 0.014255839250605954 Centerline is valid? [True, True] Translation: X:218.92, Y:156.90, Z:-0.71 [[ 8.72413368e-01 4.88746849e-01 4.62954686e-03 2.18923276e+02] [-4.88739783e-01 8.72425651e-01 -2.62815610e-03 1.56895997e+02] [-5.32343845e-03 3.01947830e-05 9.99985830e-01 -7.08279371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37576923100005 meters 0.01508779477134798 Centerline is valid? [True, True] Translation: X:218.95, Y:156.88, Z:-0.71 [[ 8.72999316e-01 4.87705916e-01 3.89022717e-03 2.18945177e+02] [-4.87700919e-01 8.73007983e-01 -2.20785834e-03 1.56879162e+02] [-4.47298495e-03 3.01914533e-05 9.99989996e-01 -7.09433588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4057692310001 meters 0.015201821518538744 Centerline is valid? [True, True] Translation: X:218.97, Y:156.86, Z:-0.71 [[ 8.73676621e-01 4.86494140e-01 3.55146361e-03 2.18969894e+02] [-4.86489968e-01 8.73683839e-01 -2.01498829e-03 1.56863601e+02] [-4.08313635e-03 3.26967394e-05 9.99991663e-01 -7.10955140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43576923100005 meters 0.016938469211425226 Centerline is valid? [True, True] Translation: X:218.99, Y:156.84, Z:-0.71 [[ 8.74621217e-01 4.84802222e-01 2.12891522e-03 2.18991020e+02] [-4.84800718e-01 8.74623808e-01 -1.20762088e-03 1.56844102e+02] [-2.44745722e-03 2.41112102e-05 9.99997005e-01 -7.13458991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4657692310001 meters 0.017392856284610448 Centerline is valid? [True, True] Translation: X:219.01, Y:156.83, Z:-0.72 [[ 8.75167700e-01 4.83819031e-01 8.01186076e-04 2.19014609e+02] [-4.83818818e-01 8.75168067e-01 -4.54596527e-04 1.56827444e+02] [-9.21114920e-04 1.02192964e-05 9.99999576e-01 -7.16332292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49576923100005 meters 0.019557411889421214 Centerline is valid? [True, True] Translation: X:219.03, Y:156.80, Z:-0.72 [[ 8.76591959e-01 4.81233597e-01 -8.73429054e-04 2.19034613e+02] [-4.81233343e-01 8.76592394e-01 4.94659628e-04 1.56804107e+02] [ 1.00368810e-03 -1.32914687e-05 9.99999496e-01 -7.20868560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5257692310001 meters 0.021268825321699596 Centerline is valid? [True, True] Translation: X:219.06, Y:156.78, Z:-0.72 [[ 8.77720955e-01 4.79170969e-01 -1.05208409e-03 2.19056204e+02] [-4.79170600e-01 8.77721586e-01 5.95676838e-04 1.56783967e+02] [ 1.20886796e-03 -1.87102793e-05 9.99999269e-01 -7.20573980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55576923100006 meters 0.02305807757412548 Centerline is valid? [True, True] Translation: X:219.08, Y:156.76, Z:-0.72 [[ 8.78797695e-01 4.77194446e-01 -2.67566691e-04 2.19078384e+02] [-4.77194422e-01 8.78797736e-01 1.51171652e-04 1.56763964e+02] [ 3.07275275e-04 -5.16796703e-06 9.99999953e-01 -7.18789533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5857692310001 meters 0.024174105564327204 Centerline is valid? [True, True] Translation: X:219.10, Y:156.74, Z:-0.72 [[ 8.79541454e-01 4.75821628e-01 7.80685192e-04 2.19099738e+02] [-4.75821423e-01 8.79541800e-01 -4.42285243e-04 1.56744001e+02] [-8.97094143e-04 1.75414665e-05 9.99999597e-01 -7.16048521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61576923100006 meters 0.023590097861369976 Centerline is valid? [True, True] Translation: X:219.12, Y:156.73, Z:-0.72 [[ 8.79088475e-01 4.76657882e-01 8.46599604e-04 2.19123375e+02] [-4.76657642e-01 8.79088882e-01 -4.79304481e-04 1.56728825e+02] [-9.72700559e-04 1.78128740e-05 9.99999527e-01 -7.16583164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6457692310001 meters 0.022459318611968752 Centerline is valid? [True, True] Translation: X:219.15, Y:156.71, Z:-0.72 [[ 8.78296189e-01 4.78116707e-01 4.68627138e-04 2.19146983e+02] [-4.78116633e-01 8.78296314e-01 -2.65490984e-04 1.56714458e+02] [-5.38529163e-04 9.12129025e-06 9.99999855e-01 -7.17325130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67576923100006 meters 0.01933648393878611 Centerline is valid? [True, True] Translation: X:219.17, Y:156.70, Z:-0.72 [[ 8.76652502e-01 4.81123133e-01 -9.59802951e-04 2.19172370e+02] [-4.81122827e-01 8.76653028e-01 5.42492663e-04 1.56701253e+02] [ 1.10241993e-03 -1.37944417e-05 9.99999392e-01 -7.19679178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70576923100003 meters 0.018495109394046704 Centerline is valid? [True, True] Translation: X:219.20, Y:156.69, Z:-0.72 [[ 8.76266856e-01 4.81823845e-01 -1.47615503e-03 2.19197806e+02] [-4.81823124e-01 8.76268099e-01 8.34199034e-04 1.56687490e+02] [ 1.69544454e-03 -1.97353394e-05 9.99998563e-01 -7.20518436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73576923100006 meters 0.018264053869522852 Centerline is valid? [True, True] Translation: X:219.22, Y:156.67, Z:-0.72 [[ 8.76100205e-01 4.82126365e-01 -1.61194781e-03 2.19221215e+02] [-4.82125506e-01 8.76101688e-01 9.10772793e-04 1.56673431e+02] [ 1.85133778e-03 -2.07670760e-05 9.99998286e-01 -7.20945256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76576923100004 meters 0.017810742946900313 Centerline is valid? [True, True] Translation: X:219.24, Y:156.66, Z:-0.72 [[ 8.76058270e-01 4.82204375e-01 -9.21212322e-04 2.19244593e+02] [-4.82204095e-01 8.76058754e-01 5.20025651e-04 1.56657606e+02] [ 1.05779476e-03 -1.13604185e-05 9.99999440e-01 -7.19953344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79576923100007 meters 0.01739905513365054 Centerline is valid? [True, True] Translation: X:219.27, Y:156.64, Z:-0.72 [[ 8.76236005e-01 4.81881560e-01 -7.91199703e-04 2.19269093e+02] [-4.81881353e-01 8.76236362e-01 4.46360143e-04 1.56643410e+02] [ 9.08370671e-04 -9.85244472e-06 9.99999587e-01 -7.19746294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82576923100004 meters 0.017442577984376168 Centerline is valid? [True, True] Translation: X:219.29, Y:156.63, Z:-0.72 [[ 8.76348214e-01 4.81677782e-01 -5.67099346e-04 2.19292872e+02] [-4.81677676e-01 8.76348398e-01 3.19672923e-04 1.56629216e+02] [ 6.50955948e-04 -6.98570049e-06 9.99999788e-01 -7.19137258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85576923100007 meters 0.016971853287169915 Centerline is valid? [True, True] Translation: X:219.32, Y:156.62, Z:-0.72 [[ 8.75900508e-01 4.82490931e-01 8.94993898e-04 2.19319075e+02] [-4.82490666e-01 8.75900966e-01 -5.05309435e-04 1.56617977e+02] [-1.02773324e-03 1.07745890e-05 9.99999472e-01 -7.15558123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88576923100004 meters 0.01610948386993433 Centerline is valid? [True, True] Translation: X:219.35, Y:156.61, Z:-0.71 [[ 8.75355228e-01 4.83478281e-01 1.40620166e-03 2.19345900e+02] [-4.83477630e-01 8.75356357e-01 -7.93416003e-04 1.56607467e+02] [-1.61452696e-03 1.46538020e-05 9.99998697e-01 -7.14990781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91576923100007 meters 0.015023364366581585 Centerline is valid? [True, True] Translation: X:219.37, Y:156.60, Z:-0.72 [[ 8.74605788e-01 4.84833039e-01 1.28081365e-03 2.19372486e+02] [-4.84832501e-01 8.74606725e-01 -7.22421590e-04 1.56596616e+02] [-1.47046209e-03 1.08540195e-05 9.99998919e-01 -7.15405308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94576923100004 meters 0.013855993221730067 Centerline is valid? [True, True] Translation: X:219.40, Y:156.59, Z:-0.72 [[ 8.73544478e-01 4.86744186e-01 3.77026451e-04 2.19400128e+02] [-4.86744139e-01 8.73544560e-01 -2.12819088e-04 1.56587407e+02] [-4.32937859e-04 2.39152362e-06 9.99999906e-01 -7.18273801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.9757692310001 meters 0.013881262904010644 Centerline is valid? [True, True] Translation: X:219.42, Y:156.58, Z:-0.72 [[ 8.73484897e-01 4.86851223e-01 1.45434011e-04 2.19424776e+02] [-4.86851216e-01 8.73484909e-01 -8.21151704e-05 1.56575638e+02] [-1.67012285e-04 9.21636115e-07 9.99999986e-01 -7.19314782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00576923100004 meters 0.013964328519107942 Centerline is valid? [True, True] Translation: X:219.45, Y:156.56, Z:-0.72 [[ 8.73826989e-01 4.86236955e-01 1.25462582e-04 2.19450493e+02] [-4.86236950e-01 8.73826998e-01 -7.10572490e-05 1.56563327e+02] [-1.44183252e-04 1.08719863e-06 9.99999990e-01 -7.19342349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0357692310001 meters 0.014487519830661091 Centerline is valid? [True, True] Translation: X:219.47, Y:156.55, Z:-0.72 [[ 8.74109655e-01 4.85728587e-01 2.23822493e-04 2.19474227e+02] [-4.85728571e-01 8.74109684e-01 -1.26160301e-04 1.56549269e+02] [-2.56925074e-04 1.56095758e-06 9.99999967e-01 -7.19422534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06576923100005 meters 0.015859598701498532 Centerline is valid? [True, True] Translation: X:219.50, Y:156.53, Z:-0.72 [[ 8.75079709e-01 4.83978728e-01 3.06684434e-04 2.19496656e+02] [-4.83978697e-01 8.75079763e-01 -1.72792197e-04 1.56531581e+02] [-3.52001089e-04 2.77821334e-06 9.99999938e-01 -7.18802571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0957692310001 meters 0.016678387551038995 Centerline is valid? [True, True] Translation: X:219.52, Y:156.52, Z:-0.72 [[ 8.76043969e-01 4.82231230e-01 -6.64722959e-05 2.19520903e+02] [-4.82231229e-01 8.76043972e-01 3.70697757e-05 1.56515779e+02] [ 7.61088576e-05 -4.19736546e-07 9.99999997e-01 -7.19140232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12576923100005 meters 0.02009714324755878 Centerline is valid? [True, True] Translation: X:219.54, Y:156.50, Z:-0.72 [[ 8.77890590e-01 4.78858003e-01 -1.76781006e-03 2.19542742e+02] [-4.78856971e-01 8.77892369e-01 9.94711021e-04 1.56497549e+02] [ 2.02827230e-03 -2.67192734e-05 9.99997943e-01 -7.22461908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1557692310001 meters 0.021447578774161726 Centerline is valid? [True, True] Translation: X:219.57, Y:156.48, Z:-0.72 [[ 8.78547453e-01 4.77648223e-01 -2.55880793e-03 2.19566724e+02] [-4.77646057e-01 8.78551179e-01 1.43908402e-03 1.56480855e+02] [ 2.93541964e-03 -4.20990808e-05 9.99995691e-01 -7.24484859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18576923100005 meters 0.022232723526983588 Centerline is valid? [True, True] Translation: X:219.59, Y:156.46, Z:-0.72 [[ 8.79012099e-01 4.76792040e-01 -2.66080695e-03 2.19590194e+02] [-4.76789696e-01 8.79016125e-01 1.49589945e-03 1.56464416e+02] [ 3.05212516e-03 -4.62683814e-05 9.99995341e-01 -7.24461853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2157692310001 meters 0.023186135569182396 Centerline is valid? [True, True] Translation: X:219.61, Y:156.45, Z:-0.72 [[ 8.79275058e-01 4.76310973e-01 -1.79725272e-03 2.19612570e+02] [-4.76309902e-01 8.79276894e-01 1.01038572e-03 1.56447771e+02] [ 2.06154059e-03 -3.23576937e-05 9.99997875e-01 -7.22594360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24576923100005 meters 0.021779995200188234 Centerline is valid? [True, True] Translation: X:219.64, Y:156.43, Z:-0.72 [[ 8.79371824e-01 4.76135476e-01 -4.50762164e-04 2.19637719e+02] [-4.76135409e-01 8.79371940e-01 2.52964811e-04 1.56434375e+02] [ 5.16833119e-04 -7.82629991e-06 9.99999866e-01 -7.19149476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2757692310001 meters 0.021849049702995015 Centerline is valid? [True, True] Translation: X:219.66, Y:156.42, Z:-0.72 [[ 8.79022535e-01 4.76779791e-01 6.42810903e-04 2.19660910e+02] [-4.76779654e-01 8.79022770e-01 -3.61380779e-04 1.56419006e+02] [-7.37344473e-04 1.11826886e-05 9.99999728e-01 -7.17663555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30576923100006 meters 0.021905528575047937 Centerline is valid? [True, True] Translation: X:219.68, Y:156.40, Z:-0.72 [[ 8.78878256e-01 4.77046077e-01 -2.26617380e-04 2.19684512e+02] [-4.77046060e-01 8.78878285e-01 1.27041117e-04 1.56404967e+02] [ 2.59773561e-04 -3.54674666e-06 9.99999966e-01 -7.19955179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3357692310001 meters 0.021222913171438172 Centerline is valid? [True, True] Translation: X:219.71, Y:156.39, Z:-0.72 [[ 8.78723561e-01 4.77329943e-01 -1.01449352e-03 2.19708980e+02] [-4.77329604e-01 8.78724146e-01 5.69262748e-04 1.56391451e+02] [ 1.16318610e-03 -1.59768009e-05 9.99999323e-01 -7.21845671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36576923100006 meters 0.020654604829482816 Centerline is valid? [True, True] Translation: X:219.73, Y:156.38, Z:-0.72 [[ 8.78522229e-01 4.77701413e-01 2.30247164e-04 2.19733934e+02] [-4.77701395e-01 8.78522259e-01 -1.29567742e-04 1.56376153e+02] [-2.64171953e-04 3.83874992e-06 9.99999965e-01 -7.18533122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3957692310001 meters 0.020654604829482816 Centerline is valid? [True, True] Translation: X:219.76, Y:156.36, Z:-0.72 [[ 8.78608213e-01 4.77543249e-01 2.30249839e-04 2.19758007e+02] [-4.77543231e-01 8.78608244e-01 -1.29563029e-04 1.56362878e+02] [-2.64171356e-04 3.88088955e-06 9.99999965e-01 -7.18583569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42576923100006 meters 0.020932341382974867 Centerline is valid? [True, True] Translation: X:219.78, Y:156.35, Z:-0.72 [[ 8.78997028e-01 4.76824943e-01 1.48289869e-03 2.19782335e+02] [-4.76824218e-01 8.78998278e-01 -8.32021079e-04 1.56347772e+02] [-1.70019380e-03 2.42620484e-05 9.99998554e-01 -7.15472579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45576923100003 meters 0.02179087207276685 Centerline is valid? [True, True] Translation: X:219.81, Y:156.33, Z:-0.71 [[ 8.79499984e-01 4.75891784e-01 2.60522331e-03 2.19805819e+02] [-4.75889544e-01 8.79503842e-01 -1.46093142e-03 1.56331105e+02] [-2.98654917e-03 4.50906214e-05 9.99995539e-01 -7.13531433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48576923100006 meters 0.024459981973037247 Centerline is valid? [True, True] Translation: X:219.83, Y:156.31, Z:-0.71 [[ 8.80646275e-01 4.73761318e-01 3.51464423e-03 2.19825653e+02] [-4.73757226e-01 8.80653285e-01 -1.97031339e-03 1.56309049e+02] [-4.02864125e-03 7.00610438e-05 9.99991883e-01 -7.11796427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51576923100004 meters 0.02572337912576337 Centerline is valid? [True, True] Translation: X:219.85, Y:156.29, Z:-0.71 [[ 8.81200329e-01 4.72731876e-01 3.24860344e-03 2.19847988e+02] [-4.72728374e-01 8.81206314e-01 -1.82093972e-03 1.56291855e+02] [-3.72350611e-03 6.89056642e-05 9.99993065e-01 -7.12166571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54576923100007 meters 0.026624433548647197 Centerline is valid? [True, True] Translation: X:219.87, Y:156.28, Z:-0.71 [[ 8.81651471e-01 4.71890044e-01 3.23582005e-03 2.19872119e+02] [-4.71886565e-01 8.81657406e-01 -1.81332199e-03 1.56275075e+02] [-3.70857330e-03 7.17779885e-05 9.99993121e-01 -7.11977259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57576923100004 meters 0.028258371540937785 Centerline is valid? [True, True] Translation: X:219.89, Y:156.26, Z:-0.71 [[ 8.81797401e-01 4.71614657e-01 3.59970300e-03 2.19892766e+02] [-4.71610352e-01 8.81804745e-01 -2.01672787e-03 1.56255079e+02] [-4.12535361e-03 8.06881951e-05 9.99991487e-01 -7.10633426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60576923100007 meters 0.027547246995607396 Centerline is valid? [True, True] Translation: X:219.92, Y:156.24, Z:-0.71 [[ 8.81976515e-01 4.71283540e-01 3.04166192e-03 2.19916040e+02] [-4.71280466e-01 8.81981757e-01 -1.70365329e-03 1.56239787e+02] [-3.48559408e-03 6.91063424e-05 9.99993923e-01 -7.11913317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63576923100004 meters 0.026957345933413406 Centerline is valid? [True, True] Translation: X:219.94, Y:156.22, Z:-0.72 [[ 8.81651138e-01 4.71900539e-01 1.07329133e-03 2.19938513e+02] [-4.71900157e-01 8.81651791e-01 -6.01132398e-04 1.56220903e+02] [-1.22994392e-03 2.35027174e-05 9.99999243e-01 -7.16747941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66576923100007 meters 0.023928832039363943 Centerline is valid? [True, True] Translation: X:219.96, Y:156.21, Z:-0.72 [[ 8.81256805e-01 4.72637701e-01 2.16804069e-04 2.19964485e+02] [-4.72637686e-01 8.81256832e-01 -1.21660048e-04 1.56208044e+02] [-2.48561192e-04 4.74397146e-06 9.99999969e-01 -7.18264823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69576923100004 meters 0.022563091860938564 Centerline is valid? [True, True] Translation: X:219.99, Y:156.19, Z:-0.72 [[ 8.80710113e-01 4.73655603e-01 -2.58019253e-04 2.19989642e+02] [-4.73655581e-01 8.80710151e-01 1.43979229e-04 1.56193134e+02] [ 2.95436743e-04 -4.59170362e-06 9.99999956e-01 -7.19428915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7257692310001 meters 0.021003294224800705 Centerline is valid? [True, True] Translation: X:220.01, Y:156.18, Z:-0.72 [[ 8.79875162e-01 4.75204472e-01 -6.39699910e-04 2.20014732e+02] [-4.75204337e-01 8.79875395e-01 3.57370114e-04 1.56178742e+02] [ 7.32680087e-04 -1.04529154e-05 9.99999732e-01 -7.19942120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75576923100004 meters 0.016303986025529772 Centerline is valid? [True, True] Translation: X:220.04, Y:156.17, Z:-0.72 [[ 8.77203810e-01 4.80117088e-01 -1.02878984e-03 2.20042449e+02] [-4.80116743e-01 8.77204413e-01 5.75088554e-04 1.56169939e+02] [ 1.17856883e-03 -1.05306427e-05 9.99999305e-01 -7.20337332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7857692310001 meters 0.014744616669256298 Centerline is valid? [True, True] Translation: X:220.07, Y:156.16, Z:-0.72 [[ 8.75647943e-01 4.82948575e-01 -1.16372033e-03 2.20068079e+02] [-4.82948137e-01 8.75648716e-01 6.50414297e-04 1.56159373e+02] [ 1.33312687e-03 -7.51737647e-06 9.99999111e-01 -7.21923614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81576923100005 meters 0.012664278187028267 Centerline is valid? [True, True] Translation: X:220.10, Y:156.15, Z:-0.72 [[ 8.72607640e-01 4.88420955e-01 -9.36643279e-04 2.20098904e+02] [-4.88420675e-01 8.72608143e-01 5.23061039e-04 1.56154959e+02] [ 1.07279652e-03 1.04888308e-06 9.99999425e-01 -7.20976962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8457692310001 meters 0.013792704709482247 Centerline is valid? [True, True] Translation: X:220.13, Y:156.15, Z:-0.72 [[ 8.70991235e-01 4.91297744e-01 -8.92006813e-04 2.20126512e+02] [-4.91297491e-01 8.70991692e-01 4.98269020e-04 1.56147172e+02] [ 1.02172897e-03 4.25276052e-06 9.99999478e-01 -7.21516349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87576923100005 meters 0.015026727369875786 Centerline is valid? [True, True] Translation: X:220.15, Y:156.14, Z:-0.72 [[ 8.69610676e-01 4.93736199e-01 -1.35587033e-03 2.20153883e+02] [-4.93735619e-01 8.69611733e-01 7.56924875e-04 1.56137357e+02] [ 1.55280196e-03 1.12115252e-05 9.99998794e-01 -7.21609141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9057692310001 meters 0.022770652337959926 Centerline is valid? [True, True] Translation: X:220.19, Y:156.14, Z:-0.72 [[ 8.66724177e-01 4.98784905e-01 -1.67940191e-03 2.20187248e+02] [-4.98784024e-01 8.66725803e-01 9.37816644e-04 1.56137887e+02] [ 1.92334975e-03 2.48304828e-05 9.99998150e-01 -7.24316115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93576923100005 meters 0.02109420307286353 Centerline is valid? [True, True] Translation: X:220.21, Y:156.12, Z:-0.72 [[ 8.65401589e-01 5.01076283e-01 -1.62735165e-03 2.20211966e+02] [-5.01075461e-01 8.65403119e-01 9.08100226e-04 1.56123157e+02] [ 1.86334268e-03 2.95545998e-05 9.99998264e-01 -7.22140555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9657692310001 meters 0.030325915040383664 Centerline is valid? [True, True] Translation: X:220.24, Y:156.12, Z:-0.72 [[ 8.64026885e-01 5.03442701e-01 -1.72897669e-03 2.20243891e+02] [-5.03441777e-01 8.64028614e-01 9.64925631e-04 1.56123746e+02] [ 1.97967010e-03 3.67174098e-05 9.99998040e-01 -7.23941982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99576923100005 meters 0.028458915755470715 Centerline is valid? [True, True] Translation: X:220.27, Y:156.11, Z:-0.72 [[ 8.61670974e-01 5.07462460e-01 -2.23254720e-03 2.20272101e+02] [-5.07460934e-01 8.61673864e-01 1.24594570e-03 1.56114896e+02] [ 2.55599824e-03 5.93352491e-05 9.99996732e-01 -7.23491071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0257692310001 meters 0.03108637118549055 Centerline is valid? [True, True] Translation: X:220.30, Y:156.11, Z:-0.72 [[ 8.60452991e-01 5.09527325e-01 -1.59853956e-03 2.20301185e+02] [-5.09526546e-01 8.60454475e-01 8.92008329e-04 1.56108449e+02] [ 1.82997313e-03 4.69671047e-05 9.99998325e-01 -7.22280178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05576923100006 meters 0.03832111757665781 Centerline is valid? [True, True] Translation: X:220.33, Y:156.11, Z:-0.72 [[ 8.59210777e-01 5.11621635e-01 -3.78979386e-04 2.20333044e+02] [-5.11621592e-01 8.59210860e-01 2.11403255e-04 1.56107249e+02] [ 4.33781683e-04 1.22540818e-05 9.99999906e-01 -7.20147295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0857692310001 meters 0.040955948147502017 Centerline is valid? [True, True] Translation: X:220.36, Y:156.10, Z:-0.72 [[ 8.58222211e-01 5.13277996e-01 5.79706547e-04 2.20361892e+02] [-5.13277894e-01 8.58222406e-01 -3.23531079e-04 1.56100496e+02] [-6.63578531e-04 -1.98889982e-05 9.99999780e-01 -7.17699528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11576923100006 meters 0.04150313474387854 Centerline is valid? [True, True] Translation: X:220.39, Y:156.10, Z:-0.72 [[ 8.57120289e-01 5.15115759e-01 7.51987101e-04 2.20393322e+02] [-5.15115589e-01 8.57120618e-01 -4.19628562e-04 1.56097008e+02] [-8.60700934e-04 -2.76881239e-05 9.99999629e-01 -7.17282607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1457692310001 meters 0.041168253155772556 Centerline is valid? [True, True] Translation: X:220.42, Y:156.09, Z:-0.72 [[ 8.57107889e-01 5.15136139e-01 9.07778849e-04 2.20421258e+02] [-5.15135891e-01 8.57108370e-01 -5.06622847e-04 1.56087760e+02] [-1.03904459e-03 -3.33990269e-05 9.99999460e-01 -7.17440258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17576923100006 meters 0.03923855292904362 Centerline is valid? [True, True] Translation: X:220.45, Y:156.08, Z:-0.72 [[ 8.57445095e-01 5.14573737e-01 1.33338316e-03 2.20447721e+02] [-5.14573202e-01 8.57446131e-01 -7.43718751e-04 1.56076406e+02] [-1.52600237e-03 -4.84252475e-05 9.99998834e-01 -7.16359309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20576923100003 meters 0.038732565588262914 Centerline is valid? [True, True] Translation: X:220.48, Y:156.07, Z:-0.72 [[ 8.58762150e-01 5.12371267e-01 1.80402414e-03 2.20477258e+02] [-5.12370283e-01 8.58764043e-01 -1.00575962e-03 1.56070838e+02] [-2.06455340e-03 -6.06200655e-05 9.99997867e-01 -7.15942528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23576923100006 meters 0.03756975659068383 Centerline is valid? [True, True] Translation: X:220.50, Y:156.06, Z:-0.72 [[ 8.59536861e-01 5.11071060e-01 1.65988676e-03 2.20503535e+02] [-5.11070225e-01 8.59538463e-01 -9.25312992e-04 1.56060369e+02] [-1.89963720e-03 -5.29780744e-05 9.99998194e-01 -7.16364615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26576923100004 meters 0.03422484783800695 Centerline is valid? [True, True] Translation: X:220.53, Y:156.05, Z:-0.72 [[ 8.60329319e-01 5.09736267e-01 1.54941053e-03 2.20528938e+02] [-5.09735537e-01 8.60330713e-01 -8.63629856e-04 1.56046906e+02] [-1.77322892e-03 -4.67835208e-05 9.99998427e-01 -7.16604051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29576923100007 meters 0.03128631360675916 Centerline is valid? [True, True] Translation: X:220.55, Y:156.03, Z:-0.72 [[ 8.61223451e-01 5.08224681e-01 1.35697917e-03 2.20554311e+02] [-5.08224120e-01 8.61224519e-01 -7.56130398e-04 1.56032924e+02] [-1.55294786e-03 -3.84523124e-05 9.99998793e-01 -7.16893575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32576923100004 meters 0.025067374683846504 Centerline is valid? [True, True] Translation: X:220.58, Y:156.02, Z:-0.72 [[ 8.63658234e-01 5.04076043e-01 1.34093129e-03 2.20579457e+02] [-5.04075491e-01 8.63659274e-01 -7.46900394e-04 1.56016885e+02] [-1.53460234e-03 -3.08639248e-05 9.99998822e-01 -7.16740700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35576923100007 meters 0.02388436087675981 Centerline is valid? [True, True] Translation: X:220.60, Y:156.00, Z:-0.71 [[ 8.65460976e-01 5.00970368e-01 2.44720552e-03 2.20604929e+02] [-5.00968518e-01 8.65464435e-01 -1.36246742e-03 1.56004743e+02] [-2.80052515e-03 -4.68105410e-05 9.99996077e-01 -7.14895416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38576923100004 meters 0.015198331822612465 Centerline is valid? [True, True] Translation: X:220.63, Y:155.98, Z:-0.71 [[ 8.69918591e-01 4.93182492e-01 3.56019355e-03 2.20625822e+02] [-4.93178512e-01 8.69925876e-01 -1.98159583e-03 1.55981627e+02] [-4.07439286e-03 -3.19839083e-05 9.99991699e-01 -7.14333555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41576923100007 meters 0.012798335129103191 Centerline is valid? [True, True] Translation: X:220.65, Y:155.96, Z:-0.72 [[ 8.72376427e-01 4.88828045e-01 2.55177872e-03 2.20646999e+02] [-4.88825982e-01 8.72380159e-01 -1.42002296e-03 1.55962748e+02] [-2.92026817e-03 -8.58117774e-06 9.99995736e-01 -7.16693855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44576923100004 meters 0.01260680294081091 Centerline is valid? [True, True] Translation: X:220.67, Y:155.94, Z:-0.72 [[ 8.74989448e-01 4.84140721e-01 1.10790188e-03 2.20667733e+02] [-4.84140328e-01 8.74990150e-01 -6.16596207e-04 1.55942010e+02] [-1.26792257e-03 3.13519375e-06 9.99999196e-01 -7.20291185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.4757692310001 meters 0.01851557872944539 Centerline is valid? [True, True] Translation: X:220.69, Y:155.92, Z:-0.72 [[ 8.79645267e-01 4.75629202e-01 -1.03297972e-03 2.20686017e+02] [-4.75628855e-01 8.79645873e-01 5.74417473e-04 1.55915097e+02] [ 1.18186607e-03 -1.39686499e-05 9.99999302e-01 -7.24561747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50576923100004 meters 0.02240028270654945 Centerline is valid? [True, True] Translation: X:220.71, Y:155.90, Z:-0.72 [[ 8.81756125e-01 4.71704003e-01 -1.21216621e-03 2.20708364e+02] [-4.71703522e-01 8.81756958e-01 6.74016117e-04 1.55895065e+02] [ 1.38677209e-03 -2.25347687e-05 9.99999038e-01 -7.24168165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5357692310001 meters 0.026973601449228706 Centerline is valid? [True, True] Translation: X:220.73, Y:155.87, Z:-0.72 [[ 8.83626188e-01 4.68190919e-01 -1.42253168e-03 2.20729308e+02] [-4.68190252e-01 8.83627332e-01 7.90937131e-04 1.55874021e+02] [ 1.62729745e-03 -3.28772966e-05 9.99998675e-01 -7.24846341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56576923100005 meters 0.033280290416281576 Centerline is valid? [True, True] Translation: X:220.75, Y:155.85, Z:-0.73 [[ 8.86534564e-01 4.62655028e-01 -2.60593387e-03 2.20748542e+02] [-4.62652766e-01 8.86538391e-01 1.44892933e-03 1.55848381e+02] [ 2.98061486e-03 -7.88834144e-05 9.99995555e-01 -7.26803218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5957692310001 meters 0.03331052071623091 Centerline is valid? [True, True] Translation: X:220.77, Y:155.83, Z:-0.73 [[ 8.87460332e-01 4.60878527e-01 -2.26788085e-03 2.20773044e+02] [-4.60876810e-01 8.87463226e-01 1.26017541e-03 1.55832377e+02] [ 2.59344864e-03 -7.31419925e-05 9.99996634e-01 -7.26324977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62576923100005 meters 0.03604844467015808 Centerline is valid? [True, True] Translation: X:220.79, Y:155.81, Z:-0.73 [[ 8.88103792e-01 4.59638987e-01 -1.91219245e-03 2.20794441e+02] [-4.59637763e-01 8.88105848e-01 1.06255553e-03 1.55814144e+02] [ 2.18662125e-03 -6.47437371e-05 9.99997607e-01 -7.25945600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6557692310001 meters 0.03508108008969705 Centerline is valid? [True, True] Translation: X:220.82, Y:155.80, Z:-0.72 [[ 8.88500394e-01 4.58874382e-01 -1.16280238e-03 2.20819289e+02] [-4.58873930e-01 8.88501154e-01 6.45619289e-04 1.55800119e+02] [ 1.32940941e-03 -4.00532925e-05 9.99999116e-01 -7.23694379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68576923100005 meters 0.036856632267994426 Centerline is valid? [True, True] Translation: X:220.84, Y:155.78, Z:-0.72 [[ 8.87973436e-01 4.59894744e-01 4.25583414e-05 2.20841128e+02] [-4.59894744e-01 8.87973437e-01 -2.39743317e-05 1.55781271e+02] [-4.88163459e-05 1.71621215e-06 9.99999999e-01 -7.20429628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7157692310001 meters 0.03015154818195733 Centerline is valid? [True, True] Translation: X:220.87, Y:155.77, Z:-0.72 [[ 8.87205485e-01 4.61374437e-01 -2.36266974e-04 2.20869937e+02] [-4.61374418e-01 8.87205517e-01 1.30798477e-04 1.55774203e+02] [ 2.69964437e-04 -7.03758875e-06 9.99999964e-01 -7.20178364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74576923100005 meters 0.02945320020861953 Centerline is valid? [True, True] Translation: X:220.89, Y:155.76, Z:-0.72 [[ 8.84667385e-01 4.66222487e-01 -4.58741658e-04 2.20894395e+02] [-4.66222417e-01 8.84667504e-01 2.54572963e-04 1.55757932e+02] [ 5.24521477e-04 -1.13367529e-05 9.99999862e-01 -7.21443369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7757692310001 meters 0.026146915810498234 Centerline is valid? [True, True] Translation: X:220.92, Y:155.75, Z:-0.72 [[ 8.83372349e-01 4.68671815e-01 1.51770765e-04 2.20921762e+02] [-4.68671807e-01 8.83372362e-01 -8.45161969e-05 1.55746884e+02] [-1.73680459e-04 3.52859243e-06 9.99999985e-01 -7.20067838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80576923100006 meters 0.021506248731487064 Centerline is valid? [True, True] Translation: X:220.95, Y:155.74, Z:-0.72 [[ 8.81987168e-01 4.71271610e-01 1.30586446e-03 2.20950139e+02] [-4.71271053e-01 8.81988135e-01 -7.24600905e-04 1.55738553e+02] [-1.49324079e-03 2.36725801e-05 9.99998885e-01 -7.17907607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8357692310001 meters 0.01694073050461805 Centerline is valid? [True, True] Translation: X:220.98, Y:155.73, Z:-0.72 [[ 8.79473763e-01 4.75942761e-01 2.09493339e-03 2.20979671e+02] [-4.75941343e-01 8.79476258e-01 -1.16225502e-03 1.55732353e+02] [-2.39561104e-03 2.51073866e-05 9.99997130e-01 -7.17042870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86576923100006 meters 0.015093203301740458 Centerline is valid? [True, True] Translation: X:221.01, Y:155.72, Z:-0.72 [[ 8.78505959e-01 4.77727419e-01 1.94766387e-03 2.21006792e+02] [-4.77726198e-01 8.78508117e-01 -1.08038661e-03 1.55721691e+02] [-2.22716882e-03 1.86760190e-05 9.99997520e-01 -7.17638879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8957692310001 meters 0.014431818719376379 Centerline is valid? [True, True] Translation: X:221.03, Y:155.71, Z:-0.72 [[ 8.77904196e-01 4.78833940e-01 1.51015734e-03 2.21031468e+02] [-4.78833208e-01 8.77905495e-01 -8.37435971e-04 1.55708977e+02] [-1.72676820e-03 1.20750677e-05 9.99998509e-01 -7.18667157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92576923100006 meters 0.013881242668608703 Centerline is valid? [True, True] Translation: X:221.06, Y:155.70, Z:-0.72 [[ 8.77439369e-01 4.79685946e-01 -1.24367380e-03 2.21055512e+02] [-4.79685451e-01 8.77440251e-01 6.88849608e-04 1.55695479e+02] [ 1.42168092e-03 -7.85153992e-06 9.99998989e-01 -7.23691167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95576923100003 meters 0.014310964203092205 Centerline is valid? [True, True] Translation: X:221.08, Y:155.68, Z:-0.73 [[ 8.77715625e-01 4.79176834e-01 -2.20068638e-03 2.21078761e+02] [-4.79175284e-01 8.77718384e-01 1.21918801e-03 1.55679967e+02] [ 2.51578954e-03 -1.55858456e-05 9.99996835e-01 -7.25772091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98576923100006 meters 0.01452403346857144 Centerline is valid? [True, True] Translation: X:221.10, Y:155.66, Z:-0.72 [[ 8.78096865e-01 4.78482776e-01 -3.59041491e-04 2.21100143e+02] [-4.78482734e-01 8.78096938e-01 1.98730538e-04 1.55662596e+02] [ 4.10362374e-04 -2.70950825e-06 9.99999916e-01 -7.22276453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01576923100004 meters 0.014446339283759695 Centerline is valid? [True, True] Translation: X:221.12, Y:155.65, Z:-0.72 [[ 8.78213617e-01 4.78267164e-01 1.16742733e-03 2.21124017e+02] [-4.78266727e-01 8.78214393e-01 -6.46839982e-04 1.55647829e+02] [-1.33461381e-03 9.72203263e-06 9.99999109e-01 -7.19560967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04576923100007 meters 0.014254925453138863 Centerline is valid? [True, True] Translation: X:221.15, Y:155.63, Z:-0.72 [[ 8.78175632e-01 4.78334371e-01 1.94669351e-03 2.21147651e+02] [-4.78333157e-01 8.78177789e-01 -1.07787267e-03 1.55633715e+02] [-2.22512655e-03 1.53934649e-05 9.99997524e-01 -7.18271676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07576923100004 meters 0.013211105125038026 Centerline is valid? [True, True] Translation: X:221.17, Y:155.62, Z:-0.72 [[ 8.77229398e-01 4.80071383e-01 2.26536846e-04 2.21172890e+02] [-4.80071367e-01 8.77229427e-01 -1.25681180e-04 1.55620407e+02] [-2.59060726e-04 1.49737235e-06 9.99999966e-01 -7.21926827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10576923100007 meters 0.012741861230248532 Centerline is valid? [True, True] Translation: X:221.20, Y:155.61, Z:-0.72 [[ 8.76606399e-01 4.81206955e-01 -1.04320451e-03 2.21197558e+02] [-4.81206610e-01 8.76607019e-01 5.76536966e-04 1.55607890e+02] [ 1.19191399e-03 -3.39908936e-06 9.99999290e-01 -7.24872143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13576923100004 meters 0.012554380059532135 Centerline is valid? [True, True] Translation: X:221.22, Y:155.60, Z:-0.73 [[ 8.76033464e-01 4.82247697e-01 -1.59032105e-03 2.21222325e+02] [-4.82246897e-01 8.76034907e-01 8.78725239e-04 1.55595252e+02] [ 1.81693998e-03 -2.86532445e-06 9.99998349e-01 -7.25994505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16576923100007 meters 0.012799601230120326 Centerline is valid? [True, True] Translation: X:221.25, Y:155.59, Z:-0.73 [[ 8.74098645e-01 4.85742455e-01 -2.41359058e-03 2.21248286e+02] [-4.85740625e-01 8.74101978e-01 1.33324179e-03 1.55586115e+02] [ 2.75733644e-03 6.99415856e-06 9.99996199e-01 -7.27382597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19576923100004 meters 0.014202537523425866 Centerline is valid? [True, True] Translation: X:221.27, Y:155.58, Z:-0.73 [[ 8.72784948e-01 4.88096961e-01 -2.79129824e-03 2.21274291e+02] [-4.88094526e-01 8.72789411e-01 1.54200379e-03 1.55576467e+02] [ 3.18886291e-03 1.65796896e-05 9.99994915e-01 -7.28230182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2257692310001 meters 0.01625439700312648 Centerline is valid? [True, True] Translation: X:221.30, Y:155.57, Z:-0.73 [[ 8.71377825e-01 4.90602654e-01 -3.11797433e-03 2.21301549e+02] [-4.90599635e-01 8.71383403e-01 1.72162327e-03 1.55566808e+02] [ 3.56158403e-03 2.94927275e-05 9.99993657e-01 -7.28273721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25576923100004 meters 0.02168691896712976 Centerline is valid? [True, True] Translation: X:221.33, Y:155.56, Z:-0.72 [[ 8.68468583e-01 4.95742266e-01 -1.38803424e-03 2.21334006e+02] [-4.95741674e-01 8.68469692e-01 7.66109351e-04 1.55564144e+02] [ 1.58525845e-03 2.27645144e-05 9.99998743e-01 -7.23690518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2857692310001 meters 0.02436287564899785 Centerline is valid? [True, True] Translation: X:221.36, Y:155.56, Z:-0.72 [[ 8.67019017e-01 4.98275029e-01 1.35803018e-04 2.21362695e+02] [-4.98275024e-01 8.67019028e-01 -7.50886935e-05 1.55557445e+02] [-1.55158622e-04 -2.56392684e-06 9.99999988e-01 -7.20248143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31576923100005 meters 0.02436287564899785 Centerline is valid? [True, True] Translation: X:221.39, Y:155.54, Z:-0.72 [[ 8.67110130e-01 4.98116457e-01 1.35705282e-04 2.21386854e+02] [-4.98116451e-01 8.67110140e-01 -7.52657977e-05 1.55544351e+02] [-1.55162558e-04 -2.33329774e-06 9.99999988e-01 -7.20298581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3457692310001 meters 0.027879584316970837 Centerline is valid? [True, True] Translation: X:221.42, Y:155.54, Z:-0.72 [[ 8.65610232e-01 5.00717124e-01 1.13499844e-03 2.21417475e+02] [-5.00716733e-01 8.65610976e-01 -6.26379086e-04 1.55538056e+02] [-1.29610584e-03 -2.61125646e-05 9.99999160e-01 -7.18026259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37576923100005 meters 0.03349089487722789 Centerline is valid? [True, True] Translation: X:221.45, Y:155.54, Z:-0.72 [[ 8.63379015e-01 5.04552778e-01 1.78050466e-03 2.21450018e+02] [-5.04551825e-01 8.63380850e-01 -9.82154642e-04 1.55537641e+02] [-2.03280248e-03 -5.03851690e-05 9.99997933e-01 -7.18145327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4057692310001 meters 0.035005167500868885 Centerline is valid? [True, True] Translation: X:221.48, Y:155.53, Z:-0.72 [[ 8.62924689e-01 5.05331870e-01 8.25894697e-04 2.21478142e+02] [-5.05331666e-01 8.62925084e-01 -4.55613781e-04 1.55530398e+02] [-9.42921415e-04 -2.41903628e-05 9.99999555e-01 -7.20476401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43576923100005 meters 0.03518534949814101 Centerline is valid? [True, True] Translation: X:221.51, Y:155.52, Z:-0.72 [[ 8.63024763e-01 5.05161503e-01 3.38414265e-04 2.21505229e+02] [-5.05161469e-01 8.63024829e-01 -1.86912508e-04 1.55522233e+02] [-3.86480916e-04 -9.64372431e-06 9.99999925e-01 -7.21978472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4657692310001 meters 0.028846101102807848 Centerline is valid? [True, True] Translation: X:221.53, Y:155.51, Z:-0.72 [[ 8.64682080e-01 5.02318909e-01 -7.83594236e-04 2.21531878e+02] [-5.02318724e-01 8.64682435e-01 4.31784567e-04 1.55510373e+02] [ 8.94453725e-04 2.02576797e-05 9.99999600e-01 -7.23968811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49576923100005 meters 0.02642473005434689 Centerline is valid? [True, True] Translation: X:221.56, Y:155.50, Z:-0.72 [[ 8.66202508e-01 4.99691646e-01 -1.21368407e-03 2.21556837e+02] [-4.99691200e-01 8.66203358e-01 6.68713532e-04 1.55498303e+02] [ 1.38544779e-03 2.72259120e-05 9.99999040e-01 -7.24923446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5257692310001 meters 0.022829167787320123 Centerline is valid? [True, True] Translation: X:221.58, Y:155.48, Z:-0.73 [[ 8.67987999e-01 4.96583169e-01 -1.41074504e-03 2.21581821e+02] [-4.96582561e-01 8.67989145e-01 7.77250527e-04 1.55483887e+02] [ 1.61048091e-03 2.59072548e-05 9.99998703e-01 -7.25098850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55576923100006 meters 0.016085784757104565 Centerline is valid? [True, True] Translation: X:221.61, Y:155.47, Z:-0.72 [[ 8.72001128e-01 4.89503788e-01 2.72520858e-04 2.21605530e+02] [-4.89503765e-01 8.72001170e-01 -1.50237545e-04 1.55468620e+02] [-3.11180355e-04 -2.39267789e-06 9.99999952e-01 -7.21412574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5857692310001 meters 0.012881621898762283 Centerline is valid? [True, True] Translation: X:221.63, Y:155.45, Z:-0.72 [[ 8.74218715e-01 4.85531001e-01 1.13410644e-03 2.21628839e+02] [-4.85530598e-01 8.74219450e-01 -6.24950609e-04 1.55451503e+02] [-1.29489080e-03 -4.29986160e-06 9.99999162e-01 -7.18834694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61576923100006 meters 0.012066642979640262 Centerline is valid? [True, True] Translation: X:221.65, Y:155.43, Z:-0.72 [[ 8.76372357e-01 4.81631094e-01 1.72639190e-03 2.21650949e+02] [-4.81630156e-01 8.76374058e-01 -9.50807973e-04 1.55434940e+02] [-1.97090376e-03 1.77942608e-06 9.99998058e-01 -7.17728644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6457692310001 meters 0.013710157523374815 Centerline is valid? [True, True] Translation: X:221.67, Y:155.42, Z:-0.72 [[ 8.78660947e-01 4.77441785e-01 2.06912841e-03 2.21673694e+02] [-4.77440426e-01 8.78663384e-01 -1.13925993e-03 1.55416822e+02] [-2.36199766e-03 1.31376645e-05 9.99997210e-01 -7.16919206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67576923100006 meters 0.02288555775509807 Centerline is valid? [True, True] Translation: X:221.69, Y:155.39, Z:-0.72 [[ 8.83184692e-01 4.69022115e-01 1.74814379e-03 2.21691609e+02] [-4.69021129e-01 8.83186421e-01 -9.62240024e-04 1.55389934e+02] [-1.99524871e-03 2.99192882e-05 9.99998009e-01 -7.17862620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70576923100003 meters 0.02854902678335825 Centerline is valid? [True, True] Translation: X:221.71, Y:155.37, Z:-0.72 [[ 8.85389724e-01 4.64847283e-01 1.42870356e-03 2.21712280e+02] [-4.64846618e-01 8.85390876e-01 -7.86362016e-04 1.55368232e+02] [-1.63049935e-03 3.21088273e-05 9.99998670e-01 -7.19133392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73576923100006 meters 0.03205974363685485 Centerline is valid? [True, True] Translation: X:221.74, Y:155.35, Z:-0.72 [[ 8.87601664e-01 4.60609018e-01 1.61814693e-03 2.21735186e+02] [-4.60608159e-01 8.87603138e-01 -8.90522165e-04 1.55348077e+02] [-1.84645483e-03 4.50972782e-05 9.99998294e-01 -7.19214321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76576923100004 meters 0.0405788311185604 Centerline is valid? [True, True] Translation: X:221.75, Y:155.32, Z:-0.72 [[ 8.91028180e-01 4.53936372e-01 3.24833893e-03 2.21752156e+02] [-4.53932869e-01 8.91034094e-01 -1.78734591e-03 1.55317904e+02] [-3.70572206e-03 1.18047761e-04 9.99993127e-01 -7.15885189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79576923100007 meters 0.04448021070486999 Centerline is valid? [True, True] Translation: X:221.77, Y:155.30, Z:-0.72 [[ 8.92376335e-01 4.51280310e-01 3.24939535e-03 2.21772589e+02] [-4.51276787e-01 8.92382242e-01 -1.78777473e-03 1.55296111e+02] [-3.70649024e-03 1.28991166e-04 9.99993123e-01 -7.15512032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82576923100004 meters 0.04912923726044608 Centerline is valid? [True, True] Translation: X:221.79, Y:155.27, Z:-0.72 [[ 8.94204456e-01 4.47651492e-01 2.55581618e-03 2.21791334e+02] [-4.47649298e-01 8.94208102e-01 -1.40606543e-03 1.55269141e+02] [-2.91485882e-03 1.13200653e-04 9.99995745e-01 -7.16860908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85576923100007 meters 0.05077230906152249 Centerline is valid? [True, True] Translation: X:221.81, Y:155.25, Z:-0.72 [[ 8.94622238e-01 4.46817758e-01 2.22341637e-03 2.21811593e+02] [-4.46816095e-01 8.94624995e-01 -1.22308691e-03 1.55249398e+02] [-2.53562081e-03 1.00742531e-04 9.99996780e-01 -7.17303435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88576923100004 meters 0.05142686328297453 Centerline is valid? [True, True] Translation: X:221.83, Y:155.23, Z:-0.72 [[ 8.94893305e-01 4.46275250e-01 2.09144790e-03 2.21833210e+02] [-4.46273778e-01 8.94895744e-01 -1.15026948e-03 1.55229600e+02] [-2.38496463e-03 9.60101031e-05 9.99997151e-01 -7.17630968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91576923100007 meters 0.05370791331458217 Centerline is valid? [True, True] Translation: X:221.85, Y:155.20, Z:-0.72 [[ 8.95390812e-01 4.45280204e-01 9.12577334e-04 2.21849765e+02] [-4.45279924e-01 8.95391276e-01 -5.01816595e-04 1.55202267e+02] [-1.04056278e-03 4.29696025e-05 9.99999458e-01 -7.20706168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94576923100004 meters 0.055290779543189165 Centerline is valid? [True, True] Translation: X:221.87, Y:155.18, Z:-0.72 [[ 8.95845577e-01 4.44365347e-01 3.75371099e-04 2.21870619e+02] [-4.44365300e-01 8.95845655e-01 -2.06495078e-04 1.55181642e+02] [-4.28033825e-04 1.81858117e-05 9.99999908e-01 -7.22411869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.9757692310001 meters 0.056984316524412534 Centerline is valid? [True, True] Translation: X:221.89, Y:155.16, Z:-0.72 [[ 8.96223998e-01 4.43601750e-01 -1.80265238e-04 2.21890780e+02] [-4.43601739e-01 8.96224016e-01 9.89619593e-05 1.55160828e+02] [ 2.05457734e-04 -8.72610963e-06 9.99999979e-01 -7.24240948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00576923100004 meters 0.0575940066719589 Centerline is valid? [True, True] Translation: X:221.91, Y:155.13, Z:-0.72 [[ 8.96358672e-01 4.43329580e-01 -1.19388828e-04 2.21908927e+02] [-4.43329575e-01 8.96358680e-01 6.52834160e-05 1.55133748e+02] [ 1.35957281e-04 -5.58875788e-06 9.99999991e-01 -7.23984328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0357692310001 meters 0.05192114391073771 Centerline is valid? [True, True] Translation: X:221.93, Y:155.12, Z:-0.72 [[ 8.96022187e-01 4.44009161e-01 -3.23513057e-04 2.21934654e+02] [-4.44009126e-01 8.96022246e-01 1.77347102e-04 1.55120595e+02] [ 3.68618634e-04 -1.52641885e-05 9.99999932e-01 -7.23217509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06576923100005 meters 0.05510983496382208 Centerline is valid? [True, True] Translation: X:221.95, Y:155.10, Z:-0.72 [[ 8.95322966e-01 4.45416902e-01 -7.54972188e-04 2.21954341e+02] [-4.45416710e-01 8.95323284e-01 4.14458894e-04 1.55098091e+02] [ 8.60551175e-04 -3.47973384e-05 9.99999629e-01 -7.23612802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0957692310001 meters 0.0385643878836492 Centerline is valid? [True, True] Translation: X:221.99, Y:155.09, Z:-0.72 [[ 8.92958131e-01 4.50137923e-01 -1.27528887e-03 2.21985527e+02] [-4.50137382e-01 8.92959040e-01 7.00234902e-04 1.55093542e+02] [ 1.45398301e-03 -5.12252554e-05 9.99998942e-01 -7.22382145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12576923100005 meters 0.03883113666644605 Centerline is valid? [True, True] Translation: X:222.01, Y:155.07, Z:-0.72 [[ 8.91385878e-01 4.53244012e-01 -1.04058769e-03 2.22008158e+02] [-4.53243653e-01 8.91386484e-01 5.71310079e-04 1.55074482e+02] [ 1.18650867e-03 -3.76179711e-05 9.99999295e-01 -7.22549377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1557692310001 meters 0.030809193614761848 Centerline is valid? [True, True] Translation: X:222.04, Y:155.07, Z:-0.72 [[ 8.89783791e-01 4.56381865e-01 -6.30863614e-04 2.22036790e+02] [-4.56381734e-01 8.89784015e-01 3.46319737e-04 1.55065293e+02] [ 7.19386406e-04 -2.02350582e-05 9.99999741e-01 -7.21540084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18576923100005 meters 0.030627460668859144 Centerline is valid? [True, True] Translation: X:222.06, Y:155.05, Z:-0.72 [[ 8.88185637e-01 4.59484615e-01 -4.03019081e-04 2.22060086e+02] [-4.59484562e-01 8.88185728e-01 2.21178610e-04 1.55047820e+02] [ 4.59583964e-04 -1.12666182e-05 9.99999894e-01 -7.21785266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2157692310001 meters 0.025098848653209355 Centerline is valid? [True, True] Translation: X:222.09, Y:155.03, Z:-0.72 [[ 8.85023107e-01 4.65547011e-01 -2.84924592e-04 2.22085928e+02] [-4.65546985e-01 8.85023152e-01 1.56357604e-04 1.55034358e+02] [ 3.24956676e-04 -5.73430786e-06 9.99999947e-01 -7.22555818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24576923100005 meters 0.020519381649922053 Centerline is valid? [True, True] Translation: X:222.11, Y:155.02, Z:-0.72 [[ 8.83731439e-01 4.67993418e-01 -9.50678981e-04 2.22112799e+02] [-4.67993128e-01 8.83731951e-01 5.21332615e-04 1.55023596e+02] [ 1.08412562e-03 -1.58067922e-05 9.99999412e-01 -7.23157751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2757692310001 meters 0.018308236507888695 Centerline is valid? [True, True] Translation: X:222.14, Y:155.01, Z:-0.73 [[ 8.81941006e-01 4.71354831e-01 -2.16453185e-03 2.22136196e+02] [-4.71353336e-01 8.81943662e-01 1.18735258e-03 1.55008394e+02] [ 2.46865952e-03 -2.69156255e-05 9.99996953e-01 -7.26072862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30576923100006 meters 0.016385505379990346 Centerline is valid? [True, True] Translation: X:222.16, Y:155.00, Z:-0.72 [[ 8.81390856e-01 4.72384401e-01 -1.77097444e-03 2.22162490e+02] [-4.72383403e-01 8.81392635e-01 9.70891007e-04 1.54995765e+02] [ 2.01955759e-03 -1.91555231e-05 9.99997961e-01 -7.24385689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3357692310001 meters 0.01565549434670974 Centerline is valid? [True, True] Translation: X:222.19, Y:154.98, Z:-0.72 [[ 8.80661575e-01 4.73745803e-01 -3.24684108e-04 2.22186255e+02] [-4.73745770e-01 8.80661634e-01 1.77649754e-04 1.54982005e+02] [ 3.70097663e-04 -2.63158917e-06 9.99999932e-01 -7.21982557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36576923100006 meters 0.01237264383152612 Centerline is valid? [True, True] Translation: X:222.21, Y:154.97, Z:-0.72 [[ 8.78643835e-01 4.77474521e-01 1.75897892e-03 2.22213329e+02] [-4.77473547e-01 8.78645595e-01 -9.64248016e-04 1.54971317e+02] [-2.00592294e-03 7.36466819e-06 9.99997988e-01 -7.17524859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3957692310001 meters 0.011842534618354812 Centerline is valid? [True, True] Translation: X:222.24, Y:154.96, Z:-0.72 [[ 8.77792858e-01 4.79037784e-01 1.58121709e-03 2.22238336e+02] [-4.79037000e-01 8.77794282e-01 -8.66488030e-04 1.54958736e+02] [-1.80306383e-03 3.13551293e-06 9.99998374e-01 -7.18138437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42576923100006 meters 0.011796144062361017 Centerline is valid? [True, True] Translation: X:222.26, Y:154.95, Z:-0.72 [[ 8.77196519e-01 4.80130523e-01 9.73126899e-04 2.22262966e+02] [-4.80130227e-01 8.77197059e-01 -5.33081743e-04 1.54946519e+02] [-1.10957287e-03 3.89809663e-07 9.99999384e-01 -7.19395491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45576923100003 meters 0.01226551909593807 Centerline is valid? [True, True] Translation: X:222.29, Y:154.94, Z:-0.72 [[ 8.75835012e-01 4.82610641e-01 2.97543491e-05 2.22289639e+02] [-4.82610641e-01 8.75835013e-01 -1.66817457e-05 1.54936190e+02] [-3.41106888e-05 2.50691481e-07 9.99999999e-01 -7.21738412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48576923100006 meters 0.012819231427958674 Centerline is valid? [True, True] Translation: X:222.31, Y:154.92, Z:-0.72 [[ 8.75266174e-01 4.83641479e-01 -2.08973008e-04 2.22314800e+02] [-4.83641466e-01 8.75266199e-01 1.13941365e-04 1.54924047e+02] [ 2.38013781e-04 1.33898904e-06 9.99999972e-01 -7.22655641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51576923100004 meters 0.013283239617686064 Centerline is valid? [True, True] Translation: X:222.34, Y:154.91, Z:-0.72 [[ 8.74919814e-01 4.84267693e-01 -3.45535755e-04 2.22339476e+02] [-4.84267657e-01 8.74919883e-01 1.88574809e-04 1.54911649e+02] [ 3.93636790e-04 2.34395352e-06 9.99999923e-01 -7.22884860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54576923100007 meters 0.014632308915511654 Centerline is valid? [True, True] Translation: X:222.37, Y:154.90, Z:-0.72 [[ 8.73821351e-01 4.86247093e-01 -1.05239409e-04 2.22365966e+02] [-4.86247089e-01 8.73821357e-01 5.71888108e-05 1.54899766e+02] [ 1.19768336e-04 1.19955248e-06 9.99999993e-01 -7.21183981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57576923100004 meters 0.015933929097511245 Centerline is valid? [True, True] Translation: X:222.39, Y:154.89, Z:-0.72 [[ 8.73056402e-01 4.87619235e-01 3.97224713e-05 2.22392155e+02] [-4.87619234e-01 8.73056402e-01 -2.18335940e-05 1.54889329e+02] [-4.53264383e-05 -3.07482062e-07 9.99999999e-01 -7.20259287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60576923100007 meters 0.017534991131310722 Centerline is valid? [True, True] Translation: X:222.42, Y:154.88, Z:-0.72 [[ 8.72160871e-01 4.89219143e-01 2.15234559e-04 2.22419595e+02] [-4.89219128e-01 8.72160897e-01 -1.17940602e-04 1.54878900e+02] [-2.45417967e-04 -2.43368488e-06 9.99999970e-01 -7.19780162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63576923100004 meters 0.01993931026438987 Centerline is valid? [True, True] Translation: X:222.45, Y:154.87, Z:-0.72 [[ 8.70991016e-01 4.91298748e-01 4.35940732e-04 2.22447891e+02] [-4.91298690e-01 8.70991126e-01 -2.38438746e-04 1.54869964e+02] [-4.96845166e-04 -6.49910435e-06 9.99999877e-01 -7.19776428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66576923100007 meters 0.025218942975877144 Centerline is valid? [True, True] Translation: X:222.48, Y:154.87, Z:-0.72 [[ 8.68479283e-01 4.95725397e-01 -2.54983113e-04 2.22478890e+02] [-4.95725378e-01 8.68479321e-01 1.39183295e-04 1.54866495e+02] [ 2.90444255e-04 5.52379169e-06 9.99999958e-01 -7.21594960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69576923100004 meters 0.028129980038406683 Centerline is valid? [True, True] Translation: X:222.51, Y:154.86, Z:-0.72 [[ 8.67281528e-01 4.97817564e-01 -6.51224127e-04 2.22507561e+02] [-4.97817437e-01 8.67281773e-01 3.55187354e-04 1.54858206e+02] [ 7.41613319e-04 1.61432944e-05 9.99999725e-01 -7.22641629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7257692310001 meters 0.03126165855088765 Centerline is valid? [True, True] Translation: X:222.54, Y:154.85, Z:-0.72 [[ 8.66163737e-01 4.99759674e-01 -8.05553544e-04 2.22535133e+02] [-4.99759481e-01 8.66164111e-01 4.39596491e-04 1.54850724e+02] [ 9.17434168e-04 2.18204816e-05 9.99999579e-01 -7.23318056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75576923100004 meters 0.03458238665197238 Centerline is valid? [True, True] Translation: X:222.57, Y:154.85, Z:-0.72 [[ 8.64735120e-01 5.02227355e-01 -9.24853797e-04 2.22566390e+02] [-5.02227102e-01 8.64735615e-01 5.04743496e-04 1.54846478e+02] [ 1.05325001e-03 2.80172144e-05 9.99999445e-01 -7.23850866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7857692310001 meters 0.035315113277344316 Centerline is valid? [True, True] Translation: X:222.59, Y:154.84, Z:-0.72 [[ 8.64444835e-01 5.02727014e-01 -8.22352758e-04 2.22593453e+02] [-5.02726815e-01 8.64445226e-01 4.48359947e-04 1.54836707e+02] [ 9.36281573e-04 2.58363422e-05 9.99999561e-01 -7.23607893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81576923100005 meters 0.03557614531782302 Centerline is valid? [True, True] Translation: X:222.62, Y:154.83, Z:-0.72 [[ 8.64610667e-01 5.02441973e-01 -6.76805434e-04 2.22619558e+02] [-5.02441837e-01 8.64610932e-01 3.69110202e-04 1.54825836e+02] [ 7.70629835e-04 2.09187474e-05 9.99999703e-01 -7.23440649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8457692310001 meters 0.03287548237374184 Centerline is valid? [True, True] Translation: X:222.64, Y:154.81, Z:-0.72 [[ 8.65868797e-01 5.00270065e-01 -1.04346157e-03 2.22644744e+02] [-5.00269742e-01 8.65869425e-01 5.69099882e-04 1.54811312e+02] [ 1.18820511e-03 2.92464218e-05 9.99999294e-01 -7.23438741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87576923100005 meters 0.03176959663918304 Centerline is valid? [True, True] Translation: X:222.67, Y:154.80, Z:-0.72 [[ 8.66540546e-01 4.99105064e-01 -1.27201753e-03 2.22668857e+02] [-4.99104583e-01 8.66541478e-01 6.93659701e-04 1.54798203e+02] [ 1.44846502e-03 3.37855238e-05 9.99998950e-01 -7.24165297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9057692310001 meters 0.02850351579005111 Centerline is valid? [True, True] Translation: X:222.69, Y:154.78, Z:-0.72 [[ 8.68069826e-01 4.96441519e-01 -7.71778741e-04 2.22693601e+02] [-4.96441341e-01 8.68070169e-01 4.20802521e-04 1.54784626e+02] [ 8.78861945e-04 1.78569019e-05 9.99999614e-01 -7.22944422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93576923100005 meters 0.023899938773019644 Centerline is valid? [True, True] Translation: X:222.72, Y:154.77, Z:-0.72 [[ 8.69143893e-01 4.94559291e-01 3.58670086e-05 2.22716468e+02] [-4.94559290e-01 8.69143894e-01 -1.98953825e-05 1.54766036e+02] [-4.10130378e-05 -4.46412121e-07 9.99999999e-01 -7.21196634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9657692310001 meters 0.02381097812334743 Centerline is valid? [True, True] Translation: X:222.74, Y:154.75, Z:-0.72 [[ 8.70238073e-01 4.92630431e-01 9.77594089e-04 2.22740798e+02] [-4.92630143e-01 8.70238622e-01 -5.32977026e-04 1.54752891e+02] [-1.11330083e-03 -1.77754159e-05 9.99999380e-01 -7.19402301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99576923100005 meters 0.0175195458295625 Centerline is valid? [True, True] Translation: X:222.76, Y:154.73, Z:-0.72 [[ 8.72560033e-01 4.88502144e-01 2.15501334e-03 2.22761254e+02] [-4.88500733e-01 8.72562694e-01 -1.17459603e-03 1.54730589e+02] [-2.45417692e-03 -2.78200423e-05 9.99996988e-01 -7.16713440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0257692310001 meters 0.017206819499857567 Centerline is valid? [True, True] Translation: X:222.79, Y:154.72, Z:-0.72 [[ 8.73465861e-01 4.86878698e-01 2.55420437e-03 2.22785412e+02] [-4.86876709e-01 8.73469595e-01 -1.39199013e-03 1.54717158e+02] [-2.90875020e-03 -2.77267597e-05 9.99995769e-01 -7.16216129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05576923100006 meters 0.01593239711780186 Centerline is valid? [True, True] Translation: X:222.81, Y:154.70, Z:-0.72 [[ 8.74175200e-01 4.85605106e-01 2.32402618e-03 2.22809846e+02] [-4.85603455e-01 8.74178289e-01 -1.26629751e-03 1.54701531e+02] [-2.64653377e-03 -2.15892691e-05 9.99996498e-01 -7.16502401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0857692310001 meters 0.015223921803547803 Centerline is valid? [True, True] Translation: X:222.83, Y:154.69, Z:-0.72 [[ 8.74662148e-01 4.84728871e-01 2.01205157e-03 2.22832787e+02] [-4.84727632e-01 8.74664462e-01 -1.09600953e-03 1.54686002e+02] [-2.29113747e-03 -1.66589424e-05 9.99997375e-01 -7.16997559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11576923100006 meters 0.015316980030418021 Centerline is valid? [True, True] Translation: X:222.86, Y:154.67, Z:-0.72 [[ 8.74710024e-01 4.84642333e-01 2.04523352e-03 2.22857698e+02] [-4.84641053e-01 8.74712415e-01 -1.11387419e-03 1.54672674e+02] [-2.32882174e-03 -1.68872070e-05 9.99997288e-01 -7.16413180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1457692310001 meters 0.015536072586068147 Centerline is valid? [True, True] Translation: X:222.88, Y:154.66, Z:-0.72 [[ 8.74653850e-01 4.84741499e-01 2.51448992e-03 2.22882493e+02] [-4.84739567e-01 8.74657464e-01 -1.36891303e-03 1.54660785e+02] [-2.86288633e-03 -2.15477024e-05 9.99995902e-01 -7.15185235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17576923100006 meters 0.015712493278908408 Centerline is valid? [True, True] Translation: X:222.91, Y:154.65, Z:-0.71 [[ 8.74663753e-01 4.84720728e-01 3.02255526e-03 2.22907224e+02] [-4.84717937e-01 8.74668975e-01 -1.64501232e-03 1.54647557e+02] [-3.44110688e-03 -2.62541012e-05 9.99994079e-01 -7.14063876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20576923100003 meters 0.015712493278908408 Centerline is valid? [True, True] Translation: X:222.93, Y:154.63, Z:-0.71 [[ 8.74745807e-01 4.84572631e-01 3.02283367e-03 2.22931475e+02] [-4.84569841e-01 8.74751030e-01 -1.64450062e-03 1.54634618e+02] [-3.44110686e-03 -2.62540088e-05 9.99994079e-01 -7.14114319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23576923100006 meters 0.01587949637134696 Centerline is valid? [True, True] Translation: X:222.96, Y:154.62, Z:-0.71 [[ 8.74757206e-01 4.84548709e-01 3.51843292e-03 2.22955518e+02] [-4.84544933e-01 8.74764281e-01 -1.91329116e-03 1.54621096e+02] [-4.00488220e-03 -3.11736127e-05 9.99991980e-01 -7.13243099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26576923100004 meters 0.016904114358287873 Centerline is valid? [True, True] Translation: X:222.98, Y:154.61, Z:-0.71 [[ 8.74351757e-01 4.85281830e-01 3.24820952e-03 2.22980303e+02] [-4.85278618e-01 8.74357790e-01 -1.76590952e-03 1.54608603e+02] [-3.69706110e-03 -3.22605354e-05 9.99993165e-01 -7.13971773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29576923100007 meters 0.015696658547433583 Centerline is valid? [True, True] Translation: X:223.00, Y:154.59, Z:-0.72 [[ 8.74192326e-01 4.85571527e-01 2.84086373e-03 2.23003922e+02] [-4.85569072e-01 8.74196941e-01 -1.54405982e-03 1.54594090e+02] [-3.23322587e-03 -2.96303274e-05 9.99994773e-01 -7.15833970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32576923100004 meters 0.018267938712787996 Centerline is valid? [True, True] Translation: X:223.03, Y:154.59, Z:-0.72 [[ 8.73894050e-01 4.86111760e-01 2.13228748e-03 2.23030543e+02] [-4.86110380e-01 8.73896651e-01 -1.15860365e-03 1.54585732e+02] [-2.42660975e-03 -2.40302342e-05 9.99997056e-01 -7.17100903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35576923100007 meters 0.022649283989687134 Centerline is valid? [True, True] Translation: X:223.06, Y:154.58, Z:-0.72 [[ 8.72269516e-01 4.89025295e-01 3.88812078e-04 2.23059230e+02] [-4.89025250e-01 8.72269603e-01 -2.11475411e-04 1.54578752e+02] [-4.42565782e-04 -5.67536946e-06 9.99999902e-01 -7.21210432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38576923100004 meters 0.025917168589486207 Centerline is valid? [True, True] Translation: X:223.09, Y:154.57, Z:-0.72 [[ 8.71062603e-01 4.91171977e-01 1.75740114e-04 2.23086909e+02] [-4.91171967e-01 8.71062621e-01 -9.55442111e-05 1.54570082e+02] [-2.00009283e-04 -3.09362836e-06 9.99999980e-01 -7.21779030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41576923100007 meters 0.029718508844255347 Centerline is valid? [True, True] Translation: X:223.12, Y:154.56, Z:-0.72 [[ 8.69734430e-01 4.93520013e-01 -1.36583221e-04 2.23115315e+02] [-4.93520007e-01 8.69734441e-01 7.38406927e-05 1.54562318e+02] [ 1.55232990e-04 3.18475921e-06 9.99999988e-01 -7.22040502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44576923100004 meters 0.03736699960643957 Centerline is valid? [True, True] Translation: X:223.15, Y:154.56, Z:-0.73 [[ 8.67177336e-01 4.97995135e-01 -2.07704806e-03 2.23147524e+02] [-4.97993862e-01 8.67179821e-01 1.12740665e-03 1.54559865e+02] [ 2.36261719e-03 5.66956890e-05 9.99997207e-01 -7.26619466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.4757692310001 meters 0.03162517618748309 Centerline is valid? [True, True] Translation: X:223.17, Y:154.54, Z:-0.73 [[ 8.66421977e-01 4.99303841e-01 -2.93815085e-03 2.23168981e+02] [-4.99301302e-01 8.66426954e-01 1.59454944e-03 1.54540160e+02] [ 3.34185775e-03 8.54698721e-05 9.99994412e-01 -7.26713316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50576923100004 meters 0.03465160691051899 Centerline is valid? [True, True] Translation: X:223.20, Y:154.53, Z:-0.73 [[ 8.66000941e-01 5.00035475e-01 -2.62547774e-03 2.23195789e+02] [-5.00033452e-01 8.66004918e-01 1.42465255e-03 1.54530406e+02] [ 2.98605345e-03 7.90762430e-05 9.99995539e-01 -7.26906134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5357692310001 meters 0.040430356540210655 Centerline is valid? [True, True] Translation: X:223.22, Y:154.52, Z:-0.72 [[ 8.66374078e-01 4.99395591e-01 2.14922482e-05 2.23223968e+02] [-4.99395591e-01 8.66374079e-01 -1.17780840e-05 1.54524659e+02] [-2.45022500e-05 -5.28907283e-07 1.00000000e+00 -7.22324857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56576923100005 meters 0.029913251014666516 Centerline is valid? [True, True] Translation: X:223.24, Y:154.50, Z:-0.72 [[ 8.67205503e-01 4.97949826e-01 7.65279528e-04 2.23242419e+02] [-4.97949653e-01 8.67205841e-01 -4.15419401e-04 1.54498803e+02] [-8.70512895e-04 -2.08166845e-05 9.99999621e-01 -7.19900515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5957692310001 meters 0.028686588928626744 Centerline is valid? [True, True] Translation: X:223.27, Y:154.48, Z:-0.72 [[ 8.68166175e-01 4.96272900e-01 8.37752800e-04 2.23266287e+02] [-4.96272692e-01 8.68166579e-01 -4.54550848e-04 1.54483249e+02] [-9.52890250e-04 -2.11281668e-05 9.99999546e-01 -7.19898194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62576923100005 meters 0.031102253009836683 Centerline is valid? [True, True] Translation: X:223.29, Y:154.47, Z:-0.72 [[ 8.70044126e-01 4.92973780e-01 2.66012876e-04 2.23291483e+02] [-4.92973759e-01 8.70044167e-01 -1.44301057e-04 1.54470176e+02] [-3.02579588e-04 -5.58908045e-06 9.99999954e-01 -7.21213286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6557692310001 meters 0.021737260434487114 Centerline is valid? [True, True] Translation: X:223.31, Y:154.44, Z:-0.72 [[ 8.71101320e-01 4.91103234e-01 3.22553720e-04 2.23309636e+02] [-4.91103203e-01 8.71101380e-01 -1.75142511e-04 1.54443076e+02] [-3.66990044e-04 -5.84029240e-06 9.99999933e-01 -7.20297718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68576923100005 meters 0.02581224156924123 Centerline is valid? [True, True] Translation: X:223.34, Y:154.43, Z:-0.72 [[ 8.72142155e-01 4.89252365e-01 4.30798723e-04 2.23335531e+02] [-4.89252309e-01 8.72142261e-01 -2.33543506e-04 1.54433326e+02] [-4.89979485e-04 -7.08613391e-06 9.99999880e-01 -7.20771415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7157692310001 meters 0.019346783744282513 Centerline is valid? [True, True] Translation: X:223.36, Y:154.41, Z:-0.72 [[ 8.73127152e-01 4.87491456e-01 1.02778172e-03 2.23355355e+02] [-4.87491138e-01 8.73127757e-01 -5.57003831e-04 1.54409373e+02] [-1.16891935e-03 -1.46993101e-05 9.99999317e-01 -7.19249294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74576923100005 meters 0.017132867923796886 Centerline is valid? [True, True] Translation: X:223.38, Y:154.39, Z:-0.72 [[ 8.73966455e-01 4.85981681e-01 2.10738634e-03 2.23377110e+02] [-4.85980342e-01 8.73968995e-01 -1.14130446e-03 1.54389414e+02] [-2.39644339e-03 -2.66865180e-05 9.99997128e-01 -7.16518415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7757692310001 meters 0.02077718553067452 Centerline is valid? [True, True] Translation: X:223.40, Y:154.38, Z:-0.72 [[ 8.74202742e-01 4.85556330e-01 2.14848764e-03 2.23403234e+02] [-4.85554938e-01 8.74205382e-01 -1.16317054e-03 1.54379467e+02] [-2.44300428e-03 -2.63619073e-05 9.99997016e-01 -7.15559592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80576923100006 meters 0.017078099472176533 Centerline is valid? [True, True] Translation: X:223.42, Y:154.36, Z:-0.72 [[ 8.74509154e-01 4.85004725e-01 2.03889177e-03 2.23423786e+02] [-4.85003470e-01 8.74511530e-01 -1.10361976e-03 1.54358638e+02] [-2.31829516e-03 -2.37440044e-05 9.99997312e-01 -7.16269505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8357692310001 meters 0.015694212616969225 Centerline is valid? [True, True] Translation: X:223.45, Y:154.34, Z:-0.72 [[ 8.75110277e-01 4.83917927e-01 2.33320460e-03 2.23445196e+02] [-4.83916281e-01 8.75113387e-01 -1.26233960e-03 1.54336744e+02] [-2.65268734e-03 -2.43893417e-05 9.99996481e-01 -7.15513335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86576923100006 meters 0.015112035958147321 Centerline is valid? [True, True] Translation: X:223.47, Y:154.32, Z:-0.72 [[ 8.75603734e-01 4.83023570e-01 2.51628819e-03 2.23468890e+02] [-4.83021654e-01 8.75607349e-01 -1.36083451e-03 1.54319377e+02] [-2.86059557e-03 -2.38699080e-05 9.99995908e-01 -7.15361119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8957692310001 meters 0.014342608162688356 Centerline is valid? [True, True] Translation: X:223.49, Y:154.30, Z:-0.71 [[ 8.76209228e-01 4.81919890e-01 3.25711282e-03 2.23490170e+02] [-4.81916674e-01 8.76215281e-01 -1.76085444e-03 1.54300350e+02] [-3.70252280e-03 -2.67800663e-05 9.99993145e-01 -7.13871441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92576923100006 meters 0.014186326501536423 Centerline is valid? [True, True] Translation: X:223.51, Y:154.29, Z:-0.71 [[ 8.76381425e-01 4.81606320e-01 3.30907043e-03 2.23513273e+02] [-4.81603000e-01 8.76387672e-01 -1.78835533e-03 1.54285147e+02] [-3.76131176e-03 -2.63768558e-05 9.99992926e-01 -7.13993831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95576923100003 meters 0.015238526242082339 Centerline is valid? [True, True] Translation: X:223.54, Y:154.27, Z:-0.71 [[ 8.76202976e-01 4.81935801e-01 2.49568240e-03 2.23536630e+02] [-4.81933915e-01 8.76206530e-01 -1.34833402e-03 1.54271926e+02] [-2.83654365e-03 -2.13397068e-05 9.99995977e-01 -7.14937220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98576923100006 meters 0.016292756999181476 Centerline is valid? [True, True] Translation: X:223.56, Y:154.26, Z:-0.72 [[ 8.75328103e-01 4.83529374e-01 2.38281623e-04 2.23560132e+02] [-4.83529356e-01 8.75328136e-01 -1.28811377e-04 1.54255891e+02] [-2.70858693e-04 -2.46394166e-06 9.99999963e-01 -7.20391207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01576923100004 meters 0.017390025510659986 Centerline is valid? [True, True] Translation: X:223.59, Y:154.24, Z:-0.72 [[ 8.74833197e-01 4.84423922e-01 -5.84487364e-04 2.23585433e+02] [-4.84423819e-01 8.74833392e-01 3.15221331e-04 1.54241515e+02] [ 6.64029817e-04 7.37351725e-06 9.99999780e-01 -7.22288836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04576923100007 meters 0.01827247367442991 Centerline is valid? [True, True] Translation: X:223.61, Y:154.23, Z:-0.72 [[ 8.74501836e-01 4.85021388e-01 -8.90237367e-04 2.23609611e+02] [-4.85021150e-01 8.74502289e-01 4.80440056e-04 1.54227941e+02] [ 1.01153832e-03 1.16382408e-05 9.99999488e-01 -7.23679937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07576923100004 meters 0.018298998579085176 Centerline is valid? [True, True] Translation: X:223.63, Y:154.21, Z:-0.72 [[ 8.74636312e-01 4.84778901e-01 -8.59862383e-04 2.23632004e+02] [-4.84778679e-01 8.74636735e-01 4.63911070e-04 1.54213340e+02] [ 9.76961525e-04 1.10894824e-05 9.99999523e-01 -7.23704278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10576923100007 meters 0.01693661880359267 Centerline is valid? [True, True] Translation: X:223.65, Y:154.19, Z:-0.72 [[ 8.75374291e-01 4.83445361e-01 -6.58801239e-04 2.23653866e+02] [-4.83445231e-01 8.75374538e-01 3.55099839e-04 1.54193513e+02] [ 7.48369201e-04 7.64904757e-06 9.99999720e-01 -7.22714492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13576923100004 meters 0.016974253505465026 Centerline is valid? [True, True] Translation: X:223.68, Y:154.18, Z:-0.72 [[ 8.75485350e-01 4.83243410e-01 -1.09986864e-03 2.23677799e+02] [-4.83243046e-01 8.75486040e-01 5.92759992e-04 1.54178240e+02] [ 1.24936700e-03 1.25511851e-05 9.99999219e-01 -7.23218960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16576923100007 meters 0.019339269876161833 Centerline is valid? [True, True] Translation: X:223.70, Y:154.17, Z:-0.72 [[ 8.74011893e-01 4.85901097e-01 -1.82624959e-03 2.23704473e+02] [-4.85900101e-01 8.74013800e-01 9.84131709e-04 1.54166318e+02] [ 2.07435802e-03 2.72320406e-05 9.99997848e-01 -7.23267686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19576923100004 meters 0.022371512160550666 Centerline is valid? [True, True] Translation: X:223.73, Y:154.16, Z:-0.72 [[ 8.72674172e-01 4.88299508e-01 -1.83845740e-03 2.23731513e+02] [-4.88298504e-01 8.72676108e-01 9.90795061e-04 1.54158076e+02] [ 2.08818259e-03 3.30747381e-05 9.99997819e-01 -7.23465013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2257692310001 meters 0.02607204438838305 Centerline is valid? [True, True] Translation: X:223.76, Y:154.15, Z:-0.72 [[ 8.70913785e-01 4.91431905e-01 -1.96493552e-03 2.23760916e+02] [-4.91430766e-01 8.70916001e-01 1.05898002e-03 1.54150366e+02] [ 2.23171035e-03 4.33494716e-05 9.99997509e-01 -7.23356949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25576923100004 meters 0.03284908652539453 Centerline is valid? [True, True] Translation: X:223.80, Y:154.15, Z:-0.72 [[ 8.67101413e-01 4.98127893e-01 -1.93465085e-03 2.23795033e+02] [-4.98126805e-01 8.67103569e-01 1.04254795e-03 1.54150214e+02] [ 2.19686487e-03 5.97066485e-05 9.99997585e-01 -7.22055438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2857692310001 meters 0.03907697100801817 Centerline is valid? [True, True] Translation: X:223.83, Y:154.15, Z:-0.72 [[ 8.65309790e-01 5.01235699e-01 -1.31951507e-03 2.23825660e+02] [-5.01235197e-01 8.65310795e-01 7.10899456e-04 1.54147894e+02] [ 1.49811882e-03 4.62391340e-05 9.99998877e-01 -7.21382921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31576923100005 meters 0.046208628674157017 Centerline is valid? [True, True] Translation: X:223.86, Y:154.15, Z:-0.72 [[ 8.62278595e-01 5.06434226e-01 -1.16407493e-05 2.23860092e+02] [-5.06434226e-01 8.62278595e-01 6.19507366e-06 1.54149078e+02] [ 1.31749662e-05 5.53394438e-07 1.00000000e+00 -7.18082894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3457692310001 meters 0.0434099314178162 Centerline is valid? [True, True] Translation: X:223.89, Y:154.14, Z:-0.72 [[ 8.61304959e-01 5.08088341e-01 -7.25315126e-05 2.23886326e+02] [-5.08088340e-01 8.61304962e-01 3.90027035e-05 1.54136205e+02] [ 8.22885706e-05 3.25919385e-06 9.99999997e-01 -7.18032707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37576923100005 meters 0.04863674142942359 Centerline is valid? [True, True] Translation: X:223.92, Y:154.13, Z:-0.72 [[ 8.60755313e-01 5.09018690e-01 -5.14998028e-04 2.23916560e+02] [-5.09018615e-01 8.60755466e-01 2.77172820e-04 1.54134461e+02] [ 5.84373513e-04 2.35656055e-05 9.99999829e-01 -7.19481224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4057692310001 meters 0.047599215096745265 Centerline is valid? [True, True] Translation: X:223.95, Y:154.13, Z:-0.72 [[ 8.60526600e-01 5.09404794e-01 -8.51871329e-04 2.23947422e+02] [-5.09404589e-01 8.60527021e-01 4.58321032e-04 1.54130611e+02] [ 9.66529228e-04 3.95497249e-05 9.99999532e-01 -7.20743011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43576923100005 meters 0.05225736050211359 Centerline is valid? [True, True] Translation: X:223.98, Y:154.13, Z:-0.72 [[ 8.60856740e-01 5.08847252e-01 -3.83839212e-04 2.23977413e+02] [-5.08847210e-01 8.60856825e-01 2.06515644e-04 1.54127906e+02] [ 4.35515523e-04 1.75351278e-05 9.99999905e-01 -7.20478165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4657692310001 meters 0.045543205727858915 Centerline is valid? [True, True] Translation: X:224.00, Y:154.11, Z:-0.72 [[ 8.61422239e-01 5.07889338e-01 -3.82975844e-04 2.24000728e+02] [-5.07889297e-01 8.61422324e-01 2.05753257e-04 1.54111022e+02] [ 4.34403827e-04 1.72689005e-05 9.99999906e-01 -7.19831276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49576923100005 meters 0.04445287873689416 Centerline is valid? [True, True] Translation: X:224.03, Y:154.11, Z:-0.72 [[ 8.63804655e-01 5.03826406e-01 -6.86487320e-04 2.24029454e+02] [-5.03826272e-01 8.63804927e-01 3.69004302e-04 1.54105078e+02] [ 7.78905241e-04 2.71227136e-05 9.99999696e-01 -7.20835442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5257692310001 meters 0.03747840209372972 Centerline is valid? [True, True] Translation: X:224.05, Y:154.09, Z:-0.72 [[ 8.65520984e-01 5.00872478e-01 -4.32247879e-04 2.24052682e+02] [-5.00872424e-01 8.65521092e-01 2.32427225e-04 1.54087183e+02] [ 4.90536056e-04 1.53304028e-05 9.99999880e-01 -7.20184092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55576923100006 meters 0.03572240023179801 Centerline is valid? [True, True] Translation: X:224.08, Y:154.07, Z:-0.72 [[ 8.67576787e-01 4.97303157e-01 -2.98158843e-04 2.24078330e+02] [-4.97303131e-01 8.67576838e-01 1.60287402e-04 1.54074902e+02] [ 3.38387137e-04 9.21369697e-06 9.99999943e-01 -7.20017007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5857692310001 meters 0.029540189252563194 Centerline is valid? [True, True] Translation: X:224.10, Y:154.06, Z:-0.72 [[ 8.69802046e-01 4.93400756e-01 -3.08000552e-04 2.24101000e+02] [-4.93400729e-01 8.69802100e-01 1.65566033e-04 1.54055693e+02] [ 3.49589933e-04 7.95802315e-06 9.99999939e-01 -7.20372753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61576923100006 meters 0.019074497401484317 Centerline is valid? [True, True] Translation: X:224.12, Y:154.03, Z:-0.72 [[ 8.74654696e-01 4.84746398e-01 3.03488345e-04 2.24119604e+02] [-4.84746371e-01 8.74654749e-01 -1.63274728e-04 1.54028661e+02] [-3.44594359e-04 -4.30586639e-06 9.99999941e-01 -7.20176050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6457692310001 meters 0.014974041620775848 Centerline is valid? [True, True] Translation: X:224.14, Y:154.01, Z:-0.72 [[ 8.77156363e-01 4.80204496e-01 5.97277940e-04 2.24140110e+02] [-4.80204389e-01 8.77156566e-01 -3.21268242e-04 1.54007582e+02] [-6.78180722e-04 -5.01300547e-06 9.99999770e-01 -7.20049628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67576923100006 meters 0.012147613154090986 Centerline is valid? [True, True] Translation: X:224.16, Y:153.99, Z:-0.72 [[ 8.79468235e-01 4.75957524e-01 2.42872957e-04 2.24161232e+02] [-4.75957506e-01 8.79468268e-01 -1.30871003e-04 1.53985795e+02] [-2.75888097e-04 -5.00317036e-07 9.99999962e-01 -7.20493426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70576923100003 meters 0.012719389398397195 Centerline is valid? [True, True] Translation: X:224.18, Y:153.96, Z:-0.72 [[ 8.82884441e-01 4.69589538e-01 -8.53787485e-04 2.24177748e+02] [-4.69589314e-01 8.82884854e-01 4.58576511e-04 1.53958772e+02] [ 9.69138771e-04 -3.94058715e-06 9.99999530e-01 -7.23140554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73576923100006 meters 0.014699287794228497 Centerline is valid? [True, True] Translation: X:224.20, Y:153.94, Z:-0.72 [[ 8.84342930e-01 4.66835809e-01 -1.38196617e-03 2.24199393e+02] [-4.66835219e-01 8.84344010e-01 7.41994545e-04 1.53938867e+02] [ 1.56852313e-03 -1.10271479e-05 9.99998770e-01 -7.23875060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76576923100004 meters 0.018651722609917903 Centerline is valid? [True, True] Translation: X:224.22, Y:153.91, Z:-0.73 [[ 8.86258999e-01 4.63183391e-01 -2.47655450e-03 2.24217634e+02] [-4.63181483e-01 8.86262459e-01 1.32998621e-03 1.53914091e+02] [ 2.81090481e-03 -3.16180626e-05 9.99996049e-01 -7.25428938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79576923100007 meters 0.019838362638135952 Centerline is valid? [True, True] Translation: X:224.24, Y:153.90, Z:-0.73 [[ 8.86718357e-01 4.62299049e-01 -3.18499931e-03 2.24240190e+02] [-4.62295888e-01 8.86724076e-01 1.71025063e-03 1.53896963e+02] [ 3.61486281e-03 -4.40985453e-05 9.99993465e-01 -7.26875499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82576923100004 meters 0.02032695102882902 Centerline is valid? [True, True] Translation: X:224.26, Y:153.88, Z:-0.73 [[ 8.86998798e-01 4.61758040e-01 -3.55605764e-03 2.24264257e+02] [-4.61754098e-01 8.87005925e-01 1.90859908e-03 1.53879857e+02] [ 4.03555516e-03 -5.09009051e-05 9.99991856e-01 -7.26860762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85576923100007 meters 0.018286868299218828 Centerline is valid? [True, True] Translation: X:224.29, Y:153.86, Z:-0.72 [[ 8.87169045e-01 4.61440112e-01 -2.02706201e-03 2.24287668e+02] [-4.61438832e-01 8.87171360e-01 1.08723955e-03 1.53863938e+02] [ 2.30004730e-03 -2.92001440e-05 9.99997354e-01 -7.22145624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88576923100004 meters 0.020336452884024712 Centerline is valid? [True, True] Translation: X:224.31, Y:153.85, Z:-0.72 [[ 8.87185270e-01 4.61412384e-01 -9.53649439e-04 2.24309093e+02] [-4.61412100e-01 8.87185782e-01 5.11492191e-04 1.53845602e+02] [ 1.08207305e-03 -1.37629462e-05 9.99999414e-01 -7.21601819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91576923100007 meters 0.020245750082174743 Centerline is valid? [True, True] Translation: X:224.33, Y:153.83, Z:-0.72 [[ 8.87238696e-01 4.61310347e-01 -5.10329529e-04 2.24332667e+02] [-4.61310266e-01 8.87238842e-01 2.73305038e-04 1.53830891e+02] [ 5.78862622e-04 -7.06655501e-06 9.99999832e-01 -7.20300702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94576923100004 meters 0.018648017712279783 Centerline is valid? [True, True] Translation: X:224.36, Y:153.82, Z:-0.72 [[ 8.87364800e-01 4.61066055e-01 -1.34344720e-03 2.24356848e+02] [-4.61065494e-01 8.87365817e-01 7.19714435e-04 1.53817144e+02] [ 1.52396502e-03 -1.92321077e-05 9.99998839e-01 -7.20759649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.9757692310001 meters 0.020682907277439714 Centerline is valid? [True, True] Translation: X:224.38, Y:153.80, Z:-0.72 [[ 8.87293907e-01 4.61200762e-01 -1.83854070e-03 2.24378734e+02] [-4.61199711e-01 8.87295811e-01 9.85118271e-04 1.53800678e+02] [ 2.08566676e-03 -2.61549996e-05 9.99997825e-01 -7.22603423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00576923100004 meters 0.01974489236435207 Centerline is valid? [True, True] Translation: X:224.40, Y:153.79, Z:-0.72 [[ 8.86992210e-01 4.61781486e-01 -1.63633823e-03 2.24404828e+02] [-4.61780656e-01 8.86993719e-01 8.76297100e-04 1.53787413e+02] [ 1.85607951e-03 -2.16393610e-05 9.99998277e-01 -7.21852725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0357692310001 meters 0.018612169083052483 Centerline is valid? [True, True] Translation: X:224.43, Y:153.77, Z:-0.72 [[ 8.86602291e-01 4.62532023e-01 -7.10797908e-04 2.24430806e+02] [-4.62531867e-01 8.86602576e-01 3.80334505e-04 1.53774345e+02] [ 8.06112145e-04 -8.43876000e-06 9.99999675e-01 -7.19579783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06576923100005 meters 0.015157589075555927 Centerline is valid? [True, True] Translation: X:224.46, Y:153.76, Z:-0.72 [[ 8.85630253e-01 4.64389811e-01 1.07581638e-03 2.24457940e+02] [-4.64389454e-01 8.85630907e-01 -5.76236514e-04 1.53764713e+02] [-1.22037460e-03 1.07347073e-05 9.99999255e-01 -7.15016525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0957692310001 meters 0.014573700755748029 Centerline is valid? [True, True] Translation: X:224.48, Y:153.75, Z:-0.71 [[ 8.85287531e-01 4.65042167e-01 1.33060974e-03 2.24483301e+02] [-4.65041621e-01 8.85288531e-01 -7.12312175e-04 1.53752109e+02] [-1.50922874e-03 1.18121752e-05 9.99998861e-01 -7.14816673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12576923100005 meters 0.014573700755748029 Centerline is valid? [True, True] Translation: X:224.51, Y:153.74, Z:-0.71 [[ 8.85373452e-01 4.64878565e-01 1.33063147e-03 2.24507640e+02] [-4.64878020e-01 8.85374451e-01 -7.12271593e-04 1.53739317e+02] [-1.50922690e-03 1.20450362e-05 9.99998861e-01 -7.14867131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1557692310001 meters 0.01379192643573211 Centerline is valid? [True, True] Translation: X:224.53, Y:153.73, Z:-0.72 [[ 8.84859282e-01 4.65857507e-01 9.13187577e-04 2.24534346e+02] [-4.65857250e-01 8.84859754e-01 -4.88701047e-04 1.53727225e+02] [-1.03570799e-03 7.01660402e-06 9.99999464e-01 -7.16622974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18576923100005 meters 0.013723599064653952 Centerline is valid? [True, True] Translation: X:224.56, Y:153.71, Z:-0.72 [[ 8.84775101e-01 4.66017778e-01 6.72063510e-04 2.24558617e+02] [-4.66017639e-01 8.84775356e-01 -3.59511526e-04 1.53714696e+02] [-7.62163994e-04 4.89339631e-06 9.99999710e-01 -7.17601632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2157692310001 meters 0.013921399256919573 Centerline is valid? [True, True] Translation: X:224.58, Y:153.70, Z:-0.72 [[ 8.85057017e-01 4.65482267e-01 5.78680642e-04 2.24583545e+02] [-4.65482164e-01 8.85057207e-01 -3.09659091e-04 1.53701460e+02] [-6.56306289e-04 4.70043354e-06 9.99999785e-01 -7.18415666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24576923100005 meters 0.015063096499600855 Centerline is valid? [True, True] Translation: X:224.61, Y:153.69, Z:-0.72 [[ 8.85814025e-01 4.64040168e-01 4.85314926e-04 2.24607856e+02] [-4.64040096e-01 8.85814158e-01 -2.59610853e-04 1.53686681e+02] [-5.50368696e-04 4.76134984e-06 9.99999849e-01 -7.18111745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2757692310001 meters 0.015413350860019678 Centerline is valid? [True, True] Translation: X:224.63, Y:153.67, Z:-0.72 [[ 8.85995429e-01 4.63693440e-01 7.01677520e-04 2.24632376e+02] [-4.63693289e-01 8.85995707e-01 -3.74936590e-04 1.53673305e+02] [-7.95538908e-04 6.82894856e-06 9.99999684e-01 -7.17392436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30576923100006 meters 0.014919052413148852 Centerline is valid? [True, True] Translation: X:224.66, Y:153.66, Z:-0.72 [[ 8.86063273e-01 4.63563890e-01 6.29673776e-04 2.24657869e+02] [-4.63563768e-01 8.86063496e-01 -3.36594496e-04 1.53662077e+02] [-7.13964001e-04 6.35007210e-06 9.99999745e-01 -7.16616150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3357692310001 meters 0.013836680817776153 Centerline is valid? [True, True] Translation: X:224.68, Y:153.65, Z:-0.72 [[ 8.85335284e-01 4.64952497e-01 7.81225672e-04 2.24684174e+02] [-4.64952310e-01 8.85335629e-01 -4.17216582e-04 1.53653142e+02] [-8.85632813e-04 6.14388080e-06 9.99999608e-01 -7.15668351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36576923100006 meters 0.013040803590701994 Centerline is valid? [True, True] Translation: X:224.71, Y:153.64, Z:-0.72 [[ 8.84954744e-01 4.65676347e-01 8.01038461e-04 2.24710503e+02] [-4.65676150e-01 8.84955106e-01 -4.27810817e-04 1.53643057e+02] [-9.08104455e-04 5.56870574e-06 9.99999588e-01 -7.15758045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3957692310001 meters 0.012091588056646282 Centerline is valid? [True, True] Translation: X:224.74, Y:153.63, Z:-0.72 [[ 8.84201430e-01 4.67105585e-01 -4.51767104e-04 2.24737768e+02] [-4.67105524e-01 8.84201545e-01 2.40536189e-04 1.53634159e+02] [ 5.11808969e-04 -1.65953258e-06 9.99999869e-01 -7.18724994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42576923100006 meters 0.0121093929697515 Centerline is valid? [True, True] Translation: X:224.76, Y:153.62, Z:-0.72 [[ 8.84027633e-01 4.67432919e-01 -1.26858882e-03 2.24761999e+02] [-4.67432430e-01 8.84028544e-01 6.76262690e-04 1.53622685e+02] [ 1.43757617e-03 -4.85535165e-06 9.99998967e-01 -7.20538033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45576923100003 meters 0.011979939878343965 Centerline is valid? [True, True] Translation: X:224.79, Y:153.61, Z:-0.72 [[ 8.83921786e-01 4.67632394e-01 -1.48999297e-03 2.24787310e+02] [-4.67631721e-01 8.83923042e-01 7.93734592e-04 1.53610508e+02] [ 1.68821513e-03 -4.83132139e-06 9.99998575e-01 -7.20569951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48576923100006 meters 0.011794343228152714 Centerline is valid? [True, True] Translation: X:224.81, Y:153.60, Z:-0.72 [[ 8.83729972e-01 4.67996980e-01 -4.04114513e-04 2.24811375e+02] [-4.67996930e-01 8.83730065e-01 2.15046509e-04 1.53598015e+02] [ 4.57769262e-04 -9.18694146e-07 9.99999895e-01 -7.17753840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51576923100004 meters 0.011759501397925788 Centerline is valid? [True, True] Translation: X:224.84, Y:153.58, Z:-0.72 [[ 8.84066627e-01 4.67360886e-01 3.02500087e-05 2.24835344e+02] [-4.67360886e-01 8.84066628e-01 -1.65086736e-05 1.53584230e+02] [-3.44585316e-05 4.57096568e-07 9.99999999e-01 -7.16322827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54576923100007 meters 0.012310374365315806 Centerline is valid? [True, True] Translation: X:224.86, Y:153.57, Z:-0.72 [[ 8.84779529e-01 4.66009534e-01 5.47487870e-04 2.24858774e+02] [-4.66009443e-01 8.84779698e-01 -2.91654585e-04 1.53568110e+02] [-6.20319970e-04 2.91548884e-06 9.99999808e-01 -7.15991759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57576923100004 meters 0.012133824752067866 Centerline is valid? [True, True] Translation: X:224.88, Y:153.56, Z:-0.72 [[ 8.84602369e-01 4.66345694e-01 5.84922294e-04 2.24882801e+02] [-4.66345590e-01 8.84602562e-01 -3.11572909e-04 1.53555227e+02] [-6.62724445e-04 2.84220065e-06 9.99999780e-01 -7.16224811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60576923100007 meters 0.011510588698529937 Centerline is valid? [True, True] Translation: X:224.91, Y:153.54, Z:-0.72 [[ 8.84195079e-01 4.67117786e-01 1.90145119e-04 2.24908178e+02] [-4.67117775e-01 8.84195099e-01 -1.01597303e-04 1.53543896e+02] [-2.15583290e-04 1.01166998e-06 9.99999977e-01 -7.16520613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63576923100004 meters 0.011359400518173086 Centerline is valid? [True, True] Translation: X:224.93, Y:153.54, Z:-0.72 [[ 8.82455262e-01 4.70393118e-01 -1.73935375e-03 2.24934526e+02] [-4.70392209e-01 8.82456976e-01 9.25177042e-04 1.53535527e+02] [ 1.97010176e-03 1.75110238e-06 9.99998059e-01 -7.19996065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66576923100007 meters 0.011784782310363433 Centerline is valid? [True, True] Translation: X:224.96, Y:153.53, Z:-0.72 [[ 8.81596114e-01 4.72001040e-01 -1.81952098e-03 2.24961174e+02] [-4.72000049e-01 8.81597991e-01 9.67173166e-04 1.53525391e+02] [ 2.06059278e-03 6.15788623e-06 9.99997877e-01 -7.19443253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69576923100004 meters 0.012669959898904288 Centerline is valid? [True, True] Translation: X:224.99, Y:153.52, Z:-0.72 [[ 8.80586748e-01 4.73883896e-01 -1.01658417e-03 2.24987174e+02] [-4.73883588e-01 8.80587334e-01 5.40390356e-04 1.53515720e+02] [ 1.15127343e-03 5.88196536e-06 9.99999337e-01 -7.17801317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7257692310001 meters 0.01436039478452091 Centerline is valid? [True, True] Translation: X:225.02, Y:153.51, Z:-0.71 [[ 8.78866784e-01 4.77063324e-01 1.93939320e-03 2.25015345e+02] [-4.77062210e-01 8.78868923e-01 -1.03109393e-03 1.53506496e+02] [-2.19636951e-03 -1.90170043e-05 9.99997588e-01 -7.12202403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75576923100004 meters 0.015650180223489327 Centerline is valid? [True, True] Translation: X:225.04, Y:153.50, Z:-0.71 [[ 8.78116309e-01 4.78437000e-01 3.12813460e-03 2.25042101e+02] [-4.78434113e-01 8.78121880e-01 -1.66239677e-03 1.53496613e+02] [-3.54223556e-03 -3.68285922e-05 9.99993726e-01 -7.10304571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7857692310001 meters 0.01738833466642515 Centerline is valid? [True, True] Translation: X:225.07, Y:153.49, Z:-0.71 [[ 8.77358982e-01 4.79824030e-01 3.18074401e-03 2.25068994e+02] [-4.79821056e-01 8.77364746e-01 -1.69010268e-03 1.53488122e+02] [-3.60162454e-03 -4.33611834e-05 9.99993513e-01 -7.10227567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81576923100005 meters 0.018831476534393675 Centerline is valid? [True, True] Translation: X:225.10, Y:153.48, Z:-0.71 [[ 8.76749538e-01 4.80942268e-01 2.18704327e-03 2.25095821e+02] [-4.80940865e-01 8.76752265e-01 -1.16196491e-03 1.53478896e+02] [-2.47633318e-03 -3.30862903e-05 9.99996933e-01 -7.11993153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8457692310001 meters 0.019196768486022833 Centerline is valid? [True, True] Translation: X:225.12, Y:153.47, Z:-0.72 [[ 8.76238691e-01 4.81877325e-01 1.56399590e-05 2.25122813e+02] [-4.81877325e-01 8.76238691e-01 -8.66071757e-06 1.53469162e+02] [-1.78777407e-05 5.23142209e-08 1.00000000e+00 -7.17109251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87576923100005 meters 0.019604175352492995 Centerline is valid? [True, True] Translation: X:225.15, Y:153.46, Z:-0.72 [[ 8.76306551e-01 4.81753833e-01 -2.70089988e-04 2.25147680e+02] [-4.81753812e-01 8.76306593e-01 1.43100097e-04 1.53458285e+02] [ 3.05620657e-04 4.71732930e-06 9.99999953e-01 -7.18120489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9057692310001 meters 0.0190195884404132 Centerline is valid? [True, True] Translation: X:225.17, Y:153.45, Z:-0.72 [[ 8.76992076e-01 4.80504826e-01 1.02190523e-04 2.25172446e+02] [-4.80504823e-01 8.76992082e-01 -5.44204686e-05 1.53446555e+02] [-1.15769577e-04 -1.37671940e-06 9.99999993e-01 -7.17702029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93576923100005 meters 0.0181253813581478 Centerline is valid? [True, True] Translation: X:225.20, Y:153.43, Z:-0.72 [[ 8.77444383e-01 4.79678384e-01 -4.42892613e-05 2.25197385e+02] [-4.79678384e-01 8.77444384e-01 2.31530703e-05 1.53432741e+02] [ 4.99673908e-05 9.29069800e-07 9.99999999e-01 -7.17965345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9657692310001 meters 0.016619355125417273 Centerline is valid? [True, True] Translation: X:225.22, Y:153.42, Z:-0.72 [[ 8.77799516e-01 4.79027956e-01 -4.75612873e-04 2.25221159e+02] [-4.79027890e-01 8.77799645e-01 2.51786542e-04 1.53418478e+02] [ 5.38105604e-04 6.81372623e-06 9.99999855e-01 -7.18255581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99576923100005 meters 0.016836302445613096 Centerline is valid? [True, True] Translation: X:225.25, Y:153.41, Z:-0.72 [[ 8.78167878e-01 4.78352461e-01 -3.17477007e-04 2.25247503e+02] [-4.78352431e-01 8.78167936e-01 1.68193412e-04 1.53407758e+02] [ 3.59253860e-04 4.16384615e-06 9.99999935e-01 -7.19239840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0257692310001 meters 0.016089781712060967 Centerline is valid? [True, True] Translation: X:225.27, Y:153.40, Z:-0.72 [[ 8.78364051e-01 4.77992221e-01 -1.78116008e-04 2.25272126e+02] [-4.77992211e-01 8.78364069e-01 9.39808011e-05 1.53395038e+02] [ 2.01372793e-04 2.58870753e-06 9.99999980e-01 -7.19286838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05576923100006 meters 0.016335630165131287 Centerline is valid? [True, True] Translation: X:225.30, Y:153.38, Z:-0.72 [[ 8.78348313e-01 4.78021162e-01 -9.94327540e-05 2.25296779e+02] [-4.78021159e-01 8.78348318e-01 5.25037226e-05 1.53383889e+02] [ 1.12434483e-04 1.41440421e-06 9.99999994e-01 -7.18940290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0857692310001 meters 0.017705028694737966 Centerline is valid? [True, True] Translation: X:225.32, Y:153.38, Z:-0.72 [[ 8.77994317e-01 4.78670416e-01 -7.82758589e-04 2.25324462e+02] [-4.78670237e-01 8.77994665e-01 4.14537791e-04 1.53375704e+02] [ 8.85684842e-04 1.07214143e-05 9.99999608e-01 -7.19587108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11576923100006 meters 0.017338865382442933 Centerline is valid? [True, True] Translation: X:225.35, Y:153.36, Z:-0.72 [[ 8.77933670e-01 4.78779054e-01 -1.75758811e-03 2.25350463e+02] [-4.78778151e-01 8.77935428e-01 9.30339710e-04 1.53363605e+02] [ 1.98847603e-03 2.47182291e-05 9.99998023e-01 -7.20837318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1457692310001 meters 0.01739082073262174 Centerline is valid? [True, True] Translation: X:225.38, Y:153.35, Z:-0.72 [[ 8.78077171e-01 4.78513841e-01 -2.23289122e-03 2.25376636e+02] [-4.78512384e-01 8.78080010e-01 1.18142161e-03 1.53352564e+02] [ 2.52598374e-03 3.10867538e-05 9.99996809e-01 -7.22315746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17576923100006 meters 0.018194200122053743 Centerline is valid? [True, True] Translation: X:225.40, Y:153.34, Z:-0.72 [[ 8.78314762e-01 4.78079069e-01 -1.89253622e-03 2.25403380e+02] [-4.78078021e-01 8.78316801e-01 1.00141086e-03 1.53344616e+02] [ 2.14099993e-03 2.52260256e-05 9.99997708e-01 -7.22979998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20576923100003 meters 0.016833982708077854 Centerline is valid? [True, True] Translation: X:225.43, Y:153.33, Z:-0.72 [[ 8.78636912e-01 4.77488322e-01 -1.44180334e-03 2.25427633e+02] [-4.77487714e-01 8.78638095e-01 7.62255191e-04 1.53331330e+02] [ 1.63079129e-03 1.86978329e-05 9.99998670e-01 -7.21559673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23576923100006 meters 0.015307371199801002 Centerline is valid? [True, True] Translation: X:225.45, Y:153.32, Z:-0.72 [[ 8.80023785e-01 4.74927867e-01 -1.28793357e-03 2.25452028e+02] [-4.74927379e-01 8.80024728e-01 6.80935513e-04 1.53318264e+02] [ 1.45680864e-03 1.24354684e-05 9.99998939e-01 -7.21628386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26576923100004 meters 0.0130379854705905 Centerline is valid? [True, True] Translation: X:225.48, Y:153.30, Z:-0.72 [[ 8.81204349e-01 4.72734927e-01 -7.64453261e-04 2.25475958e+02] [-4.72734755e-01 8.81204680e-01 4.03804775e-04 1.53300760e+02] [ 8.64532413e-04 5.54910123e-06 9.99999626e-01 -7.21020810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29576923100007 meters 0.011461249995513982 Centerline is valid? [True, True] Translation: X:225.50, Y:153.28, Z:-0.72 [[ 8.82756841e-01 4.69830133e-01 7.13550928e-05 2.25499191e+02] [-4.69830132e-01 8.82756844e-01 -3.80539847e-05 1.53282271e+02] [-8.08681053e-05 6.76426438e-08 9.99999997e-01 -7.20234479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32576923100004 meters 0.010964053312456186 Centerline is valid? [True, True] Translation: X:225.52, Y:153.26, Z:-0.72 [[ 8.84459241e-01 4.66616431e-01 9.78001752e-04 2.25520379e+02] [-4.66616145e-01 8.84459782e-01 -5.16857456e-04 1.53262827e+02] [-1.10617740e-03 7.87946127e-07 9.99999388e-01 -7.19261705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35576923100007 meters 0.013781309531093383 Centerline is valid? [True, True] Translation: X:225.54, Y:153.24, Z:-0.72 [[ 8.87549246e-01 4.60710484e-01 1.47856635e-03 2.25537791e+02] [-4.60709822e-01 8.87550477e-01 -7.81221884e-04 1.53235011e+02] [-1.67221938e-03 1.21828549e-05 9.99998602e-01 -7.18408988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38576923100004 meters 0.017358525996059873 Centerline is valid? [True, True] Translation: X:225.56, Y:153.21, Z:-0.72 [[ 8.89437955e-01 4.57054997e-01 -9.23510811e-04 2.25555750e+02] [-4.57054737e-01 8.89438435e-01 4.87686118e-04 1.53209907e+02] [ 1.04430539e-03 -1.16715529e-05 9.99999455e-01 -7.22615696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41576923100007 meters 0.0181420371132022 Centerline is valid? [True, True] Translation: X:225.58, Y:153.19, Z:-0.72 [[ 8.89878462e-01 4.56193251e-01 -2.01010269e-03 2.25578636e+02] [-4.56192018e-01 8.89880732e-01 1.06100216e-03 1.53192420e+02] [ 2.27277368e-03 -2.71701666e-05 9.99997417e-01 -7.24831244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44576923100004 meters 0.017954290402326874 Centerline is valid? [True, True] Translation: X:225.60, Y:153.18, Z:-0.73 [[ 8.89679506e-01 4.56579012e-01 -2.44600990e-03 2.25601588e+02] [-4.56577188e-01 8.89682867e-01 1.29119846e-03 1.53176640e+02] [ 2.76570722e-03 -3.19604873e-05 9.99996175e-01 -7.25912873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.4757692310001 meters 0.01585062485281501 Centerline is valid? [True, True] Translation: X:225.63, Y:153.16, Z:-0.72 [[ 8.88645463e-01 4.58589644e-01 -2.18617252e-03 2.25626733e+02] [-4.58588194e-01 8.88648152e-01 1.15336591e-03 1.53163347e+02] [ 2.47165984e-03 -2.23804742e-05 9.99996945e-01 -7.24807077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50576923100004 meters 0.01100168619227962 Centerline is valid? [True, True] Translation: X:225.66, Y:153.16, Z:-0.72 [[ 8.84679723e-01 4.66198954e-01 -5.67790323e-04 2.25656246e+02] [-4.66198858e-01 8.84679906e-01 2.99193119e-04 1.53157543e+02] [ 6.41796208e-04 1.31139091e-08 9.99999794e-01 -7.20468638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5357692310001 meters 0.01785716609475684 Centerline is valid? [True, True] Translation: X:225.69, Y:153.16, Z:-0.72 [[ 8.79219899e-01 4.76415475e-01 -8.15043604e-04 2.25690422e+02] [-4.76415281e-01 8.79220277e-01 4.29847575e-04 1.53160533e+02] [ 9.21388899e-04 1.03686867e-05 9.99999575e-01 -7.21399013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56576923100005 meters 0.020686227043508882 Centerline is valid? [True, True] Translation: X:225.72, Y:153.15, Z:-0.72 [[ 8.76519662e-01 4.81363206e-01 -1.65711280e-03 2.25719377e+02] [-4.81362414e-01 8.76521228e-01 8.73987455e-04 1.53151953e+02] [ 1.87319995e-03 3.16046311e-05 9.99998245e-01 -7.22831190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5957692310001 meters 0.029714566629660162 Centerline is valid? [True, True] Translation: X:225.75, Y:153.15, Z:-0.73 [[ 8.74054158e-01 4.85821806e-01 -2.54996725e-03 2.25751177e+02] [-4.85819949e-01 8.74057875e-01 1.34471053e-03 1.53151437e+02] [ 2.88210865e-03 6.34751310e-05 9.99995845e-01 -7.26530444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62576923100005 meters 0.03424204687084147 Centerline is valid? [True, True] Translation: X:225.78, Y:153.15, Z:-0.72 [[ 8.70341691e-01 4.92445467e-01 -1.67415022e-03 2.25782136e+02] [-4.92444679e-01 8.70343300e-01 8.82381564e-04 1.53146082e+02] [ 1.89161022e-03 5.64529030e-05 9.99998209e-01 -7.23928638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6557692310001 meters 0.039275543180289016 Centerline is valid? [True, True] Translation: X:225.81, Y:153.14, Z:-0.72 [[ 8.69182079e-01 4.94491832e-01 -5.83995862e-04 2.25812008e+02] [-4.94491737e-01 8.69182275e-01 3.07795019e-04 1.53141136e+02] [ 6.59800975e-04 2.12512133e-05 9.99999782e-01 -7.21425183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68576923100005 meters 0.03964598215436481 Centerline is valid? [True, True] Translation: X:225.84, Y:153.13, Z:-0.72 [[ 8.68284311e-01 4.96066868e-01 1.29359918e-04 2.25840111e+02] [-4.96066864e-01 8.68284321e-01 -6.84253578e-05 1.53130674e+02] [-1.46264742e-04 -4.75850427e-06 9.99999989e-01 -7.19869472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7157692310001 meters 0.041362128470707096 Centerline is valid? [True, True] Translation: X:225.87, Y:153.12, Z:-0.72 [[ 8.67679206e-01 4.97124517e-01 -1.04443647e-04 2.25868734e+02] [-4.97124514e-01 8.67679212e-01 5.46839621e-05 1.53122734e+02] [ 1.17808319e-04 4.47336020e-06 9.99999993e-01 -7.20612557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74576923100005 meters 0.04425805612641387 Centerline is valid? [True, True] Translation: X:225.90, Y:153.12, Z:-0.72 [[ 8.66446069e-01 4.99268748e-01 -1.38824310e-03 2.25900551e+02] [-4.99268216e-01 8.66447179e-01 7.31117174e-04 1.53119729e+02] [ 1.56786327e-03 5.96320546e-05 9.99998769e-01 -7.24137275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7757692310001 meters 0.04602540105322555 Centerline is valid? [True, True] Translation: X:225.93, Y:153.11, Z:-0.72 [[ 8.65808085e-01 5.00373430e-01 -1.67059595e-03 2.25929341e+02] [-5.00372663e-01 8.65809693e-01 8.79284780e-04 1.53113018e+02] [ 1.88638891e-03 7.46286730e-05 9.99998218e-01 -7.24760380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80576923100006 meters 0.046558233184506116 Centerline is valid? [True, True] Translation: X:225.96, Y:153.11, Z:-0.72 [[ 8.64672104e-01 5.02334607e-01 -1.44772994e-03 2.25960356e+02] [-5.02334033e-01 8.64673313e-01 7.62135519e-04 1.53108872e+02] [ 1.63466049e-03 6.82466959e-05 9.99998662e-01 -7.23398636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8357692310001 meters 0.04933957066809488 Centerline is valid? [True, True] Translation: X:225.99, Y:153.10, Z:-0.72 [[ 8.64316005e-01 5.02947313e-01 -1.35808135e-03 2.25989435e+02] [-5.02946809e-01 8.64317069e-01 7.14786700e-04 1.53103522e+02] [ 1.53331294e-03 6.52410978e-05 9.99998822e-01 -7.23631230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86576923100006 meters 0.05006190661629794 Centerline is valid? [True, True] Translation: X:226.02, Y:153.10, Z:-0.72 [[ 8.64181899e-01 5.03177406e-01 -1.46407448e-03 2.26017290e+02] [-5.03176821e-01 8.64183136e-01 7.70476616e-04 1.53095645e+02] [ 1.65291490e-03 7.08563962e-05 9.99998631e-01 -7.23775341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8957692310001 meters 0.04868874663329367 Centerline is valid? [True, True] Translation: X:226.05, Y:153.09, Z:-0.72 [[ 8.64636421e-01 5.02394347e-01 -1.94403543e-03 2.26047027e+02] [-5.02393315e-01 8.64638602e-01 1.02247258e-03 1.53089798e+02] [ 2.19457252e-03 9.26033683e-05 9.99997588e-01 -7.24876843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92576923100006 meters 0.04757181714232509 Centerline is valid? [True, True] Translation: X:226.07, Y:153.08, Z:-0.72 [[ 8.65217057e-01 5.01394343e-01 -1.77678117e-03 2.26074359e+02] [-5.01393479e-01 8.65218878e-01 9.34105272e-04 1.53080098e+02] [ 2.00565971e-03 8.26626764e-05 9.99997985e-01 -7.24801731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95576923100003 meters 0.04662225565427969 Centerline is valid? [True, True] Translation: X:226.10, Y:153.07, Z:-0.72 [[ 8.65972872e-01 5.00089188e-01 -1.33745280e-03 2.26100573e+02] [-5.00088697e-01 8.65973903e-01 7.03173697e-04 1.53070839e+02] [ 1.50984878e-03 5.99156800e-05 9.99998858e-01 -7.24433754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98576923100006 meters 0.043114594966967415 Centerline is valid? [True, True] Translation: X:226.13, Y:153.06, Z:-0.72 [[ 8.67969668e-01 4.96615542e-01 -1.28783490e-03 2.26128259e+02] [-4.96615083e-01 8.67970622e-01 6.76801507e-04 1.53060594e+02] [ 1.45391301e-03 5.21150561e-05 9.99998942e-01 -7.24557189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01576923100004 meters 0.043114594966967415 Centerline is valid? [True, True] Translation: X:226.15, Y:153.05, Z:-0.72 [[ 8.68061897e-01 4.96454312e-01 -1.28802713e-03 2.26152681e+02] [-4.96453854e-01 8.68062851e-01 6.76435734e-04 1.53047984e+02] [ 1.45390794e-03 5.22579440e-05 9.99998942e-01 -7.24607650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04576923100007 meters 0.04416640968686198 Centerline is valid? [True, True] Translation: X:226.18, Y:153.04, Z:-0.73 [[ 8.69376262e-01 4.94149364e-01 -1.14963642e-03 2.26180008e+02] [-4.94148996e-01 8.69377021e-01 6.03953653e-04 1.53039224e+02] [ 1.29791080e-03 4.30287160e-05 9.99999157e-01 -7.25132411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07576923100004 meters 0.0351624286555668 Centerline is valid? [True, True] Translation: X:226.20, Y:153.02, Z:-0.73 [[ 8.71920806e-01 4.89644904e-01 -1.40558950e-03 2.26202797e+02] [-4.89644349e-01 8.71921938e-01 7.38382163e-04 1.53019965e+02] [ 1.58710938e-03 4.44281831e-05 9.99998740e-01 -7.25475310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10576923100007 meters 0.032685109467598734 Centerline is valid? [True, True] Translation: X:226.23, Y:153.01, Z:-0.72 [[ 8.73069453e-01 4.87594724e-01 -1.05567485e-03 2.26226814e+02] [-4.87594410e-01 8.73070091e-01 5.54424823e-04 1.53005790e+02] [ 1.19201276e-03 3.06897780e-05 9.99999289e-01 -7.24958222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13576923100004 meters 0.028799559369827407 Centerline is valid? [True, True] Translation: X:226.25, Y:152.99, Z:-0.72 [[ 8.74304321e-01 4.85378157e-01 -6.80808934e-07 2.26250484e+02] [-4.85378157e-01 8.74304321e-01 2.59989555e-07 1.52989537e+02] [ 7.21427379e-07 1.03139799e-07 1.00000000e+00 -7.23108170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16576923100007 meters 0.026362697567295097 Centerline is valid? [True, True] Translation: X:226.28, Y:152.97, Z:-0.72 [[ 8.75344255e-01 4.83498925e-01 1.10622537e-03 2.26275259e+02] [-4.83498577e-01 8.75344954e-01 -5.81142350e-04 1.52974392e+02] [-1.24931050e-03 -2.61587765e-05 9.99999219e-01 -7.21122497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19576923100004 meters 0.02377196777903385 Centerline is valid? [True, True] Translation: X:226.30, Y:152.96, Z:-0.72 [[ 8.76554291e-01 4.81299508e-01 1.83265335e-03 2.26300086e+02] [-4.81298548e-01 8.76556206e-01 -9.62144819e-04 1.52960541e+02] [-2.06950350e-03 -3.86812273e-05 9.99997858e-01 -7.20301357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2257692310001 meters 0.024598008337493867 Centerline is valid? [True, True] Translation: X:226.32, Y:152.95, Z:-0.72 [[ 8.76524720e-01 4.81354268e-01 1.57616658e-03 2.26324725e+02] [-4.81353558e-01 8.76526137e-01 -8.27196852e-04 1.52950483e+02] [-1.77972594e-03 -3.36349009e-05 9.99998416e-01 -7.21265848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25576923100004 meters 0.027988213845153917 Centerline is valid? [True, True] Translation: X:226.35, Y:152.94, Z:-0.73 [[ 8.75209897e-01 4.83742891e-01 -6.72180444e-04 2.26353310e+02] [-4.83742763e-01 8.75210155e-01 3.52551100e-04 1.52942788e+02] [ 7.58843239e-04 1.66062136e-05 9.99999712e-01 -7.25546747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2857692310001 meters 0.02900360986174097 Centerline is valid? [True, True] Translation: X:226.38, Y:152.93, Z:-0.73 [[ 8.74620738e-01 4.84805436e-01 -1.50162702e-03 2.26379891e+02] [-4.84804798e-01 8.74622026e-01 7.87090222e-04 1.52931855e+02] [ 1.69494168e-03 3.95905527e-05 9.99998563e-01 -7.27412561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31576923100005 meters 0.031274748191412946 Centerline is valid? [True, True] Translation: X:226.41, Y:152.92, Z:-0.73 [[ 8.73746225e-01 4.86379356e-01 -1.62975559e-03 2.26406630e+02] [-4.86378608e-01 8.73747744e-01 8.54378270e-04 1.52922986e+02] [ 1.83954722e-03 4.61684649e-05 9.99998307e-01 -7.28070384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3457692310001 meters 0.031173313053493613 Centerline is valid? [True, True] Translation: X:226.43, Y:152.91, Z:-0.73 [[ 8.73852923e-01 4.86186841e-01 -1.85062903e-03 2.26431831e+02] [-4.86185878e-01 8.73854881e-01 9.69472705e-04 1.52909835e+02] [ 2.08852608e-03 5.25731401e-05 9.99997818e-01 -7.28546340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37576923100005 meters 0.030400227532723458 Centerline is valid? [True, True] Translation: X:226.46, Y:152.90, Z:-0.73 [[ 8.74870744e-01 4.84346500e-01 -3.10636985e-03 2.26456878e+02] [-4.84343774e-01 8.74876255e-01 1.62697079e-03 1.52896545e+02] [ 3.50570683e-03 8.11617511e-05 9.99993852e-01 -7.31815420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4057692310001 meters 0.028632285874828946 Centerline is valid? [True, True] Translation: X:226.48, Y:152.88, Z:-0.73 [[ 8.75848613e-01 4.82577711e-01 -2.82139812e-03 2.26481689e+02] [-4.82575455e-01 8.75853155e-01 1.47718420e-03 1.52881004e+02] [ 3.18398661e-03 6.77477513e-05 9.99994929e-01 -7.31977127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43576923100005 meters 0.025870084940248388 Centerline is valid? [True, True] Translation: X:226.51, Y:152.86, Z:-0.73 [[ 8.76580527e-01 4.81250256e-01 -2.18423829e-03 2.26505402e+02] [-4.81248901e-01 8.76583247e-01 1.14302689e-03 1.52864044e+02] [ 2.46474867e-03 4.92071657e-05 9.99996961e-01 -7.29799233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4657692310001 meters 0.02532939856743466 Centerline is valid? [True, True] Translation: X:226.53, Y:152.85, Z:-0.73 [[ 8.76943044e-01 4.80594164e-01 -3.84045855e-04 2.26530683e+02] [-4.80594123e-01 8.76943128e-01 2.00884113e-04 1.52851995e+02] [ 4.33330106e-04 8.40625511e-06 9.99999906e-01 -7.25640388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49576923100005 meters 0.02613862413347819 Centerline is valid? [True, True] Translation: X:226.56, Y:152.84, Z:-0.72 [[ 8.76402933e-01 4.81578474e-01 2.68313014e-04 2.26557458e+02] [-4.81578454e-01 8.76402974e-01 -1.40716824e-04 1.52841558e+02] [-3.02916517e-04 -5.88912875e-06 9.99999954e-01 -7.23553430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5257692310001 meters 0.029494491237559806 Centerline is valid? [True, True] Translation: X:226.59, Y:152.84, Z:-0.72 [[ 8.74742589e-01 4.84587867e-01 4.97007320e-05 2.26588085e+02] [-4.84587867e-01 8.74742590e-01 -2.60671104e-05 1.52835922e+02] [-5.61071525e-05 -1.28236007e-06 9.99999998e-01 -7.24524360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55576923100006 meters 0.031131559632073907 Centerline is valid? [True, True] Translation: X:226.61, Y:152.83, Z:-0.73 [[ 8.74202709e-01 4.85560300e-01 -9.04852335e-04 2.26614962e+02] [-4.85560070e-01 8.74203177e-01 4.73173202e-04 1.52826476e+02] [ 1.02077891e-03 2.57108691e-05 9.99999479e-01 -7.27059489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5857692310001 meters 0.03054453780114492 Centerline is valid? [True, True] Translation: X:226.64, Y:152.82, Z:-0.73 [[ 8.74647304e-01 4.84759619e-01 -4.53574472e-04 2.26641496e+02] [-4.84759561e-01 8.74647421e-01 2.37093046e-04 1.52816431e+02] [ 5.11650877e-04 1.25017681e-05 9.99999869e-01 -7.26904297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61576923100006 meters 0.028253059610933384 Centerline is valid? [True, True] Translation: X:226.67, Y:152.80, Z:-0.72 [[ 8.75734729e-01 4.82791375e-01 1.08284659e-03 2.26666753e+02] [-4.82791044e-01 8.75735398e-01 -5.66348698e-04 1.52801970e+02] [-1.22171535e-03 -2.68174112e-05 9.99999253e-01 -7.23660067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6457692310001 meters 0.025384726409143292 Centerline is valid? [True, True] Translation: X:226.69, Y:152.79, Z:-0.72 [[ 8.77114231e-01 4.80277113e-01 2.12589551e-03 2.26690966e+02] [-4.80275829e-01 8.77116807e-01 -1.11166330e-03 1.52785917e+02] [-2.39856512e-03 -4.59605297e-05 9.99997122e-01 -7.21413335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67576923100006 meters 0.01900158268022198 Centerline is valid? [True, True] Translation: X:226.71, Y:152.76, Z:-0.73 [[ 8.79866278e-01 4.75221064e-01 -5.23421435e-04 2.26712187e+02] [-4.75220985e-01 8.79866433e-01 2.73292500e-04 1.52762794e+02] [ 5.90415303e-04 8.27999465e-06 9.99999826e-01 -7.26779709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70576923100003 meters 0.016843719295651 Centerline is valid? [True, True] Translation: X:226.74, Y:152.75, Z:-0.73 [[ 8.81203302e-01 4.72733706e-01 -1.89312020e-03 2.26735032e+02] [-4.72732671e-01 8.81205335e-01 9.89247807e-04 1.52745849e+02] [ 2.13587840e-03 2.32113328e-05 9.99997719e-01 -7.29705384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73576923100006 meters 0.013836476579630327 Centerline is valid? [True, True] Translation: X:226.76, Y:152.73, Z:-0.73 [[ 8.83091571e-01 4.69200054e-01 -7.65436753e-04 2.26757541e+02] [-4.69199884e-01 8.83091903e-01 3.99848903e-04 1.52728102e+02] [ 8.63560126e-04 6.03964009e-06 9.99999627e-01 -7.27011775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76576923100004 meters 0.013454917385790733 Centerline is valid? [True, True] Translation: X:226.78, Y:152.71, Z:-0.72 [[ 8.83379289e-01 4.68658376e-01 5.98600325e-04 2.26782117e+02] [-4.68658272e-01 8.83379492e-01 -3.13035585e-04 1.52714200e+02] [-6.75498000e-04 -4.00984127e-06 9.99999772e-01 -7.23786707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79576923100007 meters 0.014914930132915992 Centerline is valid? [True, True] Translation: X:226.81, Y:152.70, Z:-0.72 [[ 8.82668071e-01 4.69992036e-01 2.13591817e-03 2.26807059e+02] [-4.69990713e-01 8.82670655e-01 -1.11553816e-03 1.52700868e+02] [-2.40960634e-03 -1.92117871e-05 9.99997097e-01 -7.20727462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82576923100004 meters 0.01554588362144736 Centerline is valid? [True, True] Translation: X:226.83, Y:152.69, Z:-0.72 [[ 8.82165229e-01 4.70938717e-01 1.11018283e-03 2.26832839e+02] [-4.70938361e-01 8.82165928e-01 -5.79835517e-04 1.52687150e+02] [-1.25243246e-03 -1.13169515e-05 9.99999216e-01 -7.22492963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85576923100007 meters 0.016324883870065858 Centerline is valid? [True, True] Translation: X:226.86, Y:152.67, Z:-0.73 [[ 8.81850045e-01 4.71529714e-01 -4.77413973e-04 2.26857298e+02] [-4.71529648e-01 8.81850174e-01 2.49016577e-04 1.52674958e+02] [ 5.38426310e-04 5.51956341e-06 9.99999855e-01 -7.26049308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88576923100004 meters 0.016795250896539663 Centerline is valid? [True, True] Translation: X:226.88, Y:152.66, Z:-0.73 [[ 8.81883599e-01 4.71463606e-01 -1.84002002e-03 2.26880691e+02] [-4.71462629e-01 8.81885519e-01 9.60044596e-04 1.52659990e+02] [ 2.07531310e-03 2.08530931e-05 9.99997846e-01 -7.29171211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91576923100007 meters 0.015988806229679596 Centerline is valid? [True, True] Translation: X:226.90, Y:152.64, Z:-0.73 [[ 8.82410413e-01 4.70480012e-01 -6.49340302e-04 2.26903670e+02] [-4.70479890e-01 8.82410652e-01 3.38677438e-04 1.52643917e+02] [ 7.32325764e-04 6.64905589e-06 9.99999732e-01 -7.26764515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94576923100004 meters 0.012769861538162746 Centerline is valid? [True, True] Translation: X:226.92, Y:152.62, Z:-0.72 [[ 8.84164393e-01 4.67168910e-01 2.55654831e-03 2.26924844e+02] [-4.67167006e-01 8.84168089e-01 -1.33369252e-03 1.52621615e+02] [-2.88347811e-03 -1.51315853e-05 9.99995843e-01 -7.20395762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9757692310001 meters 0.011935057391802768 Centerline is valid? [True, True] Translation: X:226.95, Y:152.60, Z:-0.72 [[ 8.85022045e-01 4.65540641e-01 2.80911198e-03 2.26948086e+02] [-4.65538337e-01 8.85026503e-01 -1.46481167e-03 1.52604704e+02] [-3.16806792e-03 -1.13586978e-05 9.99994982e-01 -7.20464304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00576923100004 meters 0.011370703637119698 Centerline is valid? [True, True] Translation: X:226.97, Y:152.59, Z:-0.72 [[ 8.85725534e-01 4.64205169e-01 1.95932541e-03 2.26970981e+02] [-4.64204046e-01 8.85727701e-01 -1.02140394e-03 1.52588139e+02] [-2.20956978e-03 -4.84323200e-06 9.99997559e-01 -7.22407151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0357692310001 meters 0.011273186396413724 Centerline is valid? [True, True] Translation: X:226.99, Y:152.57, Z:-0.73 [[ 8.86813157e-01 4.62127965e-01 -4.11445865e-04 2.26992272e+02] [-4.62127915e-01 8.86813252e-01 2.13996944e-04 1.52568277e+02] [ 4.63769618e-04 3.65314491e-07 9.99999892e-01 -7.27294996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06576923100005 meters 0.011102794663788664 Centerline is valid? [True, True] Translation: X:227.02, Y:152.55, Z:-0.73 [[ 8.87212334e-01 4.61361196e-01 -3.48459429e-04 2.27016555e+02] [-4.61361161e-01 8.87212402e-01 1.81080877e-04 1.52553527e+02] [ 3.92701217e-04 1.08458896e-07 9.99999923e-01 -7.26337639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0957692310001 meters 0.011163712266466756 Centerline is valid? [True, True] Translation: X:227.04, Y:152.54, Z:-0.72 [[ 8.87298314e-01 4.61195871e-01 2.66515903e-04 2.27041019e+02] [-4.61195850e-01 8.87298354e-01 -1.39125244e-04 1.52540379e+02] [-3.00643110e-04 5.29566018e-07 9.99999955e-01 -7.24821539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12576923100005 meters 0.011129082209915571 Centerline is valid? [True, True] Translation: X:227.07, Y:152.53, Z:-0.72 [[ 8.86494040e-01 4.62738932e-01 9.98906598e-04 2.27065600e+02] [-4.62738640e-01 8.86494603e-01 -5.20031096e-04 1.52529192e+02] [-1.12616394e-03 -1.22821266e-06 9.99999366e-01 -7.23257012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1557692310001 meters 0.011466849654261094 Centerline is valid? [True, True] Translation: X:227.09, Y:152.52, Z:-0.72 [[ 8.86017424e-01 4.63651062e-01 9.04391587e-04 2.27089685e+02] [-4.63650823e-01 8.86017885e-01 -4.70788621e-04 1.52517963e+02] [-1.01958877e-03 -2.19498270e-06 9.99999480e-01 -7.23623802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18576923100005 meters 0.011697945671951995 Centerline is valid? [True, True] Translation: X:227.11, Y:152.51, Z:-0.72 [[ 8.85744657e-01 4.64172121e-01 8.03049979e-04 2.27114532e+02] [-4.64171933e-01 8.85745021e-01 -4.17997246e-04 1.52505643e+02] [-9.05320188e-04 -2.51443447e-06 9.99999590e-01 -7.23683084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2157692310001 meters 0.011666077014112458 Centerline is valid? [True, True] Translation: X:227.14, Y:152.49, Z:-0.72 [[ 8.85956350e-01 4.63768223e-01 6.16883451e-04 2.27138494e+02] [-4.63768112e-01 8.85956565e-01 -3.20901320e-04 1.52492449e+02] [-6.95355778e-04 -1.78631107e-06 9.99999758e-01 -7.24044415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24576923100005 meters 0.011311333798217072 Centerline is valid? [True, True] Translation: X:227.16, Y:152.48, Z:-0.72 [[ 8.86457406e-01 4.62809742e-01 6.40331694e-04 2.27162696e+02] [-4.62809622e-01 8.86457638e-01 -3.33158425e-04 1.52477638e+02] [-7.21815885e-04 -1.02091599e-06 9.99999740e-01 -7.24595935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2757692310001 meters 0.011214253680509526 Centerline is valid? [True, True] Translation: X:227.19, Y:152.46, Z:-0.73 [[ 8.86839070e-01 4.62078058e-01 5.76207047e-04 2.27186969e+02] [-4.62077961e-01 8.86839257e-01 -2.99703013e-04 1.52462691e+02] [-6.49489216e-04 -4.64236028e-07 9.99999789e-01 -7.25250701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30576923100006 meters 0.01121542574703675 Centerline is valid? [True, True] Translation: X:227.21, Y:152.45, Z:-0.73 [[ 8.86941241e-01 4.61882267e-01 -7.64164502e-05 2.27210675e+02] [-4.61882265e-01 8.86941245e-01 3.95123484e-05 1.52449882e+02] [ 8.60269544e-05 2.50271773e-07 9.99999996e-01 -7.26578926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3357692310001 meters 0.011305686834836166 Centerline is valid? [True, True] Translation: X:227.23, Y:152.44, Z:-0.73 [[ 8.87551041e-01 4.60706843e-01 -1.53428236e-03 2.27234919e+02] [-4.60706155e-01 8.87552367e-01 7.96566983e-04 1.52435221e+02] [ 1.72873980e-03 -1.40528417e-07 9.99998506e-01 -7.29308439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36576923100006 meters 0.011350408194293275 Centerline is valid? [True, True] Translation: X:227.26, Y:152.42, Z:-0.73 [[ 8.88087491e-01 4.59670871e-01 -1.81612688e-03 2.27259670e+02] [-4.59669906e-01 8.88089348e-01 9.42215693e-04 1.52421789e+02] [ 2.04599204e-03 -1.95109943e-06 9.99997907e-01 -7.29107460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3957692310001 meters 0.01144881935593587 Centerline is valid? [True, True] Translation: X:227.28, Y:152.41, Z:-0.73 [[ 8.88383221e-01 4.59099466e-01 -1.71273776e-03 2.27283287e+02] [-4.59098606e-01 8.88384872e-01 8.88596418e-04 1.52409591e+02] [ 1.92952446e-03 -3.09862745e-06 9.99998138e-01 -7.29022581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42576923100006 meters 0.011376037525827436 Centerline is valid? [True, True] Translation: X:227.31, Y:152.40, Z:-0.73 [[ 8.88604602e-01 4.58673377e-01 -7.70729514e-04 2.27309065e+02] [-4.58673203e-01 8.88604936e-01 3.99366056e-04 1.52398328e+02] [ 8.68052629e-04 -1.36553987e-06 9.99999623e-01 -7.27105734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45576923100003 meters 0.011214195788588403 Centerline is valid? [True, True] Translation: X:227.33, Y:152.39, Z:-0.73 [[ 8.88411408e-01 4.59047931e-01 -4.09096766e-04 2.27334056e+02] [-4.59047882e-01 8.88411502e-01 2.11975329e-04 1.52387492e+02] [ 4.60753109e-04 -5.26296456e-07 9.99999894e-01 -7.26478790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48576923100006 meters 0.0110691584300619 Centerline is valid? [True, True] Translation: X:227.36, Y:152.38, Z:-0.73 [[ 8.87833835e-01 4.60164088e-01 -3.05649021e-04 2.27360649e+02] [-4.60164061e-01 8.87833888e-01 1.58187499e-04 1.52380996e+02] [ 3.44157765e-04 2.04480938e-07 9.99999941e-01 -7.25716572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51576923100004 meters 0.01104990494201095 Centerline is valid? [True, True] Translation: X:227.39, Y:152.37, Z:-0.72 [[ 8.87706136e-01 4.60410230e-01 4.85388897e-04 2.27386205e+02] [-4.60410161e-01 8.87706269e-01 -2.51813216e-04 1.52371677e+02] [-5.46820148e-04 5.81561381e-08 9.99999851e-01 -7.24064804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54576923100007 meters 0.011026279179783745 Centerline is valid? [True, True] Translation: X:227.41, Y:152.36, Z:-0.72 [[ 8.87626931e-01 4.60560725e-01 1.49995218e-03 2.27412027e+02] [-4.60560069e-01 8.87628198e-01 -7.77368278e-04 1.52362587e+02] [-1.68942515e-03 -8.05062968e-07 9.99998573e-01 -7.22960554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57576923100004 meters 0.010959428709518798 Centerline is valid? [True, True] Translation: X:227.44, Y:152.35, Z:-0.72 [[ 8.87970949e-01 4.59897652e-01 1.32064731e-03 2.27436684e+02] [-4.59897143e-01 8.87971931e-01 -6.84284549e-04 1.52350272e+02] [-1.48739860e-03 2.62875615e-07 9.99998894e-01 -7.23214652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60576923100007 meters 0.011034053597518289 Centerline is valid? [True, True] Translation: X:227.46, Y:152.34, Z:-0.72 [[ 8.88310544e-01 4.59242772e-01 6.72939358e-04 2.27460399e+02] [-4.59242640e-01 8.88310799e-01 -3.48582466e-04 1.52338455e+02] [-7.57863277e-04 6.07033036e-07 9.99999713e-01 -7.24746870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63576923100004 meters 0.011337781152833933 Centerline is valid? [True, True] Translation: X:227.49, Y:152.33, Z:-0.73 [[ 8.88947447e-01 4.58007568e-01 -1.22650768e-03 2.27486829e+02] [-4.58007129e-01 8.88948293e-01 6.34432884e-04 1.52326871e+02] [ 1.38087697e-03 -2.22823052e-06 9.99999047e-01 -7.28164847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66576923100007 meters 0.011213680093115106 Centerline is valid? [True, True] Translation: X:227.51, Y:152.32, Z:-0.73 [[ 8.88956033e-01 4.57992542e-01 6.15617351e-05 2.27513117e+02] [-4.57992541e-01 8.88956035e-01 -3.19779449e-05 1.52316542e+02] [-6.93713363e-05 2.32171525e-07 9.99999998e-01 -7.25763293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69576923100004 meters 0.011064428171158356 Centerline is valid? [True, True] Translation: X:227.54, Y:152.31, Z:-0.72 [[ 8.88862506e-01 4.58172566e-01 1.16023555e-03 2.27539317e+02] [-4.58172172e-01 8.88863263e-01 -6.00502879e-04 1.52306047e+02] [-1.30642470e-03 2.17685177e-06 9.99999147e-01 -7.22972430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7257692310001 meters 0.01105335358670097 Centerline is valid? [True, True] Translation: X:227.57, Y:152.30, Z:-0.72 [[ 8.88692050e-01 4.58502146e-01 1.49062079e-03 2.27565253e+02] [-4.58501498e-01 8.88693300e-01 -7.71009043e-04 1.52296781e+02] [-1.67821401e-03 1.73774317e-06 9.99998592e-01 -7.21769461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75576923100004 meters 0.011170324381823403 Centerline is valid? [True, True] Translation: X:227.59, Y:152.28, Z:-0.72 [[ 8.89124788e-01 4.57663871e-01 9.45246513e-04 2.27589991e+02] [-4.57663609e-01 8.89125290e-01 -4.88973964e-04 1.52283805e+02] [-1.06422830e-03 2.15394154e-06 9.99999434e-01 -7.22895145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7857692310001 meters 0.012207851374884376 Centerline is valid? [True, True] Translation: X:227.61, Y:152.27, Z:-0.73 [[ 8.90243359e-01 4.55485118e-01 2.63769372e-04 2.27612648e+02] [-4.55485097e-01 8.90243398e-01 -1.36439915e-04 1.52266522e+02] [-2.96965293e-04 1.32171043e-06 9.99999956e-01 -7.25257413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81576923100005 meters 0.01306517211957408 Centerline is valid? [True, True] Translation: X:227.64, Y:152.25, Z:-0.73 [[ 8.91200724e-01 4.53609119e-01 1.92331095e-04 2.27636530e+02] [-4.53609108e-01 8.91200744e-01 -9.96945578e-05 1.52249651e+02] [-2.16627975e-04 1.60472568e-06 9.99999977e-01 -7.26114945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8457692310001 meters 0.015040622734754443 Centerline is valid? [True, True] Translation: X:227.66, Y:152.23, Z:-0.73 [[ 8.92483031e-01 4.51080908e-01 -2.31875215e-04 2.27659434e+02] [-4.51080892e-01 8.92483061e-01 1.19407667e-04 1.52230697e+02] [ 2.60807221e-04 -1.97483786e-06 9.99999966e-01 -7.27397809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87576923100005 meters 0.017266707603289043 Centerline is valid? [True, True] Translation: X:227.68, Y:152.21, Z:-0.73 [[ 8.93769924e-01 4.48524791e-01 -9.13651062e-04 2.27682484e+02] [-4.48524544e-01 8.93770391e-01 4.71291871e-04 1.52211709e+02] [ 1.02798035e-03 -1.14315742e-05 9.99999472e-01 -7.28773545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9057692310001 meters 0.021346647557827718 Centerline is valid? [True, True] Translation: X:227.70, Y:152.19, Z:-0.73 [[ 8.95595633e-01 4.44864648e-01 -1.97670648e-03 2.27703379e+02] [-4.44863479e-01 8.95597814e-01 1.02021667e-03 1.52189233e+02] [ 2.22419233e-03 -3.43370715e-05 9.99997526e-01 -7.29724965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93576923100005 meters 0.021346647557827718 Centerline is valid? [True, True] Translation: X:227.73, Y:152.18, Z:-0.73 [[ 8.95676565e-01 4.44701678e-01 -1.97701625e-03 2.27727890e+02] [-4.44700510e-01 8.95678746e-01 1.01961637e-03 1.52176805e+02] [ 2.22419655e-03 -3.40663556e-05 9.99997526e-01 -7.29775403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9657692310001 meters 0.02220310613803424 Centerline is valid? [True, True] Translation: X:227.75, Y:152.16, Z:-0.73 [[ 8.96144307e-01 4.43756478e-01 -2.36011989e-03 2.27751202e+02] [-4.43754812e-01 8.96147413e-01 1.21684033e-03 1.52158838e+02] [ 2.65499611e-03 -4.31499788e-05 9.99996475e-01 -7.30082360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99576923100005 meters 0.021902726450991724 Centerline is valid? [True, True] Translation: X:227.77, Y:152.14, Z:-0.73 [[ 8.95902370e-01 4.44244734e-01 -2.35789285e-03 2.27774637e+02] [-4.44243073e-01 8.95905472e-01 1.21559348e-03 1.52143938e+02] [ 2.65247011e-03 -4.15755143e-05 9.99996481e-01 -7.30469988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0257692310001 meters 0.021454949523022557 Centerline is valid? [True, True] Translation: X:227.80, Y:152.13, Z:-0.73 [[ 8.95750898e-01 4.44551140e-01 -2.14767101e-03 2.27799259e+02] [-4.44549764e-01 8.95753472e-01 1.10661873e-03 1.52129248e+02] [ 2.41573238e-03 -3.65080783e-05 9.99997081e-01 -7.30102359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05576923100006 meters 0.020973761702520344 Centerline is valid? [True, True] Translation: X:227.82, Y:152.11, Z:-0.73 [[ 8.95459945e-01 4.45139976e-01 -1.37433457e-03 2.27821971e+02] [-4.45139413e-01 8.95460999e-01 7.08141334e-04 1.52112258e+02] [ 1.54588502e-03 -2.23417149e-05 9.99998805e-01 -7.28530131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0857692310001 meters 0.02103523587381332 Centerline is valid? [True, True] Translation: X:227.85, Y:152.10, Z:-0.73 [[ 8.95544356e-01 4.44970932e-01 -1.08458411e-03 2.27845478e+02] [-4.44970582e-01 8.95545012e-01 5.58324431e-04 1.52096831e+02] [ 1.21973204e-03 -1.73962687e-05 9.99999256e-01 -7.27795835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11576923100006 meters 0.022727367643541045 Centerline is valid? [True, True] Translation: X:227.87, Y:152.08, Z:-0.73 [[ 8.96288174e-01 4.43471482e-01 -7.44056714e-04 2.27867167e+02] [-4.43471317e-01 8.96288483e-01 3.82812609e-04 1.52076731e+02] [ 8.36655938e-04 -1.31426037e-05 9.99999650e-01 -7.27870235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1457692310001 meters 0.023792934442079902 Centerline is valid? [True, True] Translation: X:227.89, Y:152.06, Z:-0.73 [[ 8.96638372e-01 4.42761925e-01 -1.22784770e-03 2.27890400e+02] [-4.42761474e-01 8.96639213e-01 6.32049124e-04 1.52060445e+02] [ 1.38078369e-03 -2.30758382e-05 9.99999046e-01 -7.28398420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17576923100006 meters 0.02360722864474448 Centerline is valid? [True, True] Translation: X:227.91, Y:152.05, Z:-0.73 [[ 8.96773279e-01 4.42488455e-01 -1.28546629e-03 2.27914390e+02] [-4.42487962e-01 8.96774200e-01 6.61171660e-04 1.52046171e+02] [ 1.44533383e-03 -2.41177198e-05 9.99998955e-01 -7.28570592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20576923100003 meters 0.023500766260982874 Centerline is valid? [True, True] Translation: X:227.94, Y:152.03, Z:-0.73 [[ 8.96648240e-01 4.42741997e-01 -1.20695819e-03 2.27938494e+02] [-4.42741562e-01 8.96649053e-01 6.20937798e-04 1.52031232e+02] [ 1.35713316e-03 -2.23922287e-05 9.99999079e-01 -7.27893402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23576923100006 meters 0.021679293515804717 Centerline is valid? [True, True] Translation: X:227.96, Y:152.02, Z:-0.72 [[ 8.96048411e-01 4.43956130e-01 4.46667808e-04 2.27962321e+02] [-4.43956070e-01 8.96048523e-01 -2.30069451e-04 1.52015401e+02] [-5.02376772e-04 7.85248130e-06 9.99999874e-01 -7.24849290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26576923100004 meters 0.020521905589021557 Centerline is valid? [True, True] Translation: X:227.99, Y:152.00, Z:-0.72 [[ 8.95484966e-01 4.45089718e-01 1.34834352e-03 2.27985213e+02] [-4.45089178e-01 8.95485981e-01 -6.93568057e-04 1.51999375e+02] [-1.51612273e-03 2.09466602e-05 9.99998850e-01 -7.23496861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29576923100007 meters 0.02063423149832785 Centerline is valid? [True, True] Translation: X:228.01, Y:151.98, Z:-0.72 [[ 8.95439618e-01 4.45181949e-01 9.60127723e-04 2.28008128e+02] [-4.45181676e-01 8.95440133e-01 -4.93820812e-04 1.51984587e+02] [-1.07957701e-03 1.47554515e-05 9.99999417e-01 -7.24595508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32576923100004 meters 0.020461842553187292 Centerline is valid? [True, True] Translation: X:228.03, Y:151.97, Z:-0.73 [[ 8.95453644e-01 4.45154327e-01 6.30306114e-04 2.28032118e+02] [-4.45154209e-01 8.95453866e-01 -3.24300921e-04 1.51968968e+02] [-7.08774005e-04 9.81302135e-06 9.99999749e-01 -7.25614198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35576923100007 meters 0.019595458050020314 Centerline is valid? [True, True] Translation: X:228.05, Y:151.95, Z:-0.73 [[ 8.94997665e-01 4.46070616e-01 4.30285499e-04 2.28053565e+02] [-4.46070561e-01 8.94997768e-01 -2.21224744e-04 1.51950303e+02] [-4.83786419e-04 6.05793580e-06 9.99999883e-01 -7.26869607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38576923100004 meters 0.018342414982855975 Centerline is valid? [True, True] Translation: X:228.08, Y:151.94, Z:-0.73 [[ 8.94575517e-01 4.46916714e-01 3.08999165e-04 2.28077956e+02] [-4.46916686e-01 8.94575570e-01 -1.59041019e-04 1.51935265e+02] [-3.47501194e-04 4.17731934e-06 9.99999940e-01 -7.27308326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41576923100007 meters 0.014356664051174929 Centerline is valid? [True, True] Translation: X:228.10, Y:151.92, Z:-0.73 [[ 8.92735903e-01 4.50579169e-01 -1.01032091e-03 2.28103512e+02] [-4.50578870e-01 8.92736474e-01 5.18479175e-04 1.51922583e+02] [ 1.13556624e-03 -7.63572215e-06 9.99999355e-01 -7.28912133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44576923100004 meters 0.012416613305147064 Centerline is valid? [True, True] Translation: X:228.13, Y:151.91, Z:-0.73 [[ 8.91410325e-01 4.53194785e-01 -1.45589848e-03 2.28129180e+02] [-4.53194169e-01 8.91411514e-01 7.47382729e-04 1.51912072e+02] [ 1.63651462e-03 -6.41998247e-06 9.99998661e-01 -7.29950346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4757692310001 meters 0.01116582589800011 Centerline is valid? [True, True] Translation: X:228.16, Y:151.90, Z:-0.73 [[ 8.90061244e-01 4.55838110e-01 -1.61228974e-03 2.28155674e+02] [-4.55837360e-01 8.90062704e-01 8.26997471e-04 1.51902933e+02] [ 1.81201593e-03 -1.13649926e-06 9.99998358e-01 -7.29311620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50576923100004 meters 0.013255339587990267 Centerline is valid? [True, True] Translation: X:228.18, Y:151.90, Z:-0.73 [[ 8.86756020e-01 4.62235077e-01 -1.57922869e-03 2.28183280e+02] [-4.62234367e-01 8.86757426e-01 8.10186283e-04 1.51896310e+02] [ 1.77488929e-03 1.15362103e-05 9.99998425e-01 -7.29750967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5357692310001 meters 0.01929732447859587 Centerline is valid? [True, True] Translation: X:228.21, Y:151.89, Z:-0.73 [[ 8.83943465e-01 4.67587845e-01 -2.35774888e-03 2.28212116e+02] [-4.67586281e-01 8.83946608e-01 1.20953353e-03 1.51891070e+02] [ 2.64968730e-03 3.32917723e-05 9.99996489e-01 -7.31125548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56576923100005 meters 0.022176457654908693 Centerline is valid? [True, True] Translation: X:228.24, Y:151.88, Z:-0.73 [[ 8.82808137e-01 4.69726429e-01 -2.62208804e-03 2.28238290e+02] [-4.69724506e-01 8.82812030e-01 1.34488768e-03 1.51882199e+02] [ 2.94654016e-03 4.43812242e-05 9.99995658e-01 -7.32111214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5957692310001 meters 0.02670607657205133 Centerline is valid? [True, True] Translation: X:228.27, Y:151.87, Z:-0.73 [[ 8.81664759e-01 4.71869333e-01 -2.56625537e-03 2.28265857e+02] [-4.71867500e-01 8.81668492e-01 1.31609305e-03 1.51874958e+02] [ 2.88361045e-03 5.05796404e-05 9.99995841e-01 -7.33105666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62576923100005 meters 0.030857864145560195 Centerline is valid? [True, True] Translation: X:228.29, Y:151.87, Z:-0.73 [[ 8.79290379e-01 4.76282693e-01 -1.79621610e-03 2.28294460e+02] [-4.76281804e-01 8.79292212e-01 9.21052749e-04 1.51867268e+02] [ 2.01808031e-03 4.56322249e-05 9.99997963e-01 -7.30376602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6557692310001 meters 0.03802224988875216 Centerline is valid? [True, True] Translation: X:228.32, Y:151.86, Z:-0.73 [[ 8.78105710e-01 4.78463420e-01 -1.76584030e-03 2.28324596e+02] [-4.78462566e-01 8.78107484e-01 9.05386316e-04 1.51864434e+02] [ 1.98379182e-03 4.98635879e-05 9.99998031e-01 -7.30864362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68576923100005 meters 0.04321291065915072 Centerline is valid? [True, True] Translation: X:228.36, Y:151.86, Z:-0.73 [[ 8.76448179e-01 4.81492792e-01 -1.81125679e-03 2.28356221e+02] [-4.81491900e-01 8.76450049e-01 9.28630947e-04 1.51861603e+02] [ 2.03460521e-03 5.82085712e-05 9.99997929e-01 -7.30477631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7157692310001 meters 0.03960670603661833 Centerline is valid? [True, True] Translation: X:228.38, Y:151.85, Z:-0.73 [[ 8.76279582e-01 4.81800720e-01 -1.47014300e-03 2.28380183e+02] [-4.81800133e-01 8.76280814e-01 7.53202528e-04 1.51846159e+02] [ 1.65115162e-03 4.82990949e-05 9.99998636e-01 -7.29643077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74576923100005 meters 0.039979740243665865 Centerline is valid? [True, True] Translation: X:228.41, Y:151.83, Z:-0.73 [[ 8.76402367e-01 4.81578526e-01 -1.00739187e-03 2.28405751e+02] [-4.81578250e-01 8.76402945e-01 5.15795358e-04 1.51834758e+02] [ 1.13127717e-03 3.30937410e-05 9.99999360e-01 -7.29344366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7757692310001 meters 0.04244819800100177 Centerline is valid? [True, True] Translation: X:228.43, Y:151.83, Z:-0.73 [[ 8.77207462e-01 4.80111485e-01 -1.75841145e-04 2.28433162e+02] [-4.80111477e-01 8.77207479e-01 8.99679309e-05 1.51826961e+02] [ 1.97443804e-04 5.50281153e-06 9.99999981e-01 -7.28251334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80576923100006 meters 0.04055954666203797 Centerline is valid? [True, True] Translation: X:228.46, Y:151.81, Z:-0.73 [[ 8.77977315e-01 4.78702175e-01 -2.47544182e-04 2.28458572e+02] [-4.78702159e-01 8.77977350e-01 1.26489562e-04 1.51812089e+02] [ 2.77889014e-04 7.44496852e-06 9.99999961e-01 -7.28660998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8357692310001 meters 0.031015171442835183 Centerline is valid? [True, True] Translation: X:228.48, Y:151.79, Z:-0.73 [[ 8.80268619e-01 4.74474507e-01 -1.04955649e-03 2.28479859e+02] [-4.74474204e-01 8.80269244e-01 5.37039691e-04 1.51788130e+02] [ 1.17870394e-03 2.52482945e-05 9.99999305e-01 -7.30105257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86576923100006 meters 0.025516582609254115 Centerline is valid? [True, True] Translation: X:228.50, Y:151.77, Z:-0.73 [[ 8.81524365e-01 4.72137655e-01 -9.10345521e-04 2.28501946e+02] [-4.72137426e-01 8.81524835e-01 4.65896605e-04 1.51768403e+02] [ 1.02245952e-03 1.91089815e-05 9.99999477e-01 -7.29164522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8957692310001 meters 0.025092794480552398 Centerline is valid? [True, True] Translation: X:228.53, Y:151.76, Z:-0.73 [[ 8.82628948e-01 4.70069946e-01 -6.21976894e-04 2.28526409e+02] [-4.70069838e-01 8.82629167e-01 3.18145125e-04 1.51755624e+02] [ 6.98525409e-04 1.15684809e-05 9.99999756e-01 -7.28800762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92576923100006 meters 0.020613929372038688 Centerline is valid? [True, True] Translation: X:228.55, Y:151.74, Z:-0.73 [[ 8.83857466e-01 4.67756326e-01 -2.47002233e-06 2.28549416e+02] [-4.67756326e-01 8.83857466e-01 9.40967711e-07 1.51737339e+02] [ 2.62329121e-06 3.23687237e-07 1.00000000e+00 -7.26902820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95576923100003 meters 0.01761338759062782 Centerline is valid? [True, True] Translation: X:228.57, Y:151.72, Z:-0.73 [[ 8.85726289e-01 4.64206760e-01 1.01259093e-03 2.28572743e+02] [-4.64206471e-01 8.85726868e-01 -5.18065627e-04 1.51721370e+02] [-1.13736856e-03 -1.11869147e-05 9.99999353e-01 -7.25027365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98576923100006 meters 0.014744225184819245 Centerline is valid? [True, True] Translation: X:228.60, Y:151.70, Z:-0.72 [[ 8.86593079e-01 4.62548310e-01 1.33172655e-03 2.28596254e+02] [-4.62547808e-01 8.86594079e-01 -6.81252616e-04 1.51704476e+02] [-1.49581312e-03 -1.19933438e-05 9.99998881e-01 -7.24154501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01576923100004 meters 0.012836012283098084 Centerline is valid? [True, True] Translation: X:228.62, Y:151.69, Z:-0.73 [[ 8.87744679e-01 4.60335691e-01 6.60300764e-04 2.28619948e+02] [-4.60335567e-01 8.87744925e-01 -3.37819852e-04 1.51687208e+02] [-7.41689187e-04 -4.06215037e-06 9.99999725e-01 -7.25229425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04576923100007 meters 0.013307996017357816 Centerline is valid? [True, True] Translation: X:228.64, Y:151.67, Z:-0.73 [[ 8.88095486e-01 4.59659009e-01 -5.68832141e-05 2.28644123e+02] [-4.59659008e-01 8.88095488e-01 2.88983338e-05 1.51674903e+02] [ 6.38011052e-05 4.82401959e-07 9.99999998e-01 -7.27586312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07576923100004 meters 0.012173318302330009 Centerline is valid? [True, True] Translation: X:228.67, Y:151.66, Z:-0.73 [[ 8.88550272e-01 4.58778955e-01 -5.32503340e-04 2.28667101e+02] [-4.58778875e-01 8.88550432e-01 2.71599042e-04 1.51658050e+02] [ 5.97759998e-04 2.97188090e-06 9.99999821e-01 -7.28033454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10576923100007 meters 0.0111643509053175 Centerline is valid? [True, True] Translation: X:228.69, Y:151.64, Z:-0.73 [[ 8.90005311e-01 4.55948171e-01 -1.34597095e-03 2.28688500e+02] [-4.55947654e-01 8.90006329e-01 6.86727030e-04 1.51637745e+02] [ 1.51103460e-03 2.50159371e-06 9.99998858e-01 -7.29673055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13576923100004 meters 0.01123577412527407 Centerline is valid? [True, True] Translation: X:228.71, Y:151.62, Z:-0.73 [[ 8.90913876e-01 4.54168355e-01 -1.88964902e-03 2.28710649e+02] [-4.54167332e-01 8.90915880e-01 9.64308578e-04 1.51621384e+02] [ 2.12147676e-03 -8.99041699e-07 9.99997750e-01 -7.31389262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16576923100007 meters 0.01177081696059166 Centerline is valid? [True, True] Translation: X:228.73, Y:151.60, Z:-0.73 [[ 8.91871044e-01 4.52283855e-01 -2.31413265e-03 2.28733092e+02] [-4.52282314e-01 8.91874046e-01 1.18084227e-03 1.51603890e+02] [ 2.59799075e-03 -6.51776162e-06 9.99996625e-01 -7.33150381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19576923100004 meters 0.013097243410097608 Centerline is valid? [True, True] Translation: X:228.75, Y:151.58, Z:-0.73 [[ 8.93159119e-01 4.49735626e-01 -2.15746246e-03 2.28753816e+02] [-4.49734280e-01 8.93161725e-01 1.10060157e-03 1.51583668e+02] [ 2.42194263e-03 -1.27275070e-05 9.99997067e-01 -7.32154242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2257692310001 meters 0.012872228858840894 Centerline is valid? [True, True] Translation: X:228.78, Y:151.57, Z:-0.73 [[ 8.93135100e-01 4.49785926e-01 -1.52106850e-03 2.28778588e+02] [-4.49785258e-01 8.93136395e-01 7.75348677e-04 1.51569885e+02] [ 1.70726256e-03 -8.33693143e-06 9.99998543e-01 -7.30163300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25576923100004 meters 0.01127128183411359 Centerline is valid? [True, True] Translation: X:228.81, Y:151.56, Z:-0.73 [[ 8.91417741e-01 4.53181805e-01 -8.14684202e-04 2.28805211e+02] [-4.53181614e-01 8.91418113e-01 4.15216258e-04 1.51560945e+02] [ 9.14392707e-04 -9.31237061e-07 9.99999582e-01 -7.26970762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2857692310001 meters 0.01146708608088435 Centerline is valid? [True, True] Translation: X:228.83, Y:151.55, Z:-0.73 [[ 8.90099849e-01 4.55765127e-01 -6.38784668e-04 2.28831403e+02] [-4.55765011e-01 8.90100078e-01 3.25476159e-04 1.51552555e+02] [ 7.16922966e-04 1.42942134e-06 9.99999743e-01 -7.26621768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31576923100005 meters 0.014239977539458399 Centerline is valid? [True, True] Translation: X:228.86, Y:151.55, Z:-0.73 [[ 8.87404738e-01 4.60991032e-01 -3.14672005e-04 2.28861199e+02] [-4.60991005e-01 8.87404794e-01 1.60004989e-04 1.51547338e+02] [ 3.53002311e-04 3.07177810e-06 9.99999938e-01 -7.25504716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3457692310001 meters 0.01654183727800513 Centerline is valid? [True, True] Translation: X:228.89, Y:151.54, Z:-0.73 [[ 8.86554278e-01 4.62624542e-01 -2.12124990e-04 2.28888322e+02] [-4.62624529e-01 8.86554304e-01 1.07887548e-04 1.51539329e+02] [ 2.37971750e-04 2.48605655e-06 9.99999972e-01 -7.25541250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37576923100005 meters 0.017468065120581796 Centerline is valid? [True, True] Translation: X:228.91, Y:151.53, Z:-0.73 [[ 8.86056133e-01 4.63577944e-01 1.39984289e-04 2.28914852e+02] [-4.63577938e-01 8.86056144e-01 -7.16156056e-05 1.51528876e+02] [-1.57233354e-04 -1.43818137e-06 9.99999988e-01 -7.25256874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4057692310001 meters 0.017043984101040664 Centerline is valid? [True, True] Translation: X:228.94, Y:151.52, Z:-0.72 [[ 8.85940710e-01 4.63798332e-01 4.07503739e-04 2.28939574e+02] [-4.63798285e-01 8.85940803e-01 -2.07819199e-04 1.51516515e+02] [-4.57410388e-04 -4.88404673e-06 9.99999895e-01 -7.24374371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43576923100005 meters 0.015780612936003486 Centerline is valid? [True, True] Translation: X:228.96, Y:151.50, Z:-0.72 [[ 8.86848776e-01 4.62059454e-01 5.56191036e-04 2.28963129e+02] [-4.62059367e-01 8.86848950e-01 -2.83231650e-04 1.51501736e+02] [-6.24127298e-04 -5.80963562e-06 9.99999805e-01 -7.24711612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4657692310001 meters 0.014279685516569806 Centerline is valid? [True, True] Translation: X:228.99, Y:151.49, Z:-0.73 [[ 8.87852386e-01 4.60128384e-01 1.08344918e-04 2.28987655e+02] [-4.60128381e-01 8.87852392e-01 -5.54520387e-05 1.51485989e+02] [-1.21709352e-04 -6.19346993e-07 9.99999993e-01 -7.25570465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49576923100005 meters 0.011923164750139941 Centerline is valid? [True, True] Translation: X:229.01, Y:151.47, Z:-0.73 [[ 8.89733608e-01 4.56480102e-01 -1.52846168e-04 2.29010965e+02] [-4.56480096e-01 8.89733621e-01 7.73817485e-05 1.51467491e+02] [ 1.71315603e-04 9.22091047e-07 9.99999985e-01 -7.25727862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5257692310001 meters 0.011601451067328343 Centerline is valid? [True, True] Translation: X:229.03, Y:151.45, Z:-0.73 [[ 8.90404188e-01 4.55170672e-01 2.03199526e-04 2.29034735e+02] [-4.55170661e-01 8.90404211e-01 -1.03558982e-04 1.51453931e+02] [-2.28066725e-04 -2.81111530e-07 9.99999974e-01 -7.25013625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55576923100006 meters 0.011397084759841657 Centerline is valid? [True, True] Translation: X:229.06, Y:151.44, Z:-0.72 [[ 8.90705357e-01 4.54580833e-01 4.82886599e-04 2.29059335e+02] [-4.54580766e-01 8.90705488e-01 -2.45736574e-04 1.51440574e+02] [-5.41816881e-04 -6.32076904e-07 9.99999853e-01 -7.23810172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5857692310001 meters 0.01176726186319742 Centerline is valid? [True, True] Translation: X:229.09, Y:151.43, Z:-0.72 [[ 8.90155211e-01 4.55657435e-01 5.44219476e-05 2.29085506e+02] [-4.55657434e-01 8.90155212e-01 -2.80248549e-05 1.51431229e+02] [-6.12137139e-05 1.48705634e-07 9.99999998e-01 -7.24556885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61576923100006 meters 0.012474208622843867 Centerline is valid? [True, True] Translation: X:229.11, Y:151.42, Z:-0.73 [[ 8.89549601e-01 4.56838346e-01 -4.82477191e-04 2.29112626e+02] [-4.56838281e-01 8.89549732e-01 2.44590844e-04 1.51421226e+02] [ 5.40925933e-04 2.83836239e-06 9.99999854e-01 -7.25293285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6457692310001 meters 0.01390548825619257 Centerline is valid? [True, True] Translation: X:229.14, Y:151.41, Z:-0.73 [[ 8.88405082e-01 4.59059385e-01 -9.43661085e-04 2.29140462e+02] [-4.59059136e-01 8.88405584e-01 4.78506481e-04 1.51413349e+02] [ 1.05801667e-03 8.08865268e-06 9.99999440e-01 -7.26547058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67576923100006 meters 0.014717896998564387 Centerline is valid? [True, True] Translation: X:229.17, Y:151.40, Z:-0.73 [[ 8.88021123e-01 4.59800743e-01 -1.32719498e-03 2.29166478e+02] [-4.59800250e-01 8.88022115e-01 6.73139267e-04 1.51402821e+02] [ 1.48808843e-03 1.24826963e-05 9.99998893e-01 -7.27144324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70576923100003 meters 0.014757812489039863 Centerline is valid? [True, True] Translation: X:229.19, Y:151.39, Z:-0.73 [[ 8.87794379e-01 4.60238090e-01 -1.42862142e-03 2.29192309e+02] [-4.60237520e-01 8.87795529e-01 7.24116472e-04 1.51390632e+02] [ 1.60158969e-03 1.46386458e-05 9.99998717e-01 -7.27562639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73576923100006 meters 0.015140431318278854 Centerline is valid? [True, True] Translation: X:229.22, Y:151.38, Z:-0.73 [[ 8.87589203e-01 4.60632622e-01 -1.73021925e-03 2.29218432e+02] [-4.60631787e-01 8.87590890e-01 8.77156775e-04 1.51379914e+02] [ 1.93977387e-03 1.84391023e-05 9.99998118e-01 -7.27368686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76576923100004 meters 0.015987273976906354 Centerline is valid? [True, True] Translation: X:229.24, Y:151.37, Z:-0.73 [[ 8.87366616e-01 4.61061112e-01 -1.77200972e-03 2.29244184e+02] [-4.61060238e-01 8.87368385e-01 8.98211579e-04 1.51370003e+02] [ 1.98655584e-03 1.99602561e-05 9.99998027e-01 -7.27881183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79576923100007 meters 0.017599798952175297 Centerline is valid? [True, True] Translation: X:229.27, Y:151.36, Z:-0.73 [[ 8.86431363e-01 4.62854993e-01 -2.16646690e-03 2.29272790e+02] [-4.62853693e-01 8.86434010e-01 1.09750410e-03 1.51362883e+02] [ 2.42841520e-03 2.98951501e-05 9.99997051e-01 -7.28918287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82576923100004 meters 0.017599798952175297 Centerline is valid? [True, True] Translation: X:229.30, Y:151.35, Z:-0.73 [[ 8.86520497e-01 4.62684250e-01 -2.16669815e-03 2.29297395e+02] [-4.62682950e-01 8.86523144e-01 1.09704759e-03 1.51350635e+02] [ 2.42841470e-03 2.99391172e-05 9.99997051e-01 -7.28968732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85576923100007 meters 0.019010503766275604 Centerline is valid? [True, True] Translation: X:229.33, Y:151.34, Z:-0.73 [[ 8.85871189e-01 4.63924736e-01 -2.46519017e-03 2.29325172e+02] [-4.63923059e-01 8.85874618e-01 1.24776535e-03 1.51341571e+02] [ 2.76271861e-03 3.82991955e-05 9.99996183e-01 -7.29748856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88576923100004 meters 0.022297695454308184 Centerline is valid? [True, True] Translation: X:229.36, Y:151.34, Z:-0.73 [[ 8.84346192e-01 4.66827018e-01 -2.08494364e-03 2.29355266e+02] [-4.66825828e-01 8.84348649e-01 1.05481437e-03 1.51337649e+02] [ 2.33623294e-03 4.04844657e-05 9.99997270e-01 -7.28524158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91576923100007 meters 0.024347824735005363 Centerline is valid? [True, True] Translation: X:229.38, Y:151.33, Z:-0.73 [[ 8.83757169e-01 4.67928450e-01 4.02900713e-03 2.29379884e+02] [-4.67942801e-01 8.83687956e-01 1.11862034e-02 1.51326568e+02] [ 1.67395775e-03 -1.17712323e-02 9.99929315e-01 -7.30694486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94576923100004 meters 0.024802629426117242 Centerline is valid? [True, True] Translation: X:229.41, Y:151.32, Z:-0.73 [[ 8.83335100e-01 4.68694763e-01 -6.65727300e-03 2.29410654e+02] [-4.68740154e-01 8.83282749e-01 -9.70844683e-03 1.51323581e+02] [ 1.32995620e-03 1.16963430e-02 9.99930711e-01 -7.26369077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9757692310001 meters 0.023505886762500556 Centerline is valid? [True, True] Translation: X:229.43, Y:151.31, Z:-0.73 [[ 8.84123916e-01 4.67246647e-01 -2.33941843e-03 2.29434609e+02] [-4.67245152e-01 8.84127010e-01 1.18289030e-03 1.51308782e+02] [ 2.62104455e-03 4.72603117e-05 9.99996564e-01 -7.28833557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00576923100004 meters 0.021915502148667214 Centerline is valid? [True, True] Translation: X:229.46, Y:151.30, Z:-0.73 [[ 8.85110068e-01 4.65371948e-01 -3.01959220e-03 2.29459679e+02] [-4.65369449e-01 8.85115217e-01 1.52600603e-03 1.51295050e+02] [ 3.38284740e-03 5.45426535e-05 9.99994277e-01 -7.31016681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0357692310001 meters 0.017781730029275217 Centerline is valid? [True, True] Translation: X:229.48, Y:151.28, Z:-0.73 [[ 8.87275784e-01 4.61231751e-01 -2.63724223e-03 2.29482236e+02] [-4.61229827e-01 8.87279702e-01 1.33276195e-03 1.51278356e+02] [ 2.95468363e-03 3.38473721e-05 9.99995634e-01 -7.30902797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06576923100005 meters 0.015562929818094035 Centerline is valid? [True, True] Translation: X:229.51, Y:151.26, Z:-0.73 [[ 8.88441660e-01 4.58986557e-01 -1.66080391e-03 2.29505924e+02] [-4.58985790e-01 8.88443212e-01 8.39141563e-04 1.51263133e+02] [ 1.86068466e-03 1.67570735e-05 9.99998269e-01 -7.28665566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0957692310001 meters 0.014011859625407238 Centerline is valid? [True, True] Translation: X:229.53, Y:151.25, Z:-0.73 [[ 8.89411772e-01 4.57106395e-01 -6.65699620e-04 2.29529929e+02] [-4.57106272e-01 8.89412021e-01 3.35928101e-04 1.51247713e+02] [ 7.45636127e-04 5.51706418e-06 9.99999722e-01 -7.26174585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12576923100005 meters 0.012786120552421367 Centerline is valid? [True, True] Translation: X:229.55, Y:151.23, Z:-0.73 [[ 8.90328813e-01 4.55317905e-01 -4.57840275e-04 2.29553055e+02] [-4.55317846e-01 8.90328931e-01 2.31117082e-04 1.51232415e+02] [ 5.12860189e-04 2.69265055e-06 9.99999868e-01 -7.26035707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1557692310001 meters 0.011799972656463764 Centerline is valid? [True, True] Translation: X:229.58, Y:151.22, Z:-0.73 [[ 8.91524491e-01 4.52970371e-01 -1.38761566e-03 2.29576111e+02] [-4.52969830e-01 8.91525571e-01 7.00131268e-04 1.51215116e+02] [ 1.55423356e-03 4.36385551e-06 9.99998792e-01 -7.28153026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18576923100005 meters 0.011607983615550075 Centerline is valid? [True, True] Translation: X:229.60, Y:151.20, Z:-0.73 [[ 8.91777605e-01 4.52472704e-01 -1.07459679e-03 2.29600755e+02] [-4.52472380e-01 8.91778253e-01 5.41862491e-04 1.51201743e+02] [ 1.20348004e-03 3.00453392e-06 9.99999276e-01 -7.28328008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2157692310001 meters 0.011348633619905844 Centerline is valid? [True, True] Translation: X:229.62, Y:151.19, Z:-0.73 [[ 8.92067890e-01 4.51901263e-01 3.57898247e-04 2.29624672e+02] [-4.51901227e-01 8.92067962e-01 -1.80689306e-04 1.51187287e+02] [-4.00923286e-04 -5.47528686e-07 9.99999920e-01 -7.25176728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24576923100005 meters 0.011277052317099056 Centerline is valid? [True, True] Translation: X:229.65, Y:151.17, Z:-0.72 [[ 8.92330429e-01 4.51382636e-01 3.48955115e-04 2.29649053e+02] [-4.51382601e-01 8.92330497e-01 -1.76356800e-04 1.51172685e+02] [-3.90987689e-04 -1.43728245e-07 9.99999924e-01 -7.24530297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2757692310001 meters 0.011400279023179218 Centerline is valid? [True, True] Translation: X:229.67, Y:151.16, Z:-0.73 [[ 8.92514847e-01 4.51017965e-01 -2.09966007e-04 2.29672145e+02] [-4.51017953e-01 8.92514871e-01 1.05702498e-04 1.51158400e+02] [ 2.35071509e-04 3.57389777e-07 9.99999972e-01 -7.25593367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30576923100006 meters 0.011444900289137826 Centerline is valid? [True, True] Translation: X:229.70, Y:151.14, Z:-0.73 [[ 8.92849400e-01 4.50353034e-01 -1.44719042e-03 2.29695609e+02] [-4.50352444e-01 8.92850573e-01 7.28990000e-04 1.51143787e+02] [ 1.62042765e-03 8.67457224e-07 9.99998687e-01 -7.28165651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3357692310001 meters 0.011870477147080928 Centerline is valid? [True, True] Translation: X:229.72, Y:151.13, Z:-0.73 [[ 8.93401689e-01 4.49239406e-01 -4.16876545e-03 2.29718902e+02] [-4.49234499e-01 8.93411415e-01 2.09977483e-03 1.51126284e+02] [ 4.66772424e-03 -3.18912360e-06 9.99989106e-01 -7.32679810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36576923100006 meters 0.011894003062859919 Centerline is valid? [True, True] Translation: X:229.74, Y:151.11, Z:-0.73 [[ 8.93478461e-01 4.49090598e-01 -3.72490432e-03 2.29742272e+02] [-4.49086680e-01 8.93486225e-01 1.87595896e-03 1.51112766e+02] [ 4.17062623e-03 -3.32400901e-06 9.99991303e-01 -7.33336683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3957692310001 meters 0.01149537968474239 Centerline is valid? [True, True] Translation: X:229.77, Y:151.10, Z:-0.73 [[ 8.93503754e-01 4.49050166e-01 -2.23383383e-03 2.29768080e+02] [-4.49048758e-01 8.93506546e-01 1.12431946e-03 1.51099146e+02] [ 2.50082099e-03 -1.48335144e-06 9.99996873e-01 -7.29159647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42576923100006 meters 0.011318831056959905 Centerline is valid? [True, True] Translation: X:229.79, Y:151.09, Z:-0.72 [[ 8.92890465e-01 4.50273872e-01 -2.39690169e-04 2.29793133e+02] [-4.50273856e-01 8.92890497e-01 1.20536982e-04 1.51087132e+02] [ 2.68291727e-04 2.99894399e-07 9.99999964e-01 -7.24647369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45576923100003 meters 0.011646348092354989 Centerline is valid? [True, True] Translation: X:229.82, Y:151.08, Z:-0.73 [[ 8.92316828e-01 4.51409076e-01 -7.24964209e-04 2.29819185e+02] [-4.51408928e-01 8.92317122e-01 3.64779838e-04 1.51075898e+02] [ 8.11562906e-04 1.75612868e-06 9.99999671e-01 -7.25567282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48576923100006 meters 0.01372375761311613 Centerline is valid? [True, True] Translation: X:229.85, Y:151.07, Z:-0.73 [[ 8.90924394e-01 4.54138155e-01 -3.50132410e-03 2.29846204e+02] [-4.54134738e-01 8.90931274e-01 1.76195742e-03 1.51067996e+02] [ 3.91961123e-03 2.03020586e-05 9.99992318e-01 -7.32529952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51576923100004 meters 0.015090621901251954 Centerline is valid? [True, True] Translation: X:229.87, Y:151.06, Z:-0.73 [[ 8.90289615e-01 4.55373530e-01 -4.39890676e-03 2.29872778e+02] [-4.55368152e-01 8.90300482e-01 2.21337697e-03 1.51058179e+02] [ 4.92426209e-03 3.25755127e-05 9.99987875e-01 -7.34942095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54576923100007 meters 0.01769307002638105 Centerline is valid? [True, True] Translation: X:229.90, Y:151.05, Z:-0.73 [[ 8.88857553e-01 4.58174566e-01 -2.88384555e-03 2.29901914e+02] [-4.58172270e-01 8.88862231e-01 1.45081787e-03 1.51053050e+02] [ 3.22806924e-03 3.17276415e-05 9.99994789e-01 -7.30448063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57576923100004 meters 0.017239752416417252 Centerline is valid? [True, True] Translation: X:229.93, Y:151.04, Z:-0.73 [[ 8.88051509e-01 4.59742016e-01 -1.34041828e-03 2.29928267e+02] [-4.59741522e-01 8.88052520e-01 6.73764145e-04 1.51041486e+02] [ 1.50011951e-03 1.79086734e-05 9.99998875e-01 -7.25656200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60576923100007 meters 0.021358435863468247 Centerline is valid? [True, True] Translation: X:229.96, Y:151.04, Z:-0.72 [[ 8.87476103e-01 4.60853733e-01 -5.63856110e-05 2.29957007e+02] [-4.60853733e-01 8.87476105e-01 2.81648891e-05 1.51036906e+02] [ 6.30207767e-05 9.89853330e-07 9.99999998e-01 -7.24323850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63576923100004 meters 0.02273276493307046 Centerline is valid? [True, True] Translation: X:229.98, Y:151.03, Z:-0.73 [[ 8.87092788e-01 4.61588995e-01 -1.40878711e-03 2.29984659e+02] [-4.61588452e-01 8.87093907e-01 7.08137928e-04 1.51030368e+02] [ 1.57659513e-03 2.20958118e-05 9.99998757e-01 -7.28577952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66576923100007 meters 0.019405080635881974 Centerline is valid? [True, True] Translation: X:230.01, Y:151.02, Z:-0.73 [[ 8.87393666e-01 4.61005449e-01 -2.54134295e-03 2.30008854e+02] [-4.61003683e-01 8.87397304e-01 1.27663106e-03 1.51015496e+02] [ 2.84371476e-03 3.86941400e-05 9.99995956e-01 -7.30455571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69576923100004 meters 0.021406728725235982 Centerline is valid? [True, True] Translation: X:230.04, Y:151.01, Z:-0.73 [[ 8.87940422e-01 4.59947084e-01 -3.23843059e-03 2.30037199e+02] [-4.59944208e-01 8.87946326e-01 1.62695123e-03 1.51009972e+02] [ 3.62386402e-03 4.48616374e-05 9.99993433e-01 -7.33772087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7257692310001 meters 0.01732708815180776 Centerline is valid? [True, True] Translation: X:230.06, Y:150.99, Z:-0.73 [[ 8.88730888e-01 4.58420043e-01 -2.91087745e-03 2.30060990e+02] [-4.58417715e-01 8.88735654e-01 1.46156827e-03 1.50992667e+02] [ 3.25701276e-03 3.54569242e-05 9.99994695e-01 -7.31395028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75576923100004 meters 0.016826396157773982 Centerline is valid? [True, True] Translation: X:230.09, Y:150.98, Z:-0.73 [[ 8.89874377e-01 4.56199477e-01 -2.37284278e-03 2.30085498e+02] [-4.56197922e-01 8.89877540e-01 1.19140244e-03 1.50980282e+02] [ 2.65505667e-03 2.22874419e-05 9.99996475e-01 -7.32055389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7857692310001 meters 0.011877829345620589 Centerline is valid? [True, True] Translation: X:230.11, Y:150.96, Z:-0.73 [[ 8.92649860e-01 4.50746583e-01 -1.93548615e-03 2.30105981e+02] [-4.50745537e-01 8.92651958e-01 9.71157576e-04 1.50956253e+02] [ 2.16546146e-03 5.50807105e-06 9.99997655e-01 -7.29208296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81576923100005 meters 0.01153931467954315 Centerline is valid? [True, True] Translation: X:230.13, Y:150.94, Z:-0.73 [[ 8.93696764e-01 4.48668092e-01 -1.74254771e-03 2.30128966e+02] [-4.48667240e-01 8.93698463e-01 8.74408408e-04 1.50940963e+02] [ 1.94963137e-03 3.68108262e-07 9.99998099e-01 -7.28945771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8457692310001 meters 0.011712415014121092 Centerline is valid? [True, True] Translation: X:230.15, Y:150.93, Z:-0.73 [[ 8.94557466e-01 4.46950519e-01 -1.47410983e-03 2.30153480e+02] [-4.46949908e-01 8.94558681e-01 7.39081626e-04 1.50926817e+02] [ 1.64901066e-03 -2.29773536e-06 9.99998640e-01 -7.27747670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87576923100005 meters 0.011738785284473049 Centerline is valid? [True, True] Translation: X:230.18, Y:150.91, Z:-0.73 [[ 8.94605392e-01 4.46853864e-01 -1.67855173e-03 2.30178925e+02] [-4.46853072e-01 8.94606966e-01 8.41244847e-04 1.50914779e+02] [ 1.87755759e-03 -2.51617664e-06 9.99998237e-01 -7.28428302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9057692310001 meters 0.011671695677319596 Centerline is valid? [True, True] Translation: X:230.20, Y:150.90, Z:-0.73 [[ 8.94452322e-01 4.47158941e-01 -1.98129995e-03 2.30204828e+02] [-4.47157839e-01 8.94454516e-01 9.92635716e-04 1.50903492e+02] [ 2.21604863e-03 -1.91151607e-06 9.99997545e-01 -7.28981398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93576923100005 meters 0.011643024637859435 Centerline is valid? [True, True] Translation: X:230.23, Y:150.89, Z:-0.73 [[ 8.94427761e-01 4.47207705e-01 -2.06130539e-03 2.30230146e+02] [-4.47206513e-01 8.94430136e-01 1.03222191e-03 1.50892325e+02] [ 2.30531126e-03 -1.41873515e-06 9.99997343e-01 -7.28426566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9657692310001 meters 0.011484724732671318 Centerline is valid? [True, True] Translation: X:230.25, Y:150.88, Z:-0.73 [[ 8.94637868e-01 4.46789707e-01 -1.42909325e-03 2.30254184e+02] [-4.46789134e-01 8.94639010e-01 7.15591168e-04 1.50881123e+02] [ 1.59824134e-03 -1.69161972e-06 9.99998723e-01 -7.27377069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99576923100005 meters 0.011709125841751752 Centerline is valid? [True, True] Translation: X:230.28, Y:150.87, Z:-0.73 [[ 8.94870770e-01 4.46323889e-01 -1.13577353e-03 2.30278024e+02] [-4.46323527e-01 8.94871491e-01 5.68568825e-04 1.50868356e+02] [ 1.27013721e-03 -1.87317223e-06 9.99999193e-01 -7.27336440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0257692310001 meters 0.012123716213831258 Centerline is valid? [True, True] Translation: X:230.30, Y:150.85, Z:-0.73 [[ 8.95516119e-01 4.45027557e-01 -1.16403213e-03 2.30302121e+02] [-4.45027176e-01 8.95516875e-01 5.82242717e-04 1.50853435e+02] [ 1.30152447e-03 -3.38180497e-06 9.99999153e-01 -7.27699495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05576923100006 meters 0.012466961033357196 Centerline is valid? [True, True] Translation: X:230.33, Y:150.84, Z:-0.73 [[ 8.96002227e-01 4.44047304e-01 -1.41477566e-03 2.30326444e+02] [-4.44046741e-01 8.96003344e-01 7.07426224e-04 1.50840078e+02] [ 1.58177443e-03 -5.62895209e-06 9.99998749e-01 -7.28174610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0857692310001 meters 0.013477173792563135 Centerline is valid? [True, True] Translation: X:230.35, Y:150.83, Z:-0.73 [[ 8.96683291e-01 4.42662005e-01 -3.06990854e-03 2.30352172e+02] [-4.42659344e-01 8.96688546e-01 1.53492646e-03 1.50826403e+02] [ 3.43220545e-03 -1.74192139e-05 9.99994110e-01 -7.31226532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11576923100006 meters 0.013711871291814674 Centerline is valid? [True, True] Translation: X:230.38, Y:150.81, Z:-0.73 [[ 8.96741319e-01 4.42540551e-01 -3.58703861e-03 2.30377058e+02] [-4.42536917e-01 8.96748493e-01 1.79350214e-03 1.50814220e+02] [ 4.01036890e-03 -2.09104618e-05 9.99991958e-01 -7.32439814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1457692310001 meters 0.013587617468625232 Centerline is valid? [True, True] Translation: X:230.40, Y:150.80, Z:-0.73 [[ 8.96811626e-01 4.42400178e-01 -3.31511594e-03 2.30402461e+02] [-4.42397077e-01 8.96817753e-01 1.65652636e-03 1.50802522e+02] [ 3.70590238e-03 -1.89944925e-05 9.99993133e-01 -7.31804438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17576923100006 meters 0.013328108137435233 Centerline is valid? [True, True] Translation: X:230.43, Y:150.79, Z:-0.73 [[ 8.96726544e-01 4.42576465e-01 -2.75288981e-03 2.30428219e+02] [-4.42574330e-01 8.96730769e-01 1.37491186e-03 1.50790721e+02] [ 3.07710462e-03 -1.45615957e-05 9.99995266e-01 -7.30626427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20576923100003 meters 0.012641420242075265 Centerline is valid? [True, True] Translation: X:230.45, Y:150.78, Z:-0.73 [[ 8.96626315e-01 4.42785658e-01 -1.45340401e-03 2.30454850e+02] [-4.42785064e-01 8.96627493e-01 7.25444469e-04 1.50779834e+02] [ 1.62437840e-03 -6.90701200e-06 9.99998681e-01 -7.26686771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23576923100006 meters 0.012450467545899221 Centerline is valid? [True, True] Translation: X:230.48, Y:150.77, Z:-0.73 [[ 8.96718007e-01 4.42601608e-01 -7.95514000e-04 2.30480748e+02] [-4.42601431e-01 8.96718360e-01 3.96649135e-04 1.50768656e+02] [ 8.88909555e-04 -3.58678744e-06 9.99999605e-01 -7.26063785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26576923100004 meters 0.012575004035353955 Centerline is valid? [True, True] Translation: X:230.50, Y:150.76, Z:-0.73 [[ 8.96797348e-01 4.42440718e-01 -8.52977754e-04 2.30504826e+02] [-4.42440513e-01 8.96797754e-01 4.25471758e-04 1.50757194e+02] [ 9.53194564e-04 -4.17002865e-06 9.99999546e-01 -7.26616728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29576923100007 meters 0.013319259586348097 Centerline is valid? [True, True] Translation: X:230.53, Y:150.75, Z:-0.73 [[ 8.97019216e-01 4.41989087e-01 -1.47423372e-03 2.30530819e+02] [-4.41988475e-01 8.97020427e-01 7.35435050e-04 1.50746699e+02] [ 1.64747203e-03 -8.10505732e-06 9.99998643e-01 -7.28641874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32576923100004 meters 0.01313782535957426 Centerline is valid? [True, True] Translation: X:230.56, Y:150.74, Z:-0.73 [[ 8.96917538e-01 4.42193888e-01 -1.86982542e-03 2.30556318e+02] [-4.42192904e-01 8.96919487e-01 9.32599403e-04 1.50737587e+02] [ 2.08947261e-03 -9.64122752e-06 9.99997817e-01 -7.29674293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35576923100007 meters 0.012732154158302771 Centerline is valid? [True, True] Translation: X:230.58, Y:150.73, Z:-0.73 [[ 8.96741092e-01 4.42551528e-01 -1.88648122e-03 2.30582630e+02] [-4.42550529e-01 8.96743077e-01 9.40264566e-04 1.50728614e+02] [ 2.10780449e-03 -8.31061310e-06 9.99997779e-01 -7.29518683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38576923100004 meters 0.01284855565860899 Centerline is valid? [True, True] Translation: X:230.61, Y:150.72, Z:-0.73 [[ 8.96699604e-01 4.42634448e-01 -2.13696983e-03 2.30608767e+02] [-4.42633166e-01 8.96702150e-01 1.06516781e-03 1.50719522e+02] [ 2.38770541e-03 -9.24183618e-06 9.99997149e-01 -7.30743906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41576923100007 meters 0.013639131402152728 Centerline is valid? [True, True] Translation: X:230.63, Y:150.71, Z:-0.73 [[ 8.97015066e-01 4.41994956e-01 -2.10478332e-03 2.30633727e+02] [-4.41993711e-01 8.97017535e-01 1.04903350e-03 1.50706567e+02] [ 2.35169507e-03 -1.06978592e-05 9.99997235e-01 -7.31733287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44576923100004 meters 0.014097847970507425 Centerline is valid? [True, True] Translation: X:230.66, Y:150.69, Z:-0.73 [[ 8.97607388e-01 4.40791911e-01 -1.86256721e-03 2.30659951e+02] [-4.40790934e-01 8.97609320e-01 9.27751261e-04 1.50693585e+02] [ 2.08080294e-03 -1.17536428e-05 9.99997835e-01 -7.30587696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4757692310001 meters 0.017044783106154864 Centerline is valid? [True, True] Translation: X:230.68, Y:150.68, Z:-0.73 [[ 8.99124955e-01 4.37687676e-01 -1.95276225e-03 2.30684554e+02] [-4.37686596e-01 8.99127076e-01 9.72331955e-04 1.50678171e+02] [ 2.18135912e-03 -1.95500634e-05 9.99997621e-01 -7.30729249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50576923100004 meters 0.019317305359473423 Centerline is valid? [True, True] Translation: X:230.71, Y:150.66, Z:-0.73 [[ 9.00058509e-01 4.35763150e-01 -2.27079402e-03 2.30707999e+02] [-4.35761684e-01 9.00061374e-01 1.13078866e-03 1.50663144e+02] [ 2.53661002e-03 -2.82509269e-05 9.99996782e-01 -7.31437686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5357692310001 meters 0.02130446964218633 Centerline is valid? [True, True] Translation: X:230.73, Y:150.65, Z:-0.73 [[ 9.02112808e-01 4.31498303e-01 -1.30222742e-03 2.30732386e+02] [-4.31497817e-01 9.02113748e-01 6.48356838e-04 1.50646932e+02] [ 1.45452213e-03 -2.29827189e-05 9.99998942e-01 -7.28314870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56576923100005 meters 0.02844471219376335 Centerline is valid? [True, True] Translation: X:230.75, Y:150.62, Z:-0.73 [[ 9.03392715e-01 4.28813823e-01 -5.53894886e-04 2.30751784e+02] [-4.28813735e-01 9.03392885e-01 2.75623315e-04 1.50624492e+02] [ 6.18575787e-04 -1.14783601e-05 9.99999809e-01 -7.28114927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5957692310001 meters 0.03235444410311479 Centerline is valid? [True, True] Translation: X:230.78, Y:150.61, Z:-0.73 [[ 9.04657406e-01 4.26139522e-01 -2.94636310e-04 2.30775141e+02] [-4.26139496e-01 9.04657453e-01 1.46640564e-04 1.50605133e+02] [ 3.29034274e-04 -7.10330353e-06 9.99999946e-01 -7.26992311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62576923100005 meters 0.03212901932085128 Centerline is valid? [True, True] Translation: X:230.80, Y:150.59, Z:-0.73 [[ 9.06873088e-01 4.21401119e-01 -1.51606755e-03 2.30800428e+02] [-4.21400446e-01 9.06874355e-01 7.54704661e-04 1.50588540e+02] [ 1.69291617e-03 -4.55498075e-05 9.99998566e-01 -7.28305162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6557692310001 meters 0.03706962315220694 Centerline is valid? [True, True] Translation: X:230.82, Y:150.57, Z:-0.73 [[ 9.07761766e-01 4.19477401e-01 -2.69912736e-03 2.30822390e+02] [-4.19475259e-01 9.07765775e-01 1.34350822e-03 1.50567910e+02] [ 3.01374677e-03 -8.73682442e-05 9.99995455e-01 -7.31175123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68576923100005 meters 0.03896641255566736 Centerline is valid? [True, True] Translation: X:230.85, Y:150.55, Z:-0.73 [[ 9.09420340e-01 4.15855608e-01 -4.33107488e-03 2.30845557e+02] [-4.15850051e-01 9.09430639e-01 2.15581946e-03 1.50548113e+02] [ 4.83532181e-03 -1.59468362e-04 9.99988297e-01 -7.33815029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7157692310001 meters 0.039567226836545524 Centerline is valid? [True, True] Translation: X:230.87, Y:150.53, Z:-0.73 [[ 9.10046163e-01 4.14486187e-01 -4.14515395e-03 2.30869835e+02] [-4.14481088e-01 9.10055589e-01 2.06211759e-03 1.50532370e+02] [ 4.62703978e-03 -1.58534279e-04 9.99989283e-01 -7.33185040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74576923100005 meters 0.039567226836545524 Centerline is valid? [True, True] Translation: X:230.89, Y:150.52, Z:-0.73 [[ 9.10123975e-01 4.14315296e-01 -4.14556089e-03 2.30894545e+02] [-4.14310198e-01 9.10133403e-01 2.06129946e-03 1.50520286e+02] [ 4.62704134e-03 -1.58489908e-04 9.99989283e-01 -7.33236342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7757692310001 meters 0.039882684279403856 Centerline is valid? [True, True] Translation: X:230.92, Y:150.51, Z:-0.73 [[ 9.10506514e-01 4.13479510e-01 -3.54721139e-03 2.30918817e+02] [-4.13475772e-01 9.10513413e-01 1.76373391e-03 1.50505298e+02] [ 3.95905138e-03 -1.39205241e-04 9.99992153e-01 -7.31633677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80576923100006 meters 0.0422368007287997 Centerline is valid? [True, True] Translation: X:230.94, Y:150.49, Z:-0.73 [[ 9.10924402e-01 4.12567851e-01 -2.12189465e-03 2.30939516e+02] [-4.12566512e-01 9.10926869e-01 1.05478456e-03 1.50485605e+02] [ 2.36806105e-03 -8.54063233e-05 9.99997193e-01 -7.28344686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8357692310001 meters 0.04206995509184822 Centerline is valid? [True, True] Translation: X:230.96, Y:150.47, Z:-0.73 [[ 9.11216155e-01 4.11926589e-01 -1.26653111e-03 2.30963713e+02] [-4.11926112e-01 9.11217034e-01 6.29460554e-04 1.50470639e+02] [ 1.41337626e-03 -5.18573911e-05 9.99999000e-01 -7.26713275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86576923100006 meters 0.041959622631455744 Centerline is valid? [True, True] Translation: X:230.99, Y:150.45, Z:-0.73 [[ 9.11353986e-01 4.11623024e-01 -6.31343743e-04 2.30985730e+02] [-4.11622905e-01 9.11354204e-01 3.13299981e-04 1.50453013e+02] [ 7.04339260e-04 -2.56516405e-05 9.99999752e-01 -7.25305088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8957692310001 meters 0.04029934684788992 Centerline is valid? [True, True] Translation: X:231.01, Y:150.44, Z:-0.73 [[ 9.11171194e-01 4.12026714e-01 -1.02074741e-03 2.31011401e+02] [-4.12026404e-01 9.11171765e-01 5.06611736e-04 1.50439856e+02] [ 1.13881379e-03 -4.10351339e-05 9.99999351e-01 -7.26555686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92576923100006 meters 0.040482757796447395 Centerline is valid? [True, True] Translation: X:231.04, Y:150.43, Z:-0.73 [[ 9.10617269e-01 4.13247538e-01 -1.63141018e-03 2.31035179e+02] [-4.13246749e-01 9.10618728e-01 8.10001400e-04 1.50425536e+02] [ 1.82032375e-03 -6.34263077e-05 9.99998341e-01 -7.27893275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95576923100003 meters 0.03836927169623712 Centerline is valid? [True, True] Translation: X:231.06, Y:150.41, Z:-0.73 [[ 9.08505565e-01 4.17865455e-01 -2.46978058e-03 2.31061157e+02] [-4.17863664e-01 9.08508918e-01 1.22632457e-03 1.50412910e+02] [ 2.75625636e-03 -8.20911283e-05 9.99996198e-01 -7.29582092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98576923100006 meters 0.032547863247238795 Centerline is valid? [True, True] Translation: X:231.09, Y:150.41, Z:-0.73 [[ 9.07213098e-01 4.20663002e-01 -2.65194135e-03 2.31090637e+02] [-4.20660949e-01 9.07216971e-01 1.31669878e-03 1.50405659e+02] [ 2.95977266e-03 -7.89582094e-05 9.99995617e-01 -7.29570476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01576923100004 meters 0.02867194138872558 Centerline is valid? [True, True] Translation: X:231.12, Y:150.39, Z:-0.73 [[ 9.05547568e-01 4.24232668e-01 -3.20076033e-03 2.31118437e+02] [-4.24229699e-01 9.05553221e-01 1.58917749e-03 1.50394306e+02] [ 3.57263984e-03 -8.12182207e-05 9.99993615e-01 -7.30982457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04576923100007 meters 0.0297992806261301 Centerline is valid? [True, True] Translation: X:231.14, Y:150.38, Z:-0.73 [[ 9.05325678e-01 4.24708439e-01 -2.85624446e-03 2.31142023e+02] [-4.24706078e-01 9.05330181e-01 1.41782225e-03 1.50379423e+02] [ 3.18800539e-03 -7.05265075e-05 9.99994916e-01 -7.31330920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07576923100004 meters 0.02628653340574874 Centerline is valid? [True, True] Translation: X:231.17, Y:150.37, Z:-0.73 [[ 9.05543935e-01 4.24245228e-01 -2.48345656e-03 2.31169145e+02] [-4.24243444e-01 9.05547339e-01 1.23199133e-03 1.50369991e+02] [ 2.77155392e-03 -6.20321098e-05 9.99996157e-01 -7.29905415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10576923100007 meters 0.027494942521279146 Centerline is valid? [True, True] Translation: X:231.19, Y:150.35, Z:-0.73 [[ 9.05855297e-01 4.23579962e-01 -2.48924359e-03 2.31192783e+02] [-4.23578167e-01 9.05858715e-01 1.23490428e-03 1.50354521e+02] [ 2.77798371e-03 -6.42553421e-05 9.99996139e-01 -7.30535581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13576923100004 meters 0.031902248636375974 Centerline is valid? [True, True] Translation: X:231.21, Y:150.33, Z:-0.73 [[ 9.06753828e-01 4.21648064e-01 -3.22586879e-03 2.31213339e+02] [-4.21645038e-01 9.06759561e-01 1.60014048e-03 1.50333263e+02] [ 3.59978351e-03 -9.07619362e-05 9.99993517e-01 -7.32759791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16576923100007 meters 0.032684387945140024 Centerline is valid? [True, True] Translation: X:231.24, Y:150.32, Z:-0.73 [[ 9.07119282e-01 4.20859912e-01 -3.39761191e-03 2.31238412e+02] [-4.20856552e-01 9.07125639e-01 1.68444769e-03 1.50318530e+02] [ 3.79097739e-03 -9.80877457e-05 9.99992809e-01 -7.32775739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19576923100004 meters 0.03126026108778654 Centerline is valid? [True, True] Translation: X:231.27, Y:150.31, Z:-0.73 [[ 9.07353216e-01 4.20356311e-01 -3.27291926e-03 2.31265107e+02] [-4.20353193e-01 9.07359114e-01 1.62193088e-03 1.50306884e+02] [ 3.65150200e-03 -9.58821368e-05 9.99993329e-01 -7.31717968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2257692310001 meters 0.030988736595677108 Centerline is valid? [True, True] Translation: X:231.29, Y:150.29, Z:-0.73 [[ 9.06985144e-01 4.21156584e-01 -2.25386926e-03 2.31289372e+02] [-4.21155108e-01 9.06987942e-01 1.11674393e-03 1.50293833e+02] [ 2.51455630e-03 -6.36416044e-05 9.99996836e-01 -7.29105982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25576923100004 meters 0.0298188508846882 Centerline is valid? [True, True] Translation: X:231.32, Y:150.28, Z:-0.73 [[ 9.06563687e-01 4.22067042e-01 -1.30153926e-03 2.31315719e+02] [-4.22066552e-01 9.06564620e-01 6.44382274e-04 1.50281984e+02] [ 1.45190196e-03 -3.48373841e-05 9.99998945e-01 -7.28051281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2857692310001 meters 0.027976106898684884 Centerline is valid? [True, True] Translation: X:231.34, Y:150.27, Z:-0.73 [[ 9.05105620e-01 4.25186782e-01 1.29545466e-04 2.31342474e+02] [-4.25186777e-01 9.05105629e-01 -6.42155303e-05 1.50270703e+02] [-1.44555925e-04 3.04081815e-06 9.99999990e-01 -7.26600076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31576923100005 meters 0.02444849117206587 Centerline is valid? [True, True] Translation: X:231.37, Y:150.26, Z:-0.73 [[ 9.04472834e-01 4.26531213e-01 -1.31143108e-04 2.31370563e+02] [-4.26531208e-01 9.04472844e-01 6.45890991e-05 1.50262439e+02] [ 1.46164647e-04 -2.48245712e-06 9.99999989e-01 -7.26719104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3457692310001 meters 0.02191477519074214 Centerline is valid? [True, True] Translation: X:231.40, Y:150.25, Z:-0.73 [[ 9.03825255e-01 4.27900396e-01 -1.07699455e-03 2.31397639e+02] [-4.27900065e-01 9.03825896e-01 5.32661906e-04 1.50252655e+02] [ 1.20134180e-03 -2.05872452e-05 9.99999278e-01 -7.27772206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37576923100005 meters 0.020591345242471817 Centerline is valid? [True, True] Translation: X:231.42, Y:150.24, Z:-0.73 [[ 9.02804771e-01 4.30040982e-01 -2.88086013e-03 2.31422892e+02] [-4.30038625e-01 9.02809366e-01 1.42480748e-03 1.50240056e+02] [ 3.21359311e-03 -4.74418590e-05 9.99994835e-01 -7.30279275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4057692310001 meters 0.02051909678057014 Centerline is valid? [True, True] Translation: X:231.45, Y:150.23, Z:-0.73 [[ 9.02515596e-01 4.30647023e-01 -2.95632023e-03 2.31447321e+02] [-4.30644543e-01 9.02520437e-01 1.46215137e-03 1.50227151e+02] [ 3.29781056e-03 -4.64912384e-05 9.99994561e-01 -7.31154564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43576923100005 meters 0.018594602187714946 Centerline is valid? [True, True] Translation: X:231.47, Y:150.22, Z:-0.73 [[ 9.02303373e-01 4.31093031e-01 -2.72419143e-03 2.31474663e+02] [-4.31090930e-01 9.02307485e-01 1.34652016e-03 1.50216525e+02] [ 3.03853378e-03 -4.05954620e-05 9.99995383e-01 -7.30529411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4657692310001 meters 0.01829729030443753 Centerline is valid? [True, True] Translation: X:231.50, Y:150.20, Z:-0.73 [[ 9.01411747e-01 4.32959091e-01 -1.81331661e-03 2.31499303e+02] [-4.32958164e-01 9.01413570e-01 8.96139530e-04 1.50202669e+02] [ 2.02253996e-03 -2.27004669e-05 9.99997954e-01 -7.29859088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49576923100005 meters 0.018099658731380402 Centerline is valid? [True, True] Translation: X:231.52, Y:150.19, Z:-0.73 [[ 9.00981496e-01 4.33853412e-01 -1.88691894e-03 2.31524073e+02] [-4.33852411e-01 9.00983472e-01 9.32457963e-04 1.50189171e+02] [ 2.10463284e-03 -2.14830405e-05 9.99997785e-01 -7.30771577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5257692310001 meters 0.015370569867615971 Centerline is valid? [True, True] Translation: X:231.55, Y:150.18, Z:-0.73 [[ 8.99926715e-01 4.36034171e-01 -2.47155154e-03 2.31550981e+02] [-4.36032463e-01 8.99930109e-01 1.22070408e-03 1.50179340e+02] [ 2.75649234e-03 -2.08675016e-05 9.99996201e-01 -7.31531155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55576923100006 meters 0.01347186177739228 Centerline is valid? [True, True] Translation: X:231.58, Y:150.17, Z:-0.73 [[ 8.99096240e-01 4.37743904e-01 -2.49523995e-03 2.31578502e+02] [-4.37742170e-01 8.99099702e-01 1.23187032e-03 1.50170170e+02] [ 2.78271322e-03 -1.52982252e-05 9.99996128e-01 -7.30655132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5857692310001 meters 0.013015996346953362 Centerline is valid? [True, True] Translation: X:231.60, Y:150.16, Z:-0.73 [[ 8.98171435e-01 4.39637514e-01 -2.63243941e-03 2.31604652e+02] [-4.39635593e-01 8.98175293e-01 1.29965198e-03 1.50159562e+02] [ 2.93576780e-03 -9.99621737e-06 9.99995691e-01 -7.32285913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61576923100006 meters 0.01207974661907029 Centerline is valid? [True, True] Translation: X:231.63, Y:150.15, Z:-0.73 [[ 8.97216116e-01 4.41582502e-01 -2.85216647e-03 2.31631593e+02] [-4.41580260e-01 8.97220650e-01 1.40720300e-03 1.50151263e+02] [ 3.18041887e-03 -3.10479922e-06 9.99994942e-01 -7.31439857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6457692310001 meters 0.012981250513735325 Centerline is valid? [True, True] Translation: X:231.66, Y:150.15, Z:-0.73 [[ 8.94747686e-01 4.46561524e-01 -3.06340196e-03 2.31661329e+02] [-4.46558966e-01 8.94752930e-01 1.51149597e-03 1.50147465e+02] [ 3.41596382e-03 1.55820929e-05 9.99994165e-01 -7.31004932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67576923100006 meters 0.014440658022400275 Centerline is valid? [True, True] Translation: X:231.69, Y:150.14, Z:-0.73 [[ 8.93607372e-01 4.48840418e-01 -2.85360894e-03 2.31688850e+02] [-4.48838211e-01 8.93611928e-01 1.40776578e-03 1.50140732e+02] [ 3.18188117e-03 2.28188484e-05 9.99994938e-01 -7.30233953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70576923100003 meters 0.016052316350377054 Centerline is valid? [True, True] Translation: X:231.72, Y:150.13, Z:-0.73 [[ 8.92635724e-01 4.50772825e-01 -2.30755910e-03 2.31717239e+02] [-4.50771390e-01 8.92638706e-01 1.13766774e-03 1.50132785e+02] [ 2.57264627e-03 2.46587591e-05 9.99996690e-01 -7.29084760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73576923100006 meters 0.018104049468184485 Centerline is valid? [True, True] Translation: X:231.75, Y:150.13, Z:-0.73 [[ 8.91321491e-01 4.53371616e-01 -4.22574448e-04 2.31745756e+02] [-4.53371568e-01 8.91321591e-01 2.08166989e-04 1.50126598e+02] [ 4.71026733e-04 6.03952927e-06 9.99999889e-01 -7.25929897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76576923100004 meters 0.01911875691096232 Centerline is valid? [True, True] Translation: X:231.77, Y:150.12, Z:-0.72 [[ 8.90830468e-01 4.54335863e-01 -5.10418021e-06 2.31774362e+02] [-4.54335863e-01 8.90830468e-01 2.16712528e-06 1.50119420e+02] [ 5.53156192e-06 3.88470901e-07 1.00000000e+00 -7.24321720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79576923100007 meters 0.019730259982666774 Centerline is valid? [True, True] Translation: X:231.80, Y:150.11, Z:-0.73 [[ 8.90710674e-01 4.54570455e-01 -4.44194004e-04 2.31801120e+02] [-4.54570402e-01 8.90710785e-01 2.18763406e-04 1.50111650e+02] [ 4.95091771e-04 7.06254663e-06 9.99999877e-01 -7.26055819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82576923100004 meters 0.020815730537806602 Centerline is valid? [True, True] Translation: X:231.83, Y:150.10, Z:-0.73 [[ 8.90443638e-01 4.55092251e-01 -1.08194153e-03 2.31828056e+02] [-4.55091939e-01 8.90444295e-01 5.32951111e-04 1.50104223e+02] [ 1.20595058e-03 1.78199428e-05 9.99999273e-01 -7.27896910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85576923100007 meters 0.020567136886350496 Centerline is valid? [True, True] Translation: X:231.86, Y:150.09, Z:-0.73 [[ 8.90369128e-01 4.55237699e-01 -1.20575404e-03 2.31855653e+02] [-4.55237313e-01 8.90369944e-01 5.93481339e-04 1.50094460e+02] [ 1.34374223e-03 2.04867651e-05 9.99999097e-01 -7.28118511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88576923100004 meters 0.02104363345750046 Centerline is valid? [True, True] Translation: X:231.88, Y:150.09, Z:-0.73 [[ 8.90273067e-01 4.55426713e-01 -6.12084259e-04 2.31883864e+02] [-4.55426614e-01 8.90273278e-01 3.01279974e-04 1.50089543e+02] [ 6.82133208e-04 1.05380149e-05 9.99999767e-01 -7.25520622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91576923100007 meters 0.021214143612983162 Centerline is valid? [True, True] Translation: X:231.91, Y:150.08, Z:-0.72 [[ 8.90303639e-01 4.55367156e-01 -4.29017945e-04 2.31910585e+02] [-4.55367107e-01 8.90303742e-01 2.10764926e-04 1.50081573e+02] [ 4.77931707e-04 7.71588047e-06 9.99999886e-01 -7.24964745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94576923100004 meters 0.021382240283033822 Centerline is valid? [True, True] Translation: X:231.94, Y:150.08, Z:-0.73 [[ 8.90328233e-01 4.55319145e-01 -3.37584340e-04 2.31938073e+02] [-4.55319115e-01 8.90328297e-01 1.65950108e-04 1.50076622e+02] [ 3.76121152e-04 5.95853655e-06 9.99999929e-01 -7.26447393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9757692310001 meters 0.020304484486442245 Centerline is valid? [True, True] Translation: X:231.96, Y:150.06, Z:-0.73 [[ 8.90986453e-01 4.54029689e-01 -4.26960128e-04 2.31964003e+02] [-4.54029641e-01 8.90986555e-01 2.09675740e-04 1.50064732e+02] [ 4.75614745e-04 7.03430938e-06 9.99999887e-01 -7.27596611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00576923100004 meters 0.01836350393408739 Centerline is valid? [True, True] Translation: X:231.99, Y:150.05, Z:-0.73 [[ 8.92053286e-01 4.51929786e-01 -6.34790957e-04 2.31989613e+02] [-4.51929678e-01 8.92053512e-01 3.11777564e-04 1.50050953e+02] [ 7.07169071e-04 8.75867224e-06 9.99999750e-01 -7.27951064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0357692310001 meters 0.013462412183516917 Centerline is valid? [True, True] Translation: X:232.01, Y:150.03, Z:-0.73 [[ 8.94954594e-01 4.46156185e-01 -9.66597268e-04 2.32011520e+02] [-4.46155932e-01 8.94955116e-01 4.75068284e-04 1.50032979e+02] [ 1.07701582e-03 6.08856183e-06 9.99999420e-01 -7.28072612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06576923100005 meters 0.012014578070962723 Centerline is valid? [True, True] Translation: X:232.04, Y:150.02, Z:-0.73 [[ 8.96647797e-01 4.42742941e-01 -1.19039080e-03 2.32035574e+02] [-4.42742555e-01 8.96648587e-01 5.84639020e-04 1.50016472e+02] [ 1.32620703e-03 2.82137533e-06 9.99999121e-01 -7.28563519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0957692310001 meters 0.012704173250167698 Centerline is valid? [True, True] Translation: X:232.06, Y:150.00, Z:-0.73 [[ 8.99293271e-01 4.37345712e-01 -5.83083315e-04 2.32057076e+02] [-4.37345618e-01 8.99293461e-01 2.86292000e-04 1.49995977e+02] [ 6.49571591e-04 -2.45153589e-06 9.99999789e-01 -7.27880890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12576923100005 meters 0.01374387969913167 Centerline is valid? [True, True] Translation: X:232.08, Y:149.98, Z:-0.73 [[ 9.00073065e-01 4.35737887e-01 -9.85530355e-04 2.32081091e+02] [-4.35737618e-01 9.00073605e-01 4.83916878e-04 1.49981176e+02] [ 1.09791078e-03 -6.12789739e-06 9.99999397e-01 -7.28372777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1557692310001 meters 0.014481392326200463 Centerline is valid? [True, True] Translation: X:232.11, Y:149.97, Z:-0.73 [[ 9.00471924e-01 4.34909938e-01 -1.91324500e-03 2.32106487e+02] [-4.34908924e-01 9.00473956e-01 9.39087292e-04 1.49967460e+02] [ 2.13124569e-03 -1.35344158e-05 9.99997729e-01 -7.31012515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18576923100005 meters 0.015095871989930629 Centerline is valid? [True, True] Translation: X:232.13, Y:149.95, Z:-0.74 [[ 9.00601762e-01 4.34620073e-01 -4.67527605e-03 2.32131013e+02] [-4.34614014e-01 9.00613897e-01 2.29514503e-03 1.49954058e+02] [ 5.20813468e-03 -3.50711729e-05 9.99986437e-01 -7.36773162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2157692310001 meters 0.01973498853619293 Centerline is valid? [True, True] Translation: X:232.16, Y:149.94, Z:-0.73 [[ 9.00720078e-01 4.34367923e-01 -5.27719149e-03 2.32156394e+02] [-4.34360209e-01 9.00735536e-01 2.58905479e-03 1.49942679e+02] [ 5.87795626e-03 -3.98116300e-05 9.99982724e-01 -7.32530083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24576923100005 meters 0.015751736162797673 Centerline is valid? [True, True] Translation: X:232.18, Y:149.93, Z:-0.74 [[ 9.01001843e-01 4.33786267e-01 -5.01531931e-03 2.32178058e+02] [-4.33779294e-01 9.01015801e-01 2.45984561e-03 1.49926058e+02] [ 5.58592919e-03 -4.07837624e-05 9.99984398e-01 -7.37534600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2757692310001 meters 0.016499910130616115 Centerline is valid? [True, True] Translation: X:232.20, Y:149.91, Z:-0.73 [[ 9.01656616e-01 4.32445019e-01 -2.57918362e-03 2.32200623e+02] [-4.32443172e-01 9.01660305e-01 1.26421943e-03 1.49907414e+02] [ 2.87225288e-03 -2.45414668e-05 9.99995875e-01 -7.31998190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30576923100006 meters 0.016622441995230545 Centerline is valid? [True, True] Translation: X:232.22, Y:149.89, Z:-0.73 [[ 9.01757875e-01 4.32239348e-01 -1.37111920e-03 2.32224970e+02] [-4.32238826e-01 9.01758918e-01 6.72059228e-04 1.49893396e+02] [ 1.52690941e-03 -1.33837481e-05 9.99998834e-01 -7.29483602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3357692310001 meters 0.015896875713735988 Centerline is valid? [True, True] Translation: X:232.25, Y:149.88, Z:-0.73 [[ 9.01442355e-01 4.32897377e-01 -1.24199905e-03 2.32250691e+02] [-4.32896949e-01 9.01443210e-01 6.08322238e-04 1.49880799e+02] [ 1.38293271e-03 -1.07098294e-05 9.99999044e-01 -7.29240555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36576923100006 meters 0.013057401463436782 Centerline is valid? [True, True] Translation: X:232.28, Y:149.87, Z:-0.73 [[ 8.99656425e-01 4.36593276e-01 -2.15114339e-03 2.32277659e+02] [-4.36592004e-01 8.99658997e-01 1.05390548e-03 1.49873241e+02] [ 2.39542355e-03 -8.98083836e-06 9.99997131e-01 -7.30832230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3957692310001 meters 0.01224778073845579 Centerline is valid? [True, True] Translation: X:232.30, Y:149.87, Z:-0.73 [[ 8.98578302e-01 4.38805043e-01 -2.67749553e-03 2.32304287e+02] [-4.38803085e-01 8.98582291e-01 1.31099213e-03 1.49865005e+02] [ 2.98122003e-03 -3.13577982e-06 9.99995556e-01 -7.31710958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42576923100006 meters 0.012385555394894072 Centerline is valid? [True, True] Translation: X:232.33, Y:149.86, Z:-0.73 [[ 8.97476426e-01 4.41052698e-01 -2.92947774e-03 2.32330692e+02] [-4.41050366e-01 8.97481207e-01 1.43433308e-03 1.49858350e+02] [ 3.26176769e-03 4.76710505e-06 9.99994680e-01 -7.32058994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45576923100003 meters 0.014981217842747658 Centerline is valid? [True, True] Translation: X:232.36, Y:149.86, Z:-0.73 [[ 8.95371939e-01 4.45309362e-01 -2.94338693e-03 2.32362285e+02] [-4.45307033e-01 8.95376776e-01 1.44044335e-03 1.49856595e+02] [ 3.27688321e-03 2.09783442e-05 9.99994631e-01 -7.32405824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48576923100006 meters 0.01643009315236391 Centerline is valid? [True, True] Translation: X:232.39, Y:149.85, Z:-0.73 [[ 8.94711618e-01 4.46633723e-01 -3.07208458e-03 2.32390297e+02] [-4.46631195e-01 8.94716892e-01 1.50287203e-03 1.49847958e+02] [ 3.41987930e-03 2.74517410e-05 9.99994152e-01 -7.32940326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51576923100004 meters 0.016944765166263556 Centerline is valid? [True, True] Translation: X:232.42, Y:149.84, Z:-0.73 [[ 8.94577123e-01 4.46903255e-01 -3.04173259e-03 2.32415871e+02] [-4.46900781e-01 8.94582294e-01 1.48733314e-03 1.49837321e+02] [ 3.38577414e-03 2.88184659e-05 9.99994268e-01 -7.33051811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54576923100007 meters 0.014683369221766147 Centerline is valid? [True, True] Translation: X:232.44, Y:149.82, Z:-0.73 [[ 8.95907507e-01 4.44231150e-01 -2.90249512e-03 2.32439127e+02] [-4.44228883e-01 8.95912208e-01 1.41928792e-03 1.49820966e+02] [ 3.23087272e-03 1.78214668e-05 9.99994781e-01 -7.33348577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57576923100004 meters 0.013718398249034522 Centerline is valid? [True, True] Translation: X:232.46, Y:149.80, Z:-0.73 [[ 8.96932304e-01 4.42156979e-01 -3.10621698e-03 2.32463134e+02] [-4.42154373e-01 8.96937682e-01 1.51815045e-03 1.49804779e+02] [ 3.45734387e-03 1.17492449e-05 9.99994023e-01 -7.33664160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60576923100007 meters 0.013810703990068266 Centerline is valid? [True, True] Translation: X:232.49, Y:149.79, Z:-0.73 [[ 8.98083089e-01 4.39811226e-01 -3.58481911e-03 2.32486745e+02] [-4.39807739e-01 8.98090243e-01 1.75141763e-03 1.49788222e+02] [ 3.98978421e-03 3.71263068e-06 9.99992041e-01 -7.34644915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63576923100004 meters 0.013810703990068266 Centerline is valid? [True, True] Translation: X:232.51, Y:149.78, Z:-0.73 [[ 8.98155049e-01 4.39664253e-01 -3.58511400e-03 2.32511530e+02] [-4.39660767e-01 8.98162204e-01 1.75081399e-03 1.49776347e+02] [ 3.98978422e-03 3.73154046e-06 9.99992041e-01 -7.34696185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66576923100007 meters 0.016098987789061273 Centerline is valid? [True, True] Translation: X:232.53, Y:149.75, Z:-0.73 [[ 9.00778734e-01 4.34260399e-01 -3.94690041e-03 2.32532979e+02] [-4.34256126e-01 9.00787381e-01 1.92669411e-03 1.49754600e+02] [ 4.39200504e-03 -2.15593979e-05 9.99990355e-01 -7.31474180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69576923100004 meters 0.01838666277194305 Centerline is valid? [True, True] Translation: X:232.56, Y:149.74, Z:-0.73 [[ 9.01695903e-01 4.32349913e-01 -4.24877391e-03 2.32555384e+02] [-4.32344939e-01 9.01705912e-01 2.07399414e-03 1.49738071e+02] [ 4.72783574e-03 -3.31761222e-05 9.99988823e-01 -7.31725263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7257692310001 meters 0.020565833913862817 Centerline is valid? [True, True] Translation: X:232.58, Y:149.72, Z:-0.73 [[ 9.02288624e-01 4.31111974e-01 -4.20770809e-03 2.32579630e+02] [-4.31107088e-01 9.02298434e-01 2.05291251e-03 1.49722628e+02] [ 4.68164359e-03 -3.83468221e-05 9.99989040e-01 -7.31501965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75576923100004 meters 0.02357202485968084 Centerline is valid? [True, True] Translation: X:232.60, Y:149.71, Z:-0.73 [[ 9.02631428e-01 4.30405863e-01 -2.70134832e-03 2.32601889e+02] [-4.30403849e-01 9.02635470e-01 1.31714983e-03 1.49705494e+02] [ 3.00524182e-03 -2.62301198e-05 9.99995484e-01 -7.27287553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7857692310001 meters 0.025831021332383065 Centerline is valid? [True, True] Translation: X:232.63, Y:149.69, Z:-0.73 [[ 9.02547398e-01 4.30585630e-01 -2.05194875e-03 2.32625340e+02] [-4.30584468e-01 9.02549730e-01 1.00053691e-03 1.49689534e+02] [ 2.28280261e-03 -1.94947280e-05 9.99997394e-01 -7.26495662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81576923100005 meters 0.02906587450399222 Centerline is valid? [True, True] Translation: X:232.65, Y:149.68, Z:-0.73 [[ 9.01653225e-01 4.32450985e-01 -2.75825565e-03 2.32649627e+02] [-4.32448894e-01 9.01657443e-01 1.34479297e-03 1.49675559e+02] [ 3.06855879e-03 -1.97323141e-05 9.99995292e-01 -7.27356204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8457692310001 meters 0.030800450017055787 Centerline is valid? [True, True] Translation: X:232.68, Y:149.66, Z:-0.73 [[ 9.01614082e-01 4.32521827e-01 4.11305569e-03 2.32676592e+02] [-4.32539450e-01 9.01540857e-01 1.15631866e-02 1.49659373e+02] [ 1.29324284e-03 -1.22045907e-02 9.99924685e-01 -7.30190893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87576923100005 meters 0.033342913039576864 Centerline is valid? [True, True] Translation: X:232.70, Y:149.65, Z:-0.73 [[ 9.00834896e-01 4.34128513e-01 5.37821557e-03 2.32701861e+02] [-4.34161247e-01 9.00784790e-01 9.52746798e-03 1.49648971e+02] [-7.08469281e-04 -1.09176884e-02 9.99940149e-01 -7.30637401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9057692310001 meters 0.039091074443992437 Centerline is valid? [True, True] Translation: X:232.73, Y:149.65, Z:-0.73 [[ 8.98069847e-01 4.39707585e-01 -1.13044601e-02 2.32730841e+02] [-4.39849359e-01 8.97868771e-01 -1.90843205e-02 1.49650515e+02] [ 1.75840120e-03 2.21113123e-02 9.99753969e-01 -7.25577466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93576923100005 meters 0.04276799360974196 Centerline is valid? [True, True] Translation: X:232.75, Y:149.63, Z:-0.72 [[ 8.97144334e-01 4.41736261e-01 -1.05816981e-03 2.32753443e+02] [-4.41735961e-01 8.97144958e-01 5.14945052e-04 1.49633647e+02] [ 1.17680161e-03 5.45162279e-06 9.99999308e-01 -7.24215886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9657692310001 meters 0.047459152677617494 Centerline is valid? [True, True] Translation: X:232.78, Y:149.63, Z:-0.72 [[ 8.97156667e-01 4.41562897e-01 -1.14944732e-02 2.32781148e+02] [-4.41672012e-01 8.97122926e-01 -9.81274393e-03 1.49630081e+02] [ 5.97901176e-03 1.38803557e-02 9.99885787e-01 -7.22922146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99576923100005 meters 0.05518249490559113 Centerline is valid? [True, True] Translation: X:232.81, Y:149.62, Z:-0.72 [[ 8.96633276e-01 4.42578414e-01 -1.31573584e-02 2.32806749e+02] [-4.42662706e-01 8.96678210e-01 -4.23279060e-03 1.49618566e+02] [ 9.92457483e-03 9.61953277e-03 9.99904479e-01 -7.18830187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0257692310001 meters 0.0577282797582982 Centerline is valid? [True, True] Translation: X:232.83, Y:149.60, Z:-0.72 [[ 8.96157486e-01 4.43551999e-01 -1.27822016e-02 2.32830539e+02] [-4.43575729e-01 8.96236257e-01 1.06965059e-03 1.49602416e+02] [ 1.19303182e-02 4.71129902e-03 9.99917732e-01 -7.18170535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05576923100006 meters 0.06585659131896472 Centerline is valid? [True, True] Translation: X:232.86, Y:149.58, Z:-0.72 [[ 8.99649025e-01 4.36607514e-01 -2.34751439e-03 2.32859869e+02] [-4.36523032e-01 8.99558586e-01 1.55561264e-02 1.49584895e+02] [ 8.90364840e-03 -1.29703099e-02 9.99876240e-01 -7.22837948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0857692310001 meters 0.07044725021582307 Centerline is valid? [True, True] Translation: X:232.92, Y:149.65, Z:-0.05 [[ 9.30342989e-01 -3.64450953e-01 4.04651136e-02 2.32923035e+02] [-3.66612827e-01 -9.22193884e-01 1.23099451e-01 1.49650918e+02] [-7.54703185e-03 -1.29359741e-01 -9.91569009e-01 -4.86912140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11576923100006 meters 0.07518306231537476 Centerline is valid? [True, True] Translation: X:232.97, Y:149.67, Z:-0.71 [[ 9.30703480e-01 3.64500906e-01 -3.04978927e-02 2.32967176e+02] [-3.65338713e-01 9.30426696e-01 -2.88753935e-02 1.49668020e+02] [ 1.78509465e-02 3.80164901e-02 9.99117656e-01 -7.12864947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1457692310001 meters 0.08526022817832381 Centerline is valid? [True, True] Translation: X:232.99, Y:149.64, Z:-0.71 [[ 9.33043478e-01 3.59366612e-01 -1.68969120e-02 2.32989139e+02] [-3.59310183e-01 9.33196454e-01 6.36952015e-03 1.49638680e+02] [ 1.80571312e-02 1.28193288e-04 9.99836949e-01 -7.11678390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17576923100006 meters 0.0924458019394223 Centerline is valid? [True, True] Translation: X:233.05, Y:149.72, Z:-0.04 [[ 9.52406577e-01 -3.01806271e-01 4.28332570e-02 2.33051316e+02] [-3.04815336e-01 -9.41502477e-01 1.43738293e-01 1.49723794e+02] [-3.05350048e-03 -1.49953529e-01 -9.88688331e-01 -3.94829249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20576923100003 meters 0.10167188349828014 Centerline is valid? [True, False] Translation: X:232.97, Y:150.00, Z:-2.07 [[ 9.54080283e-01 2.99132202e-01 1.58347531e-02 2.32968617e+02] [-2.93389826e-01 9.43816307e-01 -1.52095983e-01 1.49997833e+02] [-6.04419045e-02 1.40466023e-01 9.88238874e-01 -2.06694101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23576923100006 meters 0.11070762097784133 Centerline is valid? [False, False] Translation: X:232.88, Y:150.01, Z:-2.06 [[ 9.56444123e-01 2.89777585e-01 3.52645855e-02 2.32880300e+02] [-2.85579771e-01 9.53864986e-01 -9.26594954e-02 1.50010611e+02] [-6.04882982e-02 7.85527776e-02 9.95073177e-01 -2.05992410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26576923100004 meters 0.11620556176060101 Centerline is valid? [False, False] Translation: X:232.82, Y:150.03, Z:-2.05 [[ 9.59601452e-01 2.77719727e-01 4.51309837e-02 2.32817561e+02] [-2.74668877e-01 9.59422184e-01 -6.37658222e-02 1.50028087e+02] [-6.10086937e-02 4.87936990e-02 9.96943887e-01 -2.05468992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29576923100007 meters 0.41909059141425503 Centerline is valid? [False, False] Translation: X:232.74, Y:150.05, Z:-2.05 [[ 9.63211611e-01 2.64027762e-01 5.01271677e-02 2.32743544e+02] [-2.61694334e-01 9.63926302e-01 -4.86020544e-02 1.50054876e+02] [-6.11511871e-02 3.36960674e-02 9.97559576e-01 -2.04788407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32576923100004 meters 0.5686086015086246 Centerline is valid? [False, False] Translation: X:232.69, Y:150.08, Z:-2.05 [[ 9.66571038e-01 2.50775990e-01 5.34025447e-02 2.32693760e+02] [-2.48810330e-01 9.67690945e-01 -4.08369197e-02 1.50078066e+02] [-6.19180779e-02 2.61846791e-02 9.97737698e-01 -2.04683266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35576923100007 meters 0.5831868942039972 Centerline is valid? [False, False] Translation: X:232.64, Y:150.10, Z:-2.04 [[ 9.70452968e-01 2.34962618e-01 5.48963138e-02 2.32640038e+02] [-2.33360201e-01 9.71793492e-01 -3.40650119e-02 1.50100265e+02] [-6.13518849e-02 2.02478771e-02 9.97910802e-01 -2.04426326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38576923100004 meters 0.5841906938639105 Centerline is valid? [False, False] Translation: X:232.58, Y:150.12, Z:-2.04 [[ 9.74275089e-01 2.18218334e-01 5.62921902e-02 2.32582532e+02] [-2.16962927e-01 9.75789620e-01 -2.75990262e-02 1.50123441e+02] [-6.09519483e-02 1.46757253e-02 9.98032807e-01 -2.04041196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41576923100007 meters 0.5853082177703846 Centerline is valid? [False, False] Translation: X:232.54, Y:150.14, Z:-2.04 [[ 9.77096929e-01 2.05080161e-01 5.67778023e-02 2.32542687e+02] [-2.03941344e-01 9.78657794e-01 -2.52358795e-02 1.50144673e+02] [-6.07414170e-02 1.30785590e-02 9.98067849e-01 -2.03547391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44576923100004 meters 0.5889436687558776 Centerline is valid? [False, False] Translation: X:232.54, Y:150.15, Z:-2.04 [[ 9.79787221e-01 1.91368541e-01 5.82673464e-02 2.32544866e+02] [-1.90341831e-01 9.81454465e-01 -2.27402864e-02 1.50152872e+02] [-6.15385227e-02 1.11899286e-02 9.98041981e-01 -2.03613611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4757692310001 meters 0.5851945590053067 Centerline is valid? [False, False] Translation: X:232.50, Y:150.17, Z:-2.03 [[ 9.82320060e-01 1.78755601e-01 5.56213604e-02 2.32503798e+02] [-1.77886034e-01 9.83842704e-01 -2.02507477e-02 1.50172866e+02] [-5.83426042e-02 9.99845247e-03 9.98246548e-01 -2.02845116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50576923100004 meters 0.6708951611112485 Centerline is valid? [False, False] Translation: X:232.51, Y:150.18, Z:-2.03 [[ 9.83919541e-01 1.70243569e-01 5.40320632e-02 2.32505242e+02] [-1.68757179e-01 9.85169840e-01 -3.10064560e-02 1.50184685e+02] [-5.85094088e-02 2.13895594e-02 9.98057682e-01 -2.02902005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5357692310001 meters 0.5885538257260722 Centerline is valid? [False, False] Translation: X:232.47, Y:150.20, Z:-2.03 [[ 9.85314235e-01 1.60927205e-01 5.70814626e-02 2.32468291e+02] [-1.59732094e-01 9.86845164e-01 -2.49455318e-02 1.50204093e+02] [-6.03449800e-02 1.54614460e-02 9.98057828e-01 -2.02936368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56576923100005 meters 0.5893556848118012 Centerline is valid? [False, False] Translation: X:232.47, Y:150.21, Z:-2.03 [[ 9.87109792e-01 1.48923133e-01 5.86187628e-02 2.32469307e+02] [-1.48079158e-01 9.88802243e-01 -1.85118330e-02 1.50209211e+02] [-6.07192043e-02 9.59299453e-03 9.98108788e-01 -2.02988401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5957692310001 meters 0.6004666083694373 Centerline is valid? [False, False] Translation: X:232.43, Y:150.23, Z:-2.03 [[ 9.89161424e-01 1.34508506e-01 5.88824246e-02 2.32431990e+02] [-1.33714794e-01 9.90869951e-01 -1.72363972e-02 1.50226776e+02] [-6.06632672e-02 9.17612795e-03 9.98116109e-01 -2.02966580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62576923100005 meters 0.672432018289972 Centerline is valid? [False, False] Translation: X:232.44, Y:150.23, Z:-2.03 [[ 9.90538857e-01 1.21386631e-01 6.40160799e-02 2.32435468e+02] [-1.20722544e-01 9.92585347e-01 -1.41561404e-02 1.50229913e+02] [-6.52597891e-02 6.29402309e-03 9.97848458e-01 -2.03439618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6557692310001 meters 0.6053752780394316 Centerline is valid? [False, False] Translation: X:232.42, Y:150.23, Z:-2.04 [[ 9.91180789e-01 1.13361690e-01 6.86277682e-02 2.32421075e+02] [-1.12500063e-01 9.93517934e-01 -1.63049291e-02 1.50234129e+02] [-7.00312728e-02 8.44050422e-03 9.97509087e-01 -2.04487553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68576923100005 meters 0.5999516810071914 Centerline is valid? [False, False] Translation: X:232.42, Y:150.24, Z:-2.05 [[ 9.92917470e-01 9.58096875e-02 7.02524183e-02 2.32420705e+02] [-9.49758555e-02 9.95364705e-01 -1.51225433e-02 1.50237485e+02] [-7.13756638e-02 8.34315390e-03 9.97414611e-01 -2.04554872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7157692310001 meters 0.5983564372044541 Centerline is valid? [False, False] Translation: X:232.42, Y:150.24, Z:-2.05 [[ 9.93751752e-01 8.73337170e-02 6.95001948e-02 2.32421061e+02] [-8.58031067e-02 9.96005458e-01 -2.47175019e-02 1.50242056e+02] [-7.13812446e-02 1.85997282e-02 9.97275673e-01 -2.04605788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74576923100005 meters 0.6821122371682864 Centerline is valid? [False, False] Translation: X:232.44, Y:150.24, Z:-2.04 [[ 9.94777086e-01 7.92276640e-02 6.43546916e-02 2.32437869e+02] [-7.76911770e-02 9.96637326e-01 -2.60407508e-02 1.50240540e+02] [-6.62014357e-02 2.09049505e-02 9.97587266e-01 -2.03880992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7757692310001 meters 0.598381494896279 Centerline is valid? [False, False] Translation: X:232.44, Y:150.24, Z:-2.03 [[ 9.95852593e-01 6.60194527e-02 6.26022829e-02 2.32435485e+02] [-6.49504148e-02 9.97708301e-01 -1.89628397e-02 1.50235866e+02] [-6.37107336e-02 1.48181488e-02 9.97858389e-01 -2.03487056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80576923100006 meters 0.4660142906977463 Centerline is valid? [False, False] Translation: X:232.44, Y:150.23, Z:-2.04 [[ 9.96115340e-01 6.20900160e-02 6.24424507e-02 2.32435151e+02] [-6.07531219e-02 9.97885782e-01 -2.30872992e-02 1.50234868e+02] [-6.37439246e-02 1.92040391e-02 9.97781498e-01 -2.03504246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8357692310001 meters 0.4730339491892141 Centerline is valid? [False, False] Translation: X:232.43, Y:150.23, Z:-2.03 [[ 9.96359305e-01 5.82008504e-02 6.22960346e-02 2.32434571e+02] [-5.66022086e-02 9.98028193e-01 -2.71277663e-02 1.50233442e+02] [-6.37520580e-02 2.35029093e-02 9.97688974e-01 -2.03483790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86576923100006 meters 0.47433316503498285 Centerline is valid? [False, False] Translation: X:232.45, Y:150.22, Z:-2.03 [[ 9.96675001e-01 5.36324988e-02 6.13392039e-02 2.32448945e+02] [-5.24715454e-02 9.98414344e-01 -2.03846561e-02 1.50220891e+02] [-6.23352211e-02 1.70983143e-02 9.97908797e-01 -2.02558881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8957692310001 meters 0.47352853598229966 Centerline is valid? [False, False] Translation: X:232.46, Y:150.21, Z:-2.02 [[ 9.97064132e-01 5.11725058e-02 5.69604282e-02 2.32462510e+02] [-5.02378417e-02 9.98580025e-01 -1.77226906e-02 1.50214568e+02] [-5.77864603e-02 1.48090901e-02 9.98219122e-01 -2.02023986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92576923100006 meters 0.4822869715929391 Centerline is valid? [False, False] Translation: X:232.49, Y:150.20, Z:-2.01 [[ 9.97772558e-01 4.67928800e-02 4.75431218e-02 2.32489362e+02] [-4.59771267e-02 9.98778322e-01 -1.81098507e-02 1.50202031e+02] [-4.83324515e-02 1.58836160e-02 9.98705004e-01 -2.00815842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95576923100003 meters 0.46856836875595154 Centerline is valid? [False, False] Translation: X:232.49, Y:150.19, Z:-2.01 [[ 9.97727077e-01 4.75912452e-02 4.77048655e-02 2.32489027e+02] [-4.68429276e-02 9.98762925e-01 -1.66841280e-02 1.50194683e+02] [-4.84398694e-02 1.44115707e-02 9.98722126e-01 -2.00889211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98576923100006 meters 0.6658969787208057 Centerline is valid? [False, False] Translation: X:232.49, Y:150.19, Z:-2.01 [[ 9.97875678e-01 4.50821673e-02 4.70290287e-02 2.32493554e+02] [-4.42241770e-02 9.98838495e-01 -1.91280493e-02 1.50189149e+02] [-4.78367382e-02 1.70075951e-02 9.98710363e-01 -2.01302003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01576923100004 meters 0.6903283230444114 Centerline is valid? [False, False] Translation: X:232.50, Y:150.18, Z:-2.01 [[ 9.97822357e-01 4.78409535e-02 4.54069055e-02 2.32499179e+02] [-4.71336100e-02 9.98751922e-01 -1.65233542e-02 1.50176924e+02] [-4.61407272e-02 1.43471809e-02 9.98831914e-01 -2.01295933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04576923100007 meters 0.699703145056782 Centerline is valid? [False, False] Translation: X:232.50, Y:150.18, Z:-2.01 [[ 9.97815720e-01 4.79829191e-02 4.54029450e-02 2.32499598e+02] [-4.72872370e-02 9.98748739e-01 -1.62749666e-02 1.50175540e+02] [-4.61270545e-02 1.40924377e-02 9.98836172e-01 -2.01351029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07576923100004 meters 0.6949557297647088 Centerline is valid? [False, False] Translation: X:232.50, Y:150.17, Z:-2.01 [[ 9.97815440e-01 4.80601762e-02 4.53273354e-02 2.32500623e+02] [-4.73711285e-02 9.98746698e-01 -1.61557894e-02 1.50174797e+02] [-4.60469766e-02 1.39732891e-02 9.98841541e-01 -2.01455612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10576923100007 meters 0.6963653871170623 Centerline is valid? [False, False] Translation: X:232.52, Y:150.17, Z:-2.01 [[ 9.97446402e-01 5.72711914e-02 4.26695013e-02 2.32524024e+02] [-5.66360848e-02 9.98267501e-01 -1.59483957e-02 1.50165458e+02] [-4.35089600e-02 1.34910364e-02 9.98961942e-01 -2.01269382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.13576923100004 meters 0.7099229471674078 Centerline is valid? [False, False] Translation: X:232.52, Y:150.16, Z:-2.01 [[ 9.97440894e-01 5.73583016e-02 4.26812402e-02 2.32524581e+02] [-5.67294737e-02 9.98264522e-01 -1.58022698e-02 1.50164622e+02] [-4.35135592e-02 1.33405459e-02 9.98963763e-01 -2.01356461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16576923100007 meters 0.7320663430148909 Centerline is valid? [False, False] Translation: X:232.53, Y:150.16, Z:-2.01 [[ 9.97442007e-01 5.78869310e-02 4.19350271e-02 2.32527117e+02] [-5.72878776e-02 9.98239691e-01 -1.53498530e-02 1.50162918e+02] [-4.27497644e-02 1.29082195e-02 9.99002420e-01 -2.01370921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19576923100004 meters 0.7421152196340801 Centerline is valid? [False, False] Translation: X:232.53, Y:150.16, Z:-2.01 [[ 9.97401925e-01 5.93294958e-02 4.08584307e-02 2.32530697e+02] [-5.87994388e-02 9.98170857e-01 -1.40558572e-02 1.50157706e+02] [-4.16176217e-02 1.16168863e-02 9.99066075e-01 -2.01364187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2257692310001 meters 0.7309659350473872 Centerline is valid? [False, False] Translation: X:232.53, Y:150.15, Z:-2.01 [[ 9.97381702e-01 5.96666564e-02 4.08611033e-02 2.32531146e+02] [-5.91603258e-02 9.98157318e-01 -1.34916395e-02 1.50154576e+02] [-4.15908103e-02 1.10389582e-02 9.99073744e-01 -2.01437710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25576923100004 meters 0.7272927261835483 Centerline is valid? [False, False] Translation: X:232.54, Y:150.15, Z:-2.02 [[ 9.97558167e-01 5.72793068e-02 3.99597859e-02 2.32537638e+02] [-5.66664687e-02 9.98260016e-01 -1.63049691e-02 1.50152487e+02] [-4.08241938e-02 1.40007751e-02 9.99068248e-01 -2.02008509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2857692310001 meters 0.7326551784495032 Centerline is valid? [False, False] Translation: X:232.56, Y:150.15, Z:-2.02 [[ 9.97968726e-01 5.30244304e-02 3.53104920e-02 2.32561005e+02] [-5.25544109e-02 9.98518382e-01 -1.41094007e-02 1.50149756e+02] [-3.60063183e-02 1.22250185e-02 9.99276785e-01 -2.01819215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.31576923100005 meters 0.7536764184075271 Centerline is valid? [False, False] Translation: X:232.56, Y:150.15, Z:-2.02 [[ 9.97965184e-01 5.31162894e-02 3.52725417e-02 2.32561914e+02] [-5.26530514e-02 9.98515630e-01 -1.39352893e-02 1.50148639e+02] [-3.59603751e-02 1.20497266e-02 9.99280569e-01 -2.01926608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3457692310001 meters 0.7469209339678955 Centerline is valid? [False, False] Translation: X:232.56, Y:150.15, Z:-2.02 [[ 9.97955464e-01 5.32907644e-02 3.52843741e-02 2.32562353e+02] [-5.28383007e-02 9.98509995e-01 -1.36346483e-02 1.50146873e+02] [-3.59584010e-02 1.17424054e-02 9.99284299e-01 -2.01996580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.37576923100005 meters 0.7758187126900553 Centerline is valid? [False, False] Translation: X:232.60, Y:150.14, Z:-2.02 [[ 9.97768314e-01 5.41772606e-02 3.90284094e-02 2.32602691e+02] [-5.36833794e-02 9.98465473e-01 -1.35939230e-02 1.50140074e+02] [-3.97050008e-02 1.14684087e-02 9.99145629e-01 -2.02211226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4057692310001 meters 0.7785279349644832 Centerline is valid? [False, False] Translation: X:232.60, Y:150.14, Z:-2.02 [[ 9.97766262e-01 5.41975437e-02 3.90526963e-02 2.32603038e+02] [-5.37046488e-02 9.98464757e-01 -1.35624600e-02 1.50139832e+02] [-3.97277929e-02 1.14348537e-02 9.99145108e-01 -2.02269728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43576923100005 meters 0.7714948634055405 Centerline is valid? [False, False] Translation: X:232.60, Y:150.14, Z:-2.02 [[ 9.97768100e-01 5.41730499e-02 3.90397026e-02 2.32603462e+02] [-5.36789142e-02 9.98465671e-01 -1.35969887e-02 1.50139944e+02] [-3.97163932e-02 1.14710328e-02 9.99145146e-01 -2.02319610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4657692310001 meters 0.7813224553099681 Centerline is valid? [False, False] Translation: X:232.64, Y:150.13, Z:-2.03 [[ 9.97540492e-01 5.57026335e-02 4.25462488e-02 2.32644408e+02] [-5.52116932e-02 9.98394799e-01 -1.26290811e-02 1.50132199e+02] [-4.31814266e-02 1.02489694e-02 9.99014676e-01 -2.02545302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49576923100005 meters 0.9652896081133124 Centerline is valid? [False, False] Translation: X:232.66, Y:150.13, Z:-2.02 [[ 9.97490552e-01 5.97465888e-02 3.79860957e-02 2.32658675e+02] [-5.92309194e-02 9.98138124e-01 -1.45596838e-02 1.50127741e+02] [-3.87852618e-02 1.22731957e-02 9.99172193e-01 -2.01647667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5257692310001 meters 0.7891025860454597 Centerline is valid? [False, False] Translation: X:232.66, Y:150.13, Z:-2.02 [[ 9.97484288e-01 5.97785801e-02 3.81000953e-02 2.32658329e+02] [-5.92635816e-02 9.98136952e-01 -1.45070026e-02 1.50127354e+02] [-3.88963210e-02 1.22125591e-02 9.99168619e-01 -2.01655657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55576923100006 meters 0.7891025860454597 Centerline is valid? [False, False] Translation: X:232.66, Y:150.13, Z:-2.02 [[ 9.97484288e-01 5.97785801e-02 3.81000953e-02 2.32658329e+02] [-5.92635816e-02 9.98136952e-01 -1.45070026e-02 1.50127354e+02] [-3.88963210e-02 1.22125591e-02 9.99168619e-01 -2.01655657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5857692310001 meters 0.8042823846264102 Centerline is valid? [False, False] Translation: X:232.70, Y:150.13, Z:-2.02 [[ 9.97172977e-01 6.22912831e-02 4.20220135e-02 2.32698740e+02] [-6.17763189e-02 9.97999457e-01 -1.34451178e-02 1.50125760e+02] [-4.27754602e-02 1.08111429e-02 9.99026215e-01 -2.01859860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61576923100006 meters 0.8068332331953446 Centerline is valid? [False, False] Translation: X:232.70, Y:150.13, Z:-2.02 [[ 9.97193756e-01 6.20298049e-02 4.19155871e-02 2.32699976e+02] [-6.14954814e-02 9.98010287e-01 -1.39201983e-02 1.50128217e+02] [-4.26956543e-02 1.13035156e-02 9.99024180e-01 -2.01974693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6457692310001 meters 0.7855994768935912 Centerline is valid? [False, False] Translation: X:232.72, Y:150.13, Z:-2.02 [[ 9.96659428e-01 7.12495845e-02 3.99184274e-02 2.32723579e+02] [-7.06954107e-02 9.97383225e-01 -1.51281690e-02 1.50128170e+02] [-4.08918456e-02 1.22555826e-02 9.99088413e-01 -2.01777530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67576923100006 meters 0.8011853131926561 Centerline is valid? [False, False] Translation: X:232.72, Y:150.13, Z:-2.02 [[ 9.96691953e-01 7.08506326e-02 3.98163032e-02 2.32724847e+02] [-7.02683261e-02 9.97402346e-01 -1.58405464e-02 1.50131867e+02] [-4.08351869e-02 1.29903202e-02 9.99081448e-01 -2.01890731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7057692310001 meters 0.7983784546423918 Centerline is valid? [False, False] Translation: X:232.73, Y:150.14, Z:-2.02 [[ 9.96722488e-01 7.04443165e-02 3.97728450e-02 2.32725783e+02] [-6.98336971e-02 9.97421510e-01 -1.65404379e-02 1.50135493e+02] [-4.08354709e-02 1.37087417e-02 9.99071837e-01 -2.01986321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73576923100006 meters 0.802486259572947 Centerline is valid? [False, False] Translation: X:232.73, Y:150.14, Z:-2.02 [[ 9.96749928e-01 7.00674518e-02 3.97508803e-02 2.32726468e+02] [-6.94307203e-02 9.97438827e-01 -1.71802838e-02 1.50138891e+02] [-4.08528501e-02 1.43645144e-02 9.99061913e-01 -2.02052572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76576923100004 meters 0.798639735534935 Centerline is valid? [False, False] Translation: X:232.73, Y:150.14, Z:-2.02 [[ 9.96772002e-01 6.97467448e-02 3.97613937e-02 2.32726897e+02] [-6.90872285e-02 9.97453092e-01 -1.77280337e-02 1.50141773e+02] [-4.08965978e-02 1.49238032e-02 9.99051925e-01 -2.02104480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79576923100007 meters 0.7746846843153393 Centerline is valid? [False, False] Translation: X:232.75, Y:150.15, Z:-2.02 [[ 9.97274194e-01 6.44175449e-02 3.59800321e-02 2.32747350e+02] [-6.38209329e-02 9.97808051e-01 -1.74923551e-02 1.50149237e+02] [-3.70279803e-02 1.51483952e-02 9.99199407e-01 -2.01814042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82576923100004 meters 0.7690413982069757 Centerline is valid? [False, False] Translation: X:232.77, Y:150.15, Z:-2.02 [[ 9.97687225e-01 5.97924851e-02 3.23273786e-02 2.32765431e+02] [-5.92586193e-02 9.98093981e-01 -1.72284936e-02 1.50154370e+02] [-3.32958964e-02 1.52729722e-02 9.99328835e-01 -2.01573609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85576923100007 meters 0.7713423260957857 Centerline is valid? [False, False] Translation: X:232.78, Y:150.16, Z:-2.03 [[ 9.98264318e-01 4.99426224e-02 3.12103365e-02 2.32778360e+02] [-4.96475416e-02 9.98715127e-01 -1.01595570e-02 1.50160286e+02] [-3.16776301e-02 8.59240679e-03 9.99461204e-01 -2.02696069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88576923100004 meters 1.0143031222236483 Centerline is valid? [False, False] Translation: X:232.80, Y:150.17, Z:-2.02 [[ 9.98599881e-01 4.51771602e-02 2.75191322e-02 2.32796919e+02] [-4.49198722e-02 9.98941565e-01 -9.89726199e-03 1.50165193e+02] [-2.79371351e-02 8.64724874e-03 9.99572279e-01 -2.02470418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91576923100007 meters 1.0064889746535797 Centerline is valid? [False, False] Translation: X:232.80, Y:150.17, Z:-2.03 [[ 9.98648389e-01 3.87142028e-02 3.46786119e-02 2.32804124e+02] [-3.86722194e-02 9.99250180e-01 -1.88082785e-03 1.50169880e+02] [-3.47254240e-02 5.37186816e-04 9.99396746e-01 -2.03094172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94576923100004 meters SLAMing on 448.9757692310001 meters SLAMing on 449.00576923100004 meters 1.0014587291134474 Centerline is valid? [False, False] Translation: X:232.82, Y:150.18, Z:-2.03 [[ 9.98976252e-01 3.28633984e-02 3.10877020e-02 2.32824419e+02] [-3.27934559e-02 9.99458347e-01 -2.75717410e-03 1.50182273e+02] [-3.11614734e-02 1.73487827e-03 9.99512858e-01 -2.02894573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0357692310001 meters 0.9984313095122819 Centerline is valid? [False, False] Translation: X:232.85, Y:150.19, Z:-2.03 [[ 9.99263748e-01 2.67495626e-02 2.75031509e-02 2.32845597e+02] [-2.66855787e-02 9.99640255e-01 -2.69089975e-03 1.50190133e+02] [-2.75652371e-02 1.95498107e-03 9.99618095e-01 -2.02625116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06576923100005 meters 0.9964966533190733 Centerline is valid? [False, False] Translation: X:232.85, Y:150.19, Z:-2.03 [[ 9.99480596e-01 1.94287373e-02 2.57111200e-02 2.32849260e+02] [-1.96793115e-02 9.99760934e-01 9.52884818e-03 1.50188113e+02] [-2.55198398e-02 -1.00298760e-02 9.99623999e-01 -2.02777019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0957692310001 meters 0.9979964844565493 Centerline is valid? [False, False] Translation: X:232.88, Y:150.19, Z:-2.03 [[ 9.99711505e-01 9.91163018e-03 2.18784295e-02 2.32876635e+02] [-1.00629626e-02 9.99926125e-01 6.81774562e-03 1.50194215e+02] [-2.18092382e-02 -7.03594056e-03 9.99737392e-01 -2.02976030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12576923100005 meters 0.9935884176237039 Centerline is valid? [False, False] Translation: X:232.88, Y:150.20, Z:-2.03 [[ 9.99748275e-01 5.42478542e-03 2.17705789e-02 2.32877395e+02] [-5.47071641e-03 9.99982933e-01 2.05077028e-03 1.50196440e+02] [-2.17590823e-02 -2.16935471e-03 9.99760890e-01 -2.03037338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1557692310001 meters 0.9800172929420805 Centerline is valid? [False, False] Translation: X:232.90, Y:150.20, Z:-2.02 [[ 9.99822790e-01 -4.46160114e-03 1.82888630e-02 2.32897698e+02] [ 4.46737941e-03 9.99989983e-01 -2.75101603e-04 1.50198910e+02] [-1.82874524e-02 3.56756143e-04 9.99832707e-01 -2.02443450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18576923100005 meters 0.6601022036583282 Centerline is valid? [False, False] Translation: X:232.90, Y:150.20, Z:-2.02 [[ 9.99827211e-01 -4.24485512e-03 1.80977500e-02 2.32898685e+02] [ 4.24181224e-03 9.99990982e-01 2.06519571e-04 1.50196213e+02] [-1.80984635e-02 -1.29716629e-04 9.99836201e-01 -2.02475092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2157692310001 meters 1.0114273220135312 Centerline is valid? [False, False] Translation: X:232.92, Y:150.19, Z:-2.03 [[ 9.99917466e-01 -3.77450758e-04 1.28421034e-02 2.32923849e+02] [ 4.00701019e-04 9.99998285e-01 -1.80794658e-03 1.50191880e+02] [-1.28413990e-02 1.81294321e-03 9.99915902e-01 -2.02605426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24576923100005 meters 0.5636263902222771 Centerline is valid? [False, False] Translation: X:232.92, Y:150.19, Z:-2.02 [[ 9.99905474e-01 -4.26694142e-03 1.30704239e-02 2.32922473e+02] [ 4.33685033e-03 9.99976418e-01 -5.32496740e-03 1.50187450e+02] [-1.30473943e-02 5.38114852e-03 9.99900399e-01 -2.02494784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2757692310001 meters 0.5574980165333577 Centerline is valid? [False, False] Translation: X:232.92, Y:150.18, Z:-2.02 [[ 9.99907360e-01 -3.90004963e-03 1.30407569e-02 2.32922592e+02] [ 3.96024044e-03 9.99981610e-01 -4.59295792e-03 1.50183586e+02] [-1.30226044e-02 4.64417696e-03 9.99904417e-01 -2.02486348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30576923100006 meters 0.5878314606997731 Centerline is valid? [False, False] Translation: X:232.92, Y:150.18, Z:-2.03 [[ 9.99913049e-01 -3.51372273e-03 1.27101521e-02 2.32924136e+02] [ 3.55771519e-03 9.99987754e-01 -3.44025310e-03 1.50176739e+02] [-1.26979084e-02 3.48517307e-03 9.99913305e-01 -2.02552523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3357692310001 meters 0.7424395184940753 Centerline is valid? [False, False] Translation: X:232.95, Y:150.17, Z:-2.03 [[ 9.99967443e-01 1.79820095e-03 7.86638289e-03 2.32951064e+02] [-1.75914759e-03 9.99986109e-01 -4.96869503e-03 1.50170453e+02] [-7.87520833e-03 4.95469513e-03 9.99956715e-01 -2.02727280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36576923100006 meters 0.5761157900799126 Centerline is valid? [False, False] Translation: X:232.95, Y:150.17, Z:-2.03 [[ 9.99967801e-01 2.19091170e-03 7.71993316e-03 2.32951938e+02] [-2.15842437e-03 9.99988791e-01 -4.21406154e-03 1.50166446e+02] [-7.72907927e-03 4.19726296e-03 9.99961321e-01 -2.02775257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3957692310001 meters 0.5711580433260468 Centerline is valid? [False, False] Translation: X:232.95, Y:150.16, Z:-2.03 [[ 9.99967942e-01 2.50445772e-03 7.60539276e-03 2.32952694e+02] [-2.47701035e-03 9.99990394e-01 -3.61621247e-03 1.50163255e+02] [-7.61437635e-03 3.59725791e-03 9.99964540e-01 -2.02816693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42576923100006 meters 0.5501498935534591 Centerline is valid? [False, False] Translation: X:232.95, Y:150.16, Z:-2.03 [[ 9.99969185e-01 2.87659027e-03 7.30445241e-03 2.32954288e+02] [-2.85513982e-03 9.99991586e-01 -2.94535893e-03 1.50159649e+02] [-7.31286354e-03 2.92441293e-03 9.99968984e-01 -2.02873945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4557692310001 meters 0.5328295360006435 Centerline is valid? [False, False] Translation: X:232.96, Y:150.16, Z:-2.03 [[ 9.99970262e-01 2.94109159e-03 7.12911161e-03 2.32955339e+02] [-2.92109975e-03 9.99991777e-01 -2.81304768e-03 1.50158872e+02] [-7.13732642e-03 2.79213918e-03 9.99970631e-01 -2.02932832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48576923100006 meters 0.5185950851279805 Centerline is valid? [False, False] Translation: X:232.96, Y:150.16, Z:-2.03 [[ 9.99971458e-01 3.01544351e-03 6.92750205e-03 2.32956279e+02] [-2.99697856e-03 9.99991933e-01 -2.67429188e-03 1.50158092e+02] [-6.93551035e-03 2.65345397e-03 9.99972429e-01 -2.02958790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51576923100004 meters 0.5149299234975439 Centerline is valid? [False, False] Translation: X:232.96, Y:150.16, Z:-2.03 [[ 9.99967783e-01 5.17973633e-03 6.13208820e-03 2.32961804e+02] [-5.17512266e-03 9.99986314e-01 -7.68010196e-04 1.50155482e+02] [-6.13598237e-03 7.36251145e-04 9.99980904e-01 -2.03275905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54576923100007 meters 0.5131697662443562 Centerline is valid? [False, False] Translation: X:232.96, Y:150.16, Z:-2.03 [[ 9.99969495e-01 4.99557590e-03 6.00438375e-03 2.32962577e+02] [-4.98870897e-03 9.99986886e-01 -1.15808611e-03 1.50157418e+02] [-6.01009031e-03 1.12809666e-03 9.99981303e-01 -2.03314132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57576923100004 meters 0.4946445113379734 Centerline is valid? [False, False] Translation: X:232.96, Y:150.16, Z:-2.03 [[ 9.99965102e-01 5.89189504e-03 5.92293914e-03 2.32962897e+02] [-5.88394538e-03 9.99981766e-01 -1.35871284e-03 1.50162342e+02] [-5.93083653e-03 1.32381518e-03 9.99981536e-01 -2.03299431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60576923100007 meters 0.4722162074929751 Centerline is valid? [False, False] Translation: X:232.96, Y:150.17, Z:-2.03 [[ 9.99968047e-01 5.57068203e-03 5.73353700e-03 2.32963964e+02] [-5.55897596e-03 9.99982436e-01 -2.05559931e-03 1.50165700e+02] [-5.74488738e-03 2.02366103e-03 9.99981450e-01 -2.03373832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63576923100004 meters 0.49108147152060655 Centerline is valid? [False, False] Translation: X:232.97, Y:150.17, Z:-2.04 [[ 9.99959938e-01 7.56195343e-03 4.78943871e-03 2.32971602e+02] [-7.55997852e-03 9.99971330e-01 -4.30316590e-04 1.50166958e+02] [-4.79255544e-03 3.94091297e-04 9.99988438e-01 -2.03944797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66576923100007 meters 0.5077715125101352 Centerline is valid? [False, False] Translation: X:232.97, Y:150.17, Z:-2.04 [[ 9.99918403e-01 1.18860562e-02 4.68079825e-03 2.32972534e+02] [-1.19044631e-02 9.99921438e-01 3.92438312e-03 1.50166786e+02] [-4.63378508e-03 -3.97978529e-03 9.99981344e-01 -2.03998817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69576923100004 meters 0.4535026094125088 Centerline is valid? [False, False] Translation: X:232.97, Y:150.17, Z:-2.04 [[ 9.99862236e-01 1.59183754e-02 4.70264394e-03 2.32972744e+02] [-1.59544152e-02 9.99842853e-01 7.72829420e-03 1.50169369e+02] [-4.57888304e-03 -7.80225745e-03 9.99959078e-01 -2.04014450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7257692310001 meters 0.5940767366306693 Centerline is valid? [False, False] Translation: X:232.97, Y:150.17, Z:-2.04 [[ 9.99867262e-01 1.56211836e-02 4.63006505e-03 2.32973230e+02] [-1.56540035e-02 9.99851982e-01 7.13904795e-03 1.50172332e+02] [-4.51785933e-03 -7.21057938e-03 9.99963798e-01 -2.04051311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75576923100004 meters 0.44107735754870286 Centerline is valid? [False, False] Translation: X:232.97, Y:150.18, Z:-2.04 [[ 9.99932908e-01 1.06939082e-02 4.45195713e-03 2.32973950e+02] [-1.07002339e-02 9.99941772e-01 1.39948901e-03 1.50179165e+02] [-4.43673189e-03 -1.44703209e-03 9.99989111e-01 -2.04126043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7857692310001 meters 0.5828012185254293 Centerline is valid? [False, False] Translation: X:232.98, Y:150.19, Z:-2.04 [[ 9.99974826e-01 5.87628321e-03 3.97709703e-03 2.32975997e+02] [-5.85779024e-03 9.99972052e-01 -4.64565078e-03 1.50188521e+02] [-4.00428504e-03 4.62223683e-03 9.99981300e-01 -2.04280676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81576923100005 meters 0.5933819524848164 Centerline is valid? [False, False] Translation: X:233.00, Y:150.19, Z:-2.04 [[ 9.99997175e-01 1.79832825e-03 -1.55463286e-03 2.33001599e+02] [-1.80172319e-03 9.99995990e-01 -2.18511800e-03 1.50193678e+02] [ 1.55069707e-03 2.18791284e-03 9.99996404e-01 -2.04156799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8457692310001 meters 0.5677743923646167 Centerline is valid? [False, False] Translation: X:233.00, Y:150.20, Z:-2.04 [[ 9.99995455e-01 2.85913600e-03 -9.56706121e-04 2.32996022e+02] [-2.86045506e-03 9.99994956e-01 -1.38022906e-03 1.50197366e+02] [ 9.52755033e-04 1.38295940e-03 9.99998590e-01 -2.03732257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87576923100005 meters 0.5817520984129689 Centerline is valid? [False, False] Translation: X:233.00, Y:150.20, Z:-2.04 [[ 9.99996201e-01 2.57494740e-03 -9.83264470e-04 2.32996293e+02] [-2.57687900e-03 9.99994743e-01 -1.96828713e-03 1.50200317e+02] [ 9.78191065e-04 1.97081341e-03 9.99997580e-01 -2.03764087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9057692310001 meters 0.5905792321878733 Centerline is valid? [False, False] Translation: X:233.00, Y:150.20, Z:-2.04 [[ 9.99996823e-01 2.30403128e-03 -1.02270972e-03 2.32996604e+02] [-2.30662088e-03 9.99994119e-01 -2.53818565e-03 1.50203150e+02] [ 1.01685565e-03 2.54053659e-03 9.99996256e-01 -2.03796886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93576923100005 meters 0.5953941939046248 Centerline is valid? [False, False] Translation: X:233.00, Y:150.21, Z:-2.04 [[ 9.99989546e-01 4.16725151e-03 -1.88225808e-03 2.33003794e+02] [-4.16918203e-03 9.99990786e-01 -1.02288606e-03 1.50206763e+02] [ 1.87797811e-03 1.03072284e-03 9.99997705e-01 -2.04343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9657692310001 meters 0.6078698226226082 Centerline is valid? [False, False] Translation: X:233.00, Y:150.21, Z:-2.04 [[ 9.99990944e-01 3.79008746e-03 -1.93566773e-03 2.33004475e+02] [-3.79353704e-03 9.99991218e-01 -1.78156132e-03 1.50210531e+02] [ 1.92889846e-03 1.78888821e-03 9.99996540e-01 -2.04426663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8297.07 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%| | 0/14996 [00:00